add random_urfs individually

2018-03-04 12:33:31 -08:00
parent 4d6e2c1905
commit 283d646e57
3001 changed files with 746723 additions and 0 deletions
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.mtl
@@ -0,0 +1,10 @@
 # Blender MTL File: 'None'
 # Material Count: 1
 newmtl None
 Ns 0
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 Ks 0.8 0.8 0.8
 d 1
 illum 2
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.obj
@@ -0,0 +1,726 @@
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 o convex_2
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 o convex_3
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 o convex_4
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--- a/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/000/000.urdf
@@ -0,0 +1,31 @@
 <robot name="blob000">
  <link name="random_obj_000">
    <contact>
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      <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="000.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.04 0.07 0.91 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="000.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj
@@ -0,0 +1,486 @@
 o convex_0
 v -0.979316 1.413489 -1.101248
 v 1.002475 2.319402 1.115932
 v 0.935361 2.319402 1.115932
 v 0.733805 4.234614 -0.966689
 v -0.945759 4.167414 1.048653
 v 1.069589 -0.166152 1.082076
 v -1.012873 -0.166152 1.048653
 v 1.036032 -0.166152 -1.000329
 v -1.079987 4.133814 -1.101248
 v 1.036032 4.133814 0.947734
 v -0.979316 -0.166152 -1.067391
 v 1.069589 3.999413 -0.933049
 v -1.113544 2.151401 0.981374
 v 1.069589 1.312257 -1.000329
 v -1.046430 -0.166152 0.309448
 v 1.069589 3.596210 1.015013
 v -1.079987 3.159408 -1.101248
 v 1.036032 4.234614 -0.563447
 v -0.844874 4.133383 -1.101248
 v -0.979316 4.099783 1.048653
 v -1.079987 4.133814 -0.597087
 v -0.273762 3.494979 1.082293
 v -1.079987 0.606653 0.645411
 v 1.069589 1.447089 1.115932
 v -0.609760 4.167414 1.048653
 v 1.069589 0.573053 -1.000329
 v -1.113544 2.689005 0.511069
 v 1.036032 4.166983 0.712690
 v -0.844874 2.050601 -1.101248
 v 1.069589 4.033013 0.847032
 v -0.979316 4.167414 0.578349
 v -0.710432 -0.166152 -1.067391
 v 1.036032 4.234614 -0.933049
 v -1.012873 0.405052 -0.865770
 v 0.565806 -0.166152 1.082076
 v 1.036032 4.066183 0.981374
 v 1.069589 3.025007 -0.966689
 v -0.576203 4.167414 -1.067391
 v -1.046430 -0.166152 0.712473
 v -1.113544 2.655404 0.443790
 v -1.113544 2.285802 0.981374
 v -0.173091 4.166983 1.014796
 v 1.069589 2.285371 1.115932
 v -1.046430 0.371451 1.015013
 f 23 39 44 
 f 6 7 8 
 f 8 7 11 
 f 12 6 14 
 f 11 7 15 
 f 6 12 16 
 f 9 1 17 
 f 1 11 17 
 f 4 5 18 
 f 1 9 19 
 f 20 5 21 
 f 3 2 22 
 f 7 3 22 
 f 5 20 22 
 f 20 7 22 
 f 17 15 23 
 f 2 3 24 
 f 3 7 24 
 f 6 16 24 
 f 18 5 25 
 f 5 22 25 
 f 6 8 26 
 f 14 6 26 
 f 19 14 26 
 f 21 9 27 
 f 8 1 29 
 f 1 19 29 
 f 26 8 29 
 f 19 26 29 
 f 16 12 30 
 f 28 10 30 
 f 18 28 30 
 f 5 4 31 
 f 21 5 31 
 f 9 21 31 
 f 1 8 32 
 f 8 11 32 
 f 11 1 32 
 f 4 18 33 
 f 30 12 33 
 f 18 30 33 
 f 11 15 34 
 f 17 11 34 
 f 15 17 34 
 f 7 6 35 
 f 24 7 35 
 f 6 24 35 
 f 10 25 36 
 f 30 10 36 
 f 16 30 36 
 f 12 14 37 
 f 19 4 37 
 f 14 19 37 
 f 4 33 37 
 f 33 12 37 
 f 19 9 38 
 f 4 19 38 
 f 31 4 38 
 f 9 31 38 
 f 15 7 39 
 f 23 15 39 
 f 9 17 40 
 f 23 13 40 
 f 17 23 40 
 f 27 9 40 
 f 13 27 40 
 f 13 7 41 
 f 7 20 41 
 f 20 21 41 
 f 27 13 41 
 f 21 27 41 
 f 25 10 42 
 f 18 25 42 
 f 10 28 42 
 f 28 18 42 
 f 22 2 43 
 f 2 24 43 
 f 24 16 43 
 f 25 22 43 
 f 16 36 43 
 f 36 25 43 
 f 7 13 44 
 f 13 23 44 
 f 39 7 44 
 o convex_1
 v 0.565789 -3.827665 -1.000293
 v -0.475383 -1.442944 1.082339
 v -0.945715 -1.442944 1.082339
 v -0.912077 -1.442944 -1.034060
 v -1.012993 -3.794087 0.947889
 v 1.069760 -1.443187 1.082339
 v 1.036121 -3.928640 0.914328
 v 1.002482 -1.443187 -1.034060
 v -0.912077 -3.827665 -1.034060
 v 0.968844 -3.827421 -0.966732
 v -0.845003 -3.794087 1.015010
 v -0.979354 -1.442944 -0.261334
 v 1.069760 -2.047579 1.082339
 v 1.002482 -2.719126 -1.034060
 v -0.945715 -3.827665 -0.832489
 v 0.801057 -3.928640 0.947889
 v 1.036121 -3.928640 0.578306
 v -0.979354 -1.442944 1.015010
 v -0.945715 -2.047579 1.082339
 v 1.036121 -1.879693 -0.429345
 v -0.945715 -1.442944 -1.000293
 v 1.036121 -3.894576 0.242491
 v -1.012993 -3.424493 0.679195
 v 1.069760 -2.853435 0.981449
 v 1.002482 -3.860999 -0.597149
 v -1.012993 -3.323761 1.015010
 v -0.945715 -3.827665 -0.294895
 v 0.935205 -3.860999 -0.664478
 v 1.069760 -1.745383 0.779878
 v 1.036121 -3.827421 0.947889
 v -0.979354 -2.987745 1.048571
 v -1.012993 -3.794087 0.679195
 v 0.935205 -3.625957 -1.000293
 v -0.710651 -3.827665 -1.034060
 v -0.979354 -3.794087 1.015010
 v 1.002482 -2.954167 -1.000293
 f 66 69 80 
 f 47 46 48 
 f 46 47 50 
 f 48 46 52 
 f 46 50 52 
 f 48 52 53 
 f 47 48 56 
 f 50 47 57 
 f 53 52 58 
 f 59 53 60 
 f 51 60 61 
 f 60 53 61 
 f 47 56 62 
 f 57 47 63 
 f 52 50 64 
 f 58 52 64 
 f 48 53 65 
 f 56 48 65 
 f 53 59 65 
 f 59 56 65 
 f 50 57 68 
 f 51 61 68 
 f 61 66 68 
 f 66 64 68 
 f 66 61 69 
 f 47 62 70 
 f 62 56 70 
 f 63 47 70 
 f 67 49 70 
 f 56 67 70 
 f 49 59 71 
 f 60 49 71 
 f 59 60 71 
 f 45 54 72 
 f 61 53 72 
 f 54 69 72 
 f 69 61 72 
 f 64 50 73 
 f 50 68 73 
 f 68 64 73 
 f 57 55 74 
 f 60 51 74 
 f 55 60 74 
 f 68 57 74 
 f 51 68 74 
 f 55 57 75 
 f 57 63 75 
 f 63 70 75 
 f 59 49 76 
 f 56 59 76 
 f 49 67 76 
 f 67 56 76 
 f 54 45 77 
 f 58 54 77 
 f 58 77 78 
 f 53 58 78 
 f 45 72 78 
 f 72 53 78 
 f 77 45 78 
 f 49 60 79 
 f 60 55 79 
 f 70 49 79 
 f 55 75 79 
 f 75 70 79 
 f 54 58 80 
 f 58 64 80 
 f 64 66 80 
 f 69 54 80 
 o convex_2
 v 3.051815 -1.005983 0.444060
 v 1.977069 -0.300527 -0.429322
 v 1.977069 -0.300527 -0.462890
 v 1.069813 -1.308306 -0.429322
 v 1.069813 -0.300527 0.477627
 v 2.950719 -1.409117 -0.462890
 v 1.069813 -1.308306 0.444060
 v 3.118811 -0.367806 0.578434
 v 3.018116 -0.334275 -0.496562
 v 1.069813 -0.300527 -0.462890
 v 2.984418 -1.341838 0.444060
 v 1.069813 -1.274667 0.477627
 v 2.816526 -0.334166 0.578434
 v 1.271604 -1.173748 -0.462890
 v 3.018116 -0.703660 -0.496562
 v 2.547740 -1.409117 -0.462890
 v 2.984418 -1.375477 0.343147
 v 2.715631 -0.535896 0.578434
 v 1.943370 -0.300527 0.511089
 v 2.379848 -0.636489 -0.496562
 v 3.085313 -0.334275 0.040936
 v 2.917221 -1.409117 -0.127006
 v 3.118811 -0.468617 0.578434
 v 2.984418 -1.308306 -0.294948
 v 3.018116 -1.173748 0.477627
 v 1.439495 -1.341838 -0.395755
 v 1.540190 -0.300527 0.511089
 v 1.977069 -1.341838 0.444060
 v 2.950719 -0.838219 -0.496562
 v 2.312651 -0.334166 -0.496562
 v 1.741780 -1.341838 -0.462890
 f 100 109 111 
 f 82 83 85 
 f 85 84 87 
 f 84 85 90 
 f 85 83 90 
 f 85 87 92 
 f 84 90 94 
 f 88 93 98 
 f 82 85 99 
 f 94 90 100 
 f 89 95 100 
 f 83 82 101 
 f 89 83 101 
 f 93 88 101 
 f 95 89 101 
 f 82 99 101 
 f 99 93 101 
 f 87 96 102 
 f 96 86 102 
 f 86 97 102 
 f 88 98 103 
 f 101 88 103 
 f 95 101 103 
 f 86 95 104 
 f 81 97 104 
 f 97 86 104 
 f 103 81 104 
 f 95 103 104 
 f 92 91 105 
 f 97 81 105 
 f 91 97 105 
 f 98 92 105 
 f 81 103 105 
 f 103 98 105 
 f 87 84 106 
 f 84 96 106 
 f 96 87 106 
 f 85 92 107 
 f 92 98 107 
 f 98 93 107 
 f 99 85 107 
 f 93 99 107 
 f 91 92 108 
 f 92 87 108 
 f 97 91 108 
 f 87 102 108 
 f 102 97 108 
 f 95 86 109 
 f 86 96 109 
 f 100 95 109 
 f 83 89 110 
 f 90 83 110 
 f 89 100 110 
 f 100 90 110 
 f 84 94 111 
 f 96 84 111 
 f 94 100 111 
 f 109 96 111 
 o convex_3
 v -2.356513 -1.409117 0.074319
 v -2.726164 -0.199746 -0.530143
 v -2.726164 -0.199746 -0.563750
 v -1.046587 -0.233366 0.544699
 v -1.046587 -1.409117 -0.563750
 v -3.095615 -0.367727 0.443879
 v -1.046587 -1.375497 0.612028
 v -2.994728 -1.274637 -0.429322
 v -1.046587 -0.266986 -0.496536
 v -3.061919 -1.375497 0.477486
 v -2.961232 -0.199746 -0.563750
 v -2.994728 -0.905173 -0.496536
 v -1.147474 -1.207397 0.612028
 v -3.095615 -1.073154 0.477486
 v -2.927536 -1.308257 -0.429322
 v -1.214665 -0.233366 0.544699
 v -1.248361 -1.409117 -0.563750
 v -1.046587 -1.409117 0.175140
 v -3.061919 -0.300606 0.107926
 v -2.323017 -0.233366 -0.563750
 v -2.961232 -0.434967 -0.563750
 v -3.028424 -1.308257 -0.261404
 v -3.095615 -0.367727 0.276075
 v -1.046587 -1.207397 -0.563750
 v -2.591782 -0.334226 0.477486
 v -3.061919 -1.375497 0.276075
 v -1.046587 -0.233366 0.309682
 v -2.961232 -0.199746 -0.496536
 v -1.483429 -1.409117 -0.530143
 v -2.726164 -1.308257 -0.462929
 v -2.726164 -1.375497 0.511207
 v -2.994728 -0.233366 -0.462929
 v -1.516925 -0.266986 -0.530143
 v -3.095615 -1.207516 0.410272
 f 133 137 145 
 f 114 113 115 
 f 116 115 118 
 f 115 116 120 
 f 113 114 122 
 f 114 116 122 
 f 118 115 124 
 f 124 115 127 
 f 116 112 128 
 f 122 116 128 
 f 112 116 129 
 f 116 118 129 
 f 117 127 130 
 f 116 114 131 
 f 114 120 131 
 f 123 122 132 
 f 122 128 132 
 f 123 119 133 
 f 119 126 133 
 f 125 117 134 
 f 117 130 134 
 f 123 133 134 
 f 120 116 135 
 f 116 131 135 
 f 125 124 136 
 f 117 125 136 
 f 127 117 136 
 f 124 127 136 
 f 112 121 137 
 f 126 112 137 
 f 133 126 137 
 f 114 115 138 
 f 120 114 138 
 f 115 120 138 
 f 115 113 139 
 f 113 122 139 
 f 127 115 139 
 f 122 130 139 
 f 130 127 139 
 f 112 126 140 
 f 128 112 140 
 f 128 140 141 
 f 119 123 141 
 f 126 119 141 
 f 123 132 141 
 f 132 128 141 
 f 140 126 141 
 f 121 112 142 
 f 118 124 142 
 f 125 121 142 
 f 124 125 142 
 f 112 129 142 
 f 129 118 142 
 f 122 123 143 
 f 130 122 143 
 f 123 134 143 
 f 134 130 143 
 f 131 120 144 
 f 120 135 144 
 f 135 131 144 
 f 121 125 145 
 f 125 134 145 
 f 134 133 145 
 f 137 121 145 
 o convex_4
 v -1.046587 -0.737330 -0.530156
 v 1.069813 -1.140315 1.082339
 v 1.069605 -0.166152 1.082339
 v 1.036045 -0.300606 -1.033982
 v -1.012819 -0.166152 1.048666
 v -0.945697 -1.442711 -1.033982
 v -0.945697 -1.442711 1.082339
 v 1.002484 -1.442711 -1.033982
 v -0.979258 -0.166152 -1.067654
 v 1.069813 -1.442711 1.082339
 v 1.036045 -0.166152 -1.000099
 v -1.046587 -1.375484 0.611975
 v 1.069813 -1.308257 -0.429138
 v -1.046587 -1.409097 -0.563618
 v -1.046587 -0.166152 0.678899
 v -0.911929 -1.140315 -1.067654
 v 1.069605 -0.300731 -0.462811
 v -1.046587 -0.266992 -0.496483
 v 0.565780 -0.166152 1.082339
 v -0.979258 -1.442711 1.048666
 v -0.710565 -0.166152 -1.067654
 v 1.036045 -1.073088 -1.033982
 f 153 166 167 
 f 147 148 152 
 f 152 151 153 
 f 150 148 154 
 f 147 152 155 
 f 152 153 155 
 f 154 148 156 
 f 147 155 158 
 f 155 153 158 
 f 146 154 159 
 f 154 151 159 
 f 157 146 159 
 f 150 154 160 
 f 146 157 160 
 f 157 150 160 
 f 153 151 161 
 f 151 154 161 
 f 148 147 162 
 f 156 148 162 
 f 149 156 162 
 f 147 158 162 
 f 154 146 163 
 f 146 160 163 
 f 160 154 163 
 f 148 150 164 
 f 152 148 164 
 f 150 152 164 
 f 152 150 165 
 f 151 152 165 
 f 150 157 165 
 f 159 151 165 
 f 157 159 165 
 f 156 149 166 
 f 154 156 166 
 f 153 161 166 
 f 161 154 166 
 f 158 153 167 
 f 149 162 167 
 f 162 158 167 
 f 166 149 167 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf
@@ -0,0 +1,31 @@
 <robot name="blob001">
  <link name="random_obj_001">
    <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="001.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.38 0.01 0.07 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="001.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj
@@ -0,0 +1,540 @@
 o convex_0
 v 2.374328 0.799649 1.088873
 v 2.335068 -0.218424 -1.025047
 v 3.431175 -0.179101 -1.103388
 v 1.826274 1.817308 -1.064325
 v 3.509497 1.817515 1.049810
 v 3.548758 1.817515 -1.103388
 v 3.509497 -0.179101 1.010532
 v 1.630370 -0.218424 1.088873
 v 1.630370 1.895956 1.010532
 v 1.630370 -0.218424 -0.946706
 v 3.666141 -0.179101 -1.103388
 v 1.630370 1.817308 -1.025047
 v 2.804800 -0.218424 1.049810
 v 2.374328 1.895956 0.971254
 v 1.630370 1.895956 0.266614
 v 3.548758 -0.179101 0.814787
 v 1.630370 1.543283 1.049810
 v 3.509497 0.643181 1.049810
 v 3.196409 1.856632 1.049810
 v 1.630370 0.995233 -1.025047
 v 3.548758 1.817515 -0.477089
 v 2.961443 1.817515 -1.103388
 v 3.666141 -0.100660 -1.025047
 v 2.765738 -0.218424 -1.025047
 v 2.061240 -0.179101 1.088873
 v 3.548758 1.386609 0.579979
 v 1.630370 1.856632 -0.555215
 v 2.335068 1.856632 1.049810
 v 1.747952 -0.179101 -0.985984
 v 3.157148 -0.139984 1.049810
 v 1.630370 0.447390 1.088873
 v 3.587819 1.308375 -1.103388
 v 3.548758 0.095131 0.814787
 f 23 26 33 
 f 8 9 10 
 f 2 8 10 
 f 2 3 11 
 f 3 6 11 
 f 10 9 12 
 f 8 2 13 
 f 9 14 15 
 f 12 9 15 
 f 14 6 15 
 f 7 13 16 
 f 13 11 16 
 f 9 8 17 
 f 5 1 18 
 f 16 5 18 
 f 7 16 18 
 f 1 5 19 
 f 6 14 19 
 f 14 9 19 
 f 4 3 20 
 f 12 4 20 
 f 10 12 20 
 f 19 5 21 
 f 6 19 21 
 f 3 4 22 
 f 6 3 22 
 f 16 11 23 
 f 2 11 24 
 f 13 2 24 
 f 11 13 24 
 f 1 8 25 
 f 8 13 25 
 f 18 1 25 
 f 21 5 26 
 f 23 21 26 
 f 4 12 27 
 f 15 6 27 
 f 12 15 27 
 f 22 4 27 
 f 6 22 27 
 f 17 1 28 
 f 9 17 28 
 f 1 19 28 
 f 19 9 28 
 f 3 2 29 
 f 2 10 29 
 f 20 3 29 
 f 10 20 29 
 f 13 7 30 
 f 7 18 30 
 f 25 13 30 
 f 18 25 30 
 f 8 1 31 
 f 1 17 31 
 f 17 8 31 
 f 11 6 32 
 f 6 21 32 
 f 23 11 32 
 f 21 23 32 
 f 5 16 33 
 f 16 23 33 
 f 26 5 33 
 o convex_1
 v -1.189010 -2.215534 0.188488
 v -1.737018 -3.977127 0.188488
 v -1.697813 -4.094593 -0.163778
 v -1.149805 -4.172772 0.227658
 v -1.384748 -2.215534 -0.242173
 v -1.737018 -2.215534 0.266829
 v -1.228158 -4.212254 -0.281344
 v -1.658666 -2.215534 -0.242173
 v -1.189010 -2.215534 -0.202949
 v -1.697813 -4.212254 0.227658
 v -1.737018 -2.607216 0.031859
 v -1.502076 -3.076883 -0.281344
 v -1.697813 -3.977127 -0.202949
 v -1.189010 -4.212254 -0.202949
 v -1.149805 -3.546355 0.227658
 v -1.737018 -3.076883 0.266829
 v -1.619518 -2.215534 0.266829
 v -1.149805 -3.428889 0.071030
 v -1.228158 -3.585445 -0.281344
 v -1.306453 -4.212254 -0.281344
 v -1.189010 -2.842148 -0.242173
 f 40 52 54 
 f 34 38 39 
 f 39 38 41 
 f 38 34 42 
 f 35 36 43 
 f 35 39 44 
 f 39 41 44 
 f 41 38 45 
 f 41 45 46 
 f 36 35 46 
 f 35 44 46 
 f 44 41 46 
 f 37 43 47 
 f 43 40 47 
 f 39 35 49 
 f 35 43 49 
 f 43 37 49 
 f 34 39 50 
 f 37 48 50 
 f 48 34 50 
 f 39 49 50 
 f 49 37 50 
 f 42 34 51 
 f 37 47 51 
 f 48 37 51 
 f 34 48 51 
 f 40 45 52 
 f 45 38 52 
 f 43 36 53 
 f 40 43 53 
 f 45 40 53 
 f 46 45 53 
 f 36 46 53 
 f 38 42 54 
 f 47 40 54 
 f 42 51 54 
 f 51 47 54 
 f 52 38 54 
 o convex_2
 v -1.658602 -2.215339 -0.516152
 v -1.384752 2.912902 1.088873
 v -1.502228 2.912902 1.088873
 v -0.758278 3.814544 -1.103388
 v -2.441839 3.853408 -0.946921
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 v -2.441839 -2.137013 0.971469
 v -0.562420 -2.175877 -0.946706
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 v -2.480933 -2.058089 -0.946921
 v -2.402551 3.892870 1.049595
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 v -2.402551 -0.648227 1.088873
 v -2.285075 -0.100545 -1.025262
 v -0.562420 -0.256598 -1.064325
 v -2.520026 1.856402 0.853850
 v -2.559120 2.248030 -0.946921
 v -0.562616 2.483007 1.088873
 v -2.480933 -2.137013 -0.046106
 v -2.324168 3.853408 -0.985769
 v -1.619508 3.892870 -0.320192
 v -2.480933 -2.137013 -0.907643
 v -1.736984 -2.215339 0.266614
 v -0.797372 -2.215339 -0.750961
 v -0.562616 3.853408 -0.868365
 v -2.441839 -1.979764 1.010532
 v -2.441839 3.422318 1.010532
 v -2.559120 1.543099 -0.946921
 v -0.601709 3.696159 1.010532
 v -2.441839 3.853408 -0.046106
 v -0.875754 -0.140007 -1.064325
 v -2.480933 1.307524 1.010532
 v -2.520026 0.877630 -0.985984
 v -0.954137 -2.137013 1.088873
 v -2.285075 -2.175877 -0.750961
 v -2.402551 3.892870 -0.203003
 v -0.562616 3.892870 0.031591
 v -1.658602 -2.175877 -0.946706
 v -1.306565 3.853408 -1.064325
 v -2.402551 0.212758 1.088873
 v -0.601709 2.991826 -1.103388
 v -0.758278 -1.667059 -0.985769
 v -1.189089 -2.215339 0.188273
 v -2.128505 3.892870 1.049595
 v -2.480933 3.461780 -0.946921
 v -2.285075 0.134432 -1.025262
 v -2.480933 -1.000992 -0.985984
 v -2.559120 2.248030 -0.829302
 v -1.854460 -2.215339 -0.359470
 f 90 55 104 
 f 56 57 60 
 f 57 56 65 
 f 60 57 68 
 f 60 62 70 
 f 63 60 70 
 f 56 60 73 
 f 60 63 73 
 f 61 71 74 
 f 71 66 74 
 f 65 63 76 
 f 60 61 78 
 f 62 60 79 
 f 78 55 79 
 f 70 67 80 
 f 71 61 81 
 f 66 71 82 
 f 66 72 83 
 f 74 66 83 
 f 64 77 83 
 f 77 74 83 
 f 56 73 84 
 f 73 63 84 
 f 65 59 85 
 f 82 65 85 
 f 64 69 86 
 f 70 64 86 
 f 81 68 87 
 f 71 81 87 
 f 82 71 87 
 f 65 82 87 
 f 83 72 88 
 f 61 60 89 
 f 60 68 89 
 f 81 61 89 
 f 68 81 89 
 f 61 74 90 
 f 74 77 90 
 f 59 65 91 
 f 75 59 91 
 f 65 76 91 
 f 76 75 91 
 f 63 70 92 
 f 76 63 92 
 f 70 80 92 
 f 80 76 92 
 f 77 64 93 
 f 62 79 93 
 f 79 55 93 
 f 90 77 93 
 f 55 90 93 
 f 67 58 94 
 f 75 76 94 
 f 80 67 94 
 f 76 80 94 
 f 57 65 95 
 f 68 57 95 
 f 65 87 95 
 f 87 68 95 
 f 58 67 96 
 f 69 58 96 
 f 67 70 96 
 f 86 69 96 
 f 70 86 96 
 f 70 62 97 
 f 64 70 97 
 f 62 93 97 
 f 93 64 97 
 f 60 78 98 
 f 79 60 98 
 f 78 79 98 
 f 65 56 99 
 f 63 65 99 
 f 56 84 99 
 f 84 63 99 
 f 59 75 100 
 f 85 59 100 
 f 75 88 100 
 f 88 72 100 
 f 58 69 101 
 f 69 88 101 
 f 88 75 101 
 f 94 58 101 
 f 75 94 101 
 f 69 64 102 
 f 64 83 102 
 f 88 69 102 
 f 83 88 102 
 f 72 66 103 
 f 66 82 103 
 f 82 85 103 
 f 85 100 103 
 f 100 72 103 
 f 55 78 104 
 f 78 61 104 
 f 61 90 104 
 o convex_3
 v -0.523250 2.952164 -1.103388
 v -0.523250 2.482609 1.088873
 v -0.562401 2.482609 1.088873
 v -0.523250 -4.251409 -1.025262
 v -0.366644 -4.211548 1.010532
 v -0.366644 1.816940 -1.064325
 v -0.405815 3.892870 0.971254
 v -0.562401 -2.606768 1.088873
 v -0.366644 -4.251409 -1.025262
 v -0.562420 3.813946 -1.103388
 v -0.366644 1.816940 1.088873
 v -0.562401 -2.175478 -0.946706
 v -0.562420 3.892870 0.971254
 v -0.523250 3.813946 -1.103388
 v -0.444985 -4.211548 0.579764
 v -0.523250 -4.251409 -0.515938
 v -0.366644 -2.723958 1.088873
 v -0.444985 3.892870 0.148995
 v -0.444985 -3.820119 1.049595
 v -0.562401 -0.256599 -1.064325
 v -0.405815 3.892870 0.814787
 v -0.366644 -0.140206 -1.064325
 v -0.405815 3.579567 1.010532
 f 111 117 127 
 f 106 107 112 
 f 108 105 113 
 f 110 109 113 
 f 109 110 115 
 f 110 111 115 
 f 106 112 115 
 f 108 112 116 
 f 112 114 116 
 f 112 107 117 
 f 114 112 117 
 f 110 105 118 
 f 105 114 118 
 f 119 112 120 
 f 112 108 120 
 f 108 113 120 
 f 113 109 120 
 f 109 119 120 
 f 109 115 121 
 f 115 112 121 
 f 117 111 122 
 f 114 117 122 
 f 110 118 122 
 f 118 114 122 
 f 119 109 123 
 f 112 119 123 
 f 109 121 123 
 f 121 112 123 
 f 105 108 124 
 f 114 105 124 
 f 108 116 124 
 f 116 114 124 
 f 111 110 125 
 f 110 122 125 
 f 122 111 125 
 f 105 110 126 
 f 113 105 126 
 f 110 113 126 
 f 107 106 127 
 f 115 111 127 
 f 106 115 127 
 f 117 107 127 
 o convex_4
 v 0.494981 1.112745 -1.064447
 v 0.416598 1.856387 1.089088
 v 1.630263 0.446616 1.088877
 v -0.366644 -4.212047 1.010459
 v 1.630263 -4.251409 -0.946821
 v -0.366644 -4.251409 -1.025028
 v -0.366644 1.817630 -1.064447
 v 1.630263 1.817024 -1.025239
 v 1.512786 -4.212047 1.010459
 v -0.366644 1.817024 1.089088
 v 1.551880 1.935111 1.010459
 v -0.366644 -2.723551 1.089088
 v 0.338216 1.935111 -0.281324
 v 0.220739 -4.251409 -1.025028
 v 1.630263 -4.251409 -0.437738
 v 1.630263 1.895749 1.010459
 v 1.630263 -0.218907 1.088877
 v 1.630263 1.034020 -1.025239
 v 1.473497 -1.119998 1.088877
 v -0.366644 -0.101426 -1.064447
 v -0.366644 -4.251409 -0.163698
 v 0.338216 1.935111 0.305754
 v 1.081973 -4.251409 -0.986030
 v 0.807926 1.935111 -0.202907
 v -0.209878 -3.781485 1.049668
 v 1.590974 -4.251409 -0.007073
 v 0.807926 -3.507161 1.049668
 v 0.690450 1.817024 -1.064447
 v 1.630263 1.503944 1.049668
 v 1.630263 1.855781 -0.594363
 v 0.025075 1.856387 1.089088
 v -0.014019 -2.646038 1.089088
 f 152 154 159 
 f 133 131 134 
 f 130 132 135 
 f 134 131 137 
 f 129 137 139 
 f 137 131 139 
 f 132 133 141 
 f 132 130 142 
 f 133 132 142 
 f 130 135 143 
 f 138 129 143 
 f 130 129 144 
 f 142 130 144 
 f 136 142 144 
 f 135 132 145 
 f 136 144 146 
 f 134 128 147 
 f 133 134 147 
 f 128 141 147 
 f 141 133 147 
 f 131 133 148 
 f 133 142 148 
 f 134 137 149 
 f 140 134 149 
 f 138 140 149 
 f 132 141 150 
 f 145 132 150 
 f 141 145 150 
 f 135 140 151 
 f 140 138 151 
 f 131 136 152 
 f 139 131 152 
 f 136 131 153 
 f 142 136 153 
 f 131 148 153 
 f 148 142 153 
 f 136 146 154 
 f 152 136 154 
 f 128 134 155 
 f 134 140 155 
 f 140 135 155 
 f 141 128 155 
 f 135 145 155 
 f 145 141 155 
 f 129 130 156 
 f 130 143 156 
 f 143 129 156 
 f 143 135 157 
 f 138 143 157 
 f 135 151 157 
 f 151 138 157 
 f 137 129 158 
 f 129 138 158 
 f 149 137 158 
 f 138 149 158 
 f 129 139 159 
 f 144 129 159 
 f 146 144 159 
 f 139 152 159 
 f 154 146 159 
 o convex_5
 v 0.416555 3.579391 -0.281344
 v 0.494858 3.148741 0.345139
 v 0.455649 3.148741 0.345139
 v 0.338253 1.935509 -0.281344
 v 0.808011 1.935509 -0.202972
 v 0.768803 3.970981 0.266768
 v 0.768803 1.935509 0.345139
 v 0.220684 3.931723 0.305953
 v 0.338253 1.935509 0.305953
 v 0.729651 3.892663 -0.202972
 v 0.220684 3.814345 -0.281344
 v 0.220684 3.227059 -0.085476
 v 0.299044 2.013628 0.227643
 v 0.808011 2.013628 0.305953
 v 0.808011 2.796808 -0.046351
 v 0.299044 2.013628 -0.281344
 v 0.494858 2.561854 -0.281344
 v 0.651349 3.853405 -0.242097
 v 0.377347 3.970981 0.305953
 v 0.768803 3.931723 -0.007165
 v 0.768803 2.405218 0.345139
 v 0.533837 1.935509 0.345139
 v 0.768803 3.383696 -0.202972
 v 0.690442 1.935509 -0.242097
 v 0.299044 2.091946 0.305953
 v 0.220684 3.892663 -0.046351
 v 0.220684 3.227059 -0.281344
 f 175 171 186 
 f 161 162 166 
 f 163 164 166 
 f 163 166 168 
 f 160 163 170 
 f 167 170 171 
 f 163 168 172 
 f 166 164 173 
 f 173 164 174 
 f 165 173 174 
 f 170 163 175 
 f 163 172 175 
 f 172 171 175 
 f 163 160 176 
 f 170 169 177 
 f 160 170 177 
 f 176 160 177 
 f 162 161 178 
 f 161 165 178 
 f 167 162 178 
 f 165 174 179 
 f 178 165 179 
 f 169 178 179 
 f 165 161 180 
 f 161 166 180 
 f 173 165 180 
 f 166 173 180 
 f 166 162 181 
 f 168 166 181 
 f 174 164 182 
 f 164 177 182 
 f 177 169 182 
 f 169 179 182 
 f 179 174 182 
 f 164 163 183 
 f 163 176 183 
 f 177 164 183 
 f 176 177 183 
 f 162 167 184 
 f 167 171 184 
 f 172 168 184 
 f 171 172 184 
 f 181 162 184 
 f 168 181 184 
 f 170 167 185 
 f 169 170 185 
 f 167 178 185 
 f 178 169 185 
 f 171 170 186 
 f 170 175 186 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf
@@ -0,0 +1,31 @@
 <robot name="blob002">
  <link name="random_obj_002">
    <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="002.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.41 0.59 0.20 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="002.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj
@@ -0,0 +1,414 @@
 o convex_0
 v 0.903918 3.489738 0.788438
 v -1.072678 -0.957746 -1.033597
 v 0.347946 -0.957746 -1.064680
 v 0.502287 -0.957746 1.066520
 v -1.041553 3.397237 1.035437
 v -1.072678 3.458612 -1.002722
 v 1.058473 3.489738 -0.971847
 v -1.010856 -0.957746 1.004562
 v 1.027562 -0.957746 0.973687
 v 0.965740 -0.957746 -1.033388
 v 1.120296 3.459050 1.004562
 v 0.749576 0.339894 -1.064680
 v 0.100872 3.520864 0.294231
 v -1.072678 -0.710054 -0.323266
 v 1.027562 -0.895494 0.479480
 v -1.072678 1.821657 -1.033597
 v 0.471591 3.489738 -1.002722
 v 0.625932 0.154454 1.066520
 v -1.041767 1.636656 1.035437
 v -1.072678 3.458612 -0.354141
 v 0.996651 0.031266 -1.033388
 v -0.300329 3.427924 1.035437
 v 1.120296 3.397237 0.881062
 v -1.010856 0.216267 1.035437
 v -1.041767 -0.926181 0.664729
 v 0.255428 -0.957746 1.066520
 v 0.996651 3.149546 -1.002722
 v 0.533198 3.520864 -0.261308
 v 1.089384 1.636218 1.004562
 v -1.072678 3.427924 -0.168683
 v 0.378857 3.520864 0.479480
 v -1.041553 3.427924 0.602980
 v 1.058473 3.273172 -0.940972
 v 1.058473 -0.030547 0.942812
 v 0.996651 -0.926620 -0.477432
 v 0.625932 -0.957746 -1.064680
 v 0.039264 3.489738 -1.002722
 v -0.547404 3.427924 1.035437
 v 1.058473 3.489738 -0.045184
 v 0.873006 1.914158 1.035437
 v 0.533198 3.459050 1.004562
 v -1.072678 -0.957746 -0.384807
 v 0.625932 -0.030547 1.066520
 f 29 11 43 
 f 2 3 4 
 f 2 4 8 
 f 4 3 9 
 f 9 3 10 
 f 6 2 14 
 f 3 2 16 
 f 2 6 16 
 f 12 3 16 
 f 6 12 16 
 f 13 6 20 
 f 6 14 20 
 f 10 12 21 
 f 7 11 23 
 f 19 8 24 
 f 8 19 25 
 f 19 14 25 
 f 8 4 26 
 f 4 18 26 
 f 18 5 26 
 f 5 19 26 
 f 24 8 26 
 f 19 24 26 
 f 12 17 27 
 f 17 7 27 
 f 7 21 27 
 f 21 12 27 
 f 6 13 28 
 f 7 17 28 
 f 23 11 29 
 f 19 5 30 
 f 14 19 30 
 f 5 20 30 
 f 20 14 30 
 f 1 28 31 
 f 28 13 31 
 f 5 13 32 
 f 20 5 32 
 f 13 20 32 
 f 21 7 33 
 f 7 23 33 
 f 23 21 33 
 f 9 15 34 
 f 29 9 34 
 f 23 29 34 
 f 9 10 35 
 f 15 9 35 
 f 10 21 35 
 f 21 23 35 
 f 34 15 35 
 f 23 34 35 
 f 10 3 36 
 f 3 12 36 
 f 12 10 36 
 f 12 6 37 
 f 17 12 37 
 f 6 28 37 
 f 28 17 37 
 f 13 5 38 
 f 5 18 38 
 f 22 11 38 
 f 18 22 38 
 f 31 13 38 
 f 1 11 39 
 f 11 7 39 
 f 28 1 39 
 f 7 28 39 
 f 18 11 40 
 f 11 22 40 
 f 22 18 40 
 f 11 1 41 
 f 1 31 41 
 f 38 11 41 
 f 31 38 41 
 f 2 8 42 
 f 14 2 42 
 f 8 25 42 
 f 25 14 42 
 f 4 9 43 
 f 18 4 43 
 f 11 18 43 
 f 9 29 43 
 o convex_1
 v -0.176905 -1.050570 2.981342
 v 0.440758 -2.069567 1.808025
 v 0.502556 -2.069567 1.808025
 v -0.578487 -1.019665 1.066520
 v -0.454785 -2.069567 2.919683
 v 0.440758 -0.957963 3.012072
 v 0.440758 -1.081475 1.066520
 v -0.485790 -2.038662 1.066520
 v 0.471657 -2.069567 3.105059
 v 0.502556 -2.038662 1.066520
 v -0.454785 -1.112271 2.950613
 v -0.362088 -2.069567 3.012072
 v 0.162667 -0.957963 2.487072
 v -0.578487 -1.112271 1.313954
 v 0.502556 -1.760734 1.066520
 v -0.485790 -1.112271 2.857625
 v 0.471657 -1.575412 3.074130
 v -0.300396 -1.019665 1.066520
 v 0.471657 -1.266688 1.066520
 v -0.516583 -1.822435 1.128578
 v 0.131874 -0.988759 3.012072
 v 0.378854 -2.038662 3.105059
 v 0.440758 -0.957963 2.734307
 v 0.471657 -1.297593 2.456143
 v -0.454785 -1.513711 2.981342
 v -0.578487 -1.019665 1.190237
 v 0.378854 -1.019665 3.043001
 v -0.300396 -1.112271 2.981342
 v 0.502556 -2.007757 2.024131
 v -0.578487 -1.204986 1.128578
 v -0.393093 -1.081475 2.857625
 v 0.440758 -1.050570 1.406343
 v -0.454785 -2.007757 2.981342
 v -0.207804 -0.988759 1.591919
 f 66 75 77 
 f 45 46 48 
 f 46 45 51 
 f 45 48 51 
 f 47 50 51 
 f 48 46 52 
 f 46 51 53 
 f 51 50 53 
 f 48 52 55 
 f 46 53 58 
 f 53 50 58 
 f 50 47 61 
 f 58 50 62 
 f 51 48 63 
 f 49 56 64 
 f 55 52 65 
 f 56 49 66 
 f 49 62 66 
 f 49 60 67 
 f 62 49 67 
 f 58 62 67 
 f 54 59 68 
 f 55 65 68 
 f 47 57 69 
 f 57 59 69 
 f 64 56 69 
 f 60 49 70 
 f 52 60 70 
 f 49 64 70 
 f 65 52 70 
 f 44 54 71 
 f 64 44 71 
 f 54 68 71 
 f 68 65 71 
 f 70 64 71 
 f 65 70 71 
 f 52 46 72 
 f 46 58 72 
 f 60 52 72 
 f 58 67 72 
 f 67 60 72 
 f 47 51 73 
 f 57 47 73 
 f 48 57 73 
 f 51 63 73 
 f 63 48 73 
 f 54 44 74 
 f 59 54 74 
 f 44 64 74 
 f 69 59 74 
 f 64 69 74 
 f 50 61 75 
 f 62 50 75 
 f 66 62 75 
 f 48 55 76 
 f 57 48 76 
 f 59 57 76 
 f 55 68 76 
 f 68 59 76 
 f 61 47 77 
 f 56 66 77 
 f 47 69 77 
 f 69 56 77 
 f 75 61 77 
 o convex_2
 v -0.176866 -0.957864 -1.064680
 v 0.409868 -2.162219 -3.072333
 v -0.516713 -2.162101 -3.010429
 v 0.564243 -2.131329 -1.064680
 v 0.440743 -1.050534 -2.948721
 v -0.485726 -2.069549 -1.064680
 v -0.485726 -1.050534 -3.072333
 v 0.626104 -1.019526 -1.064680
 v -0.516713 -0.957864 -1.064680
 v 0.564243 -2.162219 -3.072333
 v 0.348007 -1.019644 -2.701302
 v 0.533368 -2.162219 -1.620833
 v -0.516713 -0.988753 -2.022324
 v 0.533368 -1.019526 -2.176396
 v 0.193632 -2.131329 -1.064680
 v -0.516713 -2.162101 -2.670645
 v -0.516713 -1.698869 -1.064680
 v 0.595118 -1.853319 -1.064680
 v -0.516713 -2.038659 -3.041282
 v 0.533368 -1.791539 -3.041282
 v -0.269491 -0.957864 -1.404464
 v 0.471618 -1.050534 -2.886817
 v -0.392990 -1.050534 -3.072333
 v 0.564243 -2.100439 -3.072333
 v 0.348007 -0.988753 -1.157438
 v -0.516713 -1.729759 -3.041282
 v -0.485726 -2.100439 -1.435514
 v 0.193632 -2.162101 -3.072333
 v 0.626104 -1.019526 -1.126584
 v -0.485726 -1.019644 -2.670645
 v 0.533368 -1.976879 -3.072333
 v -0.516713 -1.019644 -2.300008
 f 103 90 109 
 f 81 78 83 
 f 78 81 85 
 f 83 78 86 
 f 79 84 87 
 f 79 87 89 
 f 87 81 89 
 f 80 86 90 
 f 81 83 92 
 f 89 81 92 
 f 89 92 93 
 f 80 79 93 
 f 86 80 93 
 f 79 89 93 
 f 86 93 94 
 f 83 86 94 
 f 93 83 94 
 f 85 81 95 
 f 81 87 95 
 f 80 90 96 
 f 86 78 98 
 f 90 86 98 
 f 91 88 98 
 f 82 88 99 
 f 88 91 99 
 f 97 82 99 
 f 87 84 100 
 f 88 82 100 
 f 84 88 100 
 f 99 91 101 
 f 97 99 101 
 f 87 100 101 
 f 78 85 102 
 f 98 78 102 
 f 91 98 102 
 f 84 96 103 
 f 96 90 103 
 f 92 83 104 
 f 93 92 104 
 f 83 93 104 
 f 79 80 105 
 f 84 79 105 
 f 80 96 105 
 f 96 84 105 
 f 85 95 106 
 f 95 87 106 
 f 87 101 106 
 f 101 91 106 
 f 102 85 106 
 f 91 102 106 
 f 88 84 107 
 f 84 90 107 
 f 90 98 107 
 f 98 88 107 
 f 82 97 108 
 f 100 82 108 
 f 97 101 108 
 f 101 100 108 
 f 90 84 109 
 f 84 103 109 
 o convex_3
 v -0.856403 -2.532835 -1.033388
 v 1.027580 -0.958078 0.973687
 v 1.027580 -1.699072 0.973687
 v -1.010797 -2.625439 1.004562
 v -1.072679 -0.958078 -1.033388
 v 0.934861 -2.656362 -1.064680
 v 0.965699 -0.958078 -1.033388
 v -1.010797 -0.958078 1.004562
 v 0.996537 -2.656362 0.973687
 v -1.072679 -2.501912 -1.033388
 v 0.502516 -2.038729 1.066520
 v -0.578452 -1.019758 1.066520
 v -0.887241 -2.656362 1.004562
 v -0.516570 -0.958078 -1.064680
 v -1.072679 -0.958078 -0.384807
 v 0.502516 -0.958078 1.066520
 v -0.084019 -2.594516 -1.064680
 v -0.485733 -2.038729 1.066520
 v 0.626072 -0.958078 -1.064680
 v -1.041635 -2.594516 0.417731
 v 0.965699 -2.625439 -0.477432
 v 0.996537 -1.019758 -0.415682
 v -1.041635 -0.958078 0.634063
 v -1.010797 -2.625439 0.510355
 v 0.718791 -2.656362 -1.064680
 v 0.965699 -1.668315 -1.033388
 v 0.378753 -2.656362 1.004562
 v -1.072679 -2.532835 -0.601140
 v 0.996537 -2.656362 0.541439
 v -0.485733 -2.069486 -1.064680
 v 1.027580 -0.988835 0.541439
 v -0.794522 -2.378386 1.035437
 v -1.072679 -2.532835 -0.786389
 f 129 137 142 
 f 114 111 116 
 f 111 114 117 
 f 112 111 120 
 f 118 112 120 
 f 117 113 121 
 f 115 118 122 
 f 114 116 123 
 f 119 114 123 
 f 117 114 124 
 f 114 119 124 
 f 111 117 125 
 f 120 111 125 
 f 117 121 125 
 f 121 120 125 
 f 110 119 126 
 f 123 115 126 
 f 120 121 127 
 f 116 115 128 
 f 123 116 128 
 f 115 123 128 
 f 113 117 132 
 f 117 124 132 
 f 129 113 132 
 f 124 129 132 
 f 122 113 133 
 f 113 129 133 
 f 115 122 134 
 f 126 115 134 
 f 122 133 134 
 f 133 126 134 
 f 115 116 135 
 f 130 115 135 
 f 116 131 135 
 f 118 120 136 
 f 122 118 136 
 f 124 119 137 
 f 129 124 137 
 f 112 118 138 
 f 118 115 138 
 f 115 130 138 
 f 119 123 139 
 f 126 119 139 
 f 123 126 139 
 f 111 112 140 
 f 116 111 140 
 f 131 116 140 
 f 130 135 140 
 f 135 131 140 
 f 112 138 140 
 f 138 130 140 
 f 121 113 141 
 f 113 122 141 
 f 127 121 141 
 f 120 127 141 
 f 136 120 141 
 f 122 136 141 
 f 119 110 142 
 f 110 126 142 
 f 126 133 142 
 f 133 129 142 
 f 137 119 142 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf
@@ -0,0 +1,31 @@
 <robot name="blob003">
  <link name="random_obj_003">
    <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="003.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.92 0.24 0.47 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="003.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj
@@ -0,0 +1,567 @@
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 f 11 10 27 
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 o convex_2
 v 0.533012 -2.946574 0.700697
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 v 1.093642 -2.465985 -0.659264
