add random_urfs individually

examples/pybullet/gym/pybullet_data/random_urdfs/903/903.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/903/903.obj

@@ -0,0 +1,693 @@
+o convex_0
+v 1.223301 0.575042 -0.400610
+v -1.263956 0.546225 -0.114765
+v -1.263956 0.546225 -0.000544
+v 0.165593 -3.513746 0.485530
+v -0.005810 -2.770111 -0.915484
+v 0.737362 0.574642 0.914200
+v -0.720712 -2.741695 0.771375
+v -0.005810 0.575042 -1.001297
+v -0.835066 -2.684061 -0.772268
+v 0.909020 -2.941411 0.056468
+v -0.806287 0.575042 0.828387
+v 0.765886 -2.684061 0.799783
+v 0.794666 -2.770111 -0.743859
+v 1.252081 0.517408 0.513938
+v -0.034335 -2.712478 0.971604
+v -0.720712 -3.484929 -0.028953
+v -0.949420 0.575042 -0.772268
+v 0.823191 0.574642 -0.943892
+v 0.136813 -3.456512 -0.715059
+v -0.920640 -2.855761 0.113676
+v 0.765886 -3.456112 0.113480
+v -0.034335 -3.484929 0.799979
+v -0.063115 0.288875 1.000208
+v -0.691933 -0.225826 -0.944088
+v -1.149348 0.460175 0.456730
+v 1.337910 0.545825 -0.000544
+v 0.708837 -0.225826 0.971604
+v -0.577579 -3.513746 0.570950
+v 0.794666 -0.511993 -0.943892
+v -0.520530 -3.456512 -0.572235
+v -1.206652 0.575042 -0.457818
+v -0.777762 -0.368709 0.856991
+v 0.594483 -3.456112 -0.543631
+v 0.537179 -3.456512 0.628354
+v 0.051239 -0.854993 -1.001297
+v 1.023373 0.517408 -0.772268
+v -0.063115 -1.455744 1.000208
+v 1.023373 0.575042 0.742771
+v -0.377396 -3.513746 -0.085965
+v 0.823191 -2.455528 -0.772464
+v 0.708837 -0.283059 -0.972692
+v 0.108289 -2.712478 -0.915484
+v 0.909020 -2.884178 -0.086161
+v -0.749237 0.575042 -0.886684
+v -0.920640 -2.741294 0.199489
+v -0.148689 0.575042 0.971604
+v -0.063115 -3.456512 -0.715059
+v -0.863591 -2.655644 -0.657851
+v 0.794666 -2.512761 0.799783
+v 0.765886 -3.456112 -0.028953
+v -0.091639 -2.684061 -0.915484
+v 1.337910 0.575042 0.085072
+v 0.909020 -2.855761 0.142280
+v 0.565704 -2.655644 0.857187
+v -0.863591 -2.369878 -0.772268
+v -0.148689 -0.168592 1.000208
+v 0.823191 -2.712878 -0.686455
+v -1.206652 0.431758 -0.457818
+v -0.920640 -2.798528 -0.029148
+v 0.336996 -0.311476 1.000208
+v 1.194777 0.402941 -0.457818
+v -1.149348 0.575042 0.456730
+v -0.749237 -0.568826 -0.915288
+v 0.765886 -2.712878 -0.772464
+f 42 29 64 
+f 1 8 11 
+f 11 8 17 
+f 8 1 18 
+f 3 2 20 
+f 15 7 22 
+f 6 23 27 
+f 7 20 28 
+f 20 16 28 
+f 22 7 28 
+f 4 22 28 
+f 16 9 30 
+f 2 3 31 
+f 11 17 31 
+f 7 15 32 
+f 11 25 32 
+f 25 7 32 
+f 19 13 33 
+f 4 21 34 
+f 21 12 34 
+f 12 22 34 
+f 22 4 34 
+f 24 8 35 
+f 18 1 36 
+f 29 18 36 
+f 32 15 37 
+f 1 11 38 
+f 6 27 38 
+f 4 28 39 
+f 28 16 39 
+f 16 30 39 
+f 33 4 39 
+f 19 33 39 
+f 29 36 40 
+f 8 18 41 
+f 18 29 41 
+f 35 8 41 
+f 35 41 42 
+f 19 5 42 
+f 5 35 42 
+f 41 29 42 
+f 26 10 43 
+f 17 8 44 
+f 8 24 44 
+f 24 17 44 
+f 3 20 45 
+f 20 7 45 
+f 25 3 45 
+f 7 25 45 
+f 23 6 46 
+f 38 11 46 
+f 6 38 46 
+f 9 5 47 
+f 5 19 47 
+f 30 9 47 
+f 39 30 47 
+f 19 39 47 
