add random_urfs individually

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

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 

examples/pybullet/gym/pybullet_data/random_urdfs/281/281.urdf

@@ -0,0 +1,31 @@
+<robot name="blob281">
+  <link name="random_obj_281">
+    <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="281.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.12 0.24 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="281.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>