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 o convex_3
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 o convex_5
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 f 177 176 179 
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 f 174 182 190 
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 f 188 179 194 
 f 180 188 194 
 f 176 175 195 
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 f 185 186 195 
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 f 192 176 195 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf
@@ -0,0 +1,31 @@
 <robot name="blob004">
  <link name="random_obj_004">
    <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>
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      <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="004.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.72 0.89 0.58 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="004.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj
@@ -0,0 +1,420 @@
 o convex_0
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 f 5 31 36 
 f 31 27 36 
 f 9 8 37 
 f 4 9 37 
 f 23 4 37 
 f 8 25 37 
 f 25 23 37 
 f 8 15 38 
 f 15 1 38 
 f 14 19 38 
 f 25 8 38 
 f 19 25 38 
 f 12 6 39 
 f 18 20 39 
 f 6 29 39 
 f 29 18 39 
 f 34 12 39 
 f 20 34 39 
 f 26 7 40 
 f 6 28 40 
 f 28 26 40 
 f 32 6 40 
 f 7 32 40 
 f 7 19 41 
 f 19 14 41 
 f 1 21 41 
 f 21 7 41 
 f 38 1 41 
 f 14 38 41 
 f 7 13 42 
 f 19 7 42 
 f 13 23 42 
 o convex_1
 v 1.526965 -1.818886 -1.118672
 v 0.287570 1.355519 1.050542
 v 0.248728 1.355519 1.050542
 v 0.248728 4.184155 -1.118672
 v 1.604452 4.261801 0.973040
 v -0.409811 -1.857709 -1.002312
 v 1.604452 -1.897139 1.011685
 v -0.409811 4.067685 0.934183
 v -0.409811 -1.935355 0.934183
 v 1.526965 4.183548 -1.118672
 v -0.409811 4.184155 -1.079815
 v 1.604452 -1.818886 -1.079602
 v -0.409811 -0.308420 1.011685
 v -0.409811 1.782575 -1.079815
 v 1.604452 -0.501929 1.050542
 v 1.565610 4.183548 -0.924810
 v -0.409811 2.866592 1.011685
 v 0.558676 -1.857709 -1.079602
 v 1.604452 3.331257 1.011685
 v 0.520031 4.183548 0.973040
 v 1.604452 0.118029 -1.002100
 v -0.215995 -1.935355 0.973040
 v 1.255860 -1.818886 -1.118672
 v 1.604452 -1.857709 -0.692303
 v 1.565610 1.008537 1.050542
 v 1.565610 4.261801 0.508239
 v 0.790939 3.525373 1.011685
 v -0.138509 -1.857709 -1.041170
 v -0.409811 4.184155 -0.769805
 v 1.333149 4.261801 0.973040
 v 1.139531 -1.897139 1.011685
 v -0.332324 4.105902 0.934183
 v 1.604452 -1.897139 0.546884
 v -0.332324 -1.935355 0.818036
 v 1.604452 4.261801 0.818036
 v -0.409811 -1.896532 -0.305004
 v -0.370969 3.718883 0.973040
 v 0.868228 0.233892 1.050542
 v -0.409811 -1.741846 0.972828
 v 1.565610 -1.664199 -1.118672
 f 52 54 82 
 f 50 48 51 
 f 43 46 52 
 f 48 50 53 
 f 47 49 54 
 f 50 51 55 
 f 53 46 56 
 f 48 53 56 
 f 44 45 57 
 f 49 47 57 
 f 55 45 59 
 f 50 55 59 
 f 57 47 61 
 f 47 54 63 
 f 54 52 63 
 f 52 58 63 
 f 46 43 65 
 f 56 46 65 
 f 43 60 65 
 f 54 49 66 
 f 43 54 66 
 f 60 43 66 
 f 44 57 67 
 f 61 44 67 
 f 57 61 67 
 f 52 46 68 
 f 46 53 68 
 f 58 52 68 
 f 45 44 69 
 f 59 45 69 
 f 44 61 69 
 f 61 47 69 
 f 48 56 70 
 f 56 65 70 
 f 65 60 70 
 f 53 50 71 
 f 68 53 72 
 f 47 68 72 
 f 69 47 72 
 f 62 69 72 
 f 53 71 72 
 f 49 57 73 
 f 55 64 73 
 f 64 49 73 
 f 50 62 74 
 f 71 50 74 
 f 62 72 74 
 f 72 71 74 
 f 49 64 75 
 f 66 49 75 
 f 66 75 76 
 f 64 51 76 
 f 60 66 76 
 f 75 64 76 
 f 47 63 77 
 f 63 58 77 
 f 68 47 77 
 f 58 68 77 
 f 51 48 78 
 f 48 70 78 
 f 70 60 78 
 f 76 51 78 
 f 60 76 78 
 f 50 59 79 
 f 62 50 79 
 f 59 69 79 
 f 69 62 79 
 f 45 55 80 
 f 57 45 80 
 f 73 57 80 
 f 55 73 80 
 f 55 51 81 
 f 51 64 81 
 f 64 55 81 
 f 43 52 82 
 f 54 43 82 
 o convex_2
 v -1.378370 1.394723 -1.079936
 v -2.423953 2.131080 1.128015
 v -1.959227 2.169293 1.050425
 v -0.603696 -3.949020 1.011738
 v -2.617769 -3.833774 -0.963660
 v -2.423953 -3.678496 1.011522
 v -0.603696 -3.910807 -0.924973
 v -0.603696 2.092260 1.011738
 v -2.423953 2.246325 -1.079936
 v -0.603696 2.169899 -1.079936
 v -2.578927 1.355904 1.050425
 v -2.462795 -3.794955 0.817873
 v -0.642341 -2.322848 -1.002347
 v -2.462795 2.246325 -1.002347
 v -2.578927 -3.252089 -1.002130
 v -0.603696 2.169899 0.856776
 v -2.578927 -0.348514 0.972836
 v -0.758473 2.091654 1.050425
 v -2.540282 2.131080 1.127798
 v -2.617769 -3.833774 -0.731107
 v -0.642341 -3.949020 -0.847384
 v -0.952289 -3.949020 0.701813
 v -2.617769 -3.485006 -0.963660
 v -2.307821 -3.871987 -0.615047
 v -1.417212 -3.871987 -0.963444
 v -2.036714 -3.833774 1.011522
 v -2.462795 1.588214 -1.079936
 v -2.540282 2.169293 0.972836
 v -0.642341 1.704672 -1.079936
 v -2.578927 1.317084 0.972836
 v -2.230333 2.246325 -1.041033
 v -2.423953 2.246325 -0.847384
 v -0.603696 -3.368547 -0.963444
 v -2.540282 2.053441 1.127798
 v -2.230333 -3.871987 -0.963660
 v -2.540282 2.169293 0.740499
 v -1.184750 1.394723 -1.079936
 v -1.571989 2.053441 1.089112
 v -0.797315 -3.949020 1.011738
 v -2.540282 -3.833774 -0.188846
 v -2.578927 1.045954 1.050425
 f 116 93 123 
 f 86 89 90 
 f 90 89 92 
 f 83 91 92 
 f 90 92 98 
 f 94 88 99 
 f 85 84 100 
 f 86 90 100 
 f 98 85 100 
 f 90 98 100 
 f 84 85 101 
 f 94 99 102 
 f 89 86 103 
 f 103 86 104 
 f 97 87 105 
 f 87 102 105 
 f 102 93 105 
 f 102 87 106 
 f 103 104 106 
 f 97 95 107 
 f 88 94 108 
 f 91 83 109 
 f 96 91 109 
 f 83 97 109 
 f 105 96 109 
 f 97 105 109 
 f 101 85 110 
 f 93 101 110 
 f 83 92 111 
 f 92 95 111 
 f 96 105 112 
 f 105 93 112 
 f 92 91 113 
 f 91 96 113 
 f 98 92 113 
 f 98 113 114 
 f 85 98 114 
 f 110 85 114 
 f 96 110 114 
 f 113 96 114 
 f 92 89 115 
 f 95 92 115 
 f 89 107 115 
 f 107 95 115 
 f 86 84 116 
 f 84 101 116 
 f 101 93 116 
 f 88 108 116 
 f 87 97 117 
 f 89 103 117 
 f 106 87 117 
 f 103 106 117 
 f 107 89 117 
 f 97 107 117 
 f 110 96 118 
 f 93 110 118 
 f 96 112 118 
 f 112 93 118 
 f 97 83 119 
 f 95 97 119 
 f 83 111 119 
 f 111 95 119 
 f 84 86 120 
 f 100 84 120 
 f 86 100 120 
 f 104 86 121 
 f 108 104 121 
 f 86 116 121 
 f 116 108 121 
 f 94 102 122 
 f 102 106 122 
 f 106 104 122 
 f 108 94 122 
 f 104 108 122 
 f 99 88 123 
 f 93 102 123 
 f 102 99 123 
 f 88 116 123 
 o convex_3
 v -0.603472 -2.283660 -1.002335
 v -0.409838 2.828305 1.011806
 v -0.409838 3.680299 0.972904
 v -0.409819 -3.950225 -0.924939
 v -0.603472 -3.949429 1.011806
 v -0.526011 4.184329 -1.079936
 v -0.603472 2.478748 1.011806
 v -0.409838 4.184329 -1.079936
 v -0.409819 -2.205627 0.972904
 v -0.603472 2.169004 -1.079936
 v -0.603472 -3.949429 -0.924939
 v -0.487299 4.105499 0.663114
 v -0.526011 -3.949429 0.779209
 v -0.409838 1.782024 -1.079936
 v -0.409838 4.067279 0.934206
 v -0.409819 -3.950225 -0.653643
 v -0.526011 -3.678701 1.011806
 v -0.487299 3.951026 0.934206
 v -0.526011 4.184329 -0.769942
 v -0.409819 -1.857663 -1.002335
 v -0.409838 -0.269928 1.011806
 f 140 132 144 
 f 125 126 130 
 f 124 128 130 
 f 128 125 130 
 f 126 125 132 
 f 124 130 133 
 f 130 129 133 
 f 129 131 133 
 f 124 127 134 
 f 128 124 134 
 f 127 128 134 
 f 124 133 137 
 f 133 131 137 
 f 126 132 138 
 f 131 135 138 
 f 128 127 139 
 f 127 132 139 
 f 136 128 139 
 f 132 136 139 
 f 125 128 140 
 f 128 136 140 
 f 136 132 140 
 f 130 126 141 
 f 135 130 141 
 f 126 138 141 
 f 138 135 141 
 f 129 130 142 
 f 131 129 142 
 f 130 135 142 
 f 135 131 142 
 f 127 124 143 
 f 132 127 143 
 f 124 137 143 
 f 137 131 143 
 f 138 132 143 
 f 131 138 143 
 f 132 125 144 
 f 125 140 144 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf
@@ -0,0 +1,31 @@
 <robot name="blob005">
  <link name="random_obj_005">
    <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="005.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.38 0.24 0.57 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="005.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj
@@ -0,0 +1,492 @@
 o convex_0
 v -0.041741 5.289561 -0.925809
 v -0.007161 2.832555 1.046723
 v -0.041741 2.832555 1.046723
 v 0.061998 -0.973639 -1.029669
 v -1.010751 -0.973639 -0.025823
 v 0.996428 -0.972951 0.077428
 v 0.961652 5.116959 -0.095130
 v -0.768302 5.150654 0.735142
 v -0.802881 5.081201 -0.717885
 v -0.110900 -0.973639 1.011967
 v 0.719400 5.116271 0.769694
 v 0.753979 -0.938568 -0.821949
 v -0.041741 6.051487 0.077631
 v 0.719400 -0.972951 0.804246
 v 0.719400 5.116271 -0.752641
 v -0.768302 -0.972951 -0.752641
 v -0.733722 -0.972951 0.804450
 v -1.010751 5.081888 0.077428
 v -0.041741 5.185037 0.977415
 v -0.007161 3.559411 -1.029669
 v 0.719400 5.843126 0.008527
 v -0.768302 5.808056 -0.060375
 v -0.007161 5.808056 0.769694
 v -0.041741 5.843814 -0.683536
 v 0.753979 2.245294 0.804246
 v 0.961652 5.116959 0.112184
 v -0.803078 -0.973639 0.700589
 v 0.996428 -0.972951 -0.095130
 v -0.180058 -0.973639 -0.994914
 v -0.733722 4.597776 -0.787193
 v -1.010751 5.081888 -0.095130
 v 0.096577 -0.973639 1.011967
 v -0.041741 5.081888 -0.994914
 v -0.733722 2.521733 0.804450
 v -0.802881 3.351737 0.735142
 v -1.010751 -0.973639 0.077428
 v -0.699143 5.739290 0.285148
 v 0.511923 5.669837 0.596526
 v 0.131156 3.663247 -0.994914
 v 0.788755 -0.972951 0.735142
 v 0.546503 5.635453 -0.544921
 v 0.373409 2.107074 0.942862
 v -0.560825 5.635453 -0.579676
 v 0.096577 5.116959 0.977415
 v 0.753979 5.081201 -0.718089
 v -0.076320 2.522420 1.046723
 v -0.733722 5.047505 0.769694
 v 0.753979 5.116271 0.735142
 v -0.007161 5.774361 -0.752641
 v -0.595405 5.635453 0.561974
 v -0.041741 6.051487 -0.060578
 v 0.753979 5.808056 0.077428
 v -0.768302 5.116271 -0.752641
 v 0.684820 4.320649 -0.787193
 v -0.110900 5.116959 0.977415
 v -0.768302 5.808056 0.077631
 v 0.684820 2.314060 0.839002
 v 0.753979 5.808056 -0.025823
 v 0.027418 1.552821 1.046723
 v -0.076320 -0.938568 -1.029669
 v 0.027418 5.013122 -0.994914
 v -0.733722 2.589811 -0.787193
 v 0.857914 -0.938568 0.527421
 v -0.110900 4.390103 -0.994914
 f 60 30 64 
 f 5 4 10 
 f 3 2 19 
 f 21 13 23 
 f 6 7 26 
 f 5 10 27 
 f 10 17 27 
 f 7 6 28 
 f 4 12 28 
 f 12 7 28 
 f 4 5 29 
 f 5 16 29 
 f 16 5 31 
 f 9 16 31 
 f 5 18 31 
 f 22 9 31 
 f 18 22 31 
 f 10 4 32 
 f 4 28 32 
 f 28 6 32 
 f 1 15 33 
 f 8 18 35 
 f 27 17 35 
 f 17 34 35 
 f 18 5 36 
 f 5 27 36 
 f 35 18 36 
 f 27 35 36 
 f 23 11 38 
 f 12 4 39 
 f 4 20 39 
 f 25 14 40 
 f 32 6 40 
 f 14 32 40 
 f 24 21 41 
 f 32 14 42 
 f 22 24 43 
 f 19 2 44 
 f 23 19 44 
 f 11 23 44 
 f 2 42 44 
 f 7 12 45 
 f 12 15 45 
 f 2 3 46 
 f 17 10 46 
 f 34 17 46 
 f 34 46 47 
 f 8 35 47 
 f 35 34 47 
 f 11 25 48 
 f 25 26 48 
 f 38 11 48 
 f 15 1 49 
 f 41 15 49 
 f 24 41 49 
 f 43 24 49 
 f 8 23 50 
 f 37 8 50 
 f 23 37 50 
 f 13 21 51 
 f 22 13 51 
 f 21 24 51 
 f 24 22 51 
 f 21 23 52 
 f 26 7 52 
 f 23 38 52 
 f 48 26 52 
 f 38 48 52 
 f 16 9 53 
 f 9 22 53 
 f 30 16 53 
 f 1 33 53 
 f 33 30 53 
 f 22 43 53 
 f 49 1 53 
 f 43 49 53 
 f 15 12 54 
 f 12 39 54 
 f 3 19 55 
 f 23 8 55 
 f 19 23 55 
 f 46 3 55 
 f 47 46 55 
 f 8 47 55 
 f 18 8 56 
 f 13 22 56 
 f 22 18 56 
 f 23 13 56 
 f 8 37 56 
 f 37 23 56 
 f 25 11 57 
 f 14 25 57 
 f 42 14 57 
 f 11 44 57 
 f 44 42 57 
 f 15 41 58 
 f 41 21 58 
 f 7 45 58 
 f 45 15 58 
 f 52 7 58 
 f 21 52 58 
 f 10 32 59 
 f 42 2 59 
 f 32 42 59 
 f 2 46 59 
 f 46 10 59 
 f 20 4 60 
 f 4 29 60 
 f 29 30 60 
 f 33 15 61 
 f 20 33 61 
 f 39 20 61 
 f 15 54 61 
 f 54 39 61 
 f 29 16 62 
 f 30 29 62 
 f 16 30 62 
 f 6 26 63 
 f 26 25 63 
 f 25 40 63 
 f 40 6 63 
 f 33 20 64 
 f 30 33 64 
 f 20 60 64 
 o convex_1
 v -0.353078 -1.700376 1.150166
 v 0.027397 -3.984407 -2.033221
 v -0.214668 -3.915099 -2.033221
 v -0.041706 -3.672745 2.741860
 v 0.996266 -1.700600 -0.164093
 v -0.976024 -2.876822 -2.067605
 v 1.031021 -2.946130 2.119410
 v 0.788753 -2.946130 -2.690055
 v -1.045330 -2.946130 2.049459
 v -0.837614 -1.700600 -0.960236
 v 0.061949 -2.150430 2.811219
 v -0.041706 -2.185084 -2.828772
 v 0.823305 -3.742053 0.977066
 v -0.803062 -3.672745 1.668875
 v 0.823305 -3.672745 -2.032629
 v -0.041706 -3.672745 -2.794389
 v -0.941472 -1.700600 0.700224
 v -0.733755 -3.741829 -2.032629
 v -0.007154 -3.949753 1.807592
 v 1.031021 -2.946130 -1.860121
 v 0.857856 -1.700376 1.011449
 v -0.768307 -2.876822 2.811219
 v 0.823305 -1.700376 -1.029002
 v -0.768307 -2.945906 -2.794389
 v 0.788753 -2.946130 2.776243
 v 0.788753 -3.707399 2.049459
 v -1.010575 -1.700600 -0.129117
 v 0.027397 -2.980560 3.019295
 v 0.061949 -2.946130 -3.036848
 v 0.753998 -2.115776 -2.067012
 v -0.803062 -2.185084 2.049459
 v 0.788753 -2.115776 2.049459
 v -0.041706 -1.700600 -1.479537
 v -1.045330 -2.980560 0.423382
 v -0.768307 -2.185084 -2.032629
 v -0.768307 -3.638091 2.118817
 v -0.041706 -1.700600 1.461984
 v 0.581037 -3.845791 -1.098361
 v -0.007154 -3.984407 0.458357
 v -0.872165 -1.700600 0.977066
 v 0.650343 -2.565607 -2.690055
 v 0.996266 -3.188260 -0.510294
 v 0.511933 -3.534129 -2.621289
 v -0.041706 -2.150430 2.811219
 v -0.976024 -3.049644 -2.067605
 v 0.996266 -2.876822 -2.136370
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 v 0.823305 -3.742053 -1.582686
 v -0.595346 -2.392784 -2.620696
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 v 0.615588 -2.392784 2.638118
 v 0.546485 -3.499699 2.603735
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 v -0.595346 -3.534353 -2.551930
 v -0.595346 -2.323477 2.568760
 v -0.629897 -3.361306 2.638118
 v 0.131255 -3.915099 2.015668
 v 1.031021 -2.842391 2.084434
 v 0.027397 -3.742053 -2.725030
 v 0.719447 -2.946130 -2.794389
 v 0.996266 -1.700600 0.180922
 v 0.061949 -3.672745 2.741860
 v 1.031021 -3.015214 2.015075
 v 0.027397 -2.807961 3.019295
 f 75 108 128 
 f 74 65 87 
 f 85 69 87 
 f 65 85 87 
 f 71 89 90 
 f 65 74 91 
 f 73 81 91 
 f 81 65 91 
 f 86 68 92 
 f 88 76 93 
 f 80 88 93 
 f 81 73 95 
 f 73 86 95 
 f 85 75 96 
 f 74 87 97 
 f 78 73 98 
 f 82 78 98 
 f 91 70 98 
 f 73 91 98 
 f 74 76 99 
 f 88 70 99 
 f 70 91 99 
 f 91 74 99 
 f 73 78 100 
 f 83 68 100 
 f 78 83 100 
 f 86 73 100 
 f 85 65 101 
 f 75 85 101 
 f 67 66 103 
 f 82 67 103 
 f 78 82 103 
 f 83 78 103 
 f 65 81 104 
 f 81 95 104 
 f 101 65 104 
 f 94 72 105 
 f 72 79 107 
 f 75 101 108 
 f 101 104 108 
 f 70 88 109 
 f 88 82 109 
 f 98 70 109 
 f 82 98 109 
 f 79 72 110 
 f 69 84 110 
 f 84 79 110 
 f 87 69 110 
 f 72 94 110 
 f 94 87 110 
 f 84 69 111 
 f 71 84 111 
 f 66 79 112 
 f 79 84 112 
 f 102 66 112 
 f 77 102 112 
 f 106 77 112 
 f 84 106 112 
 f 76 88 113 
 f 99 76 113 
 f 88 99 113 
 f 76 74 114 
 f 93 76 114 
 f 87 94 114 
 f 74 97 114 
 f 97 87 114 
 f 94 105 114 
 f 75 89 115 
 f 96 75 115 
 f 89 96 115 
 f 90 89 116 
 f 66 102 117 
 f 102 77 117 
 f 103 66 117 
 f 83 103 117 
 f 80 82 118 
 f 88 80 118 
 f 82 88 118 
 f 95 86 119 
 f 104 95 119 
 f 86 108 119 
 f 108 104 119 
 f 68 86 120 
 f 100 68 120 
 f 86 100 120 
 f 68 83 121 
 f 77 90 121 
 f 117 77 121 
 f 83 117 121 
 f 89 71 122 
 f 85 96 122 
 f 96 89 122 
 f 71 111 122 
 f 66 67 123 
 f 79 66 123 
 f 67 82 123 
 f 82 80 123 
 f 107 79 123 
 f 80 107 123 
 f 80 93 124 
 f 105 72 124 
 f 72 107 124 
 f 107 80 124 
 f 93 114 124 
 f 114 105 124 
 f 69 85 125 
 f 111 69 125 
 f 85 122 125 
 f 122 111 125 
 f 92 68 126 
 f 89 92 126 
 f 116 89 126 
 f 90 116 126 
 f 68 121 126 
 f 121 90 126 
 f 84 71 127 
 f 71 90 127 
 f 90 77 127 
 f 77 106 127 
 f 106 84 127 
 f 89 75 128 
 f 86 92 128 
 f 92 89 128 
 f 108 86 128 
 o convex_2
 v -0.941397 -1.700234 -0.545015
 v 0.996371 -1.631095 0.181336
 v 0.996371 -1.700234 0.181336
 v -0.041769 -1.700234 1.323575
 v -0.802887 -0.973639 0.735149
 v 0.338791 -0.973639 -0.960375
 v 0.788703 -0.973639 0.769762
 v 0.788703 -1.700234 -1.029338
 v -0.733730 -0.973639 -0.787309
 v -0.041769 -1.700234 -1.375735
 v -0.872241 -1.700234 0.942828
 v 0.996371 -0.973639 -0.095042
 v 0.857860 -1.700234 0.977442
 v -1.010751 -0.973639 0.112109
 v -0.041769 -0.973639 1.046668
 v -0.837466 -1.665665 -0.960375
 v 0.754125 -0.973639 -0.821658
 v -1.010751 -1.700234 0.181336
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 v -0.872241 -1.700234 -0.856535
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 f 129 131 132 
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 f 131 129 136 
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 f 136 129 138 
 f 129 132 139 
 f 130 131 140 
 f 134 135 140 
 f 132 131 141 
 f 133 137 142 
 f 135 133 143 
 f 134 140 145 
 f 129 139 146 
 f 145 140 148 
 f 143 133 149 
 f 142 137 150 
 f 146 142 150 
 f 136 138 152 
 f 134 145 152 
 f 147 134 152 
 f 130 140 153 
 f 140 135 153 
 f 132 141 154 
 f 141 135 154 
 f 151 132 154 
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 f 140 131 155 
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 f 148 140 155 
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 f 152 138 161 
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 f 159 137 161 
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 f 131 130 162 
 f 141 131 162 
 f 135 141 162 
 f 130 153 162 
 f 153 135 162 
 f 156 143 163 
 f 151 156 163 
 f 148 136 164 
 f 145 148 164 
 f 136 152 164 
 f 152 145 164 
 f 139 132 165 
 f 143 149 165 
 f 132 151 165 
 f 158 139 165 
 f 149 158 165 
 f 163 143 165 
 f 151 163 165 
 f 138 129 166 
 f 144 138 166 
 f 129 150 166 
 f 150 144 166 
 f 137 134 167 
 f 134 147 167 
 f 161 137 167 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf
@@ -0,0 +1,31 @@
 <robot name="blob006">
  <link name="random_obj_006">
    <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="006.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.84 0.93 0.88 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="006.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj
@@ -0,0 +1,435 @@
 o convex_0
 v 1.107172 2.874954 0.698825
 v -1.069147 1.904010 -1.075476
 v -1.069147 1.904010 -1.041916
 v 1.073513 -1.811511 0.665474
 v -1.035489 -1.812143 1.000240
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 v -1.002043 -0.539479 1.033801
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 v -1.069147 3.544178 -1.008565
 v -1.069147 2.071632 -1.109037
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 v -0.935151 4.214034 1.000240
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 f 32 3 49 
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 f 8 38 50 
 f 41 8 50 
 f 27 41 50 
 f 38 46 50 
 f 46 27 50 
 f 10 15 51 
 f 15 25 51 
 f 43 10 51 
 o convex_1
 v 2.144853 -2.381466 0.565029
 v 1.073690 -2.080159 -0.606809
 v 1.073690 -2.916834 -0.439387
 v 3.116056 -3.050735 -0.506285
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 v 1.877362 -1.912753 -0.573301
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 v 2.814579 -3.050735 -0.405879
 v 2.546689 -3.017349 -0.506285
 v 1.643058 -2.983844 0.598537
 v 3.116056 -2.916834 -0.506285
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 v 1.073690 -2.615527 0.598537
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 f 69 57 80 
 f 68 69 80 
 f 56 60 81 
 f 64 56 81 
 f 70 64 81 
 f 60 79 81 
 f 79 70 81 
 f 62 58 82 
 f 58 71 82 
 f 75 62 82 
 o convex_2
 v -1.069147 -1.912648 0.431003
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 v -3.077878 -3.017489 -0.104513
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 f 98 97 108 
 f 83 88 109 
 f 88 89 109 
 f 89 93 109 
 f 97 83 109 
 f 93 97 109 
 f 90 86 110 
 f 101 85 110 
 f 86 101 110 
 f 85 102 110 
 o convex_3
 v -0.298934 -3.519459 0.966490
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 f 116 115 117 
 f 115 116 118 
 f 112 113 121 
 f 115 118 123 
 f 114 120 123 
 f 113 112 125 
 f 118 116 125 
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 f 124 116 126 
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 f 117 115 127 
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 f 115 120 128 
 f 127 115 128 
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 f 121 124 129 
 f 124 122 129 
 f 121 120 130 
 f 120 121 131 
 f 115 123 133 
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 f 114 135 136 
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 f 120 115 142 
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 f 134 119 146 
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 f 131 121 147 
 f 119 139 147 
 f 139 131 147 
 f 125 112 148 
 f 135 114 148 
 f 112 135 148 
 f 114 138 148 
 f 138 125 148 
 f 114 123 149 
 f 138 114 149 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf
@@ -0,0 +1,31 @@
 <robot name="blob007">
  <link name="random_obj_007">
    <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="007.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.75 1.00 0.82 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="007.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf
@@ -0,0 +1,31 @@
 <robot name="blob008">
  <link name="random_obj_008">
    <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="008.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.13 0.49 0.35 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="008.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj
@@ -0,0 +1,138 @@
 o convex_0
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 v -1.050910 -3.103187 -0.937661
 v 0.433454 3.039576 -1.054202
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 v 0.608271 1.554394 1.041906
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 f 6 14 23 
 f 17 6 23 
 f 11 17 23 
 f 21 7 23 
 f 14 21 23 
 f 2 3 24 
 f 10 2 24 
 f 3 20 24 
 f 9 4 25 
 f 16 9 25 
 f 12 1 26 
 f 4 11 27 
 f 11 15 27 
 f 18 12 27 
 f 15 18 27 
 f 10 24 28 
 f 5 13 29 
 f 18 15 30 
 f 7 20 30 
 f 20 18 30 
 f 13 5 31 
 f 7 13 31 
 f 5 20 31 
 f 20 7 31 
 f 4 9 32 
 f 17 4 32 
 f 15 11 33 
 f 23 7 33 
 f 11 23 33 
 f 7 30 33 
 f 30 15 33 
 f 10 28 34 
 f 28 24 34 
 f 24 29 34 
 f 29 13 34 
 f 12 16 35 
 f 25 12 35 
 f 16 25 35 
 f 13 21 36 
 f 21 14 36 
 f 20 5 37 
 f 24 20 37 
 f 29 24 37 
 f 5 29 37 
 f 14 10 38 
 f 36 14 38 
 f 6 1 39 
 f 1 10 39 
 f 10 14 39 
 f 14 6 39 
 f 9 16 40 
 f 19 17 40 
 f 32 9 40 
 f 17 32 40 
 f 16 12 41 
 f 12 26 41 
 f 26 16 41 
 f 25 4 42 
 f 12 25 42 
 f 4 27 42 
 f 27 12 42 
 f 16 26 43 
 f 26 19 43 
 f 40 16 43 
 f 19 40 43 
 f 10 22 44 
 f 38 10 44 
 f 36 38 44 
 f 1 6 45 
 f 6 19 45 
 f 26 1 45 
 f 19 26 45 
 f 22 10 46 
 f 13 22 46 
 f 10 34 46 
 f 34 13 46 
 f 22 13 47 
 f 13 36 47 
 f 44 22 47 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf
@@ -0,0 +1,31 @@
 <robot name="blob009">
  <link name="random_obj_009">
    <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="009.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.73 0.05 0.06 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="009.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj
@@ -0,0 +1,738 @@
 o convex_0
 v 0.274352 0.691976 -2.892162
 v 0.408691 -0.281977 -1.448219
 v 0.442157 -0.281977 -1.448219
 v 0.442157 0.792778 -1.078624
 v -0.464468 0.691976 -1.213006
 v -0.464468 -0.113975 -2.824704
 v -0.430907 -0.248376 -1.078624
 v -0.498124 0.893579 -2.757602
 v 0.475908 -0.248376 -2.757602
 v 0.475908 0.759177 -2.892162
 v 0.442157 -0.281977 -1.078624
 v -0.430907 0.759177 -1.078624
 v -0.464468 -0.181176 -2.354633
 v -0.296567 0.893579 -2.354633
 v 0.341474 -0.248376 -2.791153
 v 0.475908 0.289231 -2.052318
 v -0.498124 0.289231 -2.724051
 v 0.274352 0.826378 -1.213006
 v -0.430907 -0.248376 -1.515322
 v -0.498124 0.859979 -2.119420
 v -0.263006 0.053913 -2.858256
 v 0.475908 0.557690 -2.892162
 v 0.475908 -0.248376 -2.052318
 v -0.330128 0.893579 -2.757602
 f 14 18 24 
 f 1 8 10 
 f 2 3 11 
 f 7 2 11 
 f 4 7 11 
 f 3 9 11 
 f 7 4 12 
 f 5 7 12 
 f 3 2 15 
 f 9 3 15 
 f 13 6 15 
 f 10 4 16 
 f 9 10 16 
 f 4 11 16 
 f 8 6 17 
 f 13 7 17 
 f 6 13 17 
 f 4 10 18 
 f 12 4 18 
 f 2 7 19 
 f 7 13 19 
 f 15 2 19 
 f 13 15 19 
 f 7 5 20 
 f 5 12 20 
 f 14 8 20 
 f 17 7 20 
 f 8 17 20 
 f 12 18 20 
 f 18 14 20 
 f 6 8 21 
 f 8 1 21 
 f 15 6 21 
 f 15 21 22 
 f 1 10 22 
 f 10 9 22 
 f 9 15 22 
 f 21 1 22 
 f 11 9 23 
 f 9 16 23 
 f 16 11 23 
 f 10 8 24 
 f 8 14 24 
 f 18 10 24 
 o convex_1
 v -1.102742 2.572945 -2.018796
 v -2.983382 2.069155 -2.186759
 v -2.647640 2.035601 -1.615906
 v -0.598886 2.069155 -2.119588
 v -2.513344 2.572945 -1.481494
 v -0.598886 1.968374 -1.515184
 v -0.632703 2.572945 -1.515184
 v -3.016956 2.505718 -2.052417
 v -3.084348 2.136323 -1.548735
 v -0.598886 2.572945 -2.018796
 v -3.016956 2.505718 -1.481494
 v -0.598886 2.203551 -2.153139
 v -3.016956 2.270659 -2.153139
 v -1.505875 2.069155 -2.186759
 v -3.084348 2.069155 -1.582355
 v -3.016956 2.539273 -1.817420
 v -2.412378 2.472164 -2.085968
 v -0.666278 1.968374 -1.582355
 v -1.472301 2.002046 -1.515184
 f 33 39 43 
 f 25 29 31 
 f 29 30 31 
 f 30 28 34 
 f 25 31 34 
 f 31 30 34 
 f 30 29 35 
 f 34 28 36 
 f 26 37 38 
 f 36 28 38 
 f 37 36 38 
 f 26 27 39 
 f 33 32 39 
 f 32 37 39 
 f 37 26 39 
 f 29 25 40 
 f 25 32 40 
 f 32 33 40 
 f 35 29 40 
 f 33 35 40 
 f 32 25 41 
 f 25 34 41 
 f 34 36 41 
 f 36 37 41 
 f 37 32 41 
 f 27 26 42 
 f 30 27 42 
 f 28 30 42 
 f 26 38 42 
 f 38 28 42 
 f 27 30 43 
 f 30 35 43 
 f 35 33 43 
 f 39 27 43 
 o convex_2
 v -0.363570 0.759098 1.272857
 v 0.375059 -0.281977 2.851024
 v 0.475860 -0.281977 2.851024
 v 0.509460 0.927167 3.220540
 v -0.565171 -0.281977 3.186792
 v 0.509460 -0.114027 1.272857
 v -0.598886 -0.214750 1.272857
 v -0.430885 0.792712 3.119676
 v 0.576660 0.859939 1.272857
 v 0.509460 -0.080414 3.220540
 v -0.430885 0.759098 1.474394
 v 0.475860 -0.281977 3.220540
 v -0.565171 -0.046800 3.186792
 v 0.576660 0.893435 1.608815
 v 0.139858 -0.181136 1.272857
 v 0.576660 0.557653 1.340163
 v -0.565171 0.053923 1.272857
 v 0.442145 0.927167 3.052561
 v 0.576660 0.859939 1.978141
 v -0.027913 -0.214750 3.220540
 v -0.262884 0.826326 3.153234
 v -0.598886 -0.248363 1.978141
 v 0.475860 -0.181136 1.575258
 v 0.341459 0.859939 1.340163
 v 0.543060 0.893435 2.817466
 v -0.363570 -0.214750 1.272857
 v -0.598886 -0.147522 1.541700
 v -0.464370 0.624644 3.052561
 f 60 70 71 
 f 45 46 48 
 f 44 49 50 
 f 49 44 52 
 f 48 46 55 
 f 46 49 55 
 f 49 53 55 
 f 53 47 55 
 f 50 49 58 
 f 49 52 59 
 f 53 49 59 
 f 52 57 59 
 f 44 50 60 
 f 54 44 60 
 f 47 57 61 
 f 53 59 62 
 f 59 57 62 
 f 55 47 63 
 f 48 55 63 
 f 56 48 63 
 f 47 56 63 
 f 54 51 64 
 f 56 47 64 
 f 51 56 64 
 f 47 61 64 
 f 61 54 64 
 f 46 45 65 
 f 45 48 65 
 f 48 56 65 
 f 49 46 66 
 f 46 58 66 
 f 58 49 66 
 f 52 44 67 
 f 44 54 67 
 f 57 52 67 
 f 54 61 67 
 f 61 57 67 
 f 47 53 68 
 f 57 47 68 
 f 53 62 68 
 f 62 57 68 
 f 58 46 69 
 f 50 58 69 
 f 46 65 69 
 f 65 50 69 
 f 60 50 70 
 f 50 65 70 
 f 65 56 70 
 f 51 54 71 
 f 56 51 71 
 f 54 60 71 
 f 70 56 71 
 o convex_3
 v -0.531711 2.807863 2.447959
 v 0.576670 2.304388 2.078683
 v 0.576670 2.237128 2.078683
 v -0.497970 1.767066 1.272666
 v -0.430920 1.901370 3.220639
 v 0.475770 2.774341 1.272666
 v 0.475770 2.807863 3.187104
 v 0.509404 1.901370 3.153372
 v 0.543037 1.834218 1.272666
 v -0.497970 2.807863 1.272666
 v -0.531711 2.875231 3.287905
 v 0.576670 2.774449 1.440734
 v 0.475770 1.867740 3.019036
 v -0.464445 2.875231 2.515226
 v -0.531711 2.673559 3.287905
 v -0.464445 1.834218 2.548761
 v 0.509404 2.807863 2.985501
 v -0.195703 1.767066 1.306398
 v 0.543037 1.934891 2.985501
 v -0.162178 2.875231 3.187104
 v 0.576670 2.169976 1.272863
 v -0.330128 2.774341 3.287905
 v 0.543037 1.834218 1.877277
 v -0.497970 2.841493 1.575070
 v -0.430920 1.867740 3.153372
 f 87 89 96 
 f 75 77 80 
 f 75 72 81 
 f 77 75 81 
 f 73 74 83 
 f 83 77 85 
 f 72 75 86 
 f 82 72 86 
 f 86 75 87 
 f 73 83 88 
 f 75 80 89 
 f 87 75 89 
 f 74 73 90 
 f 78 79 90 
 f 73 88 90 
 f 88 78 90 
 f 82 78 91 
 f 85 82 91 
 f 83 85 91 
 f 78 88 91 
 f 88 83 91 
 f 80 77 92 
 f 83 74 92 
 f 77 83 92 
 f 76 79 93 
 f 79 78 93 
 f 78 82 93 
 f 86 76 93 
 f 82 86 93 
 f 79 84 94 
 f 89 80 94 
 f 84 89 94 
 f 74 90 94 
 f 90 79 94 
 f 80 92 94 
 f 92 74 94 
 f 81 72 95 
 f 77 81 95 
 f 72 82 95 
 f 85 77 95 
 f 82 85 95 
 f 79 76 96 
 f 84 79 96 
 f 76 86 96 
 f 86 87 96 
 f 89 84 96 
 o convex_4
 v -0.598886 2.035673 -1.951871
 v 0.610258 2.673559 -1.582500
 v 0.610258 2.203606 -1.582500
 v 0.576644 2.002043 -2.858574
 v -0.531659 2.807863 -2.757520
 v -0.565272 2.875231 -1.078621
 v -0.498045 1.767066 -1.078621
 v -0.464431 1.767066 -2.824773
 v 0.576644 1.867631 -1.078621
 v 0.442190 2.774341 -2.623187
 v 0.442190 2.841493 -1.078621
 v 0.576644 1.867740 -2.858574
 v 0.475803 2.673559 -2.791147
 v -0.229373 1.767066 -2.723893
 v 0.610258 2.640038 -2.153109
 v -0.598886 1.968521 -1.515246
 v -0.598886 2.572778 -2.052229
 v 0.509417 2.807863 -1.078621
 v -0.531659 1.767066 -1.078621
 v -0.598886 2.102825 -2.153109
 v -0.531659 2.875231 -1.313834
 v 0.374962 2.069303 -2.858574
 v 0.610258 2.069195 -2.119483
 v 0.576644 2.404953 -1.078621
 v 0.341349 2.774341 -2.757520
 v 0.307853 1.834218 -1.078621
 v -0.498045 1.767066 -2.556108
 f 116 104 123 
 f 99 98 105 
 f 102 103 105 
 f 102 105 107 
 f 103 104 110 
 f 104 108 110 
 f 108 105 110 
 f 98 99 111 
 f 108 100 111 
 f 100 109 111 
 f 109 106 111 
 f 102 101 113 
 f 97 112 113 
 f 112 102 113 
 f 107 105 114 
 f 106 107 114 
 f 98 111 114 
 f 111 106 114 
 f 103 102 115 
 f 104 103 115 
 f 102 112 115 
 f 101 104 116 
 f 97 113 116 
 f 113 101 116 
 f 101 102 117 
 f 102 107 117 
 f 104 101 118 
 f 100 108 118 
 f 108 104 118 
 f 109 100 118 
 f 101 109 118 
 f 99 105 119 
 f 105 108 119 
 f 111 99 119 
 f 108 111 119 
 f 105 98 120 
 f 98 114 120 
 f 114 105 120 
 f 107 106 121 
 f 109 101 121 
 f 106 109 121 
 f 101 117 121 
 f 117 107 121 
 f 105 103 122 
 f 103 110 122 
 f 110 105 122 
 f 112 97 123 
 f 104 115 123 
 f 115 112 123 
 f 97 116 123 
 o convex_5
 v 1.349376 2.035624 -2.119578
 v 3.028328 2.673641 -1.515144
 v 3.061902 2.438527 -1.548745
 v 0.610258 2.203544 -1.582345
 v 0.610258 2.640044 -2.119578
 v 2.960936 2.002027 -2.153178
 v 3.095719 2.505721 -2.018839
 v 0.610258 2.673641 -1.582345
 v 3.061902 2.102818 -1.582345
 v 0.610258 2.069221 -1.615945
 v 0.610258 2.069221 -2.119578
 v 1.013634 2.640044 -2.119578
 v 1.953711 2.069221 -1.582345
 v 2.289209 2.673641 -1.750222
 v 0.778372 2.673641 -1.548745
 v 2.793308 2.572850 -1.515144
 v 3.028328 2.203544 -2.119578
 v 1.651787 2.035624 -2.153178
 v 2.960936 2.002027 -2.052377
 v 0.610258 2.673641 -1.850899
 f 137 135 143 
 f 125 126 130 
 f 128 127 131 
 f 126 125 132 
 f 130 126 132 
 f 127 128 133 
 f 124 133 134 
 f 133 128 134 
 f 127 133 136 
 f 125 130 137 
 f 131 125 137 
 f 130 135 137 
 f 125 131 138 
 f 131 127 138 
 f 132 125 139 
 f 127 136 139 
 f 136 132 139 
 f 125 138 139 
 f 138 127 139 
 f 132 129 140 
 f 130 132 140 
 f 129 135 140 
 f 135 130 140 
 f 129 124 141 
 f 134 128 141 
 f 124 134 141 
 f 128 135 141 
 f 135 129 141 
 f 124 129 142 
 f 129 132 142 
 f 133 124 142 
 f 132 136 142 
 f 136 133 142 
 f 128 131 143 
 f 135 128 143 
 f 131 137 143 
 o convex_6
 v 0.408621 -0.651898 -0.910296
 v 0.912345 -0.315998 1.272666
 v 1.046798 -0.315564 1.272452
 v -0.665948 -4.749091 1.171799
 v 1.080464 -4.614123 -0.809429
 v -1.035429 -0.315998 -0.775878
 v -1.069095 -4.749091 -0.809643
 v -1.001764 -0.315998 1.205350
 v 0.946011 -4.614123 1.272666
 v 1.013132 -0.315564 -0.776092
 v -0.968308 -4.749091 1.171585
 v -1.069095 -2.096179 0.130858
 v 0.408621 -4.647974 1.272666
 v -0.464584 -0.315998 -0.876531
 v 1.046798 -4.647974 -0.809429
 v -1.035429 -0.315998 1.104483
 v 1.080464 -4.614123 -0.473704
 v 1.080464 -3.606425 -0.809429
 v 1.046798 -1.155313 1.272452
 v -1.001764 -2.398228 1.205350
 v -1.069095 -2.565310 -0.809643
