From 5688477bfbd80b71e0f55c7e0a3f7c96fa4a28d7 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 23 Feb 2018 18:56:11 -0800 Subject: [PATCH 1/3] fix sdf warning --- data/kiva_shelf/model.sdf | 4 +++- examples/pybullet/gym/pybullet_data/kiva_shelf/model.sdf | 4 +++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/data/kiva_shelf/model.sdf b/data/kiva_shelf/model.sdf index 501a6107c..48bbc3f10 100644 --- a/data/kiva_shelf/model.sdf +++ b/data/kiva_shelf/model.sdf @@ -1,6 +1,7 @@ - + + 1 0 1 0 0 0 0 @@ -202,4 +203,5 @@ + diff --git a/examples/pybullet/gym/pybullet_data/kiva_shelf/model.sdf b/examples/pybullet/gym/pybullet_data/kiva_shelf/model.sdf index 501a6107c..48bbc3f10 100644 --- a/examples/pybullet/gym/pybullet_data/kiva_shelf/model.sdf +++ b/examples/pybullet/gym/pybullet_data/kiva_shelf/model.sdf @@ -1,6 +1,7 @@ - + + 1 0 1 0 0 0 0 @@ -202,4 +203,5 @@ + From 4d6e2c1905b2e0ea5dd666aea2f974532518fc98 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 24 Feb 2018 14:57:49 -0800 Subject: [PATCH 2/3] update imgui test --- examples/SimpleOpenGL3/main_imgui.cpp | 160 +- .../imgui/{LICENSE => LICENSE.txt} | 2 +- examples/ThirdPartyLibs/imgui/README.md | 307 +- examples/ThirdPartyLibs/imgui/TODO.txt | 270 + examples/ThirdPartyLibs/imgui/imconfig.h | 47 +- examples/ThirdPartyLibs/imgui/imgui.cpp | 8171 ++++++++++++----- examples/ThirdPartyLibs/imgui/imgui.h | 1174 ++- examples/ThirdPartyLibs/imgui/imgui_demo.cpp | 1711 ++-- examples/ThirdPartyLibs/imgui/imgui_draw.cpp | 1219 ++- .../ThirdPartyLibs/imgui/imgui_internal.h | 831 +- examples/ThirdPartyLibs/imgui/stb_rect_pack.h | 90 +- examples/ThirdPartyLibs/imgui/stb_truetype.h | 956 +- 12 files changed, 10791 insertions(+), 4147 deletions(-) rename examples/ThirdPartyLibs/imgui/{LICENSE => LICENSE.txt} (94%) create mode 100644 examples/ThirdPartyLibs/imgui/TODO.txt diff --git a/examples/SimpleOpenGL3/main_imgui.cpp b/examples/SimpleOpenGL3/main_imgui.cpp index 1bd07f7d1..f690608e4 100644 --- a/examples/SimpleOpenGL3/main_imgui.cpp +++ b/examples/SimpleOpenGL3/main_imgui.cpp @@ -1,6 +1,6 @@ -//#define USE_OPENGL2 +#define USE_OPENGL2 #ifdef USE_OPENGL2 #include "OpenGLWindow/SimpleOpenGL2App.h" typedef SimpleOpenGL2App SimpleOpenGLApp ; @@ -37,7 +37,7 @@ float g_MouseWheel = 0.0f; int g_MousePressed[3] = {0}; int g_MousePressed2[3] = {0}; -//#define B3_USE_IMGUI +#define B3_USE_IMGUI #ifdef B3_USE_IMGUI #include "OpenGLWindow/OpenGLInclude.h" #include "ThirdPartyLibs/imgui/imgui.h" @@ -47,6 +47,11 @@ static GLuint g_FontTexture = 0; void ImGui_ImplBullet_CreateDeviceObjects() { + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + ImGuiIO& io = ImGui::GetIO(); unsigned char* pixels; @@ -57,9 +62,21 @@ void ImGui_ImplBullet_CreateDeviceObjects() GLint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture); glGenTextures(1, &g_FontTexture); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } glBindTexture(GL_TEXTURE_2D, g_FontTexture); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels); // Store our identifier @@ -68,11 +85,22 @@ void ImGui_ImplBullet_CreateDeviceObjects() // Restore state glBindTexture(GL_TEXTURE_2D, last_texture); + + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } } void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data) { + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + + glEnable(GL_COLOR_MATERIAL); // Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates) ImGuiIO& io = ImGui::GetIO(); @@ -99,6 +127,12 @@ void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data) glEnable(GL_TEXTURE_2D); glUseProgram(0); // You may want this if using this code in an OpenGL 3+ context + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + + // Setup viewport, orthographic projection matrix glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height); glMatrixMode(GL_PROJECTION); @@ -109,6 +143,11 @@ void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data) glPushMatrix(); glLoadIdentity(); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + // Render command lists #define OFFSETOF(TYPE, ELEMENT) ((size_t)&(((TYPE *)0)->ELEMENT)) for (int n = 0; n < draw_data->CmdListsCount; n++) @@ -256,10 +295,28 @@ int main(int argc, char* argv[]) app = new SimpleOpenGLApp("SimpleOpenGLApp", gWidth, gHeight); + + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + + ImGui::CreateContext(); + + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + app->m_renderer->getActiveCamera()->setCameraDistance(13); app->m_renderer->getActiveCamera()->setCameraPitch(0); app->m_renderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + sOldKeyboardCB = app->m_window->getKeyboardCallback(); app->m_window->setKeyboardCallback(MyKeyboardCallback); sOldMouseMoveCB = app->m_window->getMouseMoveCallback(); @@ -293,9 +350,31 @@ int main(int argc, char* argv[]) b3Quaternion orn(0, 0, 0, 1); b3Vector3 color = b3MakeVector3(1, 0, 0); b3Vector3 scaling = b3MakeVector3 (1, 1, 1); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling); app->m_renderer->writeTransforms(); + { + bool dark= false; + ImGuiStyle& style = ImGui::GetStyle(); + if (dark) + { + ImGui::StyleColorsDark(&style); + } + else + { + ImGui::StyleColorsLight(&style); + } + } + + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } do { static int frameCount = 0; @@ -309,7 +388,10 @@ int main(int argc, char* argv[]) } - + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } //update the texels of the texture using a simple pattern, animated using frame index @@ -326,9 +408,19 @@ int main(int argc, char* argv[]) } } + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + app->m_renderer->activateTexture(textureHandle); app->m_renderer->updateTexture(textureHandle, image); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + //float color[4] = { 255, 1, 1, 1 }; //app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true); @@ -336,8 +428,23 @@ int main(int argc, char* argv[]) app->m_renderer->init(); app->m_renderer->updateCamera(1); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + + app->m_renderer->renderScene(); - app->drawGrid(); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + //app->drawGrid(); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + char bla[1024]; sprintf(bla, "Simple test frame %d", frameCount); @@ -371,9 +478,39 @@ int main(int argc, char* argv[]) ImGui::NewFrame(); - ImGui::ShowTestWindow(); - ImGui::ShowMetricsWindow(); - #if 0 + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + + { + { + static float f = 0.0f; + static int counter = 0; + ImGui::Text("Hello, world!"); // Display some text (you can use a format string too) + ImGui::SliderFloat("float", &f, 0.0f, 1.0f); // Edit 1 float using a slider from 0.0f to 1.0f + ImGui::ColorEdit3("clear color", (float*)&clear_color); // Edit 3 floats representing a color + + //ImGui::Checkbox("Demo Window", &show_demo_window); // Edit bools storing our windows open/close state + ImGui::Checkbox("Another Window", &show_another_window); + + if (ImGui::Button("Button")) // Buttons return true when clicked (NB: most widgets return true when edited/activated) + counter++; + ImGui::SameLine(); + ImGui::Text("counter = %d", counter); + + ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate); + } + + } + //ImGui::ShowTestWindow(); + //ImGui::ShowMetricsWindow(); + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + +#if 0 static float f = 0.0f; ImGui::Text("Hello, world!"); ImGui::SliderFloat("float", &f, 0.0f, 1.0f); @@ -385,10 +522,19 @@ int main(int argc, char* argv[]) ImGui::Render(); } #endif //B3_USE_IMGUI + + { + GLint err = glGetError(); + assert(err==GL_NO_ERROR); + } + app->swapBuffer(); } while (!app->m_window->requestedExit()); + ImGui::DestroyContext(); + + delete app; diff --git a/examples/ThirdPartyLibs/imgui/LICENSE b/examples/ThirdPartyLibs/imgui/LICENSE.txt similarity index 94% rename from examples/ThirdPartyLibs/imgui/LICENSE rename to examples/ThirdPartyLibs/imgui/LICENSE.txt index b28ef2253..21b6ee7e2 100644 --- a/examples/ThirdPartyLibs/imgui/LICENSE +++ b/examples/ThirdPartyLibs/imgui/LICENSE.txt @@ -1,6 +1,6 @@ The MIT License (MIT) -Copyright (c) 2014-2015 Omar Cornut and ImGui contributors +Copyright (c) 2014-2018 Omar Cornut Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal diff --git a/examples/ThirdPartyLibs/imgui/README.md b/examples/ThirdPartyLibs/imgui/README.md index eecb1bc58..51e9193a1 100644 --- a/examples/ThirdPartyLibs/imgui/README.md +++ b/examples/ThirdPartyLibs/imgui/README.md @@ -3,109 +3,198 @@ dear imgui, [![Build Status](https://travis-ci.org/ocornut/imgui.svg?branch=master)](https://travis-ci.org/ocornut/imgui) [![Coverity Status](https://scan.coverity.com/projects/4720/badge.svg)](https://scan.coverity.com/projects/4720) -(This library is free and will stay free, but needs your support to sustain its development. There are lots of desirable new features and maintenance to do. If you work for a company using ImGui or have the means to do so, please consider financial support. I can invoice for private support, custom development etc.) +_(This library is free but needs your support to sustain its development. There are many desirable features and maintenance ahead If you are an individual using dear imgui, please consider donating via Patreon or PayPal. If your company is using dear imgui, please consider financial support (e.g. sponsoring a few weeks/months of development). I can invoice for technical support, custom development etc. E-mail: omarcornut at gmail.)_ -[![Patreon](https://cloud.githubusercontent.com/assets/8225057/5990484/70413560-a9ab-11e4-8942-1a63607c0b00.png)](http://www.patreon.com/imgui) [![PayPal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=5Q73FPZ9C526U) +Monthly donations via Patreon: +
[![Patreon](https://cloud.githubusercontent.com/assets/8225057/5990484/70413560-a9ab-11e4-8942-1a63607c0b00.png)](http://www.patreon.com/imgui) -dear imgui (AKA ImGui), is a bloat-free graphical user interface library for C++. It outputs optimized vertex buffers that you can render anytime in your 3D-pipeline enabled application. It is fast, portable, renderer agnostic and self-contained (no external dependencies). +One-off donations via PayPal: +
[![PayPal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=5Q73FPZ9C526U) -ImGui is designed to enable fast iteration and empower programmers to create content creation tools and visualization/ debug tools (as opposed to UI for the average end-user). It favors simplicity and productivity toward this goal, and thus lacks certain features normally found in more high-level libraries. +Dear ImGui is a bloat-free graphical user interface library for C++. It outputs optimized vertex buffers that you can render anytime in your 3D-pipeline enabled application. It is fast, portable, renderer agnostic and self-contained (no external dependencies).** -ImGui is particularly suited to integration in realtime 3D applications, fullscreen applications, embedded applications, games, or any applications on consoles platforms where operating system features are non-standard. +Dear ImGui is designed to enable fast iterations and to empower programmers to create content creation tools and visualization / debug tools (as opposed to UI for the average end-user). It favors simplicity and productivity toward this goal, and lacks certain features normally found in more high-level libraries. -ImGui is self-contained within a few files that you can easily copy and compile into your application/engine: +Dear ImGui is particularly suited to integration in games engine (for tooling), realtime 3D applications, fullscreen applications, embedded applications, or any applications on consoles platforms where operating system features are non-standard. - - imgui.cpp - - imgui.h - - imgui_demo.cpp - - imgui_draw.cpp - - imgui_internal.h - - imconfig.h (empty by default, user-editable) - - stb_rect_pack.h - - stb_textedit.h - - stb_truetype.h +Dear ImGui is self-contained within a few files that you can easily copy and compile into your application/engine: +- imgui.cpp +- imgui.h +- imgui_demo.cpp +- imgui_draw.cpp +- imgui_internal.h +- imconfig.h (empty by default, user-editable) +- stb_rect_pack.h +- stb_textedit.h +- stb_truetype.h No specific build process is required. You can add the .cpp files to your project or #include them from an existing file. -Your code passes mouse/keyboard inputs and settings to ImGui (see example applications for more details). After ImGui is setup, you can use it like in this example: +### Usage -![screenshot of sample code alongside its output with ImGui](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/code_sample_01.png) +Your code passes mouse/keyboard/gamepad inputs and settings to Dear ImGui (see example applications for more details). After Dear ImGui is setup, you can use it from \_anywhere\_ in your program loop: -ImGui outputs vertex buffers and simple command-lists that you can render in your application. The number of draw calls and state changes is typically very small. Because it doesn't know or touch graphics state directly, you can call ImGui commands anywhere in your code (e.g. in the middle of a running algorithm, or in the middle of your own rendering process). Refer to the sample applications in the examples/ folder for instructions on how to integrate ImGui with your existing codebase. +Code: +```cpp +ImGui::Text("Hello, world %d", 123); +if (ImGui::Button("Save")) +{ + // do stuff +} +ImGui::InputText("string", buf, IM_ARRAYSIZE(buf)); +ImGui::SliderFloat("float", &f, 0.0f, 1.0f); +``` +Result: +
![sample code output](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v160/code_sample_02.png) +
_(settings: Dark style (left), Light style (right) / Font: Roboto-Medium, 16px / Rounding: 5)_ -_A common misunderstanding is to think that immediate mode gui == immediate mode rendering, which usually implies hammering your driver/GPU with a bunch of inefficient draw calls and state changes, as the gui functions as called by the user. This is NOT what Dear ImGui does. Dear ImGui outputs vertex buffers and a small list of draw calls batches. It never touches your GPU directly. The draw call batches are decently optimal and you can render them later, in your app or even remotely._ +Code: +```cpp +// Create a window called "My First Tool", with a menu bar. +ImGui::Begin("My First Tool", &my_tool_active, ImGuiWindowFlags_MenuBar); +if (ImGui::BeginMenuBar()) +{ + if (ImGui::BeginMenu("File")) + { + if (ImGui::MenuItem("Open..", "Ctrl+O")) { /* Do stuff */ } + if (ImGui::MenuItem("Save", "Ctrl+S")) { /* Do stuff */ } + if (ImGui::MenuItem("Close", "Ctrl+W")) { my_tool_active = false; } + ImGui::EndMenu(); + } + ImGui::EndMenuBar(); +} -ImGui allows you create elaborate tools as well as very short-lived ones. On the extreme side of short-liveness: using the Edit&Continue feature of modern compilers you can add a few widgets to tweaks variables while your application is running, and remove the code a minute later! ImGui is not just for tweaking values. You can use it to trace a running algorithm by just emitting text commands. You can use it along with your own reflection data to browse your dataset live. You can use it to expose the internals of a subsystem in your engine, to create a logger, an inspection tool, a profiler, a debugger, etc. +// Edit a color (stored as ~4 floats) +ImGui::ColorEdit4("Color", my_color); -Binaries/Demo +// Plot some values +const float my_values[] = { 0.2f, 0.1f, 1.0f, 0.5f, 0.9f, 2.2f }; +ImGui::PlotLines("Frame Times", my_values, IM_ARRAYSIZE(my_values)); + +// Display contents in a scrolling region +ImGui::TextColored(ImVec4(1,1,0,1), "Important Stuff"); +ImGui::BeginChild("Scrolling"); +for (int n = 0; n < 50; n++) + ImGui::Text("%04d: Some text", n); +ImGui::EndChild(); +ImGui::End(); +``` +Result: +
![sample code output](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v160/code_sample_03_color.gif) + +### How it works + +Check out the References section if you want to understand the core principles behind the IMGUI paradigm. An IMGUI tries to minimize state duplication, state synchronization and state storage from the user's point of view. It is less error prone (less code and less bugs) than traditional retained-mode interfaces, and lends itself to create dynamic user interfaces. + +Dear ImGui outputs vertex buffers and command lists that you can easily render in your application. The number of draw calls and state changes is typically very small. Because it doesn't know or touch graphics state directly, you can call ImGui commands anywhere in your code (e.g. in the middle of a running algorithm, or in the middle of your own rendering process). Refer to the sample applications in the examples/ folder for instructions on how to integrate dear imgui with your existing codebase. + +_A common misunderstanding is to mistake immediate mode gui for immediate mode rendering, which usually implies hammering your driver/GPU with a bunch of inefficient draw calls and state changes as the gui functions are called. This is NOT what Dear ImGui does. Dear ImGui outputs vertex buffers and a small list of draw calls batches. It never touches your GPU directly. The draw call batches are decently optimal and you can render them later, in your app or even remotely._ + +Dear ImGui allows you create elaborate tools as well as very short-lived ones. On the extreme side of short-liveness: using the Edit&Continue (hot code reload) feature of modern compilers you can add a few widgets to tweaks variables while your application is running, and remove the code a minute later! Dear ImGui is not just for tweaking values. You can use it to trace a running algorithm by just emitting text commands. You can use it along with your own reflection data to browse your dataset live. You can use it to expose the internals of a subsystem in your engine, to create a logger, an inspection tool, a profiler, a debugger, an entire game making editor/framework, etc. + +Demo Binaries ------------- -You should be able to build the examples from sources (tested on Windows/Mac/Linux). If you don't, let me know! If you want to have a quick look at the features of ImGui, you can download Windows binaries of the demo app here. -- [imgui-demo-binaries-20161113.zip](http://www.miracleworld.net/imgui/binaries/imgui-demo-binaries-20161113.zip) (Windows binaries, ImGui 1.49+ 2016/11/13, 5 executables, 588 KB) +You should be able to build the examples from sources (tested on Windows/Mac/Linux). If you don't, let me know! If you want to have a quick look at some Dear ImGui features, you can download Windows binaries of the demo app here: +- [imgui-demo-binaries-20180207.zip](http://www.miracleworld.net/imgui/binaries/imgui-demo-binaries-20180207.zip) (Windows binaries, Dear ImGui 1.60 WIP built 2018/01/07, 5 executables) + +The demo applications are unfortunately not yet DPI aware so expect some blurryness on a 4K screen. For DPI awareness you can load/reload your font at different scale, and scale your Style with `style.ScaleAllSizes()`. Bindings -------- -_NB: those third-party bindings may be more or less maintained, more or less close to the spirit of original API and therefore I cannot give much guarantee about them. People who create language bindings sometimes haven't used the C++ API themselves (for the good reason that they aren't C++ users). ImGui was designed with C++ in mind and some of the subtleties may be lost in translation with other languages. If your language supports it, I would suggest replicating the function overloading and default parameters used in the original, else the API may be harder to use. In doubt, please check the original C++ version first!_ +Integrating Dear ImGui within your custom engine is a matter of 1) wiring mouse/keyboard/gamepad inputs 2) uploading one texture to your GPU/render engine 3) providing a render function that can bind textures and render textured triangles. The [examples/](https://github.com/ocornut/imgui/tree/master/examples) folder is populated with applications doing just that. If you are an experienced programmer and at ease with those concepts, it should take you less than an hour to integrate Dear ImGui in your custom engine, but make sure to spend time reading the FAQ, the comments and other documentation! -_Integrating Dear ImGui within your custom engine is a matter of wiring mouse/keyboard inputs and providing a render function that can bind a texture and render simple textured triangles. The examples/ folder is populated with applications doing just that. If you are an experienced programmer it should take you less than an hour to integrate Dear ImGui in your custom engine, but make sure to spend time reading the FAQ, the comments and other documentation!_ +_NB: those third-party bindings may be more or less maintained, more or less close to the original API (as people who create language bindings sometimes haven't used the C++ API themselves.. for the good reason that they aren't C++ users). Dear ImGui was designed with C++ in mind and some of the subtleties may be lost in translation with other languages. If your language supports it, I would suggest replicating the function overloading and default parameters used in the original, else the API may be harder to use. In doubt, please check the original C++ version first!_ -Languages: -- cimgui: thin c-api wrapper for ImGui https://github.com/Extrawurst/cimgui -- ImGui.NET: An ImGui wrapper for .NET Core https://github.com/mellinoe/ImGui.NET -- imgui-rs: Rust bindings for dear imgui https://github.com/Gekkio/imgui-rs -- DerelictImgui: Dynamic bindings for the D programming language: https://github.com/Extrawurst/DerelictImgui -- CyImGui: Python bindings for dear imgui using Cython: https://github.com/chromy/cyimgui -- pyimgui: Another Python bindings for dear imgui: https://github.com/swistakm/pyimgui -- LUA: https://github.com/patrickriordan/imgui_lua_bindings +Languages: (third-party bindinds) +- C: [cimgui](https://github.com/Extrawurst/cimgui) +- C#/.Net: [ImGui.NET](https://github.com/mellinoe/ImGui.NET) +- ChaiScript: [imgui-chaiscript](https://github.com/JuJuBoSc/imgui-chaiscript) +- D: [DerelictImgui](https://github.com/Extrawurst/DerelictImgui) +- Go: [go-imgui](https://github.com/Armored-Dragon/go-imgui) +- Haxe/hxcpp: [linc_imgui](https://github.com/Aidan63/linc_imgui) +- JavaScript: [imgui-js](https://github.com/flyover/imgui-js) +- Lua: [imgui_lua_bindings](https://github.com/patrickriordan/imgui_lua_bindings) +- Odin: [odin-dear_imgui](https://github.com/ThisDrunkDane/odin-dear_imgui) +- Pascal: [imgui-pas](https://github.com/dpethes/imgui-pas) +- Python [CyImGui](https://github.com/chromy/cyimgui) +- Python [pyimgui](https://github.com/swistakm/pyimgui) +- Rust: [imgui-rs](https://github.com/Gekkio/imgui-rs) Frameworks: -- Main ImGui repository include examples for DirectX9, DirectX10, DirectX11, OpenGL2/3, Vulkan, Allegro 5, SDL+GL2/3, iOS and Marmalade: https://github.com/ocornut/imgui/tree/master/examples -- Unmerged PR: DirectX12 example (with issues) https://github.com/ocornut/imgui/pull/301 -- Unmerged PR: SDL2 + OpenGLES + Emscripten example https://github.com/ocornut/imgui/pull/336 -- Unmerged PR: FreeGlut + OpenGL2 example https://github.com/ocornut/imgui/pull/801 -- Unmerged PR: Native Win32 and OSX example https://github.com/ocornut/imgui/pull/281 -- Unmerged PR: Android Example https://github.com/ocornut/imgui/pull/421 -- Cinder backend for dear imgui https://github.com/simongeilfus/Cinder-ImGui -- FlexGUI: Flexium/SFML backend for dear imgui https://github.com/DXsmiley/FlexGUI -- IrrIMGUI: Irrlicht backend for dear imgui https://github.com/ZahlGraf/IrrIMGUI -- LÖVE backend for dear imgui https://github.com/slages/love-imgui -- Ogre backend for dear imgui https://bitbucket.org/LMCrashy/ogreimgui/src -- ofxImGui: openFrameworks backend for dear imgui https://github.com/jvcleave/ofxImGui -- SFML backend for dear imgui https://github.com/EliasD/imgui-sfml -- SFML backend for dear imgui https://github.com/Mischa-Alff/imgui-backends -- cocos2d-x with imgui https://github.com/c0i/imguix https://github.com/ocornut/imgui/issues/551 -- NanoRT: software raytraced version https://github.com/syoyo/imgui/tree/nanort/examples/raytrace_example +- DirectX 9, DirectX 10, DirectX 11, DirectX 12: [examples/](https://github.com/ocornut/imgui/tree/master/examples) +- OpenGL 2/3 (with GLFW or SDL): [examples/](https://github.com/ocornut/imgui/tree/master/examples) +- Vulkan (with GLFW): [examples/](https://github.com/ocornut/imgui/tree/master/examples) +- Allegro 5, iOS, Marmalade: [examples/](https://github.com/ocornut/imgui/tree/master/examples) +- Unmerged PR: SDL2 + OpenGLES + Emscripten: [#336](https://github.com/ocornut/imgui/pull/336) +- Unmerged PR: FreeGlut + OpenGL2: [#801](https://github.com/ocornut/imgui/pull/801) +- Unmerged PR: Native Win32 and OSX: [#281](https://github.com/ocornut/imgui/pull/281) +- Unmerged PR: Android: [#421](https://github.com/ocornut/imgui/pull/421) +- Cinder: [Cinder-ImGui](https://github.com/simongeilfus/Cinder-ImGui) +- Cocos2d-x: [imguix](https://github.com/c0i/imguix), [issue #551](https://github.com/ocornut/imgui/issues/551) +- Flexium/SFML: [FlexGUI](https://github.com/DXsmiley/FlexGUI) +- GML/GameMakerStudio2: [ImGuiGML](https://marketplace.yoyogames.com/assets/6221/imguigml) +- Irrlicht: [IrrIMGUI](https://github.com/ZahlGraf/IrrIMGUI) +- Ogre: [ogreimgui](https://bitbucket.org/LMCrashy/ogreimgui/src) +- OpenFrameworks: [ofxImGui](https://github.com/jvcleave/ofxImGui) +- OpenSceneGraph/OSG: [gist](https://gist.github.com/fulezi/d2442ca7626bf270226014501357042c) +- LÖVE: [love-imgui](https://github.com/slages/love-imgui) +- NanoRT: [syoyo/imgui](https://github.com/syoyo/imgui/tree/nanort) +- Qt3d: [imgui-qt3d](https://github.com/alpqr/imgui-qt3d) +- Unreal Engine 4: [segross/UnrealImGui](https://github.com/segross/UnrealImGui) or [sronsse/UnrealEngine_ImGui](https://github.com/sronsse/UnrealEngine_ImGui) +- SFML: [imgui-sfml](https://github.com/EliasD/imgui-sfml) or [imgui-backends](https://github.com/Mischa-Alff/imgui-backends) For other bindings: see [this page](https://github.com/ocornut/imgui/wiki/Links/). Please contact me with the Issues tracker or Twitter to fix/update this list. +Roadmap +------- +Some of the goals for 2018 are: +- Finish work on gamepad/keyboard controls. (see [#787](https://github.com/ocornut/imgui/issues/787)) +- Finish work on viewports and multiple OS windows management. (see [#1542](https://github.com/ocornut/imgui/issues/1542)) +- Finish work on docking, tabs. (see [#351](https://github.com/ocornut/imgui/issues/351#issuecomment-346865709)) +- Make Columns better. (they are currently pretty terrible!) +- Make the examples look better, improve styles, improve font support, make the examples hi-DPI aware. + Gallery ------- -See the [Screenshots Thread](https://github.com/ocornut/imgui/issues/123) for some user creations. +User screenshots: +
[Gallery Part 1](https://github.com/ocornut/imgui/issues/123) (Feb 2015 to Feb 2016) +
[Gallery Part 2](https://github.com/ocornut/imgui/issues/539) (Feb 2016 to Aug 2016) +
[Gallery Part 3](https://github.com/ocornut/imgui/issues/772) (Aug 2016 to Jan 2017) +
[Gallery Part 4](https://github.com/ocornut/imgui/issues/973) (Jan 2017 to Aug 2017) +
[Gallery Part 5](https://github.com/ocornut/imgui/issues/1269) (Aug 2017 onward) +
Also see the [Mega screenshots](https://github.com/ocornut/imgui/issues/1273) for an idea of the available features. -![screenshot 1](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v148/examples_01.png) +Various tools [![screenshot game](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v149/gallery_TheDragonsTrap-01-thumb.jpg)](https://cloud.githubusercontent.com/assets/8225057/20628927/33e14cac-b329-11e6-80f6-9524e93b048a.png) -![screenshot 2](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v148/examples_02.png) + +[![screenshot tool](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v160/editor_white_preview.jpg)](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v160/editor_white.png) + +![screenshot demo](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v160/v160-misc-classic.png) [![screenshot profiler](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v148/profiler-880.jpg)](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v148/profiler.png) -![screenshot 3](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v143/test_window_01.png) -![screenshot 4](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v143/test_window_03.png) -![screenshot 5](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v140/test_window_05_menus.png) -![screenshot 6](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v143/skinning_sample_02.png) -![screenshot 7](https://cloud.githubusercontent.com/assets/8225057/7903336/96f0fb7c-07d0-11e5-95d6-41c6a1595e5a.png) - -ImGui can load TTF fonts. UTF-8 is supported for text display and input. Here using Arial Unicode font to display Japanese. Initialize custom font with: -``` +Dear ImGui can load TTF/OTF fonts. UTF-8 is supported for text display and input. Here using Arial Unicode font to display Japanese. Initialize custom font with: +Code: +```cpp ImGuiIO& io = ImGui::GetIO(); -io.Fonts->AddFontFromFileTTF("ArialUni.ttf", 18.0f, NULL, io.Fonts->GetGlyphRangesJapanese()); - -// For Microsoft IME, pass your HWND to enable IME positioning: -io.ImeWindowHandle = my_hwnd; +io.Fonts->AddFontFromFileTTF("NotoSansCJKjp-Medium.otf", 20.0f, NULL, io.Fonts->GetGlyphRangesJapanese()); ``` -![Japanese screenshot](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/code_sample_01_jp.png) +```cpp +ImGui::Text(u8"こんにちは！テスト %d", 123); +if (ImGui::Button(u8"ロード")) +{ + // do stuff +} +ImGui::InputText("string", buf, IM_ARRAYSIZE(buf)); +ImGui::SliderFloat("float", &f, 0.0f, 1.0f); +``` +Result: +
![sample code output](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v160/code_sample_02_jp.png) +
_(settings: Dark style (left), Light style (right) / Font: NotoSansCJKjp-Medium, 20px / Rounding: 5)_ References ---------- @@ -115,6 +204,8 @@ The Immediate Mode GUI paradigm may at first appear unusual to some users. This - [A presentation by Rickard Gustafsson and Johannes Algelind](http://www.cse.chalmers.se/edu/year/2011/course/TDA361/Advanced%20Computer%20Graphics/IMGUI.pdf). - [Jari Komppa's tutorial on building an ImGui library](http://iki.fi/sol/imgui/). - [Casey Muratori's original video that popularized the concept](https://mollyrocket.com/861). +- [Nicolas Guillemot's CppCon'16 flashtalk about Dear ImGui](https://www.youtube.com/watch?v=LSRJ1jZq90k). +- [Thierry Excoffier's Zero Memory Widget](http://perso.univ-lyon1.fr/thierry.excoffier/ZMW/). See the [Links page](https://github.com/ocornut/imgui/wiki/Links) for third-party bindings to different languages and frameworks. @@ -124,72 +215,77 @@ Frequently Asked Question (FAQ) Where is the documentation? - The documentation is at the top of imgui.cpp + effectively imgui.h. -- Example code is in imgui_demo.cpp and particularly the ImGui::ShowTestWindow() function. It covers most features of ImGui so you can read the code and call the function itself to see its output. +- Example code is in imgui_demo.cpp and particularly the ImGui::ShowDemoWindow() function. It covers most features of ImGui so you can read the code and call the function itself to see its output. - Standalone example applications using e.g. OpenGL/DirectX are provided in the examples/ folder. - We obviously needs better documentation! Consider contributing or becoming a [Patron](http://www.patreon.com/imgui) to promote this effort. +Which version should I get? + +I occasionally tag [Releases](https://github.com/ocornut/imgui/releases) but it is generally safe and recommended to sync to master/latest. The library is fairly stable and regressions tend to be fixed fast when reported. + +Who uses Dear ImGui? + +See the [Software using dear imgui page](https://github.com/ocornut/imgui/wiki/Software-using-dear-imgui) for an (incomplete) list of games/software which are publicly known to use dear imgui. Please add yours if you can! + Why the odd dual naming, "dear imgui" vs "ImGui"? The library started its life and is best known as "ImGui" only due to the fact that I didn't give it a proper name when I released it. However, the term IMGUI (immediate-mode graphical user interface) was coined before and is being used in variety of other situations. It seemed confusing and unfair to hog the name. To reduce the ambiguity without affecting existing codebases, I have decided on an alternate, longer name "dear imgui" that people can use to refer to this specific library in ambiguous situations. -How do I update to a newer version of ImGui? -
What is ImTextureID and how do I display an image? -
I integrated ImGui in my engine and the text or lines are blurry.. -
I integrated ImGui in my engine and some elements are disappearing when I move windows around.. -
How can I have multiple widgets with the same label? Can I have widget without a label? (Yes). A primer on the purpose of labels/IDs. -
How can I tell when ImGui wants my mouse/keyboard inputs and when I can pass them to my application? +How can I help? +
How can I display an image? What is ImTextureID, how does it works? +
How can I have multiple widgets with the same label, or without any label? (Yes). A primer on labels and ID stack. +
How can I tell when Dear ImGui wants my mouse/keyboard inputs VS when I can pass them to my application?
How can I load a different font than the default?
How can I easily use icons in my application?
How can I load multiple fonts?