+f 9 16 48 
+f 27 12 49 
+f 14 38 49 
+f 38 27 49 
+f 21 4 50 
+f 10 21 50 
+f 4 33 50 
+f 33 13 50 
+f 43 10 50 
+f 5 9 51 
+f 35 5 51 
+f 24 35 51 
+f 26 1 52 
+f 10 26 52 
+f 1 38 52 
+f 38 14 52 
+f 12 21 53 
+f 21 10 53 
+f 49 12 53 
+f 14 49 53 
+f 10 52 53 
+f 52 14 53 
+f 15 22 54 
+f 22 12 54 
+f 12 27 54 
+f 27 15 54 
+f 11 32 56 
+f 37 23 56 
+f 32 37 56 
+f 23 46 56 
+f 46 11 56 
+f 13 40 57 
+f 26 43 57 
+f 50 13 57 
+f 43 50 57 
+f 2 31 58 
+f 31 17 58 
+f 9 48 58 
+f 48 2 58 
+f 55 9 58 
+f 17 55 58 
+f 20 2 59 
+f 16 20 59 
+f 48 16 59 
+f 2 48 59 
+f 15 27 60 
+f 27 23 60 
+f 37 15 60 
+f 23 37 60 
+f 1 26 61 
+f 36 1 61 
+f 40 36 61 
+f 57 40 61 
+f 26 57 61 
+f 3 25 62 
+f 25 11 62 
+f 31 3 62 
+f 11 31 62 
+f 17 24 63 
+f 51 9 63 
+f 24 51 63 
+f 9 55 63 
+f 55 17 63 
+f 13 19 64 
+f 40 13 64 
+f 29 40 64 
+f 19 42 64 
+o convex_1
+v 1.223681 0.861212 -0.486618
+v 1.309569 2.176246 -0.057674
+v 1.309569 2.176246 -0.086239
+v 2.996266 1.575696 -0.028992
+v 1.223681 0.575199 0.514095
+v 1.967000 1.661422 0.514095
+v 2.024259 1.975801 -0.457936
+v 1.223681 1.918755 0.428165
+v 2.710320 2.004481 -0.000544
+v 2.567347 1.318676 -0.314876
+v 2.767579 1.575696 0.399718
+v 1.223681 1.890076 -0.515183
+v 2.738949 1.204271 -0.028992
+v 1.252310 0.575199 -0.229181
+v 2.710320 1.604376 -0.429371
+v 1.995630 2.004481 0.342353
+v 1.423912 1.347199 -0.600996
+v 1.252310 1.261474 0.599907
+v 1.252310 0.689604 -0.429371
+v 2.624432 1.261474 0.256658
+v 2.738949 2.004481 -0.086239
+v 1.366653 0.575199 0.085033
+v 1.967000 1.661422 -0.543748
+v 2.052715 2.118886 -0.086239
+v 2.738949 1.204271 0.056468
+v 1.223681 2.118886 0.113598
+v 2.595977 1.861553 0.285223
+v 1.223681 1.432611 -0.600996
+v 2.567347 1.890233 -0.343558
+v 1.252310 0.575199 0.514095
+v 1.223681 1.975801 -0.457936
+v 2.710320 1.575696 -0.429371
+v 1.223681 1.347199 0.599907
+v 2.081344 1.575696 0.514095
+v 2.996266 1.632899 -0.028992
+v 1.223681 2.004481 0.371035
+v 1.995630 2.004481 -0.429371
+v 2.767579 1.604376 0.399718
+v 2.767579 1.975958 -0.000544
+v 1.366653 0.575199 -0.029109
+v 2.024259 2.118886 -0.029109
+v 1.223681 0.575199 -0.229181
+v 1.223681 2.176246 -0.029109
+v 2.767579 1.632899 -0.372123
+v 1.280939 0.775486 -0.457936
+v 2.996266 1.575696 0.027903
+v 1.681228 2.004481 0.371035
+v 2.052715 1.575696 -0.543748
+v 2.567347 1.318676 0.342470
+v 2.796034 1.575696 -0.343558
+v 2.595977 1.918755 0.228093
+v 1.223681 1.261474 -0.600996
+v 2.595977 1.261474 -0.229181
+v 2.967636 1.661422 0.027903
+v 1.423912 1.890076 -0.515183
+f 87 92 119 
+f 65 69 72 
+f 65 72 76 
+f 77 78 83 
+f 69 78 86 
+f 71 79 87 
+f 67 66 88 
+f 73 85 88 
+f 77 68 89 
+f 75 84 89 
+f 86 77 89 
+f 76 72 90 
+f 65 76 92 
+f 87 81 92 
+f 79 71 93 
+f 82 69 94 
+f 69 86 94 
+f 89 84 94 
+f 86 89 94 
+f 71 76 95 
+f 76 90 95 
+f 74 83 96 
+f 72 69 97 
+f 70 72 97 
+f 69 82 97 
+f 97 82 98 
+f 82 94 98 
+f 94 75 98 