 v 0.475742 -0.315998 -0.910296
 v -1.069095 -4.647974 -0.473704
 v 0.778103 -4.647974 1.272666
 v 0.576529 -1.189597 1.272666
 v 0.979677 -4.614123 0.970278
 v 1.013132 -0.349849 -0.809429
 v 0.912345 -3.505742 -0.842980
 v -0.833856 -4.749091 -0.809643
 v -0.833856 -3.203259 -0.843194
 v 1.046798 -0.315564 0.902962
 v -1.001764 -0.315998 -0.809643
 v -0.632282 -4.715240 1.205136
 v 0.207048 -0.349415 -0.910510
 v -1.069095 -1.961645 0.063542
 v -0.632282 -4.749091 0.768544
 f 172 158 179 
 f 145 146 151 
 f 146 145 152 
 f 150 147 154 
 f 152 145 156 
 f 154 147 156 
 f 151 146 159 
 f 146 153 159 
 f 153 149 159 
 f 158 148 160 
 f 146 160 161 
 f 160 148 161 
 f 146 152 162 
 f 160 146 162 
 f 156 151 163 
 f 151 159 163 
 f 159 155 163 
 f 150 155 164 
 f 157 153 165 
 f 150 154 166 
 f 155 150 166 
 f 154 163 166 
 f 163 155 166 
 f 156 147 167 
 f 152 156 167 
 f 147 158 167 
 f 158 152 167 
 f 145 151 168 
 f 156 145 168 
 f 151 156 168 
 f 152 158 169 
 f 158 160 169 
 f 162 152 169 
 f 160 162 169 
 f 153 161 170 
 f 165 153 170 
 f 165 170 171 
 f 150 144 171 
 f 148 158 171 
 f 161 148 171 
 f 144 165 171 
 f 170 161 171 
 f 147 150 172 
 f 150 171 172 
 f 171 158 172 
 f 144 150 173 
 f 150 164 173 
 f 153 146 174 
 f 161 153 174 
 f 146 161 174 
 f 149 153 175 
 f 153 157 175 
 f 164 149 175 
 f 157 173 175 
 f 173 164 175 
 f 154 156 176 
 f 163 154 176 
 f 156 163 176 
 f 165 144 177 
 f 157 165 177 
 f 144 173 177 
 f 173 157 177 
 f 159 149 178 
 f 155 159 178 
 f 149 164 178 
 f 164 155 178 
 f 158 147 179 
 f 147 172 179 
 o convex_7
 v -0.968206 -0.315564 -0.809643
 v 1.080441 1.363618 1.272666
 v 1.013126 1.363618 1.272666
 v -1.035521 1.430976 -0.776042
 v -1.035521 0.020546 1.205465
 v 0.979572 -0.315564 -0.809412
 v 1.046680 -0.315564 1.272666
 v 0.979572 1.397297 -0.775812
 v -1.035521 1.329938 1.238835
 v 0.442297 0.792607 -1.078446
 v -1.001760 -0.315564 1.205465
 v -0.430931 -0.281885 -1.078446
 v 0.442297 1.430976 0.768429
 v -1.035521 -0.315564 -0.776042
 v -0.430931 0.759098 -1.078446
 v -0.598700 -0.214526 1.272666
 v 0.442297 -0.281885 -1.078446
 v 1.080441 1.296601 0.768659
 v -0.430931 1.430976 0.701228
 v 1.080441 0.154921 1.238835
 v 0.542958 1.430976 -0.406667
 v -0.430931 0.725419 1.272666
 v 0.946018 1.363618 -0.809412
 v -1.035521 -0.315564 1.104664
 v 0.039237 1.363789 1.238835
 v 0.542958 1.430976 0.768429
 v 0.979572 0.792607 -0.809412
 f 189 202 206 
 f 181 182 186 
 f 180 185 186 
 f 183 184 188 
 f 180 186 190 
 f 188 184 190 
 f 182 181 192 
 f 184 183 193 
 f 180 190 193 
 f 191 180 193 
 f 183 191 193 
 f 183 189 194 
 f 191 183 194 
 f 189 191 194 
 f 186 182 195 
 f 190 186 195 
 f 188 190 195 
 f 185 180 196 
 f 189 185 196 
 f 180 191 196 
 f 191 189 196 
 f 187 181 197 
 f 183 188 198 
 f 192 183 198 
 f 181 186 199 
 f 186 185 199 
 f 197 181 199 
 f 185 197 199 
 f 187 183 200 
 f 183 192 200 
 f 182 188 201 
 f 195 182 201 
 f 188 195 201 
 f 183 187 202 
 f 189 183 202 
 f 190 184 203 
 f 184 193 203 
 f 193 190 203 
 f 188 182 204 
 f 182 192 204 
 f 198 188 204 
 f 192 198 204 
 f 181 187 205 
 f 192 181 205 
 f 187 200 205 
 f 200 192 205 
 f 185 189 206 
 f 197 185 206 
 f 187 197 206 
 f 202 187 206 
 o convex_8
 v 0.475754 3.311820 0.668028
 v -0.598886 2.908861 -0.373113
 v -0.598886 2.908861 -0.171457
 v 0.576670 2.908861 0.668028
 v 0.543070 3.278230 -0.339466
 v -0.430884 3.278230 0.634494
 v -0.498084 3.345411 -0.339466
 v -0.464484 2.908861 0.768856
 v 0.543070 2.908861 -0.272173
 v 0.442268 3.345411 0.668028
 v -0.430884 3.244639 0.735210
 v -0.498084 3.345411 -0.104276
 v -0.128594 3.345411 -0.205104
 v -0.262996 2.942452 0.768856
 f 216 217 220 
 f 209 208 210 
 f 207 210 211 
 f 208 209 213 
 f 211 208 213 
 f 209 210 214 
 f 210 208 215 
 f 211 210 215 
 f 208 211 215 
 f 207 211 216 
 f 209 214 217 
 f 216 212 217 
 f 217 212 218 
 f 213 209 218 
 f 212 216 218 
 f 216 213 218 
 f 209 217 218 
 f 211 213 219 
 f 216 211 219 
 f 213 216 219 
 f 210 207 220 
 f 214 210 220 
 f 207 216 220 
 f 217 214 220 
 o convex_9
 v -0.598886 1.431009 -0.070801
 v 0.576670 1.666058 0.298476
 v 0.576670 1.531768 0.298476
 v -0.498084 1.733220 0.802444
 v -0.565285 1.766817 -0.339473
 v 0.543070 1.431009 -0.406700
 v 0.543070 1.431009 0.768830
 v 0.576670 1.766817 -0.339473
 v 0.543070 1.766817 0.768830
 v -0.430884 1.431009 0.735216
 v -0.498084 1.431009 -0.339473
 v -0.531685 1.766817 0.600762
 f 229 225 232 
 f 226 223 227 
 f 223 222 227 
 f 221 226 227 
 f 222 223 228 
 f 226 225 228 
 f 223 226 228 
 f 227 222 229 
 f 224 227 229 
 f 222 228 229 
 f 228 225 229 
 f 224 221 230 
 f 227 224 230 
 f 221 227 230 
 f 221 225 231 
 f 225 226 231 
 f 226 221 231 
 f 221 224 232 
 f 225 221 232 
 f 224 229 232 
 o convex_10
 v -0.598886 2.136478 -0.305866
 v 0.610235 2.572833 1.205465
 v 0.610235 2.505659 1.205465
 v 0.576622 1.867779 -1.078446
 v -0.296487 2.875063 -1.078446
 v -0.498047 1.766961 1.272666
 v -0.498047 2.807889 1.272666
 v 0.509396 2.841532 -1.044846
 v -0.531542 1.766961 -1.078446
 v 0.543009 1.834136 1.272666
 v 0.576622 2.908707 0.667858
 v -0.598886 2.875063 -1.044846
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 v 0.576622 2.740714 1.272666
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 f 245 235 256 
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 f 251 245 256 
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--- a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf
@@ -0,0 +1,31 @@
 <robot name="blob010">
  <link name="random_obj_010">
    <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="010.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.65 0.23 0.15 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="010.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj
@@ -0,0 +1,525 @@
 o convex_0
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 v 2.928746 2.330981 0.505200
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 v 1.098562 2.520395 -0.504562
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 f 39 38 41 
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 o convex_2
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 o convex_5
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--- a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf
@@ -0,0 +1,31 @@
 <robot name="blob011">
  <link name="random_obj_011">
    <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="011.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.43 0.80 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="011.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj
@@ -0,0 +1,516 @@
 o convex_0
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 f 21 5 32 
 f 14 21 32 
 f 11 23 32 
 f 23 14 32 
 f 10 30 32 
 f 30 11 32 
 f 8 4 33 
 f 7 22 33 
 f 22 8 33 
 f 4 28 33 
 f 28 7 33 
 f 18 8 34 
 f 15 18 34 
 f 8 26 34 
 f 27 15 34 
 f 26 27 34 
 f 6 15 35 
 f 26 6 35 
 f 15 27 35 
 f 27 26 35 
 f 1 18 36 
 f 25 1 36 
 f 16 25 36 
 f 29 16 36 
 f 18 29 36 
 f 17 5 37 
 f 13 17 37 
 f 5 21 37 
 f 7 28 37 
 f 28 13 37 
 f 31 7 37 
 f 21 31 37 
 f 9 16 38 
 f 29 9 38 
 o convex_1
 v 2.675545 0.687852 -0.438615
 v 2.512577 1.860243 0.310404
 v 2.512577 1.860243 0.245345
 v 1.079699 0.687852 -0.275688
 v 1.079699 1.860243 -0.536371
 v 1.079699 0.818117 0.473332
 v 3.066436 0.687737 0.473332
 v 2.936139 1.795053 -0.568957
 v 1.079699 1.827533 0.538503
 v 3.066436 1.827648 0.571088
 v 3.066436 0.752812 -0.471200
 v 1.079699 0.687852 -0.471200
 v 1.307816 0.752927 0.473332
 v 2.903468 1.599482 0.571088
 v 2.903468 1.827648 -0.568957
 v 1.242473 0.948383 -0.503674
 v 3.066436 0.818003 0.505917
 v 1.079699 1.860243 0.082418
 v 2.545054 0.687852 0.473332
 v 1.079699 1.534407 -0.536371
 v 1.991583 1.860243 -0.536371
 v 3.066436 0.915788 -0.471200
 v 3.066436 0.687737 -0.308273
 v 2.805842 1.729862 -0.568957
 v 3.066436 1.827648 0.473332
 v 2.349803 1.762343 0.571088
 v 2.512577 0.687852 -0.471200
 f 54 62 65 
 f 40 41 43 
 f 43 42 44 
 f 43 44 47 
 f 41 40 48 
 f 40 47 48 
 f 48 45 49 
 f 42 43 50 
 f 45 42 50 
 f 44 42 51 
 f 44 51 52 
 f 45 48 55 
 f 48 52 55 
 f 52 51 55 
 f 40 43 56 
 f 47 40 56 
 f 43 47 56 
 f 42 45 57 
 f 51 42 57 
 f 45 55 57 
 f 55 51 57 
 f 50 43 58 
 f 54 50 58 
 f 43 41 59 
 f 41 53 59 
 f 53 43 59 
 f 49 46 60 
 f 48 49 60 
 f 39 49 61 
 f 49 45 61 
 f 45 50 61 
 f 46 49 62 
 f 43 53 62 
 f 53 46 62 
 f 58 43 62 
 f 54 58 62 
 f 41 48 63 
 f 53 41 63 
 f 46 53 63 
 f 60 46 63 
 f 48 60 63 
 f 47 44 64 
 f 48 47 64 
 f 44 52 64 
 f 52 48 64 
 f 49 39 65 
 f 50 54 65 
 f 39 61 65 
 f 61 50 65 
 f 62 49 65 
 o convex_2
 v -2.861446 1.599483 0.571088
 v -2.015015 1.208916 -0.601529
 v -2.015015 1.404142 -0.601529
 v -1.103039 1.176321 0.505892
 v -2.959470 0.752930 0.538375
 v -1.103039 0.687740 -0.503735
 v -1.103039 1.762343 -0.438538
 v -3.089780 1.762343 -0.568816
 v -2.926795 0.720335 -0.568816
 v -1.103039 1.860128 0.440695
 v -1.200675 0.818120 0.505892
 v -3.089780 1.729748 0.571088
 v -1.103039 1.729748 -0.601529
 v -2.405556 1.794938 0.538375
 v -1.135520 0.687740 -0.536333
 v -3.089780 1.632078 -0.503735
 v -1.852224 1.762343 -0.601529
 v -2.080170 0.687740 -0.503735
 v -1.103039 0.850600 0.505892
 v -1.168000 0.687740 -0.373342
 v -1.135520 1.860128 0.277819
 v -2.666176 0.752930 0.538375
 v -3.057106 1.371547 0.571088
 v -2.926795 0.720335 0.049746
 v -1.363659 1.860128 0.440580
 v -3.089780 1.762343 0.245335
 v -2.959470 0.752930 -0.177867
 v -2.796485 1.762343 0.571088
 v -1.330985 1.827533 0.473293
 v -1.103039 1.534407 -0.601529
 v -2.112650 0.720335 -0.568816
 f 67 95 96 
 f 69 71 72 
 f 68 67 73 
 f 73 67 74 
 f 69 72 75 
 f 67 68 78 
 f 72 71 78 
 f 73 74 81 
 f 77 73 81 
 f 68 73 82 
 f 78 68 82 
 f 72 78 82 
 f 74 80 83 
 f 80 71 83 
 f 71 69 84 
 f 76 71 84 
 f 71 76 85 
 f 83 71 85 
 f 75 72 86 
 f 82 73 86 
 f 72 82 86 
 f 76 84 87 
 f 70 85 87 
 f 85 76 87 
 f 66 77 88 
 f 77 81 88 
 f 84 66 88 
 f 70 87 88 
 f 87 84 88 
 f 70 74 89 
 f 74 83 89 
 f 85 70 89 
 f 83 85 89 
 f 79 75 90 
 f 75 86 90 
 f 86 73 90 
 f 73 77 91 
 f 79 90 91 
 f 90 73 91 
 f 74 70 92 
 f 81 74 92 
 f 70 88 92 
 f 88 81 92 
 f 77 66 93 
 f 66 84 93 
 f 84 69 93 
 f 91 77 93 
 f 79 91 93 
 f 69 75 94 
 f 75 79 94 
 f 93 69 94 
 f 79 93 94 
 f 67 78 95 
 f 78 71 95 
 f 71 80 95 
 f 95 80 96 
 f 74 67 96 
 f 80 74 96 
 o convex_3
 v -0.516458 1.436645 -1.090314
 v 0.590920 1.827555 -3.011712
 v 0.590920 1.729770 -3.011712
 v -0.483780 1.827670 -3.077055
 v 0.460564 0.655167 -3.044189
 v 0.428004 1.827670 -1.090314
 v -0.614254 0.687762 -1.090314
 v 0.493123 0.752953 -1.090314
 v -0.451339 0.818028 -3.077055
 v -0.451339 1.729885 -1.090314
 v 0.558242 0.785548 -3.044189
 v 0.590920 1.827555 -3.077055
 v 0.525683 0.687762 -2.034872
 v -0.483780 1.827670 -2.523000
 v -0.483780 0.785433 -2.848744
 v 0.460564 1.827555 -1.188135
 v -0.223304 0.687762 -1.090314
 v -0.581577 0.687762 -1.416057
 v 0.525683 0.655167 -2.783595
 v 0.493123 0.720358 -1.188135
 v 0.232529 1.827670 -1.188135
 v -0.614254 0.752838 -1.122986
 v 0.558242 1.404050 -3.077055
 v -0.483780 1.436645 -3.077055
 v -0.483780 1.795075 -2.002395
 v 0.493123 0.883218 -1.090314
 f 112 102 122 
 f 102 97 103 
 f 99 98 104 
 f 102 103 104 
 f 97 102 106 
 f 98 99 108 
 f 102 98 108 
 f 100 102 108 
 f 105 100 108 
 f 99 107 108 
 f 99 104 109 
 f 107 99 109 
 f 102 100 110 
 f 105 101 111 
 f 98 102 112 
 f 104 103 113 
 f 101 103 114 
 f 111 101 114 
 f 103 111 114 
 f 103 101 115 
 f 101 107 115 
 f 107 109 115 
 f 113 103 115 
 f 113 115 116 
 f 109 104 116 
 f 104 113 116 
 f 115 109 116 
 f 106 102 117 
 f 102 110 117 
 f 103 97 118 
 f 110 100 118 
 f 111 103 118 
 f 101 105 119 
 f 107 101 119 
 f 105 108 119 
 f 108 107 119 
 f 100 105 120 
 f 105 111 120 
 f 118 100 120 
 f 111 118 120 
 f 97 106 121 
 f 106 117 121 
 f 117 110 121 
 f 118 97 121 
 f 110 118 121 
 f 104 98 122 
 f 102 104 122 
 f 98 112 122 
 o convex_4
 v 0.590757 1.827406 1.092252
 v -1.070161 2.250911 -1.090120
 v -1.102845 0.622652 -1.057436
 v 0.981687 0.752975 -1.057222
 v -0.972321 0.622652 0.961728
 v 0.916532 2.381406 -1.090120
 v -0.972321 2.381406 0.929044
 v 1.079527 0.622652 1.027097
 v 1.079527 2.348524 1.027097
 v 0.558287 0.622652 -1.090120
 v -1.102845 2.381406 -0.796816
 v -1.102845 0.850760 0.505643
 v 1.079527 1.860115 -0.536196
 v -0.451295 0.622652 1.092252
 v -0.614289 1.762330 1.092252
 v 1.079527 0.687899 -0.471041
 v -1.102845 1.860115 0.440488
 v -0.027895 2.381406 0.994412
 v 0.981687 0.622652 -1.024751
 v -0.874696 2.381406 -1.090120
 v 0.493132 0.720437 1.092252
 v -0.614289 0.687899 -1.090120
 v 0.981687 2.381406 -0.536196
 v -0.939851 2.381406 0.961728
 v 0.949003 2.218374 -1.090120
 v -1.102845 2.348524 -1.057436
 v -0.972321 2.153126 0.961728
 v -0.907380 0.622652 0.994412
 v -1.037476 0.622652 0.440488
 v 0.981687 2.381406 -0.112582
 v 0.623442 2.348524 1.027097
 f 140 146 153 
 f 127 125 130 
 f 123 130 131 
 f 124 128 132 
 f 130 125 132 
 f 129 128 133 
 f 133 125 134 
 f 131 130 135 
 f 127 130 136 
 f 136 123 137 
 f 126 135 138 
 f 135 130 138 
 f 129 133 139 
 f 133 134 139 
 f 128 129 140 
 f 132 126 141 
 f 130 132 141 
 f 126 138 141 
 f 138 130 141 
 f 128 124 142 
 f 133 128 142 
 f 130 123 143 
 f 123 136 143 
 f 136 130 143 
 f 125 124 144 
 f 132 125 144 
 f 124 132 144 
 f 131 135 145 
 f 128 140 145 
 f 140 129 146 
 f 132 128 147 
 f 126 132 147 
 f 135 126 147 
 f 128 145 147 
 f 145 135 147 
 f 124 125 148 
 f 125 133 148 
 f 142 124 148 
 f 133 142 148 
 f 134 127 149 
 f 129 139 149 
 f 139 134 149 
 f 146 129 149 
 f 137 146 149 
 f 127 136 150 
 f 136 137 150 
 f 149 127 150 
 f 137 149 150 
 f 125 127 151 
 f 134 125 151 
 f 127 134 151 
 f 140 131 152 
 f 131 145 152 
 f 145 140 152 
 f 123 131 153 
 f 137 123 153 
 f 131 140 153 
 f 146 137 153 
 o convex_5
 v -0.060506 0.720307 1.352871
 v 0.590920 1.827670 1.222562
 v 0.590920 1.762416 1.222562
 v 0.493123 0.785452 3.079187
 v -0.614254 1.762416 2.916202
 v -0.614254 1.762416 1.092252
 v -0.549017 0.752933 3.079187
 v 0.460564 1.827670 3.079187
 v 0.493123 0.720307 1.092252
 v -0.418661 0.752933 1.092252
 v 0.428004 1.827670 1.092252
 v -0.581577 1.794935 2.948877
 v -0.092948 0.720307 3.079187
 v -0.483780 0.720307 1.906592
 v 0.493123 0.752933 3.046512
 v -0.386102 1.794935 1.092252
 v 0.590920 1.697271 1.092252
 v 0.167292 1.827670 3.046512
 v -0.614254 1.534353 2.948877
 v 0.493123 1.176324 3.079187
 v -0.451339 0.818079 1.092252
 v -0.516458 0.720307 3.079187
 v -0.614254 1.729789 1.092252
 v -0.549017 0.850597 3.079187
 v 0.525683 0.980888 1.124926
 f 170 168 178 
 f 156 155 157 
 f 160 157 161 
 f 159 162 163 
 f 162 154 163 
 f 161 155 164 
 f 162 159 164 
 f 159 158 165 
 f 157 160 166 
 f 154 162 166 
 f 163 154 167 
 f 154 166 167 
 f 156 157 168 
 f 157 166 168 
 f 166 162 168 
 f 164 159 169 
 f 159 165 169 
 f 155 156 170 
 f 164 155 170 
 f 162 164 170 
 f 156 168 170 
 f 161 164 171 
 f 164 169 171 
 f 169 165 171 
 f 158 159 172 
 f 165 158 172 
 f 157 155 173 
 f 155 161 173 
 f 161 157 173 
 f 159 163 174 
 f 163 167 174 
 f 166 160 175 
 f 160 167 175 
 f 167 166 175 
 f 167 160 176 
 f 172 159 176 
 f 160 172 176 
 f 159 174 176 
 f 174 167 176 
 f 160 161 177 
 f 161 171 177 
 f 171 165 177 
 f 172 160 177 
 f 165 172 177 
 f 168 162 178 
 f 162 170 178 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf
@@ -0,0 +1,31 @@
 <robot name="blob012">
  <link name="random_obj_012">
    <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="012.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.68 0.59 0.83 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="012.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj
@@ -0,0 +1,516 @@
 o convex_0
 v -1.402748 0.731818 -1.771021
 v -0.941813 -0.498125 -3.116056
 v -0.864923 -0.498125 -3.116056
 v -1.748602 -0.421073 -1.079363
 v -1.864089 0.616360 -3.038895
 v -0.826427 0.616360 -1.079363
 v -0.864923 0.731818 -3.000414
 v -0.826427 -0.382667 -1.079363
 v -1.787097 0.693171 -1.079363
 v -1.748602 -0.382667 -3.038895
 v -1.787097 -0.382667 -1.079363
 v -1.864089 0.347280 -2.923651
 v -0.826427 -0.382667 -1.886264
 v -1.864089 0.616360 -2.385518
 v -0.826427 -0.421073 -1.271368
 v -1.556528 -0.421073 -3.077375
 v -1.095492 0.731818 -3.000414
 v -0.864923 -0.267450 -3.116056
 v -1.787097 0.693171 -1.617297
 v -0.864923 0.731818 -2.577723
 v -1.441142 0.693171 -1.117644
 v -0.864923 0.539428 -3.038895
 v -0.980207 -0.498125 -2.923651
 v -1.787097 -0.190398 -3.038895
 v -1.133886 -0.421073 -3.116056
 f 5 18 25 
 f 6 4 8 
 f 4 6 9 
 f 4 9 11 
 f 10 4 11 
 f 7 6 13 
 f 6 8 13 
 f 9 5 14 
 f 11 9 14 
 f 5 12 14 
 f 12 11 14 
 f 8 4 15 
 f 3 13 15 
 f 13 8 15 
 f 4 10 16 
 f 1 7 17 
 f 7 5 17 
 f 3 2 18 
 f 13 3 18 
 f 9 1 19 
 f 5 9 19 
 f 1 17 19 
 f 17 5 19 
 f 7 1 20 
 f 6 7 20 
 f 1 9 21 
 f 9 6 21 
 f 20 1 21 
 f 6 20 21 
 f 5 7 22 
 f 7 13 22 
 f 18 5 22 
 f 13 18 22 
 f 2 3 23 
 f 3 15 23 
 f 15 4 23 
 f 16 2 23 
 f 4 16 23 
 f 10 11 24 
 f 12 5 24 
 f 11 12 24 
 f 5 16 24 
 f 16 10 24 
 f 2 16 25 
 f 16 5 25 
 f 18 2 25 
 o convex_1
 v 1.671958 3.114383 0.919481
 v -0.672575 -2.880840 -0.963345
 v 1.287422 -2.919125 -1.002040
 v -0.249755 -2.803671 1.073435
 v -0.672575 3.153266 -1.001833
 v -0.672575 3.075500 1.034739
 v 1.748768 3.153266 -0.925063
 v 1.710243 -2.880840 0.996458
 v 1.710243 -2.958009 -1.002040
 v -0.672575 -2.803671 1.073228
 v 1.787294 -1.535474 0.573500
 v -0.134419 3.153266 -1.040528
 v 0.019444 3.037812 1.034946
 v 1.787294 -2.073262 -0.771317
 v 1.787294 0.654559 0.535218
 v 1.518095 3.114383 0.957970
 v -0.672575 3.153266 0.035490
 v -0.557239 1.346684 1.073435
 v 0.250117 -2.880840 0.419753
 v 1.748768 1.192346 -0.963552
 v -0.518713 3.114383 -1.040528
 v 1.710243 -1.881237 0.996458
 v 1.748768 3.153266 -0.310077
 v 1.787294 -2.381338 0.458242
 v 1.787294 0.615675 -0.579082
 v 1.210612 -2.958009 -0.809805
 v -0.672575 -2.880840 -0.387054
 v -0.634049 3.114383 0.919688
 v 1.710243 -2.073860 -1.002040
 v -0.326566 -2.841957 0.957970
 v 1.748768 -2.765386 -0.925063
 v 1.325948 3.153266 -0.963552
 v 1.710243 3.153266 0.112467
 v 0.864843 -2.803671 1.034946
 v 1.633432 -2.919125 0.342983
 v -0.095893 -2.919125 -0.963552
 v 1.671958 2.307403 0.957970
 v -0.672575 1.039205 1.073228
 v -0.057608 2.845190 -1.040528
 v 1.710243 -2.958009 -0.502312
 v 0.672455 3.114383 0.996458
 v 1.287422 -2.880840 0.996458
 f 44 60 67 
 f 30 27 31 
 f 27 28 34 
 f 31 27 35 
 f 30 32 37 
 f 36 39 40 
 f 30 31 42 
 f 32 30 42 
 f 35 29 43 
 f 38 31 43 
 f 32 39 45 
 f 28 27 46 
 f 27 30 46 
 f 30 37 46 
 f 33 36 47 
 f 36 40 47 
 f 40 26 47 
 f 38 43 47 
 f 26 40 48 
 f 40 32 48 
 f 32 42 48 
 f 36 33 49 
 f 39 36 49 
 f 39 32 50 
 f 40 39 50 
 f 32 40 50 
 f 51 44 52 
 f 35 27 52 
 f 42 31 53 
 f 45 34 54 
 f 52 44 55 
 f 35 52 55 
 f 34 45 56 
 f 45 39 56 
 f 49 33 56 
 f 39 49 56 
 f 37 32 57 
 f 32 45 57 
 f 41 26 58 
 f 26 48 58 
 f 48 42 58 
 f 29 33 59 
 f 43 29 59 
 f 33 47 59 
 f 47 43 59 
 f 27 34 61 
 f 34 51 61 
 f 51 52 61 
 f 52 27 61 
 f 26 41 62 
 f 41 38 62 
 f 47 26 62 
 f 38 47 62 
 f 31 35 63 
 f 43 31 63 
 f 35 43 63 
 f 34 28 64 
 f 28 46 64 
 f 46 37 64 
 f 54 34 64 
 f 45 54 64 
 f 37 57 64 
 f 57 45 64 
 f 51 34 65 
 f 44 51 65 
 f 56 33 65 
 f 34 56 65 
 f 33 60 65 
 f 60 44 65 
 f 31 38 66 
 f 38 41 66 
 f 53 31 66 
 f 42 53 66 
 f 41 58 66 
 f 58 42 66 
 f 33 29 67 
 f 29 35 67 
 f 35 55 67 
 f 55 44 67 
 f 60 33 67 
 o convex_2
 v -1.326097 -0.420358 -1.078964
 v -0.826483 0.731471 1.111870
 v -0.903347 0.731471 1.111870
 v -2.402189 -2.803758 1.111870
 v -2.248292 3.153266 -1.001976
 v -2.248292 3.153266 1.034882
 v -0.672586 3.153266 -1.001762
 v -0.672756 -2.881138 -0.963589
 v -2.402189 -2.842153 -1.001976
 v -0.672756 -2.803168 1.073269
 v -0.672586 3.075887 1.034668
 v -2.402189 0.961837 0.304461
 v -2.248292 2.960704 1.073269
 v -1.825542 0.961837 -1.078964
 v -0.826483 -0.381964 -1.078964
 v -2.363588 -0.612920 1.111870
 v -2.402189 -2.842153 0.534996
 v -2.286724 2.845521 0.996496
 v -0.672586 3.153266 0.073926
 v -1.556519 -2.803168 1.111870
 v -2.132997 2.576170 -1.040363
 v -0.826483 0.616288 -1.078964
 v -2.402189 0.961837 0.534996
 v -2.402189 -2.419225 -1.001976
 v -0.672756 -2.842153 0.612199
 v -1.710246 -2.842153 -1.001976
 v -0.749619 -0.381964 1.111870
 v -0.749619 3.114281 1.034882
 v -2.286724 2.652959 -0.732840
 v -1.787110 -0.381964 -1.078964
 v -1.287665 -2.881138 -0.886601
 v -0.672756 -2.881138 -0.425531
 v -1.787110 0.577894 1.111870
 v -2.402189 -2.150465 1.111870
 v -0.672586 0.769866 1.073055
 f 92 99 102 
 f 69 70 71 
 f 72 73 74 
 f 76 71 79 
 f 70 69 80 
 f 69 78 80 
 f 74 75 82 
 f 68 81 82 
 f 71 70 83 
 f 71 76 84 
 f 73 72 85 
 f 80 73 85 
 f 83 80 85 
 f 74 73 86 
 f 78 74 86 
 f 69 71 87 
 f 72 74 88 
 f 81 76 88 
 f 81 88 89 
 f 74 82 89 
 f 82 81 89 
 f 88 74 89 
 f 79 71 90 
 f 85 79 90 
 f 83 85 90 
 f 76 79 91 
 f 72 88 91 
 f 88 76 91 
 f 71 84 92 
 f 87 71 92 
 f 77 87 92 
 f 75 76 93 
 f 76 68 93 
 f 82 75 93 
 f 68 82 93 
 f 78 69 94 
 f 69 87 94 
 f 87 77 94 
 f 73 80 95 
 f 80 78 95 
 f 86 73 95 
 f 78 86 95 
 f 85 72 96 
 f 79 85 96 
 f 72 91 96 
 f 91 79 96 
 f 68 76 97 
 f 81 68 97 
 f 76 81 97 
 f 76 75 98 
 f 84 76 98 
 f 92 84 99 
 f 98 75 99 
 f 84 98 99 
 f 70 80 100 
 f 83 70 100 
 f 80 83 100 
 f 71 83 101 
 f 90 71 101 
 f 83 90 101 
 f 75 74 102 
 f 74 78 102 
 f 77 92 102 
 f 94 77 102 
 f 78 94 102 
 f 99 75 102 
 o convex_3
 v -0.864957 0.731818 1.342699
 v -1.825492 -0.498125 1.111870
 v -1.787007 -0.498125 1.111870
 v -1.287610 -0.344141 3.072091
 v -1.864089 0.654766 2.995148
 v -0.749616 -0.382667 1.111870
 v -0.711244 0.693171 3.072091
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 v -1.671779 0.616360 1.150438
 v -0.749616 -0.113587 1.111870
 f 124 118 127 
 f 104 105 106 
 f 105 104 108 
 f 108 104 110 
 f 106 105 112 
 f 109 106 112 
 f 103 109 113 
 f 108 110 113 
 f 111 106 115 
 f 107 114 115 
 f 114 104 115 
 f 103 107 116 
 f 106 109 116 
 f 109 103 116 
 f 105 108 117 
 f 112 105 117 
 f 110 104 119 
 f 104 114 119 
 f 107 103 120 
 f 103 113 120 
 f 115 106 121 
 f 107 115 121 
 f 116 107 121 
 f 106 116 121 
 f 109 112 122 
 f 117 108 122 
 f 112 117 122 
 f 118 109 122 
 f 108 118 122 
 f 107 110 123 
 f 114 107 123 
 f 110 119 123 
 f 119 114 123 
 f 113 109 124 
 f 109 118 124 
 f 104 106 125 
 f 106 111 125 
 f 115 104 125 
 f 111 115 125 
 f 110 107 126 
 f 113 110 126 
 f 107 120 126 
 f 120 113 126 
 f 108 113 127 
 f 118 108 127 
 f 113 124 127 
 o convex_4
 v 3.708883 -1.343860 0.073926
 v 1.787302 -1.535979 -0.617736
 v 1.787302 -1.382262 -0.617736
 v 1.787302 -1.382262 0.573560
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 v 3.439709 -2.342854 -0.502278
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 v 1.826035 -2.227539 -0.540684
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 v 3.708883 -2.266050 -0.463752
 v 3.670346 -1.574490 -0.540684
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 f 130 129 131 
 f 131 129 133 
 f 130 131 138 
 f 137 132 140 
 f 134 129 141 
 f 132 135 142 
 f 135 133 142 
 f 140 132 142 
 f 131 133 143 
 f 133 135 143 
 f 128 136 144 
 f 136 139 144 
 f 139 138 144 
 f 137 128 145 
 f 128 144 145 
 f 144 138 145 
 f 132 137 146 
 f 135 132 147 
 f 146 131 147 
 f 132 146 147 
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 f 134 140 148 
 f 140 142 148 
 f 138 131 149 
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 f 145 138 149 
 f 131 146 149 
 f 146 137 149 
 f 133 129 150 
 f 142 133 150 
 f 129 148 150 
 f 148 142 150 
 f 131 143 151 
 f 143 135 151 
 f 147 131 151 
 f 135 147 151 
 f 129 130 152 
 f 130 138 152 
 f 138 139 152 
 f 141 129 152 
 f 139 141 152 
 f 128 137 153 
 f 140 134 153 
 f 137 140 153 
 f 134 141 153 
 f 153 141 154 
 f 136 128 154 
 f 139 136 154 
 f 141 139 154 
 o convex_5
 v 3.632023 -0.459689 0.612206
 v 1.787493 0.462591 -0.579300
 v 1.787493 0.616432 -0.579300
 v 3.747330 0.616432 -0.579300
 v 1.787493 0.654946 0.535230
 v 1.787493 -0.344254 -0.502323
 v 3.747330 -0.305739 -0.579300
 v 3.632023 0.654946 0.458370
 v 1.787493 -0.382769 0.535230
 v 3.093859 -0.459689 0.343138
 v 3.708766 0.654946 -0.041163
 v 3.747330 -0.344254 -0.502323
 v 1.864429 -0.382769 0.573718
 v 2.018108 -0.344254 -0.540812
 v 3.670395 -0.459689 0.496858
 v 1.787493 0.654946 -0.079418
 v 1.787493 -0.382769 -0.271743
 v 3.747330 -0.305739 -0.233371
 v 3.708766 0.654946 -0.271743
 v 2.133415 0.654946 0.535230
 v 2.210350 -0.421174 0.573718
 v 3.632023 -0.382769 0.612206
 v 2.940181 -0.305739 -0.579300
 v 3.747330 0.616432 -0.310231
 f 169 172 178 
 f 156 157 158 
 f 157 156 159 
 f 159 156 160 
 f 156 158 161 
 f 159 160 163 
 f 159 162 165 
 f 161 158 166 
 f 159 163 167 
 f 160 156 168 
 f 161 166 168 
 f 155 164 169 
 f 165 162 169 
 f 164 166 169 
 f 157 159 170 
 f 159 165 170 
 f 163 160 171 
 f 166 164 171 
 f 160 168 171 
 f 168 166 171 
 f 166 158 172 
 f 169 166 172 
 f 158 157 173 
 f 165 158 173 
 f 157 170 173 
 f 170 165 173 
 f 162 159 174 
 f 164 155 175 
 f 155 167 175 
 f 167 163 175 
 f 163 171 175 
 f 171 164 175 
 f 167 155 176 
 f 159 167 176 
 f 155 169 176 
 f 169 162 176 
 f 174 159 176 
 f 162 174 176 
 f 156 161 177 
 f 168 156 177 
 f 161 168 177 
 f 158 165 178 
 f 165 169 178 
 f 172 158 178 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf
@@ -0,0 +1,31 @@
 <robot name="blob013">
  <link name="random_obj_013">
    <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="013.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.16 0.35 0.04 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="013.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj
@@ -0,0 +1,291 @@
 o convex_0
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 v -0.958693 -3.076150 1.095901
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 o convex_1
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--- a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf
@@ -0,0 +1,31 @@
 <robot name="blob014">
  <link name="random_obj_014">
    <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="014.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.52 0.52 0.08 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="014.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj
@@ -0,0 +1,453 @@
 o convex_0
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 f 36 34 43 
 f 34 46 49 
 f 34 49 50 
 f 49 35 50 
 f 41 45 51 
 f 39 31 52 
 f 34 30 54 
 f 46 34 54 
 f 30 44 55 
 f 43 34 56 
 f 34 50 56 
 f 37 36 57 
 f 36 42 57 
 f 42 37 57 
 f 40 39 58 
 f 41 51 58 
 f 36 43 59 
 f 35 48 59 
 f 50 35 59 
 f 43 56 59 
 f 56 50 59 
 f 31 42 60 
 f 42 48 60 
 f 52 31 60 
 f 48 52 60 
 f 33 37 61 
 f 37 39 61 
 f 39 40 61 
 f 47 33 61 
 f 44 47 61 
 f 55 44 61 
 f 40 55 61 
 f 37 32 62 
 f 32 39 62 
 f 39 37 62 
 f 54 30 63 
 f 45 54 63 
 f 30 55 63 
 f 55 45 63 
 f 53 38 64 
 f 49 53 64 
 f 54 45 64 
 f 38 54 64 
 f 48 35 65 
 f 52 48 65 
 f 49 46 66 
 f 38 53 66 
 f 53 49 66 
 f 54 38 66 
 f 46 54 66 
 f 51 45 67 
 f 55 40 67 
 f 45 55 67 
 f 39 52 68 
 f 58 39 68 
 f 41 58 68 
 f 52 65 68 
 f 68 65 69 
 f 35 49 69 
 f 65 35 69 
 f 41 68 69 
 f 30 34 70 
 f 44 30 70 
 f 47 44 70 
 f 42 36 71 
 f 48 42 71 
 f 36 59 71 
 f 59 48 71 
 f 45 41 72 
 f 64 45 72 
 f 49 64 72 
 f 41 69 72 
 f 69 49 72 
 f 40 58 73 
 f 58 51 73 
 f 67 40 73 
 f 51 67 73 
 f 34 33 74 
 f 33 47 74 
 f 70 34 74 
 o convex_2
 v 0.371252 5.073763 0.288112
 v -0.305327 4.397331 0.082167
 v -0.275856 3.338729 -0.182437
 v 0.312310 5.073763 -0.241287
 v 0.282971 3.103201 0.288112
 v 0.282971 3.103201 -0.300138
 v -0.246451 5.073763 -0.211831
 v -0.305327 5.103326 0.288112
 v -0.217046 3.103201 0.258655
 v -0.246451 3.103201 -0.270681
 v 0.282971 4.544364 0.347025
 v 0.312310 3.309361 0.317568
 v -0.246451 4.691398 -0.241287
 v 0.371252 5.073763 0.347025
 v 0.135814 3.368292 -0.300138
 v 0.312310 3.838760 -0.270681
 v -0.305327 4.691398 0.288112
 v -0.275856 5.073763 -0.153044
 v 0.253566 3.162328 0.317568
 v -0.128765 5.103326 0.317568
 v -0.011145 5.103326 0.023444
 v -0.246451 3.662359 -0.270681
 v 0.106409 5.073763 -0.241287
 v 0.341781 5.073763 -0.064800
 v -0.246451 3.132961 0.052774
 v -0.275856 4.338400 0.288112
 v -0.305327 5.103326 0.111624
 v 0.312310 4.367963 -0.270681
 f 78 98 102 
 f 80 79 83 
 f 80 83 84 
 f 79 80 86 
 f 85 86 88 
 f 86 75 88 
 f 80 84 89 
 f 86 80 90 
 f 75 86 90 
 f 76 77 91 
 f 82 76 91 
 f 77 76 92 
 f 81 87 92 
 f 83 79 93 
 f 86 85 93 
 f 79 86 93 
 f 85 88 94 
 f 82 91 94 
 f 93 85 94 
 f 88 75 95 
 f 82 94 95 
 f 94 88 95 
 f 84 77 96 
 f 89 84 96 
 f 87 89 96 
 f 77 92 96 
 f 92 87 96 
 f 87 81 97 
 f 89 87 97 
 f 95 78 97 
 f 81 95 97 
 f 75 90 98 
 f 95 75 98 
 f 78 95 98 
 f 77 84 99 
 f 84 83 99 
 f 91 77 99 
 f 83 91 99 
 f 91 83 100 
 f 83 93 100 
 f 94 91 100 
 f 93 94 100 
 f 76 82 101 
 f 92 76 101 
 f 81 92 101 
 f 95 81 101 
 f 82 95 101 
 f 80 89 102 
 f 90 80 102 
 f 97 78 102 
 f 89 97 102 
 f 98 90 102 
 o convex_3
 v -0.275767 -2.368265 -1.005929
 v 1.047782 -2.985764 -0.564745
 v 0.988975 -1.632853 0.964475
 v -0.981846 -2.985764 1.082233
 v -0.981846 -1.632853 1.082233
 v 1.018379 -1.632853 -0.947050
 v -0.981846 -1.632853 -0.976694
 v -0.981846 -3.103677 -0.947254
 v 0.959572 -2.985764 0.993914
 v 1.047782 -3.103677 -0.947050
 v 0.429914 -1.632853 1.082233
 v 0.959572 -3.015422 0.935035
 v -0.981846 -3.103677 -0.682299
 v 0.224090 -1.839022 -1.005929
 v 0.929970 -2.956393 -0.976694
 v 1.047782 -1.956503 -0.917610
 v -0.893437 -3.044649 -0.976694
 v 0.253494 -2.250639 1.082233
 v 0.988975 -3.015422 0.729163
 v -0.981846 -3.015422 0.788042
 v 0.959572 -1.839022 0.993914
 v 0.400510 -2.221413 -1.005929
 v -0.775823 -2.985764 1.082233
 v 0.988975 -2.191899 0.964475
 v -0.246364 -1.839022 -1.005929
 v -0.981846 -2.985764 -0.976694
 v 0.812356 -2.662257 1.023354
 v 0.871163 -3.103677 -0.888171
 v 1.018379 -1.632853 -0.388108
 f 118 108 131 
 f 107 105 108 
 f 106 107 109 
 f 107 108 109 
 f 106 109 110 
 f 107 106 113 
 f 105 107 113 
 f 106 110 115 
 f 110 112 115 
 f 109 108 116 
 f 108 112 117 
 f 105 104 118 
 f 104 112 118 
 f 112 108 118 
 f 112 110 119 
 f 103 117 119 
 f 117 112 119 
 f 113 106 120 
 f 112 104 121 
 f 111 114 121 
 f 114 112 121 
 f 114 106 122 
 f 115 114 122 
 f 106 115 122 
 f 111 105 123 
 f 105 113 123 
 f 103 116 124 
 f 116 108 124 
 f 117 103 124 
 f 108 117 124 
 f 106 114 125 
 f 114 111 125 
 f 120 106 125 
 f 111 120 125 
 f 104 105 126 
 f 105 111 126 
 f 121 104 126 
 f 111 121 126 
 f 103 109 127 
 f 116 103 127 
 f 109 116 127 
 f 109 103 128 
 f 110 109 128 
 f 103 119 128 
 f 119 110 128 
 f 120 111 129 
 f 113 120 129 
 f 111 123 129 
 f 123 113 129 
 f 112 114 130 
 f 115 112 130 
 f 114 115 130 
 f 108 105 131 
 f 105 118 131 
 o convex_4
 v -0.099305 -1.750553 1.082437
 v 0.341836 -2.132859 3.052999
 v 0.312364 -2.103465 3.052999
 v -0.334744 -2.191645 2.994264
 v 0.282959 -2.250495 1.082437
 v 0.312364 -1.632853 1.112196
 v -0.217058 -1.780010 3.082367
 v -0.275801 -2.221102 1.082437
 v 0.341836 -1.838797 2.964897
 v 0.341836 -2.280016 3.052999
 v -0.275801 -1.809404 1.082437
 v -0.128710 -2.250495 1.082437
 v -0.158181 -1.750553 2.847231
 v 0.312364 -1.927104 1.082437
 v 0.341836 -1.750553 2.229533
 v 0.253554 -2.280016 3.052999
 v 0.312364 -2.280016 1.906295
 v -0.305272 -2.221102 1.876927
 v -0.246396 -1.780010 2.464865
 v -0.040495 -1.780010 3.052999
