add random_urfs individually

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

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 

examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf

@@ -0,0 +1,31 @@
+<robot name="blob005">
+  <link name="random_obj_005">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="005.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.38 0.24 0.57 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="005.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>