How can I display and input non-latin characters such as Chinese, Japanese, Korean, Cyrillic? -
How can I use the drawing facilities without an ImGui window? (using ImDrawList API) +
How can I preserve my Dear ImGui context across reloading a DLL? (loss of the global/static variables) +
How can I use the drawing facilities without an Dear ImGui window? (using ImDrawList API) +
I integrated Dear ImGui in my engine and the text or lines are blurry.. +
I integrated Dear ImGui in my engine and some elements are disappearing when I move windows around.. See the FAQ in imgui.cpp for answers. -How do you use ImGui on a platform that may not have a mouse or keyboard? +How do you use Dear ImGui on a platform that may not have a mouse or keyboard? -I recommend using [Synergy](http://synergy-project.org) ([sources](https://github.com/symless/synergy)). In particular, the _src/micro/uSynergy.c_ file contains a small client that you can use on any platform to connect to your host PC. You can seamlessly use your PC input devices from a video game console or a tablet. ImGui allows to increase the hit box of widgets (via the _TouchPadding_ setting) to accommodate a little for the lack of precision of touch inputs, but it is recommended you use a mouse to allow optimising for screen real-estate. +You can control Dear ImGui with a gamepad, see the explanation in imgui.cpp about how to use the navigation feature (short version: map your gamepad inputs into the `io.NavInputs[]` array and set `io.NavFlags |= ImGuiNavFlags_EnableGamepad`). -Can you create elaborate/serious tools with ImGui? +You can share your computer mouse seamlessy with your console/tablet/phone using [Synergy](http://synergy-project.org). This is the prefered solution for developer productivity. In particular, their [micro-synergy-client](https://github.com/symless/micro-synergy-client) repo there is _uSynergy.c_ sources for a small embeddable that you can use on any platform to connect to your host PC. You may also use a third party solution such as [Remote ImGui](https://github.com/JordiRos/remoteimgui). -Yes. I have written data browsers, debuggers, profilers and all sort of non-trivial tools with the library. In my experience the simplicity of the API is very empowering. Your UI runs close to your live data. Make the tools always-on and everybody in the team will be inclined to create new tools (as opposed to more "offline" UI toolkits where only a fraction of your team effectively creates tools). +For touch inputs, you can increase the hit box of widgets (via the _style.TouchPadding_ setting) to accommodate a little for the lack of precision of touch inputs, but it is recommended you use a mouse or gamepad to allow optimising for screen real-estate and precision. -ImGui is very programmer centric and the immediate-mode GUI paradigm might requires you to readjust some habits before you can realize its full potential. Many programmers have unfortunately been taught by their environment to make unnecessarily complicated things. ImGui is about making things that are simple, efficient and powerful. +Can you create elaborate/serious tools with Dear ImGui? -Is ImGui fast? +Yes. People have written game editors, data browsers, debuggers, profilers and all sort of non-trivial tools with the library. In my experience the simplicity of the API is very empowering. Your UI runs close to your live data. Make the tools always-on and everybody in the team will be inclined to create new tools (as opposed to more "offline" UI toolkits where only a fraction of your team effectively creates tools). The list of sponsors below is also an indicator that serious game teams have been using the library. -Probably fast enough for most uses. Down to the foundation of its visual design, ImGui is engineered to be fairly performant both in term of CPU and GPU usage. Running elaborate code and creating elaborate UI will of course have a cost but ImGui aims to minimize it. +Dear ImGui is very programmer centric and the immediate-mode GUI paradigm might requires you to readjust some habits before you can realize its full potential. Dear ImGui is about making things that are simple, efficient and powerful. -Mileage may vary but the following screenshot can give you a rough idea of the cost of running and rendering UI code (In the case of a trivial demo application like this one, your driver/os setup are likely to be the bottleneck. Testing performance as part of a real application is recommended). +Can you reskin the look of Dear ImGui? -![performance screenshot](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v138/performance_01.png) +You can alter the look of the interface to some degree: changing colors, sizes, padding, rounding, fonts. However, as Dear ImGui is designed and optimised to create debug tools, the amount of skinning you can apply is limited. There is only so much you can stray away from the default look and feel of the interface. Below is a screenshot from [LumixEngine](https://github.com/nem0/LumixEngine) with custom colors + a docking/tabs extension (both of which you can find in the Issues section and will eventually be merged): -This is showing framerate for the full application loop on my 2011 iMac running Windows 7, OpenGL, AMD Radeon HD 6700M with an optimized executable. In contrast, librairies featuring higher-quality rendering and layouting techniques may have a higher resources footprint. - -If you intend to display large lists of items (say, 1000+) it can be beneficial for your code to perform clipping manually - one way is using helpers such as ImGuiListClipper - in order to avoid submitting them to ImGui in the first place. Even though ImGui will discard your clipped items it still needs to calculate their size and that overhead will add up if you have thousands of items. If you can handle clipping and height positionning yourself then browsing a list with millions of items isn't a problem. - -Can you reskin the look of ImGui? - -You can alter the look of the interface to some degree: changing colors, sizes, padding, rounding, fonts. However, as ImGui is designed and optimised to create debug tools, the amount of skinning you can apply is limited. There is only so much you can stray away from the default look and feel of the interface. - -This is [LumixEngine](https://github.com/nem0/LumixEngine) with a minor skinning hack + a docking/tabs extension (both of which you can find in the Issues section and will eventually be merged). - -[![Skinning in LumixEngine](https://cloud.githubusercontent.com/assets/8225057/13198792/92808c5c-d812-11e5-9507-16b63918b05b.jpg)](https://cloud.githubusercontent.com/assets/8225057/13044612/59f07aec-d3cf-11e5-8ccb-39adf2e13e69.png) +![LumixEngine](https://raw.githubusercontent.com/wiki/ocornut/imgui/web/v151/lumix-201710-rearranged.png) Why using C++ (as opposed to C)? -ImGui takes advantage of a few C++ features for convenience but nothing anywhere Boost-insanity/quagmire. In particular, function overloading and default parameters are used to make the API easier to use and code more terse. Doing so I believe the API is sitting on a sweet spot and giving up on those features would make the API more cumbersome. Other features such as namespace, constructors and templates (in the case of the ImVector<> class) are also relied on as a convenience but could be removed. +Dear ImGui takes advantage of a few C++ languages features for convenience but nothing anywhere Boost-insanity/quagmire. Dear ImGui does NOT require C++11 so it can be used with most old C++ compilers. Dear ImGui doesn't use any C++ header file. Language-wise, function overloading and default parameters are used to make the API easier to use and code more terse. Doing so I believe the API is sitting on a sweet spot and giving up on those features would make the API more cumbersome. Other features such as namespace, constructors and templates (in the case of the ImVector<> class) are also relied on as a convenience. -There is an unofficial but reasonably maintained [c-api for ImGui](https://github.com/Extrawurst/cimgui) by Stephan Dilly. I would suggest using your target language functionality to try replicating the function overloading and default parameters used in C++ else the API may be harder to use. It was really designed with C++ in mind and may not make the same amount of sense with another language. Also see [Links](https://github.com/ocornut/imgui/wiki/Links) for third-party bindings to other languages. +There is an reasonably maintained [c-api for ImGui](https://github.com/Extrawurst/cimgui) by Stephan Dilly designed for binding in other languages. I would suggest using your target language functionalities to try replicating the function overloading and default parameters used in C++ else the API may be harder to use. Also see [Links](https://github.com/ocornut/imgui/wiki/Links) for third-party bindings to other languages. -Donate ------- +Support dear imgui +------------------ How can I help financing further development of Dear ImGui? -[![Patreon](https://cloud.githubusercontent.com/assets/8225057/5990484/70413560-a9ab-11e4-8942-1a63607c0b00.png)](http://www.patreon.com/imgui) [![PayPal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=5Q73FPZ9C526U) +Your contributions are keeping the library alive. If you are an individual using dear imgui, please consider donating to enable me to spend more time improving the library. -Your contributions are keeping the library alive. For end-users, I have setup an [**ImGui Patreon page**](http://www.patreon.com/imgui) if you want to donate and enable me to spend more time improving the library. If your company uses ImGui please consider making a contribution. One-off donations are also greatly appreciated. I can invoice for private support, custom development or whatever makes more sense in a given context. I am available for hire to work on or with ImGui. Please e-mail for details. Thanks! +Monthly donations via Patreon: +
[![Patreon](https://cloud.githubusercontent.com/assets/8225057/5990484/70413560-a9ab-11e4-8942-1a63607c0b00.png)](http://www.patreon.com/imgui) + +One-off donations via PayPal: +
[![PayPal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=5Q73FPZ9C526U) + +If your company uses dear imgui, please consider financial support (e.g. sponsoring a few weeks/months of development). I can invoice for private support, custom development etc. E-mail: omarcornut at gmail. Thanks! Credits ------- @@ -204,21 +300,26 @@ Embeds [stb_textedit.h, stb_truetype.h, stb_rectpack.h](https://github.com/nothi Inspiration, feedback, and testing for early versions: Casey Muratori, Atman Binstock, Mikko Mononen, Emmanuel Briney, Stefan Kamoda, Anton Mikhailov, Matt Willis. And everybody posting feedback, questions and patches on the GitHub. -Ongoing ImGui development is financially supported on [**Patreon**](http://www.patreon.com/imgui). +Ongoing dear imgui development is financially supported on [**Patreon**](http://www.patreon.com/imgui) and by private sponsors. Double-chocolate sponsors: +- Blizzard - Media Molecule - Mobigame -- Insomniac Games (sponsored the gamepad/keyboard navigation branch) +- Insomniac Games - Aras Pranckevičius +- Lizardcube +- Greggman +- DotEmu Salty caramel supporters: -- Jetha Chan, Wild Sheep Studio, Pastagames, Mārtiņš Možeiko, Daniel Collin, Recognition Robotics, Chris Genova, ikrima, Glenn Fiedler, Geoffrey Evans, Dakko Dakko. +- Jetha Chan, Wild Sheep Studio, Pastagames, Mārtiņš Možeiko, Daniel Collin, Recognition Robotics, Chris Genova, ikrima, Glenn Fiedler, Geoffrey Evans, Dakko Dakko, Mercury Labs, Singularity Demo Group, Mischa Alff, Sebastien Ronsse, Lionel Landwerlin. Caramel supporters: -- Michel Courtine, César Leblic, Dale Kim, Alex Evans, Rui Figueira, Paul Patrashcu, Jerome Lanquetot, Ctrl Alt Ninja, Paul Fleming, Neil Henning, Stephan Dilly, Neil Blakey-Milner, Aleksei, NeiloGD, Justin Paver, FiniteSol, Vincent Pancaldi, James Billot, Robin Hübner, furrtek, Eric, Simon Barratt, Game Atelier, Julian Bosch, Simon Lundmark, Vincent Hamm, Farhan Wali, Jeff Roberts, Matt Reyer, Colin Riley, Victor Martins, Josh Simmons, Garrett Hoofman, Sergio Gonzales, Andrew Berridge, Roy Eltham, Game Preservation Society, [Kit framework](http://svkonsult.se/kit), Josh Faust, Martin Donlon, Quinton, Felix. +- Michel Courtine, César Leblic, Dale Kim, Alex Evans, Rui Figueira, Paul Patrashcu, Jerome Lanquetot, Ctrl Alt Ninja, Paul Fleming, Neil Henning, Stephan Dilly, Neil Blakey-Milner, Aleksei, NeiloGD, Justin Paver, FiniteSol, Vincent Pancaldi, James Billot, Robin Hübner, furrtek, Eric, Simon Barratt, Game Atelier, Julian Bosch, Simon Lundmark, Vincent Hamm, Farhan Wali, Jeff Roberts, Matt Reyer, Colin Riley, Victor Martins, Josh Simmons, Garrett Hoofman, Sergio Gonzales, Andrew Berridge, Roy Eltham, Game Preservation Society, Kit framework, Josh Faust, Martin Donlon, Quinton, Felix, Andrew Belt, Codecat, Cort Stratton, Claudio Canepa, Doug McNabb, Emmanuel Julien, Guillaume Chereau, Jeffrey Slutter, Jeremiah Deckard, r-lyeh, Roger Clark, Nekith, Joshua Fisher, Malte Hoffmann, Mustafa Karaalioglu, Merlyn Morgan-Graham, Per Vognsen, Fabian Giesen, Jan Staubach, Matt Hargett, John Shearer, Jesse Chounard, kingcoopa, Miloš Tošić, Jonas Bernemann, Johan Andersson, Nathan Hartman, Michael Labbe, Tomasz Golebiowski, Louis Schnellbach, Felipe Alfonso, Jimmy Andrews, Bojan Endrovski, Robin Berg Pettersen, Rachel Crawford, Edsel Malasig, Andrew Johnson. And other supporters; thanks! +(Please contact me or PR if you would like to be added or removed from this list) License ------- diff --git a/examples/ThirdPartyLibs/imgui/TODO.txt b/examples/ThirdPartyLibs/imgui/TODO.txt new file mode 100644 index 000000000..939393ba6 --- /dev/null +++ b/examples/ThirdPartyLibs/imgui/TODO.txt @@ -0,0 +1,270 @@ +dear imgui +ISSUES & TODO LIST + +Issue numbers (#) refer to github issues listed at https://github.com/ocornut/imgui/issues/XXXX +The list below consist mostly of ideas noted down before they are requested/discussed by users (at which point they usually exist on the github issue tracker). +It's mostly a bunch of personal notes, probably incomplete. Feel free to query if you have any questions. + + - doc/test: add a proper documentation+regression testing system (#435) + - doc/test: checklist app to verify binding/integration of imgui (test inputs, rendering, callback, etc.). + - doc/tips: tips of the day: website? applet in imgui_club? + - project: folder or separate repository with maintained helpers (e.g. imgui_memory_editor.h, imgui_stl.h, maybe imgui_dock would be there?) + + - window: calling SetNextWindowSize() every frame with <= 0 doesn't do anything, may be useful to allow (particularly when used for a single axis). (#690) + - window: add a way for very transient windows (non-saved, temporary overlay over hundreds of objects) to "clean" up from the global window list. perhaps a lightweight explicit cleanup pass. + - window: auto-fit feedback loop when user relies on any dynamic layout (window width multiplier, column) appears weird to end-user. clarify. + - window: allow resizing of child windows (possibly given min/max for each axis?.) + - window: background options for child windows, border option (disable rounding). + - window: resizing from any sides? done. > need backends to honor mouse cursors properly. (#822) + - window: resize from borders: support some form of outer padding to make it easier to grab borders. (#822) + - window: begin with *p_open == false should return false. + - window: get size/pos helpers given names (see discussion in #249) + - window: a collapsed window can be stuck behind the main menu bar? + - window: when window is very small, prioritize resize button over close button. + - window: detect extra End() call that pop the "Debug" window out and assert at End() call site instead of at end of frame. + - window: increase minimum size of a window with menus or fix the menu rendering so that it doesn't look odd. + - window: double-clicking on title bar to minimize isn't consistent, perhaps move to single-click on left-most collapse icon? + - window: expose contents size. (#1045) + - window: GetWindowSize() returns (0,0) when not calculated? (#1045) + - window: freeze window flag: if not focused/hovered, return false, render with previous ImDrawList. and/or reduce refresh rate. +!- scrolling: allow immediately effective change of scroll after Begin() if we haven't appended items yet. + - scrolling/clipping: separator on the initial position of a window is not visible (cursorpos.y <= clippos.y). (2017-08-20: can't repro) + + - drawlist: end-user probably can't call Clear() directly because we expect a texture to be pushed in the stack. + - drawlist: maintaining bounding box per command would allow to merge draw command when clipping isn't relied on (typical non-scrolling window or non-overflowing column would merge with previous command). + - drawlist: primtiives/helpers to manipulate vertices post submission, so e.g. a quad/rect can be resized to fit later submitted content, _without_ using the ChannelSplit api + - drawlist: make it easier to toggle AA per primitive, so we can use e.g. non-AA fill + AA borders more naturally + - drawlist: non-AA strokes have gaps between points (#593, #288), especially RenderCheckmark(). + - drawlist: would be good to be able to deep copy a draw list (ImVector= op?). + - drawlist/opt: AddRect() axis aligned pixel aligned (no-aa) could use 8 triangles instead of 16 and no normal calculation. + + - main: considering adding an Init() function? some constructs are awkward in the implementation because of the lack of them. + - main: find a way to preserve relative orders of multiple reappearing windows (so an app toggling between "modes" e.g. fullscreen vs all tools) won't lose relative ordering. + - main: IsItemHovered() make it more consistent for various type of widgets, widgets with multiple components, etc. also effectively IsHovered() region sometimes differs from hot region, e.g tree nodes + - main: IsItemHovered() info stored in a stack? so that 'if TreeNode() { Text; TreePop; } if IsHovered' return the hover state of the TreeNode? + - main: rename the main "Debug" window to avoid ID collision with user who may want to use "Debug" with specific flags. + + - widgets: display mode: widget-label, label-widget (aligned on column or using fixed size), label-newline-tab-widget etc. (#395) + - widgets: clean up widgets internal toward exposing everything and stabilizing imgui_internals.h. + - widgets: add visauls for Disabled/ReadOnly mode and expose publicly (#211) + - widgets: add always-allow-overlap mode. + - widgets: alignment options in style (e.g. center Selectable, Right-Align within Button, etc.) #1260 + - widgets: activate by identifier (trigger button, focus given id) + + - input text: clean up the mess caused by converting UTF-8 <> wchar. the code is rather inefficient right now and super fragile. + - input text: reorganize event handling, allow CharFilter to modify buffers, allow multiple events? (#541) + - input text: expose CursorPos in char filter event (#816) + - input text: access public fields via a non-callback API e.g. InputTextGetState("xxx") that may return NULL if not active. + - input text: flag to disable live update of the user buffer (also applies to float/int text input) (#701) + - input text: way to dynamically grow the buffer without forcing the user to initially allocate for worse case, e.g. more natural std::string (follow up on #200) + - input text: hover tooltip could show unclamped text + - input text: option to Tab after an Enter validation. + - input text: add ImGuiInputTextFlags_EnterToApply? (off #218) + - input text: easier ways to update buffer (from source char*) while owned. preserve some sort of cursor position for multi-line text. + - input text: add discard flag (e.g. ImGuiInputTextFlags_DiscardActiveBuffer) or make it easier to clear active focus for text replacement during edition (#725) + - input text: display bug when clicking a drag/slider after an input text in a different window has all-selected text (order dependant). actually a very old bug but no one appears to have noticed it. + - input text multi-line: don't directly call AddText() which does an unnecessary vertex reserve for character count prior to clipping. and/or more line-based clipping to AddText(). and/or reorganize TextUnformatted/RenderText for more efficiency for large text (e.g TextUnformatted could clip and log separately, etc). + - input text multi-line: support for cut/paste without selection (cut/paste the current line) + - input text multi-line: line numbers? status bar? (follow up on #200) + - input text multi-line: behave better when user changes input buffer while editing is active (even though it is illegal behavior). namely, the change of buffer can create a scrollbar glitch (#725) + - input text multi-line: better horizontal scrolling support (#383, #1224) + - input text: allow centering/positioning text so that ctrl+clicking Drag or Slider keeps the textual value at the same pixel position. + - input number: optional range min/max for Input*() functions + - input number: holding [-]/[+] buttons could increase the step speed non-linearly (or user-controlled) + - input number: use mouse wheel to step up/down + - input number: applying arithmetics ops (+,-,*,/) messes up with text edit undo stack. + + - layout: helper or a way to express ImGui::SameLine(ImGui::GetCursorStartPos().x + ImGui::CalcItemWidth() + ImGui::GetStyle().ItemInnerSpacing.x); in a simpler manner. + - layout: generalization of the above: a concept equivalent to word processor ruler tab stop ~ mini columns (position in X, no clipping implied) (vaguely relate to #267, #395, also what is used internally for menu items) + - layout: horizontal layout helper (#97) + - layout: horizontal flow until no space left (#404) + - layout: more generic alignment state (left/right/centered) for single items? + - layout: clean up the InputFloatN/SliderFloatN/ColorEdit4 layout code. item width should include frame padding. + - layout: BeginGroup() needs a border option. (~#1496) + - layout: vertical alignement of mixed height items (e.g. buttons) within a same line (#1284) + + - columns: sizing policy (e.g. for each column: fixed size, %, fill, distribute default size among fills) (#513, #125) + - columns: add a conditional parameter to SetColumnOffset() (#513, #125) + - columns: headers. reorderable. (#513, #125) + - columns: optional sorting modifiers (up/down), sort list so sorting can be done multi-critera. notify user when sort order changed. + - columns: option to alternate background colors on odd/even scanlines. + - columns: allow columns to recurse. + - columns: allow a same columns set to be interrupted by e.g. CollapsingHeader and resume with columns in sync when moving them. + - columns: separator function or parameter that works within the column (currently Separator() bypass all columns) (#125) + - columns: flag to add horizontal separator above/below? + - columns/layout: setup minimum line height (equivalent of automatically calling AlignFirstTextHeightToWidgets) + +!- color: the color conversion helpers/types are a mess and needs sorting out. + - color: (api breaking) ImGui::ColorConvertXXX functions should be loose ImColorConvertXX to match imgui_internals.h + - coloredit: it is still somehow awkward to copy colors around (unless going through Hex mode). + + - plot: full featured plot/graph api w/ scrolling, zooming etc. all bell & whistle. why not! + - plot: PlotLines() should use the polygon-stroke facilities, less verticles (currently issues with averaging normals) + - plot: make it easier for user to draw extra stuff into the graph (e.g: draw basis, highlight certain points, 2d plots, multiple plots) + - plot: "smooth" automatic scale over time, user give an input 0.0(full user scale) 1.0(full derived from value) + - plot: option/feature: draw the zero line + - plot: option/feature: draw grid, vertical markers + - plot: option/feature: draw unit + - plot: add a helper e.g. Plot(char* label, float value, float time_span=2.0f) that stores values and Plot them for you - probably another function name. and/or automatically allow to plot ANY displayed value (more reliance on stable ID) + + - clipper: ability to force display 1 item in the list would be convenient (for patterns where we need to set active id etc.) + - clipper: ability to disable the clipping through a simple flag/bool. + - clipper: ability to run without knowing full count in advance. + + - splitter/separator: formalize the splitter idiom into an official api (we want to handle n-way split) (#319) + + - dock: docking extension + - dock: dock out from a collapsing header? would work nicely but need emitting window to keep submitting the code. + + - tabs: re-ordering, close buttons, context menu, persistent order (#261, #351) + + - ext: stl-ish friendly extension (imgui_stl.h) that has wrapped for std::string, std::vector etc. + + - button: provide a button that looks framed. + - image/image button: misalignment on padded/bordered button? + - image/image button: parameters are confusing, image() has tint_col,border_col whereas imagebutton() has bg_col/tint_col. Even thou they are different parameters ordering could be more consistent. can we fix that? + - image button: not taking an explicit id is odd. + - slider: allow using the [-]/[+] buttons used by InputFloat()/InputInt() + - slider: initial absolute click is imprecise. change to relative movement slider (same as scrollbar). + - slider: add dragging-based widgets to edit values with mouse (on 2 axises), saving screen real-estate. + - slider: tint background based on value (e.g. v_min -> v_max, or use 0.0f either side of the sign) + - slider: precision dragging + - slider: step option (#1183) + - knob: rotating knob widget (#942) + - slider & drag: int data passing through a float + - drag float: up/down axis + - drag float: added leeway on edge (e.g. a few invisible steps past the clamp limits) + + - combo: use clipper: make it easier to disable clipper with a single flag. + - combo: option for BeginCombo to not return true when unchanged (#1182) + - combo/listbox: keyboard control. need InputText-like non-active focus + key handling. considering keyboard for custom listbox (pr #203) + - listbox: multiple selection. + - listbox: unselect option (#1208) + - listbox: make it easier/more natural to implement range-select (need some sort of info/ref about the last clicked/focused item that user can translate to an index?) (wip stash) + - listbox: user may want to initial scroll to focus on the one selected value? + - listbox: expose hovered item for a basic ListBox + - listbox: keyboard navigation. + - listbox: scrolling should track modified selection. + +!- popups/menus: clarify usage of popups id, how MenuItem/Selectable closing parent popups affects the ID, etc. this is quite fishy needs improvement! (#331, #402) + - popups: reopening context menu at new position should be the behavior by default? (equivalent to internal OpenPopupEx() with reopen_existing=true) (~#1497) + - popups: if the popup functions took explicit ImGuiID it would allow the user to manage the scope of those ID. (#331) + - popups: clicking outside (to close popup) and holding shouldn't drag window below. + - popups: add variant using global identifier similar to Begin/End (#402) + - popups: border options. richer api like BeginChild() perhaps? (#197) + - tooltip: tooltip that doesn't fit in entire screen seems to lose their "last preferred direction" and may teleport when moving mouse. + - tooltip: allow to set the width of a tooltip to allow TextWrapped() etc. while keeping the height automatic. + - tooltip: allow tooltips with timers? or general timer policy? (instaneous vs timed) + + - menus: calling BeginMenu() twice with a same name doesn't append as Begin() does for regular windows (#1207) + - menus: menu bars inside modals windows are acting weird. + - statusbar: add a per-window status bar helper similar to what menubar does. + - shortcuts: local-style shortcut api, e.g. parse "&Save" + - shortcuts,menus: global-style shortcut api e.g. "Save (CTRL+S)" -> explicit flag for recursing into closed menu + - shortcuts: programmatically access shortcuts "Focus("&Save")) + - menus: menubars: main menu-bar could affect clamping of windows position (~ akin to modifying DisplayMin) + - menus: hovering from menu to menu on a menu-bar has 1 frame without any menu, which is a little annoying. ideally either 0 either longer. + + - text: selectable text (for copy) as a generic feature (ItemFlags?) + - text: proper alignment options in imgui_internal.h + - text wrapped: figure out better way to use TextWrapped() in an always auto-resize context (tooltip, etc.) (#249) + - text: it's currently impossible to have a window title with "##". perhaps an official workaround would be nice. \ style inhibitor? non-visible ascii code to insert between #? + - text link/url button: underlined. should api expose an ID or use text contents as ID? which colors enum to use? + + - tree node / optimization: avoid formatting when clipped. + - tree node: tree-node/header right-most side doesn't take account of horizontal scrolling. + - tree node: add treenode/treepush int variants? not there because (void*) cast from int warns on some platforms/settings? + - tree node: try to apply scrolling at time of TreePop() if node was just opened and end of node is past scrolling limits? + - tree node / selectable render mismatch which is visible if you use them both next to each other (e.g. cf. property viewer) + - tree node: tweak color scheme to distinguish headers from selected tree node (#581) + - tree node: leaf/non-leaf highlight mismatch. + +!- settings: expose enough to save/load .ini from RAM instead of fopen + - settings: write more decent code to allow saving/loading new fields: columns, selected tree nodes? + - settings: api for per-tool simple persistent data (bool,int,float,columns sizes,etc.) in .ini file (#437) + - stb: add defines to disable stb implementations + +!- style: better default styles. (#707) + - style: border types: out-screen, in-screen, etc. (#447) + - style/optimization: store rounded corners in texture to use 1 quad per corner (filled and wireframe) to lower the cost of rounding. + - style: add window shadow (fading away from the window. Paint-style calculation of vertices alpha after drawlist would be easier) + - style: a concept of "compact style" that the end-user can easily rely on (e.g. PushStyleCompact()?) that maps to other settings? avoid implementing duplicate helpers such as SmallCheckbox(), etc. + - style: try to make PushStyleVar() more robust to incorrect parameters (to be more friendly to edit & continues situation). + - style: global scale setting. + - style: WindowPadding needs to be EVEN as the 0.5 multiplier used on this value probably have a subtle effect on clip rectangle + - style: have a more global HSV setter (e.g. alter hue on all elements). consider replacing active/hovered by offset in HSV space? (#438, #707, #1223) + - style: gradients fill (#1223) ~ 2 bg colors for each fill? tricky with rounded shapes and using textures for corners. + - style editor: color child window height expressed in multiple of line height. + + - log: LogButtons() options for specifying depth and/or hiding depth slider + - log: have more control over the log scope (e.g. stop logging when leaving current tree node scope) + - log: be able to log anything (e.g. right-click on a window/tree-node, shows context menu? log into tty/file/clipboard) + - log: let user copy any window content to clipboard easily (CTRL+C on windows? while moving it? context menu?). code is commented because it fails with multiple Begin/End pairs. + + - filters: set a current filter that tree node can automatically query to hide themselves + - filters: handle wildcards (with implicit leading/trailing *), regexps + - filters: fuzzy matches (may use code at blog.forrestthewoods.com/4cffeed33fdb) + + - drag and drop: add demo. (#143, #479) + - drag and drop: test with reordering nodes (in a list, or a tree node). (#143) + - drag and drop: test integrating with os drag and drop. + - node/graph editor (#306) + - pie menus patterns (#434) + - markup: simple markup language for color change? (#902) + + - font: better vertical centering (based e.g on height of lowercase 'x'?). currently Roboto-Medium size 16 px isn't currently centered. + - font: free the Alpha buffer if user only requested RGBA. +!