 v -0.334744 -2.132859 2.994264
 v 0.282959 -1.632853 1.082437
 v 0.341836 -2.280016 2.758932
 v -0.011090 -2.015221 3.082367
 v -0.334744 -2.162252 2.670634
 f 152 142 156 
 f 133 134 138 
 f 132 136 139 
 f 134 133 140 
 f 140 133 141 
 f 132 139 142 
 f 139 136 143 
 f 136 132 145 
 f 140 141 146 
 f 145 137 146 
 f 147 143 148 
 f 143 136 148 
 f 136 145 148 
 f 141 147 148 
 f 139 143 149 
 f 147 135 149 
 f 143 147 149 
 f 132 142 150 
 f 138 144 150 
 f 138 134 151 
 f 134 140 151 
 f 137 144 151 
 f 144 138 151 
 f 140 146 151 
 f 146 137 151 
 f 135 138 152 
 f 138 150 152 
 f 150 142 152 
 f 144 137 153 
 f 145 132 153 
 f 137 145 153 
 f 132 150 153 
 f 150 144 153 
 f 146 141 154 
 f 145 146 154 
 f 148 145 154 
 f 141 148 154 
 f 133 138 155 
 f 138 135 155 
 f 141 133 155 
 f 135 147 155 
 f 147 141 155 
 f 142 139 156 
 f 149 135 156 
 f 139 149 156 
 f 135 152 156 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf
@@ -0,0 +1,31 @@
 <robot name="blob015">
  <link name="random_obj_015">
    <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="015.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.61 0.98 0.99 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="015.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj
@@ -0,0 +1,732 @@
 o convex_0
 v 0.996620 1.593728 0.279773
 v -1.523451 -0.631386 -0.041700
 v -1.523451 -0.631386 0.065202
 v -0.692257 2.960788 -0.014879
 v 0.835787 -0.631386 -0.819329
 v 0.835787 -0.631386 0.896473
 v 0.004594 2.665596 -0.712043
 v 0.004594 2.665596 0.762366
 v -0.772538 0.387826 -0.872780
 v -0.772538 0.199940 0.896281
 v 0.808757 2.773301 -0.095343
 v -0.772538 2.183714 0.681710
 v 0.889308 2.370802 0.735545
 v 1.238004 -0.631386 0.011942
 v -0.772538 2.237168 -0.658209
 v 0.058115 3.443867 0.038381
 v 0.835787 0.575712 -0.819329
 v -1.094474 -0.631386 -0.685222
 v -1.040953 -0.631386 0.735545
 v 0.272738 0.387427 1.003759
 v 0.111906 0.280519 -0.953435
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 v 1.103932 0.629166 -0.390187
 v 0.808757 0.360700 0.976937
 v -0.772538 2.853482 0.038381
 v 1.184213 -0.631386 -0.443829
 v 0.647924 2.076009 -0.577936
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 v -1.282067 -0.523681 0.494152
 v 0.058115 0.602040 -0.953435
 v -1.335588 -0.604260 -0.417008
 v 0.004594 0.468007 1.003759
 v 0.058115 2.665596 -0.712043
 v 0.218947 -0.631386 -0.872971
 v 0.004594 3.068494 0.413880
 v 1.023380 -0.496954 0.788996
 v 1.238004 -0.524080 0.172488
 v 0.889308 2.022555 0.788996
 v -0.048927 3.255582 -0.148986
 v 0.835787 2.719449 0.065202
 v -0.772538 0.092633 -0.872780
 v 1.076901 0.870506 -0.390187
 v -0.692257 2.960788 0.038381
 v 0.916068 2.263895 0.708532
 v -0.772538 -0.603862 0.816009
 v -0.719018 2.263895 0.681710
 v 0.808757 0.012453 0.976937
 v 0.755236 0.548586 -0.846150
 v 0.058115 3.068494 -0.363557
 v -0.772538 2.853482 -0.014879
 v 0.165426 2.719449 0.708723
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 v -0.719018 1.834669 0.735545
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 v -0.692257 2.371201 -0.604758
 v -1.523451 -0.604260 -0.041700
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 v -0.745778 2.102736 -0.685222
 v -1.094474 -0.523681 -0.685222
 v -0.799569 -0.603862 -0.792507
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 v 0.004594 3.443867 0.038381
 v 0.380050 -0.443500 -0.899793
 f 21 49 64 
 f 3 2 5 
 f 3 5 6 
 f 6 5 14 
 f 5 2 18 
 f 3 6 19 
 f 10 12 19 
 f 6 14 22 
 f 14 5 26 
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 f 23 14 26 
 f 17 23 26 
 f 5 18 28 
 f 19 6 29 
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 f 18 9 42 
 f 21 35 42 
 f 35 28 42 
 f 23 17 43 
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 f 17 27 43 
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 f 4 25 44 
 f 38 1 45 
 f 22 38 45 
 f 13 39 45 
 f 39 22 45 
 f 1 41 45 
 f 41 13 45 
 f 10 19 46 
 f 19 29 46 
 f 25 12 47 
 f 8 36 47 
 f 44 25 47 
 f 36 44 47 
 f 24 20 48 
 f 29 6 48 
 f 6 37 48 
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 f 17 5 49 
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 f 16 11 50 
 f 34 7 50 
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 f 7 40 50 
 f 4 15 51 
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 f 8 13 52 
 f 36 8 52 
 f 36 52 53 
 f 11 16 53 
 f 16 36 53 
 f 13 41 53 
 f 41 11 53 
 f 52 13 53 
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 f 49 5 64 
 o convex_1
 v 1.318620 -2.159606 -0.095382
 v 1.318620 -0.711819 0.172574
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 f 74 66 91 
 f 79 80 92 
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 o convex_2
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 v -1.362790 -0.685029 0.413814
 v -2.059852 -2.079006 -0.095351
 v -1.335840 -1.971867 -0.363491
 v -2.756748 -1.489082 -0.443869
 v -3.024760 -1.515977 0.011819
 v -1.335840 -0.738672 0.467507
 v -1.577232 -0.631386 0.011819
 v -3.024760 -1.569620 -0.068558
 v -2.676229 -1.301847 -0.363491
 v -2.033067 -1.944972 0.413814
 v -1.443144 -0.631386 0.226159
 v -1.845410 -1.462481 0.547884
 v -2.703014 -1.435587 0.360229
 v -2.622660 -1.837687 0.306537
 v -1.845410 -1.650011 -0.497561
 v -2.729798 -1.141066 0.065189
 v -2.676229 -1.167667 -0.202629
 v -2.729798 -1.918077 -0.175836
 f 165 163 184 
 f 126 125 128 
 f 126 128 129 
 f 126 129 135 
 f 125 126 140 
 f 138 131 141 
 f 129 128 142 
 f 131 138 145 
 f 145 138 146 
 f 138 129 146 
 f 127 132 148 
 f 132 140 148 
 f 126 135 149 
 f 135 129 151 
 f 141 135 151 
 f 142 124 152 
 f 129 142 152 
 f 127 148 153 
 f 128 125 154 
 f 139 128 154 
 f 134 139 154 
 f 142 128 157 
 f 140 126 158 
 f 126 149 158 
 f 149 143 158 
 f 135 141 159 
 f 141 131 159 
 f 149 135 159 
 f 155 130 160 
 f 130 156 160 
 f 156 137 160 
 f 128 139 161 
 f 156 130 161 
 f 139 156 161 
 f 124 142 162 
 f 150 124 162 
 f 157 136 162 
 f 142 157 162 
 f 131 145 163 
 f 127 153 163 
 f 153 131 163 
 f 136 147 164 
 f 133 150 164 
 f 130 155 164 
 f 162 136 164 
 f 150 162 164 
 f 133 164 165 
 f 164 155 165 
 f 144 137 166 
 f 133 146 168 
 f 124 150 168 
 f 150 133 168 
 f 152 124 168 
 f 146 152 168 
 f 146 129 169 
 f 129 152 169 
 f 152 146 169 
 f 131 153 170 
 f 159 131 170 
 f 149 159 170 
 f 132 127 171 
 f 127 155 171 
 f 160 132 171 
 f 155 160 171 
 f 137 134 172 
 f 154 125 172 
 f 134 154 172 
 f 167 137 172 
 f 125 167 172 
 f 148 140 173 
 f 140 158 173 
 f 158 148 173 
 f 155 127 174 
 f 127 163 174 
 f 165 155 174 
 f 163 165 174 
 f 143 149 175 
 f 153 148 175 
 f 149 170 175 
 f 170 153 175 
 f 130 136 176 
 f 157 128 176 
 f 136 157 176 
 f 128 161 176 
 f 161 130 176 
 f 125 140 177 
 f 140 132 177 
 f 167 125 177 
 f 134 137 178 
 f 139 134 178 
 f 137 156 178 
 f 156 139 178 
 f 137 144 179 
 f 132 160 179 
 f 160 137 179 
 f 166 132 179 
 f 144 166 179 
 f 136 130 180 
 f 147 136 180 
 f 130 164 180 
 f 164 147 180 
 f 129 138 181 
 f 138 141 181 
 f 151 129 181 
 f 141 151 181 
 f 132 166 182 
 f 166 137 182 
 f 137 167 182 
 f 177 132 182 
 f 167 177 182 
 f 148 158 183 
 f 158 143 183 
 f 143 175 183 
 f 175 148 183 
 f 145 146 184 
 f 146 133 184 
 f 163 145 184 
 f 133 165 184 
 o convex_3
 v -1.335840 -0.631386 -0.416940
 v 1.264815 -0.631386 0.118973
 v 1.264815 -0.631386 0.091953
 v 0.326481 -2.534958 0.011756
 v -0.719025 -0.631386 0.815799
 v 0.889329 -1.891180 -0.792460
 v -1.335840 -2.132667 -0.041593
 v 0.862345 -1.864348 0.735602
 v 0.835615 -0.631386 -0.819308
 v -1.335840 -1.891366 0.467473
 v -0.799468 -1.784039 -0.658395
 v 1.264815 -2.105835 -0.336570
 v 0.808886 -0.631386 0.896515
 v -0.772738 -0.631386 -0.792287
 v 1.264815 -1.971675 0.413778
 v -1.308856 -0.631386 0.467473
 v -0.102464 -1.810871 0.762277
 v -0.719025 -2.481295 -0.014918
 v -1.335840 -1.918012 -0.416940
 v 1.264815 -1.676898 -0.578025
 v 1.050215 -2.239808 -0.551005
 v 0.808886 -2.508126 0.038257
 v 1.264815 -1.194669 0.574690
 v 1.184117 -0.631386 -0.443787
 v -0.746009 -1.837702 0.681907
 v -1.335840 -1.435783 0.574517
 v -1.335840 -1.274979 -0.551005
 v 0.245784 -0.658218 -0.873003
 v -0.129193 -2.534958 0.038431
 v 1.184117 -0.631386 0.574690
 v 0.004454 -0.899519 0.869667
 v 1.264815 -2.186144 0.011756
 v -0.665311 -1.784039 -0.685243
 v -1.094511 -0.712068 0.708755
 v 0.808886 -1.676711 0.789125
 v -0.799468 -2.454277 0.038431
 v -1.147970 -0.685236 -0.658395
 v 1.264815 -1.435970 0.574690
 v -0.772738 -1.837702 -0.631547
 v 1.264815 -0.926537 -0.417113
 v 0.943042 -1.971675 -0.765612
 v 1.023486 -0.685050 0.789125
 v 0.058168 -1.837516 0.762277
 v 0.326481 -2.320303 0.279539
 v -1.335840 -1.944844 0.440625
 v 0.514097 -0.631386 -0.873003
 v -0.772738 -2.454277 -0.041593
 v -0.129193 -2.534958 -0.014918
 v -1.335840 -0.712068 0.467473
 v 1.103674 -0.658404 -0.578025
 v 0.996502 -2.213162 -0.578025
 v -0.048750 -1.784039 -0.738765
 v -0.772738 -0.685236 -0.792287
 v -1.335840 -2.132667 0.092126
 v 0.808886 -2.427631 0.145475
 v -0.772738 -1.355474 0.735429
 v 1.264815 -0.765732 0.494147
 v -0.209636 -0.631386 0.869667
 v 1.264815 -1.998507 -0.470635
 v -1.308856 -1.944844 -0.416940
 v 0.808886 -0.711882 0.896515
 v 0.004454 -1.676711 0.789125
 v 0.889329 -0.631386 -0.792460
 v 0.916058 -1.757393 -0.792460
 f 247 204 248 
 f 185 186 187 
 f 186 185 189 
 f 185 187 193 
 f 185 191 194 
 f 187 186 196 
 f 186 189 197 
 f 185 193 198 
 f 196 186 199 
 f 189 185 200 
 f 191 185 203 
 f 187 196 204 
 f 188 205 206 
 f 199 186 207 
 f 193 187 208 
 f 185 194 210 
 f 194 209 210 
 f 203 185 211 
 f 195 203 211 
 f 188 206 213 
 f 186 197 214 
 f 196 199 216 
 f 205 196 216 
 f 199 206 216 
 f 206 205 216 
 f 189 200 218 
 f 202 213 220 
 f 213 209 220 
 f 185 198 221 
 f 211 185 221 
 f 192 199 222 
 f 199 207 222 
 f 219 192 222 
 f 195 217 223 
 f 187 204 224 
 f 208 187 224 
 f 217 190 225 
 f 223 217 225 
 f 214 197 226 
 f 207 214 226 
 f 222 207 226 
 f 219 222 226 
 f 201 209 227 
 f 209 213 227 
 f 192 219 227 
 f 192 227 228 
 f 227 213 228 
 f 194 191 229 
 f 209 194 229 
 f 220 209 229 
 f 198 193 230 
 f 190 212 230 
 f 212 198 230 
 f 220 191 231 
 f 202 220 231 
 f 205 188 232 
 f 202 205 232 
 f 188 213 232 
 f 213 202 232 
 f 200 185 233 
 f 185 210 233 
 f 218 200 233 
 f 210 218 233 
 f 224 204 234 
 f 208 224 234 
 f 205 202 235 
 f 225 205 235 
 f 223 225 235 
 f 202 231 235 
 f 231 223 235 
 f 212 190 236 
 f 190 217 236 
 f 236 217 237 
 f 195 211 237 
 f 198 212 237 
 f 217 195 237 
 f 221 198 237 
 f 211 221 237 
 f 212 236 237 
 f 191 220 238 
 f 229 191 238 
 f 220 229 238 
 f 199 192 239 
 f 206 199 239 
 f 213 206 239 
 f 192 228 239 
 f 228 213 239 
 f 209 201 240 
 f 210 209 240 
 f 215 189 240 
 f 189 218 240 
 f 218 210 240 
 f 207 186 241 
 f 186 214 241 
 f 214 207 241 
 f 197 189 242 
 f 189 215 242 
 f 204 196 243 
 f 196 205 243 
 f 225 204 243 
 f 205 225 243 
 f 191 203 244 
 f 203 195 244 
 f 195 223 244 
 f 231 191 244 
 f 223 231 244 
 f 226 197 245 
 f 219 226 245 
 f 197 242 245 
 f 242 215 245 
 f 201 227 246 
 f 227 219 246 
 f 240 201 246 
 f 215 240 246 
 f 245 215 246 
 f 219 245 246 
 f 193 208 247 
 f 234 204 247 
 f 208 234 247 
 f 225 190 248 
 f 204 225 248 
 f 190 230 248 
 f 230 193 248 
 f 193 247 248 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf
@@ -0,0 +1,31 @@
 <robot name="blob016">
  <link name="random_obj_016">
    <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="016.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.65 0.59 0.53 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="016.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj
@@ -0,0 +1,681 @@
 o convex_0
 v -0.562170 -1.300671 1.066537
 v -1.117246 -1.448753 0.326233
 v -1.117246 -1.448753 0.400392
 v 1.103059 -3.557683 -1.079362
 v 1.103059 -1.152589 -1.079362
 v 1.103059 -3.483289 1.066324
 v -1.006187 -3.557683 -1.116762
 v -0.969023 -3.446328 0.955406
 v 1.103059 -1.152589 1.066324
 v -1.043134 -1.152589 -1.079576
 v -1.043134 -1.152589 0.955406
 v -1.006187 -3.483289 0.622440
 v -1.043134 -3.335207 -0.968444
 v -0.932075 -3.113203 0.992165
 v -1.117246 -1.152589 0.659413
 v 1.028947 -3.557683 -0.598506
 v -0.969023 -3.483289 0.881461
 v -0.265941 -3.520251 -1.116548
 v -1.006187 -2.780313 -1.116762
 v -1.006187 -3.335207 0.955406
 v -0.636064 -1.152589 1.066537
 v 1.028947 -3.483289 1.066324
 v -0.969023 -3.557683 -1.005417
 v -0.673228 -3.446328 0.992165
 v -0.636064 -1.300671 1.066537
 f 14 22 25 
 f 4 5 6 
 f 1 6 9 
 f 6 5 9 
 f 9 5 10 
 f 9 10 11 
 f 3 2 13 
 f 2 10 13 
 f 10 7 13 
 f 12 3 13 
 f 7 12 13 
 f 2 3 15 
 f 10 2 15 
 f 11 10 15 
 f 4 6 16 
 f 7 4 16 
 f 12 7 17 
 f 5 4 18 
 f 4 7 18 
 f 7 10 19 
 f 10 5 19 
 f 5 18 19 
 f 18 7 19 
 f 3 12 20 
 f 8 14 20 
 f 14 11 20 
 f 15 3 20 
 f 11 15 20 
 f 17 8 20 
 f 12 17 20 
 f 1 9 21 
 f 9 11 21 
 f 11 14 21 
 f 6 1 22 
 f 16 6 22 
 f 17 16 22 
 f 7 16 23 
 f 17 7 23 
 f 16 17 23 
 f 14 8 24 
 f 8 17 24 
 f 22 14 24 
 f 17 22 24 
 f 1 21 25 
 f 21 14 25 
 f 22 1 25 
 o convex_1
 v -1.080240 0.364854 0.918372
 v 1.103059 0.253810 -0.857697
 v 1.103059 0.068814 -0.857697
 v 1.065872 0.364854 1.103543
 v -0.636143 0.068814 1.066378
 v -1.043054 0.364854 -1.042650
 v -1.043054 0.068814 -1.042650
 v 1.065872 0.068814 1.066378
 v 1.103059 0.364854 -1.116762
 v -1.080240 0.068814 0.918372
 v 1.103059 0.068814 -1.116762
 v -0.895164 0.364854 0.992484
 v -0.043943 0.364854 1.066378
 v 0.769665 0.290786 -1.116762
 f 34 36 39 
 f 28 27 29 
 f 26 29 31 
 f 26 31 32 
 f 28 30 32 
 f 28 29 33 
 f 29 30 33 
 f 30 28 33 
 f 27 28 34 
 f 29 27 34 
 f 31 29 34 
 f 26 32 35 
 f 32 30 35 
 f 28 32 36 
 f 34 28 36 
 f 29 26 37 
 f 26 35 37 
 f 35 30 37 
 f 30 29 38 
 f 29 37 38 
 f 37 30 38 
 f 32 31 39 
 f 31 34 39 
 f 36 32 39 
 o convex_2
 v -1.339602 -0.264384 0.585472
 v -2.005498 -1.004192 -0.598691
 v -2.005498 -0.967140 -0.598691
 v -3.078167 -0.967140 0.548380
 v -3.078167 0.031696 -0.450670
 v -1.117637 -0.079348 -0.487646
 v -1.117637 -1.115349 0.585472
 v -2.967282 -0.005356 0.511404
 v -3.115129 -0.967140 -0.561599
 v -1.117637 -1.041132 -0.598691
 v -1.117637 -0.005356 0.548380
 v -2.523351 -0.967140 0.585472
 v -3.004244 -0.227332 0.548380
 v -1.154598 -0.190392 -0.524623
 v -1.302445 -1.115349 0.511404
 v -1.561567 -1.041132 -0.598691
 v -3.041205 0.031696 -0.043586
 v -2.782278 0.031696 -0.450670
 v -3.115129 -0.560128 -0.524623
 v -2.634236 -0.005356 0.548380
 v -1.117637 -0.005356 0.363383
 v -3.078167 -0.782216 0.548380
 v -1.302445 -0.819156 -0.598691
 v -1.154598 -1.115349 0.326407
 v -3.115129 -0.967140 -0.043586
 v -1.117637 -0.190392 0.585472
 f 50 59 65 
 f 42 41 48 
 f 41 42 49 
 f 45 46 49 
 f 46 45 50 
 f 43 46 51 
 f 46 40 51 
 f 45 49 53 
 f 46 43 54 
 f 48 41 55 
 f 41 49 55 
 f 52 47 56 
 f 53 44 57 
 f 45 53 57 
 f 44 56 57 
 f 56 50 57 
 f 42 48 58 
 f 44 53 58 
 f 51 40 59 
 f 47 52 59 
 f 52 51 59 
 f 50 56 59 
 f 56 47 59 
 f 50 45 60 
 f 45 57 60 
 f 57 50 60 
 f 43 51 61 
 f 51 52 61 
 f 56 44 61 
 f 52 56 61 
 f 44 58 61 
 f 49 42 62 
 f 53 49 62 
 f 42 58 62 
 f 58 53 62 
 f 49 46 63 
 f 46 54 63 
 f 54 48 63 
 f 55 49 63 
 f 48 55 63 
 f 54 43 64 
 f 48 54 64 
 f 58 48 64 
 f 43 61 64 
 f 61 58 64 
 f 40 46 65 
 f 46 50 65 
 f 59 40 65 
 o convex_3
 v -1.968384 2.473962 -0.709597
 v -3.115520 2.103991 0.918267
 v -3.115520 2.103991 0.955323
 v -1.080241 0.439226 -1.042701
 v -1.080241 2.436986 0.955522
 v -3.078464 0.365064 0.918267
 v -2.967296 0.512969 -1.005446
 v -1.080241 0.475992 0.918466
 v -1.080241 2.510938 -1.079756
 v -2.930241 2.400010 -1.042502
 v -3.115520 2.400010 0.955323
 v -2.782416 0.476203 -1.042502
 v -2.930241 2.436986 0.770443
 v -2.412257 0.957102 0.955323
 v -2.967296 2.400010 -0.968589
 v -1.709392 1.770786 -1.079756
 v -1.080241 1.179168 0.955522
 v -1.487456 0.439226 0.918466
 v -1.302376 2.510938 -0.783709
 v -3.078464 0.402040 0.733188
 v -3.115520 2.363034 0.844355
 v -3.078464 1.068240 0.955323
 v -1.080241 0.439226 -0.524517
 v -2.523424 2.436986 -1.005446
 v -2.930241 0.512969 -1.042502
 v -1.709392 2.436986 0.955522
 v -3.041408 0.402040 0.252259
 f 85 72 92 
 f 68 67 71 
 f 69 70 73 
 f 70 69 74 
 f 67 68 76 
 f 75 72 80 
 f 76 78 80 
 f 74 69 81 
 f 75 74 81 
 f 69 77 81 
 f 73 70 82 
 f 79 73 82 
 f 79 71 83 
 f 73 79 83 
 f 70 74 84 
 f 66 78 84 
 f 71 67 85 
 f 72 85 86 
 f 67 76 86 
 f 80 72 86 
 f 76 80 86 
 f 85 67 86 
 f 68 71 87 
 f 71 79 87 
 f 79 82 87 
 f 71 69 88 
 f 69 73 88 
 f 83 71 88 
 f 73 83 88 
 f 74 75 89 
 f 78 66 89 
 f 75 80 89 
 f 80 78 89 
 f 66 84 89 
 f 84 74 89 
 f 72 75 90 
 f 77 72 90 
 f 75 81 90 
 f 81 77 90 
 f 76 68 91 
 f 78 76 91 
 f 82 70 91 
 f 70 84 91 
 f 84 78 91 
 f 68 87 91 
 f 87 82 91 
 f 69 71 92 
 f 77 69 92 
 f 72 77 92 
 f 71 85 92 
 o convex_4
 v 2.731238 1.364179 1.066161
 v 0.585235 0.475985 -1.116762
 v 0.585235 0.512958 -1.116762
 v -1.080240 1.179317 0.955319
 v -1.080240 2.510754 -1.079597
 v 3.027168 2.473781 -1.042433
 v -1.080240 2.436809 0.955319
 v 2.953083 0.475985 0.659308
 v 3.101253 2.473781 0.955319
 v -1.080240 0.365068 0.918372
 v 2.953083 0.402254 -0.931591
 v -1.042994 0.365068 -1.042433
 v 1.065763 0.364854 1.103543
 v 2.916245 0.512958 1.103325
 v 1.843039 2.548153 -0.080504
 v 1.103010 0.364854 -1.116762
 v -0.192042 2.548153 -1.005703
 v 1.398940 2.029898 1.029431
 v 2.989921 2.510967 0.844478
 v 0.733404 0.475985 1.103543
 v 1.768954 2.548153 -0.968539
 v 3.101253 2.177788 0.659308
 v -1.080240 0.439226 -1.042433
 v -0.857986 0.365068 0.992267
 v 2.989921 0.883110 -0.968539
 v 1.324855 0.512958 -1.116762
 v 2.323977 0.957055 1.103325
 v 0.363390 2.399836 0.992484
 v 2.989921 0.624089 -0.635580
 v 0.473903 2.548153 -0.450627
 v 1.103010 0.771979 -1.116762
 v 2.953083 0.587116 1.103325
 v 2.953083 0.402254 -0.598415
 v 3.027168 2.251946 -1.042433
 v 2.804914 0.402254 -0.968539
 v 2.657153 2.510967 -1.005486
 v 0.067051 0.364854 1.066378
 v 1.583947 2.436809 0.992484
 v -1.080240 2.510754 -0.746421
 v 3.064006 2.437022 -0.487357
 v 2.953083 0.883110 1.103325
 v -1.080240 2.214760 -1.079597
 v 3.101253 2.214974 0.918372
 v 1.028925 0.624089 1.103543
 f 133 119 136 
 f 95 94 97 
 f 97 96 99 
 f 96 97 102 
 f 105 100 106 
 f 94 95 108 
 f 104 94 108 
 f 101 98 111 
 f 99 101 111 
 f 97 109 113 
 f 109 107 113 
 f 107 111 113 
 f 102 97 115 
 f 94 104 115 
 f 104 102 115 
 f 99 96 116 
 f 96 102 116 
 f 108 95 118 
 f 103 117 121 
 f 117 114 121 
 f 107 109 122 
 f 99 111 122 
 f 111 107 122 
 f 95 97 123 
 f 97 98 123 
 f 118 95 123 
 f 98 118 123 
 f 106 100 124 
 f 105 106 124 
 f 100 105 125 
 f 108 103 125 
 f 105 108 125 
 f 121 100 125 
 f 103 121 125 
 f 118 98 126 
 f 118 126 127 
 f 103 108 127 
 f 117 103 127 
 f 108 118 127 
 f 126 117 127 
 f 98 97 128 
 f 111 98 128 
 f 97 113 128 
 f 113 111 128 
 f 102 104 129 
 f 104 108 129 
 f 108 105 129 
 f 112 99 129 
 f 105 112 129 
 f 99 116 129 
 f 116 102 129 
 f 101 99 130 
 f 93 101 130 
 f 110 93 130 
 f 99 120 130 
 f 120 110 130 
 f 97 99 131 
 f 109 97 131 
 f 99 122 131 
 f 122 109 131 
 f 98 101 132 
 f 101 114 132 
 f 114 117 132 
 f 126 98 132 
 f 117 126 132 
 f 101 93 133 
 f 93 110 133 
 f 110 119 133 
 f 124 101 133 
 f 105 124 133 
 f 97 94 134 
 f 94 115 134 
 f 115 97 134 
 f 114 101 135 
 f 100 121 135 
 f 121 114 135 
 f 101 124 135 
 f 124 100 135 
 f 99 112 136 
 f 112 105 136 
 f 119 110 136 
 f 120 99 136 
 f 110 120 136 
 f 105 133 136 
 o convex_5
 v 1.473308 -1.078145 0.511404
 v 1.140447 -0.967111 -0.598691
 v 1.140447 -0.893166 -0.598691
 v 3.101332 -1.078145 -0.450670
 v 2.916090 0.031609 0.474427
 v 1.140447 0.031609 -0.487646
 v 2.952946 0.068582 -0.487646
 v 1.140447 -0.042336 0.437451
 v 3.064092 -1.115349 0.585472
 v 1.140447 -1.115349 0.474427
 v 1.473308 -0.005363 0.474427
 v 2.952946 0.068582 0.067343
 v 1.140447 -1.115349 0.252339
 v 1.769313 -1.041172 -0.524623
 v 3.027043 -1.115349 -0.117538
 v 1.140447 -0.153369 0.474427
 v 1.917315 0.068582 -0.487646
 v 3.101332 -0.930139 -0.339626
 v 1.140447 0.031609 -0.154630
 v 2.952946 -0.005363 0.474427
 v 2.508940 -1.078145 -0.487646
 v 2.952946 -1.041172 0.585472
 v 2.472083 -0.190341 -0.524623
 v 2.397986 0.031609 0.474427
 v 1.140447 -1.004200 -0.561599
 f 157 150 161 
 f 139 138 142 
 f 142 138 144 
 f 144 138 146 
 f 145 137 146 
 f 146 138 149 
 f 145 146 149 
 f 140 145 151 
 f 145 149 151 
 f 144 146 152 
 f 146 137 152 
 f 147 144 152 
 f 148 143 153 
 f 140 143 154 
 f 145 140 154 
 f 143 148 154 
 f 142 144 155 
 f 144 147 155 
 f 153 142 155 
 f 148 153 155 
 f 141 145 156 
 f 148 141 156 
 f 145 154 156 
 f 154 148 156 
 f 138 140 157 
 f 149 150 157 
 f 151 149 157 
 f 140 151 157 
 f 137 145 158 
 f 145 141 158 
 f 152 137 158 
 f 147 152 158 
 f 138 139 159 
 f 140 138 159 
 f 139 142 159 
 f 143 140 159 
 f 142 153 159 
 f 153 143 159 
 f 141 148 160 
 f 155 147 160 
 f 148 155 160 
 f 158 141 160 
 f 147 158 160 
 f 149 138 161 
 f 150 149 161 
 f 138 157 161 
 o convex_6
 v -0.599175 -0.745193 1.288872
 v 0.621993 -1.004232 3.027506
 v 0.621993 -1.041205 3.027506
 v 0.584937 -0.523358 1.066538
 v -0.450952 0.031577 3.064761
 v -0.414015 -1.115150 3.101816
 v 0.584937 -1.152354 1.066538
 v -0.562119 0.031577 1.066538
 v 0.473770 -0.079341 2.990450
 v -0.599175 -1.152354 1.066538
 v 0.547762 -0.079341 1.066538
 v -0.155103 0.031577 2.324641
 v -0.450952 -1.115150 3.027506
 v 0.473770 -0.042368 1.066538
 v -0.488007 -0.079341 2.842625
 v 0.214738 -1.152354 1.806657
 v -0.229095 0.031577 3.064761
 v -0.599175 -1.152354 1.325729
 v 0.547762 -0.079341 1.658633
 v -0.562119 0.031577 1.547665
 v 0.399777 -1.078177 2.990450
 v -0.303087 0.031577 1.066538
 v 0.584937 -0.745193 3.027506
 v -0.599175 -0.338380 1.066538
 v -0.155103 -1.115150 3.064761
 f 177 182 186 
 f 163 164 165 
 f 164 163 167 
 f 165 164 168 
 f 165 168 169 
 f 169 168 171 
 f 165 169 172 
 f 169 166 173 
 f 167 166 174 
 f 172 169 175 
 f 174 166 176 
 f 171 168 177 
 f 166 167 178 
 f 173 166 178 
 f 170 175 178 
 f 175 173 178 
 f 162 171 179 
 f 167 174 179 
 f 176 162 179 
 f 174 176 179 
 f 177 167 179 
 f 171 177 179 
 f 163 165 180 
 f 165 172 180 
 f 172 175 180 
 f 175 170 180 
 f 166 169 181 
 f 162 176 181 
 f 176 166 181 
 f 168 164 182 
 f 177 168 182 
 f 169 173 183 
 f 175 169 183 
 f 173 175 183 
 f 167 163 184 
 f 178 167 184 
 f 170 178 184 
 f 163 180 184 
 f 180 170 184 
 f 171 162 185 
 f 169 171 185 
 f 162 181 185 
 f 181 169 185 
 f 164 167 186 
 f 167 177 186 
 f 182 164 186 
 o convex_7
 v -0.562083 -0.412408 -2.929836
 v 0.584988 -0.449381 -1.117153
 v 0.584988 -1.115349 -1.117153
 v -0.599175 0.031609 -1.117153
 v 0.510920 0.068582 -3.077683
 v -0.488130 -1.041172 -3.114645
 v -0.525107 -1.041172 -1.117153
 v 0.436967 -1.004200 -2.966798
 v 0.547896 0.031609 -1.117153
 v -0.562083 -0.079424 -3.077683
 v 0.214879 -1.115349 -1.708930
 v -0.562083 -0.856194 -1.154114
 v -0.599175 -0.005363 -2.041975
 v 0.473943 -0.597155 -3.040721
 v 0.584988 -1.115349 -1.264999
 v -0.303134 -1.078145 -1.117153
 v -0.525107 -1.041172 -2.448749
 v 0.029883 -0.449381 -3.114645
 v 0.473943 0.068582 -2.374825
 v 0.399875 0.068582 -3.077683
 v -0.340110 -1.041172 -3.114645
 v -0.525107 -0.375436 -3.114645
 v 0.547896 0.031609 -2.041975
 v -0.414062 -0.042336 -3.077683
 v -0.599175 -0.264402 -1.264999
 v -0.525107 -0.856194 -3.114645
 f 196 208 212 
 f 189 188 190 
 f 189 190 193 
 f 190 188 195 
 f 193 190 198 
 f 196 187 199 
 f 194 200 201 
 f 188 189 201 
 f 191 188 201 
 f 189 197 201 
 f 197 194 201 
 f 200 191 201 
 f 189 193 202 
 f 197 189 202 
 f 192 197 202 
 f 198 187 203 
 f 193 198 203 
 f 202 193 203 
 f 192 202 203 
 f 191 200 204 
 f 190 195 205 
 f 195 191 205 
 f 199 190 206 
 f 190 205 206 
 f 205 191 206 
 f 197 192 207 
 f 194 197 207 
 f 200 194 207 
 f 192 204 207 
 f 204 200 207 
 f 191 204 208 
 f 204 192 208 
 f 206 191 208 
 f 188 191 209 
 f 195 188 209 
 f 191 195 209 
 f 196 199 210 
 f 199 206 210 
 f 208 196 210 
 f 206 208 210 
 f 187 198 211 
 f 198 190 211 
 f 190 199 211 
 f 199 187 211 
 f 187 196 212 
 f 203 187 212 
 f 192 203 212 
 f 208 192 212 
 o convex_8
 v 1.139966 -0.153358 0.474337
 v -0.598900 -0.301313 -1.116762
 v -0.598900 0.031646 -1.116762
 v -1.043007 -1.152234 0.955406
 v 1.102847 -1.152234 -1.116762
 v -1.043007 0.068694 0.955406
 v 1.102847 -1.152234 1.066537
 v -1.043007 -1.152234 -1.079576
 v 1.102847 0.068694 -1.116762
 v 1.065948 0.068694 1.066537
 v -1.043007 0.068694 -1.042389
 v -0.636019 -1.152234 1.066537
 v -1.117246 -0.486317 -0.561320
 v -0.636019 0.068694 1.066537
 v -1.117246 -1.152234 0.659413
 v -1.117246 -0.005403 0.548282
 v 1.139966 -1.004160 -0.598292
 v 1.139966 0.031646 -0.487375
 v -1.117246 -1.041208 -0.598292
 v 1.139966 -1.115186 0.474337
 v -0.524882 -1.041208 -1.116762
 v -1.117246 -0.079381 -0.487375
 v -1.080126 0.068694 0.881461
 v 1.102847 -0.597223 1.066537
 f 213 222 236 
 f 214 215 217 
 f 216 217 219 
 f 215 214 220 
 f 217 216 220 
 f 217 215 221 
 f 221 218 222 
 f 215 220 223 
 f 221 215 223 
 f 218 221 223 
 f 218 216 224 
 f 216 219 224 
 f 219 222 224 
 f 222 218 226 
 f 218 224 226 
 f 224 222 226 
 f 220 216 227 
 f 225 227 228 
 f 217 221 229 
 f 229 221 230 
 f 221 222 230 
 f 222 213 230 
 f 213 229 230 
 f 223 220 231 
 f 225 223 231 
 f 220 227 231 
 f 227 225 231 
 f 213 219 232 
 f 219 217 232 
 f 229 213 232 
 f 217 229 232 
 f 214 217 233 
 f 220 214 233 
 f 217 220 233 
 f 223 225 234 
 f 225 228 234 
 f 228 223 234 
 f 216 218 235 
 f 218 223 235 
 f 227 216 235 
 f 228 227 235 
 f 223 228 235 
 f 219 213 236 
 f 222 219 236 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf
@@ -0,0 +1,31 @@
 <robot name="blob017">
  <link name="random_obj_017">
    <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="017.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.21 0.38 0.59 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="017.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj
@@ -0,0 +1,534 @@
 o convex_0
 v -0.007823 4.448005 1.061440
 v -1.114950 0.462298 0.286344
 v -1.114950 0.462298 0.544709
 v 1.062640 0.462298 1.024560
 v 1.062640 4.337204 -1.005064
 v -1.004109 4.300531 -0.931096
 v 0.804083 0.462298 -0.968185
 v -1.077861 4.411332 1.098529
 v -1.040985 0.536426 -1.042153
 v 0.951800 4.448005 0.987681
 v -1.004109 0.462298 1.061440
 v 1.025551 0.462298 -0.598972
 v -1.114950 3.709854 1.061440
 v -0.376581 0.462298 -1.042153
 v 1.062640 4.373878 -0.451454
 v 0.324485 0.462298 1.061440
 v -1.040985 2.860901 -0.931096
 v 0.951800 1.976056 -1.005064
 v 1.062640 0.462298 -0.156000
 v 0.951800 4.373878 -0.857547
 v -1.077861 4.411332 0.655557
 v 0.951800 3.857328 1.024560
 v 0.988676 4.448005 0.766195
 v -0.413457 4.300141 -0.968185
 v 0.951800 0.536816 -0.931305
 v -1.040985 0.868828 -1.042153
 v -1.114950 1.901928 0.987681
 v 0.103017 1.496179 -1.042153
 v -1.040985 4.300531 -0.525213
 v -1.114950 2.345131 0.470950
 v 0.656580 4.337204 -1.005064
 v -1.004109 0.462298 -1.042153
 v 1.062640 3.783591 -1.005064
 v -0.856606 4.374268 1.098529
 v -0.339706 4.448005 0.987681
 v -1.040985 0.720964 1.061440
 v 0.988676 4.448005 0.581798
 v -1.114950 0.720964 0.249464
 v 0.804083 4.448005 1.024560
 f 22 10 39 
 f 3 2 4 
 f 4 2 7 
 f 3 4 11 
 f 4 7 12 
 f 2 3 13 
 f 7 2 14 
 f 4 5 15 
 f 11 4 16 
 f 7 14 18 
 f 5 4 19 
 f 4 12 19 
 f 15 5 20 
 f 13 8 21 
 f 20 6 21 
 f 4 10 22 
 f 16 4 22 
 f 1 10 23 
 f 10 4 23 
 f 4 15 23 
 f 12 7 25 
 f 7 18 25 
 f 14 9 26 
 f 17 6 26 
 f 6 24 26 
 f 13 3 27 
 f 18 14 28 
 f 14 26 28 
 f 6 17 29 
 f 13 21 29 
 f 21 6 29 
 f 2 13 30 
 f 29 17 30 
 f 13 29 30 
 f 20 5 31 
 f 6 20 31 
 f 24 6 31 
 f 26 24 31 
 f 5 28 31 
 f 28 26 31 
 f 2 9 32 
 f 14 2 32 
 f 9 14 32 
 f 5 19 33 
 f 19 12 33 
 f 12 25 33 
 f 25 18 33 
 f 28 5 33 
 f 18 28 33 
 f 1 8 34 
 f 8 11 34 
 f 11 16 34 
 f 22 1 34 
 f 16 22 34 
 f 8 1 35 
 f 21 8 35 
 f 20 21 35 
 f 1 23 35 
 f 3 11 36 
 f 11 8 36 
 f 8 13 36 
 f 27 3 36 
 f 13 27 36 
 f 15 20 37 
 f 23 15 37 
 f 20 35 37 
 f 35 23 37 
 f 9 2 38 
 f 26 9 38 
 f 17 26 38 
 f 2 30 38 
 f 30 17 38 
 f 10 1 39 
 f 1 22 39 
 o convex_1
 v -1.040982 -1.899862 -0.968134
 v 1.025732 -3.080784 1.024394
 v 1.025522 -1.752200 1.061462
 v -1.077861 -1.899862 1.098529
 v -0.856375 -3.671432 -1.115970
 v 0.951764 -1.789397 -1.041835
 v -1.004102 -3.634423 0.950477
 v 0.951764 -3.560591 -1.004985
 v 1.025732 -3.560591 1.024394
 v -1.114950 -1.752200 -0.783665
 v -1.004102 -3.671432 -1.115970
 v -1.077861 -1.752200 1.098529
 v 1.025522 -1.752200 -0.562345
 v 0.878005 -1.752200 -1.078902
 v 0.914884 -3.597413 0.913843
 v -1.040982 -3.302089 0.987544
 v 0.878005 -1.789397 1.098312
 v -0.745737 -3.634423 0.987544
 v 0.545671 -3.597413 -1.041835
 v -0.598219 -3.671432 -0.636046
 v -1.040982 -3.338911 -1.078902
 v 1.025732 -3.449751 0.397069
 v 0.619639 -1.752200 -1.078902
 v -1.077861 -1.752200 -0.931284
 v -1.114950 -1.863041 -0.488427
 v 0.988643 -3.006953 -0.820299
 v -0.856375 -3.412741 -1.115970
 v 0.213756 -2.859290 1.061245
 v -1.004102 -3.671432 -0.156339
 v 0.656519 -3.597413 -1.004985
 v -0.487371 -3.634423 0.987544
 v 1.025522 -2.195374 -0.562345
 v -0.635099 -2.047712 1.098529
 f 57 67 72 
 f 41 42 48 
 f 42 49 51 
 f 42 41 52 
 f 49 42 52 
 f 49 52 53 
 f 45 47 53 
 f 52 45 53 
 f 47 48 54 
 f 48 42 56 
 f 42 51 56 
 f 43 55 57 
 f 55 46 57 
 f 44 53 58 
 f 53 47 58 
 f 50 44 59 
 f 40 50 60 
 f 48 47 61 
 f 41 48 61 
 f 52 41 61 
 f 49 53 62 
 f 40 60 63 
 f 60 49 63 
 f 62 40 63 
 f 49 62 63 
 f 43 51 64 
 f 51 49 64 
 f 55 43 64 
 f 49 60 64 
 f 60 55 64 
 f 47 45 65 
 f 45 52 65 
 f 61 47 65 
 f 44 50 66 
 f 50 40 66 
 f 53 44 66 
 f 40 62 66 
 f 62 53 66 
 f 48 56 67 
 f 57 48 67 
 f 46 55 68 
 f 57 46 68 
 f 50 59 68 
 f 60 50 68 
 f 55 60 68 
 f 47 54 69 
 f 44 58 69 
 f 58 47 69 
 f 54 59 69 
 f 59 44 69 
 f 54 48 70 
 f 48 57 70 
 f 59 54 70 
 f 57 68 70 
 f 68 59 70 
 f 52 61 71 
 f 65 52 71 
 f 61 65 71 
 f 51 43 72 
 f 56 51 72 
 f 43 57 72 
 f 67 56 72 
 o convex_2
 v 1.099744 -0.866339 -0.119406
 v 3.092402 -0.312838 0.212628
 v 3.055338 -0.386654 0.249533
 v 3.018470 -0.829431 -0.156310
 v 1.099744 -0.349746 -0.267079
 v 1.099744 -0.903248 0.212628
 v 1.099744 -0.423562 0.249533
 v 2.981601 -0.940217 0.286546
 v 2.907864 -0.423562 -0.193215
 v 1.616489 -0.829431 -0.230120
 v 2.981601 -0.940217 0.138819
 v 1.579620 -0.349746 -0.267079
 v 2.870800 -0.829431 -0.193215
 v 1.099744 -0.349746 -0.045596
 v 1.099744 -0.608104 -0.267079
 v 2.427988 -0.940217 0.286546
 v 3.018470 -0.681798 0.286546
 v 3.055338 -0.792523 -0.156310
 v 2.280318 -0.349746 0.249533
 v 2.354250 -0.866339 -0.156310
 v 2.649394 -0.312838 0.065009
 f 77 86 93 
 f 77 73 78 
 f 77 78 79 
 f 78 73 83 
 f 76 83 85 
 f 84 81 85 
 f 77 79 86 
 f 73 77 87 
 f 82 73 87 
 f 77 84 87 
 f 85 82 87 
 f 84 85 87 
 f 79 78 88 
 f 78 83 88 
 f 83 80 88 
 f 74 75 89 
 f 80 74 89 
 f 79 88 89 
 f 88 80 89 
 f 74 80 90 
 f 81 74 90 
 f 83 76 90 
 f 80 83 90 
 f 76 85 90 
 f 85 81 90 
 f 75 74 91 
 f 74 86 91 
 f 86 79 91 
 f 89 75 91 
 f 79 89 91 
 f 73 82 92 
 f 83 73 92 
 f 82 85 92 
 f 85 83 92 
 f 74 81 93 
 f 84 77 93 
 f 81 84 93 
 f 86 74 93 
 o convex_3
 v -1.742424 -0.423577 0.360294
 v -3.071090 -0.497379 -0.340827
 v -3.071090 -0.681787 -0.303904
 v -1.114950 -0.977061 -0.340827
 v -1.114950 -0.312841 -0.230058
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 v -2.997180 -0.829391 0.249526
 v -2.960224 -0.386708 0.323371
 v -2.886505 -0.903193 -0.266981
 v -1.114950 -0.386708 0.360294