+f 70 97 98 
+f 90 72 100 
+f 67 88 101 
+f 88 85 101 
+f 93 71 101 
+f 85 93 101 
+f 95 67 101 
+f 71 95 101 
+f 80 70 102 
+f 91 80 102 
+f 70 98 102 
+f 98 75 102 
+f 85 73 103 
+f 99 85 103 
+f 78 77 104 
+f 77 86 104 
+f 86 78 104 
+f 80 73 105 
+f 88 66 105 
+f 73 88 105 
+f 69 65 106 
+f 78 69 106 
+f 65 83 106 
+f 83 78 106 
+f 66 67 107 
+f 67 95 107 
+f 95 90 107 
+f 105 66 107 
+f 80 105 107 
+f 79 93 108 
+f 93 85 108 
+f 96 79 108 
+f 85 99 108 
+f 83 65 109 
+f 96 83 109 
+f 81 96 109 
+f 89 68 110 
+f 75 89 110 
+f 68 99 110 
+f 102 75 110 
+f 72 70 111 
+f 70 80 111 
+f 100 72 111 
+f 90 100 111 
+f 80 107 111 
+f 107 90 111 
+f 87 79 112 
+f 81 87 112 
+f 79 96 112 
+f 96 81 112 
+f 84 75 113 
+f 75 94 113 
+f 94 84 113 
+f 68 77 114 
+f 77 96 114 
+f 99 68 114 
+f 96 108 114 
+f 108 99 114 
+f 73 80 115 
+f 80 91 115 
+f 91 102 115 
+f 102 103 115 
+f 103 73 115 
+f 65 92 116 
+f 92 81 116 
+f 109 65 116 
+f 81 109 116 
+f 83 74 117 
+f 77 83 117 
+f 74 96 117 
+f 96 77 117 
+f 99 103 118 
+f 103 102 118 
+f 110 99 118 
+f 102 110 118 
+f 76 71 119 
+f 71 87 119 
+f 92 76 119 
+o convex_2
+v -1.264001 0.718222 0.142420
+v -1.264001 2.175949 -0.000544
+v -1.264001 2.175949 -0.057641
+v -2.950819 1.518430 -0.028980
+v -1.264001 1.318637 -0.572403
+v -1.349870 1.661414 0.571314
+v -2.693544 1.518430 -0.429326
+v -2.664811 1.604161 0.371029
+v -1.292734 0.746849 -0.400778
+v -2.722111 1.147027 -0.000544
+v -2.693544 1.976009 -0.028980
+v -1.921885 1.976009 -0.457986
+v -1.264001 0.918311 0.456898
+v -1.893152 2.004487 0.371029
+v -1.264001 1.975860 -0.486534
+v -1.264001 2.004487 0.428350
+v -2.064723 1.147027 0.399689
+v -2.007588 1.547056 0.514106
+v -1.979020 1.604161 -0.543743
+v -1.292734 0.660821 -0.086301
+v -2.550540 1.232758 -0.286362
+v -1.950287 2.118845 -0.057529
+v -2.664811 1.632936 -0.429326
+v -2.722111 1.518430 0.342481
+v -2.521807 1.890277 0.256725
+v -2.722111 1.147027 -0.057529
+v -2.521807 1.890277 -0.314910
+v -1.349870 0.889833 0.428350
+v -2.550540 1.232758 0.256725
+v -2.950819 1.604161 -0.057529
+v -1.264001 1.575682 0.571314
+v -1.292734 0.660821 0.028004
+v -1.264001 0.803953 -0.429438
+v -2.579108 1.518430 -0.457986
+v -2.750679 1.604161 0.313933
+v -2.664811 1.976009 -0.086189
+v -1.979020 1.690040 0.485446
+v -1.292734 2.061591 0.371141
+v -1.435738 1.375742 -0.572403
+v -1.921885 2.118845 -0.000544
+v -1.321302 0.803953 -0.429438
+v -2.550540 1.290011 -0.343570
+v -2.007588 1.976009 0.371029
+v -1.950287 1.489803 0.514106
+v -1.264001 1.432698 -0.572403
+v -2.922251 1.518430 -0.114737
+v -1.292734 2.147471 -0.143509
+v -1.950287 2.033113 -0.314910
+v -1.321302 0.918311 0.456898
+v -2.779247 1.575682 -0.343570
+v -2.750679 1.890277 -0.086189
+v -2.550540 1.547056 0.399689
+f 163 137 171 
+f 122 121 120 
+f 122 120 124 
+f 120 121 132 
+f 122 124 134 
+f 132 121 135 
+f 133 125 135 
+f 131 134 138 
+f 121 122 141 
+f 131 138 142 
