add random_urfs individually

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

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 

examples/pybullet/gym/pybullet_data/random_urdfs/618/618.urdf

@@ -0,0 +1,31 @@
+<robot name="blob618">
+  <link name="random_obj_618">
+    <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="618.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.03 0.63 0.72 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="618.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>