 v -3.071090 -0.423577 -0.340827
 v -1.668705 -0.977061 -0.340827
 v -1.114950 -0.792523 -0.340827
 v -1.447164 -0.977061 0.286449
 v -3.034135 -0.866325 0.065049
 v -1.188860 -0.349775 0.249526
 v -2.738875 -0.386708 -0.303904
 v -2.997180 -0.718721 0.286449
 v -2.222076 -0.349775 0.138826
 f 110 101 112 
 f 97 98 99 
 f 99 94 101 
 f 94 99 103 
 f 99 98 103 
 f 101 94 103 
 f 95 96 104 
 f 97 95 104 
 f 96 95 105 
 f 95 97 105 
 f 97 99 105 
 f 102 96 105 
 f 98 97 106 
 f 97 104 106 
 f 104 98 106 
 f 99 100 107 
 f 105 99 107 
 f 102 105 107 
 f 96 102 108 
 f 104 96 108 
 f 107 100 108 
 f 102 107 108 
 f 103 98 109 
 f 101 103 109 
 f 98 104 110 
 f 104 101 110 
 f 100 99 111 
 f 99 101 111 
 f 101 104 111 
 f 108 100 111 
 f 104 108 111 
 f 109 98 112 
 f 101 109 112 
 f 98 110 112 
 o convex_4
 v 0.324416 -1.161335 -3.109018
 v -1.078042 -1.752200 -1.300616
 v -1.078042 -1.752200 -1.079061
 v -1.041018 0.351425 -1.079061
 v 0.914978 -1.604484 -1.079061
 v 0.988824 0.425390 -3.035100
 v -1.078042 0.314336 -2.997943
 v 0.914978 0.277460 -1.079061
 v -1.003994 -1.641360 -3.109018
 v 0.914978 -1.604484 -3.109018
 v -1.041018 -1.382803 -3.109018
 v 0.951800 0.314336 -1.300616
 v 0.951800 -1.530732 -3.109018
 v 0.988824 -0.091511 -2.887464
 v -1.078042 -0.054635 -3.035100
 v -0.376813 0.351425 -1.079061
 v -1.078042 -0.829240 -1.079061
 v -1.041018 0.351425 -1.928122
 v -0.893327 -1.752200 -1.079061
 v -1.078042 -1.715111 -1.928122
 v -0.376813 -1.641360 -3.109018
 v 0.361238 0.388301 -3.035100
 v 0.914978 0.314549 -1.152979
 v 0.988824 0.425390 -2.924224
 v -1.078042 0.314336 -2.444354
 v 0.877954 0.425390 -3.035100
 v 0.988824 0.351425 -2.481313
 v 0.951800 -1.124459 -3.109018
 v 0.213749 -0.312979 -3.072059
 v 0.508727 -1.641360 -1.079061
 f 131 122 142 
 f 116 115 117 
 f 114 115 119 
 f 116 117 120 
 f 121 113 122 
 f 113 121 123 
 f 120 117 124 
 f 117 122 125 
 f 122 113 125 
 f 125 118 126 
 f 117 125 126 
 f 114 119 127 
 f 116 120 128 
 f 115 116 129 
 f 119 115 129 
 f 119 116 130 
 f 115 114 131 
 f 117 115 131 
 f 114 122 131 
 f 123 121 132 
 f 114 127 132 
 f 127 123 132 
 f 122 114 133 
 f 121 122 133 
 f 114 132 133 
 f 132 121 133 
 f 127 119 134 
 f 120 124 135 
 f 128 120 135 
 f 128 135 136 
 f 126 118 136 
 f 116 128 136 
 f 135 124 136 
 f 116 119 137 
 f 129 116 137 
 f 119 129 137 
 f 130 116 138 
 f 119 130 138 
 f 134 119 138 
 f 116 136 138 
 f 136 118 138 
 f 124 117 139 
 f 117 126 139 
 f 126 136 139 
 f 136 124 139 
 f 125 113 140 
 f 118 125 140 
 f 113 123 141 
 f 123 127 141 
 f 127 134 141 
 f 138 118 141 
 f 134 138 141 
 f 140 113 141 
 f 118 140 141 
 f 122 117 142 
 f 117 131 142 
 o convex_5
 v 0.951710 0.314463 2.980466
 v -1.077883 -1.752200 -1.079061
 v -1.077883 -0.792353 -1.079061
 v 0.914859 -1.714916 -1.079061
 v -0.967114 -1.678282 2.943572
 v -1.004182 0.462298 -1.041766
 v -0.930264 0.462298 3.017761
 v 0.951710 0.462298 -0.894191
 v 1.062478 -1.604365 2.980466
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 v -1.114950 0.462298 0.508177
 v 1.025627 -1.752200 -0.561745
 v -1.077883 -1.752200 1.098077
 v 0.914859 0.277612 -1.079061
 v 1.025627 -1.752200 1.098077
 v 0.472004 0.425231 3.017761
 v 1.099328 -0.829203 -0.229700
 v -1.004182 -1.567297 2.906678
 v 1.062478 0.462298 1.024289
 v -1.114950 -1.752200 -0.857297
 v -0.967114 -0.239162 3.017761
 v -1.041032 0.351530 -1.079061
 v 0.361236 -0.939972 3.017761
 v 0.656473 -1.641432 2.980466
 v 1.025627 0.462298 -0.598639
 v 0.951710 -1.752200 -1.004872
 v 1.062478 -1.346194 2.980466
 v -0.967114 0.351530 2.943572
 v 0.951710 0.388380 2.906678
 v -1.114950 -0.976822 0.323707
 v -1.077883 -1.604365 1.356735
 v -1.114950 -0.312863 -0.230101
 v 1.099328 -0.792353 0.545471
 v -0.413708 -1.678282 2.943572
 v -0.044553 -1.641432 2.980466
 v 1.099328 -0.349713 -0.266594
 v 1.062478 -1.641432 2.721808
 v 0.767241 0.462298 -0.967979
 v -0.671877 0.462298 3.017761
 v -1.114950 -1.714916 -0.303889
 v -0.967114 -1.161292 2.980466
 v -1.114950 0.462298 0.323707
 f 164 174 184 
 f 144 145 146 
 f 148 149 150 
 f 149 148 153 
 f 144 154 155 
 f 146 145 156 
 f 147 155 157 
 f 155 154 157 
 f 155 147 160 
 f 150 149 161 
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 f 144 155 162 
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 f 156 145 164 
 f 148 156 164 
 f 151 158 165 
 f 158 163 165 
 f 151 165 166 
 f 156 150 167 
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 f 161 152 167 
 f 144 146 168 
 f 154 144 168 
 f 146 156 168 
 f 159 154 168 
 f 156 167 168 
 f 143 158 169 
 f 158 151 169 
 f 152 161 169 
 f 149 153 170 
 f 153 160 170 
 f 163 149 170 
 f 160 163 170 
 f 158 143 171 
 f 161 158 171 
 f 143 169 171 
 f 169 161 171 
 f 153 162 172 
 f 160 153 173 
 f 155 160 173 
 f 153 172 173 
 f 145 162 174 
 f 162 153 174 
 f 164 145 174 
 f 159 152 175 
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 f 152 169 175 
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 f 157 166 176 
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 f 166 165 177 
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 f 167 152 178 
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 f 168 167 178 
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 f 154 159 179 
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 f 151 166 179 
 f 159 175 179 
 f 175 151 179 
 f 148 150 180 
 f 156 148 180 
 f 150 156 180 
 f 149 158 181 
 f 161 149 181 
 f 158 161 181 
 f 162 155 182 
 f 172 162 182 
 f 173 172 182 
 f 155 173 182 
 f 160 147 183 
 f 163 160 183 
 f 165 163 183 
 f 147 177 183 
 f 177 165 183 
 f 153 148 184 
 f 148 164 184 
 f 174 153 184 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf
@@ -0,0 +1,31 @@
 <robot name="blob018">
  <link name="random_obj_018">
    <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="018.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.95 0.58 0.53 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="018.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj
@@ -0,0 +1,588 @@
 o convex_0
 v 0.883490 -2.509147 1.061582
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 f 12 5 20 
 f 5 14 20 
 f 14 12 20 
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 o convex_1
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 f 36 35 37 
 f 37 35 38 
 f 37 38 41 
 f 37 41 42 
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 f 42 34 46 
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 f 40 45 46 
 f 44 39 47 
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 f 40 46 47 
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 f 39 38 48 
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 f 38 43 50 
 f 48 38 50 
 f 43 48 50 
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 f 42 41 51 
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 f 41 47 51 
 f 47 46 51 
 f 39 40 52 
 f 47 39 52 
 f 40 47 52 
 f 36 37 53 
 f 40 36 53 
 f 37 45 53 
 f 45 40 53 
 f 35 36 54 
 f 39 35 54 
 f 36 40 54 
 o convex_2
 v -3.245045 0.053355 0.670230
 v -0.967165 2.188757 -0.788624
 v -0.967165 2.188757 -1.073538
 v -0.540079 -0.017926 -1.002048
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 v -3.066850 2.010771 -0.930976
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 v -0.789234 2.117260 -1.073538
 v -2.995625 2.117260 0.990472
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 f 59 58 62 
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 f 62 58 65 
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 f 59 64 67 
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 f 62 56 70 
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 f 56 69 70 
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 f 62 70 72 
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 f 55 66 78 
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 f 78 66 79 
 f 69 61 80 
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 f 63 76 80 
 f 76 69 80 
 f 75 60 81 
 f 55 75 81 
 f 58 66 82 
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 f 73 82 83 
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 f 71 85 87 
 f 86 77 87 
 f 57 65 88 
 f 65 73 88 
 f 73 83 88 
 f 83 57 88 
 f 70 60 89 
 f 59 72 89 
 f 72 70 89 
 f 75 59 89 
 o convex_3
 v 0.172026 -0.017926 -0.966568
 v 2.947904 2.188757 -0.824006
 v 2.876707 2.153116 1.026272
 v 0.172026 2.153116 -1.037849
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 v 2.947904 2.188757 -1.073489
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 v 1.417707 2.188757 0.456673
 v 0.207625 0.729659 1.097553
 v 0.172026 0.658594 -1.037849
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 v 2.663115 0.017715 0.883711
 v 2.912034 2.081836 0.385609
 v 2.520720 2.153116 1.026056
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 v 2.200333 2.188757 0.207622
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 v 2.876707 1.903849 1.026272
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 f 91 98 100 
 f 90 93 102 
 f 98 91 103 
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 f 97 95 106 
 f 95 101 106 
 f 90 94 107 
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 f 100 97 111 
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 f 100 98 113 
 f 93 108 113 
 f 108 100 113 
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 f 95 99 115 
 f 104 95 115 
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 f 96 103 116 
 f 96 92 117 
 f 104 96 117 
 f 101 104 117 
 f 92 111 117 
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 f 112 90 124 
 f 102 112 124 
 f 96 94 125 
 f 103 96 125 
 f 94 105 125 
 f 105 103 125 
 f 92 96 126 
 f 110 92 126 
 f 96 116 126 
 f 121 110 126 
 o convex_4
 v 2.164801 2.260059 -0.076916
 v 1.524238 4.074774 0.243326
 v 1.524238 4.074774 0.278945
 v 2.164801 4.110707 0.172142
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 v 1.559917 2.366917 -0.219338
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 v 1.559917 2.188757 0.100959
 v 1.595529 4.110707 0.136578
 f 139 130 146 
 f 129 128 133 
 f 132 133 134 
 f 135 131 136 
 f 127 134 137 
 f 134 133 137 
 f 136 131 138 
 f 129 132 139 
 f 131 135 140 
 f 137 133 140 
 f 135 137 140 
 f 136 130 141 
 f 135 136 141 
 f 127 137 141 
 f 137 135 141 
 f 133 128 142 
 f 128 138 142 
 f 138 131 142 
 f 131 140 142 
 f 140 133 142 
 f 134 127 143 
 f 130 139 143 
 f 141 130 143 
 f 127 141 143 
 f 132 134 144 
 f 139 132 144 
 f 134 143 144 
 f 143 139 144 
 f 132 129 145 
 f 133 132 145 
 f 129 133 145 
 f 128 129 146 
 f 130 136 146 
 f 138 128 146 
 f 136 138 146 
 f 129 139 146 
 o convex_5
 v 0.171689 1.085415 2.023118
 v -0.326459 0.729499 1.097943
 v -0.290853 0.729499 1.097943
 v -0.255314 0.836385 2.983598
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 v -0.362064 1.334515 1.097943
 v -0.504421 0.871991 3.054795
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 v -0.433210 1.405657 3.054795
 v -0.397604 0.765174 1.311340
 v -0.504421 0.943132 2.734505
 v 0.136083 1.441332 2.699004
 v 0.029332 0.800780 2.699004
 v -0.290853 1.370051 1.347036
 v 0.136083 0.765174 1.667131
 v 0.136083 1.298840 3.054795
 v -0.184103 1.441332 2.983598
 v 0.136083 1.192163 1.133444
 v -0.504421 1.085415 2.983598
 f 155 160 168 
 f 149 148 152 
 f 149 152 154 
 f 152 148 155 
 f 148 150 156 
 f 156 150 157 
 f 156 153 158 
 f 155 148 159 
 f 148 156 159 
 f 159 156 160 
 f 155 159 160 
 f 153 147 161 
 f 148 149 162 
 f 150 148 162 
 f 157 150 162 
 f 155 151 163 
 f 152 155 163 
 f 161 152 163 
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 f 154 147 164 
 f 162 149 164 
 f 157 162 164 
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 f 153 156 165 
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 f 164 147 165 
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 f 163 151 166 
 f 161 163 166 
 f 147 154 167 
 f 154 152 167 
 f 161 147 167 
 f 152 161 167 
 f 151 155 168 
 f 158 151 168 
 f 156 158 168 
 f 160 156 168 
 o convex_6
 v 0.029367 1.334515 -1.037946
 v -0.397628 0.729499 -2.995488
 v -0.468867 1.085415 -2.995488
 v 0.029367 1.441332 -2.995488
 v 0.136163 0.729499 -1.749797
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 v -0.362071 0.871991 -1.037946
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 v -0.468867 1.263304 -1.216148
 v 0.136163 0.907527 -1.037946
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 v 0.029367 1.441332 -2.603634
 v -0.397628 0.907527 -1.037946
 v 0.064924 1.085415 -2.959656
 v -0.504487 1.298840 -2.603634
 f 183 176 188 
 f 170 171 172 
 f 169 174 175 
 f 172 171 176 
 f 173 170 177 
 f 170 173 178 
 f 169 175 178 
 f 173 172 180 
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 f 178 173 180 
 f 169 180 181 
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 f 169 181 183 
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 f 178 175 184 
 f 182 170 184 
 f 175 182 184 
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 f 180 172 185 
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 f 181 180 185 
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 f 182 175 186 
 f 179 182 186 
 f 170 172 187 
 f 172 173 187 
 f 177 170 187 
 f 173 177 187 
 f 176 171 188 
 f 171 182 188 
 f 182 179 188 
 f 179 183 188 
 o convex_7
 v 0.171755 0.231358 -1.002201
 v 0.100544 1.334543 1.097553
 v -0.362120 1.334543 1.097553
 v 0.171755 2.153165 -1.037946
 v -0.540079 -0.017926 -1.002201
 v 0.171755 -0.017926 1.061808
 v -0.540079 2.153165 -1.037946
 v -0.540079 -0.017926 1.061808
 v -0.540079 2.153165 0.919456
 v 0.171755 2.117250 0.919456
 v 0.171755 -0.017926 -0.966665
 v 0.171755 0.658521 -1.037946
 v 0.171755 0.017777 1.097553
 v 0.064868 2.153165 0.919456
 v -0.540079 0.551624 -1.037946
 v -0.540079 2.081972 0.954782
 f 202 197 204 
 f 189 192 194 
 f 195 193 196 
 f 193 194 196 
 f 192 195 197 
 f 195 196 197 
 f 194 192 198 
 f 193 189 199 
 f 194 193 199 
 f 189 194 199 
 f 192 189 200 
 f 189 193 200 
 f 195 192 200 
 f 190 191 201 
 f 191 196 201 
 f 196 194 201 
 f 198 190 201 
 f 194 198 201 
 f 192 197 202 
 f 190 198 202 
 f 198 192 202 
 f 193 195 203 
 f 200 193 203 
 f 195 200 203 
 f 191 190 204 
 f 196 191 204 
 f 197 196 204 
 f 190 202 204 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf
@@ -0,0 +1,31 @@
 <robot name="blob019">
  <link name="random_obj_019">
    <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="019.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.04 0.45 0.98 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="019.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj
@@ -0,0 +1,567 @@
 o convex_0
 v 0.575037 -3.957102 -0.984905
 v -0.979008 -2.662039 1.087170
 v -1.011432 -2.662039 1.087170
 v -0.979008 -0.525661 -1.049778
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 v 0.931281 -4.377759 0.925094
 v -0.914160 -4.280772 -0.952576
 v 0.963496 -0.526041 -1.017449
 v -0.979008 -0.525661 1.054626
 v 1.060767 -4.410849 -0.920031
 v -0.979008 -4.248443 1.087170
 v -0.979008 -2.435736 -1.114652
 v 1.060767 -2.759026 0.925094
 v -1.043856 -2.338749 0.763233
 v -0.299153 -4.280772 1.054626
 v -0.881736 -4.313482 -0.952576
 v -1.043856 -0.817002 0.763233
 v -0.590340 -0.525661 1.054626
 v -0.946584 -3.957102 -0.985120
 v 1.093191 -0.526041 0.633702
 v -1.011432 -2.338749 -0.564196
 v -0.914160 -0.622648 -1.082107
 v 1.093191 -1.982369 0.925094
 v 1.060767 -4.410849 -0.596310
 v 0.866433 -4.345430 0.957639
 v 1.060767 -3.957102 -0.920031
 v -0.849522 -2.435736 -1.114652
 v 0.995920 -4.281153 -0.952576
 v 0.963496 -4.281153 0.925094
 v -0.979008 -4.216114 0.536499
 v -1.043856 -2.532342 1.054626
 v -0.719826 -3.924773 1.087170
 v 0.736947 -0.526041 0.957639
 v 0.769162 -4.410849 -0.823044
 v 0.963496 -0.849331 -1.017449
 v 0.801586 -4.377759 0.828107
 v -1.011432 -0.525661 0.989968
 v -0.946584 -1.982749 -1.114652
 v -0.849522 -4.313482 -0.758386
 v -0.946584 -4.281153 -0.564196
 v -1.011432 -3.601102 1.022081
 v -0.979008 -2.953381 -1.049778
 v 0.477974 -4.345811 -0.952576
 v -0.558125 -4.280772 1.054626
 v -1.043856 -1.917711 1.054626
 v -1.011432 -0.525661 0.050702
 v 0.866433 -3.827405 0.957639
 v -0.914160 -3.989431 -0.985120
 v -0.979008 -0.623028 -1.082107
 f 22 38 49 
 f 3 2 9 
 f 2 3 11 
 f 8 4 18 
 f 9 2 18 
 f 4 9 18 
 f 16 7 19 
 f 8 18 20 
 f 18 5 20 
 f 14 17 21 
 f 4 8 22 
 f 20 5 23 
 f 10 20 23 
 f 10 23 24 
 f 23 13 24 
 f 15 6 25 
 f 13 23 25 
 f 23 5 25 
 f 10 8 26 
 f 20 10 26 
 f 8 20 26 
 f 1 27 28 
 f 6 24 29 
 f 24 13 29 
 f 25 6 29 
 f 13 25 29 
 f 11 3 31 
 f 17 14 31 
 f 2 11 32 
 f 11 15 32 
 f 18 2 32 
 f 18 32 33 
 f 5 18 33 
 f 32 15 33 
 f 16 10 34 
 f 10 24 34 
 f 8 10 35 
 f 27 8 35 
 f 10 28 35 
 f 28 27 35 
 f 24 6 36 
 f 34 24 36 
 f 9 4 37 
 f 22 8 38 
 f 8 27 38 
 f 27 12 38 
 f 11 16 39 
 f 16 34 39 
 f 34 36 39 
 f 16 11 40 
 f 7 16 40 
 f 19 7 40 
 f 11 30 40 
 f 30 19 40 
 f 14 21 41 
 f 30 11 41 
 f 21 30 41 
 f 11 31 41 
 f 31 14 41 
 f 12 19 42 
 f 21 12 42 
 f 19 30 42 
 f 30 21 42 
 f 10 16 43 
 f 28 10 43 
 f 1 28 43 
 f 15 11 44 
 f 6 15 44 
 f 36 6 44 
 f 11 39 44 
 f 39 36 44 
 f 3 9 45 
 f 31 3 45 
 f 17 31 45 
 f 9 37 45 
 f 37 17 45 
 f 4 17 46 
 f 37 4 46 
 f 17 37 46 
 f 25 5 47 
 f 15 25 47 
 f 5 33 47 
 f 33 15 47 
 f 19 12 48 
 f 16 19 48 
 f 27 1 48 
 f 12 27 48 
 f 43 16 48 
 f 1 43 48 
 f 17 4 49 
 f 12 21 49 
 f 21 17 49 
 f 4 22 49 
 f 38 12 49 
 o convex_1
 v 1.093163 2.226756 0.892670
 v -1.011476 -0.525281 0.050689
 v -0.979052 -0.525281 -1.049639
 v -1.011476 2.356516 -0.628753
 v 0.963675 -0.525281 -1.017215
 v 1.028314 2.356516 -1.082063
 v -0.979052 -0.525281 1.054581
 v 1.093163 -0.525281 0.925094
 v -0.946628 2.356516 1.022157
 v -0.946628 2.356516 -1.049639
 v 0.866403 2.356516 0.957518
 v -0.493318 2.129718 1.054790
 v -1.011476 1.708563 0.504208
 v 1.125587 1.741285 0.925094
 v 0.995890 0.187270 -1.049848
 v -0.590381 -0.525281 1.054790
 v 1.093163 -0.525281 0.633695
 v -0.234343 2.356516 -1.082272
 v 0.995890 1.190370 -1.082063
 v -1.011476 -0.460401 0.989733
 v 1.093163 2.356516 0.245024
 v -0.946628 2.064838 1.054581
 v 1.028314 2.096996 -1.082063
 v -1.011476 2.356516 -0.045956
 v 0.736916 -0.525281 0.957518
 v -0.007584 2.356516 1.022366
 v 0.995890 -0.104125 -1.017215
 v -0.979052 2.356516 -0.952576
 v 1.060739 2.356516 0.925094
 v -0.557957 -0.525281 -1.049848
 v 1.125587 1.643683 0.892670
 v -1.011476 2.161876 0.277449
 f 73 62 81 
 f 52 51 53 
 f 51 52 54 
 f 51 54 56 
 f 56 54 57 
 f 55 53 58 
 f 53 55 59 
 f 55 58 60 
 f 53 51 62 
 f 60 57 63 
 f 56 57 65 
 f 57 54 66 
 f 52 59 67 
 f 59 55 67 
 f 52 67 68 
 f 51 56 69 
 f 62 51 69 
 f 58 62 69 
 f 55 60 70 
 f 50 63 70 
 f 61 58 71 
 f 56 65 71 
 f 65 61 71 
 f 69 56 71 
 f 58 69 71 
 f 67 55 72 
 f 64 68 72 
 f 68 67 72 
 f 58 53 73 
 f 53 62 73 
 f 57 60 74 
 f 65 57 74 
 f 65 74 75 
 f 60 58 75 
 f 58 61 75 
 f 61 65 75 
 f 74 60 75 
 f 54 64 76 
 f 66 54 76 
 f 72 66 76 
 f 64 72 76 
 f 52 53 77 
 f 59 52 77 
 f 53 59 77 
 f 63 50 78 
 f 60 63 78 
 f 50 70 78 
 f 70 60 78 
 f 54 52 79 
 f 64 54 79 
 f 52 68 79 
 f 68 64 79 
 f 63 57 80 
 f 57 66 80 
 f 55 70 80 
 f 70 63 80 
 f 66 72 80 
 f 72 55 80 
 f 62 58 81 
 f 58 73 81 
 o convex_2
 v 0.575049 3.198500 0.990031
 v -0.979007 3.586866 -1.114652
 v -0.979007 3.748724 -1.114652
 v 1.093207 3.813604 -1.114652
 v 1.060574 3.036566 -1.114652
 v -0.979007 3.813604 0.925135
 v -0.979007 3.036566 0.957480
 v 0.963511 3.716398 0.925135
 v -0.979007 3.036566 -1.082101
 v 1.028359 3.036566 0.925135
 v -1.043856 3.036566 0.309965
 v -0.914159 3.781126 -1.114652
 v 1.093207 3.813604 -0.887620
 v 0.995935 3.586866 0.957480
 v -1.043856 3.328032 0.633825
 v 0.413137 3.813604 -1.114652
 v -0.752248 3.036566 0.990031
 v -1.011222 3.522139 -0.985066
 v 0.251226 3.716398 0.957480
 v -0.104812 3.036566 -1.114652
 v 1.093207 3.554465 -0.952515
 v -1.011222 3.651594 0.828101
 v 0.995935 3.036566 0.957480
 v -1.011222 3.036566 -0.855481
 v 1.060574 3.813604 -0.790791
 v -0.946583 3.522139 0.957480
 v -0.914159 3.813604 0.925135
 v 0.931296 3.716398 0.957480
 v 1.060574 3.036566 -0.596310
 v -0.979007 3.781126 -1.017411
 v 0.542625 3.036566 0.990031
 v -0.979007 3.813604 0.795550
 f 111 103 113 
 f 83 84 85 
 f 83 85 86 
 f 86 88 90 
 f 88 86 91 
 f 90 88 92 
 f 85 84 93 
 f 85 87 94 
 f 91 94 95 
 f 94 89 95 
 f 92 88 96 
 f 87 85 97 
 f 85 93 97 
 f 88 91 98 
 f 84 83 99 
 f 83 90 99 
 f 92 96 99 
 f 98 82 100 
 f 83 86 101 
 f 90 83 101 
 f 86 90 101 
 f 86 85 102 
 f 85 94 102 
 f 94 91 102 
 f 88 87 103 
 f 96 88 103 
 f 99 96 103 
 f 91 95 104 
 f 95 82 104 
 f 98 91 104 
 f 90 92 105 
 f 99 90 105 
 f 92 99 105 
 f 94 87 106 
 f 89 94 106 
 f 87 88 107 
 f 88 98 107 
 f 100 87 107 
 f 98 100 107 
 f 87 100 108 
 f 106 87 108 
 f 106 108 109 
 f 82 95 109 
 f 95 89 109 
 f 100 82 109 
 f 89 106 109 
 f 108 100 109 
 f 91 86 110 
 f 86 102 110 
 f 102 91 110 
 f 93 84 111 
 f 84 99 111 
 f 99 103 111 
 f 82 98 112 
 f 104 82 112 
 f 98 104 112 
 f 87 97 113 
 f 97 93 113 
 f 103 87 113 
 f 93 111 113 
 o convex_3
 v -1.076235 2.906879 0.212844
 v -3.083779 2.421357 -0.337538
 v -3.083779 2.421357 -0.240361
 v -2.986310 3.004110 0.148082
 v -1.076235 2.971658 -0.272776
 v -1.238159 2.486136 0.245192
 v -1.076235 2.356642 -0.337538
 v -2.954082 2.453747 0.309955
 v -3.083779 2.939268 -0.208013
 v -1.076235 2.874490 0.342436
 v -2.954082 3.004110 0.212844
 v -2.986310 2.421357 0.245192
 v -2.468310 2.615629 -0.337538
 v -1.076235 2.356642 -0.240361
 v -2.792158 2.388968 -0.305124
 v -1.076235 2.518525 0.245192
 v -3.083779 2.971658 -0.175598
 v -2.921855 2.583240 0.309955
 v -2.468310 2.453747 0.309955
 v -2.662658 3.004110 0.212844
 v -1.529583 2.712607 0.342436
 v -3.051355 2.550851 -0.337538
 v -1.270583 2.874490 0.342436
 v -1.076235 2.453747 -0.337538
 v -1.594432 2.356642 -0.305124
 v -2.986310 3.004110 0.050905
 v -3.083779 2.971658 -0.110836
 v -1.076235 2.971658 -0.208013
 f 118 133 141 
 f 118 114 120 
 f 115 116 122 
 f 120 114 123 
 f 117 121 124 
 f 121 117 125 
 f 120 115 126 
 f 120 123 127 
 f 116 115 128 
 f 115 120 128 
 f 125 116 128 
 f 127 123 129 
 f 119 127 129 
 f 122 116 130 
 f 118 122 130 
 f 124 121 131 
 f 121 125 132 
 f 127 119 132 
 f 125 127 132 
 f 123 114 133 
 f 124 123 133 
 f 117 124 133 
 f 119 129 134 
 f 129 123 134 
 f 131 121 134 
 f 121 132 134 
 f 132 119 134 
 f 115 122 135 
 f 122 118 135 
 f 126 115 135 
 f 118 126 135 
 f 123 124 136 
 f 124 131 136 
 f 134 123 136 
 f 131 134 136 
 f 118 120 137 
 f 120 126 137 
 f 126 118 137 
 f 120 127 138 
 f 127 125 138 
 f 125 128 138 
 f 128 120 138 
 f 130 117 139 
 f 118 130 139 
 f 133 118 139 
 f 117 133 139 
 f 116 125 140 
 f 125 117 140 
 f 117 130 140 
 f 130 116 140 
 f 114 118 141 
 f 133 114 141 
 o convex_4
 v -0.169470 2.680364 1.022411
 v -0.007653 3.004012 -1.114652
 v -0.266729 2.356516 -1.082228
 v 1.093207 2.356516 0.633740
 v -0.946485 2.356516 1.022411
 v 1.060716 3.036424 -1.114652
 v -1.043745 3.036424 0.471828
 v 1.028226 3.036424 0.924929
 v -0.978976 3.036424 -1.082228
 v 1.028226 2.356516 -1.082018
 v -0.978976 2.356516 -0.984955
 v -0.946485 3.036424 0.989987
 v 1.060716 2.356516 0.924929
 v -1.076235 2.356516 -0.337519
 v -1.076235 3.004012 0.407189
 v 1.093207 2.971667 -0.078335
 v 1.093207 2.356516 -0.337310
 v 0.542777 3.036424 0.989987
 v -0.007653 2.356516 1.022411
 v -1.076235 2.971667 -0.272671
 v -1.076235 2.486095 0.180430
 v -0.946485 2.356516 -1.049804
 v 1.028226 2.712642 -1.114652
 v 0.963457 2.842155 0.957353
 v -0.978976 3.036424 0.957563
 v 1.093207 2.906911 0.212645
 v 1.060716 2.680364 0.924929
 v 0.866409 2.356516 0.957353
 v 1.060716 2.809743 -1.114652
 f 151 164 170 
 f 144 145 146 
 f 147 148 149 
 f 143 144 150 
 f 147 143 150 
 f 148 147 150 
 f 145 144 151 
 f 144 146 152 
 f 146 142 153 
 f 149 148 153 
 f 146 145 154 
 f 152 146 155 
 f 150 152 155 
 f 148 150 156 
 f 147 149 157 
 f 145 151 158 
 f 157 145 158 
 f 147 157 158 
 f 153 142 159 
 f 149 153 159 
 f 142 146 160 
 f 146 154 160 
 f 159 142 160 
 f 150 155 161 
 f 156 150 161 
 f 155 156 161 
 f 155 146 162 
 f 146 156 162 
 f 156 155 162 
 f 150 144 163 
 f 144 152 163 
 f 152 150 163 
 f 144 143 164 
 f 143 147 164 
 f 151 144 164 
 f 149 159 165 
 f 159 160 165 
 f 146 153 166 
 f 153 148 166 
 f 148 156 166 
 f 156 146 166 
 f 145 157 167 
 f 157 149 167 
 f 154 145 168 
 f 149 165 168 
 f 165 154 168 
 f 145 167 168 
 f 167 149 168 
 f 160 154 169 
 f 154 165 169 
 f 165 160 169 
 f 158 151 170 
 f 147 158 170 
 f 164 147 170 
 o convex_5
 v 1.093207 2.550851 0.310057
 v 3.068130 3.036424 0.277601
 v 3.068130 2.939256 0.277601
 v 1.093207 2.356516 -0.337538
 v 1.093207 2.971667 -0.207969
 v 3.100751 2.453750 -0.240361
 v 3.035903 3.036424 -0.305146
 v 3.035903 2.453750 0.180487
 v 1.222903 2.939256 0.212879
 v 1.320176 2.453750 0.310057
 v 2.323358 2.842155 -0.337538
 v 2.614782 3.036424 0.277601
 v 1.093207 2.421339 0.212879
 v 2.517903 3.036424 -0.305146
 v 3.068130 2.809743 -0.305146
 v 2.485282 2.842155 0.310057
 v 1.093207 2.906911 0.212879
 v 1.255131 2.356516 -0.272753
 v 1.093207 2.453750 -0.337538
 v 1.093207 2.971667 -0.078462
 v 1.579176 3.004012 -0.175640
 v 2.550130 2.421339 -0.272753
 v 1.676055 2.971667 0.245272
 v 3.068130 2.453750 0.148094
 v 2.355782 2.874500 0.310057
 f 182 193 195 
 f 174 171 175 
 f 172 173 176 
 f 172 177 182 
 f 171 174 183 
 f 180 171 183 
 f 178 180 183 
 f 177 181 184 
 f 182 177 184 
 f 172 176 185 
 f 177 172 185 
 f 174 181 185 
 f 181 177 185 
 f 173 172 186 
 f 178 173 186 
 f 171 180 186 
 f 180 178 186 
 f 175 171 187 
 f 183 174 188 
 f 178 183 188 
 f 174 175 189 
 f 181 174 189 
 f 175 184 189 
 f 184 181 189 
 f 175 187 190 
 f 187 179 190 
 f 184 175 191 
 f 182 184 191 
 f 190 182 191 
 f 175 190 191 
 f 185 176 192 
 f 174 185 192 
 f 188 174 192 
 f 187 171 193 
 f 179 187 193 
 f 190 179 193 
 f 182 190 193 
 f 176 173 194 
 f 173 178 194 
 f 178 188 194 
 f 192 176 194 
 f 188 192 194 
 f 172 182 195 
 f 186 172 195 
 f 171 186 195 
 f 193 171 195 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf
@@ -0,0 +1,31 @@
 <robot name="blob020">
  <link name="random_obj_020">
    <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="020.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.94 0.36 0.17 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="020.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj
@@ -0,0 +1,459 @@
 o convex_0
 v -0.038889 -0.938967 -1.081254
 v -1.052827 3.548701 1.039618
 v -0.100132 3.487202 1.008868
 v 0.944740 -0.938967 1.039618
 v 0.944740 3.517951 -1.081254
 v -1.052827 -0.938967 0.978118
 v -0.929926 3.487202 -1.050505
 v 1.006398 -0.938967 -1.050294
 v 0.975465 3.394514 0.947158
 v -0.960651 -0.938967 -0.989006
 v -1.114486 3.548701 0.824161
 v -1.022102 -0.938967 -0.466265
 v 0.576035 -0.938967 -1.112004
 v -0.960651 3.241206 -1.019545
 v 0.545309 3.548701 -0.435515
 v -1.083553 -0.723720 0.978118
 v 0.975465 2.779964 -1.081254
 v 0.084221 3.517951 -1.081044
 v 0.975465 3.148518 0.977908
 v 1.006398 -0.938967 -0.620012
 v 0.944740 -0.139480 1.039618
 v -1.083553 0.721066 1.008657
 v 1.006398 0.168015 -1.050294
 v -0.407386 3.548701 -0.374016
 v -1.114486 2.103475 0.978118
 v -0.530288 -0.723720 -1.050294
 v 0.975465 1.826730 0.977908
 v 0.698936 -0.938967 1.039618
 v 0.698936 0.414011 -1.112004
 v 0.975465 3.425264 0.762872
 v 0.422200 -0.938967 -1.112004
 v -0.929926 2.595467 -1.050505
 v -1.114486 3.425703 1.039618
 v -0.991376 -0.600722 -0.835259
 v -1.114486 3.425703 0.793622
 v 0.330024 3.548701 -0.128231
 v -1.052827 0.168015 -0.066732
 v -0.960651 0.413571 -1.019545
 v -1.022102 3.517951 -0.281978
 v 0.975465 -0.938967 0.301630
 v 0.791113 3.425264 0.978118
 v 0.944740 3.517951 -0.743010
 v -1.052827 -0.908217 0.209592
 v 0.975465 1.365927 -1.081254
 v -1.114486 2.748775 0.793622
 v 0.975465 3.425264 0.547626
 v -0.714848 3.517951 -0.773549
 v -1.083553 -0.569973 0.885659
 f 45 43 48 
 f 1 4 6 
 f 4 1 8 
 f 1 6 10 
 f 10 6 12 
 f 8 1 13 
 f 11 2 15 
 f 15 5 18 
 f 9 19 20 
 f 4 8 20 
 f 3 2 21 
 f 2 4 21 
 f 19 3 21 
 f 4 19 21 
 f 16 6 22 
 f 8 17 23 
 f 9 20 23 
 f 20 8 23 
 f 11 15 24 
 f 15 18 24 
 f 1 10 26 
 f 19 4 27 
 f 20 19 27 
 f 4 2 28 
 f 6 4 28 
 f 22 6 28 
 f 8 13 29 
 f 5 17 29 
 f 18 5 29 
 f 9 23 30 
 f 13 1 31 
 f 7 18 31 
 f 1 26 31 
 f 29 13 31 
 f 18 29 31 
 f 14 7 32 
 f 7 31 32 
 f 31 26 32 
 f 2 11 33 
 f 16 22 33 
 f 11 25 33 
 f 25 16 33 
 f 28 2 33 
 f 22 28 33 
 f 10 12 34 
 f 14 34 35 
 f 25 11 35 
 f 2 3 36 
 f 15 2 36 
 f 30 15 36 
 f 34 12 37 
 f 35 34 37 
 f 26 10 38 
 f 14 32 38 
 f 32 26 38 
 f 10 34 38 
 f 34 14 38 
 f 7 14 39 
 f 11 24 39 
 f 14 35 39 
 f 35 11 39 
 f 4 20 40 
 f 27 4 40 
 f 20 27 40 
 f 3 19 41 
 f 19 9 41 
 f 9 30 41 
 f 36 3 41 
 f 30 36 41 
 f 5 15 42 
 f 15 30 42 
 f 30 5 42 
 f 12 6 43 
 f 6 16 43 
 f 37 12 43 
 f 17 8 44 
 f 8 29 44 
 f 29 17 44 
 f 25 35 45 
 f 35 37 45 
 f 37 43 45 
 f 17 5 46 
 f 23 17 46 
 f 5 30 46 
 f 30 23 46 
 f 18 7 47 
 f 24 18 47 
 f 7 39 47 
 f 39 24 47 
 f 16 25 48 
 f 43 16 48 
 f 25 45 48 
 o convex_1
 v -0.561188 -1.799527 1.777500
 v 0.606811 -1.092778 2.145916
 v 0.606811 -1.123419 2.145916
 v -0.622687 -1.092778 3.067934
 v 0.453124 -2.045500 3.006727
 v 0.545312 -2.106887 1.101288
 v -0.530378 -1.092778 1.132185
 v -0.468879 -2.106782 3.098831
 v -0.530378 -2.076141 1.101093
 v 0.606811 -1.123419 1.101288
 v 0.545312 -1.061926 3.006727
 v -0.591877 -1.031179 2.453321
 v 0.606811 -1.092778 1.254990
 v 0.576002 -1.246405 2.976026
 v 0.330006 -1.031179 3.006531
 v 0.483813 -2.076141 2.637724
 v -0.622687 -1.031179 2.852829
 v -0.530378 -1.123524 1.101093
 v 0.545312 -2.106887 1.408693
 v 0.576002 -1.861020 1.162691
 v -0.345881 -1.983901 3.098831
 v 0.207128 -2.106782 1.101093
 v -0.561188 -1.031179 3.067934
 v -0.561188 -1.830274 1.531694
 v 0.237938 -2.076141 3.037233
 v -0.499689 -1.953155 3.067934
 v 0.483813 -1.953155 3.006727
 v 0.606811 -1.369391 1.101288
 v -0.561188 -1.092778 1.562395
 v 0.576002 -1.676541 1.900501
 v -0.530378 -2.076141 1.439394
 v 0.576002 -1.061926 2.976026
 v -0.376691 -2.106782 3.098831
 v -0.622687 -1.154271 2.883530
 v 0.576002 -1.061926 2.207319
 f 63 80 83 
 f 50 51 58 
 f 55 60 61 
 f 58 55 61 
 f 50 58 61 
 f 51 50 62 
 f 61 60 63 
 f 60 55 65 
 f 63 60 65 
 f 55 58 66 
 f 56 54 67 
 f 67 54 68 
 f 54 56 70 
 f 56 57 70 
 f 66 58 70 
 f 57 66 70 
 f 52 56 71 
 f 59 63 71 
 f 65 52 71 
 f 63 65 71 
 f 56 69 71 
 f 69 59 71 
 f 66 57 72 
 f 64 53 73 
 f 59 69 73 
 f 56 52 74 
 f 62 59 75 
 f 53 64 75 
 f 64 67 75 
 f 73 53 75 
 f 59 73 75 
 f 58 51 76 
 f 51 68 76 
 f 68 54 76 
 f 54 70 76 
 f 70 58 76 
 f 65 55 77 
 f 55 66 77 
 f 72 65 77 
 f 66 72 77 
 f 51 62 78 
 f 68 51 78 
 f 67 68 78 
 f 62 75 78 
 f 75 67 78 
 f 57 56 79 
 f 49 72 79 
 f 72 57 79 
 f 74 49 79 
 f 56 74 79 
 f 50 61 80 
 f 62 50 80 
 f 59 62 80 
 f 63 59 80 
 f 56 67 81 
 f 67 64 81 
 f 69 56 81 
 f 64 73 81 
 f 73 69 81 
 f 52 65 82 
 f 72 49 82 
 f 65 72 82 
 f 49 74 82 
 f 74 52 82 
 f 61 63 83 
 f 80 61 83 
 o convex_2
 v -0.038658 -0.969722 -1.142871
 v -0.345959 -2.106990 -1.327305
 v -0.315206 -2.106990 -1.327305
 v 0.514552 -1.000592 -2.986829
 v -0.561115 -1.092744 -2.956121
 v 0.606811 -2.045364 -3.017726
 v 0.606811 -1.983853 -1.081267
 v -0.561115 -2.014609 -2.986829
 v -0.499610 -1.123500 -1.081267
 v 0.576058 -0.938967 -1.081267
 v -0.561115 -2.106990 -1.081267
 v -0.468971 -1.000592 -1.234993
 v 0.176384 -1.000592 -2.986829