+f 123 129 143 
+f 129 123 145 
+f 128 139 145 
+f 139 129 145 
+f 140 128 145 
+f 131 142 146 
+f 120 132 147 
+f 147 136 148 
+f 143 129 148 
+f 136 143 148 
+f 129 147 148 
+f 132 135 150 
+f 135 125 150 
+f 139 120 151 
+f 129 139 151 
+f 120 147 151 
+f 147 129 151 
+f 124 120 152 
+f 120 139 152 
+f 139 128 152 
+f 126 142 153 
+f 142 138 153 
+f 123 143 154 
+f 143 127 154 
+f 127 144 154 
+f 144 130 154 
+f 149 123 154 
+f 130 149 154 
+f 130 141 155 
+f 131 146 155 
+f 137 125 156 
+f 127 137 156 
+f 135 121 157 
+f 133 135 157 
+f 153 138 158 
+f 130 133 159 
+f 121 141 159 
+f 141 130 159 
+f 157 121 159 
+f 133 157 159 
+f 124 152 160 
+f 152 128 160 
+f 126 153 160 
+f 158 124 160 
+f 153 158 160 
+f 128 140 161 
+f 145 126 161 
+f 140 145 161 
+f 126 160 161 
+f 160 128 161 
+f 125 133 162 
+f 133 130 162 
+f 144 127 162 
+f 130 144 162 
+f 156 125 162 
+f 127 156 162 
+f 125 137 163 
+f 150 125 163 
+f 134 124 164 
+f 138 134 164 
+f 124 158 164 
+f 158 138 164 
+f 145 123 165 
+f 126 145 165 
+f 123 149 165 
+f 122 134 166 
+f 134 131 166 
+f 141 122 166 
+f 141 166 167 
+f 131 155 167 
+f 155 141 167 
+f 166 131 167 
+f 147 132 168 
+f 136 147 168 
+f 132 150 168 
+f 163 136 168 
+f 150 163 168 
+f 142 126 169 
+f 126 165 169 
+f 165 149 169 
+f 146 142 170 
+f 149 130 170 
+f 130 155 170 
+f 155 146 170 
+f 142 169 170 
+f 169 149 170 
+f 137 127 171 
+f 127 143 171 
+f 143 136 171 
+f 136 163 171 
+o convex_3
+v -1.264001 0.632273 -0.286367
+v 0.194070 2.605139 0.685411
+v 0.194070 2.605139 0.657023
+v 1.223583 0.575042 0.542503
+v 0.908982 2.290371 -0.886776
+v 0.823027 0.575042 -0.943940
+v -0.749245 2.204724 -0.772449
+v -1.264001 1.689847 0.571085
+v -0.320200 0.575042 0.942840
+v 0.766049 2.147295 0.828513
+v -0.749245 0.575042 -0.886776
+v -0.749245 2.605139 -0.086102
+v 1.223583 2.176108 -0.086102
+v -1.264001 1.976000 -0.486439
+v -0.806467 2.175910 0.799931
+v -0.148777 2.576524 -0.886583
+v 1.223583 1.147150 -0.600766
+v 0.937472 2.547909 0.085195
+v -1.149557 0.575042 0.456758
+v 0.737316 0.575042 0.914258
+v -0.006086 1.804507 -1.001296
+v -0.034332 1.890154 0.942840
+v 1.223583 2.004417 0.399594
+v -1.264001 2.090461 0.285267
+v -0.806467 0.575042 0.828513
+v -0.577578 2.605139 0.514114
+v 1.223583 0.575042 -0.429276
+v -0.006086 0.575042 -1.001296
+v -1.264001 1.318643 -0.572184
+v 1.223583 1.347258 0.599666
+v -0.577578 2.605139 -0.600959
+v 0.280025 2.576524 -0.801031
+v 0.622871 2.576524 0.599666
+v 1.223583 1.947186 -0.515021
+v -0.777734 2.118878 -0.801031
+v -0.892178 2.547909 -0.057520
+v -1.264001 0.889612 0.456758
+v -1.178046 0.575042 -0.515021
+v -0.063065 2.547909 0.742768
+v 0.108358 0.575042 0.971615
+v -1.264001 2.175910 -0.086102
+v 0.823027 2.233140 -0.915358
+v 0.594382 2.547909 -0.657929
+v 0.737316 0.832381 0.914258
+v 0.851760 2.576524 0.142166
+v 1.223583 1.290027 -0.629348
+v 0.966205 2.490479 -0.172040