- font: better CalcTextSizeA() API, at least for simple use cases. current one is horrible (perhaps have simple vs extended versions). + - font: enforce monospace through ImFontConfig (for icons?) + create dual ImFont output from same input, reusing rasterized data but with different glyphs/AdvanceX + - font: finish CustomRectRegister() to allow mapping unicode codepoint to custom texture data + - font: PushFontSize API (#1018) + - font/atlas: incremental updates + - font/atlas: dynamic font atlas to avoid baking huge ranges into bitmap and make scaling easier. + - font/atlas: allow user to submit its own primitive to be rectpacked, and allow to map them on a Unicode point. + - font: MemoryTTF taking ownership confusing/not obvious, maybe default should be opposite? + - font/text: vertical and/or rotated text renderer (#705) - vertical is easier clipping wise + - font: imgui_freetype.h alternative renderer (#618) + - font: optimization: for monospace font (like the default one) we can trim IndexXAdvance as long as trailing value is == FallbackXAdvance (need to make sure TAB is still correct). + - font: add support for kerning, probably optional. A) perhaps default to (32..128)^2 matrix ~ 9K entries = 36KB, then hash for non-ascii?. B) or sparse lookup into per-char list? + - font: add a simpler CalcTextSizeA() api? current one ok but not welcome if user needs to call it directly (without going through ImGui::CalcTextSize) + - font: fix AddRemapChar() to work before font has been built. + - font: (api breaking) removed "TTF" from symbol names. also because it now supports OTF. + + - nav: integrate navigation branch into master. (#787) + - nav: allow input system to be be more tolerant of io.DeltaTime=0.0f + - nav: Left within a tree node block as a fallback. + - nav: Esc on a flattened child + - nav: menus: allow pressing Menu to leave a sub-menu. + - nav: integrate/design keyboard controls. + - nav: simulate right-click or context activation? (SHIFT+F10) + - nav: tabs should go through most/all widgets (in submission order?). + - nav: when CTRL-Tab/windowing is active, the HoveredWindow detection doesn't take account of the window display re-ordering. + - nav: cannot access menubar of a flattened child window with Alt/menu key (not a very common use case..). + - nav: esc/enter default behavior for popups, e.g. be able to mark an "ok" or "cancel" button that would get triggered by those keys. + - nav: when activating a button that changes label (without a static ID) or disappear, can we somehow automatically recover into a nearest highlight item? + - focus: preserve ActiveId/focus stack state, e.g. when opening a menu and close it, previously selected InputText() focus gets restored (#622) + - focus: SetKeyboardFocusHere() on with >= 0 offset could be done on same frame (else latch and modulate on beginning of next frame) + - focus: unable to use SetKeyboardFocusHere() on clipped widgets. (#787) + + - inputs: we need an explicit flag about whether the imgui window is focused, to be able to distinguish focused key releases vs alt-tabbing all release behaviors. + - inputs: rework IO system to be able to pass actual ordered/timestamped events. use an event queue? (~#335, #71) + - inputs: support track pad style scrolling & slider edit. + + - misc: idle refresh: expose cursor blink animation timer for backend to be able to lower framerate. + - misc: make the ImGuiCond values linear (non-power-of-two). internal storage for ImGuiWindow can use integers to combine into flags (Why?) + - misc: provide a way to compile out the entire implementation while providing a dummy API (e.g. #define IMGUI_DUMMY_IMPL) + - misc: fix for compilation settings where stdcall isn't the default (e.g. vectorcall) (#1230) + - remote: make a system like RemoteImGui first-class citizen/project (#75) + + - demo: add vertical separator demo + - demo: add virtual scrolling example? + - examples: directx9: save/restore device state more thoroughly. + - examples: window minimize, maximize (#583) + - examples: provide a zero-framerate/idle example. + - examples: glfw: could go idle when minimized? if (glfwGetWindowAttrib(window, GLFW_ICONIFIED)) { glfwWaitEvents(); continue; } // the problem is that DeltaTime will be super high on resume, perhaps provide a way to let impl know (#440) + - optimization: replace vsnprintf with stb_printf? or enable the defines/infrastructure to allow it (#1038) + - optimization: add clipping for multi-component widgets (SliderFloatX, ColorEditX, etc.). one problem is that nav branch can't easily clip parent group when there is a move request. + - optimization: add a flag to disable most of rendering, for the case where the user expect to skip it (#335) + - optimization: use another hash function than crc32, e.g. FNV1a + - optimization/render: merge command-lists with same clip-rect into one even if they aren't sequential? (as long as in-between clip rectangle don't overlap)? + - optimization: turn some the various stack vectors into statically-sized arrays diff --git a/examples/ThirdPartyLibs/imgui/imconfig.h b/examples/ThirdPartyLibs/imgui/imconfig.h index 2a956d377..afa54914c 100644 --- a/examples/ThirdPartyLibs/imgui/imconfig.h +++ b/examples/ThirdPartyLibs/imgui/imconfig.h @@ -1,7 +1,10 @@ //----------------------------------------------------------------------------- -// USER IMPLEMENTATION -// This file contains compile-time options for ImGui. -// Other options (memory allocation overrides, callbacks, etc.) can be set at runtime via the ImGuiIO structure - ImGui::GetIO(). +// COMPILE-TIME OPTIONS FOR DEAR IMGUI +// Most options (memory allocation, clipboard callbacks, etc.) can be set at runtime via the ImGuiIO structure - ImGui::GetIO(). +//----------------------------------------------------------------------------- +// A) You may edit imconfig.h (and not overwrite it when updating imgui, or maintain a patch/branch with your modifications to imconfig.h) +// B) or add configuration directives in your own file and compile with #define IMGUI_USER_CONFIG "myfilename.h" +// Note that options such as IMGUI_API, IM_VEC2_CLASS_EXTRA or ImDrawIdx needs to be defined consistently everywhere you include imgui.h, not only for the imgui*.cpp compilation units. //----------------------------------------------------------------------------- #pragma once @@ -13,26 +16,31 @@ //#define IMGUI_API __declspec( dllexport ) //#define IMGUI_API __declspec( dllimport ) -//---- Include imgui_user.h at the end of imgui.h -//#define IMGUI_INCLUDE_IMGUI_USER_H - -//---- Don't implement default handlers for Windows (so as not to link with OpenClipboard() and others Win32 functions) -//#define IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCS -//#define IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCS - -//---- Don't implement help and test window functionality (ShowUserGuide()/ShowStyleEditor()/ShowTestWindow() methods will be empty) -//#define IMGUI_DISABLE_TEST_WINDOWS - -//---- Don't define obsolete functions names +//---- Don't define obsolete functions names. Consider enabling from time to time or when updating to reduce likelihood of using already obsolete function/names //#define IMGUI_DISABLE_OBSOLETE_FUNCTIONS -//---- Pack colors to BGRA instead of RGBA (remove need to post process vertex buffer in back ends) +//---- Don't implement default handlers for Windows (so as not to link with certain functions) +//#define IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCTIONS // Don't use and link with OpenClipboard/GetClipboardData/CloseClipboard etc. +//#define IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCTIONS // Don't use and link with ImmGetContext/ImmSetCompositionWindow. + +//---- Don't implement demo windows functionality (ShowDemoWindow()/ShowStyleEditor()/ShowUserGuide() methods will be empty) +//---- It is very strongly recommended to NOT disable the demo windows. Please read the comment at the top of imgui_demo.cpp. +//#define IMGUI_DISABLE_DEMO_WINDOWS + +//---- Don't implement ImFormatString(), ImFormatStringV() so you can reimplement them yourself. +//#define IMGUI_DISABLE_FORMAT_STRING_FUNCTIONS + +//---- Include imgui_user.h at the end of imgui.h as a convenience +//#define IMGUI_INCLUDE_IMGUI_USER_H + +//---- Pack colors to BGRA8 instead of RGBA8 (if you needed to convert from one to another anyway) //#define IMGUI_USE_BGRA_PACKED_COLOR -//---- Implement STB libraries in a namespace to avoid conflicts +//---- Implement STB libraries in a namespace to avoid linkage conflicts (defaults to global namespace) //#define IMGUI_STB_NAMESPACE ImGuiStb //---- Define constructor and implicit cast operators to convert back<>forth from your math types and ImVec2/ImVec4. +// This will be inlined as part of ImVec2 and ImVec4 class declarations. /* #define IM_VEC2_CLASS_EXTRA \ ImVec2(const MyVec2& f) { x = f.x; y = f.y; } \ @@ -43,12 +51,13 @@ operator MyVec4() const { return MyVec4(x,y,z,w); } */ +//---- Use 32-bit vertex indices (instead of default 16-bit) to allow meshes with more than 64K vertices. Render function needs to support it. +//#define ImDrawIdx unsigned int + //---- Tip: You can add extra functions within the ImGui:: namespace, here or in your own headers files. -//---- e.g. create variants of the ImGui::Value() helper for your low-level math types, or your own widgets/helpers. /* namespace ImGui { - void Value(const char* prefix, const MyMatrix44& v, const char* float_format = NULL); + void MyFunction(const char* name, const MyMatrix44& v); } */ - diff --git a/examples/ThirdPartyLibs/imgui/imgui.cpp b/examples/ThirdPartyLibs/imgui/imgui.cpp index ff4617ba0..5d4c87c1d 100644 --- a/examples/ThirdPartyLibs/imgui/imgui.cpp +++ b/examples/ThirdPartyLibs/imgui/imgui.cpp @@ -1,14 +1,14 @@ -// dear imgui, v1.50 WIP +// dear imgui, v1.60 WIP // (main code and documentation) -// See ImGui::ShowTestWindow() in imgui_demo.cpp for demo code. -// Newcomers, read 'Programmer guide' below for notes on how to setup ImGui in your codebase. +// Call and read ImGui::ShowDemoWindow() in imgui_demo.cpp for demo code. +// Newcomers, read 'Programmer guide' below for notes on how to setup Dear ImGui in your codebase. // Get latest version at https://github.com/ocornut/imgui // Releases change-log at https://github.com/ocornut/imgui/releases -// Gallery (please post your screenshots/video there!): https://github.com/ocornut/imgui/issues/772 +// Gallery (please post your screenshots/video there!): https://github.com/ocornut/imgui/issues/1269 // Developed by Omar Cornut and every direct or indirect contributors to the GitHub. // This library is free but I need your support to sustain development and maintenance. -// If you work for a company, please consider financial support, e.g: https://www.patreon.com/imgui +// If you work for a company, please consider financial support, see Readme. For individuals: https://www.patreon.com/imgui /* @@ -16,20 +16,25 @@ - MISSION STATEMENT - END-USER GUIDE - PROGRAMMER GUIDE (read me!) + - Read first + - How to update to a newer version of Dear ImGui + - Getting started with integrating Dear ImGui in your code/engine + - Using gamepad/keyboard navigation [BETA] - API BREAKING CHANGES (read me when you update!) + - ISSUES & TODO LIST - FREQUENTLY ASKED QUESTIONS (FAQ), TIPS - How can I help? - - How do I update to a newer version of ImGui? - - What is ImTextureID and how do I display an image? - - I integrated ImGui in my engine and the text or lines are blurry.. - - I integrated ImGui in my engine and some elements are clipping or disappearing when I move windows around.. - - How can I have multiple widgets with the same label? Can I have widget without a label? (Yes). A primer on the purpose of labels/IDs. - - How can I tell when ImGui wants my mouse/keyboard inputs and when I can pass them to my application? + - How can I display an image? What is ImTextureID, how does it works? + - How can I have multiple widgets with the same label? Can I have widget without a label? (Yes). A primer on labels and the ID stack. + - How can I tell when Dear ImGui wants my mouse/keyboard inputs VS when I can pass them to my application? - How can I load a different font than the default? - How can I easily use icons in my application? - How can I load multiple fonts? - How can I display and input non-latin characters such as Chinese, Japanese, Korean, Cyrillic? + - How can I preserve my Dear ImGui context across reloading a DLL? (loss of the global/static variables) - How can I use the drawing facilities without an ImGui window? (using ImDrawList API) + - I integrated Dear ImGui in my engine and the text or lines are blurry.. + - I integrated Dear ImGui in my engine and some elements are clipping or disappearing when I move windows around.. - ISSUES & TODO-LIST - CODE @@ -37,112 +42,205 @@ MISSION STATEMENT ================= - - easy to use to create code-driven and data-driven tools - - easy to use to create ad hoc short-lived tools and long-lived, more elaborate tools - - easy to hack and improve - - minimize screen real-estate usage - - minimize setup and maintenance - - minimize state storage on user side - - portable, minimize dependencies, run on target (consoles, phones, etc.) - - efficient runtime (NB- we do allocate when "growing" content - creating a window / opening a tree node for the first time, etc. - but a typical frame won't allocate anything) - - read about immediate-mode gui principles @ http://mollyrocket.com/861, http://mollyrocket.com/forums/index.html + - Easy to use to create code-driven and data-driven tools + - Easy to use to create ad hoc short-lived tools and long-lived, more elaborate tools + - Easy to hack and improve + - Minimize screen real-estate usage + - Minimize setup and maintenance + - Minimize state storage on user side + - Portable, minimize dependencies, run on target (consoles, phones, etc.) + - Efficient runtime and memory consumption (NB- we do allocate when "growing" content e.g. creating a window, opening a tree node + for the first time, etc. but a typical frame won't allocate anything) Designed for developers and content-creators, not the typical end-user! Some of the weaknesses includes: - - doesn't look fancy, doesn't animate - - limited layout features, intricate layouts are typically crafted in code - - occasionally uses statically sized buffers for string manipulations - won't crash, but some very long pieces of text may be clipped. functions like ImGui::TextUnformatted() don't have such restriction. + - Doesn't look fancy, doesn't animate + - Limited layout features, intricate layouts are typically crafted in code END-USER GUIDE ============== - - double-click title bar to collapse window - - click upper right corner to close a window, available when 'bool* p_open' is passed to ImGui::Begin() - - click and drag on lower right corner to resize window - - click and drag on any empty space to move window - - double-click/double-tap on lower right corner grip to auto-fit to content - - TAB/SHIFT+TAB to cycle through keyboard editable fields - - use mouse wheel to scroll - - use CTRL+mouse wheel to zoom window contents (if IO.FontAllowScaling is true) - - CTRL+Click on a slider or drag box to input value as text - - text editor: + - Double-click on title bar to collapse window. + - Click upper right corner to close a window, available when 'bool* p_open' is passed to ImGui::Begin(). + - Click and drag on lower right corner to resize window (double-click to auto fit window to its contents). + - Click and drag on any empty space to move window. + - TAB/SHIFT+TAB to cycle through keyboard editable fields. + - CTRL+Click on a slider or drag box to input value as text. + - Use mouse wheel to scroll. + - Text editor: - Hold SHIFT or use mouse to select text. - - CTRL+Left/Right to word jump - - CTRL+Shift+Left/Right to select words - - CTRL+A our Double-Click to select all - - CTRL+X,CTRL+C,CTRL+V to use OS clipboard - - CTRL+Z,CTRL+Y to undo/redo - - ESCAPE to revert text to its original value + - CTRL+Left/Right to word jump. + - CTRL+Shift+Left/Right to select words. + - CTRL+A our Double-Click to select all. + - CTRL+X,CTRL+C,CTRL+V to use OS clipboard/ + - CTRL+Z,CTRL+Y to undo/redo. + - ESCAPE to revert text to its original value. - You can apply arithmetic operators +,*,/ on numerical values. Use +- to subtract (because - would set a negative value!) + - Controls are automatically adjusted for OSX to match standard OSX text editing operations. + - Gamepad navigation: see suggested mappings in imgui.h ImGuiNavInput_ PROGRAMMER GUIDE ================ - - read the FAQ below this section! - - your code creates the UI, if your code doesn't run the UI is gone! == very dynamic UI, no construction/destructions steps, less data retention on your side, no state duplication, less sync, less bugs. - - call and read ImGui::ShowTestWindow() for demo code demonstrating most features. - - see examples/ folder for standalone sample applications. Prefer reading examples/opengl2_example/ first as it is the simplest. - you may be able to grab and copy a ready made imgui_impl_*** file from the examples/. - - customization: PushStyleColor()/PushStyleVar() or the style editor to tweak the look of the interface (e.g. if you want a more compact UI or a different color scheme). + READ FIRST - - getting started: - - init: call ImGui::GetIO() to retrieve the ImGuiIO structure and fill the fields marked 'Settings'. - - init: call io.Fonts->GetTexDataAsRGBA32(...) and load the font texture pixels into graphics memory. - - every frame: - 1/ in your mainloop or right after you got your keyboard/mouse info, call ImGui::GetIO() and fill the fields marked 'Input' - 2/ call ImGui::NewFrame() as early as you can! - 3/ use any ImGui function you want between NewFrame() and Render() - 4/ call ImGui::Render() as late as you can to end the frame and finalize render data. it will call your RenderDrawListFn handler that you set in the IO structure. - (if you don't need to render, you still need to call Render() and ignore the callback, or call EndFrame() instead. if you call neither some aspects of windows focusing/moving will appear broken.) - - all rendering information are stored into command-lists until ImGui::Render() is called. - - ImGui never touches or know about your GPU state. the only function that knows about GPU is the RenderDrawListFn handler that you provide. - - effectively it means you can create widgets at any time in your code, regardless of considerations of being in "update" vs "render" phases of your own application. - - refer to the examples applications in the examples/ folder for instruction on how to setup your code. - - a typical application skeleton may be: + - Read the FAQ below this section! + - Your code creates the UI, if your code doesn't run the UI is gone! == very dynamic UI, no construction/destructions steps, less data retention + on your side, no state duplication, less sync, less bugs. + - Call and read ImGui::ShowDemoWindow() for demo code demonstrating most features. + - You can learn about immediate-mode gui principles at http://www.johno.se/book/imgui.html or watch http://mollyrocket.com/861 - // Application init + HOW TO UPDATE TO A NEWER VERSION OF DEAR IMGUI + + - Overwrite all the sources files except for imconfig.h (if you have made modification to your copy of imconfig.h) + - Read the "API BREAKING CHANGES" section (below). This is where we list occasional API breaking changes. + If a function/type has been renamed / or marked obsolete, try to fix the name in your code before it is permanently removed from the public API. + If you have a problem with a missing function/symbols, search for its name in the code, there will likely be a comment about it. + Please report any issue to the GitHub page! + - Try to keep your copy of dear imgui reasonably up to date. + + GETTING STARTED WITH INTEGRATING DEAR IMGUI IN YOUR CODE/ENGINE + + - Add the Dear ImGui source files to your projects, using your preferred build system. + It is recommended you build the .cpp files as part of your project and not as a library. + - You can later customize the imconfig.h file to tweak some compilation time behavior, such as integrating imgui types with your own maths types. + - See examples/ folder for standalone sample applications. + - You may be able to grab and copy a ready made imgui_impl_*** file from the examples/. + - When using Dear ImGui, your programming IDE is your friend: follow the declaration of variables, functions and types to find comments about them. + + - Init: retrieve the ImGuiIO structure with ImGui::GetIO() and fill the fields marked 'Settings': at minimum you need to set io.DisplaySize + (application resolution). Later on you will fill your keyboard mapping, clipboard handlers, and other advanced features but for a basic + integration you don't need to worry about it all. + - Init: call io.Fonts->GetTexDataAsRGBA32(...), it will build the font atlas texture, then load the texture pixels into graphics memory. + - Every frame: + - In your main loop as early a possible, fill the IO fields marked 'Input' (e.g. mouse position, buttons, keyboard info, etc.) + - Call ImGui::NewFrame() to begin the frame + - You can use any ImGui function you want between NewFrame() and Render() + - Call ImGui::Render() as late as you can to end the frame and finalize render data. it will call your io.RenderDrawListFn handler. + (Even if you don't render, call Render() and ignore the callback, or call EndFrame() instead. Otherwhise some features will break) + - All rendering information are stored into command-lists until ImGui::Render() is called. + - Dear ImGui never touches or knows about your GPU state. the only function that knows about GPU is the RenderDrawListFn handler that you provide. + - Effectively it means you can create widgets at any time in your code, regardless of considerations of being in "update" vs "render" phases + of your own application. + - Refer to the examples applications in the examples/ folder for instruction on how to setup your code. + - A minimal application skeleton may be: + + // Application init + ImGui::CreateContext(); + ImGuiIO& io = ImGui::GetIO(); + io.DisplaySize.x = 1920.0f; + io.DisplaySize.y = 1280.0f; + // TODO: Fill others settings of the io structure later. + + // Load texture atlas (there is a default font so you don't need to care about choosing a font yet) + unsigned char* pixels; + int width, height; + io.Fonts->GetTexDataAsRGBA32(pixels, &width, &height); + // TODO: At this points you've got the texture data and you need to upload that your your graphic system: + MyTexture* texture = MyEngine::CreateTextureFromMemoryPixels(pixels, width, height, TEXTURE_TYPE_RGBA) + // TODO: Store your texture pointer/identifier (whatever your engine uses) in 'io.Fonts->TexID'. This will be passed back to your via the renderer. + io.Fonts->TexID = (void*)texture; + + // Application main loop + while (true) + { + // Setup low-level inputs (e.g. on Win32, GetKeyboardState(), or write to those fields from your Windows message loop handlers, etc.) ImGuiIO& io = ImGui::GetIO(); - io.DisplaySize.x = 1920.0f; - io.DisplaySize.y = 1280.0f; - io.IniFilename = "imgui.ini"; - io.RenderDrawListsFn = my_render_function; // Setup a render function, or set to NULL and call GetDrawData() after Render() to access the render data. - // TODO: Fill others settings of the io structure + io.DeltaTime = 1.0f/60.0f; + io.MousePos = mouse_pos; + io.MouseDown[0] = mouse_button_0; + io.MouseDown[1] = mouse_button_1; - // Load texture atlas - // There is a default font so you don't need to care about choosing a font yet - unsigned char* pixels; - int width, height; - io.Fonts->GetTexDataAsRGBA32(pixels, &width, &height); - // TODO: At this points you've got a texture pointed to by 'pixels' and you need to upload that your your graphic system - // TODO: Store your texture pointer/identifier (whatever your engine uses) in 'io.Fonts->TexID' + // Call NewFrame(), after this point you can use ImGui::* functions anytime + ImGui::NewFrame(); - // Application main loop - while (true) - { - // 1) get low-level inputs (e.g. on Win32, GetKeyboardState(), or poll your events, etc.) - // TODO: fill all fields of IO structure and call NewFrame - ImGuiIO& io = ImGui::GetIO(); - io.DeltaTime = 1.0f/60.0f; - io.MousePos = mouse_pos; - io.MouseDown[0] = mouse_button_0; - io.MouseDown[1] = mouse_button_1; - io.KeysDown[i] = ... + // Most of your application code here + MyGameUpdate(); // may use any ImGui functions, e.g. ImGui::Begin("My window"); ImGui::Text("Hello, world!"); ImGui::End(); + MyGameRender(); // may use any ImGui functions as well! + + // Render & swap video buffers + ImGui::Render(); + MyImGuiRenderFunction(ImGui::GetDrawData()); + SwapBuffers(); + } - // 2) call NewFrame(), after this point you can use ImGui::* functions anytime - ImGui::NewFrame(); + // Shutdown + ImGui::DestroyContext(); - // 3) most of your application code here - MyGameUpdate(); // may use any ImGui functions, e.g. ImGui::Begin("My window"); ImGui::Text("Hello, world!"); ImGui::End(); - MyGameRender(); // may use any ImGui functions - // 4) render & swap video buffers - ImGui::Render(); - SwapBuffers(); - } + - A minimal render function skeleton may be: - - You can read back 'io.WantCaptureMouse', 'io.WantCaptureKeybord' etc. flags from the IO structure to tell how ImGui intends to use your - inputs and to know if you should share them or hide them from the rest of your application. Read the FAQ below for more information. + void void MyRenderFunction(ImDrawData* draw_data) + { + // TODO: Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled + // TODO: Setup viewport, orthographic projection matrix + // TODO: Setup shader: vertex { float2 pos, float2 uv, u32 color }, fragment shader sample color from 1 texture, multiply by vertex color. + for (int n = 0; n < draw_data->CmdListsCount; n++) + { + const ImDrawVert* vtx_buffer = cmd_list->VtxBuffer.Data; // vertex buffer generated by ImGui + const ImDrawIdx* idx_buffer = cmd_list->IdxBuffer.Data; // index buffer generated by ImGui + for (int cmd_i = 0; cmd_i < cmd_list->CmdBuffer.Size; cmd_i++) + { + const ImDrawCmd* pcmd = &cmd_list->CmdBuffer[cmd_i]; + if (pcmd->UserCallback) + { + pcmd->UserCallback(cmd_list, pcmd); + } + else + { + // The texture for the draw call is specified by pcmd->TextureId. + // The vast majority of draw calls with use the imgui texture atlas, which value you have set yourself during initialization. + MyEngineBindTexture(pcmd->TextureId); + + // We are using scissoring to clip some objects. All low-level graphics API supports it. + // If your engine doesn't support scissoring yet, you will get some small glitches (some elements outside their bounds) which you can fix later. + MyEngineScissor((int)pcmd->ClipRect.x, (int)pcmd->ClipRect.y, (int)(pcmd->ClipRect.z - pcmd->ClipRect.x), (int)(pcmd->ClipRect.w - pcmd->ClipRect.y)); + + // Render 'pcmd->ElemCount/3' indexed triangles. + // By default the indices ImDrawIdx are 16-bits, you can change them to 32-bits if your engine doesn't support 16-bits indices. + MyEngineDrawIndexedTriangles(pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer, vtx_buffer); + } + idx_buffer += pcmd->ElemCount; + } + } + } + + - The examples/ folders contains many functional implementation of the pseudo-code above. + - When calling NewFrame(), the 'io.WantCaptureMouse'/'io.WantCaptureKeyboard'/'io.WantTextInput' flags are updated. + They tell you if ImGui intends to use your inputs. So for example, if 'io.WantCaptureMouse' is set you would typically want to hide + mouse inputs from the rest of your application. Read the FAQ below for more information about those flags. + + USING GAMEPAD/KEYBOARD NAVIGATION [BETA] + + - Ask questions and report issues at https://github.com/ocornut/imgui/issues/787 + - The initial focus was to support game controllers, but keyboard is becoming increasingly and decently usable. + - Keyboard: + - Set io.NavFlags |= ImGuiNavFlags_EnableKeyboard to enable. NewFrame() will automatically fill io.NavInputs[] based on your io.KeyDown[] + io.KeyMap[] arrays. + - When keyboard navigation is active (io.NavActive + NavFlags_EnableKeyboard), the io.WantCaptureKeyboard flag will be set. + For more advanced uses, you may want to read from: + - io.NavActive: true when a window is focused and it doesn't have the ImGuiWindowFlags_NoNavInputs flag set. + - io.NavVisible: true when the navigation cursor is visible (and usually goes false when mouse is used). + - or query focus information with e.g. IsWindowFocused(), IsItemFocused() etc. functions. + Please reach out if you think the game vs navigation input sharing could be improved. + - Gamepad: + - Set io.NavFlags |= ImGuiNavFlags_EnableGamepad to enable. Fill the io.NavInputs[] fields before calling NewFrame(). Note that io.NavInputs[] is cleared by EndFrame(). + - See 'enum ImGuiNavInput_' in imgui.h for a description of inputs. For each entry of io.NavInputs[], set the following values: + 0.0f= not held. 1.0f= fully held. Pass intermediate 0.0f..1.0f values for analog triggers/sticks. + - We uses a simple >0.0f test for activation testing, and won't attempt to test for a dead-zone. + Your code will probably need to transform your raw inputs (such as e.g. remapping your 0.2..0.9 raw input range to 0.0..1.0 imgui range, maybe a power curve, etc.). + - If you need to share inputs between your game and the imgui parts, the easiest approach is to go all-or-nothing, with a buttons combo to toggle the target. + Please reach out if you think the game vs navigation input sharing could be improved. + - Mouse: + - PS4 users: Consider emulating a mouse cursor with DualShock4 touch pad or a spare analog stick as a mouse-emulation fallback. + - Consoles/Tablet/Phone users: Consider using Synergy host (on your computer) + uSynergy.c (in your console/tablet/phone app) to use your PC mouse/keyboard. + - On a TV/console system where readability may be lower or mouse inputs may be awkward, you may want to set the ImGuiNavFlags_MoveMouse flag in io.NavFlags. + Enabling ImGuiNavFlags_MoveMouse instructs dear imgui to move your mouse cursor along with navigation movements. + When enabled, the NewFrame() function may alter 'io.MousePos' and set 'io.WantMoveMouse' to notify you that it wants the mouse cursor to be moved. + When that happens your back-end NEEDS to move the OS or underlying mouse cursor on the next frame. Some of the binding in examples/ do that. + (If you set the ImGuiNavFlags_MoveMouse flag but don't honor 'io.WantMoveMouse' properly, imgui will misbehave as it will see your mouse as moving back and forth.) + (In a setup when you may not have easy control over the mouse cursor, e.g. uSynergy.c doesn't expose moving remote mouse cursor, you may want + to set a boolean to ignore your other external mouse positions until the external source is moved again.) API BREAKING CHANGES @@ -152,6 +250,59 @@ Here is a change-log of API breaking changes, if you are using one of the functions listed, expect to have to fix some code. Also read releases logs https://github.com/ocornut/imgui/releases for more details. + - 2018/02/18 (1.60) - BeginDragDropSource(): temporarily removed the optional mouse_button=0 parameter because it is really usable in typical conditions at the moment. + - 2018/02/16 (1.60) - obsoleted the io.RenderDrawListsFn callback, you can call your graphics engine render function after ImGui::Render(). Use ImGui::GetDrawData() to retrieve the ImDrawData* to display. + - 2018/02/07 (1.60) - reorganized context handling to be more explicit, + - YOU NOW NEED TO CALL ImGui::CreateContext() AT THE BEGINNING OF YOUR APP, AND CALL ImGui::DestroyContext() AT THE END. + - removed Shutdown() function, as DestroyContext() serve this purpose. + - you may pass a ImFontAtlas* pointer to CreateContext() to share a font atlas between contexts. Otherwhise CreateContext() will create its own font atlas instance. + - removed allocator parameters from CreateContext(), they are now setup with SetAllocatorFunctions(), and shared by all contexts. + - removed the default global context and font atlas instance, which were confusing for users of DLL reloading and users of multiple contexts. + - 2018/01/31 (1.60) - moved sample TTF files from extra_fonts/ to misc/fonts/. If you loaded files directly from the imgui repo you may need to update your paths. + - 2018/01/11 (1.60) - obsoleted IsAnyWindowHovered() in favor of IsWindowHovered(ImGuiHoveredFlags_AnyWindow). Kept redirection function (will obsolete). + - 2018/01/11 (1.60) - obsoleted IsAnyWindowFocused() in favor of IsWindowFocused(ImGuiFocusedFlags_AnyWindow). Kept redirection function (will obsolete). + - 2018/01/03 (1.60) - renamed ImGuiSizeConstraintCallback to ImGuiSizeCallback, ImGuiSizeConstraintCallbackData to ImGuiSizeCallbackData. + - 2017/12/29 (1.60) - removed CalcItemRectClosestPoint() which was weird and not really used by anyone except demo code. If you need it it's easy to replicate on your side. + - 2017/12/24 (1.53) - renamed the emblematic ShowTestWindow() function to ShowDemoWindow(). Kept redirection function (will obsolete). + - 2017/12/21 (1.53) - ImDrawList: renamed style.AntiAliasedShapes to style.AntiAliasedFill for consistency and as a way to explicitly break code that manipulate those flag at runtime. You can now manipulate ImDrawList::Flags + - 2017/12/21 (1.53) - ImDrawList: removed 'bool anti_aliased = true' final parameter of ImDrawList::AddPolyline() and ImDrawList::AddConvexPolyFilled(). Prefer manipulating ImDrawList::Flags if you need to toggle them during the frame. + - 2017/12/14 (1.53) - using the ImGuiWindowFlags_NoScrollWithMouse flag on a child window forwards the mouse wheel event to the parent window, unless either ImGuiWindowFlags_NoInputs or ImGuiWindowFlags_NoScrollbar are also set. + - 2017/12/13 (1.53) - renamed GetItemsLineHeightWithSpacing() to GetFrameHeightWithSpacing(). Kept redirection function (will obsolete). + - 2017/12/13 (1.53) - obsoleted IsRootWindowFocused() in favor of using IsWindowFocused(ImGuiFocusedFlags_RootWindow). Kept redirection function (will obsolete). + - obsoleted IsRootWindowOrAnyChildFocused() in favor of using IsWindowFocused(ImGuiFocusedFlags_RootAndChildWindows). Kept redirection function (will obsolete). + - 2017/12/12 (1.53) - renamed ImGuiTreeNodeFlags_AllowOverlapMode to ImGuiTreeNodeFlags_AllowItemOverlap. Kept redirection enum (will obsolete). + - 2017/12/10 (1.53) - removed SetNextWindowContentWidth(), prefer using SetNextWindowContentSize(). Kept redirection function (will obsolete). + - 2017/11/27 (1.53) - renamed ImGuiTextBuffer::append() helper to appendf(), appendv() to appendfv(). If you copied the 'Log' demo in your code, it uses appendv() so that needs to be renamed. + - 2017/11/18 (1.53) - Style, Begin: removed ImGuiWindowFlags_ShowBorders window flag. Borders are now fully set up in the ImGuiStyle structure (see e.g. style.FrameBorderSize, style.WindowBorderSize). Use ImGui::ShowStyleEditor() to look them up. + Please note that the style system will keep evolving (hopefully stabilizing in Q1 2018), and so custom styles will probably subtly break over time. It is recommended you use the StyleColorsClassic(), StyleColorsDark(), StyleColorsLight() functions. + - 2017/11/18 (1.53) - Style: removed ImGuiCol_ComboBg in favor of combo boxes using ImGuiCol_PopupBg for consistency. + - 2017/11/18 (1.53) - Style: renamed ImGuiCol_ChildWindowBg to ImGuiCol_ChildBg. + - 2017/11/18 (1.53) - Style: renamed style.ChildWindowRounding to style.ChildRounding, ImGuiStyleVar_ChildWindowRounding to ImGuiStyleVar_ChildRounding. + - 2017/11/02 (1.53) - obsoleted IsRootWindowOrAnyChildHovered() in favor of using IsWindowHovered(ImGuiHoveredFlags_RootAndChildWindows); + - 2017/10/24 (1.52) - renamed IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCS/IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCS to IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCTIONS/IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCTIONS for consistency. + - 2017/10/20 (1.52) - changed IsWindowHovered() default parameters behavior to return false if an item is active in another window (e.g. click-dragging item from another window to this window). You can use the newly introduced IsWindowHovered() flags to requests this specific behavior if you need it. + - 2017/10/20 (1.52) - marked IsItemHoveredRect()/IsMouseHoveringWindow() as obsolete, in favor of using the newly introduced flags for IsItemHovered() and IsWindowHovered(). See https://github.com/ocornut/imgui/issues/1382 for details. + removed the IsItemRectHovered()/IsWindowRectHovered() names introduced in 1.51 since they were merely more consistent names for the two functions we are now obsoleting. + - 2017/10/17 (1.52) - marked the old 5-parameters version of Begin() as obsolete (still available). Use SetNextWindowSize()+Begin() instead! + - 2017/10/11 (1.52) - renamed AlignFirstTextHeightToWidgets() to AlignTextToFramePadding(). Kept inline redirection function (will obsolete). + - 2017/09/25 (1.52) - removed SetNextWindowPosCenter() because SetNextWindowPos() now has the optional pivot information to do the same and more. Kept redirection function (will obsolete). + - 2017/08/25 (1.52) - io.MousePos needs to be set to ImVec2(-FLT_MAX,-FLT_MAX) when mouse is unavailable/missing. Previously ImVec2(-1,-1) was enough but we now accept negative mouse coordinates. In your binding if you need to support unavailable mouse, make sure to replace "io.MousePos = ImVec2(-1,-1)" with "io.MousePos = ImVec2(-FLT_MAX,-FLT_MAX)". + - 2017/08/22 (1.51) - renamed IsItemHoveredRect() to IsItemRectHovered(). Kept inline redirection function (will obsolete). -> (1.52) use IsItemHovered(ImGuiHoveredFlags_RectOnly)! + - renamed IsMouseHoveringAnyWindow() to IsAnyWindowHovered() for consistency. Kept inline redirection function (will obsolete). + - renamed IsMouseHoveringWindow() to IsWindowRectHovered() for consistency. Kept inline redirection function (will obsolete). + - 2017/08/20 (1.51) - renamed GetStyleColName() to GetStyleColorName() for consistency. + - 2017/08/20 (1.51) - added PushStyleColor(ImGuiCol idx, ImU32 col) overload, which _might_ cause an "ambiguous call" compilation error if you are using ImColor() with implicit cast. Cast to ImU32 or ImVec4 explicily to fix. + - 2017/08/15 (1.51) - marked the weird IMGUI_ONCE_UPON_A_FRAME helper macro as obsolete. prefer using the more explicit ImGuiOnceUponAFrame. + - 2017/08/15 (1.51) - changed parameter order for BeginPopupContextWindow() from (const char*,int buttons,bool also_over_items) to (const char*,int buttons,bool also_over_items). Note that most calls relied on default parameters completely. + - 2017/08/13 (1.51) - renamed ImGuiCol_Columns*** to ImGuiCol_Separator***. Kept redirection enums (will obsolete). + - 2017/08/11 (1.51) - renamed ImGuiSetCond_*** types and flags to ImGuiCond_***. Kept redirection enums (will obsolete). + - 2017/08/09 (1.51) - removed ValueColor() helpers, they are equivalent to calling Text(label) + SameLine() + ColorButton(). + - 2017/08/08 (1.51) - removed ColorEditMode() and ImGuiColorEditMode in favor of ImGuiColorEditFlags and parameters to the various Color*() functions. The SetColorEditOptions() allows to initialize default but the user can still change them with right-click context menu. + - changed prototype of 'ColorEdit4(const char* label, float col[4], bool show_alpha = true)' to 'ColorEdit4(const char* label, float col[4], ImGuiColorEditFlags flags = 0)', where passing flags = 0x01 is a safe no-op (hello dodgy backward compatibility!). - check and run the demo window, under "Color/Picker Widgets", to understand the various new options. + - changed prototype of rarely used 'ColorButton(ImVec4 col, bool small_height = false, bool outline_border = true)' to 'ColorButton(const char* desc_id, ImVec4 col, ImGuiColorEditFlags flags = 0, ImVec2 size = ImVec2(0,0))' + - 2017/07/20 (1.51) - removed IsPosHoveringAnyWindow(ImVec2), which was partly broken and misleading. ASSERT + redirect user to io.WantCaptureMouse + - 2017/05/26 (1.50) - removed ImFontConfig::MergeGlyphCenterV in favor of a more multipurpose ImFontConfig::GlyphOffset. + - 2017/05/01 (1.50) - renamed ImDrawList::PathFill() (rarely used directly) to ImDrawList::PathFillConvex() for clarity. - 2016/11/06 (1.50) - BeginChild(const char*) now applies the stack id to the provided label, consistently with other functions as it should always have been. It shouldn't affect you unless (extremely unlikely) you were appending multiple times to a same child from different locations of the stack id. If that's the case, generate an id with GetId() and use it instead of passing string to BeginChild(). - 2016/10/15 (1.50) - avoid 'void* user_data' parameter to io.SetClipboardTextFn/io.GetClipboardTextFn pointers. We pass io.ClipboardUserData to it. - 2016/09/25 (1.50) - style.WindowTitleAlign is now a ImVec2 (ImGuiAlign enum was removed). set to (0.5f,0.5f) for horizontal+vertical centering, (0.0f,0.0f) for upper-left, etc. @@ -260,90 +411,80 @@ - 2014/08/28 (1.09) - changed the behavior of IO.PixelCenterOffset following various rendering fixes + ISSUES & TODO-LIST + ================== + See TODO.txt + + FREQUENTLY ASKED QUESTIONS (FAQ), TIPS ====================================== Q: How can I help? - A: - If you are experienced enough with ImGui and with C/C++, look at the todo list and see how you want/can help! - - Become a Patron/donate. Convince your company to become a Patron or provide serious funding for development time. + A: - If you are experienced with Dear ImGui and C++, look at the github issues, or TODO.txt and see how you want/can help! + - Convince your company to fund development time! Individual users: you can also become a Patron (patreon.com/imgui) or donate on PayPal! See README. + - Disclose your usage of dear imgui via a dev blog post, a tweet, a screenshot, a mention somewhere etc. + You may post screenshot or links in the gallery