 v 0.453047 -2.076234 -2.740980
 v 0.606811 -1.615130 -2.341406
 v -0.561115 -1.062103 -2.402820
 v 0.576058 -2.014609 -1.142871
 v 0.483799 -0.969837 -2.802395
 v 0.576058 -1.522978 -3.017726
 v -0.530362 -1.062103 -2.956121
 v 0.022734 -2.045364 -3.017726
 v 0.545305 -0.969837 -2.402820
 v -0.468971 -1.000592 -1.081267
 v -0.561115 -1.676527 -2.986829
 v -0.561115 -2.045364 -2.525839
 v 0.576058 -0.938967 -1.327305
 v 0.606811 -2.045364 -2.187679
 v -0.376712 -2.106990 -1.081267
 v -0.561115 -2.014609 -1.081267
 v 0.606811 -1.830305 -1.081267
 v 0.422294 -0.938967 -1.112164
 f 109 101 114 
 f 92 90 93 
 f 85 86 94 
 f 88 91 94 
 f 90 92 94 
 f 86 85 97 
 f 90 89 98 
 f 88 94 99 
 f 95 84 101 
 f 87 96 101 
 f 96 95 101 
 f 96 87 102 
 f 98 89 102 
 f 95 96 103 
 f 88 99 103 
 f 99 95 103 
 f 89 97 104 
 f 102 89 104 
 f 87 101 105 
 f 102 87 105 
 f 98 102 105 
 f 92 93 106 
 f 84 95 106 
 f 99 92 106 
 f 95 99 106 
 f 91 88 107 
 f 96 102 107 
 f 88 103 107 
 f 103 96 107 
 f 104 91 107 
 f 102 104 107 
 f 85 94 108 
 f 94 91 108 
 f 97 85 108 
 f 91 104 108 
 f 104 97 108 
 f 93 98 109 
 f 98 105 109 
 f 105 101 109 
 f 89 90 110 
 f 97 89 110 
 f 90 100 110 
 f 110 100 111 
 f 94 86 111 
 f 90 94 111 
 f 86 97 111 
 f 100 90 111 
 f 97 110 111 
 f 94 92 112 
 f 99 94 112 
 f 92 99 112 
 f 93 90 113 
 f 90 98 113 
 f 98 93 113 
 f 101 84 114 
 f 84 106 114 
 f 106 93 114 
 f 93 109 114 
 o convex_3
 v -1.053011 -1.983944 0.486076
 v 1.037136 -2.444933 -0.988982
 v 1.037136 -2.506432 -0.988982
 v 0.944863 -1.768950 1.070331
 v -0.499580 -0.938967 -1.050505
 v -0.929844 -2.660264 -0.927459
 v 0.944863 -2.598765 1.070331
 v -1.053011 -0.938967 0.977833
 v 1.006242 -0.938967 -1.050505
 v -1.022117 -2.567931 0.977833
 v 0.944863 -0.938967 1.039569
 v -0.960738 -0.938967 -0.988982
 v -0.530474 -1.123464 1.101092
 v -0.561164 -2.106942 -1.081266
 v 1.037136 -2.506432 -1.050505
 v -0.561164 -2.106942 1.101092
 v -0.130695 -2.660264 -0.251346
 v -0.991428 -2.629430 -0.865936
 v -1.053011 -2.598765 0.824239
 v -1.022117 -0.938967 -0.466463
 v 0.606667 -1.123632 1.101092
 v 0.606667 -0.938967 -1.081266
 v 0.975552 -2.598765 0.885548
 v -0.960738 -2.629430 -0.958220
 v 1.006242 -0.938967 -0.620057
 v -0.468891 -1.000466 -1.081266
 v 0.606667 -1.983944 -1.081266
 v -0.315240 -2.660264 -0.097539
 v 0.053441 -2.291270 1.101092
 v -1.053011 -1.031299 0.240197
 v -0.530474 -2.629430 -0.988982
 v -0.407308 -2.598765 1.008594
 v -0.130695 -2.660264 -0.343417
 v 0.975552 -2.598765 0.731954
 v 0.545288 -2.106942 1.101092
 v 0.975552 -1.061965 0.363030
 v -0.991428 -1.277127 -0.865936
 v -0.960738 -1.768950 -0.988982
 v -1.053011 -1.983944 0.977833
 v 0.821901 -2.537097 -0.927459
 v 0.637561 -2.598765 1.070331
 v -1.053011 -2.567931 0.639670
 v -0.991428 -2.537097 -0.896697
 f 132 156 157 
 f 119 122 123 
 f 123 122 125 
 f 122 119 126 
 f 125 122 127 
 f 116 117 129 
 f 123 116 129 
 f 127 122 130 
 f 122 115 133 
 f 132 120 133 
 f 122 126 134 
 f 121 118 135 
 f 118 125 135 
 f 125 127 135 
 f 127 130 135 
 f 119 123 136 
 f 123 129 136 
 f 117 116 137 
 f 118 121 137 
 f 125 118 137 
 f 129 117 137 
 f 121 131 137 
 f 120 132 138 
 f 116 123 139 
 f 123 125 139 
 f 126 119 140 
 f 128 126 140 
 f 119 136 140 
 f 136 128 140 
 f 129 128 141 
 f 128 136 141 
 f 136 129 141 
 f 120 131 142 
 f 131 121 142 
 f 133 120 142 
 f 130 124 143 
 f 135 130 143 
 f 115 122 144 
 f 122 134 144 
 f 128 129 145 
 f 138 128 145 
 f 120 138 145 
 f 124 133 146 
 f 133 142 146 
 f 143 124 146 
 f 131 120 147 
 f 137 131 147 
 f 120 145 147 
 f 129 137 148 
 f 137 147 148 
 f 121 135 149 
 f 143 121 149 
 f 135 143 149 
 f 137 116 150 
 f 125 137 150 
 f 116 139 150 
 f 139 125 150 
 f 134 126 151 
 f 126 128 152 
 f 128 138 152 
 f 124 130 153 
 f 130 122 153 
 f 122 133 153 
 f 133 124 153 
 f 145 129 154 
 f 147 145 154 
 f 129 148 154 
 f 148 147 154 
 f 142 121 155 
 f 121 143 155 
 f 146 142 155 
 f 143 146 155 
 f 133 115 156 
 f 132 133 156 
 f 138 132 157 
 f 115 144 157 
 f 144 134 157 
 f 151 126 157 
 f 134 151 157 
 f 126 152 157 
 f 152 138 157 
 f 156 115 157 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf
@@ -0,0 +1,31 @@
 <robot name="blob021">
  <link name="random_obj_021">
    <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="021.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.14 0.48 0.21 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="021.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj
@@ -0,0 +1,567 @@
 o convex_0
 v -0.583299 -1.467417 -1.999302
 v -0.756145 -0.746288 0.536768
 v -0.813760 -0.746288 0.536768
 v -0.640914 3.863890 -0.731267
 v 0.425360 0.751712 -0.702719
 v -1.563149 0.924219 -0.817408
 v 0.137088 2.739657 -1.595407
 v -0.525878 3.200851 0.075529
 v 0.137088 -1.438079 0.075529
 v -1.332493 2.797159 0.190714
 v -1.246070 -1.409328 0.075529
 v -1.188455 2.595314 -1.278647
 v 0.165896 -1.380576 -1.538063
 v -1.246070 -1.553671 -1.624452
 v -0.525878 -2.130456 -0.616330
 v 0.165896 3.085259 -0.673923
 v 0.223511 1.039225 0.017688
 v -0.698529 3.172099 -1.480470
 v -1.418916 0.952971 -1.480470
 v -0.381645 -1.351825 0.536768
 v -1.361301 3.142761 -0.702471
 v -1.476532 0.492364 0.133122
 v -0.208799 -0.256930 -1.999302
 v 0.367550 0.694209 -1.509267
 v -0.871375 -1.121228 -1.999302
 v -0.496876 -2.043616 -1.538063
 v -0.612106 -2.014865 0.075529
 v -0.295222 -0.919383 0.536768
 v -0.842568 -1.294322 0.536768
 v -1.332493 -1.236820 -0.702471
 v -0.151183 -0.861880 -1.999302
 v -0.900183 1.125478 -1.739886
 v -0.006950 2.624065 -0.155091
 v -1.188455 -0.198840 0.392537
 v -1.563149 0.866717 -0.443303
 v 0.194704 -1.381163 -0.645126
 v -0.295222 1.327324 0.277352
 v 0.425360 0.981722 -0.731267
 v -0.266414 -1.351825 -1.999302
 v -1.274878 2.681568 0.219511
 v -1.447724 -0.256930 -1.134665
 v -0.583299 3.863890 -0.673923
 v 0.165896 3.114597 -0.817656
 v -0.727337 -2.014865 -0.904046
 v -1.073029 -1.351825 0.363741
 v 0.165896 2.595314 -1.595656
 v -1.563149 0.636707 -0.616330
 v -0.179991 -1.639925 0.277352
 v -1.390109 2.999005 -0.702471
 v -1.274878 -1.524920 -1.595656
 v -0.554686 3.834552 -0.760064
 v 0.338742 0.291105 -1.538063
 v -0.986606 -1.668676 -1.739886
 v -1.476532 0.952971 0.133122
 v -0.179991 -1.784268 -1.134665
 v -0.784952 -0.746288 -1.999302
 v 0.108281 -1.495581 0.075529
 v -0.525878 3.258353 0.046732
 v -1.274878 -1.236820 0.104325
 v -1.563149 1.154816 -0.616330
 v 0.252319 0.981135 -0.039657
 v -1.303685 -1.149979 -1.595656
 v -0.583299 -2.043616 -1.509267
 v -0.871375 3.517701 -0.385462
 f 58 42 64 
 f 12 18 19 
 f 2 3 20 
 f 4 18 21 
 f 18 12 21 
 f 12 19 21 
 f 18 7 23 
 f 23 1 25 
 f 9 17 28 
 f 2 20 28 
 f 20 9 28 
 f 20 3 29 
 f 27 20 29 
 f 1 23 31 
 f 19 18 32 
 f 18 23 32 
 f 25 19 32 
 f 8 17 33 
 f 17 16 33 
 f 29 3 34 
 f 5 9 36 
 f 13 5 36 
 f 17 8 37 
 f 28 17 37 
 f 5 24 38 
 f 26 1 39 
 f 13 26 39 
 f 1 31 39 
 f 31 13 39 
 f 3 2 40 
 f 8 10 40 
 f 2 28 40 
 f 34 3 40 
 f 10 34 40 
 f 37 8 40 
 f 28 37 40 
 f 6 19 41 
 f 42 16 43 
 f 16 38 43 
 f 27 11 44 
 f 15 27 44 
 f 11 27 45 
 f 27 29 45 
 f 34 22 45 
 f 29 34 45 
 f 23 7 46 
 f 31 23 46 
 f 24 31 46 
 f 38 24 46 
 f 7 43 46 
 f 43 38 46 
 f 35 6 47 
 f 22 35 47 
 f 6 41 47 
 f 41 30 47 
 f 9 20 48 
 f 20 27 48 
 f 19 6 49 
 f 10 21 49 
 f 21 19 49 
 f 11 30 50 
 f 30 41 50 
 f 44 11 50 
 f 14 44 50 
 f 18 4 51 
 f 7 18 51 
 f 4 42 51 
 f 42 43 51 
 f 43 7 51 
 f 5 13 52 
 f 24 5 52 
 f 13 31 52 
 f 31 24 52 
 f 25 1 53 
 f 14 25 53 
 f 1 26 53 
 f 34 10 54 
 f 22 34 54 
 f 10 35 54 
 f 35 22 54 
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 f 15 26 55 
 f 13 36 55 
 f 23 25 56 
 f 32 23 56 
 f 25 32 56 
 f 27 15 57 
 f 36 9 57 
 f 9 48 57 
 f 48 27 57 
 f 15 55 57 
 f 55 36 57 
 f 10 8 58 
 f 8 33 58 
 f 33 16 58 
 f 16 42 58 
 f 30 11 59 
 f 11 45 59 
 f 45 22 59 
 f 22 47 59 
 f 47 30 59 
 f 6 35 60 
 f 35 10 60 
 f 49 6 60 
 f 10 49 60 
 f 9 5 61 
 f 17 9 61 
 f 16 17 61 
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 f 5 38 61 
 f 25 14 62 
 f 19 25 62 
 f 41 19 62 
 f 14 50 62 
 f 50 41 62 
 f 26 15 63 
 f 44 14 63 
 f 15 44 63 
 f 14 53 63 
 f 53 26 63 
 f 21 10 64 
 f 4 21 64 
 f 42 4 64 
 f 10 58 64 
 o convex_1
 v -0.727360 -1.409960 1.920152
 v -0.151076 -0.747146 1.891338
 v 0.252361 -0.833603 1.891338
 v -0.611999 -1.150589 2.294725
 v -0.900206 -0.833603 1.862525
 v -0.208691 -1.409960 1.862525
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 v -0.929013 -1.352344 1.862525
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 v -0.813783 -1.179295 2.237014
 v -0.640937 -1.381050 2.208200
 v 0.367722 -0.891286 1.891338
 v -0.611999 -0.977810 2.237014
 v -0.957951 -1.035358 1.920152
 v -0.871398 -0.833603 1.948965
 f 69 79 80 
 f 70 65 72 
 f 69 70 72 
 f 66 67 74 
 f 69 66 74 
 f 70 69 74 
 f 68 73 75 
 f 65 70 76 
 f 71 68 76 
 f 70 71 76 
 f 72 65 76 
 f 68 75 76 
 f 75 72 76 
 f 68 71 77 
 f 71 70 77 
 f 74 67 77 
 f 70 74 77 
 f 67 66 78 
 f 66 73 78 
 f 73 68 78 
 f 77 67 78 
 f 68 77 78 
 f 69 72 79 
 f 72 75 79 
 f 79 75 80 
 f 66 69 80 
 f 73 66 80 
 f 75 73 80 
 o convex_2
 v -0.813791 -1.208196 -2.748688
 v -0.266408 -1.121815 -2.748688
 v -0.266408 -1.179357 -2.748688
 v -0.554513 -1.093021 -3.699528
 v -0.669710 -0.891286 -2.748688
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 v -0.525742 -0.920124 -3.497725
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 v -0.410489 -1.352299 -2.748688
 v -0.352834 -0.920124 -2.748688
 v -0.784964 -0.920124 -2.777544
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 v -0.352834 -1.323460 -2.921636
 v -0.583228 -0.891286 -3.353726
 v -0.352834 -0.948918 -3.094491
 v -0.640883 -1.352299 -2.748688
 v -0.612055 -1.323460 -3.411344
 v -0.842675 -1.064228 -2.748688
 v -0.813791 -1.121815 -3.382489
 f 99 87 100 
 f 83 82 81 
 f 81 82 85 
 f 84 87 88 
 f 84 88 89 
 f 82 83 89 
 f 86 84 89 
 f 83 81 90 
 f 85 82 91 
 f 89 83 94 
 f 86 89 94 
 f 90 86 94 
 f 83 90 94 
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 f 85 91 95 
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 f 92 85 95 
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 f 89 88 96 
 f 82 89 96 
 f 91 82 96 
 f 88 91 96 
 f 86 90 97 
 f 90 81 97 
 f 81 93 97 
 f 97 93 98 
 f 84 86 98 
 f 86 97 98 
 f 81 85 99 
 f 85 92 99 
 f 92 87 99 
 f 87 84 100 
 f 93 81 100 
 f 98 93 100 
 f 84 98 100 
 f 81 99 100 
 o convex_3
 v -0.698580 -1.409807 -2.143425
 v -0.237522 -0.401527 -1.999302
 v -0.237522 -0.401527 -2.028126
 v -0.266296 -1.352203 -1.999302
 v -0.266296 -1.179286 -2.748595
 v -0.784902 -0.920068 -2.748595
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 v -0.871494 -1.236995 -1.999302
 v -0.323979 -0.920068 -2.748595
 v -0.784902 -1.265797 -2.748595
 v -0.179839 -0.920068 -2.028126
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 v -0.381662 -1.352203 -2.748595
 v -0.842652 -1.064078 -2.748595
 v -0.496892 -0.516735 -2.028126
 v -0.583282 -0.862464 -2.719771
 v -0.784902 -1.381005 -2.114674
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 f 104 102 107 
 f 104 107 109 
 f 103 105 110 
 f 105 106 110 
 f 106 105 111 
 f 103 102 112 
 f 102 104 112 
 f 104 105 112 
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 f 101 108 113 
 f 104 109 113 
 f 105 104 114 
 f 111 105 114 
 f 108 111 114 
 f 113 108 114 
 f 104 113 114 
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 f 106 111 115 
 f 111 109 115 
 f 102 103 116 
 f 103 106 116 
 f 106 107 116 
 f 107 102 116 
 f 106 103 117 
 f 103 110 117 
 f 110 106 117 
 f 108 101 118 
 f 111 108 118 
 f 109 111 118 
 f 101 113 118 
 o convex_4
 v -0.813845 -1.323491 0.536768
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 v -0.323933 -1.294695 0.536768
 v -0.295261 -0.862438 0.536768
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 v -0.871438 -1.381146 0.709665
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 v -0.929030 -1.121792 0.623216
 f 129 123 131 
 f 121 120 122 
 f 122 120 123 
 f 123 120 124 
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 f 120 121 126 
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 f 127 121 128 
 f 122 123 129 
 f 119 125 130 
 f 128 122 130 
 f 125 128 130 
 f 129 119 130 
 f 122 129 130 
 f 123 124 131 
 f 124 119 131 
 f 119 129 131 
 o convex_5
 v 3.998893 -1.208086 1.775893
 v -2.628738 -1.208193 0.709682
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 v 4.142629 -0.660740 1.314835
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 v 6.216963 -1.121792 1.458930
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 v 3.163055 -0.689575 1.718233
 v -2.513552 -0.574232 0.911437
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 v 0.339519 -0.574232 1.747007
 v -3.119017 -0.747247 1.718233
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 v -3.032382 -1.496337 1.689459
 v 0.396620 -1.669353 1.660572
 v -2.513552 -1.669353 0.853889
 v 6.101778 -0.920155 1.286061
 v -1.966172 -0.689575 1.833441
 v 0.483255 -0.833648 0.709795
 v -0.323047 -1.438773 0.709795
 v 3.767536 -0.632011 1.257287
 v 3.480063 -1.121792 1.833441
 v -3.349390 -0.689575 1.343609
 v -3.377940 -1.525173 1.286061
 v -2.283180 -1.554009 1.775893
 v -3.349390 -1.179357 1.689459
 v 1.519930 -1.582845 1.775893
 v 4.171180 -0.747247 1.631799
 v -3.349390 -1.064228 0.853889
 v -2.542102 -0.574232 1.516478
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 v -2.600188 -1.669353 1.401269
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 f 185 160 190 
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 f 149 152 194 
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 f 163 141 195 
 f 162 163 195 
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 f 133 181 195 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf
@@ -0,0 +1,31 @@
 <robot name="blob022">
  <link name="random_obj_022">
    <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="022.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.97 0.03 0.74 1"/>
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    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="022.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj
@@ -0,0 +1,189 @@
 o convex_0
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--- a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf
@@ -0,0 +1,31 @@
 <robot name="blob023">
  <link name="random_obj_023">
    <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"/>
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    <inertial>
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      <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="023.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.94 0.40 0.85 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="023.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl
@@ -0,0 +1,10 @@
 # Blender MTL File: 'None'
 # Material Count: 1
 newmtl None
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 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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj
@@ -0,0 +1,900 @@
 o convex_0
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 v 0.781856 1.295462 0.867638
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 v 0.869702 1.763734 0.809074
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 f 160 124 172 
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 f 123 164 183 
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 f 176 140 183 
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 f 166 126 184 
 f 126 170 184 
 f 170 156 184 
 f 130 139 185 
 f 147 130 185 
 f 168 133 185 
 f 139 168 185 
 f 133 179 185 
 f 179 147 185 
 f 148 127 186 
 f 127 153 186 
 f 153 171 186 
 o convex_3
 v 2.567311 0.709962 0.194427
 v 1.396950 1.266000 0.018850
 v 1.396950 1.266000 -0.039657
 v 1.308932 0.417154 0.282273
 v 1.308932 0.622053 -0.186010
 v 2.684396 0.973191 -0.156728
 v 2.655166 0.943944 0.252991
 v 1.308932 1.119512 0.252991
 v 1.308932 1.148760 -0.273856
 v 2.743020 0.709962 0.018850
 v 2.713627 1.119512 0.077356
 v 1.367720 0.417154 0.077356
 v 2.977190 0.885448 0.077356
 v 1.338489 0.885448 0.311555
 v 2.333141 1.119512 -0.127503
 v 1.484805 0.943944 -0.273856
 v 2.743020 0.826953 0.252991
 v 2.128691 0.739210 -0.156728
 v 1.514035 1.148760 0.223709
 v 1.601890 0.739210 0.311555
 v 1.308932 1.207421 -0.244574
 v 1.338489 0.534394 -0.098221
 v 2.655166 0.914696 -0.156728
 v 2.538081 1.061017 0.194427
 v 2.743020 0.709962 0.077356
 v 2.772251 0.973191 -0.127503
 v 1.308932 0.563641 0.311555
 v 2.918566 0.973191 0.106638
 v 1.308932 1.266000 0.018850
 v 2.684396 1.119512 0.018850
 v 2.567311 0.768458 -0.098221
 v 2.655166 1.119512 0.106638
 v 1.338489 0.417154 0.282273
 f 203 213 219 
 f 191 190 194 
 f 191 194 195 
 f 189 188 197 
 f 193 194 200 
 f 195 192 202 
 f 191 195 202 
 f 191 202 204 
 f 194 193 205 
 f 193 200 206 
 f 203 193 206 
 f 192 195 207 
 f 195 194 207 
 f 189 201 207 
 f 201 192 207 
 f 190 191 208 
 f 198 190 208 
 f 196 198 208 
 f 191 204 208 
 f 202 192 209 
 f 204 202 209 
 f 205 193 210 
 f 198 196 211 
 f 196 199 211 
 f 203 187 211 
 f 199 203 211 
 f 199 196 212 
 f 192 201 212 
 f 196 209 212 
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 f 194 190 213 
 f 200 194 213 
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 f 188 205 218 
 f 210 193 218 
 f 205 210 218 
 f 193 214 218 
 f 214 197 218 
 f 190 198 219 
 f 187 203 219 
 f 211 187 219 
 f 198 211 219 
 f 213 190 219 
 o convex_4
 v -1.267091 0.446473 -0.068945
 v -1.237784 1.207459 0.106547
 v -1.237784 1.207459 -0.098169
 v -3.052203 0.973214 0.018873
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 v -2.817918 0.739279 0.048026
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 v -2.847226 0.739279 0.018873
 f 236 252 256 
 f 222 221 224 
 f 224 220 231 
 f 222 224 231 
 f 222 231 232 
 f 224 221 233 
 f 230 225 235 
 f 233 221 237 
 f 220 224 238 
 f 227 220 238 
 f 228 223 240 
 f 232 231 241 
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 f 224 233 243 
 f 220 227 244 
 f 231 220 244 
 f 227 235 244 
 f 241 231 244 
 f 235 241 244 
 f 225 230 245 
 f 239 232 245 
 f 242 223 246 
 f 229 242 246 
 f 238 224 247 
 f 224 243 247 
 f 243 229 247 
 f 229 246 247 
 f 246 236 247 
 f 228 222 248 
 f 222 232 248 
 f 239 228 248 
 f 232 239 248 
 f 233 237 249 
 f 237 226 249 
 f 242 229 249 
 f 226 242 249 
 f 229 243 249 
 f 243 233 249 
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 f 223 228 255 
 f 228 239 255 
 f 245 230 255 
 f 239 245 255 
 f 230 252 255 
 f 252 223 255 
 f 227 238 256 
 f 238 247 256 
 f 247 236 256 
 f 252 227 256 
 o convex_5
 v 0.079535 0.622053 1.014049
 v -0.066537 0.680715 -1.034890
 v -0.066537 1.266000 -1.034890
 v 1.308683 1.148760 -0.303040
 v -0.886136 1.266000 0.721028
 v -1.237357 0.417154 -0.039502
 v 1.308683 0.417154 0.047943
 v 0.840306 1.266000 0.838156
 v -0.886136 1.266000 -0.858998
 v 0.840306 0.417154 -0.859198
 v -0.739815 0.417154 0.896720
 v -0.827558 0.417154 -0.858998
 v 0.781976 0.417154 0.896720
 v 0.928298 1.266000 -0.859198
 v -1.237357 1.119512 0.311280
 v -0.007959 1.266000 1.014049
 v 1.308683 0.885448 0.311280
 v -1.237357 1.031770 -0.332122
 v -1.237357 0.417154 0.399126
 v 1.308683 1.266000 0.047943
 v 0.079535 0.417154 -1.034890
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 v 1.308683 0.417154 0.281998
 v -0.798393 1.061017 0.838156
 v -0.037373 0.417154 1.014049
 v 1.308683 0.622053 -0.185912
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 v 0.869719 0.475732 -0.859198
 v 0.079535 1.266000 -1.034890
 v -0.827558 1.236669 -0.888480
 v 1.308683 1.119512 0.252917
 v 1.308683 0.973191 -0.303040
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 v -0.213108 0.417154 -1.005608
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 v 1.279519 1.266000 -0.303040
 v -0.856971 0.417154 0.808874
 v -1.237357 0.826953 -0.332122
 v -0.768979 1.207421 0.838156
 v 0.050370 1.266000 1.014049
 v -1.179028 1.266000 0.077225
 v 1.074619 0.417154 -0.478732
 v 0.869719 0.417154 0.808874
 v 0.811141 1.207421 0.867438
 v -0.739815 0.563641 0.896720
 v 0.928298 1.148760 -0.859198
 v -1.237357 0.505063 -0.214994
 v 1.308683 0.563641 0.311280
 v 0.869719 1.266000 0.808874
 f 264 301 306 
 f 259 261 264 
 f 261 259 265 
 f 263 262 266 
 f 262 263 267 
 f 266 262 268 
 f 267 263 269 
 f 259 264 270 
 f 264 261 272 
 f 263 260 273 
 f 262 271 274 
 f 262 267 275 
 f 271 262 275 
 f 270 264 276 
 f 273 260 276 
 f 258 259 277 
 f 266 268 277 
 f 261 265 278 
 f 269 263 279 
 f 263 273 279 
 f 269 257 281 
 f 267 269 281 
 f 257 272 281 
 f 260 263 282 
 f 262 274 283 
 f 261 271 284 
 f 271 275 284 
 f 280 261 284 
 f 266 277 285 
 f 259 270 286 
 f 277 259 286 
 f 270 277 286 
 f 259 258 287 
 f 265 259 287 
 f 268 265 287 
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 f 270 260 289 
 f 260 282 289 
 f 282 285 289 
 f 257 269 290 
 f 258 277 291 
 f 277 268 291 
 f 287 258 291 
 f 268 287 291 
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 f 274 271 292 
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 f 260 270 293 
 f 276 260 293 
 f 270 276 293 
 f 275 267 294 
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 f 280 284 294 
 f 265 268 295 
 f 274 265 295 
 f 268 283 295 
 f 283 274 295 
 f 272 261 296 
 f 261 280 296 
 f 264 272 297 
 f 272 257 297 
 f 257 290 297 
 f 271 261 298 
 f 261 278 298 
 f 292 271 298 
 f 278 292 298 
 f 263 266 299 
 f 282 263 299 
 f 266 285 299 
 f 285 282 299 
 f 269 279 300 
 f 290 269 300 
 f 264 297 301 
 f 297 290 301 
 f 267 281 302 
 f 281 272 302 
 f 294 267 302 
 f 280 294 302 
 f 272 296 302 
 f 296 280 302 
 f 277 270 303 
 f 285 277 303 
 f 270 289 303 
 f 289 285 303 
 f 268 262 304 
 f 262 283 304 
 f 283 268 304 
 f 279 273 305 
 f 273 300 305 
 f 300 279 305 
 f 276 264 306 
 f 273 288 306 
 f 288 276 306 
 f 300 273 306 
 f 290 300 306 
 f 301 290 306 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf
@@ -0,0 +1,31 @@
 <robot name="blob024">
  <link name="random_obj_024">
    <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="024.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.76 0.61 0.23 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="024.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf
@@ -0,0 +1,31 @@
 <robot name="blob025">
  <link name="random_obj_025">
    <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="025.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.73 0.63 0.80 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="025.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj
@@ -0,0 +1,453 @@
 o convex_0
 v 0.275381 -1.991504 -1.774475
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 v 0.088492 -4.452079 -1.992504
 v -0.285220 -1.991504 -2.054876
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 v 0.213084 -2.583526 -2.023660
 v 0.213084 -4.452079 -1.930193
 v -0.285220 -3.673395 -2.023660
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 f 2 3 7 
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 f 11 12 25 
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 o convex_1
 v 1.085193 1.309563 1.308948
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 v -0.970428 3.458356 1.277435
 v 0.618026 -2.395946 1.184349
 v 0.960558 1.901030 -0.746613
 v 0.960558 3.739455 0.312369
 f 49 51 70 
 f 28 27 30 
 f 26 30 34 
 f 30 26 35 
 f 27 28 36 
 f 27 36 37 
 f 30 35 38 
 f 35 26 39 
 f 29 30 42 
 f 30 27 42 
 f 26 34 43 
 f 28 30 44 
 f 36 28 44 
 f 33 36 44 
 f 30 38 44 
 f 27 37 46 
 f 37 40 46 
 f 39 31 47 
 f 31 40 47 
 f 40 37 48 
 f 35 39 49 
 f 39 47 49 
 f 38 35 50 
 f 49 32 51 
 f 34 30 52 
 f 43 34 53 
 f 42 27 54 
 f 29 42 54 
 f 27 46 54 
 f 46 29 54 
 f 40 31 55 
 f 46 40 55 
 f 38 50 56 
 f 50 41 56 
 f 32 49 57 
 f 36 33 58 
 f 33 51 58 
 f 37 36 59 
 f 32 48 59 
 f 48 37 59 
 f 51 32 59 
 f 31 53 60 
 f 53 34 60 
 f 55 31 60 
 f 45 55 60 
 f 36 58 61 
 f 58 51 61 
 f 59 36 61 
 f 51 59 61 
 f 29 46 62 
 f 55 29 62 
 f 46 55 62 
 f 32 47 63 
 f 47 40 63 
 f 48 32 63 
 f 40 48 63 
 f 38 33 64 
 f 33 44 64 
 f 44 38 64 
 f 30 29 65 
 f 52 30 65 
 f 45 52 65 
 f 29 55 65 
 f 55 45 65 
 f 39 26 66 
 f 31 39 66 
 f 26 43 66 
 f 53 31 66 
 f 43 53 66 
 f 33 38 67 
 f 41 33 67 
 f 38 56 67 
 f 56 41 67 
 f 34 52 68 
 f 52 45 68 
 f 60 34 68 
 f 45 60 68 
 f 47 32 69 
 f 49 47 69 
 f 32 57 69 
 f 57 49 69 
 f 33 41 70 
 f 35 49 70 
 f 50 35 70 
 f 41 50 70 
 f 51 33 70 
 o convex_2
 v -0.440922 -1.804613 1.309149
 v 0.586849 -0.932596 1.371521
 v 0.586849 -0.963767 1.371521
 v -0.565572 -1.835674 3.364618
 v -0.565572 -0.839193 1.309149
 v 0.431064 -0.839083 3.177501
 v 0.493333 -1.898016 3.364618
 v 0.431064 -1.960357 1.309149
 v -0.503191 -0.932596 3.208687
 v 0.368683 -0.901425 1.309149
 v 0.275280 -1.960357 1.433893
 v 0.493333 -1.648868 3.333230
 v -0.409675 -0.901425 3.208687
 v -0.565572 -1.025999 1.309149
 v 0.462199 -0.839083 3.021771
 v -0.534325 -1.835674 2.679126
 v -0.565572 -0.870254 1.869896
 v 0.493333 -1.898016 2.866042
 v 0.275280 -1.898016 3.333230
 v -0.378541 -1.835674 1.309149
 v -0.565572 -1.773442 3.364618
 v -0.409675 -1.866845 3.021771
 v 0.586849 -0.963767 1.309149
 v -0.472057 -1.804613 1.527251
 v -0.565572 -0.839193 1.527251
 v -0.440922 -0.839193 1.309149
 v -0.440922 -1.025999 3.239672
 v 0.555602 -0.901425 1.558437
 v -0.534325 -1.244085 3.270858
 v 0.337549 -0.839193 3.177501
 v 0.431064 -1.804503 3.364618
 v 0.462199 -1.929187 2.647940
 v 0.493333 -1.555355 3.302044
 f 72 85 103 
 f 73 72 77 
 f 71 75 78 
 f 78 75 80 
 f 77 72 82 
 f 75 71 84 
 f 74 75 84 
 f 75 76 85 
 f 74 84 86 
 f 75 74 87 
 f 73 77 88 
 f 77 74 89 
 f 71 78 90 
 f 78 81 90 
 f 74 77 91 
 f 87 74 91 
 f 74 86 92 
 f 89 74 92 
 f 81 89 92 
 f 90 81 92 
 f 86 90 92 
 f 72 73 93 
 f 80 72 93 
 f 78 80 93 
 f 73 88 93 
 f 88 78 93 
 f 84 71 94 
 f 86 84 94 
 f 71 90 94 
 f 90 86 94 
 f 76 75 95 
 f 79 83 95 
 f 75 87 95 
 f 87 79 95 
 f 80 75 96 
 f 75 85 96 
 f 82 76 97 
 f 76 83 97 
 f 83 79 97 
 f 72 80 98 
 f 85 72 98 
 f 80 96 98 
 f 96 85 98 
 f 79 87 99 
 f 87 91 99 
 f 97 79 99 
 f 91 97 99 
 f 83 76 100 
 f 76 95 100 
 f 95 83 100 
 f 77 82 101 
 f 91 77 101 
 f 82 97 101 
 f 97 91 101 
 f 81 78 102 
 f 88 77 102 
 f 78 88 102 
 f 77 89 102 
 f 89 81 102 
 f 82 72 103 
 f 76 82 103 
 f 85 76 103 
 o convex_3
 v 0.431110 -0.870357 -2.023413
 v -0.503170 -1.991504 -2.708889
 v -0.440870 -1.991504 -2.708889
 v 0.306512 -1.960132 -0.809016
 v -0.565572 -0.870357 -0.809214
 v -0.534371 -0.745869 -2.677578
 v 0.462208 -1.866765 -2.833539
 v -0.565572 -1.804396 -0.809214
 v 0.431110 -0.932727 -0.809016
 v 0.462208 -0.932727 -2.740002
 v 0.275310 -0.714622 -1.400955
 v 0.493409 -1.960132 -0.809016
 v 0.337610 -0.714622 -2.085837
 v -0.347474 -0.714622 -1.525605
 v -0.253973 -1.991504 -1.463379
 v 0.213011 -1.991504 -1.992300
 v 0.337610 -0.839235 -2.740002
 v 0.493409 -1.929010 -1.930074
 v 0.306512 -1.897888 -2.833539
 v -0.565572 -0.808113 -1.650057
 v -0.472072 -1.929010 -2.739804
 v 0.462208 -1.244073 -0.809016
 v -0.534371 -1.648786 -2.210487
 v 0.399909 -0.994971 -2.770917
 v 0.493409 -1.804396 -0.809016
 v 0.337610 -1.991504 -1.432266
 v -0.316376 -0.714622 -2.085837
 v -0.285174 -0.776991 -2.708889
 v -0.503170 -1.181829 -2.708889
 v 0.368811 -1.897888 -2.833539
 v 0.431110 -1.679908 -2.833539
 v -0.565572 -0.839235 -0.933864
 v 0.493409 -1.866765 -2.054526
 f 128 121 136 
 f 107 108 111 
 f 108 107 112 
 f 104 112 113 
 f 108 112 114 
 f 112 107 115 
 f 112 104 116 
 f 104 113 116 
 f 114 112 116 
 f 114 116 117 
 f 105 106 118 
 f 111 105 118 
 f 107 111 118 
 f 118 106 119 
 f 116 113 120 
 f 109 116 120 
 f 106 105 122 
 f 111 108 123 
 f 122 105 124 
 f 113 112 125 
 f 112 115 125 
 f 109 105 126 
 f 105 111 126 
 f 123 109 126 
 f 111 123 126 
 f 120 113 127 
 f 115 121 128 
 f 113 125 128 
 f 125 115 128 
 f 115 107 129 
 f 107 118 129 
 f 118 119 129 
 f 121 115 129 
 f 119 121 129 
 f 116 109 130 
 f 117 116 130 
 f 109 117 130 
 f 109 120 131 
 f 120 127 131 
 f 105 109 132 
 f 124 105 132 
 f 122 124 132 
 f 109 131 132 
 f 131 122 132 
 f 119 106 133 
 f 110 121 133 
 f 121 119 133 
 f 106 122 133 
 f 122 110 133 
 f 113 110 134 
 f 110 122 134 
 f 127 113 134 
 f 122 131 134 
 f 131 127 134 
 f 108 114 135 
 f 114 117 135 
 f 117 109 135 
 f 109 123 135 
 f 123 108 135 
 f 110 113 136 
 f 121 110 136 
 f 113 128 136 
 o convex_4
 v 0.337677 1.714931 -1.525477
 v -0.347547 -0.714497 -1.681206
 v -0.347547 -0.714497 -1.525477
 v 0.337677 -0.714497 -2.085956
 v -0.222924 1.621474 -2.054770
 v 0.275365 -0.714497 -1.400867
 v -0.253979 1.590321 -1.525477
 v -0.316358 -0.714497 -2.085956
 v 0.337677 1.652626 -1.961345
 v -0.285168 1.465711 -1.587782
 v 0.337677 1.559168 -1.494358
 v 0.337677 -0.714497 -1.805616
 v 0.213054 -0.558734 -1.400867
 v 0.275365 1.652626 -1.992464
 v -0.285168 0.002013 -2.085956
 v -0.253979 1.621474 -1.836802
 v -0.285168 1.434320 -1.525477
 v -0.160613 1.621474 -2.054770
 v -0.253979 1.123032 -2.054770
 v -0.347547 -0.402971 -1.525477
 f 149 153 156 
 f 139 138 140 
 f 139 140 142 
 f 140 138 144 
 f 137 140 145 
 f 144 138 146 
 f 140 137 147 
 f 137 143 147 
 f 142 140 148 
 f 140 147 148 
 f 147 142 148 
 f 139 142 149 
 f 142 147 149 
 f 147 143 149 
 f 141 137 150 
 f 137 145 150 
 f 145 140 150 
 f 140 144 151 
 f 137 141 152 
 f 143 137 152 
 f 146 143 152 
 f 143 146 153 
 f 149 143 153 
 f 141 150 154 
 f 150 140 154 
 f 140 151 154 
 f 151 141 154 
 f 144 146 155 
 f 141 151 155 
 f 151 144 155 
 f 152 141 155 
 f 146 152 155 
 f 138 139 156 
 f 146 138 156 
 f 139 149 156 
 f 153 146 156 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf
@@ -0,0 +1,31 @@
 <robot name="blob026">
  <link name="random_obj_026">
    <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="026.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.02 0.44 0.04 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="026.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj
@@ -0,0 +1,585 @@
 o convex_0
 v 2.353401 -2.054929 -0.163520
 v -3.112154 -4.162848 -1.100924
 v -3.112154 -4.162848 -0.749316
 v 2.977795 -4.123857 1.046413
 v -3.034256 -2.211329 0.928993
 v 2.939147 -4.123857 -0.983504
 v -3.112154 -2.015938 -1.022716
 v -2.956358 -4.124074 1.124621
 v 3.055693 -2.094138 0.968206
 v 2.939147 -2.133130 -1.022716
 v 1.025509 -2.015938 1.124621
 v -0.223278 -4.240830 -0.124743
 v 1.221160 -2.015938 -1.100924
 v -1.043323 -2.015938 1.007200
 v -2.760707 -4.162848 1.046196
 v 2.704849 -3.811492 -1.022716
 v 0.244715 -4.240830 -0.436920
 v -2.760707 -2.054929 -1.061711
 v 2.977795 -3.928683 -0.827306
 v 1.376956 -2.406503 -1.100924
 v -2.995005 -3.616318 1.085190
 v 1.259807 -2.328303 1.124621
 v -0.964821 -4.240830 -0.515128
 v 3.017046 -2.094138 -0.163520
 v -3.034256 -2.172121 0.889998
 v -2.136313 -4.124074 1.124621
 v -2.565660 -4.162848 -1.100924
 v -0.028231 -2.015938 -1.100924
 v 2.899897 -2.133130 1.007200
 v -3.034256 -2.445276 0.968206
 v -3.112154 -2.015938 -0.866519
 v 3.055693 -2.406285 0.655810
 v 2.548449 -2.054929 0.460835
 v 2.197001 -4.163065 -0.827306
 v -3.112154 -3.772501 -1.100924
 v 1.728404 -4.162848 0.772795
 v 2.977795 -2.133130 -0.944509
 v -3.034256 -4.162848 0.382410
 v 2.743496 -2.094138 -1.022716
 v 2.197001 -3.303953 1.085190
 v -2.956358 -3.967674 1.124621
 v -2.253463 -4.201839 -0.866519
 v -3.073507 -2.133130 0.226212
 v 2.001954 -4.124074 -1.022716