+v 0.994694 0.575042 0.771350
+v 1.023427 0.575042 -0.772256
+v -1.264001 2.061846 0.370819
+v -0.234488 2.605139 -0.572377
+v -1.264001 0.575042 0.027839
+v -0.749245 0.775349 -0.886776
+v -0.949401 0.575042 -0.772449
+v -0.892178 2.118878 0.771350
+v -0.063065 1.089720 0.971615
+v -0.720512 2.404832 0.656830
+v 1.166361 1.118534 0.657023
+v 0.908982 2.318986 -0.858195
+v 0.051136 1.775693 -1.001296
+v -0.892178 2.547909 -0.000743
+v 0.880250 0.975458 -0.915358
+v -1.264001 1.432905 -0.572184
+v -0.063065 2.605139 0.713993
+f 197 228 235 
+f 177 175 180 
+f 177 180 182 
+f 173 174 183 
+f 172 179 185 
+f 184 175 188 
+f 182 180 190 
+f 180 175 191 
+f 175 184 194 
+f 184 189 194 
+f 185 179 195 
+f 180 186 196 
+f 190 180 196 
+f 173 183 197 
+f 175 177 198 
+f 188 175 198 
+f 177 182 199 
+f 182 192 199 
+f 172 185 200 
+f 175 194 201 
+f 194 181 201 
+f 183 174 202 
+f 178 185 202 
+f 187 178 202 
+f 176 187 203 
+f 173 181 204 
+f 181 194 204 
+f 194 189 204 
+f 184 188 205 
+f 185 178 206 
+f 178 187 206 
+f 187 192 206 
+f 183 202 207 
+f 179 172 208 
+f 196 179 208 
+f 190 196 208 
+f 182 190 209 
+f 172 200 209 
+f 181 173 210 
+f 193 181 210 
+f 186 193 210 
+f 180 191 211 
+f 185 195 212 
+f 202 185 212 
+f 207 202 212 
+f 176 177 213 
+f 187 176 213 
+f 192 187 213 
+f 181 193 215 
+f 211 191 215 
+f 174 173 216 
+f 204 189 216 
+f 173 204 216 
+f 189 214 216 
+f 214 203 216 
+f 176 205 217 
+f 205 188 217 
+f 189 184 218 
+f 214 189 218 
+f 191 175 219 
+f 215 191 219 
+f 198 177 220 
+f 188 198 220 
+f 217 188 220 
+f 195 179 221 
+f 202 174 222 
+f 187 202 222 
+f 203 187 222 
+f 174 216 222 
+f 216 203 222 
+f 208 172 223 
+f 190 208 223 
+f 172 209 223 
+f 209 190 223 
+f 192 182 224 
+f 206 192 224 
+f 182 209 225 
+f 209 200 225 
+f 224 182 225 
+f 179 196 226 
+f 196 186 226 
+f 221 179 226 
+f 186 180 227 
+f 193 186 227 
+f 180 211 227 
+f 215 193 227 
+f 211 215 227 
+f 197 221 228 
+f 226 186 228 
+f 221 226 228 
+f 175 201 229 
+f 201 181 229 
+f 181 215 229 
+f 219 175 229 
+f 215 219 229 
+f 176 203 230 
+f 205 176 230 
+f 184 205 230 
+f 203 214 230 
+f 218 184 230 
+f 214 218 230 
+f 177 199 231 
+f 199 192 231 
+f 213 177 231 
+f 192 213 231 
+f 197 183 232 
+f 183 207 232 
+f 212 195 232 
+f 207 212 232 
+f 195 221 232 
+f 221 197 232 
+f 177 176 233 
+f 176 217 233 
+f 220 177 233 
+f 217 220 233 
+f 200 185 234 
+f 185 206 234 
+f 206 224 234 
+f 225 200 234 
+f 224 225 234 
+f 173 197 235 
+f 210 173 235 
+f 186 210 235 
+f 228 186 235 

examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf

@@ -0,0 +1,31 @@
+<robot name="blob903">
+  <link name="random_obj_903">
+    <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="903.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.73 0.71 0.92 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="903.obj" scale="0.015 0.015 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>