threads (github.com/ocornut/imgui/issues/1269). Visuals are ideal as they inspire other programmers. + But even without visuals, disclosing your use of dear imgui help the library grow credibility, and help other teams and programmers with taking decisions. + - If you have issues or if you need to hack into the library, even if you don't expect any support it is useful that you share your issues (on github or privately). - Q: How do I update to a newer version of ImGui? - A: Overwrite the following files: - imgui.cpp - imgui.h - imgui_demo.cpp - imgui_draw.cpp - imgui_internal.h - stb_rect_pack.h - stb_textedit.h - stb_truetype.h - Don't overwrite imconfig.h if you have made modification to your copy. - Check the "API BREAKING CHANGES" sections for a list of occasional API breaking changes. If you have a problem with a function, search for its name - in the code, there will likely be a comment about it. Please report any issue to the GitHub page! - - Q: What is ImTextureID and how do I display an image? + Q: How can I display an image? What is ImTextureID, how does it works? A: ImTextureID is a void* used to pass renderer-agnostic texture references around until it hits your render function. - ImGui knows nothing about what those bits represent, it just passes them around. It is up to you to decide what you want the void* to carry! + Dear ImGui knows nothing about what those bits represent, it just passes them around. It is up to you to decide what you want the void* to carry! It could be an identifier to your OpenGL texture (cast GLuint to void*), a pointer to your custom engine material (cast MyMaterial* to void*), etc. At the end of the chain, your renderer takes this void* to cast it back into whatever it needs to select a current texture to render. Refer to examples applications, where each renderer (in a imgui_impl_xxxx.cpp file) is treating ImTextureID as a different thing. (c++ tip: OpenGL uses integers to identify textures. You can safely store an integer into a void*, just cast it to void*, don't take it's address!) To display a custom image/texture within an ImGui window, you may use ImGui::Image(), ImGui::ImageButton(), ImDrawList::AddImage() functions. - ImGui will generate the geometry and draw calls using the ImTextureID that you passed and which your renderer can use. + Dear ImGui will generate the geometry and draw calls using the ImTextureID that you passed and which your renderer can use. + You may call ImGui::ShowMetricsWindow() to explore active draw lists and visualize/understand how the draw data is generated. It is your responsibility to get textures uploaded to your GPU. - Q: I integrated ImGui in my engine and the text or lines are blurry.. - A: In your Render function, try translating your projection matrix by (0.5f,0.5f) or (0.375f,0.375f). - Also make sure your orthographic projection matrix and io.DisplaySize matches your actual framebuffer dimension. + Q: Can I have multiple widgets with the same label? Can I have widget without a label? + A: Yes. A primer on labels and the ID stack... - Q: I integrated ImGui in my engine and some elements are clipping or disappearing when I move windows around.. - A: Most likely you are mishandling the clipping rectangles in your render function. Rectangles provided by ImGui are defined as (x1=left,y1=top,x2=right,y2=bottom) and NOT as (x1,y1,width,height). + - Elements that are typically not clickable, such as Text() items don't need an ID. - Q: Can I have multiple widgets with the same label? Can I have widget without a label? (Yes) - A: Yes. A primer on the use of labels/IDs in ImGui.. + - Interactive widgets require state to be carried over multiple frames (most typically Dear ImGui often needs to remember what is + the "active" widget). to do so they need a unique ID. unique ID are typically derived from a string label, an integer index or a pointer. - - Elements that are not clickable, such as Text() items don't need an ID. + Button("OK"); // Label = "OK", ID = hash of "OK" + Button("Cancel"); // Label = "Cancel", ID = hash of "Cancel" - - Interactive widgets require state to be carried over multiple frames (most typically ImGui often needs to remember what is the "active" widget). - to do so they need a unique ID. unique ID are typically derived from a string label, an integer index or a pointer. - - Button("OK"); // Label = "OK", ID = hash of "OK" - Button("Cancel"); // Label = "Cancel", ID = hash of "Cancel" - - - ID are uniquely scoped within windows, tree nodes, etc. so no conflict can happen if you have two buttons called "OK" in two different windows - or in two different locations of a tree. + - ID are uniquely scoped within windows, tree nodes, etc. so no conflict can happen if you have two buttons called "OK" + in two different windows or in two different locations of a tree. - If you have a same ID twice in the same location, you'll have a conflict: Button("OK"); - Button("OK"); // ID collision! Both buttons will be treated as the same. + Button("OK"); // ID collision! Both buttons will be treated as the same. Fear not! this is easy to solve and there are many ways to solve it! - - When passing a label you can optionally specify extra unique ID information within string itself. This helps solving the simpler collision cases. - use "##" to pass a complement to the ID that won't be visible to the end-user: + - When passing a label you can optionally specify extra unique ID information within string itself. + Use "##" to pass a complement to the ID that won't be visible to the end-user. + This helps solving the simple collision cases when you know which items are going to be created. - Button("Play"); // Label = "Play", ID = hash of "Play" - Button("Play##foo1"); // Label = "Play", ID = hash of "Play##foo1" (different from above) - Button("Play##foo2"); // Label = "Play", ID = hash of "Play##foo2" (different from above) + Button("Play"); // Label = "Play", ID = hash of "Play" + Button("Play##foo1"); // Label = "Play", ID = hash of "Play##foo1" (different from above) + Button("Play##foo2"); // Label = "Play", ID = hash of "Play##foo2" (different from above) - If you want to completely hide the label, but still need an ID: - Checkbox("##On", &b); // Label = "", ID = hash of "##On" (no label!) + Checkbox("##On", &b); // Label = "", ID = hash of "##On" (no label!) - Occasionally/rarely you might want change a label while preserving a constant ID. This allows you to animate labels. - For example you may want to include varying information in a window title bar (and windows are uniquely identified by their ID.. obviously) + For example you may want to include varying information in a window title bar, but windows are uniquely identified by their ID.. Use "###" to pass a label that isn't part of ID: Button("Hello###ID"; // Label = "Hello", ID = hash of "ID" Button("World###ID"; // Label = "World", ID = hash of "ID" (same as above) - sprintf(buf, "My game (%f FPS)###MyGame"); + sprintf(buf, "My game (%f FPS)###MyGame", fps); Begin(buf); // Variable label, ID = hash of "MyGame" - Use PushID() / PopID() to create scopes and avoid ID conflicts within the same Window. This is the most convenient way of distinguishing ID if you are iterating and creating many UI elements. - You can push a pointer, a string or an integer value. Remember that ID are formed from the concatenation of everything in the ID stack! + You can push a pointer, a string or an integer value. Remember that ID are formed from the concatenation of _everything_ in the ID stack! for (int i = 0; i < 100; i++) { @@ -389,31 +530,41 @@ - When working with trees, ID are used to preserve the open/close state of each tree node. Depending on your use cases you may want to use strings, indices or pointers as ID. - e.g. when displaying a single object that may change over time (1-1 relationship), using a static string as ID will preserve your node open/closed state when the targeted object change. - e.g. when displaying a list of objects, using indices or pointers as ID will preserve the node open/closed state differently. experiment and see what makes more sense! + e.g. when displaying a single object that may change over time (dynamic 1-1 relationship), using a static string as ID will preserve your + node open/closed state when the targeted object change. + e.g. when displaying a list of objects, using indices or pointers as ID will preserve the node open/closed state differently. + experiment and see what makes more sense! - Q: How can I tell when ImGui wants my mouse/keyboard inputs and when I can pass them to my application? - A: You can read the 'io.WantCaptureXXX' flags in the ImGuiIO structure. Preferably read them after calling ImGui::NewFrame() to avoid those flags lagging by one frame, but either should be fine. - When 'io.WantCaptureMouse' or 'io.WantCaptureKeyboard' flags are set you may want to discard/hide the inputs from the rest of your application. - When 'io.WantInputsCharacters' is set to may want to notify your OS to popup an on-screen keyboard, if available. - ImGui is tracking dragging and widget activity that may occur outside the boundary of a window, so 'io.WantCaptureMouse' is a more accurate and complete than testing for ImGui::IsMouseHoveringAnyWindow(). - (Advanced note: text input releases focus on Return 'KeyDown', so the following Return 'KeyUp' event that your application receive will typically have 'io.WantcaptureKeyboard=false'. - Depending on your application logic it may or not be inconvenient. You might want to track which key-downs were for ImGui (e.g. with an array of bool) and filter out the corresponding key-ups.) + Q: How can I tell when Dear ImGui wants my mouse/keyboard inputs VS when I can pass them to my application? + A: You can read the 'io.WantCaptureMouse'/'io.WantCaptureKeyboard'/'ioWantTextInput' flags from the ImGuiIO structure. + - When 'io.WantCaptureMouse' or 'io.WantCaptureKeyboard' flags are set you may want to discard/hide the inputs from the rest of your application. + - When 'io.WantTextInput' is set to may want to notify your OS to popup an on-screen keyboard, if available (e.g. on a mobile phone, or console OS). + Preferably read the flags after calling ImGui::NewFrame() to avoid them lagging by one frame. But reading those flags before calling NewFrame() is + also generally ok, as the bool toggles fairly rarely and you don't generally expect to interact with either Dear ImGui or your application during + the same frame when that transition occurs. Dear ImGui is tracking dragging and widget activity that may occur outside the boundary of a window, + so 'io.WantCaptureMouse' is more accurate and correct than checking if a window is hovered. + (Advanced note: text input releases focus on Return 'KeyDown', so the following Return 'KeyUp' event that your application receive will typically + have 'io.WantCaptureKeyboard=false'. Depending on your application logic it may or not be inconvenient. You might want to track which key-downs + were for Dear ImGui, e.g. with an array of bool, and filter out the corresponding key-ups.) Q: How can I load a different font than the default? (default is an embedded version of ProggyClean.ttf, rendered at size 13) - A: Use the font atlas to load the TTF file you want: - + A: Use the font atlas to load the TTF/OTF file you want: ImGuiIO& io = ImGui::GetIO(); io.Fonts->AddFontFromFileTTF("myfontfile.ttf", size_in_pixels); io.Fonts->GetTexDataAsRGBA32() or GetTexDataAsAlpha8() + New programmers: remember that in C/C++ and most programming languages if you want to use a backslash \ in a string literal you need to write a double backslash "\\": + io.Fonts->AddFontFromFileTTF("MyDataFolder\MyFontFile.ttf", size_in_pixels); // WRONG + io.Fonts->AddFontFromFileTTF("MyDataFolder\\MyFontFile.ttf", size_in_pixels); // CORRECT + io.Fonts->AddFontFromFileTTF("MyDataFolder/MyFontFile.ttf", size_in_pixels); // ALSO CORRECT + Q: How can I easily use icons in my application? - A: The most convenient and practical way is to merge an icon font such as FontAwesome inside you main font. Then you can refer to icons within your strings. - Read 'How can I load multiple fonts?' and the file 'extra_fonts/README.txt' for instructions. + A: The most convenient and practical way is to merge an icon font such as FontAwesome inside you main font. Then you can refer to icons within your + strings. Read 'How can I load multiple fonts?' and the file 'misc/fonts/README.txt' for instructions and useful header files. Q: How can I load multiple fonts? A: Use the font atlas to pack them into a single texture: - (Read extra_fonts/README.txt and the code in ImFontAtlas for more details.) + (Read misc/fonts/README.txt and the code in ImFontAtlas for more details.) ImGuiIO& io = ImGui::GetIO(); ImFont* font0 = io.Fonts->AddFontDefault(); @@ -427,7 +578,8 @@ ImFontConfig config; config.OversampleH = 3; config.OversampleV = 1; - config.GlyphExtraSpacing.x = 1.0f; + config.GlyphOffset.y -= 2.0f; // Move everything by 2 pixels up + config.GlyphExtraSpacing.x = 1.0f; // Increase spacing between characters io.Fonts->LoadFromFileTTF("myfontfile.ttf", size_pixels, &config); // Combine multiple fonts into one (e.g. for icon fonts) @@ -440,174 +592,54 @@ Q: How can I display and input non-Latin characters such as Chinese, Japanese, Korean, Cyrillic? A: When loading a font, pass custom Unicode ranges to specify the glyphs to load. - All your strings needs to use UTF-8 encoding. Specifying literal in your source code using a local code page (such as CP-923 for Japanese or CP-1251 for Cyrillic) will not work. - In C++11 you can encode a string literal in UTF-8 by using the u8"hello" syntax. Otherwise you can convert yourself to UTF-8 or load text data from file already saved as UTF-8. - You can also try to remap your local codepage characters to their Unicode codepoint using font->AddRemapChar(), but international users may have problems reading/editing your source code. - io.Fonts->AddFontFromFileTTF("myfontfile.ttf", size_in_pixels, NULL, io.Fonts->GetGlyphRangesJapanese()); // Load Japanese characters - io.Fonts->GetTexDataAsRGBA32() or GetTexDataAsAlpha8() - io.ImeWindowHandle = MY_HWND; // To input using Microsoft IME, give ImGui the hwnd of your application + // Add default Japanese ranges + io.Fonts->AddFontFromFileTTF("myfontfile.ttf", size_in_pixels, NULL, io.Fonts->GetGlyphRangesJapanese()); + + // Or create your own custom ranges (e.g. for a game you can feed your entire game script and only build the characters the game need) + ImVector ranges; + ImFontAtlas::GlyphRangesBuilder builder; + builder.AddText("Hello world"); // Add a string (here "Hello world" contains 7 unique characters) + builder.AddChar(0x7262); // Add a specific character + builder.AddRanges(io.Fonts->GetGlyphRangesJapanese()); // Add one of the default ranges + builder.BuildRanges(&ranges); // Build the final result (ordered ranges with all the unique characters submitted) + io.Fonts->AddFontFromFileTTF("myfontfile.ttf", size_in_pixels, NULL, ranges.Data); - As for text input, depends on you passing the right character code to io.AddInputCharacter(). The example applications do that. + All your strings needs to use UTF-8 encoding. In C++11 you can encode a string literal in UTF-8 by using the u8"hello" syntax. + Specifying literal in your source code using a local code page (such as CP-923 for Japanese or CP-1251 for Cyrillic) will NOT work! + Otherwise you can convert yourself to UTF-8 or load text data from file already saved as UTF-8. + + Text input: it is up to your application to pass the right character code to io.AddInputCharacter(). The applications in examples/ are doing that. + For languages using IME, on Windows you can copy the Hwnd of your application to io.ImeWindowHandle. + The default implementation of io.ImeSetInputScreenPosFn() on Windows will set your IME position correctly. + + Q: How can I preserve my Dear ImGui context across reloading a DLL? (loss of the global/static variables) + A: Create your own context 'ctx = CreateContext()' + 'SetCurrentContext(ctx)' and your own font atlas 'ctx->GetIO().Fonts = new ImFontAtlas()' + so you don't rely on the default globals. Q: How can I use the drawing facilities without an ImGui window? (using ImDrawList API) - A: The easiest way is to create a dummy window. Call Begin() with NoTitleBar|NoResize|NoMove|NoScrollbar|NoSavedSettings|NoInputs flag, zero background alpha, - then retrieve the ImDrawList* via GetWindowDrawList() and draw to it in any way you like. + A: - You can create a dummy window. Call Begin() with NoTitleBar|NoResize|NoMove|NoScrollbar|NoSavedSettings|NoInputs flag, + push a ImGuiCol_WindowBg with zero alpha, then retrieve the ImDrawList* via GetWindowDrawList() and draw to it in any way you like. + - You can call ImGui::GetOverlayDrawList() and use this draw list to display contents over every other imgui windows. + - You can create your own ImDrawList instance. You'll need to initialize them ImGui::GetDrawListSharedData(), or create your own ImDrawListSharedData. - - tip: the construct 'IMGUI_ONCE_UPON_A_FRAME { ... }' will run the block of code only once a frame. You can use it to quickly add custom UI in the middle of a deep nested inner loop in your code. - - tip: you can create widgets without a Begin()/End() block, they will go in an implicit window called "Debug" - - tip: you can call Begin() multiple times with the same name during the same frame, it will keep appending to the same window. this is also useful to set yourself in the context of another window (to get/set other settings) + Q: I integrated Dear ImGui in my engine and the text or lines are blurry.. + A: In your Render function, try translating your projection matrix by (0.5f,0.5f) or (0.375f,0.375f). + Also make sure your orthographic projection matrix and io.DisplaySize matches your actual framebuffer dimension. + + Q: I integrated Dear ImGui in my engine and some elements are clipping or disappearing when I move windows around.. + A: You are probably mishandling the clipping rectangles in your render function. + Rectangles provided by ImGui are defined as (x1=left,y1=top,x2=right,y2=bottom) and NOT as (x1,y1,width,height). + + + - tip: you can call Begin() multiple times with the same name during the same frame, it will keep appending to the same window. + this is also useful to set yourself in the context of another window (to get/set other settings) + - tip: you can create widgets without a Begin()/End() block, they will go in an implicit window called "Debug". + - tip: the ImGuiOnceUponAFrame helper will allow run the block of code only once a frame. You can use it to quickly add custom UI in the middle + of a deep nested inner loop in your code. - tip: you can call Render() multiple times (e.g for VR renders). - - tip: call and read the ShowTestWindow() code in imgui_demo.cpp for more example of how to use ImGui! + - tip: call and read the ShowDemoWindow() code in imgui_demo.cpp for more example of how to use ImGui! - - ISSUES & TODO-LIST - ================== - Issue numbers (#) refer to github issues listed at https://github.com/ocornut/imgui/issues - The list below consist mostly of ideas noted down before they are requested/discussed by users (at which point it usually moves to the github) - - - doc: add a proper documentation+regression testing system (#435) - - window: add a way for very transient windows (non-saved, temporary overlay over hundreds of objects) to "clean" up from the global window list. perhaps a lightweight explicit cleanup pass. - - window: calling SetNextWindowSize() every frame with <= 0 doesn't do anything, may be useful to allow (particularly when used for a single axis) (#690) - - window: auto-fit feedback loop when user relies on any dynamic layout (window width multiplier, column) appears weird to end-user. clarify. - - window: allow resizing of child windows (possibly given min/max for each axis?) - - window: background options for child windows, border option (disable rounding) - - window: add a way to clear an existing window instead of appending (e.g. for tooltip override using a consistent api rather than the deferred tooltip) - - window: resizing from any sides? + mouse cursor directives for app. -!- window: begin with *p_open == false should return false. - - window: get size/pos helpers given names (see discussion in #249) - - window: a collapsed window can be stuck behind the main menu bar? - - window: when window is small, prioritize resize button over close button. - - window: detect extra End() call that pop the "Debug" window out and assert at call site instead of later. - - window/tooltip: allow to set the width of a tooltip to allow TextWrapped() etc. while keeping the height automatic. - - window: increase minimum size of a window with menus or fix the menu rendering so that it doesn't look odd. - - draw-list: maintaining bounding box per command would allow to merge draw command when clipping isn't relied on (typical non-scrolling window or non-overflowing column would merge with previous command). -!- scrolling: allow immediately effective change of scroll if we haven't appended items yet - - splitter/separator: formalize the splitter idiom into an official api (we want to handle n-way split) (#319) - - widgets: display mode: widget-label, label-widget (aligned on column or using fixed size), label-newline-tab-widget etc. - - widgets: clean up widgets internal toward exposing everything. - - widgets: add disabled and read-only modes (#211) - - main: considering adding an Init() function? some constructs are awkward in the implementation because of the lack of them. -!- main: make it so that a frame with no window registered won't refocus every window on subsequent frames (~bump LastFrameActive of all windows). - - main: IsItemHovered() make it more consistent for various type of widgets, widgets with multiple components, etc. also effectively IsHovered() region sometimes differs from hot region, e.g tree nodes - - main: IsItemHovered() info stored in a stack? so that 'if TreeNode() { Text; TreePop; } if IsHovered' return the hover state of the TreeNode? - - input text: clean up the mess caused by converting UTF-8 <> wchar. the code is rather inefficient right now and super fragile. - - input text: reorganize event handling, allow CharFilter to modify buffers, allow multiple events? (#541) - - input text: expose CursorPos in char filter event (#816) - - input text: flag to disable live update of the user buffer (also applies to float/int text input) - - input text: resize behavior - field could stretch when being edited? hover tooltip shows more text? - - input text: add ImGuiInputTextFlags_EnterToApply? (off #218) - - input text: add discard flag (e.g. ImGuiInputTextFlags_DiscardActiveBuffer) or make it easier to clear active focus for text replacement during edition (#725) - - input text multi-line: don't directly call AddText() which does an unnecessary vertex reserve for character count prior to clipping. and/or more line-based clipping to AddText(). and/or reorganize TextUnformatted/RenderText for more efficiency for large text (e.g TextUnformatted could clip and log separately, etc). - - input text multi-line: way to dynamically grow the buffer without forcing the user to initially allocate for worse case (follow up on #200) - - input text multi-line: line numbers? status bar? (follow up on #200) - - input text multi-line: behave better when user changes input buffer while editing is active (even though it is illegal behavior). namely, the change of buffer can create a scrollbar glitch (#725) - - input text: allow centering/positioning text so that ctrl+clicking Drag or Slider keeps the textual value at the same pixel position. - - input number: optional range min/max for Input*() functions - - input number: holding [-]/[+] buttons could increase the step speed non-linearly (or user-controlled) - - input number: use mouse wheel to step up/down - - input number: applying arithmetics ops (+,-,*,/) messes up with text edit undo stack. - - button: provide a button that looks framed. - - text: proper alignment options - - image/image button: misalignment on padded/bordered button? - - image/image button: parameters are confusing, image() has tint_col,border_col whereas imagebutton() has bg_col/tint_col. Even thou they are different parameters ordering could be more consistent. can we fix that? - - layout: horizontal layout helper (#97) - - layout: horizontal flow until no space left (#404) - - layout: more generic alignment state (left/right/centered) for single items? - - layout: clean up the InputFloatN/SliderFloatN/ColorEdit4 layout code. item width should include frame padding. - - layout: BeginGroup() needs a border option. - - columns: declare column set (each column: fixed size, %, fill, distribute default size among fills) (#513, #125) - - columns: add a conditional parameter to SetColumnOffset() (#513, #125) - - columns: separator function or parameter that works within the column (currently Separator() bypass all columns) (#125) - - columns: columns header to act as button (~sort op) and allow resize/reorder (#513, #125) - - columns: user specify columns size (#513, #125) - - columns: flag to add horizontal separator above/below? - - columns/layout: setup minimum line height (equivalent of automatically calling AlignFirstTextHeightToWidgets) - - combo: sparse combo boxes (via function call?) / iterators - - combo: contents should extends to fit label if combo widget is small - - combo/listbox: keyboard control. need InputText-like non-active focus + key handling. considering keyboard for custom listbox (pr #203) - - listbox: multiple selection - - listbox: user may want to initial scroll to focus on the one selected value? - - listbox: keyboard navigation. - - listbox: scrolling should track modified selection. -!- popups/menus: clarify usage of popups id, how MenuItem/Selectable closing parent popups affects the ID, etc. this is quite fishy needs improvement! (#331, #402) - - popups: add variant using global identifier similar to Begin/End (#402) - - popups: border options. richer api like BeginChild() perhaps? (#197) - - tooltip: tooltip that doesn't fit in entire screen seems to lose their "last preferred button" and may teleport when moving mouse - - menus: local shortcuts, global shortcuts (#456, #126) - - menus: icons - - menus: menubars: some sort of priority / effect of main menu-bar on desktop size? - - menus: calling BeginMenu() twice with a same name doesn't seem to append nicely - - statusbar: add a per-window status bar helper similar to what menubar does. - - tabs (#261, #351) - - separator: separator on the initial position of a window is not visible (cursorpos.y <= clippos.y) -!- color: the color helpers/typing is a mess and needs sorting out. - - color: add a better color picker (#346) - - node/graph editor (#306) - - pie menus patterns (#434) - - drag'n drop, dragging helpers (carry dragging info, visualize drag source before clicking, drop target, etc.) (#143, #479) - - plot: PlotLines() should use the polygon-stroke facilities (currently issues with averaging normals) - - plot: make it easier for user to draw extra stuff into the graph (e.g: draw basis, highlight certain points, 2d plots, multiple plots) - - plot: "smooth" automatic scale over time, user give an input 0.0(full user scale) 1.0(full derived from value) - - plot: add a helper e.g. Plot(char* label, float value, float time_span=2.0f) that stores values and Plot them for you - probably another function name. and/or automatically allow to plot ANY displayed value (more reliance on stable ID) - - slider: allow using the [-]/[+] buttons used by InputFloat()/InputInt() - - slider: initial absolute click is imprecise. change to relative movement slider (same as scrollbar). - - slider: add dragging-based widgets to edit values with mouse (on 2 axises), saving screen real-estate. - - slider: tint background based on value (e.g. v_min -> v_max, or use 0.0f either side of the sign) - - slider & drag: int data passing through a float - - drag float: up/down axis - - drag float: added leeway on edge (e.g. a few invisible steps past the clamp limits) - - tree node / optimization: avoid formatting when clipped. - - tree node: tree-node/header right-most side doesn't take account of horizontal scrolling. - - tree node: add treenode/treepush int variants? not there because (void*) cast from int warns on some platforms/settings? - - tree node: try to apply scrolling at time of TreePop() if node was just opened and end of node is past scrolling limits? - - tree node / selectable render mismatch which is visible if you use them both next to each other (e.g. cf. property viewer) - - tree node: tweak color scheme to distinguish headers from selected tree node (#581) - - textwrapped: figure out better way to use TextWrapped() in an always auto-resize context (tooltip, etc.) (#249) - - settings: write more decent code to allow saving/loading new fields - - settings: api for per-tool simple persistent data (bool,int,float,columns sizes,etc.) in .ini file - - style: add window shadows. - - style/optimization: store rounded corners in texture to use 1 quad per corner (filled and wireframe) to lower the cost of rounding. - - style: color-box not always square? - - style: a concept of "compact style" that the end-user can easily rely on (e.g. PushStyleCompact()?) that maps to other settings? avoid implementing duplicate helpers such as SmallCheckbox(), etc. - - style: try to make PushStyleVar() more robust to incorrect parameters (to be more friendly to edit & continues situation). - - style: global scale setting. - - style: WindowPadding needs to be EVEN needs the 0.5 multiplier probably have a subtle effect on clip rectangle - - text: simple markup language for color change? - - font: dynamic font atlas to avoid baking huge ranges into bitmap and make scaling easier. - - font: small opt: for monospace font (like the defalt one) we can trim IndexXAdvance as long as trailing value is == FallbackXAdvance - - font: add support for kerning, probably optional. perhaps default to (32..128)^2 matrix ~ 36KB then hash fallback. - - font: add a simpler CalcTextSizeA() api? current one ok but not welcome if user needs to call it directly (without going through ImGui::CalcTextSize) - - font: fix AddRemapChar() to work before font has been built. - - log: LogButtons() options for specifying depth and/or hiding depth slider - - log: have more control over the log scope (e.g. stop logging when leaving current tree node scope) - - log: be able to log anything (e.g. right-click on a window/tree-node, shows context menu? log into tty/file/clipboard) - - log: let user copy any window content to clipboard easily (CTRL+C on windows? while moving it? context menu?). code is commented because it fails with multiple Begin/End pairs. - - filters: set a current filter that tree node can automatically query to hide themselves - - filters: handle wildcards (with implicit leading/trailing *), regexps - - shortcuts: add a shortcut api, e.g. parse "&Save" and/or "Save (CTRL+S)", pass in to widgets or provide simple ways to use (button=activate, input=focus) -!- keyboard: tooltip & combo boxes are messing up / not honoring keyboard tabbing - - keyboard: full keyboard navigation and focus. (#323) - - focus: preserve ActiveId/focus stack state, e.g. when opening a menu and close it, previously selected InputText() focus gets restored (#622) - - focus: SetKeyboardFocusHere() on with >= 0 offset could be done on same frame (else latch and modulate on beginning of next frame) - - input: rework IO system to be able to pass actual ordered/timestamped events. (~#335, #71) - - input: allow to decide and pass explicit double-clicks (e.g. for windows by the CS_DBLCLKS style). - - input: support track pad style scrolling & slider edit. - - misc: provide a way to compile out the entire implementation while providing a dummy API (e.g. #define IMGUI_DUMMY_IMPL) - - misc: double-clicking on title bar to minimize isn't consistent, perhaps move to single-click on left-most collapse icon? - - misc: provide HoveredTime and ActivatedTime to ease the creation of animations. - - style editor: have a more global HSV setter (e.g. alter hue on all elements). consider replacing active/hovered by offset in HSV space? (#438) - - style editor: color child window height expressed in multiple of line height. - - remote: make a system like RemoteImGui first-class citizen/project (#75) - - drawlist: move Font, FontSize, FontTexUvWhitePixel inside ImDrawList and make it self-contained (apart from drawing settings?) - - drawlist: end-user probably can't call Clear() directly because we expect a texture to be pushed in the stack. - - examples: directx9: save/restore device state more thoroughly. - - examples: window minimize, maximize (#583) - - optimization: add a flag to disable most of rendering, for the case where the user expect to skip it (#335) - - optimization: use another hash function than crc32, e.g. FNV1a - - optimization/render: merge command-lists with same clip-rect into one even if they aren't sequential? (as long as in-between clip rectangle don't overlap)? - - optimization: turn some the various stack vectors into statically-sized arrays - - optimization: better clipping for multi-component widgets */ #if defined(_MSC_VER) && !defined(_CRT_SECURE_NO_WARNINGS) @@ -616,19 +648,21 @@ #include "imgui.h" #define IMGUI_DEFINE_MATH_OPERATORS -#define IMGUI_DEFINE_PLACEMENT_NEW #include "imgui_internal.h" #include // toupper, isprint #include // NULL, malloc, free, qsort, atoi #include // vsnprintf, sscanf, printf -#include // INT_MIN, INT_MAX #if defined(_MSC_VER) && _MSC_VER <= 1500 // MSVC 2008 or earlier #include // intptr_t #else #include // intptr_t #endif +#define IMGUI_DEBUG_NAV_SCORING 0 +#define IMGUI_DEBUG_NAV_RECTS 0 + +// Visual Studio warnings #ifdef _MSC_VER #pragma warning (disable: 4127) // condition expression is constant #pragma warning (disable: 4505) // unreferenced local function has been removed (stb stuff) @@ -637,12 +671,14 @@ // Clang warnings with -Weverything #ifdef __clang__ +#pragma clang diagnostic ignored "-Wunknown-pragmas" // warning : unknown warning group '-Wformat-pedantic *' // not all warnings are known by all clang versions.. so ignoring warnings triggers new warnings on some configuration. great! #pragma clang diagnostic ignored "-Wold-style-cast" // warning : use of old-style cast // yes, they are more terse. -#pragma clang diagnostic ignored "-Wfloat-equal" // warning : comparing floating point with == or != is unsafe // storing and comparing against same constants ok. +#pragma clang diagnostic ignored "-Wfloat-equal" // warning : comparing floating point with == or != is unsafe // storing and comparing against same constants (typically 0.0f) is ok. #pragma clang diagnostic ignored "-Wformat-nonliteral" // warning : format string is not a string literal // passing non-literal to vsnformat(). yes, user passing incorrect format strings can crash the code. #pragma clang diagnostic ignored "-Wexit-time-destructors" // warning : declaration requires an exit-time destructor // exit-time destruction order is undefined. if MemFree() leads to users code that has been disabled before exit it might cause problems. ImGui coding style welcomes static/globals. #pragma clang diagnostic ignored "-Wglobal-constructors" // warning : declaration requires a global destructor // similar to above, not sure what the exact difference it. #pragma clang diagnostic ignored "-Wsign-conversion" // warning : implicit conversion changes signedness // +#pragma clang diagnostic ignored "-Wformat-pedantic" // warning : format specifies type 'void *' but the argument has type 'xxxx *' // unreasonable, would lead to casting every %p arg to void*. probably enabled by -pedantic. #pragma clang diagnostic ignored "-Wint-to-void-pointer-cast" // warning : cast to 'void *' from smaller integer type 'int' // #elif defined(__GNUC__) #pragma GCC diagnostic ignored "-Wunused-function" // warning: 'xxxx' defined but not used @@ -651,53 +687,51 @@ #pragma GCC diagnostic ignored "-Wdouble-promotion" // warning: implicit conversion from 'float' to 'double' when passing argument to function #pragma GCC diagnostic ignored "-Wconversion" // warning: conversion to 'xxxx' from 'xxxx' may alter its value #pragma GCC diagnostic ignored "-Wcast-qual" // warning: cast from type 'xxxx' to type 'xxxx' casts away qualifiers +#pragma GCC diagnostic ignored "-Wformat-nonliteral" // warning: format not a string literal, format string not checked +#pragma GCC diagnostic ignored "-Wstrict-overflow" // warning: assuming signed overflow does not occur when assuming that (X - c) > X is always false +#endif + +// Enforce cdecl calling convention for functions called by the standard library, in case compilation settings changed the default to e.g. __vectorcall +#ifdef _MSC_VER +#define IMGUI_CDECL __cdecl +#else +#define IMGUI_CDECL #endif //------------------------------------------------------------------------- // Forward Declarations //------------------------------------------------------------------------- -static void LogRenderedText(const ImVec2& ref_pos, const char* text, const char* text_end = NULL); - -static void