add random_urfs individually

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

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 

examples/pybullet/gym/pybullet_data/random_urdfs/046/046.urdf

@@ -0,0 +1,31 @@
+<robot name="blob046">
+  <link name="random_obj_046">
+    <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="046.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.46 0.54 0.89 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="046.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>