 v 2.939147 -2.953033 -1.022716
 v -1.043323 -4.162848 -1.061494
 v 2.977795 -3.772501 1.046413
 v 0.674061 -4.123857 1.085408
 v -3.073507 -2.211329 -1.061711
 v 2.977795 -4.123857 0.343415
 v 2.314150 -2.094138 -1.061494
 v -3.034256 -2.640668 0.968206
 v 1.338309 -2.015938 -0.866519
 v -2.995005 -4.124074 0.968206
 v -2.370612 -2.172121 0.968206
 f 30 11 55 
 f 2 3 7 
 f 7 11 13 
 f 11 7 14 
 f 4 12 17 
 f 2 13 20 
 f 11 8 22 
 f 12 15 23 
 f 17 12 23 
 f 5 14 25 
 f 8 15 26 
 f 22 8 26 
 f 2 20 27 
 f 20 16 27 
 f 13 2 28 
 f 7 13 28 
 f 18 7 28 
 f 9 11 29 
 f 11 22 29 
 f 7 3 31 
 f 14 7 31 
 f 25 14 31 
 f 9 4 32 
 f 24 9 32 
 f 19 24 32 
 f 11 9 33 
 f 24 1 33 
 f 9 24 33 
 f 4 17 34 
 f 2 7 35 
 f 28 2 35 
 f 12 4 36 
 f 4 15 36 
 f 15 12 36 
 f 19 6 37 
 f 24 19 37 
 f 15 8 38 
 f 23 15 38 
 f 1 24 39 
 f 37 10 39 
 f 24 37 39 
 f 8 11 41 
 f 21 8 41 
 f 11 30 41 
 f 30 21 41 
 f 3 2 42 
 f 2 27 42 
 f 38 3 42 
 f 23 38 42 
 f 5 25 43 
 f 30 5 43 
 f 31 3 43 
 f 25 31 43 
 f 16 6 44 
 f 27 16 44 
 f 6 16 45 
 f 16 20 45 
 f 37 6 45 
 f 10 37 45 
 f 17 23 46 
 f 6 34 46 
 f 34 17 46 
 f 23 42 46 
 f 42 27 46 
 f 44 6 46 
 f 27 44 46 
 f 4 9 47 
 f 9 29 47 
 f 29 22 47 
 f 40 4 47 
 f 22 40 47 
 f 15 4 48 
 f 26 15 48 
 f 22 26 48 
 f 4 40 48 
 f 40 22 48 
 f 7 18 49 
 f 18 28 49 
 f 35 7 49 
 f 28 35 49 
 f 6 19 50 
 f 32 4 50 
 f 19 32 50 
 f 4 34 50 
 f 34 6 50 
 f 20 13 51 
 f 39 10 51 
 f 13 39 51 
 f 10 45 51 
 f 45 20 51 
 f 21 30 52 
 f 43 3 52 
 f 30 43 52 
 f 13 11 53 
 f 11 33 53 
 f 33 1 53 
 f 39 13 53 
 f 1 39 53 
 f 8 21 54 
 f 38 8 54 
 f 3 38 54 
 f 21 52 54 
 f 52 3 54 
 f 14 5 55 
 f 11 14 55 
 f 5 30 55 
 o convex_1
 v 0.362040 -1.664353 -1.100924
 v 1.103854 -1.898483 1.085576
 v 1.103854 -2.015720 1.085576
 v -1.043182 -2.015720 1.007456
 v -1.043182 -1.430050 0.968289
 v -0.926097 -2.015720 -1.061757
 v 1.064966 -1.430050 1.085576
 v -0.964985 -1.430050 -1.061757
 v 1.064966 -2.015720 -1.100924
 v 1.025658 -1.430050 -1.061757
 v 1.103854 -1.430050 0.890170
 v -1.043182 -2.015720 0.499570
 v 0.362040 -1.976622 1.085576
 v 1.064966 -1.742377 -1.100924
 v -0.964985 -1.859442 -1.061757
 v -0.964985 -1.742377 1.007456
 v 0.010997 -2.015720 -1.100924
 f 70 63 72 
 f 58 59 61 
 f 58 57 62 
 f 60 62 63 
 f 58 61 64 
 f 63 62 65 
 f 56 63 65 
 f 57 58 66 
 f 62 57 66 
 f 58 64 66 
 f 65 62 66 
 f 59 60 67 
 f 61 59 67 
 f 60 63 67 
 f 59 58 68 
 f 58 62 68 
 f 64 56 69 
 f 56 65 69 
 f 66 64 69 
 f 65 66 69 
 f 61 67 70 
 f 67 63 70 
 f 60 59 71 
 f 62 60 71 
 f 59 68 71 
 f 68 62 71 
 f 63 56 72 
 f 56 64 72 
 f 64 61 72 
 f 61 70 72 
 o convex_2
 v 1.025910 2.551725 -0.398151
 v -1.082226 0.561227 -1.022770
 v -1.082226 0.561227 -0.983764
 v 1.025910 -1.429271 -0.007674
 v -0.965142 2.551725 -0.007674
 v 1.025910 -1.429271 -1.061880
 v -0.965142 -1.429271 -0.007674
 v -0.926045 2.551725 -1.061880
 v 1.064798 2.551725 -0.983764
 v -0.965142 -1.429271 -1.061880
 v 0.986812 2.551725 -0.007674
 v -1.082226 2.551725 -0.866538
 v -1.004241 -0.258436 -0.163906
 v -1.082226 2.551725 -1.061880
 v -1.043338 -0.648584 -1.022770
 v 1.025910 -1.195416 -1.061880
 v 1.064798 2.473773 -0.827531
 v -1.004241 -1.234391 -1.061880
 v 0.127919 2.551725 -1.022770
 v 1.064798 2.200552 -0.983764
 f 81 89 92 
 f 78 76 79 
 f 76 77 79 
 f 77 73 80 
 f 80 73 81 
 f 78 79 82 
 f 80 78 82 
 f 76 73 83 
 f 73 77 83 
 f 77 76 83 
 f 74 75 84 
 f 77 80 84 
 f 75 79 85 
 f 79 77 85 
 f 84 75 85 
 f 77 84 85 
 f 80 82 86 
 f 74 84 86 
 f 84 80 86 
 f 75 74 87 
 f 79 75 87 
 f 78 80 88 
 f 81 78 88 
 f 73 76 89 
 f 81 73 89 
 f 82 79 90 
 f 74 86 90 
 f 86 82 90 
 f 87 74 90 
 f 79 87 90 
 f 80 81 91 
 f 88 80 91 
 f 81 88 91 
 f 76 78 92 
 f 78 81 92 
 f 89 76 92 
 o convex_3
 v 1.064966 1.224596 0.421913
 v -1.043182 -1.429271 0.773074
 v -1.043182 -1.429271 0.968416
 v -1.004083 2.551725 1.046532
 v -0.965195 2.551725 -0.007674
 v 1.025868 -1.429271 -0.007674
 v 1.064966 -1.429271 1.046532
 v 0.947882 2.551725 1.046532
 v -0.965195 -1.429271 -0.007674
 v 0.986770 2.551725 -0.007674
 v 0.323152 -1.429271 1.046532
 v -1.043182 0.990351 0.656055
 v 1.103854 -0.024191 0.656055
 v 1.103854 -1.429271 0.968416
 v -1.004083 2.551725 0.265681
 v -1.004083 1.966307 1.046532
 v 1.025868 2.356845 0.304687
 v -1.043182 0.834448 0.968416
 v -0.457760 -1.429271 1.007422
 v 1.103854 -0.180094 0.577938
 f 106 98 112 
 f 95 94 98 
 f 95 98 99 
 f 97 96 100 
 f 96 99 100 
 f 98 94 101 
 f 97 98 101 
 f 98 97 102 
 f 97 100 102 
 f 95 99 103 
 f 99 96 103 
 f 94 95 104 
 f 101 94 104 
 f 105 100 106 
 f 99 98 106 
 f 100 99 106 
 f 96 97 107 
 f 97 101 107 
 f 104 96 107 
 f 101 104 107 
 f 96 95 108 
 f 103 96 108 
 f 93 102 109 
 f 102 100 109 
 f 105 93 109 
 f 100 105 109 
 f 95 96 110 
 f 104 95 110 
 f 96 104 110 
 f 95 103 111 
 f 108 95 111 
 f 103 108 111 
 f 98 102 112 
 f 102 93 112 
 f 93 105 112 
 f 105 106 112 
 o convex_4
 v -0.848080 4.075414 1.124621
 v -1.121481 3.216531 -1.061880
 v -0.730878 3.216531 -1.061880
 v -1.082268 5.949121 -0.944379
 v 1.104064 5.831964 -0.983760
 v 0.947866 3.216531 1.085454
 v 0.986861 5.949121 1.085454
 v 1.064851 3.216531 -0.983760
 v -0.965065 5.871017 1.046501
 v -1.004278 3.216531 1.085454
 v 1.064851 3.216531 0.031371
 v -1.121481 4.894977 -1.022713
 v 1.025856 5.949121 1.046287
 v -1.082268 5.949121 -0.515040
 v 1.104064 3.685158 -0.827306
 v -0.106087 5.910069 -0.983546
 v -1.043273 4.153518 -1.061880
 v 1.104064 5.831964 -0.476088
 v -0.457695 5.910069 1.046501
 v -1.121481 3.919205 -0.866259
 v -0.965065 3.802315 1.124621
 v 0.323076 5.831964 1.085454
 v -0.730878 5.949121 -0.944379
 v -0.691883 3.880420 -1.061880
 v 1.025856 5.949121 0.929000
 v 1.104064 3.685158 -0.983760
 v -1.121481 4.934029 -0.944379
 v 0.752456 5.949121 1.085454
 v 0.986861 4.504989 1.085454
 v -1.004278 5.910069 0.538829
 v -1.082268 5.636703 -0.983546
 v -0.730878 3.841367 1.124621
 v -0.926070 5.090239 1.085454
 v -1.004278 3.333688 1.085454
 f 142 126 146 
 f 114 115 118 
 f 118 115 120 
 f 114 118 122 
 f 118 120 123 
 f 116 119 125 
 f 119 116 126 
 f 123 120 127 
 f 115 114 129 
 f 114 124 129 
 f 124 128 129 
 f 128 117 129 
 f 117 125 130 
 f 125 123 130 
 f 127 117 130 
 f 123 127 130 
 f 114 122 132 
 f 124 114 132 
 f 122 118 133 
 f 116 125 135 
 f 128 116 135 
 f 115 129 136 
 f 129 117 136 
 f 125 117 137 
 f 117 128 137 
 f 135 125 137 
 f 128 135 137 
 f 120 115 138 
 f 117 127 138 
 f 127 120 138 
 f 115 136 138 
 f 136 117 138 
 f 116 124 139 
 f 126 116 139 
 f 124 132 139 
 f 113 119 140 
 f 119 126 140 
 f 131 121 140 
 f 126 131 140 
 f 134 113 140 
 f 121 134 140 
 f 118 123 141 
 f 125 119 141 
 f 123 125 141 
 f 121 131 142 
 f 131 126 142 
 f 124 116 143 
 f 116 128 143 
 f 128 124 143 
 f 119 113 144 
 f 113 133 144 
 f 133 118 144 
 f 118 141 144 
 f 141 119 144 
 f 133 113 145 
 f 121 133 145 
 f 113 134 145 
 f 134 121 145 
 f 132 122 146 
 f 133 121 146 
 f 122 133 146 
 f 126 139 146 
 f 139 132 146 
 f 121 142 146 
 o convex_5
 v -2.527073 3.138174 0.265639
 v -3.112758 2.981934 -0.359076
 v -3.112758 2.786864 -0.320001
 v -1.082436 3.060085 -0.359076
 v -1.082436 2.669638 0.265639
 v -2.956350 2.630624 0.226563
 v -1.082436 2.591549 -0.241911
 v -1.082436 3.216263 -0.241911
 v -2.995303 3.177188 0.187549
 v -1.082436 3.060085 0.226563
 v -2.839293 3.138174 -0.359076
 v -3.112758 2.630624 -0.280987
 v -1.590017 3.216263 -0.359076
 v -2.956350 3.177188 0.265639
 v -1.238844 2.591549 -0.085672
 v -2.097597 2.591549 -0.202897
 v -3.112758 3.099038 -0.320001
 v -3.112758 2.630624 -0.163761
 v -1.941587 2.669638 0.265639
 v -2.292561 2.630624 -0.280987
 v -1.434205 3.099038 0.226563
 f 154 160 167 
 f 149 148 150 
 f 150 151 153 
 f 151 150 154 
 f 147 151 156 
 f 151 154 156 
 f 150 148 157 
 f 148 149 158 
 f 154 150 159 
 f 150 157 159 
 f 157 155 159 
 f 151 147 160 
 f 155 152 160 
 f 154 159 160 
 f 159 155 160 
 f 151 152 161 
 f 153 151 161 
 f 158 153 162 
 f 161 152 162 
 f 153 161 162 
 f 157 148 163 
 f 155 157 163 
 f 148 158 163 
 f 163 158 164 
 f 152 155 164 
 f 158 162 164 
 f 162 152 164 
 f 155 163 164 
 f 152 151 165 
 f 151 160 165 
 f 160 152 165 
 f 149 150 166 
 f 150 153 166 
 f 158 149 166 
 f 153 158 166 
 f 147 156 167 
 f 156 154 167 
 f 160 147 167 
 o convex_6
 v 1.064809 3.216263 -0.007594
 v -1.082226 2.552634 -1.061459
 v -1.082226 2.552634 -0.827314
 v -1.082226 3.216263 -1.061459
 v -1.004240 3.216263 1.085156
 v 0.947725 2.552634 1.046272
 v 1.064809 2.552634 -0.983691
 v -1.004240 2.552634 1.046272
 v 0.947725 3.216263 1.085366
 v 1.064809 3.216263 -0.983691
 v -1.082226 2.864926 0.265436
 v 1.064809 2.747792 0.265436
 v -1.004240 2.864926 1.085156
 v -0.769861 3.060019 -1.061459
 v -1.082226 3.216263 -0.241739
 v 1.064809 3.138109 0.343415
 v -1.082226 2.669703 0.265436
 f 180 178 184 
 f 169 170 171 
 f 168 171 172 
 f 170 169 173 
 f 173 169 174 
 f 170 173 175 
 f 168 172 176 
 f 171 168 177 
 f 168 174 177 
 f 171 170 178 
 f 174 168 179 
 f 173 174 179 
 f 175 173 180 
 f 173 176 180 
 f 176 172 180 
 f 172 178 180 
 f 169 171 181 
 f 174 169 181 
 f 171 177 181 
 f 177 174 181 
 f 172 171 182 
 f 171 178 182 
 f 178 172 182 
 f 176 173 183 
 f 168 176 183 
 f 179 168 183 
 f 173 179 183 
 f 170 175 184 
 f 178 170 184 
 f 175 180 184 
 o convex_7
 v 3.055907 2.942874 0.031371
 v 1.065020 3.020941 -0.320031
 v 1.065020 2.669722 -0.202874
 v 1.065020 3.138174 0.343629
 v 3.016928 2.591549 0.304622
 v 3.016928 2.591549 -0.280956
 v 3.055907 3.060001 -0.241881
 v 2.938968 3.099114 0.382773
 v 1.143369 2.669722 0.226472
 v 1.104389 3.138174 -0.085717
 v 2.431258 2.591549 0.304622
 v 1.338657 3.099114 -0.320031
 v 2.509412 2.591549 -0.280956
 v 2.236165 3.138174 0.304622
 v 1.065020 2.747789 0.265547
 v 2.665526 3.099114 -0.124793
 v 3.055907 2.825855 -0.280956
 v 2.938968 2.708782 0.343629
 v 1.104389 3.060001 0.343629
 f 202 192 203 
 f 186 187 188 
 f 189 185 192 
 f 185 191 192 
 f 186 188 194 
 f 190 189 195 
 f 193 187 195 
 f 190 186 196 
 f 186 194 196 
 f 187 186 197 
 f 186 190 197 
 f 195 187 197 
 f 190 195 197 
 f 188 192 198 
 f 194 188 198 
 f 188 187 199 
 f 187 193 199 
 f 193 195 199 
 f 192 191 200 
 f 191 196 200 
 f 196 194 200 
 f 198 192 200 
 f 194 198 200 
 f 185 189 201 
 f 189 190 201 
 f 191 185 201 
 f 190 196 201 
 f 196 191 201 
 f 189 192 202 
 f 195 189 202 
 f 195 202 203 
 f 192 188 203 
 f 188 199 203 
 f 199 195 203 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf
@@ -0,0 +1,31 @@
 <robot name="blob027">
  <link name="random_obj_027">
    <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="027.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.47 0.66 0.96 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="027.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj
@@ -0,0 +1,657 @@
 o convex_0
 v 2.588922 -2.023297 -0.195992
 v 4.621786 0.133933 0.425957
 v 4.621786 0.133933 -1.025750
 v 0.639103 0.092390 0.343171
 v 4.580068 -1.898883 1.048328
 v 0.639103 -1.940426 -0.984146
 v 0.639103 -1.898883 1.090143
 v 4.497023 -1.981754 -1.025750
 v 1.634481 0.092390 1.090143
 v 0.639103 0.009303 -0.984146
 v 4.580068 0.133933 0.965542
 v 0.639103 0.092390 1.048328
 v 2.257129 -2.065055 0.965542
 v 2.091038 -1.898883 -1.067354
 v 4.455695 -1.691382 1.090143
 v 3.044698 0.092390 1.090143
 v 1.302688 0.009303 -1.025750
 v 2.962042 -2.065055 0.633555
 v 3.293835 -1.193510 -1.067354
 v 3.957810 0.133933 -1.025750
 v 1.012224 -1.981754 1.048328
 v 4.621786 -0.198197 -1.025750
 v 3.709064 0.133933 1.006935
 v 4.580068 -1.898883 0.550558
 v 2.547594 -0.986225 -1.067354
 v 3.335163 -1.940426 -1.067354
 v 2.754233 -1.981969 -0.942753
 v 2.547594 -2.065055 0.550558
 v 2.795951 -2.065055 0.965542
 v 0.639103 -1.940426 1.048328
 v 1.261361 -1.940426 -1.025750
 v 4.580068 -0.447241 1.006935
 v 0.639103 -1.483882 1.090143
 v 4.455695 -1.981754 -0.776760
 v 4.123512 -1.940426 1.048328
 f 21 29 35 
 f 4 6 7 
 f 6 4 10 
 f 2 3 11 
 f 4 7 12 
 f 9 7 15 
 f 9 15 16 
 f 10 4 20 
 f 11 3 20 
 f 17 10 20 
 f 6 13 21 
 f 3 2 22 
 f 2 5 22 
 f 12 9 23 
 f 4 12 23 
 f 16 11 23 
 f 9 16 23 
 f 20 4 23 
 f 11 20 23 
 f 5 8 24 
 f 22 5 24 
 f 8 22 24 
 f 14 17 25 
 f 3 19 25 
 f 19 14 25 
 f 17 20 25 
 f 20 3 25 
 f 19 3 26 
 f 14 19 26 
 f 3 22 26 
 f 22 8 26 
 f 1 6 27 
 f 27 8 28 
 f 6 1 28 
 f 13 6 28 
 f 8 18 28 
 f 18 13 28 
 f 1 27 28 
 f 18 5 29 
 f 13 18 29 
 f 21 13 29 
 f 7 6 30 
 f 21 7 30 
 f 6 21 30 
 f 6 10 31 
 f 10 17 31 
 f 17 14 31 
 f 26 8 31 
 f 14 26 31 
 f 27 6 31 
 f 8 27 31 
 f 5 2 32 
 f 2 11 32 
 f 15 5 32 
 f 11 16 32 
 f 16 15 32 
 f 7 9 33 
 f 9 12 33 
 f 12 7 33 
 f 8 5 34 
 f 18 8 34 
 f 5 18 34 
 f 5 15 35 
 f 15 7 35 
 f 7 21 35 
 f 29 5 35 
 o convex_1
 v 0.555619 2.996592 -0.029848
 v -1.560275 3.245315 -0.610940
 v -1.560275 3.245315 -0.569149
 v -1.518671 1.710566 -0.196017
 v -1.435674 3.992442 0.965571
 v 0.555619 1.710566 1.007163
 v 0.597223 1.710566 -0.984272
 v 0.514015 3.992202 -0.984272
 v 0.514015 4.033656 0.965571
 v -1.560275 4.158496 -1.025864
 v -1.394070 1.710566 1.007163
 v -1.477067 1.710566 -1.025864
 v 0.472622 4.075109 0.965571
 v -1.477067 1.710566 0.882586
 v 0.265024 3.120954 1.007163
 v -0.522919 4.075109 -1.025864
 v -1.560275 4.158496 -0.735119
 v -1.352677 4.033895 0.924178
 v -1.145290 4.158496 -0.693925
 v 0.597223 1.752499 -0.278802
 v -1.477067 4.033895 0.592239
 v 0.555619 3.203861 -0.984272
 v -1.518671 2.250184 -1.025864
 v -1.186683 2.582054 1.007163
 v 0.514015 4.075109 0.799402
 v -1.518671 1.710566 0.260300
 v 0.182238 4.075109 0.965571
 v -1.269680 1.710566 -1.025864
 v -0.813303 4.116803 -0.984272
 f 54 60 64 
 f 38 37 39 
 f 41 39 42 
 f 37 38 45 
 f 39 41 46 
 f 42 39 47 
 f 39 46 49 
 f 46 40 49 
 f 41 44 50 
 f 46 41 50 
 f 44 48 50 
 f 47 45 51 
 f 45 38 52 
 f 45 52 54 
 f 41 42 55 
 f 36 44 55 
 f 44 41 55 
 f 49 40 56 
 f 52 38 56 
 f 40 53 56 
 f 53 52 56 
 f 42 51 57 
 f 51 43 57 
 f 36 55 57 
 f 55 42 57 
 f 39 37 58 
 f 37 45 58 
 f 47 39 58 
 f 45 47 58 
 f 40 46 59 
 f 50 40 59 
 f 46 50 59 
 f 44 36 60 
 f 48 44 60 
 f 54 48 60 
 f 36 57 60 
 f 57 43 60 
 f 38 39 61 
 f 39 49 61 
 f 56 38 61 
 f 49 56 61 
 f 40 50 62 
 f 50 48 62 
 f 53 40 62 
 f 52 53 62 
 f 48 54 62 
 f 54 52 62 
 f 42 47 63 
 f 51 42 63 
 f 47 51 63 
 f 43 51 64 
 f 51 45 64 
 f 45 54 64 
 f 60 43 64 
 o convex_2
 v -1.767764 -1.981969 -1.067354
 v -2.638947 0.009303 1.090143
 v -3.510321 0.009303 1.090143
 v -3.427288 0.133933 -1.025750
 v -3.510321 -2.065055 1.048539
 v -1.560275 0.009303 1.006935
 v -1.560275 0.050631 -1.067354
 v -1.560275 -1.940426 0.965542
 v -3.468709 -1.981969 -1.067354
 v -1.560275 -2.065055 -1.025539
 v -2.638947 -2.023297 1.048539
 v -3.095345 0.133933 -0.652159
 v -3.510321 0.009303 0.467772
 v -1.560275 -1.650054 1.006935
 v -3.427288 -1.774253 1.090143
 v -3.510321 -2.065055 0.550558
 v -1.809376 0.050631 0.633555
 v -3.468709 0.050847 -0.693551
 v -3.510321 0.050847 0.674948
 v -3.468709 -1.525425 -1.067354
 v -2.058285 0.092390 -1.025539
 v -1.809376 0.009303 1.048539
 v -3.178378 -2.065055 1.048539
 v -2.680368 -2.023297 -1.067354
 v -1.560275 0.050631 0.094180
 v -1.933830 0.050631 -1.067354
 v -3.510321 -0.944897 0.342960
 f 77 84 91 
 f 71 70 72 
 f 71 65 73 
 f 65 71 74 
 f 71 72 74 
 f 74 72 75 
 f 69 67 77 
 f 72 70 78 
 f 75 72 78 
 f 75 78 79 
 f 66 67 79 
 f 67 69 79 
 f 78 66 79 
 f 74 69 80 
 f 69 77 80 
 f 82 77 83 
 f 67 66 83 
 f 76 68 83 
 f 77 67 83 
 f 66 81 83 
 f 81 76 83 
 f 68 82 83 
 f 71 73 84 
 f 82 68 84 
 f 77 82 84 
 f 71 68 85 
 f 68 76 85 
 f 66 78 86 
 f 78 70 86 
 f 81 66 86 
 f 70 81 86 
 f 69 74 87 
 f 74 75 87 
 f 75 79 87 
 f 79 69 87 
 f 73 65 88 
 f 65 74 88 
 f 74 80 88 
 f 80 73 88 
 f 70 71 89 
 f 81 70 89 
 f 76 81 89 
 f 71 85 89 
 f 85 76 89 
 f 68 71 90 
 f 84 68 90 
 f 71 84 90 
 f 73 80 91 
 f 80 77 91 
 f 84 73 91 
 o convex_3
 v -0.979378 0.548853 1.380889
 v 0.099339 1.378643 3.040185
 v 0.057832 1.669076 3.081578
 v 0.099339 1.544556 1.090143
 v -1.062391 1.503049 3.123170
 v 0.016325 0.590359 3.040185
 v -0.979378 1.503049 1.090143
 v 0.016325 0.590359 1.090143
 v -0.937758 0.507346 2.998594
 v -1.020771 0.590359 1.090143
 v 0.099339 0.590359 2.293323
 v -0.066688 0.548853 1.090143
 v -0.979378 0.548853 3.040185
 v -1.062391 0.963805 1.961782
 v 0.099339 1.586062 1.131735
 v -0.066688 1.669076 2.998594
 v -1.020771 1.503049 1.339297
 v 0.099339 0.631866 3.040185
 v -1.062391 1.170997 3.081578
 v 0.057832 0.590359 1.339297
 v -1.062391 1.503049 2.293323
 v -0.937758 1.378643 3.123170
 v -0.564312 1.544556 1.090143
 v -1.020771 0.548853 1.588251
 f 110 105 115 
 f 98 95 99 
 f 98 99 101 
 f 95 93 102 
 f 100 92 103 
 f 97 100 103 
 f 92 101 103 
 f 101 99 103 
 f 102 97 103 
 f 100 97 104 
 f 94 93 106 
 f 93 95 106 
 f 96 94 107 
 f 94 106 107 
 f 98 101 108 
 f 101 105 108 
 f 107 98 108 
 f 93 94 109 
 f 102 93 109 
 f 97 102 109 
 f 104 96 110 
 f 96 105 110 
 f 99 95 111 
 f 95 102 111 
 f 103 99 111 
 f 102 103 111 
 f 105 96 112 
 f 96 107 112 
 f 107 108 112 
 f 108 105 112 
 f 94 96 113 
 f 96 104 113 
 f 104 97 113 
 f 109 94 113 
 f 97 109 113 
 f 95 98 114 
 f 106 95 114 
 f 98 107 114 
 f 107 106 114 
 f 92 100 115 
 f 101 92 115 
 f 100 104 115 
 f 105 101 115 
 f 104 110 115 
 o convex_4
 v 0.306583 0.175423 -1.025628
 v -1.435646 -2.064836 -1.150327
 v -1.352775 -2.064836 -1.150327
 v -1.560275 -1.940280 1.090144
 v 0.638713 -1.940280 1.090144
 v -1.477189 0.175423 1.006464
 v -1.477189 0.133539 -3.058542
 v 0.555627 -1.940280 -2.975683
 v 0.638498 0.092313 1.048304
 v 0.514084 0.050648 -3.100381
 v -1.518732 -1.940280 -3.100381
 v -1.560275 0.050648 -1.067058
 v 0.638498 0.175423 -0.984199
 v -1.477189 0.009202 1.090144
 v 0.638713 -1.940280 -1.191756
 v 0.555627 0.175423 1.048304
 v -1.560275 0.009202 1.006464
 v 0.555627 -0.364028 -3.100381
 v -1.560275 -2.064836 -0.985019
 v 0.555627 0.092313 1.090144
 v -1.435646 0.175423 -1.067058
 v 0.597170 -1.483939 -2.643837
 v -1.518732 -0.364248 -3.058542
 v -0.149746 0.092313 -3.100381
 v 0.431213 -1.940280 -3.016702
 v -1.518732 -1.981725 -2.768126
 v 0.140841 -1.981945 -1.067058
 v 0.638498 -0.032244 -1.398903
 v -0.896231 0.133758 -3.058542
 v 0.555627 0.050648 -3.016702
 v -1.518732 -1.525384 -3.100381
 v -1.352775 -1.940280 -3.100381
 v -1.352775 -2.064836 -0.943590
 v -1.352775 0.175423 1.048304
 v 0.597170 -1.940280 -2.560568
 v -0.025331 -1.981945 -2.394850
 f 123 142 151 
 f 121 122 127 
 f 116 121 128 
 f 124 120 128 
 f 119 120 129 
 f 128 120 130 
 f 128 121 131 
 f 124 128 131 
 f 127 119 132 
 f 121 127 132 
 f 119 129 132 
 f 129 121 132 
 f 126 125 133 
 f 117 118 134 
 f 119 127 134 
 f 127 126 134 
 f 120 124 135 
 f 129 120 135 
 f 124 131 135 
 f 121 116 136 
 f 122 121 136 
 f 123 133 137 
 f 127 122 138 
 f 125 126 139 
 f 128 125 139 
 f 133 123 140 
 f 118 117 141 
 f 117 134 141 
 f 134 126 141 
 f 130 120 142 
 f 128 130 143 
 f 130 137 143 
 f 116 128 144 
 f 136 116 144 
 f 122 136 144 
 f 139 122 144 
 f 128 139 144 
 f 125 128 145 
 f 133 125 145 
 f 137 133 145 
 f 128 143 145 
 f 143 137 145 
 f 126 127 146 
 f 138 122 146 
 f 127 138 146 
 f 122 139 146 
 f 139 126 146 
 f 126 133 147 
 f 133 140 147 
 f 141 126 147 
 f 140 141 147 
 f 120 119 148 
 f 134 118 148 
 f 119 134 148 
 f 118 142 148 
 f 142 120 148 
 f 121 129 149 
 f 131 121 149 
 f 129 135 149 
 f 135 131 149 
 f 123 137 150 
 f 137 130 150 
 f 142 123 150 
 f 130 142 150 
 f 140 123 151 
 f 118 141 151 
 f 141 140 151 
 f 142 118 151 
 o convex_5
 v -1.560275 -2.065055 2.915410
 v 0.555627 0.092443 2.168657
 v 0.555627 0.050838 2.956929
 v 0.638713 -2.065055 2.873891
 v -1.477189 0.009446 1.090338
 v 0.555627 -1.940243 1.090338
 v -1.477189 0.092443 3.040161
 v -1.560275 -1.940243 1.090338
 v 0.555627 0.092443 1.090338
 v 0.638713 -2.065055 3.081290
 v -1.518517 0.050838 3.040161
 v -0.688945 0.092443 3.040161
 v -1.560275 -1.815853 2.957124
 v 0.223712 -2.065055 3.081290
 v -0.191074 0.092443 1.090338
 v -1.560275 -1.442473 1.297737
 v 0.596955 -1.566863 3.081290
 v -1.518517 -0.488536 3.040161
 v 0.596955 -0.571533 2.998447
 v -0.357246 -1.981847 1.546655
 v -1.477189 0.092443 2.417575
 v 0.596955 -1.981847 1.712730
 v 0.555627 -0.239545 2.998447
 v -1.560275 -2.065055 2.832567
 v -1.477189 0.050838 1.505136
 v 0.596955 -2.065055 2.791049
 v -1.518517 -0.612926 1.131857
 v 0.638713 -1.815853 3.039966
 v -1.560275 -1.566863 2.957124
 f 167 164 180 
 f 156 157 159 
 f 157 156 160 
 f 158 153 160 
 f 152 155 161 
 f 154 153 163 
 f 153 158 163 
 f 159 152 164 
 f 152 161 165 
 f 164 152 165 
 f 160 156 166 
 f 158 160 166 
 f 159 164 167 
 f 158 162 168 
 f 163 158 168 
 f 162 165 168 
 f 165 161 168 
 f 162 164 169 
 f 165 162 169 
 f 164 165 169 
 f 153 154 170 
 f 160 153 170 
 f 168 161 170 
 f 159 157 171 
 f 162 158 172 
 f 158 166 172 
 f 155 157 173 
 f 160 155 173 
 f 157 160 173 
 f 154 163 174 
 f 163 168 174 
 f 170 154 174 
 f 168 170 174 
 f 155 152 175 
 f 152 159 175 
 f 159 171 175 
 f 156 162 176 
 f 166 156 176 
 f 162 172 176 
 f 172 166 176 
 f 157 155 177 
 f 171 157 177 
 f 155 175 177 
 f 175 171 177 
 f 156 159 178 
 f 162 156 178 
 f 159 167 178 
 f 167 162 178 
 f 155 160 179 
 f 161 155 179 
 f 160 170 179 
 f 170 161 179 
 f 164 162 180 
 f 162 167 180 
 o convex_6
 v -0.813368 1.544556 -1.108845
 v -0.937847 0.507346 -2.975910
 v -0.979272 0.590359 -2.975910
 v 0.016358 1.544556 -2.975910
 v 0.016358 0.548853 -1.108845
 v -1.020901 0.507346 -1.108845
 v -1.020901 1.544556 -2.975910
 v -0.025169 1.669076 -1.108845
 v 0.016358 0.548853 -2.934058
 v -1.020901 1.503049 -1.316459
 v -0.066696 0.507346 -1.108845
 v -0.232600 1.669076 -1.233486
 v -0.564308 0.507346 -2.975910
 v 0.016358 1.586062 -2.104516
 v -1.020901 1.046818 -2.975910
 v -0.979272 1.503049 -1.108845
 v -0.813368 1.586062 -2.477709
 v -1.020901 0.507346 -1.689835
 f 186 195 198 
 f 182 183 184 
 f 185 181 186 
 f 184 183 187 
 f 181 185 188 
 f 184 185 189 
 f 187 186 190 
 f 186 182 191 
 f 185 186 191 
 f 189 185 191 
 f 181 188 192 
 f 188 184 192 
 f 182 184 193 
 f 184 189 193 
 f 191 182 193 
 f 189 191 193 
 f 185 184 194 
 f 188 185 194 
 f 184 188 194 
 f 187 183 195 
 f 186 187 195 
 f 186 181 196 
 f 181 190 196 
 f 190 186 196 
 f 184 187 197 
 f 190 181 197 
 f 187 190 197 
 f 192 184 197 
 f 181 192 197 
 f 183 182 198 
 f 182 186 198 
 f 195 183 198 
 o convex_7
 v -1.518639 1.420097 0.218814
 v 0.638713 0.217048 -0.486343
 v 0.638713 0.175423 -0.486343
 v 0.555722 0.341470 1.048600
 v 0.597112 1.710566 -0.984215
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 v 0.555722 1.710566 1.007057
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 v -0.025217 1.668941 -1.108845
 v 0.555722 0.175423 1.048600
 v -0.979089 1.502895 1.090143
 v -0.025429 0.507366 -1.108845
 v -1.186673 0.341470 1.090143
 v 0.099164 1.544519 1.090143
 v -0.979089 1.502895 -1.108845
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 v -1.477249 1.046680 -1.067302
 v 0.597112 1.710566 -0.154214
 v -1.477249 0.175423 0.218814
 v -1.103682 0.424418 -1.108845
 v -0.191411 0.299996 1.090143
 v -1.518639 1.710566 -0.154214
 v -0.357183 0.175423 -1.067302
 v 0.638713 0.590465 -0.984215
 v -1.352656 0.175423 1.048600
 f 223 214 227 
 f 204 201 205 
 f 206 203 207 
 f 206 207 208 
 f 200 201 209 
 f 201 204 209 
 f 207 203 210 
 f 205 201 211 
 f 210 209 213 
 f 212 208 214 
 f 212 214 215 
 f 202 206 215 
 f 206 208 215 
 f 211 202 215 
 f 208 212 215 
 f 207 210 216 
 f 210 213 216 
 f 199 205 217 
 f 208 207 217 
 f 205 208 217 
 f 201 200 218 
 f 206 202 218 
 f 211 201 218 
 f 202 211 218 
 f 207 216 219 
 f 203 206 220 
 f 218 200 220 
 f 206 218 220 
 f 205 199 221 
 f 204 205 221 
 f 199 219 221 
 f 219 204 221 
 f 216 213 222 
 f 204 219 222 
 f 219 216 222 
 f 215 214 223 
 f 211 215 223 
 f 199 217 224 
 f 217 207 224 
 f 219 199 224 
 f 207 219 224 
 f 209 204 225 
 f 213 209 225 
 f 204 222 225 
 f 222 213 225 
 f 200 209 226 
 f 209 210 226 
 f 210 203 226 
 f 220 200 226 
 f 203 220 226 
 f 208 205 227 
 f 205 211 227 
 f 214 208 227 
 f 211 223 227 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf
@@ -0,0 +1,31 @@
 <robot name="blob028">
  <link name="random_obj_028">
    <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="028.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.61 0.29 0.43 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="028.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj
@@ -0,0 +1,498 @@
 o convex_0
 v 1.096921 0.996615 -0.566007
 v -1.075109 -3.467506 0.761109
 v -1.075109 -3.467506 0.942041
 v -1.044919 1.177869 -0.234122
 v -0.954347 -3.497638 -1.048633
 v 1.036540 -3.406779 0.941828
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 v -1.075109 -2.442102 0.821278
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 v -0.984537 -0.331032 0.972232
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 v -0.713033 -2.804146 -1.079036
 v -0.984537 -3.467506 -0.777342
 v -0.381148 -0.843734 1.032613
 v -1.014728 1.177869 0.640346
 f 23 10 46 
 f 4 7 9 
 f 7 4 10 
 f 8 9 12 
 f 4 9 13 
 f 9 7 15 
 f 7 11 15 
 f 1 12 15 
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 f 7 6 21 
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 f 3 2 22 
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 f 8 14 25 
 f 3 22 26 
 f 22 18 26 
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 f 4 13 28 
 f 22 2 28 
 f 2 3 29 
 f 17 4 29 
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 f 23 17 29 
 f 13 9 30 
 f 9 16 30 
 f 16 8 31 
 f 25 5 31 
 f 8 25 31 
 f 18 14 32 
 f 24 6 32 
 f 14 24 32 
 f 15 11 33 
 f 11 21 33 
 f 24 15 33 
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 f 23 3 35 
 f 20 23 35 
 f 12 1 36 
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 f 21 6 37 
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 f 25 14 42 
 f 5 16 43 
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 f 16 31 43 
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 f 34 5 44 
 f 28 34 44 
 f 3 26 45 
 f 35 3 45 
 f 20 35 45 
 f 39 20 45 
 f 26 39 45 
 f 10 4 46 
 f 4 17 46 
 f 17 23 46 
 o convex_1
 v -3.065786 1.268477 0.037122
 v -1.045143 1.901879 0.218113
 v -1.045143 1.841527 0.248257
 v -1.045143 1.238203 -0.264507
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 v -3.035669 1.389116 -0.294586
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 v -3.035669 1.811319 0.248257
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 v -1.045143 1.238203 -0.204090
 v -3.065786 1.570041 0.248257
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 v -2.854767 1.871606 0.187970
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 f 61 53 67 
 f 48 49 50 
 f 48 50 54 
 f 47 50 55 
 f 54 50 56 
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 f 50 49 58 
 f 52 51 59 
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 f 54 51 60 
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 f 53 58 65 
 f 52 59 65 
 f 62 55 65 
 f 59 62 65 
 f 51 52 66 
 f 57 51 66 
 f 63 57 66 
 f 52 63 66 
 f 53 55 67 
 f 55 61 67 
 o convex_2
 v 2.393808 1.238321 0.338817
 v 1.398781 1.901811 -0.234355
 v 1.398781 1.901811 -0.294692
 v 2.966933 1.841445 -0.174018
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 v 2.966933 1.841445 -0.023144
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 v 3.087950 1.358919 -0.294692
 v 2.665268 1.811295 0.248280
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 v 2.032317 1.871594 0.037131
 v 2.816100 1.358919 0.338817
 v 1.428987 1.238321 0.278480
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 f 70 72 73 
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 f 72 75 77 
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 f 73 74 78 
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 f 84 80 86 
 f 85 69 86 
 f 80 85 86 
 f 68 77 87 
 f 77 75 87 
 f 75 79 87 
 f 79 68 87 
 f 68 76 88 
 f 76 73 88 
 f 82 68 88 
 o convex_3
 v -1.044942 1.449499 -0.294503
 v 1.096921 1.328884 0.278483
 v 0.976158 2.082907 0.911850
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 v -0.954370 1.177937 0.972232
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 v -1.014752 2.595558 -0.928083
 v -1.014752 1.177937 -0.958274
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 v -0.260613 1.811345 1.092994
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 v 0.222020 1.177937 1.092994
 v -1.014752 2.625889 -0.807320
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 v -0.501719 2.625889 1.002422
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 v -0.863798 2.535321 1.002422
 v -0.924179 2.535321 -0.958274
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 v -0.984561 1.208268 0.911850
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 f 95 94 97 
 f 89 96 97 
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 f 92 95 101 
 f 96 89 102 
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 f 96 102 104 
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 f 92 104 106 
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 f 106 100 110 
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 f 99 110 114 
 f 110 100 114 
 f 100 94 115 
 f 94 103 115 
 f 103 100 115 
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 f 97 96 117 
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 f 101 105 123 
 f 97 117 123 
 f 117 101 123 
 f 112 102 124 
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 f 94 93 125 
 f 109 94 125 
 f 93 112 125 
 f 112 124 125 
 o convex_4
 v -0.351031 1.238262 -2.798215
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 v -0.260515 1.811313 -1.079231
 v -0.260515 1.841486 -3.070065
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 v -0.109700 1.268435 -1.079231
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 v 0.312459 1.841486 -1.079231
 v -0.260515 1.268435 -1.079231
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 v 0.041047 1.841486 -1.079231
 f 135 144 149 
 f 127 128 133 
 f 129 132 134 
 f 128 127 135 
 f 129 134 135 
 f 129 126 136 
 f 132 129 136 
 f 130 135 138 
 f 137 130 138 
 f 134 132 139 
 f 136 126 140 
 f 132 136 140 
 f 126 137 140 
 f 140 137 141 
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 f 132 140 142 
 f 140 141 142 
 f 141 131 142 
 f 126 129 143 
 f 137 126 143 
 f 130 137 143 
 f 135 130 144 
 f 143 129 144 
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 f 127 133 145 
 f 133 138 145 
 f 133 128 146 
 f 138 133 146 
 f 137 138 146 
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 f 131 141 146 
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 f 135 127 147 
 f 138 135 147 
 f 127 145 147 
 f 145 138 147 
 f 128 135 148 
 f 135 134 148 
 f 134 139 148 
 f 142 128 148 
 f 139 142 148 
 f 129 135 149 
 f 144 129 149 
 o convex_5
 v 0.101345 1.328790 1.093192
 v 0.342676 1.328790 3.114190
 v 0.312459 1.328790 3.114190
 v 0.010897 1.841489 1.786970
 v -0.351031 1.268426 2.932980
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 v 0.312459 1.750943 1.093192
 v -0.260515 1.811307 1.093192
 v -0.290665 1.750943 2.963050
 v -0.200216 1.268426 1.093192
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 v 0.252160 1.389098 1.093192
 v 0.282309 1.841489 2.751969
 v 0.101345 1.841489 2.963050
 v -0.320814 1.720818 2.963050
 v 0.282309 1.268426 3.114190
 v -0.260515 1.630328 1.123460
 v 0.342676 1.449461 3.053655
 v -0.290665 1.781125 1.636226
 v -0.260515 1.811307 1.545820