PushMultiItemsWidths(int components, float w_full = 0.0f); -static float GetDraggedColumnOffset(int column_index); - static bool IsKeyPressedMap(ImGuiKey key, bool repeat = true); static ImFont* GetDefaultFont(); -static void SetCurrentFont(ImFont* font); static void SetCurrentWindow(ImGuiWindow* window); +static void SetWindowScrollX(ImGuiWindow* window, float new_scroll_x); static void SetWindowScrollY(ImGuiWindow* window, float new_scroll_y); -static void SetWindowPos(ImGuiWindow* window, const ImVec2& pos, ImGuiSetCond cond); -static void SetWindowSize(ImGuiWindow* window, const ImVec2& size, ImGuiSetCond cond); -static void SetWindowCollapsed(ImGuiWindow* window, bool collapsed, ImGuiSetCond cond); -static ImGuiWindow* FindHoveredWindow(ImVec2 pos, bool excluding_childs); +static void SetWindowPos(ImGuiWindow* window, const ImVec2& pos, ImGuiCond cond); +static void SetWindowSize(ImGuiWindow* window, const ImVec2& size, ImGuiCond cond); +static void SetWindowCollapsed(ImGuiWindow* window, bool collapsed, ImGuiCond cond); +static ImGuiWindow* FindHoveredWindow(); static ImGuiWindow* CreateNewWindow(const char* name, ImVec2 size, ImGuiWindowFlags flags); -static inline bool IsWindowContentHoverable(ImGuiWindow* window); -static void ClearSetNextWindowData(); static void CheckStacksSize(ImGuiWindow* window, bool write); -static void Scrollbar(ImGuiWindow* window, bool horizontal); +static ImVec2 CalcNextScrollFromScrollTargetAndClamp(ImGuiWindow* window); -static void AddDrawListToRenderList(ImVector& out_render_list, ImDrawList* draw_list); -static void AddWindowToRenderList(ImVector& out_render_list, ImGuiWindow* window); -static void AddWindowToSortedBuffer(ImVector& out_sorted_windows, ImGuiWindow* window); +static void AddDrawListToDrawData(ImVector* out_list, ImDrawList* draw_list); +static void AddWindowToDrawData(ImVector* out_list, ImGuiWindow* window); +static void AddWindowToSortedBuffer(ImVector* out_sorted_windows, ImGuiWindow* window); + +static ImGuiWindowSettings* AddWindowSettings(const char* name); -static ImGuiIniData* FindWindowSettings(const char* name); -static ImGuiIniData* AddWindowSettings(const char* name); static void LoadIniSettingsFromDisk(const char* ini_filename); +static void LoadIniSettingsFromMemory(const char* buf); static void SaveIniSettingsToDisk(const char* ini_filename); -static void MarkIniSettingsDirty(); +static void SaveIniSettingsToMemory(ImVector& out_buf); +static void MarkIniSettingsDirty(ImGuiWindow* window); -static void PushColumnClipRect(int column_index = -1); -static ImRect GetVisibleRect(); +static ImRect GetViewportRect(); -static bool BeginPopupEx(const char* str_id, ImGuiWindowFlags extra_flags); -static void CloseInactivePopups(); static void ClosePopupToLevel(int remaining); -static void ClosePopup(ImGuiID id); -static bool IsPopupOpen(ImGuiID id); static ImGuiWindow* GetFrontMostModalRootWindow(); -static ImVec2 FindBestPopupWindowPos(const ImVec2& base_pos, const ImVec2& size, int* last_dir, const ImRect& rect_to_avoid); static bool InputTextFilterCharacter(unsigned int* p_char, ImGuiInputTextFlags flags, ImGuiTextEditCallback callback, void* user_data); static int InputTextCalcTextLenAndLineCount(const char* text_begin, const char** out_text_end); @@ -708,6 +742,17 @@ static inline void DataTypeFormatString(ImGuiDataType data_type, void* data static void DataTypeApplyOp(ImGuiDataType data_type, int op, void* value1, const void* value2); static bool DataTypeApplyOpFromText(const char* buf, const char* initial_value_buf, ImGuiDataType data_type, void* data_ptr, const char* scalar_format); +namespace ImGui +{ +static void NavUpdate(); +static void NavUpdateWindowing(); +static void NavProcessItem(ImGuiWindow* window, const ImRect& nav_bb, const ImGuiID id); + +static void UpdateMovingWindow(); +static void UpdateManualResize(ImGuiWindow* window, const ImVec2& size_auto_fit, int* border_held, int resize_grip_count, ImU32 resize_grip_col[4]); +static void FocusFrontMostActiveWindow(ImGuiWindow* ignore_window); +} + //----------------------------------------------------------------------------- // Platform dependent default implementations //----------------------------------------------------------------------------- @@ -720,20 +765,32 @@ static void ImeSetInputScreenPosFn_DefaultImpl(int x, int y); // Context //----------------------------------------------------------------------------- -// Default font atlas storage . -// New contexts always point by default to this font atlas. It can be changed by reassigning the GetIO().Fonts variable. -static ImFontAtlas GImDefaultFontAtlas; - -// Default context storage + current context pointer. -// Implicitely used by all ImGui functions. Always assumed to be != NULL. Change to a different context by calling ImGui::SetCurrentContext() -// ImGui is currently not thread-safe because of this variable. If you want thread-safety to allow N threads to access N different contexts, you might work around it by: +// Current context pointer. Implicitely used by all ImGui functions. Always assumed to be != NULL. +// CreateContext() will automatically set this pointer if it is NULL. Change to a different context by calling ImGui::SetCurrentContext(). +// If you use DLL hotreloading you might need to call SetCurrentContext() after reloading code from this file. +// ImGui functions are not thread-safe because of this pointer. If you want thread-safety to allow N threads to access N different contexts, you can: +// - Change this variable to use thread local storage. You may #define GImGui in imconfig.h for that purpose. Future development aim to make this context pointer explicit to all calls. Also read https://github.com/ocornut/imgui/issues/586 // - Having multiple instances of the ImGui code compiled inside different namespace (easiest/safest, if you have a finite number of contexts) -// - or: Changing this variable to be TLS. You may #define GImGui in imconfig.h for further custom hackery. Future development aim to make this context pointer explicit to all calls. Also read https://github.com/ocornut/imgui/issues/586 #ifndef GImGui -static ImGuiContext GImDefaultContext; -ImGuiContext* GImGui = &GImDefaultContext; +ImGuiContext* GImGui = NULL; #endif +// Memory Allocator functions. Use SetAllocatorFunctions() to change them. +// If you use DLL hotreloading you might need to call SetAllocatorFunctions() after reloading code from this file. +// Otherwise, you probably don't want to modify them mid-program, and if you use global/static e.g. ImVector<> instances you may need to keep them accessible during program destruction. +#ifndef IMGUI_DISABLE_DEFAULT_ALLOCATORS +static void* MallocWrapper(size_t size, void* user_data) { (void)user_data; return malloc(size); } +static void FreeWrapper(void* ptr, void* user_data) { (void)user_data; free(ptr); } +#else +static void* MallocWrapper(size_t size, void* user_data) { (void)user_data; (void)size; IM_ASSERT(0); return NULL; } +static void FreeWrapper(void* ptr, void* user_data) { (void)user_data; (void)ptr; IM_ASSERT(0); } +#endif + +static void* (*GImAllocatorAllocFunc)(size_t size, void* user_data) = MallocWrapper; +static void (*GImAllocatorFreeFunc)(void* ptr, void* user_data) = FreeWrapper; +static void* GImAllocatorUserData = NULL; +static size_t GImAllocatorActiveAllocationsCount = 0; + //----------------------------------------------------------------------------- // User facing structures //----------------------------------------------------------------------------- @@ -742,12 +799,17 @@ ImGuiStyle::ImGuiStyle() { Alpha = 1.0f; // Global alpha applies to everything in ImGui WindowPadding = ImVec2(8,8); // Padding within a window + WindowRounding = 7.0f; // Radius of window corners rounding. Set to 0.0f to have rectangular windows + WindowBorderSize = 1.0f; // Thickness of border around windows. Generally set to 0.0f or 1.0f. Other values not well tested. WindowMinSize = ImVec2(32,32); // Minimum window size - WindowRounding = 9.0f; // Radius of window corners rounding. Set to 0.0f to have rectangular windows WindowTitleAlign = ImVec2(0.0f,0.5f);// Alignment for title bar text - ChildWindowRounding = 0.0f; // Radius of child window corners rounding. Set to 0.0f to have rectangular child windows + ChildRounding = 0.0f; // Radius of child window corners rounding. Set to 0.0f to have rectangular child windows + ChildBorderSize = 1.0f; // Thickness of border around child windows. Generally set to 0.0f or 1.0f. Other values not well tested. + PopupRounding = 0.0f; // Radius of popup window corners rounding. Set to 0.0f to have rectangular child windows + PopupBorderSize = 1.0f; // Thickness of border around popup or tooltip windows. Generally set to 0.0f or 1.0f. Other values not well tested. FramePadding = ImVec2(4,3); // Padding within a framed rectangle (used by most widgets) FrameRounding = 0.0f; // Radius of frame corners rounding. Set to 0.0f to have rectangular frames (used by most widgets). + FrameBorderSize = 0.0f; // Thickness of border around frames. Generally set to 0.0f or 1.0f. Other values not well tested. ItemSpacing = ImVec2(8,4); // Horizontal and vertical spacing between widgets/lines ItemInnerSpacing = ImVec2(4,4); // Horizontal and vertical spacing between within elements of a composed widget (e.g. a slider and its label) TouchExtraPadding = ImVec2(0,0); // Expand reactive bounding box for touch-based system where touch position is not accurate enough. Unfortunately we don't sort widgets so priority on overlap will always be given to the first widget. So don't grow this too much! @@ -760,53 +822,37 @@ ImGuiStyle::ImGuiStyle() ButtonTextAlign = ImVec2(0.5f,0.5f);// Alignment of button text when button is larger than text. DisplayWindowPadding = ImVec2(22,22); // Window positions are clamped to be visible within the display area by at least this amount. Only covers regular windows. DisplaySafeAreaPadding = ImVec2(4,4); // If you cannot see the edge of your screen (e.g. on a TV) increase the safe area padding. Covers popups/tooltips as well regular windows. + MouseCursorScale = 1.0f; // Scale software rendered mouse cursor (when io.MouseDrawCursor is enabled). May be removed later. AntiAliasedLines = true; // Enable anti-aliasing on lines/borders. Disable if you are really short on CPU/GPU. - AntiAliasedShapes = true; // Enable anti-aliasing on filled shapes (rounded rectangles, circles, etc.) - CurveTessellationTol = 1.25f; // Tessellation tolerance. Decrease for highly tessellated curves (higher quality, more polygons), increase to reduce quality. + AntiAliasedFill = true; // Enable anti-aliasing on filled shapes (rounded rectangles, circles, etc.) + CurveTessellationTol = 1.25f; // Tessellation tolerance when using PathBezierCurveTo() without a specific number of segments. Decrease for highly tessellated curves (higher quality, more polygons), increase to reduce quality. - Colors[ImGuiCol_Text] = ImVec4(0.90f, 0.90f, 0.90f, 1.00f); - Colors[ImGuiCol_TextDisabled] = ImVec4(0.60f, 0.60f, 0.60f, 1.00f); - Colors[ImGuiCol_WindowBg] = ImVec4(0.00f, 0.00f, 0.00f, 0.70f); - Colors[ImGuiCol_ChildWindowBg] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f); - Colors[ImGuiCol_PopupBg] = ImVec4(0.05f, 0.05f, 0.10f, 0.90f); - Colors[ImGuiCol_Border] = ImVec4(0.70f, 0.70f, 0.70f, 0.65f); - Colors[ImGuiCol_BorderShadow] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f); - Colors[ImGuiCol_FrameBg] = ImVec4(0.80f, 0.80f, 0.80f, 0.30f); // Background of checkbox, radio button, plot, slider, text input - Colors[ImGuiCol_FrameBgHovered] = ImVec4(0.90f, 0.80f, 0.80f, 0.40f); - Colors[ImGuiCol_FrameBgActive] = ImVec4(0.90f, 0.65f, 0.65f, 0.45f); - Colors[ImGuiCol_TitleBg] = ImVec4(0.27f, 0.27f, 0.54f, 0.83f); - Colors[ImGuiCol_TitleBgCollapsed] = ImVec4(0.40f, 0.40f, 0.80f, 0.20f); - Colors[ImGuiCol_TitleBgActive] = ImVec4(0.32f, 0.32f, 0.63f, 0.87f); - Colors[ImGuiCol_MenuBarBg] = ImVec4(0.40f, 0.40f, 0.55f, 0.80f); - Colors[ImGuiCol_ScrollbarBg] = ImVec4(0.20f, 0.25f, 0.30f, 0.60f); - Colors[ImGuiCol_ScrollbarGrab] = ImVec4(0.40f, 0.40f, 0.80f, 0.30f); - Colors[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.40f, 0.40f, 0.80f, 0.40f); - Colors[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.80f, 0.50f, 0.50f, 0.40f); - Colors[ImGuiCol_ComboBg] = ImVec4(0.20f, 0.20f, 0.20f, 0.99f); - Colors[ImGuiCol_CheckMark] = ImVec4(0.90f, 0.90f, 0.90f, 0.50f); - Colors[ImGuiCol_SliderGrab] = ImVec4(1.00f, 1.00f, 1.00f, 0.30f); - Colors[ImGuiCol_SliderGrabActive] = ImVec4(0.80f, 0.50f, 0.50f, 1.00f); - Colors[ImGuiCol_Button] = ImVec4(0.67f, 0.40f, 0.40f, 0.60f); - Colors[ImGuiCol_ButtonHovered] = ImVec4(0.67f, 0.40f, 0.40f, 1.00f); - Colors[ImGuiCol_ButtonActive] = ImVec4(0.80f, 0.50f, 0.50f, 1.00f); - Colors[ImGuiCol_Header] = ImVec4(0.40f, 0.40f, 0.90f, 0.45f); - Colors[ImGuiCol_HeaderHovered] = ImVec4(0.45f, 0.45f, 0.90f, 0.80f); - Colors[ImGuiCol_HeaderActive] = ImVec4(0.53f, 0.53f, 0.87f, 0.80f); - Colors[ImGuiCol_Column] = ImVec4(0.50f, 0.50f, 0.50f, 1.00f); - Colors[ImGuiCol_ColumnHovered] = ImVec4(0.70f, 0.60f, 0.60f, 1.00f); - Colors[ImGuiCol_ColumnActive] = ImVec4(0.90f, 0.70f, 0.70f, 1.00f); - Colors[ImGuiCol_ResizeGrip] = ImVec4(1.00f, 1.00f, 1.00f, 0.30f); - Colors[ImGuiCol_ResizeGripHovered] = ImVec4(1.00f, 1.00f, 1.00f, 0.60f); - Colors[ImGuiCol_ResizeGripActive] = ImVec4(1.00f, 1.00f, 1.00f, 0.90f); - Colors[ImGuiCol_CloseButton] = ImVec4(0.50f, 0.50f, 0.90f, 0.50f); - Colors[ImGuiCol_CloseButtonHovered] = ImVec4(0.70f, 0.70f, 0.90f, 0.60f); - Colors[ImGuiCol_CloseButtonActive] = ImVec4(0.70f, 0.70f, 0.70f, 1.00f); - Colors[ImGuiCol_PlotLines] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f); - Colors[ImGuiCol_PlotLinesHovered] = ImVec4(0.90f, 0.70f, 0.00f, 1.00f); - Colors[ImGuiCol_PlotHistogram] = ImVec4(0.90f, 0.70f, 0.00f, 1.00f); - Colors[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00f, 0.60f, 0.00f, 1.00f); - Colors[ImGuiCol_TextSelectedBg] = ImVec4(0.00f, 0.00f, 1.00f, 0.35f); - Colors[ImGuiCol_ModalWindowDarkening] = ImVec4(0.20f, 0.20f, 0.20f, 0.35f); + ImGui::StyleColorsClassic(this); +} + +// To scale your entire UI (e.g. if you want your app to use High DPI or generally be DPI aware) you may use this helper function. Scaling the fonts is done separately and is up to you. +// Important: This operation is lossy because we round all sizes to integer. If you need to change your scale multiples, call this over a freshly initialized ImGuiStyle structure rather than scaling multiple times. +void ImGuiStyle::ScaleAllSizes(float scale_factor) +{ + WindowPadding = ImFloor(WindowPadding * scale_factor); + WindowRounding = ImFloor(WindowRounding * scale_factor); + WindowMinSize = ImFloor(WindowMinSize * scale_factor); + ChildRounding = ImFloor(ChildRounding * scale_factor); + PopupRounding = ImFloor(PopupRounding * scale_factor); + FramePadding = ImFloor(FramePadding * scale_factor); + FrameRounding = ImFloor(FrameRounding * scale_factor); + ItemSpacing = ImFloor(ItemSpacing * scale_factor); + ItemInnerSpacing = ImFloor(ItemInnerSpacing * scale_factor); + TouchExtraPadding = ImFloor(TouchExtraPadding * scale_factor); + IndentSpacing = ImFloor(IndentSpacing * scale_factor); + ColumnsMinSpacing = ImFloor(ColumnsMinSpacing * scale_factor); + ScrollbarSize = ImFloor(ScrollbarSize * scale_factor); + ScrollbarRounding = ImFloor(ScrollbarRounding * scale_factor); + GrabMinSize = ImFloor(GrabMinSize * scale_factor); + GrabRounding = ImFloor(GrabRounding * scale_factor); + DisplayWindowPadding = ImFloor(DisplayWindowPadding * scale_factor); + DisplaySafeAreaPadding = ImFloor(DisplaySafeAreaPadding * scale_factor); + MouseCursorScale = ImFloor(MouseCursorScale * scale_factor); } ImGuiIO::ImGuiIO() @@ -814,43 +860,54 @@ ImGuiIO::ImGuiIO() // Most fields are initialized with zero memset(this, 0, sizeof(*this)); + // Settings DisplaySize = ImVec2(-1.0f, -1.0f); DeltaTime = 1.0f/60.0f; + NavFlags = 0x00; IniSavingRate = 5.0f; IniFilename = "imgui.ini"; LogFilename = "imgui_log.txt"; - Fonts = &GImDefaultFontAtlas; - FontGlobalScale = 1.0f; - FontDefault = NULL; - DisplayFramebufferScale = ImVec2(1.0f, 1.0f); - MousePos = ImVec2(-1,-1); - MousePosPrev = ImVec2(-1,-1); MouseDoubleClickTime = 0.30f; MouseDoubleClickMaxDist = 6.0f; - MouseDragThreshold = 6.0f; - for (int i = 0; i < IM_ARRAYSIZE(MouseDownDuration); i++) - MouseDownDuration[i] = MouseDownDurationPrev[i] = -1.0f; - for (int i = 0; i < IM_ARRAYSIZE(KeysDownDuration); i++) - KeysDownDuration[i] = KeysDownDurationPrev[i] = -1.0f; for (int i = 0; i < ImGuiKey_COUNT; i++) KeyMap[i] = -1; KeyRepeatDelay = 0.250f; KeyRepeatRate = 0.050f; UserData = NULL; - // User functions - RenderDrawListsFn = NULL; - MemAllocFn = malloc; - MemFreeFn = free; + Fonts = NULL; + FontGlobalScale = 1.0f; + FontDefault = NULL; + FontAllowUserScaling = false; + DisplayFramebufferScale = ImVec2(1.0f, 1.0f); + DisplayVisibleMin = DisplayVisibleMax = ImVec2(0.0f, 0.0f); + + // Advanced/subtle behaviors +#ifdef __APPLE__ + OptMacOSXBehaviors = true; // Set Mac OS X style defaults based on __APPLE__ compile time flag +#else + OptMacOSXBehaviors = false; +#endif + OptCursorBlink = true; + + // Settings (User Functions) GetClipboardTextFn = GetClipboardTextFn_DefaultImpl; // Platform dependent default implementations SetClipboardTextFn = SetClipboardTextFn_DefaultImpl; ClipboardUserData = NULL; ImeSetInputScreenPosFn = ImeSetInputScreenPosFn_DefaultImpl; + ImeWindowHandle = NULL; - // Set OS X style defaults based on __APPLE__ compile time flag -#ifdef __APPLE__ - OSXBehaviors = true; +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + RenderDrawListsFn = NULL; #endif + + // Input (NB: we already have memset zero the entire structure) + MousePos = ImVec2(-FLT_MAX, -FLT_MAX); + MousePosPrev = ImVec2(-FLT_MAX, -FLT_MAX); + MouseDragThreshold = 6.0f; + for (int i = 0; i < IM_ARRAYSIZE(MouseDownDuration); i++) MouseDownDuration[i] = MouseDownDurationPrev[i] = -1.0f; + for (int i = 0; i < IM_ARRAYSIZE(KeysDownDuration); i++) KeysDownDuration[i] = KeysDownDurationPrev[i] = -1.0f; + for (int i = 0; i < IM_ARRAYSIZE(NavInputsDownDuration); i++) NavInputsDownDuration[i] = -1.0f; } // Pass in translated ASCII characters for text input. @@ -890,7 +947,20 @@ void ImGuiIO::AddInputCharactersUTF8(const char* utf8_chars) #define IM_NEWLINE "\n" #endif -bool ImIsPointInTriangle(const ImVec2& p, const ImVec2& a, const ImVec2& b, const ImVec2& c) +ImVec2 ImLineClosestPoint(const ImVec2& a, const ImVec2& b, const ImVec2& p) +{ + ImVec2 ap = p - a; + ImVec2 ab_dir = b - a; + float dot = ap.x * ab_dir.x + ap.y * ab_dir.y; + if (dot < 0.0f) + return a; + float ab_len_sqr = ab_dir.x * ab_dir.x + ab_dir.y * ab_dir.y; + if (dot > ab_len_sqr) + return b; + return a + ab_dir * dot / ab_len_sqr; +} + +bool ImTriangleContainsPoint(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& p) { bool b1 = ((p.x - b.x) * (a.y - b.y) - (p.y - b.y) * (a.x - b.x)) < 0.0f; bool b2 = ((p.x - c.x) * (b.y - c.y) - (p.y - c.y) * (b.x - c.x)) < 0.0f; @@ -898,6 +968,33 @@ bool ImIsPointInTriangle(const ImVec2& p, const ImVec2& a, const ImVec2& b, cons return ((b1 == b2) && (b2 == b3)); } +void ImTriangleBarycentricCoords(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& p, float& out_u, float& out_v, float& out_w) +{ + ImVec2 v0 = b - a; + ImVec2 v1 = c - a; + ImVec2 v2 = p - a; + const float denom = v0.x * v1.y - v1.x * v0.y; + out_v = (v2.x * v1.y - v1.x * v2.y) / denom; + out_w = (v0.x * v2.y - v2.x * v0.y) / denom; + out_u = 1.0f - out_v - out_w; +} + +ImVec2 ImTriangleClosestPoint(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& p) +{ + ImVec2 proj_ab = ImLineClosestPoint(a, b, p); + ImVec2 proj_bc = ImLineClosestPoint(b, c, p); + ImVec2 proj_ca = ImLineClosestPoint(c, a, p); + float dist2_ab = ImLengthSqr(p - proj_ab); + float dist2_bc = ImLengthSqr(p - proj_bc); + float dist2_ca = ImLengthSqr(p - proj_ca); + float m = ImMin(dist2_ab, ImMin(dist2_bc, dist2_ca)); + if (m == dist2_ab) + return proj_ab; + if (m == dist2_bc) + return proj_bc; + return proj_ca; +} + int ImStricmp(const char* str1, const char* str2) { int d; @@ -905,25 +1002,33 @@ int ImStricmp(const char* str1, const char* str2) return d; } -int ImStrnicmp(const char* str1, const char* str2, int count) +int ImStrnicmp(const char* str1, const char* str2, size_t count) { int d = 0; while (count > 0 && (d = toupper(*str2) - toupper(*str1)) == 0 && *str1) { str1++; str2++; count--; } return d; } -void ImStrncpy(char* dst, const char* src, int count) +void ImStrncpy(char* dst, const char* src, size_t count) { if (count < 1) return; - strncpy(dst, src, (size_t)count); + strncpy(dst, src, count); dst[count-1] = 0; } char* ImStrdup(const char *str) { size_t len = strlen(str) + 1; - void* buff = ImGui::MemAlloc(len); - return (char*)memcpy(buff, (const void*)str, len); + void* buf = ImGui::MemAlloc(len); + return (char*)memcpy(buf, (const void*)str, len); +} + +char* ImStrchrRange(const char* str, const char* str_end, char c) +{ + for ( ; str < str_end; str++) + if (*str == c) + return (char*)str; + return NULL; } int ImStrlenW(const ImWchar* str) @@ -962,31 +1067,47 @@ const char* ImStristr(const char* haystack, const char* haystack_end, const char return NULL; } - -// MSVC version appears to return -1 on overflow, whereas glibc appears to return total count (which may be >= buf_size). -// Ideally we would test for only one of those limits at runtime depending on the behavior the vsnprintf(), but trying to deduct it at compile time sounds like a pandora can of worm. -int ImFormatString(char* buf, int buf_size, const char* fmt, ...) +static const char* ImAtoi(const char* src, int* output) +{ + int negative = 0; + if (*src == '-') { negative = 1; src++; } + if (*src == '+') { src++; } + int v = 0; + while (*src >= '0' && *src <= '9') + v = (v * 10) + (*src++ - '0'); + *output = negative ? -v : v; + return src; +} + +// A) MSVC version appears to return -1 on overflow, whereas glibc appears to return total count (which may be >= buf_size). +// Ideally we would test for only one of those limits at runtime depending on the behavior the vsnprintf(), but trying to deduct it at compile time sounds like a pandora can of worm. +// B) When buf==NULL vsnprintf() will return the output size. +#ifndef IMGUI_DISABLE_FORMAT_STRING_FUNCTIONS +int ImFormatString(char* buf, size_t buf_size, const char* fmt, ...) { - IM_ASSERT(buf_size > 0); va_list args; va_start(args, fmt); int w = vsnprintf(buf, buf_size, fmt, args); va_end(args); - if (w == -1 || w >= buf_size) - w = buf_size - 1; + if (buf == NULL) + return w; + if (w == -1 || w >= (int)buf_size) + w = (int)buf_size - 1; buf[w] = 0; return w; } -int ImFormatStringV(char* buf, int buf_size, const char* fmt, va_list args) +int ImFormatStringV(char* buf, size_t buf_size, const char* fmt, va_list args) { - IM_ASSERT(buf_size > 0); int w = vsnprintf(buf, buf_size, fmt, args); - if (w == -1 || w >= buf_size) - w = buf_size - 1; + if (buf == NULL) + return w; + if (w == -1 || w >= (int)buf_size) + w = (int)buf_size - 1; buf[w] = 0; return w; } +#endif // #ifdef IMGUI_DISABLE_FORMAT_STRING_FUNCTIONS // Pass data_size==0 for zero-terminated strings // FIXME-OPT: Replace with e.g. FNV1a hash? CRC32 pretty much randomly access 1KB. Need to do proper measurements. @@ -1230,18 +1351,36 @@ ImU32 ImGui::ColorConvertFloat4ToU32(const ImVec4& in) ImU32 ImGui::GetColorU32(ImGuiCol idx, float alpha_mul) { - ImVec4 c = GImGui->Style.Colors[idx]; - c.w *= GImGui->Style.Alpha * alpha_mul; + ImGuiStyle& style = GImGui->Style; + ImVec4 c = style.Colors[idx]; + c.w *= style.Alpha * alpha_mul; return ColorConvertFloat4ToU32(c); } ImU32 ImGui::GetColorU32(const ImVec4& col) { + ImGuiStyle& style = GImGui->Style; ImVec4 c = col; - c.w *= GImGui->Style.Alpha; + c.w *= style.Alpha; return ColorConvertFloat4ToU32(c); } +const ImVec4& ImGui::GetStyleColorVec4(ImGuiCol idx) +{ + ImGuiStyle& style = GImGui->Style; + return style.Colors[idx]; +} + +ImU32 ImGui::GetColorU32(ImU32 col) +{ + float style_alpha = GImGui->Style.Alpha; + if (style_alpha >= 1.0f) + return col; + int a = (col & IM_COL32_A_MASK) >> IM_COL32_A_SHIFT; + a = (int)(a * style_alpha); // We don't need to clamp 0..255 because Style.Alpha is in 0..1 range. + return (col & ~IM_COL32_A_MASK) | (a << IM_COL32_A_SHIFT); +} + // Convert rgb floats ([0-1],[0-1],[0-1]) to hsv floats ([0-1],[0-1],[0-1]), from Foley & van Dam p592 // Optimized http://lolengine.net/blog/2013/01/13/fast-rgb-to-hsv void ImGui::ColorConvertRGBtoHSV(float r, float g, float b, float& out_h, float& out_s, float& out_v) @@ -1249,12 +1388,12 @@ void ImGui::ColorConvertRGBtoHSV(float r, float g, float b, float& out_h, float& float K = 0.f; if (g < b) { - const float tmp = g; g = b; b = tmp; + ImSwap(g, b); K = -1.f; } if (r < g) { - const float tmp = r; r = g; g = tmp; + ImSwap(r, g); K = -2.f / 6.f - K; } @@ -1353,23 +1492,18 @@ void* ImFileLoadToMemory(const char* filename, const char* file_open_mode, int* //----------------------------------------------------------------------------- // ImGuiStorage -//----------------------------------------------------------------------------- - // Helper: Key->value storage -void ImGuiStorage::Clear() -{ - Data.clear(); -} +//----------------------------------------------------------------------------- // std::lower_bound but without the bullshit static ImVector::iterator LowerBound(ImVector& data, ImGuiID key) { ImVector::iterator first = data.begin(); ImVector::iterator last = data.end(); - int count = (int)(last - first); + size_t count = (size_t)(last - first); while (count > 0) { - int count2 = count / 2; + size_t count2 = count >> 1; ImVector::iterator mid = first + count2; if (mid->key < key) { @@ -1384,6 +1518,23 @@ static ImVector::iterator LowerBound(ImVectorkey > ((const Pair*)rhs)->key) return +1; + if (((const Pair*)lhs)->key < ((const Pair*)rhs)->key) return -1; + return 0; + } + }; + if (Data.Size > 1) + qsort(Data.Data, (size_t)Data.Size, sizeof(Pair), StaticFunc::PairCompareByID); +} + int ImGuiStorage::GetInt(ImGuiID key, int default_val) const { ImVector::iterator it = LowerBound(const_cast&>(Data), key); @@ -1599,12 +1750,12 @@ bool ImGuiTextFilter::PassFilter(const char* text, const char* text_end) const #endif // Helper: Text buffer for logging/accumulating text -void ImGuiTextBuffer::appendv(const char* fmt, va_list args) +void ImGuiTextBuffer::appendfv(const char* fmt, va_list args) { va_list args_copy; va_copy(args_copy, args); - int len = vsnprintf(NULL, 0, fmt, args); // FIXME-OPT: could do a first pass write attempt, likely successful on first pass. + int len = ImFormatStringV(NULL, 0, fmt, args); // FIXME-OPT: could do a first pass write attempt, likely successful on first pass. if (len <= 0) return; @@ -1617,22 +1768,22 @@ void ImGuiTextBuffer::appendv(const char* fmt, va_list args) } Buf.resize(needed_sz); - ImFormatStringV(&Buf[write_off] - 1, len+1, fmt, args_copy); + ImFormatStringV(&Buf[write_off - 1], len + 1, fmt, args_copy); } -void ImGuiTextBuffer::append(const char* fmt, ...) +void ImGuiTextBuffer::appendf(const char* fmt, ...) { va_list args; va_start(args, fmt); - appendv(fmt, args); + appendfv(fmt, args); va_end(args); } //----------------------------------------------------------------------------- -// ImGuiSimpleColumns +// ImGuiSimpleColumns (internal use only) //----------------------------------------------------------------------------- -ImGuiSimpleColumns::ImGuiSimpleColumns() +ImGuiMenuColumns::ImGuiMenuColumns() { Count = 0; Spacing = Width = NextWidth = 0.0f; @@ -1640,7 +1791,7 @@ ImGuiSimpleColumns::ImGuiSimpleColumns() memset(NextWidths, 0, sizeof(NextWidths)); } -void ImGuiSimpleColumns::Update(int count, float spacing, bool clear) +void ImGuiMenuColumns::Update(int count, float spacing, bool clear) { IM_ASSERT(Count <= IM_ARRAYSIZE(Pos)); Count = count; @@ -1657,7 +1808,7 @@ void ImGuiSimpleColumns::Update(int count, float spacing, bool clear) } } -float ImGuiSimpleColumns::DeclColumns(float w0, float w1, float w2) // not using va_arg because they promote float to double +float ImGuiMenuColumns::DeclColumns(float w0, float w1, float w2) // not using va_arg because they promote float to double { NextWidth = 0.0f; NextWidths[0] = ImMax(NextWidths[0], w0); @@ -1668,7 +1819,7 @@ float ImGuiSimpleColumns::DeclColumns(float w0, float w1, float w2) // not using return ImMax(Width, NextWidth); } -float ImGuiSimpleColumns::CalcExtraSpace(float avail_w) +float ImGuiMenuColumns::CalcExtraSpace(float avail_w) { return ImMax(0.0f, avail_w - Width); } @@ -1685,8 +1836,8 @@ static void SetCursorPosYAndSetupDummyPrevLine(float pos_y, float line_height) ImGuiWindow* window = ImGui::GetCurrentWindow(); window->DC.CursorPosPrevLine.y = window->DC.CursorPos.y - line_height; // Setting those fields so that SetScrollHere() can properly function after the end of our clipper usage. window->DC.PrevLineHeight = (line_height - GImGui->Style.ItemSpacing.y); // If we end up needing more accurate data (to e.g. use SameLine) we may as well make the clipper have a fourth step to let user process and display the last item in their list. - if (window->DC.ColumnsCount > 1) - window->DC.ColumnsCellMinY = window->DC.CursorPos.y; // Setting this so that cell Y position are set properly + if (window->DC.ColumnsSet) + window->DC.ColumnsSet->CellMinY = window->DC.CursorPos.y; // Setting this so that cell Y position are set properly } // Use case A: Begin() called from constructor with items_height<0, then called again from Sync() in StepNo 1 @@ -1760,48 +1911,59 @@ bool ImGuiListClipper::Step() // ImGuiWindow //----------------------------------------------------------------------------- -ImGuiWindow::ImGuiWindow(const char* name) +ImGuiWindow::ImGuiWindow(ImGuiContext* context, const char* name) { Name = ImStrdup(name); ID = ImHash(name, 0); IDStack.push_back(ID); - MoveId = GetID("#MOVE"); - Flags = 0; - IndexWithinParent = 0; PosFloat = Pos = ImVec2(0.0f, 0.0f); Size = SizeFull = ImVec2(0.0f, 0.0f); SizeContents = SizeContentsExplicit = ImVec2(0.0f, 0.0f); WindowPadding = ImVec2(0.0f, 0.0f); + WindowRounding = 0.0f; + WindowBorderSize = 0.0f; + MoveId = GetID("#MOVE"); + ChildId = 0; Scroll = ImVec2(0.0f, 0.0f); ScrollTarget = ImVec2(FLT_MAX, FLT_MAX); ScrollTargetCenterRatio = ImVec2(0.5f, 0.5f); ScrollbarX = ScrollbarY = false; ScrollbarSizes = ImVec2(0.0f, 0.0f); - BorderSize = 0.0f; Active = WasActive = false; - Accessed = false; + WriteAccessed = false; Collapsed = false; + CollapseToggleWanted = false; SkipItems = false; + Appearing = false; + CloseButton = false; + BeginOrderWithinParent = -1; + BeginOrderWithinContext = -1; BeginCount = 0; PopupId = 0; AutoFitFramesX = AutoFitFramesY = -1; AutoFitOnlyGrows = false; - AutoPosLastDirection = -1; + AutoFitChildAxises = 0x00; + AutoPosLastDirection = ImGuiDir_None; HiddenFrames = 0; - SetWindowPosAllowFlags = SetWindowSizeAllowFlags = SetWindowCollapsedAllowFlags = ImGuiSetCond_Always | ImGuiSetCond_Once | ImGuiSetCond_FirstUseEver | ImGuiSetCond_Appearing; - SetWindowPosCenterWanted = false; + SetWindowPosAllowFlags = SetWindowSizeAllowFlags = SetWindowCollapsedAllowFlags = ImGuiCond_Always | ImGuiCond_Once | ImGuiCond_FirstUseEver | ImGuiCond_Appearing; + SetWindowPosVal = SetWindowPosPivot = ImVec2(FLT_MAX, FLT_MAX); LastFrameActive = -1; ItemWidthDefault = 0.0f; FontWindowScale = 1.0f; - DrawList = (ImDrawList*)ImGui::MemAlloc(sizeof(ImDrawList)); - IM_PLACEMENT_NEW(DrawList) ImDrawList(); + DrawList = IM_NEW(ImDrawList)(&context->DrawListSharedData); DrawList->_OwnerName = Name; - RootWindow = NULL; - RootNonPopupWindow = NULL; ParentWindow = NULL; + RootWindow = NULL; + RootWindowForTitleBarHighlight = NULL; + RootWindowForTabbing = NULL; + RootWindowForNav = NULL; + + NavLastIds[0] = NavLastIds[1] = 0; + NavRectRel[0] = NavRectRel[1] = ImRect(); + NavLastChildNavWindow = NULL; FocusIdxAllCounter = FocusIdxTabCounter = -1; FocusIdxAllRequestCurrent = FocusIdxTabRequestCurrent = INT_MAX; @@ -1810,11 +1972,10 @@ ImGuiWindow::ImGuiWindow(const char* name) ImGuiWindow::~ImGuiWindow() { - DrawList->~ImDrawList(); - ImGui::MemFree(DrawList); - DrawList = NULL; - ImGui::MemFree(Name); - Name = NULL; + IM_DELETE(DrawList); + IM_DELETE(Name); + for (int i = 0; i != ColumnsStorage.Size; i++) + ColumnsStorage[i].~ImGuiColumnsSet(); } ImGuiID ImGuiWindow::GetID(const char* str, const char* str_end) @@ -1839,6 +2000,16 @@ ImGuiID ImGuiWindow::GetIDNoKeepAlive(const char* str, const char* str_end) return ImHash(str, str_end ? (int)(str_end - str) : 0, seed); } +// This is only used in rare/specific situations to manufacture an ID out of nowhere. +ImGuiID ImGuiWindow::GetIDFromRectangle(const ImRect& r_abs) +{ + ImGuiID seed = IDStack.back(); + const int r_rel[4] = { (int)(r_abs.Min.x - Pos.x), (int)(r_abs.Min.y - Pos.y), (int)(r_abs.Max.x - Pos.x), (int)(r_abs.Max.y - Pos.y) }; + ImGuiID id = ImHash(&r_rel, sizeof(r_rel), seed); + ImGui::KeepAliveID(id); + return id; +} + //----------------------------------------------------------------------------- // Internal API exposed in imgui_internal.h //----------------------------------------------------------------------------- @@ -1848,25 +2019,71 @@ static void SetCurrentWindow(ImGuiWindow* window) ImGuiContext& g = *GImGui; g.CurrentWindow = window; if (window) - g.FontSize = window->CalcFontSize(); + g.FontSize = g.DrawListSharedData.FontSize = window->CalcFontSize(); } -ImGuiWindow* ImGui::GetParentWindow() +static void SetNavID(ImGuiID id, int nav_layer) { ImGuiContext& g = *GImGui; - IM_ASSERT(g.CurrentWindowStack.Size >= 2); - return g.CurrentWindowStack[(unsigned int)g.CurrentWindowStack.Size - 2]; + IM_ASSERT(g.NavWindow); + IM_ASSERT(nav_layer == 0 || nav_layer == 1); + g.NavId = id; + g.NavWindow->NavLastIds[nav_layer] = id; +} + +static void SetNavIDAndMoveMouse(ImGuiID id, int nav_layer, const ImRect& rect_rel) +{ + ImGuiContext& g = *GImGui; + SetNavID(id, nav_layer); + g.NavWindow->NavRectRel[nav_layer] = rect_rel; + g.NavMousePosDirty = true; + g.NavDisableHighlight = false; + g.NavDisableMouseHover = true; } void ImGui::SetActiveID(ImGuiID id, ImGuiWindow* window) { ImGuiContext& g = *GImGui; + g.ActiveIdIsJustActivated = (g.ActiveId != id); + if (g.ActiveIdIsJustActivated) + g.ActiveIdTimer = 0.0f; g.ActiveId = id; + g.ActiveIdAllowNavDirFlags = 0; g.ActiveIdAllowOverlap = false; - g.ActiveIdIsJustActivated = true; - if (id) - g.ActiveIdIsAlive = true; g.ActiveIdWindow = window; + if (id) + { + g.ActiveIdIsAlive = true; + g.ActiveIdSource = (g.NavActivateId == id || g.NavInputId == id || g.NavJustTabbedId == id || g.NavJustMovedToId == id) ? ImGuiInputSource_Nav : ImGuiInputSource_Mouse; + } +} + +ImGuiID ImGui::GetActiveID() +{ + ImGuiContext& g = *GImGui; + return g.ActiveId; +} + +void ImGui::SetFocusID(ImGuiID id, ImGuiWindow* window) +{ + ImGuiContext& g = *GImGui; + IM_ASSERT(id != 0); + + // Assume that SetFocusID() is called in the context where its NavLayer is the current layer, which is the case everywhere we call it. + const int nav_layer = window->DC.NavLayerCurrent; + if (g.NavWindow != window) + g.NavInitRequest = false; + g.NavId = id; + g.NavWindow = window; + g.NavLayer = nav_layer; + window->NavLastIds[nav_layer] = id; + if (window->DC.LastItemId == id) + window->NavRectRel[nav_layer] = ImRect(window->DC.LastItemRect.Min - window->Pos, window->DC.LastItemRect.Max - window->Pos); + + if (g.ActiveIdSource == ImGuiInputSource_Nav) + g.NavDisableMouseHover = true; + else + g.NavDisableHighlight = true; } void ImGui::ClearActiveID() @@ -1879,6 +2096,13 @@ void ImGui::SetHoveredID(ImGuiID id) ImGuiContext& g = *GImGui; g.HoveredId = id; g.HoveredIdAllowOverlap = false; + g.HoveredIdTimer = (id != 0 && g.HoveredIdPreviousFrame == id) ? (g.HoveredIdTimer + g.IO.DeltaTime) : 0.0f; +} + +ImGuiID ImGui::GetHoveredID() +{ + ImGuiContext& g = *GImGui; + return g.HoveredId ? g.HoveredId : g.HoveredIdPreviousFrame; } void ImGui::KeepAliveID(ImGuiID id) @@ -1888,27 +2112,51 @@ void ImGui::KeepAliveID(ImGuiID id) g.ActiveIdIsAlive = true; } +static inline bool IsWindowContentHoverable(ImGuiWindow* window, ImGuiHoveredFlags flags) +{ + // An active popup disable hovering on other windows (apart from its own children) + // FIXME-OPT: This could be cached/stored within the window. + ImGuiContext& g = *GImGui; + if (g.NavWindow) + if (ImGuiWindow* focused_root_window = g.NavWindow->RootWindow) + if (focused_root_window->WasActive && focused_root_window != window->RootWindow) + { + // For the purpose of those flags we differentiate "standard popup" from "modal popup" + // NB: The order of those two tests is important because Modal windows are also Popups. + if (focused_root_window->Flags & ImGuiWindowFlags_Modal) + return false; + if ((focused_root_window->Flags & ImGuiWindowFlags_Popup) && !