add random_urfs individually

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

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 

examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf

@@ -0,0 +1,31 @@
+<robot name="blob568">
+  <link name="random_obj_568">
+    <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="568.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.93 0.44 0.93 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="568.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>