 v 0.222011 1.781125 1.183797
 v -0.230366 1.268426 1.304471
 v -0.109700 1.268426 1.093192
 f 160 159 172 
 f 152 151 155 
 f 156 150 157 
 f 157 150 159 
 f 154 159 160 
 f 150 156 161 
 f 156 160 161 
 f 160 150 161 
 f 153 155 162 
 f 152 155 163 
 f 155 153 163 
 f 158 152 163 
 f 152 158 164 
 f 151 152 165 
 f 160 151 165 
 f 154 160 165 
 f 152 164 165 
 f 164 154 165 
 f 157 159 166 
 f 155 151 167 
 f 151 160 167 
 f 160 156 167 
 f 162 155 167 
 f 156 162 167 
 f 154 164 168 
 f 164 158 168 
 f 166 154 168 
 f 157 166 168 
 f 153 157 169 
 f 163 153 169 
 f 158 163 169 
 f 157 168 169 
 f 168 158 169 
 f 156 157 170 
 f 157 153 170 
 f 153 162 170 
 f 162 156 170 
 f 159 154 171 
 f 154 166 171 
 f 166 159 171 
 f 159 150 172 
 f 150 160 172 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf
@@ -0,0 +1,31 @@
 <robot name="blob029">
  <link name="random_obj_029">
    <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="029.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.16 0.02 0.44 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="029.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj
@@ -0,0 +1,453 @@
 o convex_0
 v 0.491523 4.253004 -0.165567
 v -1.082855 0.261758 -1.007720
 v -0.863140 0.261758 -1.044724
 v 0.930953 0.261758 1.005466
 v -1.009476 4.253004 1.079058
 v -0.972892 0.261758 1.079058
 v 1.077501 0.261758 -1.007928
 v -1.082855 4.142830 -0.934544
 v 1.040705 4.142830 0.969085
 v 0.930953 4.253004 -0.934544
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 v -1.009476 3.520077 -0.971132
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 v 0.564691 4.142830 1.005466
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 f 15 4 17 
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 f 5 25 32 
 f 27 5 32 
 f 25 27 32 
 f 1 5 33 
 f 9 1 33 
 f 5 22 33 
 f 6 4 34 
 f 11 6 34 
 f 4 15 34 
 f 3 2 35 
 f 2 8 35 
 f 8 18 35 
 f 16 7 36 
 f 23 16 36 
 f 13 23 36 
 f 7 29 36 
 f 29 13 36 
 f 14 5 37 
 f 5 19 37 
 f 19 14 37 
 f 13 3 38 
 f 18 13 38 
 f 3 35 38 
 f 35 18 38 
 f 26 11 39 
 f 9 26 39 
 f 30 9 39 
 f 15 30 39 
 f 11 34 39 
 f 34 15 39 
 f 14 19 40 
 f 20 14 40 
 f 19 20 40 
 f 22 11 41 
 f 11 26 41 
 f 26 9 41 
 f 9 33 41 
 o convex_1
 v 0.564828 -3.875909 -0.532087
 v 0.528161 -1.971875 0.603038
 v 0.418374 -1.971875 0.603038
 v -0.240559 -1.971875 -0.532087
 v -0.423679 -3.875909 0.529704
 v -0.497013 -3.839056 -0.495420
 v -0.497013 -1.971875 0.493148
 v 0.454934 -3.912572 0.493148
 v 0.601495 -1.971875 -0.458753
 v -0.460346 -1.971875 -0.532087
 v 0.601495 -3.802392 -0.275751
 v -0.497013 -3.875909 -0.019414
 v -0.497013 -3.692591 -0.532087
 v 0.418374 -3.912572 0.529704
 v -0.460346 -3.729445 0.529704
 v -0.497013 -2.557922 -0.532087
 v 0.601495 -3.546317 -0.532087
 v 0.601495 -2.008539 -0.202528
 v 0.015789 -3.912572 0.456369
 v 0.454934 -2.228520 0.603038
 v 0.601495 -3.253389 -0.129193
 f 52 59 62 
 f 44 43 45 
 f 44 45 48 
 f 45 43 50 
 f 45 42 51 
 f 48 45 51 
 f 49 42 52 
 f 47 42 53 
 f 48 47 53 
 f 42 47 54 
 f 47 48 54 
 f 51 42 54 
 f 49 43 55 
 f 44 48 56 
 f 53 46 56 
 f 48 53 56 
 f 48 51 57 
 f 54 48 57 
 f 51 54 57 
 f 42 45 58 
 f 45 50 58 
 f 52 42 58 
 f 50 52 58 
 f 50 43 59 
 f 52 50 59 
 f 42 49 60 
 f 53 42 60 
 f 46 53 60 
 f 55 46 60 
 f 49 55 60 
 f 43 44 61 
 f 55 43 61 
 f 46 55 61 
 f 44 56 61 
 f 56 46 61 
 f 43 49 62 
 f 49 52 62 
 f 59 43 62 
 o convex_2
 v -0.533530 -1.202733 1.189199
 v 0.601495 -1.129517 3.092745
 v 0.564828 -1.019749 3.092745
 v 0.564828 -0.397469 1.116069
 v -0.460314 -0.324253 3.129606
 v -0.606864 -1.349387 3.056082
 v 0.454945 -1.312613 1.116069
 v -0.423647 -0.324253 1.116069
 v 0.454945 -0.214373 3.019418
 v 0.601495 -1.312613 3.092745
 v -0.533530 -1.349387 1.116069
 v -0.020782 -1.349387 3.092745
 v 0.564828 -0.360916 1.152535
 v -0.606864 -1.239397 2.946288
 v 0.601495 -1.312613 2.763168
 v 0.125414 -1.349387 2.104604
 v 0.345062 -0.214373 2.872961
 v -0.460314 -0.324253 2.214003
 v -0.460314 -0.507348 1.152535
 v 0.491612 -1.312613 1.408786
 v -0.203881 -0.324253 1.116069
 f 79 75 83 
 f 64 65 67 
 f 66 69 70 
 f 65 64 71 
 f 67 65 71 
 f 64 67 72 
 f 70 69 73 
 f 67 68 74 
 f 72 67 74 
 f 68 73 74 
 f 71 64 75 
 f 68 67 76 
 f 63 73 76 
 f 73 68 76 
 f 64 72 77 
 f 75 64 77 
 f 66 75 77 
 f 73 69 78 
 f 72 74 78 
 f 74 73 78 
 f 77 72 78 
 f 67 71 79 
 f 71 75 79 
 f 76 67 80 
 f 67 79 80 
 f 79 70 80 
 f 73 63 81 
 f 70 73 81 
 f 63 76 81 
 f 76 80 81 
 f 80 70 81 
 f 69 66 82 
 f 66 77 82 
 f 78 69 82 
 f 77 78 82 
 f 66 70 83 
 f 75 66 83 
 f 70 79 83 
 o convex_3
 v 0.198687 -1.386004 -2.985152
 v 0.528261 -0.287496 -1.118152
 v -0.496913 -0.287496 -1.118152
 v 0.491594 -0.287496 -2.985152
 v 0.491594 -1.349337 -1.118152
 v -0.533580 -1.312670 -3.095078
 v -0.570247 -1.276110 -1.118152
 v -0.533580 -0.324163 -2.948575
 v 0.491594 -1.349337 -2.692145
 v 0.454927 -1.386004 -2.948575
 v 0.528261 -1.312670 -1.191500
 v 0.528261 -0.470617 -2.033557
 v -0.570247 -0.909977 -1.191500
 v 0.088686 -0.287496 -2.985152
 v -0.570247 -1.239443 -2.070134
 v -0.387127 -1.349337 -2.985152
 v 0.271914 -1.349337 -1.118152
 v -0.350459 -1.276110 -3.095078
 v -0.533580 -1.166216 -3.095078
 v -0.496913 -0.287496 -2.033557
 v -0.533580 -0.470617 -1.118152
 v 0.491594 -1.386004 -2.179673
 v 0.345140 -1.386004 -2.985152
 f 101 87 106 
 f 86 85 87 
 f 85 86 88 
 f 88 86 90 
 f 87 92 93 
 f 85 88 94 
 f 94 92 95 
 f 87 85 95 
 f 92 87 95 
 f 85 94 95 
 f 86 87 97 
 f 89 90 98 
 f 90 96 98 
 f 96 91 98 
 f 89 84 99 
 f 90 89 99 
 f 90 99 100 
 f 88 90 100 
 f 99 84 100 
 f 97 87 102 
 f 91 97 102 
 f 89 98 102 
 f 98 91 102 
 f 101 89 102 
 f 87 101 102 
 f 91 86 103 
 f 86 97 103 
 f 97 91 103 
 f 90 86 104 
 f 86 91 104 
 f 96 90 104 
 f 91 96 104 
 f 93 92 105 
 f 84 93 105 
 f 94 88 105 
 f 92 94 105 
 f 88 100 105 
 f 100 84 105 
 f 84 89 106 
 f 93 84 106 
 f 87 93 106 
 f 89 101 106 
 o convex_4
 v 0.564907 -0.397662 1.115675
 v -1.595636 -1.898412 -1.117958
 v -1.595636 -1.861899 -1.117958
 v 3.018097 -1.898630 -1.007982
 v 2.871171 0.261539 -0.971250
 v -2.986620 0.261539 -0.971250
 v -2.986620 -1.861680 1.078943
 v 2.944634 -1.788654 1.005699
 v -2.949888 0.188295 0.968967
 v 3.054829 0.261539 1.005699
 v -3.096815 -1.861680 -1.081226
 v 1.077343 -1.971656 1.042212
 v 0.528175 -0.287905 -1.117958
 v -1.228922 0.261539 1.078943
 v -0.459966 -1.971656 -0.532001
 v 2.981366 0.151782 -0.971250
 v -0.643022 -1.825386 1.115675
 v 2.761578 -1.788654 1.042430
 v -0.496698 -0.287905 -1.117958
 v 3.054829 -1.788654 -0.861493
 v 0.198795 0.261321 -1.044713
 v 0.528175 -1.349186 -1.117958
 v -3.060083 -1.861680 0.639476
 v -0.643022 -0.104684 1.115675
 v -0.496698 -1.971656 0.492768
 v -2.693971 -1.898630 -1.081226
 v -0.936273 -1.935143 -1.117958
 v -2.986620 0.261539 -0.422025
 v 0.601036 -1.971656 -0.458756
 v 3.054829 0.261539 0.309984
 v -3.096815 -1.495676 -1.007763
 v 3.054829 -0.251173 1.005699
 v 0.454712 -1.312673 1.115675
 v 0.345119 0.261321 1.078943
 v -2.986620 -0.397444 0.968967
 v 2.981366 -1.825167 0.456473
 v 3.018097 -1.385699 -1.007982
 v -1.411978 -1.825167 1.115675
 v -3.023352 -0.287686 -1.007763
 v -0.899541 0.261321 -1.044713
 v -3.023352 -1.275942 1.042212
 v 2.138947 -1.935143 -0.019289
 v 3.018097 -0.617178 -0.971250
 v -3.096815 -1.751922 -1.081226
 v -2.877027 -1.641946 1.078943
 v 2.981366 0.261539 -0.934737
 v -3.096815 -1.788654 -0.495269
 v 0.528175 -1.935143 1.078943
 v -3.023352 -1.861680 1.042212
 v 3.018097 -1.898630 -0.824761
 f 142 148 156 
 f 111 112 116 
 f 109 108 117 
 f 108 109 119 
 f 116 112 120 
 f 119 111 122 
 f 116 107 124 
 f 118 114 124 
 f 119 109 125 
 f 112 111 127 
 f 111 119 127 
 f 119 125 127 
 f 108 119 128 
 f 119 110 128 
 f 123 107 130 
 f 118 113 131 
 f 121 118 131 
 f 117 108 132 
 f 129 117 132 
 f 121 131 132 
 f 108 128 133 
 f 128 110 133 
 f 132 108 133 
 f 121 132 133 
 f 120 112 134 
 f 115 120 134 
 f 118 121 135 
 f 133 110 135 
 f 121 133 135 
 f 111 116 136 
 f 116 126 136 
 f 124 114 138 
 f 116 124 138 
 f 126 116 138 
 f 107 123 139 
 f 124 107 139 
 f 123 124 139 
 f 107 116 140 
 f 116 120 140 
 f 130 107 140 
 f 120 130 140 
 f 115 134 141 
 f 134 137 141 
 f 114 118 142 
 f 138 114 142 
 f 126 138 142 
 f 110 119 143 
 f 119 122 143 
 f 126 110 143 
 f 130 113 144 
 f 123 130 144 
 f 112 125 145 
 f 134 112 145 
 f 137 134 145 
 f 125 112 146 
 f 112 127 146 
 f 127 125 146 
 f 113 115 147 
 f 115 141 147 
 f 135 110 148 
 f 118 135 148 
 f 142 118 148 
 f 136 126 149 
 f 143 122 149 
 f 126 143 149 
 f 109 117 150 
 f 125 109 150 
 f 117 137 150 
 f 145 125 150 
 f 137 145 150 
 f 115 113 151 
 f 120 115 151 
 f 113 130 151 
 f 130 120 151 
 f 122 111 152 
 f 111 136 152 
 f 149 122 152 
 f 136 149 152 
 f 117 129 153 
 f 137 117 153 
 f 141 137 153 
 f 129 147 153 
 f 147 141 153 
 f 113 118 154 
 f 118 124 154 
 f 124 123 154 
 f 144 113 154 
 f 123 144 154 
 f 131 113 155 
 f 129 132 155 
 f 132 131 155 
 f 113 147 155 
 f 147 129 155 
 f 110 126 156 
 f 126 142 156 
 f 148 110 156 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf
@@ -0,0 +1,31 @@
 <robot name="blob030">
  <link name="random_obj_030">
    <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="030.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.72 0.28 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="030.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj
@@ -0,0 +1,654 @@
 o convex_0
 v -2.801137 0.899168 1.007240
 v -2.222667 0.474990 0.313188
 v -2.222667 0.552125 0.313188
 v -4.150836 0.590692 0.467462
 v -2.145524 1.092005 0.390361
 v -2.145524 0.590692 1.007240
 v -4.111970 1.130572 0.930139
 v -4.073497 0.629260 0.968726
 v -4.111970 1.053373 0.467462
 v -2.145524 1.053373 0.968726
 v -2.145524 0.474990 0.467462
 v -2.415621 1.130572 0.506120
 v -4.111970 0.552125 0.506120
 v -2.492763 0.667891 1.045898
 v -4.150836 1.092005 0.544706
 v -4.150836 0.783594 0.968726
 v -3.880739 0.552125 0.428947
 v -2.145524 0.976303 1.007240
 v -3.687981 0.706394 1.007240
 f 7 16 19 
 f 2 3 5 
 f 5 3 9 
 f 6 5 10 
 f 2 5 11 
 f 5 6 11 
 f 6 8 11 
 f 10 5 12 
 f 7 10 12 
 f 8 4 13 
 f 2 11 13 
 f 11 8 13 
 f 8 6 14 
 f 9 4 15 
 f 5 9 15 
 f 12 5 15 
 f 7 12 15 
 f 4 8 16 
 f 15 4 16 
 f 7 15 16 
 f 3 2 17 
 f 9 3 17 
 f 4 9 17 
 f 2 13 17 
 f 13 4 17 
 f 7 1 18 
 f 6 10 18 
 f 10 7 18 
 f 1 14 18 
 f 14 6 18 
 f 1 7 19 
 f 14 1 19 
 f 8 14 19 
 f 16 8 19 
 o convex_1
 v -2.145524 -1.375237 0.120642
 v -0.178881 1.901846 1.740045
 v -0.448782 1.901846 1.740045
 v -0.140212 -4.152355 1.662812
 v -0.140212 1.862833 -0.380751
 v -2.145524 1.862833 1.701221
 v -0.140212 -4.229781 -0.342134
 v -2.029712 -4.074929 1.624195
 v -1.991239 1.901846 -0.342134
 v -2.068382 -4.190768 -0.342134
 v -2.145524 0.859902 0.159050
 v -0.140212 -2.918347 1.701221
 v -0.448782 -2.686670 -0.380751
 v -0.140212 1.901246 1.740045
 v -2.068382 -4.190768 0.236284
 v -2.068382 -2.455594 1.662812
 v -0.950110 1.862833 -0.380958
 v -2.068382 1.670170 -0.226492
 v -0.256024 -4.190768 1.431320
 v -2.106855 -3.612176 -0.265109
 v -2.106855 0.744664 1.701221
 v -1.258484 -4.113942 1.662604
 v -1.528384 -4.229781 -0.265109
 v -1.952570 -4.113942 1.585579
 v -2.145524 1.323255 1.701221
 v -2.068382 -0.528357 -0.342134
 v -2.068382 1.901846 0.043408
 v -0.140212 -2.725683 -0.380751
 v -1.374099 1.901846 -0.342134
 v -2.068382 -4.152355 0.621826
 v -0.140212 -4.229781 0.236284
 v -2.145524 0.127060 1.122803
 v -0.911637 -1.645326 1.701428
 v -0.178881 1.207417 1.740045
 v -2.145524 1.862833 1.469937
 v -0.140212 1.901246 1.392704
 v -2.068382 1.901846 0.274900
 f 46 25 56 
 f 24 23 26 
 f 22 21 28 
 f 20 25 30 
 f 23 24 31 
 f 21 22 33 
 f 31 24 33 
 f 32 29 36 
 f 20 30 39 
 f 29 34 39 
 f 40 35 41 
 f 23 31 41 
 f 35 27 41 
 f 29 26 42 
 f 34 29 42 
 f 38 34 42 
 f 27 34 43 
 f 38 23 43 
 f 34 38 43 
 f 23 41 43 
 f 41 27 43 
 f 22 25 44 
 f 25 20 44 
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 f 35 40 44 
 f 28 36 45 
 f 36 29 45 
 f 37 28 45 
 f 30 37 45 
 f 39 30 45 
 f 29 39 45 
 f 22 28 46 
 f 28 37 46 
 f 37 30 46 
 f 24 26 47 
 f 26 29 47 
 f 29 32 47 
 f 36 24 47 
 f 32 36 47 
 f 28 21 48 
 f 24 36 48 
 f 36 28 48 
 f 34 27 49 
 f 27 35 49 
 f 20 39 49 
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 f 26 23 50 
 f 23 38 50 
 f 42 26 50 
 f 38 42 50 
 f 44 20 51 
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 f 20 49 51 
 f 49 35 51 
 f 40 41 52 
 f 41 31 52 
 f 33 22 53 
 f 31 33 53 
 f 22 40 53 
 f 52 31 53 
 f 40 52 53 
 f 30 25 54 
 f 25 46 54 
 f 46 30 54 
 f 21 33 55 
 f 33 24 55 
 f 48 21 55 
 f 24 48 55 
 f 25 22 56 
 f 22 46 56 
 o convex_2
 v 0.052576 -0.449701 -2.347548
 v -0.024521 1.862037 -0.188140
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 v 0.052576 -4.228981 -0.188140
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 f 61 64 65 
 f 59 65 66 
 f 60 58 67 
 f 65 59 68 
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 f 67 61 72 
 f 61 67 73 
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 f 65 68 74 
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 f 77 70 78 
 f 65 64 79 
 f 66 65 79 
 f 77 57 79 
 f 64 77 79 
 f 62 66 80 
 f 57 77 80 
 f 78 62 80 
 f 77 78 80 
 f 79 57 80 
 o convex_3
 v 1.170802 0.205640 -2.424834
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 f 103 88 127 
 f 96 103 127 
 f 88 111 127 
 f 111 96 127 
 f 84 90 128 
 f 91 84 128 
 f 86 91 128 
 f 101 86 128 
 f 90 121 128 
 f 121 101 128 
 f 82 97 129 
 f 108 82 129 
 f 97 108 129 
 f 87 114 130 
 f 124 87 130 
 f 114 124 130 
 f 87 97 131 
 f 114 87 131 
 f 97 114 131 
 f 99 92 132 
 f 95 106 132 
 f 106 99 132 
 f 123 95 132 
 o convex_4
 v -0.024521 -4.229781 0.313347
 v 0.014028 1.901846 1.740045
 v -0.140212 1.901846 1.740045
 v -0.140212 1.862833 -0.188140
 v -0.140212 -4.152355 1.662661
 v 0.091170 1.130591 0.390353
 v 0.052599 -4.152355 1.662661
 v 0.052599 -4.229781 -0.188140
 v -0.140212 -4.229781 -0.188140
 v 0.014028 1.862833 -0.110944
 v 0.052599 1.901246 1.740045
 v 0.091170 0.628826 0.968847
 v 0.052599 -0.952697 -0.188140
 v 0.052599 -3.264662 1.701353
 v -0.140212 -2.995173 1.701353
 v -0.024521 1.862833 -0.188140
 v 0.052599 1.901246 1.200055
 v 0.091170 0.512987 0.429045
 v 0.052599 -4.190768 1.508459
 v 0.052599 0.898915 1.740045
 v -0.140212 -4.190768 1.469956
 f 151 137 153 
 f 135 136 137 
 f 136 140 141 
 f 137 136 141 
 f 140 133 141 
 f 134 135 143 
 f 138 143 144 
 f 138 140 145 
 f 140 136 145 
 f 142 138 145 
 f 137 139 146 
 f 139 144 146 
 f 135 137 147 
 f 137 146 147 
 f 145 136 148 
 f 142 145 148 
 f 135 134 149 
 f 136 135 149 
 f 138 142 149 
 f 134 143 149 
 f 143 138 149 
 f 148 136 149 
 f 142 148 149 
 f 140 138 150 
 f 138 144 150 
 f 150 144 151 
 f 139 137 151 
 f 133 140 151 
 f 144 139 151 
 f 140 150 151 
 f 143 135 152 
 f 144 143 152 
 f 146 144 152 
 f 135 147 152 
 f 147 146 152 
 f 141 133 153 
 f 137 141 153 
 f 133 151 153 
 o convex_5
 v 1.556590 1.361849 2.357203
 v 0.476944 0.243608 1.046419
 v 0.438331 0.436456 1.046419
 v 0.399718 0.359340 3.706532
 v 0.361222 1.361849 3.629182
 v 1.402255 0.282224 3.706532
 v 1.517977 0.397957 1.046419
 v 0.399718 1.323232 1.046419
 v 1.517977 1.439082 3.667727
 v 1.440868 1.400348 1.046419
 v 0.361222 1.053268 1.046419
 v 1.363642 0.282224 1.162054
 v 0.438331 0.282224 3.706532
 v 0.515440 1.361849 1.084964
 v 1.479364 0.745154 3.706532
 v 1.556590 1.246116 1.046419
 v 1.170927 0.243608 2.665302
 v 1.170927 1.439082 3.513548
 v 1.517977 0.397957 1.779031
 v 0.438331 0.243608 1.547502
 v 1.479364 1.439082 2.125935
 v 1.440868 0.282224 3.475003
 v 1.517977 1.130384 3.667727
 v 0.939482 0.243608 1.046419
 v 0.361222 1.092001 3.629182
 v 0.399718 0.552189 3.706532
 v 0.361222 1.246116 1.046419
 v 1.440868 0.282224 2.125935
 v 1.247919 1.439082 3.667727
 f 179 168 182 
 f 155 156 160 
 f 160 156 161 
 f 160 161 163 
 f 161 156 164 
 f 159 157 166 
 f 161 158 167 
 f 163 161 167 
 f 157 159 168 
 f 163 154 169 
 f 160 163 169 
 f 159 166 170 
 f 167 158 171 
 f 169 154 172 
 f 160 169 172 
 f 156 155 173 
 f 164 156 173 
 f 157 164 173 
 f 166 157 173 
 f 155 170 173 
 f 170 166 173 
 f 162 154 174 
 f 154 163 174 
 f 163 167 174 
 f 171 162 174 
 f 167 171 174 
 f 168 159 175 
 f 159 170 175 
 f 160 172 175 
 f 172 168 175 
 f 154 162 176 
 f 162 168 176 
 f 168 172 176 
 f 172 154 176 
 f 155 160 177 
 f 160 165 177 
 f 170 155 177 
 f 165 170 177 
 f 157 158 178 
 f 164 157 178 
 f 158 164 178 
 f 158 157 179 
 f 157 168 179 
 f 158 161 180 
 f 164 158 180 
 f 161 164 180 
 f 165 160 181 
 f 170 165 181 
 f 160 175 181 
 f 175 170 181 
 f 168 162 182 
 f 171 158 182 
 f 162 171 182 
 f 158 179 182 
 o convex_6
 v 0.746930 0.243608 -0.188140
 v 1.440741 1.400518 0.351752
 v 1.440741 1.400518 0.274542
 v 0.399732 1.323285 0.351752
 v 1.440741 0.320841 0.351752
 v 1.440741 1.361902 -0.188140
 v 0.399732 1.323285 -0.188140
 v 0.476849 0.243608 0.351752
 v 1.517974 0.397960 -0.188140
 v 0.399732 0.629320 -0.188140
 v 1.556590 1.130542 0.351752
 v 0.361116 0.860566 0.351752
 v 0.476849 0.243608 -0.188140
 v 1.556590 0.436464 0.351752
 v 0.631081 1.361902 -0.188140
 v 1.440741 0.320841 -0.188140
 v 1.556590 0.783560 0.043280
 v 0.824046 0.243608 0.351752
 v 0.361116 1.169045 0.043280
 v 0.592698 1.361902 0.351752
 f 197 189 202 
 f 184 186 187 
 f 188 183 189 
 f 187 186 190 
 f 183 188 191 
 f 189 183 192 
 f 185 184 193 
 f 184 187 193 
 f 188 185 193 
 f 190 186 194 
 f 192 190 194 
 f 183 190 195 
 f 192 183 195 
 f 190 192 195 
 f 193 187 196 
 f 185 188 197 
 f 188 189 197 
 f 183 191 198 
 f 196 187 198 
 f 191 196 198 
 f 191 188 199 
 f 188 193 199 
 f 196 191 199 
 f 193 196 199 
 f 190 183 200 
 f 187 190 200 
 f 183 198 200 
 f 198 187 200 
 f 186 189 201 
 f 189 192 201 
 f 194 186 201 
 f 192 194 201 
 f 184 185 202 
 f 186 184 202 
 f 189 186 202 
 f 185 197 202 
 o convex_7
 v 0.091170 0.513584 0.467466
 v 1.440673 1.400518 1.045898
 v 1.440673 1.400518 0.351752
 v 1.980663 0.590703 0.390346
 v 0.939941 0.243608 1.045898
 v 0.091170 1.130542 0.968711
 v 0.399763 1.323285 0.351752
 v 0.476958 0.243608 0.351752
 v 1.941971 0.899183 0.968711
 v 0.476958 0.243608 1.045898
 v 1.980663 1.169045 0.506060
 v 1.440673 0.320841 1.045898
 v 0.553965 1.361902 1.045898
 v 1.440673 0.320841 0.351752
 v 0.091170 1.130542 0.390346
 v 0.091170 0.629320 0.968711
 v 1.980663 0.629320 0.853065
 v 2.019355 0.706440 0.351752
 v 1.903656 1.169045 0.930185
 v 0.399763 1.323285 1.045898
 v 0.824054 0.243608 0.351752
 v 0.592845 1.361902 0.351752
 v 1.941971 0.629320 0.968711
 v 1.941971 1.207662 0.660299
 f 221 213 226 
 f 209 205 210 
 f 207 204 212 
 f 203 210 212 
 f 210 207 212 
 f 204 207 214 
 f 211 204 214 
 f 204 205 215 
 f 212 204 215 
 f 210 205 216 
 f 214 207 216 
 f 206 214 216 
 f 203 208 217 
 f 208 209 217 
 f 210 203 217 
 f 209 210 217 
 f 208 203 218 
 f 203 212 218 
 f 213 211 219 
 f 214 206 219 
 f 205 213 220 
 f 216 205 220 
 f 206 216 220 
 f 219 206 220 
 f 213 219 220 
 f 204 211 221 
 f 211 213 221 
 f 209 208 222 
 f 215 209 222 
 f 212 215 222 
 f 208 218 222 
 f 218 212 222 
 f 207 210 223 
 f 210 216 223 
 f 216 207 223 
 f 205 209 224 
 f 215 205 224 
 f 209 215 224 
 f 211 214 225 
 f 219 211 225 
 f 214 219 225 
 f 205 204 226 
 f 213 205 226 
 f 204 221 226 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf
@@ -0,0 +1,31 @@
 <robot name="blob031">
  <link name="random_obj_031">
    <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="031.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.72 0.21 0.68 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="031.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.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
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj
@@ -0,0 +1,561 @@
 o convex_0
 v -2.230096 -2.800524 0.801177
 v 1.077188 -0.559896 0.907915
 v 1.112516 -0.595646 0.907915
 v 1.077188 -0.559896 -1.012330
 v -3.083721 -0.737988 -0.763344
 v 1.112926 -2.657962 -0.941102
 v -2.976915 -2.729243 -0.976611
 v -2.976915 -0.702458 0.978935
 v 1.041449 -2.657962 1.014654
 v -2.976915 -2.800304 1.014654
 v -3.083721 -0.773519 -1.047840
 v -1.091792 -0.559896 1.014445
 v -0.807935 -2.800524 1.085673
 v -1.091792 -0.559896 -0.976611
 v 1.112926 -1.662445 -1.012330
 v -3.012244 -2.480309 -1.012121
 v -2.941176 -2.764774 -0.834572
 v 1.112926 -2.657962 0.978935
 v 1.041449 -0.559896 0.943425
 v 0.899315 -2.657962 -0.976611
 v -3.012244 -2.480309 0.694439
 v -0.985397 -2.551151 1.085673
 v -3.012244 -0.702458 0.552191
 v 1.112516 -0.737769 -1.012330
 v -3.083721 -0.986923 -1.047840
 v -0.950069 -2.800524 0.872406
 v -3.012244 -2.657962 -0.976611
 v -0.843264 -0.559896 1.014445
 v 1.077188 -2.515840 1.014654
 v -3.083721 -1.129265 -0.656605
 v -2.976915 -2.800304 0.374433
 v -1.234337 -2.764774 1.085673
 v -1.554344 -0.631177 1.014445
 v -2.976915 -2.480309 1.014654
 v -1.020725 -0.559896 -1.012330
 v -3.012244 -0.702458 0.303204
 v -2.834781 -0.773519 -1.047840
 v -2.550103 -0.666708 0.978935
 f 36 23 38 
 f 2 3 4 
 f 2 4 12 
 f 10 1 13 
 f 11 5 14 
 f 12 4 14 
 f 13 6 18 
 f 9 13 18 
 f 15 3 18 
 f 6 15 18 
 f 3 2 19 
 f 2 12 19 
 f 15 6 20 
 f 16 15 20 
 f 7 16 20 
 f 6 17 20 
 f 17 7 20 
 f 21 8 23 
 f 4 3 24 
 f 3 15 24 
 f 5 11 25 
 f 15 16 25 
 f 13 1 26 
 f 6 13 26 
 f 17 6 26 
 f 16 7 27 
 f 10 21 27 
 f 25 16 27 
 f 19 12 28 
 f 12 22 28 
 f 28 22 29 
 f 13 9 29 
 f 18 3 29 
 f 9 18 29 
 f 3 19 29 
 f 22 13 29 
 f 19 28 29 
 f 23 5 30 
 f 21 23 30 
 f 5 25 30 
 f 27 21 30 
 f 25 27 30 
 f 1 10 31 
 f 7 17 31 
 f 26 1 31 
 f 17 26 31 
 f 27 7 31 
 f 10 27 31 
 f 10 13 32 
 f 13 22 32 
 f 32 22 33 
 f 12 8 33 
 f 22 12 33 
 f 8 32 33 
 f 8 21 34 
 f 21 10 34 
 f 32 8 34 
 f 10 32 34 
 f 4 11 35 
 f 11 14 35 
 f 14 4 35 
 f 14 5 36 
 f 5 23 36 
 f 11 4 37 
 f 4 24 37 
 f 24 15 37 
 f 25 11 37 
 f 15 25 37 
 f 8 12 38 
 f 12 14 38 
 f 23 8 38 
 f 14 36 38 
 o convex_1
 v 2.215436 -2.729184 0.196549
 v 2.713270 -0.915783 0.979186
 v 2.642042 -0.915783 0.979186
 v 2.962187 -0.595796 -1.012330
 v 1.112926 -0.738036 -1.012330
 v 2.997801 -2.657959 -1.048049
 v 1.112926 -2.657959 0.979186
 v 1.112926 -2.657959 -0.941290
 v 1.112926 -0.702319 0.907947
 v 2.962187 -2.657959 0.907947
 v 3.033416 -0.631095 0.943467
 v 3.069030 -1.093531 -1.012330
 v 2.819921 -2.729184 0.943467
 v 1.397649 -0.666602 0.943467
 v 3.069030 -0.595796 -0.052092
 v 1.148541 -2.657959 -0.976611
 v 1.184155 -0.702319 -0.976611
 v 1.290998 -2.693676 -0.727771
 v 2.962187 -2.693467 -0.870051
 v 3.033416 -1.449026 -1.048049
 v 2.642042 -0.595796 -0.727573
 v 2.571005 -2.657959 -1.048049
 v 1.112926 -1.627191 0.979186
 v 1.610952 -2.693676 0.979186
 v 2.997801 -0.595796 0.623388
 v 3.069030 -0.595796 -1.012330
 v 1.112926 -1.627191 -1.012330
 v 1.290998 -0.666602 0.587867
 v 2.962187 -2.729184 0.125509
 v 3.033416 -0.986799 0.943467
 v 1.931097 -2.693676 0.979186
 v 2.962187 -2.444495 0.943467
 v 2.322088 -2.729184 0.907947
 v 2.215436 -0.631304 0.943467
 v 2.962187 -2.729184 0.765667
 v 2.713270 -0.595796 -1.012132
 v 1.112926 -0.702319 -0.692251
 v 2.642042 -0.595796 -0.478931
 v 1.112926 -0.809051 0.943467
 f 61 52 77 
 f 40 41 45 
 f 45 43 46 
 f 43 45 47 
 f 41 40 49 
 f 45 46 56 
 f 46 54 56 
 f 56 54 57 
 f 50 44 58 
 f 53 42 59 
 f 57 54 60 
 f 44 57 60 
 f 43 58 60 
 f 58 44 60 
 f 45 41 61 
 f 47 45 61 
 f 41 52 61 
 f 40 45 62 
 f 45 56 62 
 f 49 53 63 
 f 53 59 63 
 f 53 50 64 
 f 42 53 64 
 f 58 42 64 
 f 50 58 64 
 f 46 43 65 
 f 54 46 65 
 f 43 60 65 
 f 60 54 65 
 f 47 52 66 
 f 51 39 67 
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 f 56 57 67 
 f 57 44 67 
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 f 53 49 68 
 f 50 53 68 
 f 40 62 69 
 f 62 51 69 
 f 51 48 70 
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 f 48 68 70 
 f 40 69 70 
 f 69 51 70 
 f 39 51 71 
 f 56 39 71 
 f 51 62 71 
 f 62 56 71 
 f 41 49 72 
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 f 44 50 73 
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 f 51 67 73 
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 f 50 68 73 
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 f 42 58 74 
 f 58 43 74 
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 f 66 59 74 
 f 43 47 75 
 f 55 43 75 
 f 47 66 75 
 f 66 55 75 
 f 63 59 76 
 f 59 66 76 
 f 72 63 76 
 f 66 72 76 
 f 52 47 77 
 f 47 61 77 
 o convex_2
 v 0.614810 1.716297 0.979039
 v -1.091923 -0.559896 -0.976744
 v -1.020783 -0.559896 -1.012483
 v 1.041653 -0.559896 0.943502
 v 1.006189 1.644999 -1.012483
 v -1.056459 1.716297 1.050317
 v -1.056459 1.716297 -0.976744
 v -1.091923 -0.559896 1.014577
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 v 1.077117 0.400401 0.907964
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 v -1.091923 1.289399 -0.976744
 v -0.345055 1.680648 1.050317
 v -0.309591 1.716297 -1.012483
 v 1.041653 1.218324 -1.012483
 v 1.077117 -0.559896 0.907964
 v 1.041653 1.396124 0.943502
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 f 79 80 81 
 f 83 78 84 
 f 79 81 85 
 f 81 80 86 
 f 80 82 86 
 f 84 78 87 
 f 84 87 89 
 f 80 79 90 
 f 84 80 90 
 f 83 84 90 
 f 79 85 90 
 f 78 83 91 
 f 82 80 92 
 f 80 84 92 
 f 89 82 92 
 f 84 89 92 
 f 86 82 93 
 f 82 89 93 
 f 81 86 94 
 f 88 81 94 
 f 86 88 94 
 f 87 78 95 
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 f 89 87 95 
 f 88 93 95 
 f 93 89 95 
 f 85 83 96 
 f 83 90 96 
 f 90 85 96 
 f 88 86 97 
 f 86 93 97 
 f 93 88 97 
 f 83 85 98 
 f 91 83 98 
 f 91 98 99 
 f 85 81 99 
 f 98 85 99 
 f 78 91 100 
 f 95 78 100 
 f 81 95 100 
 f 91 99 100 
 o convex_3
 v -2.763545 2.107681 0.587965
 v -1.270190 1.858719 -0.550132
 v -1.270190 1.929788 -0.550132
 v -3.047857 2.569737 -0.478945
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 v -1.092136 1.787539 0.445703
 v -2.941216 1.787539 -0.443407
 v -1.092136 2.889768 -0.478945
 v -2.976827 2.854233 0.552316
 v -2.941216 1.787539 0.587965
 v -3.047857 2.783165 -0.478945
 v -1.092136 1.858719 -0.550132
 v -1.305800 2.711985 0.516778
 v -1.127938 2.747519 -0.514482
 v -2.656713 1.787539 -0.478945
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 v -2.585682 2.818699 -0.478945
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 v -1.483663 2.889768 0.516778
 v -1.092136 2.320998 0.481241
 v -2.443431 1.787539 -0.478945
 v -1.448052 2.889768 -0.265607
 v -2.976827 2.854233 0.481241
 v -2.976827 2.498557 0.552316
 v -1.127938 2.072036 -0.550132
 f 114 112 127 
 f 103 102 104 
 f 105 106 108 
 f 107 106 110 
 f 104 107 110 
 f 101 109 110 
 f 103 104 111 
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 f 108 106 112 
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 f 104 102 115 
 f 106 107 115 
 f 107 104 115 
 f 102 112 115 
 f 101 110 116 
 f 110 106 116 
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 f 105 108 117 
 f 109 105 117 
 f 114 111 118 
 f 108 114 118 
 f 104 110 119 
 f 111 104 119 
 f 109 111 119 
 f 112 106 120 
 f 106 115 120 
 f 109 101 121 
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 f 113 105 121 
 f 101 113 121 
 f 106 105 122 
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 f 116 106 122 
 f 113 116 122 
 f 115 112 123 
 f 112 120 123 
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 f 117 108 124 
 f 108 118 124 
 f 124 118 125 
 f 111 109 125 
 f 109 117 125 
 f 118 111 125 
 f 117 124 125 
 f 110 109 126 
 f 119 110 126 
 f 109 119 126 
 f 103 111 127 
 f 112 103 127 
 f 111 114 127 
 o convex_4
 v -0.202959 3.387688 1.049937
 v -0.167425 1.752043 -1.012483
 v -0.309562 1.716624 -1.012278
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 v -1.020862 2.178748 1.085882
 v -0.700643 3.423275 1.085882
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 v 0.970490 3.280928 0.125432
 v -1.056396 3.387688 -0.300773
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 v -0.736383 3.423275 0.908006
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 v -1.056396 3.280928 0.908006
 v 0.650477 2.356681 0.978869
 f 159 155 164 
 f 129 130 134 
 f 134 130 138 
 f 130 135 138 
 f 131 135 140 
 f 134 138 142 
 f 134 142 146 
 f 142 139 146 
 f 138 133 147 
 f 133 139 147 
 f 142 138 147 
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 f 131 140 150 
 f 140 136 150 
 f 129 134 151 
 f 143 132 151 
 f 144 143 151 
 f 130 129 152 
 f 135 130 152 
 f 132 149 152 
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 f 151 132 152 
 f 137 133 153 
 f 133 141 153 
 f 148 137 153 
 f 141 148 153 
 f 144 137 154 
 f 128 145 154 
 f 148 128 154 
 f 137 148 154 
 f 145 128 155 
 f 136 145 155 
 f 128 148 155 
 f 136 140 156 
 f 145 136 156 
 f 149 132 156 
 f 140 149 156 
 f 137 144 157 
 f 134 146 157 
 f 151 134 157 
 f 144 151 157 
 f 135 131 158 
 f 133 138 158 
 f 138 135 158 
 f 141 133 158 
 f 148 141 158 
 f 131 150 159 
 f 150 136 159 
 f 136 155 159 
 f 132 143 160 
 f 156 132 160 
 f 145 156 160 
 f 143 144 161 
 f 144 154 161 
 f 154 145 161 
 f 160 143 161 
 f 145 160 161 
 f 140 135 162 
 f 149 140 162 
 f 135 152 162 
 f 152 149 162 
 f 133 137 163 
 f 139 133 163 
 f 146 139 163 
 f 137 157 163 
 f 157 146 163 
 f 155 148 164 
 f 158 131 164 
 f 148 158 164 
 f 131 159 164 
 o convex_5
 v 2.962023 2.818828 0.552400
 v 2.393070 2.463117 -0.585697
 v 2.393070 2.534238 -0.585697
 v 1.006425 1.716297 0.552400
 v 1.006425 2.818828 -0.478973
 v 2.926691 1.751911 -0.478973
 v 1.006425 1.716297 -0.514510
 v 2.962023 1.751911 0.516750
 v 1.006425 2.747599 0.552400
 v 2.926691 2.783214 -0.550048
 v 3.068828 2.818720 0.481213
 v 2.997759 1.823032 -0.372248
 v 2.393070 1.716297 -0.478973
 v 2.997759 2.000887 0.552400
 v 1.041959 2.818828 -0.052186
 v 1.326435 2.818828 -0.514510
 v 2.926691 2.747599 -0.585697
 v 1.468775 2.000887 -0.550048
 v 1.931124 2.818828 -0.514510
 v 2.997759 1.823032 0.516750
 v 2.570944 2.818828 0.552400
 v 1.006425 2.320876 -0.514510
 v 3.068828 2.712093 0.552288
 v 1.290901 1.716297 0.552400
 v 2.962023 2.783214 -0.407786
 v 2.926691 2.569852 -0.585697
 v 1.539843 1.716297 -0.514510
 v 2.570944 2.783214 -0.585697
 v 2.962023 2.818828 0.161040
 f 174 183 193 
 f 168 169 171 
 f 168 165 173 
 f 169 168 173 
 f 172 170 176 
 f 168 171 177 
 f 170 172 177 
 f 165 168 178 
 f 165 169 179 
 f 169 173 179 
 f 169 165 180 
 f 166 167 181 
 f 167 166 182 
 f 180 165 183 
 f 172 176 184 
 f 178 172 184 
 f 173 165 185 
 f 165 179 185 
 f 179 173 185 
 f 171 169 186 
 f 169 180 186 
 f 180 167 186 
 f 167 182 186 
 f 182 171 186 
 f 175 165 187 
 f 176 175 187 
 f 165 178 187 
 f 184 176 187 
 f 178 184 187 
 f 168 177 188 
 f 177 172 188 
 f 178 168 188 
 f 172 178 188 
 f 174 175 189 
 f 175 176 189 
 f 181 174 189 
 f 176 181 189 
 f 176 170 190 
 f 166 181 190 
 f 181 176 190 
 f 177 171 191 
 f 170 177 191 
 f 182 166 191 
 f 171 182 191 
 f 190 170 191 
 f 166 190 191 
 f 167 180 192 
 f 181 167 192 
 f 174 181 192 
 f 183 174 192 
 f 180 183 192 
 f 165 175 193 
 f 175 174 193 
 f 183 165 193 
--- a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf
+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf
@@ -0,0 +1,31 @@
 <robot name="blob032">
  <link name="random_obj_032">
    <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="032.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.08 0.82 0.01 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="032.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
 </robot>
--- a/Show More
+++ b/Show More