(flags & ImGuiHoveredFlags_AllowWhenBlockedByPopup)) + return false; + } + + return true; +} + // Advance cursor given item size for layout. void ImGui::ItemSize(const ImVec2& size, float text_offset_y) { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; if (window->SkipItems) return; // Always align ourselves on pixel boundaries - ImGuiContext& g = *GImGui; const float line_height = ImMax(window->DC.CurrentLineHeight, size.y); const float text_base_offset = ImMax(window->DC.CurrentLineTextBaseOffset, text_offset_y); + //if (g.IO.KeyAlt) window->DrawList->AddRect(window->DC.CursorPos, window->DC.CursorPos + ImVec2(size.x, line_height), IM_COL32(255,0,0,200)); // [DEBUG] window->DC.CursorPosPrevLine = ImVec2(window->DC.CursorPos.x + size.x, window->DC.CursorPos.y); window->DC.CursorPos = ImVec2((float)(int)(window->Pos.x + window->DC.IndentX + window->DC.ColumnsOffsetX), (float)(int)(window->DC.CursorPos.y + line_height + g.Style.ItemSpacing.y)); window->DC.CursorMaxPos.x = ImMax(window->DC.CursorMaxPos.x, window->DC.CursorPosPrevLine.x); - window->DC.CursorMaxPos.y = ImMax(window->DC.CursorMaxPos.y, window->DC.CursorPos.y); - - //window->DrawList->AddCircle(window->DC.CursorMaxPos, 3.0f, IM_COL32(255,0,0,255), 4); // Debug + window->DC.CursorMaxPos.y = ImMax(window->DC.CursorMaxPos.y, window->DC.CursorPos.y - g.Style.ItemSpacing.y); + //if (g.IO.KeyAlt) window->DrawList->AddCircle(window->DC.CursorMaxPos, 3.0f, IM_COL32(255,0,0,255), 4); // [DEBUG] window->DC.PrevLineHeight = line_height; window->DC.PrevLineTextBaseOffset = text_base_offset; window->DC.CurrentLineHeight = window->DC.CurrentLineTextBaseOffset = 0.0f; + + // Horizontal layout mode + if (window->DC.LayoutType == ImGuiLayoutType_Horizontal) + SameLine(); } void ImGui::ItemSize(const ImRect& bb, float text_offset_y) @@ -1916,84 +2164,388 @@ void ImGui::ItemSize(const ImRect& bb, float text_offset_y) ItemSize(bb.GetSize(), text_offset_y); } -// Declare item bounding box for clipping and interaction. -// Note that the size can be different than the one provided to ItemSize(). Typically, widgets that spread over available surface -// declares their minimum size requirement to ItemSize() and then use a larger region for drawing/interaction, which is passed to ItemAdd(). -bool ImGui::ItemAdd(const ImRect& bb, const ImGuiID* id) +static ImGuiDir NavScoreItemGetQuadrant(float dx, float dy) { - ImGuiWindow* window = GetCurrentWindow(); - window->DC.LastItemId = id ? *id : 0; - window->DC.LastItemRect = bb; - window->DC.LastItemHoveredAndUsable = window->DC.LastItemHoveredRect = false; - if (IsClippedEx(bb, id, false)) + if (fabsf(dx) > fabsf(dy)) + return (dx > 0.0f) ? ImGuiDir_Right : ImGuiDir_Left; + return (dy > 0.0f) ? ImGuiDir_Down : ImGuiDir_Up; +} + +static float NavScoreItemDistInterval(float a0, float a1, float b0, float b1) +{ + if (a1 < b0) + return a1 - b0; + if (b1 < a0) + return a0 - b1; + return 0.0f; +} + +// Scoring function for directional navigation. Based on https://gist.github.com/rygorous/6981057 +static bool NavScoreItem(ImGuiNavMoveResult* result, ImRect cand) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + if (g.NavLayer != window->DC.NavLayerCurrent) return false; - // This is a sensible default, but widgets are free to override it after calling ItemAdd() - ImGuiContext& g = *GImGui; - if (IsMouseHoveringRect(bb.Min, bb.Max)) + const ImRect& curr = g.NavScoringRectScreen; // Current modified source rect (NB: we've applied Max.x = Min.x in NavUpdate() to inhibit the effect of having varied item width) + g.NavScoringCount++; + + // We perform scoring on items bounding box clipped by their parent window on the other axis (clipping on our movement axis would give us equal scores for all clipped items) + if (g.NavMoveDir == ImGuiDir_Left || g.NavMoveDir == ImGuiDir_Right) { - // Matching the behavior of IsHovered() but allow if ActiveId==window->MoveID (we clicked on the window background) - // So that clicking on items with no active id such as Text() still returns true with IsItemHovered() - window->DC.LastItemHoveredRect = true; - if (g.HoveredRootWindow == window->RootWindow) - if (g.ActiveId == 0 || (id && g.ActiveId == *id) || g.ActiveIdAllowOverlap || (g.ActiveId == window->MoveId)) - if (IsWindowContentHoverable(window)) - window->DC.LastItemHoveredAndUsable = true; + cand.Min.y = ImClamp(cand.Min.y, window->ClipRect.Min.y, window->ClipRect.Max.y); + cand.Max.y = ImClamp(cand.Max.y, window->ClipRect.Min.y, window->ClipRect.Max.y); + } + else + { + cand.Min.x = ImClamp(cand.Min.x, window->ClipRect.Min.x, window->ClipRect.Max.x); + cand.Max.x = ImClamp(cand.Max.x, window->ClipRect.Min.x, window->ClipRect.Max.x); } + // Compute distance between boxes + // FIXME-NAV: Introducing biases for vertical navigation, needs to be removed. + float dbx = NavScoreItemDistInterval(cand.Min.x, cand.Max.x, curr.Min.x, curr.Max.x); + float dby = NavScoreItemDistInterval(ImLerp(cand.Min.y, cand.Max.y, 0.2f), ImLerp(cand.Min.y, cand.Max.y, 0.8f), ImLerp(curr.Min.y, curr.Max.y, 0.2f), ImLerp(curr.Min.y, curr.Max.y, 0.8f)); // Scale down on Y to keep using box-distance for vertically touching items + if (dby != 0.0f && dbx != 0.0f) + dbx = (dbx/1000.0f) + ((dbx > 0.0f) ? +1.0f : -1.0f); + float dist_box = fabsf(dbx) + fabsf(dby); + + // Compute distance between centers (this is off by a factor of 2, but we only compare center distances with each other so it doesn't matter) + float dcx = (cand.Min.x + cand.Max.x) - (curr.Min.x + curr.Max.x); + float dcy = (cand.Min.y + cand.Max.y) - (curr.Min.y + curr.Max.y); + float dist_center = fabsf(dcx) + fabsf(dcy); // L1 metric (need this for our connectedness guarantee) + + // Determine which quadrant of 'curr' our candidate item 'cand' lies in based on distance + ImGuiDir quadrant; + float dax = 0.0f, day = 0.0f, dist_axial = 0.0f; + if (dbx != 0.0f || dby != 0.0f) + { + // For non-overlapping boxes, use distance between boxes + dax = dbx; + day = dby; + dist_axial = dist_box; + quadrant = NavScoreItemGetQuadrant(dbx, dby); + } + else if (dcx != 0.0f || dcy != 0.0f) + { + // For overlapping boxes with different centers, use distance between centers + dax = dcx; + day = dcy; + dist_axial = dist_center; + quadrant = NavScoreItemGetQuadrant(dcx, dcy); + } + else + { + // Degenerate case: two overlapping buttons with same center, break ties arbitrarily (note that LastItemId here is really the _previous_ item order, but it doesn't matter) + quadrant = (window->DC.LastItemId < g.NavId) ? ImGuiDir_Left : ImGuiDir_Right; + } + +#if IMGUI_DEBUG_NAV_SCORING + char buf[128]; + if (ImGui::IsMouseHoveringRect(cand.Min, cand.Max)) + { + ImFormatString(buf, IM_ARRAYSIZE(buf), "dbox (%.2f,%.2f->%.4f)\ndcen (%.2f,%.2f->%.4f)\nd (%.2f,%.2f->%.4f)\nnav %c, quadrant %c", dbx, dby, dist_box, dcx, dcy, dist_center, dax, day, dist_axial, "WENS"[g.NavMoveDir], "WENS"[quadrant]); + g.OverlayDrawList.AddRect(curr.Min, curr.Max, IM_COL32(255, 200, 0, 100)); + g.OverlayDrawList.AddRect(cand.Min, cand.Max, IM_COL32(255,255,0,200)); + g.OverlayDrawList.AddRectFilled(cand.Max-ImVec2(4,4), cand.Max+ImGui::CalcTextSize(buf)+ImVec2(4,4), IM_COL32(40,0,0,150)); + g.OverlayDrawList.AddText(g.IO.FontDefault, 13.0f, cand.Max, ~0U, buf); + } + else if (g.IO.KeyCtrl) // Hold to preview score in matching quadrant. Press C to rotate. + { + if (IsKeyPressedMap(ImGuiKey_C)) { g.NavMoveDirLast = (ImGuiDir)((g.NavMoveDirLast + 1) & 3); g.IO.KeysDownDuration[g.IO.KeyMap[ImGuiKey_C]] = 0.01f; } + if (quadrant == g.NavMoveDir) + { + ImFormatString(buf, IM_ARRAYSIZE(buf), "%.0f/%.0f", dist_box, dist_center); + g.OverlayDrawList.AddRectFilled(cand.Min, cand.Max, IM_COL32(255, 0, 0, 200)); + g.OverlayDrawList.AddText(g.IO.FontDefault, 13.0f, cand.Min, IM_COL32(255, 255, 255, 255), buf); + } + } + #endif + + // Is it in the quadrant we're interesting in moving to? + bool new_best = false; + if (quadrant == g.NavMoveDir) + { + // Does it beat the current best candidate? + if (dist_box < result->DistBox) + { + result->DistBox = dist_box; + result->DistCenter = dist_center; + return true; + } + if (dist_box == result->DistBox) + { + // Try using distance between center points to break ties + if (dist_center < result->DistCenter) + { + result->DistCenter = dist_center; + new_best = true; + } + else if (dist_center == result->DistCenter) + { + // Still tied! we need to be extra-careful to make sure everything gets linked properly. We consistently break ties by symbolically moving "later" items + // (with higher index) to the right/downwards by an infinitesimal amount since we the current "best" button already (so it must have a lower index), + // this is fairly easy. This rule ensures that all buttons with dx==dy==0 will end up being linked in order of appearance along the x axis. + if (((g.NavMoveDir == ImGuiDir_Up || g.NavMoveDir == ImGuiDir_Down) ? dby : dbx) < 0.0f) // moving bj to the right/down decreases distance + new_best = true; + } + } + } + + // Axial check: if 'curr' has no link at all in some direction and 'cand' lies roughly in that direction, add a tentative link. This will only be kept if no "real" matches + // are found, so it only augments the graph produced by the above method using extra links. (important, since it doesn't guarantee strong connectedness) + // This is just to avoid buttons having no links in a particular direction when there's a suitable neighbor. you get good graphs without this too. + // 2017/09/29: FIXME: This now currently only enabled inside menu bars, ideally we'd disable it everywhere. Menus in particular need to catch failure. For general navigation it feels awkward. + // Disabling it may however lead to disconnected graphs when nodes are very spaced out on different axis. Perhaps consider offering this as an option? + if (result->DistBox == FLT_MAX && dist_axial < result->DistAxial) // Check axial match + if (g.NavLayer == 1 && !(g.NavWindow->Flags & ImGuiWindowFlags_ChildMenu)) + if ((g.NavMoveDir == ImGuiDir_Left && dax < 0.0f) || (g.NavMoveDir == ImGuiDir_Right && dax > 0.0f) || (g.NavMoveDir == ImGuiDir_Up && day < 0.0f) || (g.NavMoveDir == ImGuiDir_Down && day > 0.0f)) + { + result->DistAxial = dist_axial; + new_best = true; + } + + return new_best; +} + +static void NavSaveLastChildNavWindow(ImGuiWindow* child_window) +{ + ImGuiWindow* parent_window = child_window; + while (parent_window && (parent_window->Flags & ImGuiWindowFlags_ChildWindow) != 0 && (parent_window->Flags & (ImGuiWindowFlags_Popup | ImGuiWindowFlags_ChildMenu)) == 0) + parent_window = parent_window->ParentWindow; + if (parent_window && parent_window != child_window) + parent_window->NavLastChildNavWindow = child_window; +} + +// Call when we are expected to land on Layer 0 after FocusWindow() +static ImGuiWindow* NavRestoreLastChildNavWindow(ImGuiWindow* window) +{ + return window->NavLastChildNavWindow ? window->NavLastChildNavWindow : window; +} + +static void NavRestoreLayer(int layer) +{ + ImGuiContext& g = *GImGui; + g.NavLayer = layer; + if (layer == 0) + g.NavWindow = NavRestoreLastChildNavWindow(g.NavWindow); + if (layer == 0 && g.NavWindow->NavLastIds[0] != 0) + SetNavIDAndMoveMouse(g.NavWindow->NavLastIds[0], layer, g.NavWindow->NavRectRel[0]); + else + ImGui::NavInitWindow(g.NavWindow, true); +} + +static inline void NavUpdateAnyRequestFlag() +{ + ImGuiContext& g = *GImGui; + g.NavAnyRequest = g.NavMoveRequest || g.NavInitRequest || IMGUI_DEBUG_NAV_SCORING; +} + +static bool NavMoveRequestButNoResultYet() +{ + ImGuiContext& g = *GImGui; + return g.NavMoveRequest && g.NavMoveResultLocal.ID == 0 && g.NavMoveResultOther.ID == 0; +} + +void ImGui::NavMoveRequestCancel() +{ + ImGuiContext& g = *GImGui; + g.NavMoveRequest = false; + NavUpdateAnyRequestFlag(); +} + +// We get there when either NavId == id, or when g.NavAnyRequest is set (which is updated by NavUpdateAnyRequestFlag above) +static void ImGui::NavProcessItem(ImGuiWindow* window, const ImRect& nav_bb, const ImGuiID id) +{ + ImGuiContext& g = *GImGui; + //if (!g.IO.NavActive) // [2017/10/06] Removed this possibly redundant test but I am not sure of all the side-effects yet. Some of the feature here will need to work regardless of using a _NoNavInputs flag. + // return; + + const ImGuiItemFlags item_flags = window->DC.ItemFlags; + const ImRect nav_bb_rel(nav_bb.Min - window->Pos, nav_bb.Max - window->Pos); + if (g.NavInitRequest && g.NavLayer == window->DC.NavLayerCurrent) + { + // Even if 'ImGuiItemFlags_NoNavDefaultFocus' is on (typically collapse/close button) we record the first ResultId so they can be used as a fallback + if (!(item_flags & ImGuiItemFlags_NoNavDefaultFocus) || g.NavInitResultId == 0) + { + g.NavInitResultId = id; + g.NavInitResultRectRel = nav_bb_rel; + } + if (!(item_flags & ImGuiItemFlags_NoNavDefaultFocus)) + { + g.NavInitRequest = false; // Found a match, clear request + NavUpdateAnyRequestFlag(); + } + } + + // Scoring for navigation + if (g.NavId != id && !(item_flags & ImGuiItemFlags_NoNav)) + { + ImGuiNavMoveResult* result = (window == g.NavWindow) ? &g.NavMoveResultLocal : &g.NavMoveResultOther; +#if IMGUI_DEBUG_NAV_SCORING + // [DEBUG] Score all items in NavWindow at all times + if (!g.NavMoveRequest) + g.NavMoveDir = g.NavMoveDirLast; + bool new_best = NavScoreItem(result, nav_bb) && g.NavMoveRequest; +#else + bool new_best = g.NavMoveRequest && NavScoreItem(result, nav_bb); +#endif + if (new_best) + { + result->ID = id; + result->ParentID = window->IDStack.back(); + result->Window = window; + result->RectRel = nav_bb_rel; + } + } + + // Update window-relative bounding box of navigated item + if (g.NavId == id) + { + g.NavWindow = window; // Always refresh g.NavWindow, because some operations such as FocusItem() don't have a window. + g.NavLayer = window->DC.NavLayerCurrent; + g.NavIdIsAlive = true; + g.NavIdTabCounter = window->FocusIdxTabCounter; + window->NavRectRel[window->DC.NavLayerCurrent] = nav_bb_rel; // Store item bounding box (relative to window position) + } +} + +// Declare item bounding box for clipping and interaction. +// Note that the size can be different than the one provided to ItemSize(). Typically, widgets that spread over available surface +// declare their minimum size requirement to ItemSize() and then use a larger region for drawing/interaction, which is passed to ItemAdd(). +bool ImGui::ItemAdd(const ImRect& bb, ImGuiID id, const ImRect* nav_bb_arg) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + + if (id != 0) + { + // Navigation processing runs prior to clipping early-out + // (a) So that NavInitRequest can be honored, for newly opened windows to select a default widget + // (b) So that we can scroll up/down past clipped items. This adds a small O(N) cost to regular navigation requests unfortunately, but it is still limited to one window. + // it may not scale very well for windows with ten of thousands of item, but at least NavMoveRequest is only set on user interaction, aka maximum once a frame. + // We could early out with "if (is_clipped && !g.NavInitRequest) return false;" but when we wouldn't be able to reach unclipped widgets. This would work if user had explicit scrolling control (e.g. mapped on a stick) + window->DC.NavLayerActiveMaskNext |= window->DC.NavLayerCurrentMask; + if (g.NavId == id || g.NavAnyRequest) + if (g.NavWindow->RootWindowForNav == window->RootWindowForNav) + if (window == g.NavWindow || ((window->Flags | g.NavWindow->Flags) & ImGuiWindowFlags_NavFlattened)) + NavProcessItem(window, nav_bb_arg ? *nav_bb_arg : bb, id); + } + + window->DC.LastItemId = id; + window->DC.LastItemRect = bb; + window->DC.LastItemStatusFlags = 0; + + // Clipping test + const bool is_clipped = IsClippedEx(bb, id, false); + if (is_clipped) + return false; + //if (g.IO.KeyAlt) window->DrawList->AddRect(bb.Min, bb.Max, IM_COL32(255,255,0,120)); // [DEBUG] + + // We need to calculate this now to take account of the current clipping rectangle (as items like Selectable may change them) + if (IsMouseHoveringRect(bb.Min, bb.Max)) + window->DC.LastItemStatusFlags |= ImGuiItemStatusFlags_HoveredRect; return true; } -bool ImGui::IsClippedEx(const ImRect& bb, const ImGuiID* id, bool clip_even_when_logged) +// This is roughly matching the behavior of internal-facing ItemHoverable() +// - we allow hovering to be true when ActiveId==window->MoveID, so that clicking on non-interactive items such as a Text() item still returns true with IsItemHovered() +// - this should work even for non-interactive items that have no ID, so we cannot use LastItemId +bool ImGui::IsItemHovered(ImGuiHoveredFlags flags) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; + if (g.NavDisableMouseHover && !g.NavDisableHighlight) + return IsItemFocused(); + // Test for bounding box overlap, as updated as ItemAdd() + if (!(window->DC.LastItemStatusFlags & ImGuiItemStatusFlags_HoveredRect)) + return false; + IM_ASSERT((flags & (ImGuiHoveredFlags_RootWindow | ImGuiHoveredFlags_ChildWindows)) == 0); // Flags not supported by this function + + // Test if we are hovering the right window (our window could be behind another window) + // [2017/10/16] Reverted commit 344d48be3 and testing RootWindow instead. I believe it is correct to NOT test for RootWindow but this leaves us unable to use IsItemHovered() after EndChild() itself. + // Until a solution is found I believe reverting to the test from 2017/09/27 is safe since this was the test that has been running for a long while. + //if (g.HoveredWindow != window) + // return false; + if (g.HoveredRootWindow != window->RootWindow && !(flags & ImGuiHoveredFlags_AllowWhenOverlapped)) + return false; + + // Test if another item is active (e.g. being dragged) + if (!(flags & ImGuiHoveredFlags_AllowWhenBlockedByActiveItem)) + if (g.ActiveId != 0 && g.ActiveId != window->DC.LastItemId && !g.ActiveIdAllowOverlap && g.ActiveId != window->MoveId) + return false; + + // Test if interactions on this window are blocked by an active popup or modal + if (!IsWindowContentHoverable(window, flags)) + return false; + + // Test if the item is disabled + if (window->DC.ItemFlags & ImGuiItemFlags_Disabled) + return false; + + // Special handling for the 1st item after Begin() which represent the title bar. When the window is collapsed (SkipItems==true) that last item will never be overwritten so we need to detect tht case. + if (window->DC.LastItemId == window->MoveId && window->WriteAccessed) + return false; + return true; +} + +// Internal facing ItemHoverable() used when submitting widgets. Differs slightly from IsItemHovered(). +bool ImGui::ItemHoverable(const ImRect& bb, ImGuiID id) +{ + ImGuiContext& g = *GImGui; + if (g.HoveredId != 0 && g.HoveredId != id && !g.HoveredIdAllowOverlap) + return false; + + ImGuiWindow* window = g.CurrentWindow; + if (g.HoveredWindow != window) + return false; + if (g.ActiveId != 0 && g.ActiveId != id && !g.ActiveIdAllowOverlap) + return false; + if (!IsMouseHoveringRect(bb.Min, bb.Max)) + return false; + if (g.NavDisableMouseHover || !IsWindowContentHoverable(window, ImGuiHoveredFlags_Default)) + return false; + if (window->DC.ItemFlags & ImGuiItemFlags_Disabled) + return false; + + SetHoveredID(id); + return true; +} + +bool ImGui::IsClippedEx(const ImRect& bb, ImGuiID id, bool clip_even_when_logged) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; if (!bb.Overlaps(window->ClipRect)) - if (!id || *id != GImGui->ActiveId) + if (id == 0 || id != g.ActiveId) if (clip_even_when_logged || !g.LogEnabled) return true; return false; } -// NB: This is an internal helper. The user-facing IsItemHovered() is using data emitted from ItemAdd(), with a slightly different logic. -bool ImGui::IsHovered(const ImRect& bb, ImGuiID id, bool flatten_childs) -{ - ImGuiContext& g = *GImGui; - if (g.HoveredId == 0 || g.HoveredId == id || g.HoveredIdAllowOverlap) - { - ImGuiWindow* window = GetCurrentWindowRead(); - if (g.HoveredWindow == window || (flatten_childs && g.HoveredRootWindow == window->RootWindow)) - if ((g.ActiveId == 0 || g.ActiveId == id || g.ActiveIdAllowOverlap) && IsMouseHoveringRect(bb.Min, bb.Max)) - if (IsWindowContentHoverable(g.HoveredRootWindow)) - return true; - } - return false; -} - -bool ImGui::FocusableItemRegister(ImGuiWindow* window, bool is_active, bool tab_stop) +bool ImGui::FocusableItemRegister(ImGuiWindow* window, ImGuiID id, bool tab_stop) { ImGuiContext& g = *GImGui; - const bool allow_keyboard_focus = window->DC.AllowKeyboardFocus; + const bool allow_keyboard_focus = (window->DC.ItemFlags & (ImGuiItemFlags_AllowKeyboardFocus | ImGuiItemFlags_Disabled)) == ImGuiItemFlags_AllowKeyboardFocus; window->FocusIdxAllCounter++; if (allow_keyboard_focus) window->FocusIdxTabCounter++; - // Process keyboard input at this point: TAB, Shift-TAB switch focus - // We can always TAB out of a widget that doesn't allow tabbing in. - if (tab_stop && window->FocusIdxAllRequestNext == INT_MAX && window->FocusIdxTabRequestNext == INT_MAX && is_active && IsKeyPressedMap(ImGuiKey_Tab)) - { - // Modulo on index will be applied at the end of frame once we've got the total counter of items. - window->FocusIdxTabRequestNext = window->FocusIdxTabCounter + (g.IO.KeyShift ? (allow_keyboard_focus ? -1 : 0) : +1); - } + // Process keyboard input at this point: TAB/Shift-TAB to tab out of the currently focused item. + // Note that we can always TAB out of a widget that doesn't allow tabbing in. + if (tab_stop && (g.ActiveId == id) && window->FocusIdxAllRequestNext == INT_MAX && window->FocusIdxTabRequestNext == INT_MAX && !g.IO.KeyCtrl && IsKeyPressedMap(ImGuiKey_Tab)) + window->FocusIdxTabRequestNext = window->FocusIdxTabCounter + (g.IO.KeyShift ? (allow_keyboard_focus ? -1 : 0) : +1); // Modulo on index will be applied at the end of frame once we've got the total counter of items. if (window->FocusIdxAllCounter == window->FocusIdxAllRequestCurrent) return true; - - if (allow_keyboard_focus) - if (window->FocusIdxTabCounter == window->FocusIdxTabRequestCurrent) - return true; + if (allow_keyboard_focus && window->FocusIdxTabCounter == window->FocusIdxTabRequestCurrent) + { + g.NavJustTabbedId = id; + return true; + } return false; } @@ -2035,14 +2587,14 @@ float ImGui::CalcWrapWidthForPos(const ImVec2& pos, float wrap_pos_x) void* ImGui::MemAlloc(size_t sz) { - GImGui->IO.MetricsAllocs++; - return GImGui->IO.MemAllocFn(sz); + GImAllocatorActiveAllocationsCount++; + return GImAllocatorAllocFunc(sz, GImAllocatorUserData); } void ImGui::MemFree(void* ptr) { - if (ptr) GImGui->IO.MetricsAllocs--; - return GImGui->IO.MemFreeFn(ptr); + if (ptr) GImAllocatorActiveAllocationsCount--; + return GImAllocatorFreeFunc(ptr, GImAllocatorUserData); } const char* ImGui::GetClipboardText() @@ -2077,39 +2629,49 @@ void ImGui::SetCurrentContext(ImGuiContext* ctx) #endif } -ImGuiContext* ImGui::CreateContext(void* (*malloc_fn)(size_t), void (*free_fn)(void*)) +void ImGui::SetAllocatorFunctions(void* (*alloc_func)(size_t sz, void* user_data), void(*free_func)(void* ptr, void* user_data), void* user_data) { - if (!malloc_fn) malloc_fn = malloc; - ImGuiContext* ctx = (ImGuiContext*)malloc_fn(sizeof(ImGuiContext)); - IM_PLACEMENT_NEW(ctx) ImGuiContext(); - ctx->IO.MemAllocFn = malloc_fn; - ctx->IO.MemFreeFn = free_fn ? free_fn : free; + GImAllocatorAllocFunc = alloc_func; + GImAllocatorFreeFunc = free_func; + GImAllocatorUserData = user_data; +} + +ImGuiContext* ImGui::CreateContext(ImFontAtlas* shared_font_atlas) +{ + ImGuiContext* ctx = IM_NEW(ImGuiContext)(shared_font_atlas); + if (GImGui == NULL) + SetCurrentContext(ctx); + Initialize(ctx); return ctx; } void ImGui::DestroyContext(ImGuiContext* ctx) { - void (*free_fn)(void*) = ctx->IO.MemFreeFn; - ctx->~ImGuiContext(); - free_fn(ctx); + if (ctx == NULL) + ctx = GImGui; + Shutdown(ctx); if (GImGui == ctx) SetCurrentContext(NULL); + IM_DELETE(ctx); } ImGuiIO& ImGui::GetIO() { + IM_ASSERT(GImGui != NULL && "No current context. Did you call ImGui::CreateContext() or ImGui::SetCurrentContext()?"); return GImGui->IO; } ImGuiStyle& ImGui::GetStyle() { + IM_ASSERT(GImGui != NULL && "No current context. Did you call ImGui::CreateContext() or ImGui::SetCurrentContext()?"); return GImGui->Style; } -// Same value as passed to your RenderDrawListsFn() function. valid after Render() and until the next call to NewFrame() +// Same value as passed to the old io.RenderDrawListsFn function. Valid after Render() and until the next call to NewFrame() ImDrawData* ImGui::GetDrawData() { - return GImGui->RenderDrawData.Valid ? &GImGui->RenderDrawData : NULL; + ImGuiContext& g = *GImGui; + return g.DrawData.Valid ? &g.DrawData : NULL; } float ImGui::GetTime() @@ -2122,50 +2684,693 @@ int ImGui::GetFrameCount() return GImGui->FrameCount; } +ImDrawList* ImGui::GetOverlayDrawList() +{ + return &GImGui->OverlayDrawList; +} + +ImDrawListSharedData* ImGui::GetDrawListSharedData() +{ + return &GImGui->DrawListSharedData; +} + +// This needs to be called before we submit any widget (aka in or before Begin) +void ImGui::NavInitWindow(ImGuiWindow* window, bool force_reinit) +{ + ImGuiContext& g = *GImGui; + IM_ASSERT(window == g.NavWindow); + bool init_for_nav = false; + if (!(window->Flags & ImGuiWindowFlags_NoNavInputs)) + if (!(window->Flags & ImGuiWindowFlags_ChildWindow) || (window->Flags & ImGuiWindowFlags_Popup) || (window->NavLastIds[0] == 0) || force_reinit) + init_for_nav = true; + if (init_for_nav) + { + SetNavID(0, g.NavLayer); + g.NavInitRequest = true; + g.NavInitRequestFromMove = false; + g.NavInitResultId = 0; + g.NavInitResultRectRel = ImRect(); + NavUpdateAnyRequestFlag(); + } + else + { + g.NavId = window->NavLastIds[0]; + } +} + +static ImVec2 NavCalcPreferredMousePos() +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.NavWindow; + if (!window) + return g.IO.MousePos; + const ImRect& rect_rel = window->NavRectRel[g.NavLayer]; + ImVec2 pos = g.NavWindow->Pos + ImVec2(rect_rel.Min.x + ImMin(g.Style.FramePadding.x*4, rect_rel.GetWidth()), rect_rel.Max.y - ImMin(g.Style.FramePadding.y, rect_rel.GetHeight())); + ImRect visible_rect = GetViewportRect(); + return ImFloor(ImClamp(pos, visible_rect.Min, visible_rect.Max)); // ImFloor() is important because non-integer mouse position application in back-end might be lossy and result in undesirable non-zero delta. +} + +static int FindWindowIndex(ImGuiWindow* window) // FIXME-OPT O(N) +{ + ImGuiContext& g = *GImGui; + for (int i = g.Windows.Size-1; i >= 0; i--) + if (g.Windows[i] == window) + return i; + return -1; +} + +static ImGuiWindow* FindWindowNavigable(int i_start, int i_stop, int dir) // FIXME-OPT O(N) +{ + ImGuiContext& g = *GImGui; + for (int i = i_start; i >= 0 && i < g.Windows.Size && i != i_stop; i += dir) + if (ImGui::IsWindowNavFocusable(g.Windows[i])) + return g.Windows[i]; + return NULL; +} + +float ImGui::GetNavInputAmount(ImGuiNavInput n, ImGuiInputReadMode mode) +{ + ImGuiContext& g = *GImGui; + if (mode == ImGuiInputReadMode_Down) + return g.IO.NavInputs[n]; // Instant, read analog input (0.0f..1.0f, as provided by user) + + const float t = g.IO.NavInputsDownDuration[n]; + if (t < 0.0f && mode == ImGuiInputReadMode_Released) // Return 1.0f when just released, no repeat, ignore analog input. + return (g.IO.NavInputsDownDurationPrev[n] >= 0.0f ? 1.0f : 0.0f); + if (t < 0.0f) + return 0.0f; + if (mode == ImGuiInputReadMode_Pressed) // Return 1.0f when just pressed, no repeat, ignore analog input. + return (t == 0.0f) ? 1.0f : 0.0f; + if (mode == ImGuiInputReadMode_Repeat) + return (float)CalcTypematicPressedRepeatAmount(t, t - g.IO.DeltaTime, g.IO.KeyRepeatDelay * 0.80f, g.IO.KeyRepeatRate * 0.80f); + if (mode == ImGuiInputReadMode_RepeatSlow) + return (float)CalcTypematicPressedRepeatAmount(t, t - g.IO.DeltaTime, g.IO.KeyRepeatDelay * 1.00f, g.IO.KeyRepeatRate * 2.00f); + if (mode == ImGuiInputReadMode_RepeatFast) + return (float)CalcTypematicPressedRepeatAmount(t, t - g.IO.DeltaTime, g.IO.KeyRepeatDelay * 0.80f, g.IO.KeyRepeatRate * 0.30f); + return 0.0f; +} + +// Equivalent of IsKeyDown() for NavInputs[] +static bool IsNavInputDown(ImGuiNavInput n) +{ + return GImGui->IO.NavInputs[n] > 0.0f; +} + +// Equivalent of IsKeyPressed() for NavInputs[] +static bool IsNavInputPressed(ImGuiNavInput n, ImGuiInputReadMode mode) +{ + return ImGui::GetNavInputAmount(n, mode) > 0.0f; +} + +static bool IsNavInputPressedAnyOfTwo(ImGuiNavInput n1, ImGuiNavInput n2, ImGuiInputReadMode mode) +{ + return (ImGui::GetNavInputAmount(n1, mode) + ImGui::GetNavInputAmount(n2, mode)) > 0.0f; +} + +ImVec2 ImGui::GetNavInputAmount2d(ImGuiNavDirSourceFlags dir_sources, ImGuiInputReadMode mode, float slow_factor, float fast_factor) +{ + ImVec2 delta(0.0f, 0.0f); + if (dir_sources & ImGuiNavDirSourceFlags_Keyboard) + delta += ImVec2(GetNavInputAmount(ImGuiNavInput_KeyRight_, mode) - GetNavInputAmount(ImGuiNavInput_KeyLeft_, mode), GetNavInputAmount(ImGuiNavInput_KeyDown_, mode) - GetNavInputAmount(ImGuiNavInput_KeyUp_, mode)); + if (dir_sources & ImGuiNavDirSourceFlags_PadDPad) + delta += ImVec2(GetNavInputAmount(ImGuiNavInput_DpadRight, mode) - GetNavInputAmount(ImGuiNavInput_DpadLeft, mode), GetNavInputAmount(ImGuiNavInput_DpadDown, mode) - GetNavInputAmount(ImGuiNavInput_DpadUp, mode)); + if (dir_sources & ImGuiNavDirSourceFlags_PadLStick) + delta += ImVec2(GetNavInputAmount(ImGuiNavInput_LStickRight, mode) - GetNavInputAmount(ImGuiNavInput_LStickLeft, mode), GetNavInputAmount(ImGuiNavInput_LStickDown, mode) - GetNavInputAmount(ImGuiNavInput_LStickUp, mode)); + if (slow_factor != 0.0f && IsNavInputDown(ImGuiNavInput_TweakSlow)) + delta *= slow_factor; + if (fast_factor != 0.0f && IsNavInputDown(ImGuiNavInput_TweakFast)) + delta *= fast_factor; + return delta; +} + +static void NavUpdateWindowingHighlightWindow(int focus_change_dir) +{ + ImGuiContext& g = *GImGui; + IM_ASSERT(g.NavWindowingTarget); + if (g.NavWindowingTarget->Flags & ImGuiWindowFlags_Modal) + return; + + const int i_current = FindWindowIndex(g.NavWindowingTarget); + ImGuiWindow* window_target = FindWindowNavigable(i_current + focus_change_dir, -INT_MAX, focus_change_dir); + if (!window_target) + window_target = FindWindowNavigable((focus_change_dir < 0) ? (g.Windows.Size - 1) : 0, i_current, focus_change_dir); + g.NavWindowingTarget = window_target; + g.NavWindowingToggleLayer = false; +} + +// Window management mode (hold to: change focus/move/resize, tap to: toggle menu layer) +static void ImGui::NavUpdateWindowing() +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* apply_focus_window = NULL; + bool apply_toggle_layer = false; + + bool start_windowing_with_gamepad = !g.NavWindowingTarget && IsNavInputPressed(ImGuiNavInput_Menu, ImGuiInputReadMode_Pressed); + bool start_windowing_with_keyboard = !g.NavWindowingTarget && g.IO.KeyCtrl && IsKeyPressedMap(ImGuiKey_Tab) && (g.IO.NavFlags & ImGuiNavFlags_EnableKeyboard); + if (start_windowing_with_gamepad || start_windowing_with_keyboard) + if (ImGuiWindow* window = g.NavWindow ? g.NavWindow : FindWindowNavigable(g.Windows.Size - 1, -INT_MAX, -1)) + { + g.NavWindowingTarget = window->RootWindowForTabbing; + g.NavWindowingHighlightTimer = g.NavWindowingHighlightAlpha = 0.0f; + g.NavWindowingToggleLayer = start_windowing_with_keyboard ? false : true; + g.NavWindowingInputSource = start_windowing_with_keyboard ? ImGuiInputSource_NavKeyboard : ImGuiInputSource_NavGamepad; + } + + // Gamepad update + g.NavWindowingHighlightTimer += g.IO.DeltaTime; + if (g.NavWindowingTarget && g.NavWindowingInputSource == ImGuiInputSource_NavGamepad) + { + // Highlight only appears after a brief time holding the button, so that a fast tap on PadMenu (to toggle NavLayer) doesn't add visual noise + g.NavWindowingHighlightAlpha = ImMax(g.NavWindowingHighlightAlpha, ImSaturate((g.NavWindowingHighlightTimer - 0.20f) / 0.05f)); + + // Select window to focus + const int focus_change_dir = (int)IsNavInputPressed(ImGuiNavInput_FocusPrev, ImGuiInputReadMode_RepeatSlow) - (int)IsNavInputPressed(ImGuiNavInput_FocusNext, ImGuiInputReadMode_RepeatSlow); + if (focus_change_dir != 0) + { + NavUpdateWindowingHighlightWindow(focus_change_dir); + g.NavWindowingHighlightAlpha = 1.0f; + } + + // Single press toggles NavLayer, long press with L/R apply actual focus on release (until then the window was merely rendered front-most) + if (!IsNavInputDown(ImGuiNavInput_Menu)) + { + g.NavWindowingToggleLayer &= (g.NavWindowingHighlightAlpha < 1.0f); // Once button was held long enough we don't consider it a tap-to-toggle-layer press anymore. + if (g.NavWindowingToggleLayer && g.NavWindow) + apply_toggle_layer = true; + else if (!g.NavWindowingToggleLayer) + apply_focus_window = g.NavWindowingTarget; + g.NavWindowingTarget = NULL; + } + } + + // Keyboard: Focus + if (g.NavWindowingTarget && g.NavWindowingInputSource == ImGuiInputSource_NavKeyboard) + { + // Visuals only appears after a brief time after pressing TAB the first time, so that a fast CTRL+TAB doesn't add visual noise + g.NavWindowingHighlightAlpha = ImMax(g.NavWindowingHighlightAlpha, ImSaturate((g.NavWindowingHighlightTimer - 0.15f) / 0.04f)); // 1.0f + if (IsKeyPressedMap(ImGuiKey_Tab, true)) + NavUpdateWindowingHighlightWindow(g.IO.KeyShift ? +1 : -1); + if (!g.IO.KeyCtrl) + apply_focus_window = g.NavWindowingTarget; + } + + // Keyboard: Press and Release ALT to toggle menu layer + // FIXME: We lack an explicit IO variable for "is the imgui window focused", so compare mouse validity to detect the common case of back-end clearing releases all keys on ALT-TAB + if ((g.ActiveId == 0 || g.ActiveIdAllowOverlap) && IsNavInputPressed(ImGuiNavInput_KeyMenu_, ImGuiInputReadMode_Released)) + if (IsMousePosValid(&g.IO.MousePos) == IsMousePosValid(&g.IO.MousePosPrev)) + apply_toggle_layer = true; + + // Move window + if (g.NavWindowingTarget && !(g.NavWindowingTarget->Flags & ImGuiWindowFlags_NoMove)) + { + ImVec2 move_delta; + if (g.NavWindowingInputSource == ImGuiInputSource_NavKeyboard && !g.IO.KeyShift) + move_delta = GetNavInputAmount2d(ImGuiNavDirSourceFlags_Keyboard, ImGuiInputReadMode_Down); + if (g.NavWindowingInputSource == ImGuiInputSource_NavGamepad) + move_delta = GetNavInputAmount2d(ImGuiNavDirSourceFlags_PadLStick, ImGuiInputReadMode_Down); + if (move_delta.x != 0.0f || move_delta.y != 0.0f) + { + const float NAV_MOVE_SPEED = 800.0f; + const float move_speed = ImFloor(NAV_MOVE_SPEED * g.IO.DeltaTime * ImMin(g.IO.DisplayFramebufferScale.x, g.IO.DisplayFramebufferScale.y)); + g.NavWindowingTarget->PosFloat += move_delta * move_speed; + g.NavDisableMouseHover = true; + MarkIniSettingsDirty(g.NavWindowingTarget); + } + } + + // Apply final focus + if (apply_focus_window && (g.NavWindow == NULL || apply_focus_window != g.NavWindow->RootWindowForTabbing)) + { + g.NavDisableHighlight = false; + g.NavDisableMouseHover = true; + apply_focus_window = NavRestoreLastChildNavWindow(apply_focus_window); + ClosePopupsOverWindow(apply_focus_window); + FocusWindow(apply_focus_window); + if (apply_focus_window->NavLastIds[0] == 0) + NavInitWindow(apply_focus_window, false); + + // If the window only has a menu layer, select it directly + if (apply_focus_window->DC.NavLayerActiveMask == (1 << 1)) + g.NavLayer = 1; + } + if (apply_focus_window) + g.NavWindowingTarget = NULL; + + // Apply menu/layer toggle + if (apply_toggle_layer && g.NavWindow) + { + ImGuiWindow* new_nav_window = g.NavWindow; + while ((new_nav_window->DC.NavLayerActiveMask & (1 << 1)) == 0 && (new_nav_window->Flags & ImGuiWindowFlags_ChildWindow) != 0 && (new_nav_window->Flags & (ImGuiWindowFlags_Popup | ImGuiWindowFlags_ChildMenu)) == 0) + new_nav_window = new_nav_window->ParentWindow; + if (new_nav_window != g.NavWindow) + { + ImGuiWindow* old_nav_window = g.NavWindow; + FocusWindow(new_nav_window); + new_nav_window->NavLastChildNavWindow = old_nav_window; + } + g.NavDisableHighlight = false; + g.NavDisableMouseHover = true; + NavRestoreLayer((g.NavWindow->DC.NavLayerActiveMask & (1 << 1)) ? (g.NavLayer ^ 1) : 0); + } +} + +// NB: We modify rect_rel by the amount we scrolled for, so it is immediately updated. +static void NavScrollToBringItemIntoView(ImGuiWindow* window, ImRect& item_rect_rel) +{ + // Scroll to keep newly navigated item fully into view + ImRect window_rect_rel(window->InnerRect.Min - window->Pos - ImVec2(1, 1), window->InnerRect.Max - window->Pos + ImVec2(1, 1)); + //g.OverlayDrawList.AddRect(window->Pos + window_rect_rel.Min, window->Pos + window_rect_rel.Max, IM_COL32_WHITE); // [DEBUG] + if (window_rect_rel.Contains(item_rect_rel)) + return; + + ImGuiContext& g = *GImGui; + if (window->ScrollbarX && item_rect_rel.Min.x < window_rect_rel.Min.x) + { + window->ScrollTarget.x = item_rect_rel.Min.x + window->Scroll.x - g.Style.ItemSpacing.x; + window->ScrollTargetCenterRatio.x = 0.0f; + } + else if (window->ScrollbarX && item_rect_rel.Max.x >= window_rect_rel.Max.x) + { + window->ScrollTarget.x = item_rect_rel.Max.x + window->Scroll.x + g.Style.ItemSpacing.x; + window->ScrollTargetCenterRatio.x = 1.0f; + } + if (item_rect_rel.Min.y < window_rect_rel.Min.y) + { + window->ScrollTarget.y = item_rect_rel.Min.y + window->Scroll.y - g.Style.ItemSpacing.y; + window->ScrollTargetCenterRatio.y = 0.0f; + } + else if (item_rect_rel.Max.y >= window_rect_rel.Max.y) + { + window->ScrollTarget.y = item_rect_rel.Max.y + window->Scroll.y + g.Style.ItemSpacing.y; + window->ScrollTargetCenterRatio.y = 1.0f; + } + + // Estimate upcoming scroll so we can offset our relative mouse position so mouse position can be applied immediately (under this block) + ImVec2 next_scroll = CalcNextScrollFromScrollTargetAndClamp(window); + item_rect_rel.Translate(window->Scroll - next_scroll); +} + +static void ImGui::NavUpdate() +{ + ImGuiContext& g = *GImGui; + g.IO.WantMoveMouse = false; + +#if 0 + if (g.NavScoringCount > 0) printf("[%05d] NavScoringCount %d for '%s' layer %d (Init:%d, Move:%d)\n", g.FrameCount, g.NavScoringCount, g.NavWindow ? g.NavWindow->Name : "NULL", g.NavLayer, g.NavInitRequest || g.NavInitResultId != 0, g.NavMoveRequest); +#endif + + // Update Keyboard->Nav inputs mapping + memset(g.IO.NavInputs + ImGuiNavInput_InternalStart_, 0, (ImGuiNavInput_COUNT - ImGuiNavInput_InternalStart_) * sizeof(g.IO.NavInputs[0])); + if (g.IO.NavFlags & ImGuiNavFlags_EnableKeyboard) + { + #define NAV_MAP_KEY(_KEY, _NAV_INPUT) if (g.IO.KeyMap[_KEY] != -1 && IsKeyDown(g.IO.KeyMap[_KEY])) g.IO.NavInputs[_NAV_INPUT] = 1.0f; + NAV_MAP_KEY(ImGuiKey_Space, ImGuiNavInput_Activate ); + NAV_MAP_KEY(ImGuiKey_Enter, ImGuiNavInput_Input ); + NAV_MAP_KEY(ImGuiKey_Escape, ImGuiNavInput_Cancel ); + NAV_MAP_KEY(ImGuiKey_LeftArrow, ImGuiNavInput_KeyLeft_ ); + NAV_MAP_KEY(ImGuiKey_RightArrow,ImGuiNavInput_KeyRight_); + NAV_MAP_KEY(ImGuiKey_UpArrow, ImGuiNavInput_KeyUp_ ); + NAV_MAP_KEY(ImGuiKey_DownArrow, ImGuiNavInput_KeyDown_ ); + if (g.IO.KeyCtrl) g.IO.NavInputs[ImGuiNavInput_TweakSlow] = 1.0f; + if (g.IO.KeyShift) g.IO.NavInputs[ImGuiNavInput_TweakFast] = 1.0f; + if (g.IO.KeyAlt) g.IO.NavInputs[ImGuiNavInput_KeyMenu_] = 1.0f; +#undef NAV_MAP_KEY + } + + memcpy(g.IO.NavInputsDownDurationPrev, g.IO.NavInputsDownDuration, sizeof(g.IO.NavInputsDownDuration)); + for (int i = 0; i < IM_ARRAYSIZE(g.IO.NavInputs); i++) + g.IO.NavInputsDownDuration[i] = (g.IO.NavInputs[i] > 0.0f) ? (g.IO.NavInputsDownDuration[i] < 0.0f ? 0.0f : g.IO.NavInputsDownDuration[i] + g.IO.DeltaTime) : -1.0f; + + // Process navigation init request (select first/default focus) + if (g.NavInitResultId != 0 && (!g.NavDisableHighlight || g.NavInitRequestFromMove)) + { + // Apply result from previous navigation init request (will typically select the first item, unless SetItemDefaultFocus() has been called) + IM_ASSERT(g.NavWindow); + if (g.NavInitRequestFromMove) + SetNavIDAndMoveMouse(g.NavInitResultId, g.NavLayer, g.NavInitResultRectRel); + else + SetNavID(g.NavInitResultId, g.NavLayer); + g.NavWindow->NavRectRel[g.NavLayer] = g.NavInitResultRectRel; + } + g.NavInitRequest = false; + g.NavInitRequestFromMove = false; + g.NavInitResultId = 0; + g.NavJustMovedToId = 0; + + // Process navigation move request + if (g.NavMoveRequest && (g.NavMoveResultLocal.ID != 0 || g.NavMoveResultOther.ID != 0)) + { + // Select which result to use + ImGuiNavMoveResult* result = (g.NavMoveResultLocal.ID != 0) ? &g.NavMoveResultLocal : &g.NavMoveResultOther; + if (g.NavMoveResultOther.ID != 0 && g.NavMoveResultOther.Window->ParentWindow == g.NavWindow) // Maybe entering a flattened child? In this case solve the tie using the regular scoring rules + if ((g.NavMoveResultOther.DistBox < g.NavMoveResultLocal.DistBox) || (g.NavMoveResultOther.DistBox == g.NavMoveResultLocal.DistBox && g.NavMoveResultOther.DistCenter < g.NavMoveResultLocal.DistCenter)) + result = &g.NavMoveResultOther; + + IM_ASSERT(g.NavWindow && result->Window); + + // Scroll to keep newly navigated item fully into view + if (g.NavLayer == 0) + NavScrollToBringItemIntoView(result->Window, result->RectRel); + + // Apply result from previous frame navigation directional move request + ClearActiveID(); + g.NavWindow = result->Window; + SetNavIDAndMoveMouse(result->ID, g.NavLayer, result->RectRel); + g.NavJustMovedToId = result->ID; + g.NavMoveFromClampedRefRect = false; + } + + // When a forwarded move request failed, we restore the highlight that we disabled during the forward frame + if (g.NavMoveRequestForward == ImGuiNavForward_ForwardActive) + { + IM_ASSERT(g.NavMoveRequest); + if (g.NavMoveResultLocal.ID == 0 && g.NavMoveResultOther.ID == 0) + g.NavDisableHighlight = false; + g.NavMoveRequestForward = ImGuiNavForward_None; + } + + // Apply application mouse position movement, after we had a chance to process move request result. + if (g.NavMousePosDirty && g.NavIdIsAlive) + { + // Set mouse position given our knowledge of the nav widget position from last frame + if (g.IO.NavFlags & ImGuiNavFlags_MoveMouse) + { + g.IO.MousePos = g.IO.MousePosPrev = NavCalcPreferredMousePos(); + g.IO.WantMoveMouse = true; + } + g.NavMousePosDirty = false; + } + g.NavIdIsAlive = false; + g.NavJustTabbedId = 0; + IM_ASSERT(g.NavLayer == 0 || g.NavLayer == 1); + + // Store our return window (for returning from Layer 1 to Layer 0) and clear it as soon as we step back in our own Layer 0 + if (g.NavWindow) + NavSaveLastChildNavWindow(g.NavWindow); + if (g.NavWindow && g.NavWindow->NavLastChildNavWindow != NULL && g.NavLayer == 0) + g.NavWindow->NavLastChildNavWindow = NULL; + + NavUpdateWindowing(); + + // Set output flags for user application + g.IO.NavActive = (g.IO.NavFlags & (ImGuiNavFlags_EnableGamepad | ImGuiNavFlags_EnableKeyboard)) && g.NavWindow && !(g.NavWindow->Flags & ImGuiWindowFlags_NoNavInputs); + g.IO.NavVisible = (g.IO.NavActive && g.NavId != 0 && !g.NavDisableHighlight) || (g.NavWindowingTarget != NULL) || g.NavInitRequest; + + // Process NavCancel input (to close a popup, get back to parent, clear focus) + if (IsNavInputPressed(ImGuiNavInput_Cancel, ImGuiInputReadMode_Pressed)) + { + if (g.ActiveId != 0) + { + ClearActiveID(); + } + else if (g.NavWindow && (g.NavWindow->Flags & ImGuiWindowFlags_ChildWindow) && !(g.NavWindow->Flags & ImGuiWindowFlags_Popup) && g.NavWindow->ParentWindow) + { + // Exit child window + ImGuiWindow* child_window = g.NavWindow; + ImGuiWindow* parent_window = g.NavWindow->ParentWindow; + IM_ASSERT(child_window->ChildId != 0); + FocusWindow(parent_window); + SetNavID(child_window->ChildId, 0); + g.NavIdIsAlive = false; + if (g.NavDisableMouseHover) + g.NavMousePosDirty = true; + } + else if (g.OpenPopupStack.Size > 0) + { + // Close open popup/menu + if (!(g.OpenPopupStack.back().Window->Flags & ImGuiWindowFlags_Modal)) + ClosePopupToLevel(g.OpenPopupStack.Size - 1); + } + else if (g.NavLayer != 0) + { + // Leave the "menu" layer + NavRestoreLayer(0); + } + else + { + // Clear NavLastId for popups but keep it for regular child window so we can leave one and come back where we were + if (g.NavWindow && ((g.NavWindow->Flags & ImGuiWindowFlags_Popup) || !(g.NavWindow->Flags & ImGuiWindowFlags_ChildWindow))) + g.NavWindow->NavLastIds[0] = 0; + g.NavId = 0; + } + } + + // Process manual activation request + g.NavActivateId = g.NavActivateDownId = g.NavActivatePressedId = g.NavInputId = 0; + if (g.NavId != 0 && !g.NavDisableHighlight && !g.NavWindowingTarget && g.NavWindow && !(g.NavWindow->Flags & ImGuiWindowFlags_NoNavInputs)) + { + bool activate_down = IsNavInputDown(ImGuiNavInput_Activate); + bool activate_pressed = activate_down && IsNavInputPressed(ImGuiNavInput_Activate, ImGuiInputReadMode_Pressed); + if (g.ActiveId == 0 && activate_pressed) + g.NavActivateId = g.NavId; + if ((g.ActiveId == 0 || g.ActiveId == g.NavId) && activate_down) + g.NavActivateDownId = g.NavId; + if ((g.ActiveId == 0 || g.ActiveId == g.NavId) && activate_pressed) + g.NavActivatePressedId = g.NavId; + if ((g.ActiveId == 0 || g.ActiveId == g.NavId) && IsNavInputPressed(ImGuiNavInput_Input, ImGuiInputReadMode_Pressed)) + g.NavInputId = g.NavId; + } + if (g.NavWindow && (g.NavWindow->Flags & ImGuiWindowFlags_NoNavInputs)) + g.NavDisableHighlight = true; + if (g.NavActivateId != 0) + IM_ASSERT(g.NavActivateDownId == g.NavActivateId); + g.NavMoveRequest = false; + + // Process programmatic activation request + if (g.NavNextActivateId != 0) + g.NavActivateId = g.NavActivateDownId = g.NavActivatePressedId = g.NavInputId = g.NavNextActivateId; + g.NavNextActivateId = 0; + + // Initiate directional inputs request + const int allowed_dir_flags = (g.ActiveId == 0) ? ~0 : g.ActiveIdAllowNavDirFlags; + if (g.NavMoveRequestForward == ImGuiNavForward_None) + { + g.NavMoveDir = ImGuiDir_None; + if (g.NavWindow && !g.NavWindowingTarget && allowed_dir_flags && !(g.NavWindow->Flags & ImGuiWindowFlags_NoNavInputs)) + { + if ((allowed_dir_flags & (1<Flags & ImGuiWindowFlags_NoNavInputs) && !g.NavWindowingTarget) + { + // *Fallback* manual-scroll with NavUp/NavDown when window has no navigable item + ImGuiWindow* window = g.NavWindow; + const float scroll_speed = ImFloor(window->CalcFontSize() * 100 * g.IO.DeltaTime + 0.5f); // We need round the scrolling speed because sub-pixel scroll isn't reliably supported. + if (window->DC.NavLayerActiveMask == 0x00 && window->DC.NavHasScroll && g.NavMoveRequest) + { + if (g.NavMoveDir == ImGuiDir_Left || g.NavMoveDir == ImGuiDir_Right) + SetWindowScrollX(window, ImFloor(window->Scroll.x + ((g.NavMoveDir == ImGuiDir_Left) ? -1.0f : +1.0f) * scroll_speed)); + if (g.NavMoveDir == ImGuiDir_Up || g.NavMoveDir == ImGuiDir_Down) + SetWindowScrollY(window, ImFloor(window->Scroll.y + ((g.NavMoveDir == ImGuiDir_Up) ? -1.0f : +1.0f) * scroll_speed)); + } + + // *Normal* Manual scroll with NavScrollXXX keys + // Next movement request will clamp the NavId reference rectangle to the visible area, so navigation will resume within those bounds. + ImVec2 scroll_dir = GetNavInputAmount2d(ImGuiNavDirSourceFlags_PadLStick, ImGuiInputReadMode_Down, 1.0f/10.0f, 10.0f); + if (scroll_dir.x != 0.0f && window->ScrollbarX) + { + SetWindowScrollX(window, ImFloor(window->Scroll.x + scroll_dir.x * scroll_speed)); + g.NavMoveFromClampedRefRect = true; + } + if (scroll_dir.y != 0.0f) + { + SetWindowScrollY(window, ImFloor(window->Scroll.y + scroll_dir.y * scroll_speed)); + g.NavMoveFromClampedRefRect = true; + } + } + + // Reset search results + g.NavMoveResultLocal.Clear(); + g.NavMoveResultOther.Clear(); + + // When we have manually scrolled (without using navigation) and NavId becomes out of bounds, we project its bounding box to the visible area to restart navigation within visible items + if (g.NavMoveRequest && g.NavMoveFromClampedRefRect && g.NavLayer == 0) + { + ImGuiWindow* window = g.NavWindow; + ImRect window_rect_rel(window->InnerRect.Min - window->Pos - ImVec2(1,1), window->InnerRect.Max - window->Pos + ImVec2(1,1)); + if (!window_rect_rel.Contains(window->NavRectRel[g.NavLayer])) + { + float pad = window->CalcFontSize() * 0.5f; + window_rect_rel.Expand(ImVec2(-ImMin(window_rect_rel.GetWidth(), pad), -ImMin(window_rect_rel.GetHeight(), pad))); // Terrible approximation for the intent of starting navigation from first fully visible item + window->NavRectRel[g.NavLayer].ClipWith(window_rect_rel); + g.NavId = 0; + } + g.NavMoveFromClampedRefRect = false; + } + + // For scoring we use a single segment on the left side our current item bounding box (not touching the edge to avoid box overlap with zero-spaced items) + ImRect nav_rect_rel = (g.NavWindow && g.NavWindow->NavRectRel[g.NavLayer].IsFinite()) ? g.NavWindow->NavRectRel[g.NavLayer] : ImRect(0,0,0,0); + g.NavScoringRectScreen = g.NavWindow ? ImRect(g.NavWindow->Pos + nav_rect_rel.Min, g.NavWindow->Pos + nav_rect_rel.Max) : GetViewportRect(); + g.NavScoringRectScreen.Min.x = ImMin(g.NavScoringRectScreen.Min.x + 1.0f, g.NavScoringRectScreen.Max.x); + g.NavScoringRectScreen.Max.x = g.NavScoringRectScreen.Min.x; + IM_ASSERT(!g.NavScoringRectScreen.IsInverted()); // Ensure if we have a finite, non-inverted bounding box here will allows us to remove extraneous fabsf() calls in NavScoreItem(). + //g.OverlayDrawList.AddRect(g.NavScoringRectScreen.Min, g.NavScoringRectScreen.Max, IM_COL32(255,200,0,255)); // [DEBUG] + g.NavScoringCount = 0; +#if IMGUI_DEBUG_NAV_RECTS + if (g.NavWindow) { for (int layer = 0; layer < 2; layer++) g.OverlayDrawList.AddRect(g.NavWindow->Pos + g.NavWindow->NavRectRel[layer].Min, g.NavWindow->Pos + g.NavWindow->NavRectRel[layer].Max, IM_COL32(255,200,0,255)); } // [DEBUG] + if (g.NavWindow) { ImU32 col = (g.NavWindow->HiddenFrames <= 0) ? IM_COL32(255,0,255,255) : IM_COL32(255,0,0,255); ImVec2 p = NavCalcPreferredMousePos(); char buf[32]; ImFormatString(buf, 32, "%d", g.NavLayer); g.OverlayDrawList.AddCircleFilled(p, 3.0f, col); g.OverlayDrawList.AddText(NULL, 13.0f, p + ImVec2(8,-4), col, buf); } +#endif +} + +static void ImGui::UpdateMovingWindow() +{ + ImGuiContext& g = *GImGui; + if (g.MovingWindow && g.MovingWindow->MoveId == g.ActiveId && g.ActiveIdSource == ImGuiInputSource_Mouse) + { + // We actually want to move the root window. g.MovingWindow == window we clicked on (could be a child window). + // We track it to preserve Focus and so that ActiveIdWindow == MovingWindow and ActiveId == MovingWindow->MoveId for consistency. + KeepAliveID(g.ActiveId); + IM_ASSERT(g.MovingWindow && g.MovingWindow->RootWindow); + ImGuiWindow* moving_window = g.MovingWindow->RootWindow; + if (g.IO.MouseDown[0]) + { + ImVec2 pos = g.IO.MousePos - g.ActiveIdClickOffset; + if (moving_window->PosFloat.x != pos.x || moving_window->PosFloat.y != pos.y) + { + MarkIniSettingsDirty(moving_window); + moving_window->PosFloat = pos; + } + FocusWindow(g.MovingWindow); + } + else + { + ClearActiveID(); + g.MovingWindow = NULL; + } + } + else + { + // When clicking/dragging from a window that has the _NoMove flag, we still set the ActiveId in order to prevent hovering others. + if (g.ActiveIdWindow && g.ActiveIdWindow->MoveId == g.ActiveId) + { + KeepAliveID(g.ActiveId); + if (!g.IO.MouseDown[0]) + ClearActiveID(); + } + g.MovingWindow = NULL; + } +} + void ImGui::NewFrame() { + IM_ASSERT(GImGui != NULL && "No current context. Did you call ImGui::CreateContext() or ImGui::SetCurrentContext()?"); ImGuiContext& g = *GImGui; // Check user data - IM_ASSERT(g.IO.DeltaTime >= 0.0f); // Need a positive DeltaTime (zero is tolerated but will cause some timing issues) - IM_ASSERT(g.IO.DisplaySize.x >= 0.0f && g.IO.DisplaySize.y >= 0.0f); - IM_ASSERT(g.IO.Fonts->Fonts.Size > 0); // Font Atlas not created. Did you call io.Fonts->GetTexDataAsRGBA32 / GetTexDataAsAlpha8 ? - IM_ASSERT(g.IO.Fonts->Fonts[0]->IsLoaded()); // Font Atlas not created. Did you call io.Fonts->GetTexDataAsRGBA32 / GetTexDataAsAlpha8 ? - IM_ASSERT(g.Style.CurveTessellationTol > 0.0f); // Invalid style setting + // (We pass an error message in the assert expression as a trick to get it visible to programmers who are not using a debugger, as most assert handlers display their argument) + IM_ASSERT(g.Initialized); + IM_ASSERT(g.IO.DeltaTime >= 0.0f && "Need a positive DeltaTime (zero is tolerated but will cause some timing issues)"); + IM_ASSERT(g.IO.DisplaySize.x >= 0.0f && g.IO.DisplaySize.y >= 0.0f && "Invalid DisplaySize value"); + IM_ASSERT(g.IO.Fonts->Fonts.Size > 0 && "Font Atlas not built. Did you call io.Fonts->GetTexDataAsRGBA32() / GetTexDataAsAlpha8() ?"); + IM_ASSERT(g.IO.Fonts->Fonts[0]->IsLoaded() && "Font Atlas not built. Did you call io.Fonts->GetTexDataAsRGBA32() / GetTexDataAsAlpha8() ?"); + IM_ASSERT(g.Style.CurveTessellationTol > 0.0f && "Invalid style setting"); + IM_ASSERT(g.Style.Alpha >= 0.0f && g.Style.Alpha <= 1.0f && "Invalid style setting. Alpha cannot be negative (allows us to avoid a few clamps in color computations)"); + IM_ASSERT((g.FrameCount == 0 || g.FrameCountEnded == g.FrameCount) && "Forgot to call Render() or EndFrame() at the end of the previous frame?"); + for (int n = 0; n < ImGuiKey_COUNT; n++) + IM_ASSERT(g.IO.KeyMap[n] >= -1 && g.IO.KeyMap[n] < IM_ARRAYSIZE(g.IO.KeysDown) && "io.KeyMap[] contains an out of bound value (need to be 0..512, or -1 for unmapped key)"); - if (!g.Initialized) + // Do a simple check for required key mapping (we intentionally do NOT check all keys to not pressure user into setting up everything, but Space is required and was super recently added in 1.60 WIP) + if (g.IO.NavFlags & ImGuiNavFlags_EnableKeyboard) + IM_ASSERT(g.IO.KeyMap[ImGuiKey_Space] != -1 && "ImGuiKey_Space is not mapped, required for keyboard navigation."); + + // Load settings on first frame + if (!g.SettingsLoaded) { - // Initialize on first frame - g.LogClipboard = (ImGuiTextBuffer*)ImGui::MemAlloc(sizeof(ImGuiTextBuffer)); - IM_PLACEMENT_NEW(g.LogClipboard) ImGuiTextBuffer(); - - IM_ASSERT(g.Settings.empty()); + IM_ASSERT(g.SettingsWindows.empty()); LoadIniSettingsFromDisk(g.IO.IniFilename); - g.Initialized = true; + g.SettingsLoaded = true; } - SetCurrentFont(GetDefaultFont()); - IM_ASSERT(g.Font->IsLoaded()); - g.Time += g.IO.DeltaTime; g.FrameCount += 1; - g.Tooltip[0] = '\0'; + g.TooltipOverrideCount = 0; + g.WindowsActiveCount = 0; + + SetCurrentFont(GetDefaultFont()); + IM_ASSERT(g.Font->IsLoaded()); + g.DrawListSharedData.ClipRectFullscreen = ImVec4(0.0f, 0.0f, g.IO.DisplaySize.x, g.IO.DisplaySize.y); + g.DrawListSharedData.CurveTessellationTol = g.Style.CurveTessellationTol; + g.OverlayDrawList.Clear(); g.OverlayDrawList.PushTextureID(g.IO.Fonts->TexID); g.OverlayDrawList.PushClipRectFullScreen(); + g.OverlayDrawList.Flags = (g.Style.AntiAliasedLines ? ImDrawListFlags_AntiAliasedLines : 0) | (g.Style.AntiAliasedFill ? ImDrawListFlags_AntiAliasedFill : 0); // Mark rendering data as invalid to prevent user who may have a handle on it to use it - g.RenderDrawData.Valid = false; - g.RenderDrawData.CmdLists = NULL; - g.RenderDrawData.CmdListsCount = g.RenderDrawData.TotalVtxCount = g.RenderDrawData.TotalIdxCount = 0; + g.DrawData.Clear(); - // Update inputs state - if (g.IO.MousePos.x < 0 && g.IO.MousePos.y < 0) - g.IO.MousePos = ImVec2(-9999.0f, -9999.0f); - if ((g.IO.MousePos.x < 0 && g.IO.MousePos.y < 0) || (g.IO.MousePosPrev.x < 0 && g.IO.MousePosPrev.y < 0)) // if mouse just appeared or disappeared (negative coordinate) we cancel out movement in MouseDelta - g.IO.MouseDelta = ImVec2(0.0f, 0.0f); - else + // Clear reference to active widget if the widget isn't alive anymore + if (!g.HoveredIdPreviousFrame) + g.HoveredIdTimer = 0.0f; + g.HoveredIdPreviousFrame = g.HoveredId; + g.HoveredId = 0; + g.HoveredIdAllowOverlap = false; + if (!g.ActiveIdIsAlive && g.ActiveIdPreviousFrame == g.ActiveId && g.ActiveId != 0) + ClearActiveID(); + if (g.ActiveId) + g.ActiveIdTimer += g.IO.DeltaTime; + g.ActiveIdPreviousFrame = g.ActiveId; + g.ActiveIdIsAlive = false; + g.ActiveIdIsJustActivated = false; + if (g.ScalarAsInputTextId && g.ActiveId != g.ScalarAsInputTextId) + g.ScalarAsInputTextId = 0; + + // Elapse drag & drop payload + if (g.DragDropActive && g.DragDropPayload.DataFrameCount + 1 < g.FrameCount) + { + ClearDragDrop(); + g.DragDropPayloadBufHeap.clear(); + memset(&g.DragDropPayloadBufLocal, 0, sizeof(g.DragDropPayloadBufLocal)); + } + g.DragDropAcceptIdPrev = g.DragDropAcceptIdCurr; + g.DragDropAcceptIdCurr = 0; + g.DragDropAcceptIdCurrRectSurface = FLT_MAX; + + // Update keyboard input state + memcpy(g.IO.KeysDownDurationPrev, g.IO.KeysDownDuration, sizeof(g.IO.KeysDownDuration)); + for (int i = 0; i < IM_ARRAYSIZE(g.IO.KeysDown); i++) + g.IO.KeysDownDuration[i] = g.IO.KeysDown[i] ? (g.IO.KeysDownDuration[i] < 0.0f ? 0.0f : g.IO.KeysDownDuration[i] + g.IO.DeltaTime) : -1.0f; + + // Update gamepad/keyboard directional navigation + NavUpdate(); + + // Update mouse input state + // If mouse just appeared or disappeared (usually denoted by -FLT_MAX component, but in reality we test for -256000.0f) we cancel out movement in MouseDelta + if (IsMousePosValid(&g.IO.MousePos) && IsMousePosValid(&g.IO.MousePosPrev)) g.IO.MouseDelta = g.IO.MousePos - g.IO.MousePosPrev; + else + g.IO.MouseDelta = ImVec2(0.0f, 0.0f); + if (g.IO.MouseDelta.x != 0.0f || g.IO.MouseDelta.y != 0.0f) + g.NavDisableMouseHover = false; + g.IO.MousePosPrev = g.IO.MousePos; for (int i = 0; i < IM_ARRAYSIZE(g.IO.MouseDown); i++) { @@ -2187,16 +3392,19 @@ void ImGui::NewFrame() g.IO.MouseClickedTime[i] = g.Time; } g.IO.MouseClickedPos[i] = g.IO.MousePos; + g.IO.MouseDragMaxDistanceAbs[i] = ImVec2(0.0f, 0.0f); g.IO.MouseDragMaxDistanceSqr[i] = 0.0f; } else if (g.IO.MouseDown[i]) { - g.IO.MouseDragMaxDistanceSqr[i] = ImMax(g.IO.MouseDragMaxDistanceSqr[i], ImLengthSqr(g.IO.MousePos - g.IO.MouseClickedPos[i])); + ImVec2 mouse_delta = g.IO.MousePos - g.IO.MouseClickedPos[i]; + g.IO.MouseDragMaxDistanceAbs[i].x = ImMax(g.IO.MouseDragMaxDistanceAbs[i].x, mouse_delta.x < 0.0f ? -mouse_delta.x : mouse_delta.x); + g.IO.MouseDragMaxDistanceAbs[i].y = ImMax(g.IO.MouseDragMaxDistanceAbs[i].y, mouse_delta.y < 0.0f ? -mouse_delta.y : mouse_delta.y); + g.IO.MouseDragMaxDistanceSqr[i] = ImMax(g.IO.MouseDragMaxDistanceSqr[i], ImLengthSqr(mouse_delta)); } + if (g.IO.MouseClicked[i]) // Clicking any mouse button reactivate mouse hovering which may have been deactivated by gamepad/keyboard navigation + g.NavDisableMouseHover = false; } - memcpy(g.IO.KeysDownDurationPrev, g.IO.KeysDownDuration, sizeof(g.IO.KeysDownDuration)); - for (int i = 0; i < IM_ARRAYSIZE(g.IO.KeysDown); i++) - g.IO.KeysDownDuration[i] = g.IO.KeysDown[i] ? (g.IO.KeysDownDuration[i] < 0.0f ? 0.0f : g.IO.KeysDownDuration[i] + g.IO.DeltaTime) : -1.0f; // Calculate frame-rate for the user, as a purely luxurious feature g.FramerateSecPerFrameAccum += g.IO.DeltaTime - g.FramerateSecPerFrame[g.FramerateSecPerFrameIdx]; @@ -2204,44 +3412,8 @@ void ImGui::NewFrame() g.FramerateSecPerFrameIdx = (g.FramerateSecPerFrameIdx + 1) % IM_ARRAYSIZE(g.FramerateSecPerFrame); g.IO.Framerate = 1.0f / (g.FramerateSecPerFrameAccum / (float)IM_ARRAYSIZE(g.FramerateSecPerFrame)); - // Clear reference to active widget if the widget isn't alive anymore - g.HoveredIdPreviousFrame = g.HoveredId; - g.HoveredId = 0; - g.HoveredIdAllowOverlap = false; - if (!g.ActiveIdIsAlive && g.ActiveIdPreviousFrame == g.ActiveId && g.ActiveId != 0) - ClearActiveID(); - g.ActiveIdPreviousFrame = g.ActiveId; - g.ActiveIdIsAlive = false; - g.ActiveIdIsJustActivated = false; - - // Handle user moving window (at the beginning of the frame to avoid input lag or sheering). Only valid for root windows. - if (g.MovedWindowMoveId && g.MovedWindowMoveId == g.ActiveId) - { - KeepAliveID(g.MovedWindowMoveId); - IM_ASSERT(g.MovedWindow && g.MovedWindow->RootWindow); - IM_ASSERT(g.MovedWindow->RootWindow->MoveId == g.MovedWindowMoveId); - if (g.IO.MouseDown[0]) - { - if (!(g.MovedWindow->Flags & ImGuiWindowFlags_NoMove)) - { - g.MovedWindow->PosFloat += g.IO.MouseDelta; - if (!(g.MovedWindow->Flags & ImGuiWindowFlags_NoSavedSettings) && (g.IO.MouseDelta.x != 0.0f || g.IO.MouseDelta.y != 0.0f)) - MarkIniSettingsDirty(); - } - FocusWindow(g.MovedWindow); - } - else - { - ClearActiveID(); - g.MovedWindow = NULL; - g.MovedWindowMoveId = 0; - } - } - else - { - g.MovedWindow = NULL; - g.MovedWindowMoveId = 0; - } + // Handle user moving window with mouse (at the beginning of the frame to avoid input lag or sheering) + UpdateMovingWindow(); // Delay saving settings so we don't spam disk too much if (g.SettingsDirtyTimer > 0.0f) @@ -2251,20 +3423,18 @@ void ImGui::NewFrame() SaveIniSettingsToDisk(g.IO.IniFilename); } - // Find the window we are hovering. Child windows can extend beyond the limit of their parent so we need to derive HoveredRootWindow from HoveredWindow - g.HoveredWindow = g.MovedWindow ? g.MovedWindow : FindHoveredWindow(g.IO.MousePos, false); - if (g.HoveredWindow && (g.HoveredWindow->Flags & ImGuiWindowFlags_ChildWindow)) - g.HoveredRootWindow = g.HoveredWindow->RootWindow; - else - g.HoveredRootWindow = g.MovedWindow ? g.MovedWindow->RootWindow : FindHoveredWindow(g.IO.MousePos, true); + // Find the window we are hovering + // - Child windows can extend beyond the limit of their parent so we need to derive HoveredRootWindow from HoveredWindow. + // - When moving a window we can skip the search, which also conveniently bypasses the fact that window->WindowRectClipped is lagging as this point. + // - We also support the moved window toggling the NoInputs flag after moving has started in order to be able to detect windows below it, which is useful for e.g. docking mechanisms. + g.HoveredWindow = (g.MovingWindow && !(g.MovingWindow->Flags & ImGuiWindowFlags_NoInputs)) ? g.MovingWindow : FindHoveredWindow(); + g.HoveredRootWindow = g.HoveredWindow ? g.HoveredWindow->RootWindow : NULL; - if (ImGuiWindow* modal_window = GetFrontMostModalRootWindow()) + ImGuiWindow* modal_window = GetFrontMostModalRootWindow(); + if (modal_window != NULL) { g.ModalWindowDarkeningRatio = ImMin(g.ModalWindowDarkeningRatio + g.IO.DeltaTime * 6.0f, 1.0f); - ImGuiWindow* window = g.HoveredRootWindow; - while (window && window != modal_window) - window = window->ParentWindow; - if (!window) + if (g.HoveredRootWindow && !IsWindowChildOf(g.HoveredRootWindow, modal_window)) g.HoveredRootWindow = g.HoveredWindow = NULL; } else @@ -2272,7 +3442,7 @@ void ImGui::NewFrame() g.ModalWindowDarkeningRatio = 0.0f; } - // Are we using inputs? Tell user so they can capture/discard the inputs away from the rest of their application. + // Update the WantCaptureMouse/WantCaptureKeyboard flags, so user can capture/discard the inputs away from the rest of their application. // When clicking outside of a window we assume the click is owned by the application and won't request capture. We need to track click ownership. int mouse_earliest_button_down = -1; bool mouse_any_down = false; @@ -2282,35 +3452,50 @@ void ImGui::NewFrame() g.IO.MouseDownOwned[i] = (g.HoveredWindow != NULL) || (!g.OpenPopupStack.empty()); mouse_any_down |= g.IO.MouseDown[i]; if (g.IO.MouseDown[i]) - if (mouse_earliest_button_down == -1 || g.IO.MouseClickedTime[mouse_earliest_button_down] > g.IO.MouseClickedTime[i]) + if (mouse_earliest_button_down == -1 || g.IO.MouseClickedTime[i] < g.IO.MouseClickedTime[mouse_earliest_button_down]) mouse_earliest_button_down = i; } bool mouse_avail_to_imgui = (mouse_earliest_button_down == -1) || g.IO.MouseDownOwned[mouse_earliest_button_down]; - if (g.CaptureMouseNextFrame != -1) - g.IO.WantCaptureMouse = (g.CaptureMouseNextFrame != 0); + if (g.WantCaptureMouseNextFrame != -1) + g.IO.WantCaptureMouse = (g.WantCaptureMouseNextFrame != 0); else - g.IO.WantCaptureMouse = (mouse_avail_to_imgui && (g.HoveredWindow != NULL || mouse_any_down)) || (g.ActiveId != 0) || (!g.OpenPopupStack.empty()); - g.IO.WantCaptureKeyboard = (g.CaptureKeyboardNextFrame != -1) ? (g.CaptureKeyboardNextFrame != 0) : (g.ActiveId != 0); - g.IO.WantTextInput = (g.ActiveId != 0 && g.InputTextState.Id == g.ActiveId); + g.IO.WantCaptureMouse = (mouse_avail_to_imgui && (g.HoveredWindow != NULL || mouse_any_down)) || (!g.OpenPopupStack.empty()); + + if (g.WantCaptureKeyboardNextFrame != -1) + g.IO.WantCaptureKeyboard = (g.WantCaptureKeyboardNextFrame != 0); + else + g.IO.WantCaptureKeyboard = (g.ActiveId != 0) || (modal_window != NULL); + if (g.IO.NavActive && (g.IO.NavFlags & ImGuiNavFlags_EnableKeyboard) && !(g.IO.NavFlags & ImGuiNavFlags_NoCaptureKeyboard)) + g.IO.WantCaptureKeyboard = true; + + g.IO.WantTextInput = (g.WantTextInputNextFrame != -1) ? (g.WantTextInputNextFrame != 0) : 0; g.MouseCursor = ImGuiMouseCursor_Arrow; - g.CaptureMouseNextFrame = g.CaptureKeyboardNextFrame = -1; + g.WantCaptureMouseNextFrame = g.WantCaptureKeyboardNextFrame = g.WantTextInputNextFrame = -1; g.OsImePosRequest = ImVec2(1.0f, 1.0f); // OS Input Method Editor showing on top-left of our window by default // If mouse was first clicked outside of ImGui bounds we also cancel out hovering. - if (!mouse_avail_to_imgui) + // FIXME: For patterns of drag and drop across OS windows, we may need to rework/remove this test (first committed 311c0ca9 on 2015/02) + bool mouse_dragging_extern_payload = g.DragDropActive && (g.DragDropSourceFlags & ImGuiDragDropFlags_SourceExtern) != 0; + if (!mouse_avail_to_imgui && !mouse_dragging_extern_payload) g.HoveredWindow = g.HoveredRootWindow = NULL; - // Scale & Scrolling - if (g.HoveredWindow && g.IO.MouseWheel != 0.0f && !g.HoveredWindow->Collapsed) + // Mouse wheel scrolling, scale + if (g.HoveredWindow && !g.HoveredWindow->Collapsed && (g.IO.MouseWheel != 0.0f || g.IO.MouseWheelH != 0.0f)) { + // If a child window has the ImGuiWindowFlags_NoScrollWithMouse flag, we give a chance to scroll its parent (unless either ImGuiWindowFlags_NoInputs or ImGuiWindowFlags_NoScrollbar are also set). ImGuiWindow* window = g.HoveredWindow; - if (g.IO.KeyCtrl) + ImGuiWindow* scroll_window = window; + while ((scroll_window->Flags & ImGuiWindowFlags_ChildWindow) && (scroll_window->Flags & ImGuiWindowFlags_NoScrollWithMouse) && !(scroll_window->Flags & ImGuiWindowFlags_NoScrollbar) && !(scroll_window->Flags & ImGuiWindowFlags_NoInputs) && scroll_window->ParentWindow) + scroll_window = scroll_window->ParentWindow; + const bool scroll_allowed = !(scroll_window->Flags & ImGuiWindowFlags_NoScrollWithMouse) && !(scroll_window->Flags & ImGuiWindowFlags_NoInputs); + + if (g.IO.MouseWheel != 0.0f) { - if (g.IO.FontAllowUserScaling) + if (g.IO.KeyCtrl && g.IO.FontAllowUserScaling) { // Zoom / Scale window - float new_font_scale = ImClamp(window->FontWindowScale + g.IO.MouseWheel * 0.10f, 0.50f, 2.50f); - float scale = new_font_scale / window->FontWindowScale; + const float new_font_scale = ImClamp(window->FontWindowScale + g.IO.MouseWheel * 0.10f, 0.50f, 2.50f); + const float scale = new_font_scale / window->FontWindowScale; window->FontWindowScale = new_font_scale; const ImVec2 offset = window->Size * (1.0f - scale) * (g.IO.MousePos - window->Pos) / window->Size; @@ -2319,19 +3504,32 @@ void ImGui::NewFrame() window->Size *= scale; window->SizeFull *= scale; } + else if (!g.IO.KeyCtrl && scroll_allowed) + { + // Mouse wheel vertical scrolling + float scroll_amount = 5 * scroll_window->CalcFontSize(); + scroll_amount = (float)(int)ImMin(scroll_amount, (scroll_window->ContentsRegionRect.GetHeight() + scroll_window->WindowPadding.y * 2.0f) * 0.67f); + SetWindowScrollY(scroll_window, scroll_window->Scroll.y - g.IO.MouseWheel * scroll_amount); + } } - else if (!(window->Flags & ImGuiWindowFlags_NoScrollWithMouse)) + if (g.IO.MouseWheelH != 0.0f && scroll_allowed) { - // Scroll - const int scroll_lines = (window->Flags & ImGuiWindowFlags_ComboBox) ? 3 : 5; - SetWindowScrollY(window, window->Scroll.y - g.IO.MouseWheel * window->CalcFontSize() * scroll_lines); + // Mouse wheel horizontal scrolling (for hardware that supports it) + float scroll_amount = scroll_window->CalcFontSize(); + if (!g.IO.KeyCtrl && !(window->Flags & ImGuiWindowFlags_NoScrollWithMouse)) + SetWindowScrollX(window, window->Scroll.x - g.IO.MouseWheelH * scroll_amount); } } // Pressing TAB activate widget focus - // NB: Don't discard FocusedWindow if it isn't active, so that a window that go on/off programatically won't lose its keyboard focus. - if (g.ActiveId == 0 && g.FocusedWindow != NULL && g.FocusedWindow->Active && IsKeyPressedMap(ImGuiKey_Tab, false)) - g.FocusedWindow->FocusIdxTabRequestNext = 0; + if (g.ActiveId == 0 && g.NavWindow != NULL && g.NavWindow->Active && !(g.NavWindow->Flags & ImGuiWindowFlags_NoNavInputs) && !g.IO.KeyCtrl && IsKeyPressedMap(ImGuiKey_Tab, false)) + { + if (g.NavId != 0 && g.NavIdTabCounter != INT_MAX) + g.NavWindow->FocusIdxTabRequestNext = g.NavIdTabCounter + 1 + (g.IO.KeyShift ? -1 : 1); + else + g.NavWindow->FocusIdxTabRequestNext = g.IO.KeyShift ? -1 : 0; + } + g.NavIdTabCounter = INT_MAX; // Mark all windows as not visible for (int i = 0; i != g.Windows.Size; i++) @@ -2339,165 +3537,244 @@ void ImGui::NewFrame() ImGuiWindow* window = g.Windows[i]; window->WasActive = window->Active; window->Active = false; - window->Accessed = false; + window->WriteAccessed = false; } // Closing the focused window restore focus to the first active root window in descending z-order - if (g.FocusedWindow && !g.FocusedWindow->WasActive) - for (int i = g.Windows.Size-1; i >= 0; i--) - if (g.Windows[i]->WasActive && !(g.Windows[i]->Flags & ImGuiWindowFlags_ChildWindow)) - { - FocusWindow(g.Windows[i]); - break; - } + if (g.NavWindow && !g.NavWindow->WasActive) + FocusFrontMostActiveWindow(NULL); // No window should be open at the beginning of the frame. // But in order to allow the user to call NewFrame() multiple times without calling Render(), we are doing an explicit clear. g.CurrentWindowStack.resize(0); g.CurrentPopupStack.resize(0); - CloseInactivePopups(); + ClosePopupsOverWindow(g.NavWindow); // Create implicit window - we will only render it if the user has added something to it. - ImGui::SetNextWindowSize(ImVec2(400,400), ImGuiSetCond_FirstUseEver); - ImGui::Begin("Debug"); + // We don't use "Debug" to avoid colliding with user trying to create a "Debug" window with custom flags. + SetNextWindowSize(ImVec2(400,400), ImGuiCond_FirstUseEver); + Begin("Debug##Default"); } -// NB: behavior of ImGui after Shutdown() is not tested/guaranteed at the moment. This function is merely here to free heap allocations. -void ImGui::Shutdown() +static void* SettingsHandlerWindow_ReadOpen(ImGuiContext*, ImGuiSettingsHandler*, const char* name) { - ImGuiContext& g = *GImGui; + ImGuiWindowSettings* settings = ImGui::FindWindowSettings(ImHash(name, 0)); + if (!settings) + settings = AddWindowSettings(name); + return (void*)settings; +} + +static void SettingsHandlerWindow_ReadLine(ImGuiContext*, ImGuiSettingsHandler*, void* entry, const char* line) +{ + ImGuiWindowSettings* settings = (ImGuiWindowSettings*)entry; + float x, y; + int i; + if (sscanf(line, "Pos=%f,%f", &x, &y) == 2) settings->Pos = ImVec2(x, y); + else if (sscanf(line, "Size=%f,%f", &x, &y) == 2) settings->Size = ImMax(ImVec2(x, y), GImGui->Style.WindowMinSize); + else if (sscanf(line, "Collapsed=%d", &i) == 1) settings->Collapsed = (i != 0); +} + +static void SettingsHandlerWindow_WriteAll(ImGuiContext* imgui_ctx, ImGuiSettingsHandler* handler, ImGuiTextBuffer* buf) +{ + // Gather data from windows that were active during this session + ImGuiContext& g = *imgui_ctx; + for (int i = 0; i != g.Windows.Size; i++) + { + ImGuiWindow* window = g.Windows[i]; + if (window->Flags & ImGuiWindowFlags_NoSavedSettings) + continue; + ImGuiWindowSettings* settings = ImGui::FindWindowSettings(window->ID); + if (!settings) + settings = AddWindowSettings(window->Name); + settings->Pos = window->Pos; + settings->Size = window->SizeFull; + settings->Collapsed = window->Collapsed; + } + + // Write a buffer + // If a window wasn't opened in this session we preserve its settings + buf->reserve(buf->size() + g.SettingsWindows.Size * 96); // ballpark reserve + for (int i = 0; i != g.SettingsWindows.Size; i++) + { + const ImGuiWindowSettings* settings = &g.SettingsWindows[i]; + if (settings->Pos.x == FLT_MAX) + continue; + const char* name = settings->Name; + if (const char* p = strstr(name, "###")) // Skip to the "###" marker if any. We don't skip past to match the behavior of GetID() + name = p; + buf->appendf("[%s][%s]\n", handler->TypeName, name); + buf->appendf("Pos=%d,%d\n", (int)settings->Pos.x, (int)settings->Pos.y); + buf->appendf("Size=%d,%d\n", (int)settings->Size.x, (int)settings->Size.y); + buf->appendf("Collapsed=%d\n", settings->Collapsed); + buf->appendf("\n"); + } +} + +void ImGui::Initialize(ImGuiContext* context) +{ + ImGuiContext& g = *context; + IM_ASSERT(!g.Initialized && !g.SettingsLoaded); + g.LogClipboard = IM_NEW(ImGuiTextBuffer)(); + + // Add .ini handle for ImGuiWindow type + ImGuiSettingsHandler ini_handler; + ini_handler.TypeName = "Window"; + ini_handler.TypeHash = ImHash("Window", 0, 0); + ini_handler.ReadOpenFn = SettingsHandlerWindow_ReadOpen; + ini_handler.ReadLineFn = SettingsHandlerWindow_ReadLine; + ini_handler.WriteAllFn = SettingsHandlerWindow_WriteAll; + g.SettingsHandlers.push_front(ini_handler); + + g.Initialized = true; +} + +// This function is merely here to free heap allocations. +void ImGui::Shutdown(ImGuiContext* context) +{ + ImGuiContext& g = *context; // The fonts atlas can be used prior to calling NewFrame(), so we clear it even if g.Initialized is FALSE (which would happen if we never called NewFrame) - if (g.IO.Fonts) // Testing for NULL to allow user to NULLify in case of running Shutdown() on multiple contexts. Bit hacky. - g.IO.Fonts->Clear(); + if (g.IO.Fonts && g.FontAtlasOwnedByContext) + IM_DELETE(g.IO.Fonts); - // Cleanup of other data are conditional on actually having used ImGui. + // Cleanup of other data are conditional on actually having initialize ImGui. if (!g.Initialized) return; SaveIniSettingsToDisk(g.IO.IniFilename); + // Clear everything else for (int i = 0; i < g.Windows.Size; i++) - { - g.Windows[i]->~ImGuiWindow(); - ImGui::MemFree(g.Windows[i]); - } + IM_DELETE(g.Windows[i]); g.Windows.clear(); g.WindowsSortBuffer.clear(); g.CurrentWindow = NULL; g.CurrentWindowStack.clear(); - g.FocusedWindow = NULL; + g.WindowsById.Clear(); + g.NavWindow = NULL; g.HoveredWindow = NULL; g.HoveredRootWindow = NULL; g.ActiveIdWindow = NULL; - g.MovedWindow = NULL; - for (int i = 0; i < g.Settings.Size; i++) - ImGui::MemFree(g.Settings[i].Name); - g.Settings.clear(); + g.MovingWindow = NULL; + for (int i = 0; i < g.SettingsWindows.Size; i++) + IM_DELETE(g.SettingsWindows[i].Name); g.ColorModifiers.clear(); g.StyleModifiers.clear(); g.FontStack.clear(); g.OpenPopupStack.clear(); g.CurrentPopupStack.clear(); - g.SetNextWindowSizeConstraintCallback = NULL; - g.SetNextWindowSizeConstraintCallbackUserData = NULL; - for (int i = 0; i < IM_ARRAYSIZE(g.RenderDrawLists); i++) - g.RenderDrawLists[i].clear(); + g.DrawDataBuilder.ClearFreeMemory(); g.OverlayDrawList.ClearFreeMemory(); - g.ColorEditModeStorage.Clear(); - if (g.PrivateClipboard) - { - ImGui::MemFree(g.PrivateClipboard); - g.PrivateClipboard = NULL; - } + g.PrivateClipboard.clear(); g.InputTextState.Text.clear(); g.InputTextState.InitialText.clear(); g.InputTextState.TempTextBuffer.clear(); + g.SettingsWindows.clear(); + g.SettingsHandlers.clear(); + if (g.LogFile && g.LogFile != stdout) { fclose(g.LogFile); g.LogFile = NULL; } if (g.LogClipboard) - { - g.LogClipboard->~ImGuiTextBuffer(); - ImGui::MemFree(g.LogClipboard); - } + IM_DELETE(g.LogClipboard); g.Initialized = false; } -static ImGuiIniData* FindWindowSettings(const char* name) +ImGuiWindowSettings* ImGui::FindWindowSettings(ImGuiID id) { ImGuiContext& g = *GImGui; - ImGuiID id = ImHash(name, 0); - for (int i = 0; i != g.Settings.Size; i++) - { - ImGuiIniData* ini = &g.Settings[i]; - if (ini->Id == id) - return ini; - } + for (int i = 0; i != g.SettingsWindows.Size; i++) + if (g.SettingsWindows[i].Id == id) + return &g.SettingsWindows[i]; return NULL; } -static ImGuiIniData* AddWindowSettings(const char* name) -{ - GImGui->Settings.resize(GImGui->Settings.Size + 1); - ImGuiIniData* ini = &GImGui->Settings.back(); - ini->Name = ImStrdup(name); - ini->Id = ImHash(name, 0); - ini->Collapsed = false; - ini->Pos = ImVec2(FLT_MAX,FLT_MAX); - ini->Size = ImVec2(0,0); - return ini; -} - -// Zero-tolerance, poor-man .ini parsing -// FIXME: Write something less rubbish -static void LoadIniSettingsFromDisk(const char* ini_filename) +static ImGuiWindowSettings* AddWindowSettings(const char* name) { ImGuiContext& g = *GImGui; + g.SettingsWindows.push_back(ImGuiWindowSettings()); + ImGuiWindowSettings* settings = &g.SettingsWindows.back(); + settings->Name = ImStrdup(name); + settings->Id = ImHash(name, 0); + return settings; +} + +static void LoadIniSettingsFromDisk(const char* ini_filename) +{ if (!ini_filename) return; - - int file_size; - char* file_data = (char*)ImFileLoadToMemory(ini_filename, "rb", &file_size, 1); + char* file_data = (char*)ImFileLoadToMemory(ini_filename, "rb", NULL, +1); if (!file_data) return; + LoadIniSettingsFromMemory(file_data); + ImGui::MemFree(file_data); +} - ImGuiIniData* settings = NULL; - const char* buf_end = file_data + file_size; - for (const char* line_start = file_data; line_start < buf_end; ) +ImGuiSettingsHandler* ImGui::FindSettingsHandler(const char* type_name) +{ + ImGuiContext& g = *GImGui; + const ImGuiID type_hash = ImHash(type_name, 0, 0); + for (int handler_n = 0; handler_n < g.SettingsHandlers.Size; handler_n++) + if (g.SettingsHandlers[handler_n].TypeHash == type_hash) + return &g.SettingsHandlers[handler_n]; + return NULL; +} + +// Zero-tolerance, no error reporting, cheap .ini parsing +static void LoadIniSettingsFromMemory(const char* buf_readonly) +{ + // For convenience and to make the code simpler, we'll write zero terminators inside the buffer. So let's create a writable copy. + char* buf = ImStrdup(buf_readonly); + char* buf_end = buf + strlen(buf); + + ImGuiContext& g = *GImGui; + void* entry_data = NULL; + ImGuiSettingsHandler* entry_handler = NULL; + + char* line_end = NULL; + for (char* line = buf; line < buf_end; line = line_end + 1) { - const char* line_end = line_start; + // Skip new lines markers, then find end of the line + while (*line == '\n' || *line == '\r') + line++; + line_end = line; while (line_end < buf_end && *line_end != '\n' && *line_end != '\r') line_end++; + line_end[0] = 0; - if (line_start[0] == '[' && line_end > line_start && line_end[-1] == ']') + if (line[0] == '[' && line_end > line && line_end[-1] == ']') { - char name[64]; - ImFormatString(name, IM_ARRAYSIZE(name), "%.*s", (int)(line_end-line_start-2), line_start+1); - settings = FindWindowSettings(name); - if (!settings) - settings = AddWindowSettings(name); + // Parse "[Type][Name]". Note that 'Name' can itself contains [] characters, which is acceptable with the current format and parsing code. + line_end[-1] = 0; + const char* name_end = line_end - 1; + const char* type_start = line + 1; + char* type_end = ImStrchrRange(type_start, name_end, ']'); + const char* name_start = type_end ? ImStrchrRange(type_end + 1, name_end, '[') : NULL; + if (!type_end || !name_start) + { + name_start = type_start; // Import legacy entries that have no type + type_start = "Window"; + } + else + { + *type_end = 0; // Overwrite first ']' + name_start++; // Skip second '[' + } + entry_handler = ImGui::FindSettingsHandler(type_start); + entry_data = entry_handler ? entry_handler->ReadOpenFn(&g, entry_handler, name_start) : NULL; } - else if (settings) + else if (entry_handler != NULL && entry_data != NULL) { - float x, y; - int i; - if (sscanf(line_start, "Pos=%f,%f", &x, &y) == 2) - settings->Pos = ImVec2(x, y); - else if (sscanf(line_start, "Size=%f,%f", &x, &y) == 2) - settings->Size = ImMax(ImVec2(x, y), g.Style.WindowMinSize); - else if (sscanf(line_start, "Collapsed=%d", &i) == 1) - settings->Collapsed = (i != 0); + // Let type handler parse the line + entry_handler->ReadLineFn(&g, entry_handler, entry_data, line); } - - line_start = line_end+1; } - - ImGui::MemFree(file_data); + ImGui::MemFree(buf); + g.SettingsLoaded = true; } static void SaveIniSettingsToDisk(const char* ini_filename) @@ -2507,50 +3784,49 @@ static void SaveIniSettingsToDisk(const char* ini_filename) if (!ini_filename) return; - // Gather data from windows that were active during this session - for (int i = 0; i != g.Windows.Size; i++) - { - ImGuiWindow* window = g.Windows[i]; - if (window->Flags & ImGuiWindowFlags_NoSavedSettings) - continue; - ImGuiIniData* settings = FindWindowSettings(window->Name); - settings->Pos = window->Pos; - settings->Size = window->SizeFull; - settings->Collapsed = window->Collapsed; - } + ImVector buf; + SaveIniSettingsToMemory(buf); - // Write .ini file - // If a window wasn't opened in this session we preserve its settings FILE* f = ImFileOpen(ini_filename, "wt"); if (!f) return; - for (int i = 0; i != g.Settings.Size; i++) - { - const ImGuiIniData* settings = &g.Settings[i]; - if (settings->Pos.x == FLT_MAX) - continue; - const char* name = settings->Name; - if (const char* p = strstr(name, "###")) // Skip to the "###" marker if any. We don't skip past to match the behavior of GetID() - name = p; - fprintf(f, "[%s]\n", name); - fprintf(f, "Pos=%d,%d\n", (int)settings->Pos.x, (int)settings->Pos.y); - fprintf(f, "Size=%d,%d\n", (int)settings->Size.x, (int)settings->Size.y); - fprintf(f, "Collapsed=%d\n", settings->Collapsed); - fprintf(f, "\n"); - } - + fwrite(buf.Data, sizeof(char), (size_t)buf.Size, f); fclose(f); } -static void MarkIniSettingsDirty() +static void SaveIniSettingsToMemory(ImVector& out_buf) +{ + ImGuiContext& g = *GImGui; + g.SettingsDirtyTimer = 0.0f; + + ImGuiTextBuffer buf; + for (int handler_n = 0; handler_n < g.SettingsHandlers.Size; handler_n++) + { + ImGuiSettingsHandler* handler = &g.SettingsHandlers[handler_n]; + handler->WriteAllFn(&g, handler, &buf); + } + + buf.Buf.pop_back(); // Remove extra zero-terminator used by ImGuiTextBuffer + out_buf.swap(buf.Buf); +} + +void ImGui::MarkIniSettingsDirty() { ImGuiContext& g = *GImGui; if (g.SettingsDirtyTimer <= 0.0f) g.SettingsDirtyTimer = g.IO.IniSavingRate; } +static void MarkIniSettingsDirty(ImGuiWindow* window) +{ + ImGuiContext& g = *GImGui; + if (!(window->Flags & ImGuiWindowFlags_NoSavedSettings)) + if (g.SettingsDirtyTimer <= 0.0f) + g.SettingsDirtyTimer = g.IO.IniSavingRate; +} + // FIXME: Add a more explicit sort order in the window structure. -static int ChildWindowComparer(const void* lhs, const void* rhs) +static int IMGUI_CDECL ChildWindowComparer(const void* lhs, const void* rhs) { const ImGuiWindow* a = *(const ImGuiWindow**)lhs; const ImGuiWindow* b = *(const ImGuiWindow**)rhs; @@ -2558,14 +3834,12 @@ static int ChildWindowComparer(const void* lhs, const void* rhs) return d; if (int d = (a->Flags & ImGuiWindowFlags_Tooltip) - (b->Flags & ImGuiWindowFlags_Tooltip)) return d; - if (int d = (a->Flags & ImGuiWindowFlags_ComboBox) - (b->Flags & ImGuiWindowFlags_ComboBox)) - return d; - return (a->IndexWithinParent - b->IndexWithinParent); + return (a->BeginOrderWithinParent - b->BeginOrderWithinParent); } -static void AddWindowToSortedBuffer(ImVector& out_sorted_windows, ImGuiWindow* window) +static void AddWindowToSortedBuffer(ImVector* out_sorted_windows, ImGuiWindow* window) { - out_sorted_windows.push_back(window); + out_sorted_windows->push_back(window); if (window->Active) { int count = window->DC.ChildWindows.Size; @@ -2580,7 +3854,7 @@ static void AddWindowToSortedBuffer(ImVector& out_sorted_windows, } } -static void AddDrawListToRenderList(ImVector& out_render_list, ImDrawList* draw_list) +static void AddDrawListToDrawData(ImVector* out_render_list, ImDrawList* draw_list) { if (draw_list->CmdBuffer.empty()) return; @@ -2594,31 +3868,74 @@ static void AddDrawListToRenderList(ImVector& out_render_list, ImDr return; } - // Draw list sanity check. Detect mismatch between PrimReserve() calls and incrementing _VtxCurrentIdx, _VtxWritePtr etc. + // Draw list sanity check. Detect mismatch between PrimReserve() calls and incrementing _VtxCurrentIdx, _VtxWritePtr etc. May trigger for you if you are using PrimXXX functions incorrectly. IM_ASSERT(draw_list->VtxBuffer.Size == 0 || draw_list->_VtxWritePtr == draw_list->VtxBuffer.Data + draw_list->VtxBuffer.Size); IM_ASSERT(draw_list->IdxBuffer.Size == 0 || draw_list->_IdxWritePtr == draw_list->IdxBuffer.Data + draw_list->IdxBuffer.Size); IM_ASSERT((int)draw_list->_VtxCurrentIdx == draw_list->VtxBuffer.Size); - // Check that draw_list doesn't use more vertices than indexable (default ImDrawIdx = 2 bytes = 64K vertices) - // If this assert triggers because you are drawing lots of stuff manually, A) workaround by calling BeginChild()/EndChild() to put your draw commands in multiple draw lists, B) #define ImDrawIdx to a 'unsigned int' in imconfig.h and render accordingly. - IM_ASSERT((int64_t)draw_list->_VtxCurrentIdx <= ((int64_t)1L << (sizeof(ImDrawIdx)*8))); // Too many vertices in same ImDrawList. See comment above. - - out_render_list.push_back(draw_list); - GImGui->IO.MetricsRenderVertices += draw_list->VtxBuffer.Size; - GImGui->IO.MetricsRenderIndices += draw_list->IdxBuffer.Size; + // Check that draw_list doesn't use more vertices than indexable (default ImDrawIdx = unsigned short = 2 bytes = 64K vertices per ImDrawList = per window) + // If this assert triggers because you are drawing lots of stuff manually: + // A) Make sure you are coarse clipping, because ImDrawList let all your vertices pass. You can use the Metrics window to inspect draw list contents. + // B) If you need/want meshes with more than 64K vertices, uncomment the '#define ImDrawIdx unsigned int' line in imconfig.h to set the index size to 4 bytes. + // You'll need to handle the 4-bytes indices to your renderer. For example, the OpenGL example code detect index size at compile-time by doing: + // glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer_offset); + // Your own engine or render API may use different parameters or function calls to specify index sizes. 2 and 4 bytes indices are generally supported by most API. + // C) If for some reason you cannot use 4 bytes indices or don't want to, a workaround is to call BeginChild()/EndChild() before reaching the 64K limit to split your draw commands in multiple draw lists. + if (sizeof(ImDrawIdx) == 2) + IM_ASSERT(draw_list->_VtxCurrentIdx < (1 << 16) && "Too many vertices in ImDrawList using 16-bit indices. Read comment above"); + + out_render_list->push_back(draw_list); } -static void AddWindowToRenderList(ImVector& out_render_list, ImGuiWindow* window) +static void AddWindowToDrawData(ImVector* out_render_list, ImGuiWindow* window) { - AddDrawListToRenderList(out_render_list, window->DrawList); + AddDrawListToDrawData(out_render_list, window->DrawList); for (int i = 0; i < window->DC.ChildWindows.Size; i++) { ImGuiWindow* child = window->DC.ChildWindows[i]; - if (!child->Active) // clipped children may have been marked not active + if (child->Active && child->HiddenFrames <= 0) // clipped children may have been marked not active + AddWindowToDrawData(out_render_list, child); + } +} + +static void AddWindowToDrawDataSelectLayer(ImGuiWindow* window) +{ + ImGuiContext& g = *GImGui; + g.IO.MetricsActiveWindows++; + if (window->Flags & ImGuiWindowFlags_Tooltip) + AddWindowToDrawData(&g.DrawDataBuilder.Layers[1], window); + else + AddWindowToDrawData(&g.DrawDataBuilder.Layers[0], window); +} + +void ImDrawDataBuilder::FlattenIntoSingleLayer() +{ + int n = Layers[0].Size; + int size = n; + for (int i = 1; i < IM_ARRAYSIZE(Layers); i++) + size += Layers[i].Size; + Layers[0].resize(size); + for (int layer_n = 1; layer_n < IM_ARRAYSIZE(Layers); layer_n++) + { + ImVector& layer = Layers[layer_n]; + if (layer.empty()) continue; - if ((child->Flags & ImGuiWindowFlags_Popup) && child->HiddenFrames > 0) - continue; - AddWindowToRenderList(out_render_list, child); + memcpy(&Layers[0][n], &layer[0], layer.Size * sizeof(ImDrawList*)); + n += layer.Size; + layer.resize(0); + } +} + +static void SetupDrawData(ImVector* draw_lists, ImDrawData* out_draw_data) +{ + out_draw_data->Valid = true; + out_draw_data->CmdLists = (draw_lists->Size > 0) ? draw_lists->Data : NULL; + out_draw_data->CmdListsCount = draw_lists->Size; + out_draw_data->TotalVtxCount = out_draw_data->TotalIdxCount = 0; + for (int n = 0; n < draw_lists->Size; n++) + { + out_draw_data->TotalVtxCount += draw_lists->Data[n]->VtxBuffer.Size; + out_draw_data->TotalIdxCount += draw_lists->Data[n]->IdxBuffer.Size; } } @@ -2642,15 +3959,8 @@ void ImGui::EndFrame() { ImGuiContext& g = *GImGui; IM_ASSERT(g.Initialized); // Forgot to call ImGui::NewFrame() - IM_ASSERT(g.FrameCountEnded != g.FrameCount); // ImGui::EndFrame() called multiple times, or forgot to call ImGui::NewFrame() again - - // Render tooltip - if (g.Tooltip[0]) - { - ImGui::BeginTooltip(); - ImGui::TextUnformatted(g.Tooltip); - ImGui::EndTooltip(); - } + if (g.FrameCountEnded == g.FrameCount) // Don't process EndFrame() multiple times. + return; // Notify OS when our Input Method Editor cursor has moved (e.g. CJK inputs using Microsoft IME) if (g.IO.ImeSetInputScreenPosFn && ImLengthSqr(g.OsImePosRequest - g.OsImePosSet) > 0.0001f) @@ -2661,29 +3971,53 @@ void ImGui::EndFrame() // Hide implicit "Debug" window if it hasn't been used IM_ASSERT(g.CurrentWindowStack.Size == 1); // Mismatched Begin()/End() calls - if (g.CurrentWindow && !g.CurrentWindow->Accessed) + if (g.CurrentWindow && !g.CurrentWindow->WriteAccessed) g.CurrentWindow->Active = false; - ImGui::End(); + End(); - // Click to focus window and start moving (after we're done with all our widgets) - if (g.ActiveId == 0 && g.HoveredId == 0 && g.IO.MouseClicked[0]) + if (g.ActiveId == 0 && g.HoveredId == 0) { - if (!(g.FocusedWindow && !g.FocusedWindow->WasActive && g.FocusedWindow->Active)) // Unless we just made a popup appear + if (!g.NavWindow || !g.NavWindow->Appearing) // Unless we just made a window/popup appear { - if (g.HoveredRootWindow != NULL) + // Click to focus window and start moving (after we're done with all our widgets) + if (g.IO.MouseClicked[0]) { - FocusWindow(g.HoveredWindow); - if (!(g.HoveredWindow->Flags & ImGuiWindowFlags_NoMove)) + if (g.HoveredRootWindow != NULL) { - g.MovedWindow = g.HoveredWindow; - g.MovedWindowMoveId = g.HoveredRootWindow->MoveId; - SetActiveID(g.MovedWindowMoveId, g.HoveredRootWindow); + // Set ActiveId even if the _NoMove flag is set, without it dragging away from a window with _NoMove would activate hover on other windows. + FocusWindow(g.HoveredWindow); + SetActiveID(g.HoveredWindow->MoveId, g.HoveredWindow); + g.NavDisableHighlight = true; + g.ActiveIdClickOffset = g.IO.MousePos - g.HoveredRootWindow->Pos; + if (!(g.HoveredWindow->Flags & ImGuiWindowFlags_NoMove) && !(g.HoveredRootWindow->Flags & ImGuiWindowFlags_NoMove)) + g.MovingWindow = g.HoveredWindow; + } + else if (g.NavWindow != NULL && GetFrontMostModalRootWindow() == NULL) + { + // Clicking on void disable focus + FocusWindow(NULL); } } - else if (g.FocusedWindow != NULL && GetFrontMostModalRootWindow() == NULL) + + // With right mouse button we close popups without changing focus + // (The left mouse button path calls FocusWindow which will lead NewFrame->ClosePopupsOverWindow to trigger) + if (g.IO.MouseClicked[1]) { - // Clicking on void disable focus - FocusWindow(NULL); + // Find the top-most window between HoveredWindow and the front most Modal Window. + // This is where we can trim the popup stack. + ImGuiWindow* modal = GetFrontMostModalRootWindow(); + bool hovered_window_above_modal = false; + if (modal == NULL) + hovered_window_above_modal = true; + for (int i = g.Windows.Size - 1; i >= 0 && hovered_window_above_modal == false; i--) + { + ImGuiWindow* window = g.Windows[i]; + if (window == modal) + break; + if (window == g.HoveredWindow) + hovered_window_above_modal = true; + } + ClosePopupsOverWindow(hovered_window_above_modal ? g.HoveredWindow : modal); } } } @@ -2697,14 +4031,16 @@ void ImGui::EndFrame() ImGuiWindow* window = g.Windows[i]; if (window->Active && (window->Flags & ImGuiWindowFlags_ChildWindow)) // if a child is active its parent will add it continue; - AddWindowToSortedBuffer(g.WindowsSortBuffer, window); + AddWindowToSortedBuffer(&g.WindowsSortBuffer, window); } + IM_ASSERT(g.Windows.Size == g.WindowsSortBuffer.Size); // we done something wrong g.Windows.swap(g.WindowsSortBuffer); // Clear Input data for next frame - g.IO.MouseWheel = 0.0f; + g.IO.MouseWheel = g.IO.MouseWheelH = 0.0f; memset(g.IO.InputCharacters, 0, sizeof(g.IO.InputCharacters)); + memset(g.IO.NavInputs, 0, sizeof(g.IO.NavInputs)); g.FrameCountEnded = g.FrameCount; } @@ -2724,66 +4060,45 @@ void ImGui::Render() { // Gather windows to render g.IO.MetricsRenderVertices = g.IO.MetricsRenderIndices = g.IO.MetricsActiveWindows = 0; - for (int i = 0; i < IM_ARRAYSIZE(g.RenderDrawLists); i++) - g.RenderDrawLists[i].resize(0); - for (int i = 0; i != g.Windows.Size; i++) + g.DrawDataBuilder.Clear(); + ImGuiWindow* window_to_render_front_most = (g.NavWindowingTarget && !(g.NavWindowingTarget->Flags & ImGuiWindowFlags_NoBringToFrontOnFocus)) ? g.NavWindowingTarget : NULL; + for (int n = 0; n != g.Windows.Size; n++) { - ImGuiWindow* window = g.Windows[i]; - if (window->Active && window->HiddenFrames <= 0 && (window->Flags & (ImGuiWindowFlags_ChildWindow)) == 0) - { - // FIXME: Generalize this with a proper layering system so e.g. user can draw in specific layers, below text, .. - g.IO.MetricsActiveWindows++; - if (window->Flags & ImGuiWindowFlags_Popup) - AddWindowToRenderList(g.RenderDrawLists[1], window); - else if (window->Flags & ImGuiWindowFlags_Tooltip) - AddWindowToRenderList(g.RenderDrawLists[2], window); - else - AddWindowToRenderList(g.RenderDrawLists[0], window); - } - } - - // Flatten layers - int n = g.RenderDrawLists[0].Size; - int flattened_size = n; - for (int i = 1; i < IM_ARRAYSIZE(g.RenderDrawLists); i++) - flattened_size += g.RenderDrawLists[i].Size; - g.RenderDrawLists[0].resize(flattened_size); - for (int i = 1; i < IM_ARRAYSIZE(g.RenderDrawLists); i++) - { - ImVector& layer = g.RenderDrawLists[i]; - if (layer.empty()) - continue; - memcpy(&g.RenderDrawLists[0][n], &layer[0], layer.Size * sizeof(ImDrawList*)); - n += layer.Size; + ImGuiWindow* window = g.Windows[n]; + if (window->Active && window->HiddenFrames <= 0 && (window->Flags & (ImGuiWindowFlags_ChildWindow)) == 0 && window != window_to_render_front_most) + AddWindowToDrawDataSelectLayer(window); } + if (window_to_render_front_most && window_to_render_front_most->Active && window_to_render_front_most->HiddenFrames <= 0) // NavWindowingTarget is always temporarily displayed as the front-most window + AddWindowToDrawDataSelectLayer(window_to_render_front_most); + g.DrawDataBuilder.FlattenIntoSingleLayer(); // Draw software mouse cursor if requested - if (g.IO.MouseDrawCursor) + ImVec2 offset, size, uv[4]; + if (g.IO.MouseDrawCursor && g.IO.Fonts->GetMouseCursorTexData(g.MouseCursor, &offset, &size, &uv[0], &uv[2])) { - const ImGuiMouseCursorData& cursor_data = g.MouseCursorData[g.MouseCursor]; - const ImVec2 pos = g.IO.MousePos - cursor_data.HotOffset; - const ImVec2 size = cursor_data.Size; + const ImVec2 pos = g.IO.MousePos - offset; const ImTextureID tex_id = g.IO.Fonts->TexID; + const float sc = g.Style.MouseCursorScale; g.OverlayDrawList.PushTextureID(tex_id); - g.OverlayDrawList.AddImage(tex_id, pos+ImVec2(1,0), pos+ImVec2(1,0) + size, cursor_data.TexUvMin[1], cursor_data.TexUvMax[1], IM_COL32(0,0,0,48)); // Shadow - g.OverlayDrawList.AddImage(tex_id, pos+ImVec2(2,0), pos+ImVec2(2,0) + size, cursor_data.TexUvMin[1], cursor_data.TexUvMax[1], IM_COL32(0,0,0,48)); // Shadow - g.OverlayDrawList.AddImage(tex_id, pos, pos + size, cursor_data.TexUvMin[1], cursor_data.TexUvMax[1], IM_COL32(0,0,0,255)); // Black border - g.OverlayDrawList.AddImage(tex_id, pos, pos + size, cursor_data.TexUvMin[0], cursor_data.TexUvMax[0], IM_COL32(255,255,255,255)); // White fill + g.OverlayDrawList.AddImage(tex_id, pos + ImVec2(1,0)*sc, pos+ImVec2(1,0)*sc + size*sc, uv[2], uv[3], IM_COL32(0,0,0,48)); // Shadow + g.OverlayDrawList.AddImage(tex_id, pos + ImVec2(2,0)*sc, pos+ImVec2(2,0)*sc + size*sc, uv[2], uv[3], IM_COL32(0,0,0,48)); // Shadow + g.OverlayDrawList.AddImage(tex_id, pos, pos + size*sc, uv[2], uv[3], IM_COL32(0,0,0,255)); // Black border + g.OverlayDrawList.AddImage(tex_id, pos, pos + size*sc, uv[0], uv[1], IM_COL32(255,255,255,255)); // White fill g.OverlayDrawList.PopTextureID(); } if (!g.OverlayDrawList.VtxBuffer.empty()) - AddDrawListToRenderList(g.RenderDrawLists[0], &g.OverlayDrawList); + AddDrawListToDrawData(&g.DrawDataBuilder.Layers[0], &g.OverlayDrawList); - // Setup draw data - g.RenderDrawData.Valid = true; - g.RenderDrawData.CmdLists = (g.RenderDrawLists[0].Size > 0) ? &g.RenderDrawLists[0][0] : NULL; - g.RenderDrawData.CmdListsCount = g.RenderDrawLists[0].Size; - g.RenderDrawData.TotalVtxCount = g.IO.MetricsRenderVertices; - g.RenderDrawData.TotalIdxCount = g.IO.MetricsRenderIndices; + // Setup ImDrawData structure for end-user + SetupDrawData(&g.DrawDataBuilder.Layers[0], &g.DrawData); + g.IO.MetricsRenderVertices = g.DrawData.TotalVtxCount; + g.IO.MetricsRenderIndices = g.DrawData.TotalIdxCount; // Render. If user hasn't set a callback then they may retrieve the draw data via GetDrawData() - if (g.RenderDrawData.CmdListsCount > 0 && g.IO.RenderDrawListsFn != NULL) - g.IO.RenderDrawListsFn(&g.RenderDrawData); +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + if (g.DrawData.CmdListsCount > 0 && g.IO.RenderDrawListsFn != NULL) + g.IO.RenderDrawListsFn(&g.DrawData); +#endif } } @@ -2813,23 +4128,24 @@ void ImGui::LogText(const char* fmt, ...) } else { - g.LogClipboard->appendv(fmt, args); + g.LogClipboard->appendfv(fmt, args); } va_end(args); } // Internal version that takes a position to decide on newline placement and pad items according to their depth. // We split text into individual lines to add current tree level padding -static void LogRenderedText(const ImVec2& ref_pos, const char* text, const char* text_end) +static void LogRenderedText(const ImVec2* ref_pos, const char* text, const char* text_end = NULL) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = ImGui::GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; if (!text_end) text_end = ImGui::FindRenderedTextEnd(text, text_end); - const bool log_new_line = ref_pos.y > window->DC.LogLinePosY+1; - window->DC.LogLinePosY = ref_pos.y; + const bool log_new_line = ref_pos && (ref_pos->y > window->DC.LogLinePosY + 1); + if (ref_pos) + window->DC.LogLinePosY = ref_pos->y; const char* text_remaining = text; if (g.LogStartDepth > window->DC.TreeDepth) // Re-adjust padding if we have popped out of our starting depth @@ -2874,7 +4190,7 @@ static void LogRenderedText(const ImVec2& ref_pos, const char* text, const char* void ImGui::RenderText(ImVec2 pos, const char* text, const char* text_end, bool hide_text_after_hash) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = g.CurrentWindow; // Hide anything after a '##' string const char* text_display_end; @@ -2894,14 +4210,14 @@ void ImGui::RenderText(ImVec2 pos, const char* text, const char* text_end, bool { window->DrawList->AddText(g.Font, g.FontSize, pos, GetColorU32(ImGuiCol_Text), text, text_display_end); if (g.LogEnabled) - LogRenderedText(pos, text, text_display_end); + LogRenderedText(&pos, text, text_display_end); } } void ImGui::RenderTextWrapped(ImVec2 pos, const char* text, const char* text_end, float wrap_width) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = g.CurrentWindow; if (!text_end) text_end = text + strlen(text); // FIXME-OPT @@ -2911,7 +4227,7 @@ void ImGui::RenderTextWrapped(ImVec2 pos, const char* text, const char* text_end { window->DrawList->AddText(g.Font, g.FontSize, pos, GetColorU32(ImGuiCol_Text), text, text_end, wrap_width); if (g.LogEnabled) - LogRenderedText(pos, text, text_end); + LogRenderedText(&pos, text, text_end); } } @@ -2926,7 +4242,7 @@ void ImGui::RenderTextClipped(const ImVec2& pos_min, const ImVec2& pos_max, cons return; ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = g.CurrentWindow; // Perform CPU side clipping for single clipped element to avoid using scissor state ImVec2 pos = pos_min; @@ -2953,75 +4269,128 @@ void ImGui::RenderTextClipped(const ImVec2& pos_min, const ImVec2& pos_max, cons window->DrawList->AddText(g.Font, g.FontSize, pos, GetColorU32(ImGuiCol_Text), text, text_display_end, 0.0f, NULL); } if (g.LogEnabled) - LogRenderedText(pos, text, text_display_end); + LogRenderedText(&pos, text, text_display_end); } // Render a rectangle shaped with optional rounding and borders void ImGui::RenderFrame(ImVec2 p_min, ImVec2 p_max, ImU32 fill_col, bool border, float rounding) { - ImGuiWindow* window = GetCurrentWindow(); - + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; window->DrawList->AddRectFilled(p_min, p_max, fill_col, rounding); - if (border && (window->Flags & ImGuiWindowFlags_ShowBorders)) + const float border_size = g.Style.FrameBorderSize; + if (border && border_size > 0.0f) { - window->DrawList->AddRect(p_min+ImVec2(1,1), p_max+ImVec2(1,1), GetColorU32(ImGuiCol_BorderShadow), rounding); - window->DrawList->AddRect(p_min, p_max, GetColorU32(ImGuiCol_Border), rounding); + window->DrawList->AddRect(p_min+ImVec2(1,1), p_max+ImVec2(1,1), GetColorU32(ImGuiCol_BorderShadow), rounding, ImDrawCornerFlags_All, border_size); + window->DrawList->AddRect(p_min, p_max, GetColorU32(ImGuiCol_Border), rounding, ImDrawCornerFlags_All, border_size); + } +} + +void ImGui::RenderFrameBorder(ImVec2 p_min, ImVec2 p_max, float rounding) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + const float border_size = g.Style.FrameBorderSize; + if (border_size > 0.0f) + { + window->DrawList->AddRect(p_min+ImVec2(1,1), p_max+ImVec2(1,1), GetColorU32(ImGuiCol_BorderShadow), rounding, ImDrawCornerFlags_All, border_size); + window->DrawList->AddRect(p_min, p_max, GetColorU32(ImGuiCol_Border), rounding, ImDrawCornerFlags_All, border_size); } } // Render a triangle to denote expanded/collapsed state -void ImGui::RenderCollapseTriangle(ImVec2 p_min, bool is_open, float scale) +void ImGui::RenderTriangle(ImVec2 p_min, ImGuiDir dir, float scale) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = g.CurrentWindow; const float h = g.FontSize * 1.00f; - const float r = h * 0.40f * scale; - ImVec2 center = p_min + ImVec2(h*0.50f, h*0.50f*scale); + float r = h * 0.40f * scale; + ImVec2 center = p_min + ImVec2(h * 0.50f, h * 0.50f * scale); ImVec2 a, b, c; - if (is_open) + switch (dir) { - center.y -= r*0.25f; - a = center + ImVec2(0,1)*r; - b = center + ImVec2(-0.866f,-0.5f)*r; - c = center + ImVec2(0.866f,-0.5f)*r; - } - else - { - a = center + ImVec2(1,0)*r; - b = center + ImVec2(-0.500f,0.866f)*r; - c = center + ImVec2(-0.500f,-0.866f)*r; + case ImGuiDir_Up: + case ImGuiDir_Down: + if (dir == ImGuiDir_Up) r = -r; + center.y -= r * 0.25f; + a = ImVec2(0,1) * r; + b = ImVec2(-0.866f,-0.5f) * r; + c = ImVec2(+0.866f,-0.5f) * r; + break; + case ImGuiDir_Left: + case ImGuiDir_Right: + if (dir == ImGuiDir_Left) r = -r; + center.x -= r * 0.25f; + a = ImVec2(1,0) * r; + b = ImVec2(-0.500f,+0.866f) * r; + c = ImVec2(-0.500f,-0.866f) * r; + break; + case ImGuiDir_None: + case ImGuiDir_Count_: + IM_ASSERT(0); + break; } - window->DrawList->AddTriangleFilled(a, b, c, GetColorU32(ImGuiCol_Text)); + window->DrawList->AddTriangleFilled(center + a, center + b, center + c, GetColorU32(ImGuiCol_Text)); } void ImGui::RenderBullet(ImVec2 pos) { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; window->DrawList->AddCircleFilled(pos, GImGui->FontSize*0.20f, GetColorU32(ImGuiCol_Text), 8); } -void ImGui::RenderCheckMark(ImVec2 pos, ImU32 col) +void ImGui::RenderCheckMark(ImVec2 pos, ImU32 col, float sz) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = g.CurrentWindow; - ImVec2 a, b, c; - float start_x = (float)(int)(g.FontSize * 0.307f + 0.5f); - float rem_third = (float)(int)((g.FontSize - start_x) / 3.0f); - a.x = pos.x + 0.5f + start_x; - b.x = a.x + rem_third; - c.x = a.x + rem_third * 3.0f; - b.y = pos.y - 1.0f + (float)(int)(g.Font->Ascent * (g.FontSize / g.Font->FontSize) + 0.5f) + (float)(int)(g.Font->DisplayOffset.y); - a.y = b.y - rem_third; - c.y = b.y - rem_third * 2.0f; + float thickness = ImMax(sz / 5.0f, 1.0f); + sz -= thickness*0.5f; + pos += ImVec2(thickness*0.25f, thickness*0.25f); - window->DrawList->PathLineTo(a); - window->DrawList->PathLineTo(b); - window->DrawList->PathLineTo(c); - window->DrawList->PathStroke(col, false); + float third = sz / 3.0f; + float bx = pos.x + third; + float by = pos.y + sz - third*0.5f; + window->DrawList->PathLineTo(ImVec2(bx - third, by - third)); + window->DrawList->PathLineTo(ImVec2(bx, by)); + window->DrawList->PathLineTo(ImVec2(bx + third*2, by - third*2)); + window->DrawList->PathStroke(col, false, thickness); +} + +void ImGui::RenderNavHighlight(const ImRect& bb, ImGuiID id, ImGuiNavHighlightFlags flags) +{ + ImGuiContext& g = *GImGui; + if (id != g.NavId) + return; + if (g.NavDisableHighlight && !(flags & ImGuiNavHighlightFlags_AlwaysDraw)) + return; + ImGuiWindow* window = ImGui::GetCurrentWindow(); + if (window->DC.NavHideHighlightOneFrame) + return; + + float rounding = (flags & ImGuiNavHighlightFlags_NoRounding) ? 0.0f : g.Style.FrameRounding; + ImRect display_rect = bb; + display_rect.ClipWith(window->ClipRect); + if (flags & ImGuiNavHighlightFlags_TypeDefault) + { + const float THICKNESS = 2.0f; + const float DISTANCE = 3.0f + THICKNESS * 0.5f; + display_rect.Expand(ImVec2(DISTANCE,DISTANCE)); + bool fully_visible = window->ClipRect.Contains(display_rect); + if (!fully_visible) + window->DrawList->PushClipRect(display_rect.Min, display_rect.Max); + window->DrawList->AddRect(display_rect.Min + ImVec2(THICKNESS*0.5f,THICKNESS*0.5f), display_rect.Max - ImVec2(THICKNESS*0.5f,THICKNESS*0.5f), GetColorU32(ImGuiCol_NavHighlight), rounding, ImDrawCornerFlags_All, THICKNESS); + if (!fully_visible) + window->DrawList->PopClipRect(); + } + if (flags & ImGuiNavHighlightFlags_TypeThin) + { + window->DrawList->AddRect(display_rect.Min, display_rect.Max, GetColorU32(ImGuiCol_NavHighlight), rounding, ~0, 1.0f); + } } // Calculate text size. Text can be multi-line. Optionally ignore text after a ## marker. @@ -3042,7 +4411,7 @@ ImVec2 ImGui::CalcTextSize(const char* text, const char* text_end, bool hide_tex return ImVec2(0.0f, font_size); ImVec2 text_size = font->CalcTextSizeA(font_size, FLT_MAX, wrap_width, text, text_display_end, NULL); - // Cancel out character spacing for the last character of a line (it is baked into glyph->XAdvance field) + // Cancel out character spacing for the last character of a line (it is baked into glyph->AdvanceX field) const float font_scale = font_size / font->FontSize; const float character_spacing_x = 1.0f * font_scale; if (text_size.x > 0.0f) @@ -3058,7 +4427,7 @@ ImVec2 ImGui::CalcTextSize(const char* text, const char* text_end, bool hide_tex void ImGui::CalcListClipping(int items_count, float items_height, int* out_items_display_start, int* out_items_display_end) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; if (g.LogEnabled) { // If logging is active, do not perform any clipping @@ -3075,6 +4444,11 @@ void ImGui::CalcListClipping(int items_count, float items_height, int* out_items const ImVec2 pos = window->DC.CursorPos; int start = (int)((window->ClipRect.Min.y - pos.y) / items_height); int end = (int)((window->ClipRect.Max.y - pos.y) / items_height); + if (g.NavMoveRequest && g.NavMoveDir == ImGuiDir_Up) // When performing a navigation request, ensure we have one item extra in the direction we are moving to + start--; + if (g.NavMoveRequest && g.NavMoveDir == ImGuiDir_Down) + end++; + start = ImClamp(start, 0, items_count); end = ImClamp(end + 1, start, items_count); *out_items_display_start = start; @@ -3083,22 +4457,20 @@ void ImGui::CalcListClipping(int items_count, float items_height, int* out_items // Find window given position, search front-to-back // FIXME: Note that we have a lag here because WindowRectClipped is updated in Begin() so windows moved by user via SetWindowPos() and not SetNextWindowPos() will have that rectangle lagging by a frame at the time FindHoveredWindow() is called, aka before the next Begin(). Moving window thankfully isn't affected. -static ImGuiWindow* FindHoveredWindow(ImVec2 pos, bool excluding_childs) +static ImGuiWindow* FindHoveredWindow() { ImGuiContext& g = *GImGui; - for (int i = g.Windows.Size-1; i >= 0; i--) + for (int i = g.Windows.Size - 1; i >= 0; i--) { ImGuiWindow* window = g.Windows[i]; if (!window->Active) continue; if (window->Flags & ImGuiWindowFlags_NoInputs) continue; - if (excluding_childs && (window->Flags & ImGuiWindowFlags_ChildWindow) != 0) - continue; - // Using the clipped AABB so a child window will typically be clipped by its parent. + // Using the clipped AABB, a child window will typically be clipped by its parent (not always) ImRect bb(window->WindowRectClipped.Min - g.Style.TouchExtraPadding, window->WindowRectClipped.Max + g.Style.TouchExtraPadding); - if (bb.Contains(pos)) + if (bb.Contains(g.IO.MousePos)) return window; } return NULL; @@ -3110,80 +4482,76 @@ static ImGuiWindow* FindHoveredWindow(ImVec2 pos, bool excluding_childs) bool ImGui::IsMouseHoveringRect(const ImVec2& r_min, const ImVec2& r_max, bool clip) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; // Clip ImRect rect_clipped(r_min, r_max); if (clip) - rect_clipped.Clip(window->ClipRect); + rect_clipped.ClipWith(window->ClipRect); // Expand for touch input const ImRect rect_for_touch(rect_clipped.Min - g.Style.TouchExtraPadding, rect_clipped.Max + g.Style.TouchExtraPadding); return rect_for_touch.Contains(g.IO.MousePos); } -bool ImGui::IsMouseHoveringWindow() -{ - ImGuiContext& g = *GImGui; - return g.HoveredWindow == g.CurrentWindow; -} - -bool ImGui::IsMouseHoveringAnyWindow() -{ - ImGuiContext& g = *GImGui; - return g.HoveredWindow != NULL; -} - -bool ImGui::IsPosHoveringAnyWindow(const ImVec2& pos) -{ - return FindHoveredWindow(pos, false) != NULL; -} - static bool IsKeyPressedMap(ImGuiKey key, bool repeat) { const int key_index = GImGui->IO.KeyMap[key]; - return ImGui::IsKeyPressed(key_index, repeat); + return (key_index >= 0) ? ImGui::IsKeyPressed(key_index, repeat) : false; } -int ImGui::GetKeyIndex(ImGuiKey key) +int ImGui::GetKeyIndex(ImGuiKey imgui_key) { - IM_ASSERT(key >= 0 && key < ImGuiKey_COUNT); - return GImGui->IO.KeyMap[key]; + IM_ASSERT(imgui_key >= 0 && imgui_key < ImGuiKey_COUNT); + return GImGui->IO.KeyMap[imgui_key]; } -bool ImGui::IsKeyDown(int key_index) +// Note that imgui doesn't know the semantic of each entry of io.KeyDown[]. Use your own indices/enums according to how your back-end/engine stored them into KeyDown[]! +bool ImGui::IsKeyDown(int user_key_index) { - if (key_index < 0) return false; - IM_ASSERT(key_index >= 0 && key_index < IM_ARRAYSIZE(GImGui->IO.KeysDown)); - return GImGui->IO.KeysDown[key_index]; + if (user_key_index < 0) return false; + IM_ASSERT(user_key_index >= 0 && user_key_index < IM_ARRAYSIZE(GImGui->IO.KeysDown)); + return GImGui->IO.KeysDown[user_key_index]; } -bool ImGui::IsKeyPressed(int key_index, bool repeat) +int ImGui::CalcTypematicPressedRepeatAmount(float t, float t_prev, float repeat_delay, float repeat_rate) +{ + if (t == 0.0f) + return 1; + if (t <= repeat_delay || repeat_rate <= 0.0f) + return 0; + const int count = (int)((t - repeat_delay) / repeat_rate) - (int)((t_prev - repeat_delay) / repeat_rate); + return (count > 0) ? count : 0; +} + +int ImGui::GetKeyPressedAmount(int key_index, float repeat_delay, float repeat_rate) { ImGuiContext& g = *GImGui; if (key_index < 0) return false; IM_ASSERT(key_index >= 0 && key_index < IM_ARRAYSIZE(g.IO.KeysDown)); const float t = g.IO.KeysDownDuration[key_index]; + return CalcTypematicPressedRepeatAmount(t, t - g.IO.DeltaTime, repeat_delay, repeat_rate); +} + +bool ImGui::IsKeyPressed(int user_key_index, bool repeat) +{ + ImGuiContext& g = *GImGui; + if (user_key_index < 0) return false; + IM_ASSERT(user_key_index >= 0 && user_key_index < IM_ARRAYSIZE(g.IO.KeysDown)); + const float t = g.IO.KeysDownDuration[user_key_index]; if (t == 0.0f) return true; - if (repeat && t > g.IO.KeyRepeatDelay) - { - float delay = g.IO.KeyRepeatDelay, rate = g.IO.KeyRepeatRate; - if ((fmodf(t - delay, rate) > rate*0.5f) != (fmodf(t - delay - g.IO.DeltaTime, rate) > rate*0.5f)) - return true; - } + return GetKeyPressedAmount(user_key_index, g.IO.KeyRepeatDelay, g.IO.KeyRepeatRate) > 0; return false; } -bool ImGui::IsKeyReleased(int key_index) +bool ImGui::IsKeyReleased(int user_key_index) { ImGuiContext& g = *GImGui; - if (key_index < 0) return false; - IM_ASSERT(key_index >= 0 && key_index < IM_ARRAYSIZE(g.IO.KeysDown)); - if (g.IO.KeysDownDurationPrev[key_index] >= 0.0f && !g.IO.KeysDown[key_index]) - return true; - return false; + if (user_key_index < 0) return false; + IM_ASSERT(user_key_index >= 0 && user_key_index < IM_ARRAYSIZE(g.IO.KeysDown)); + return g.IO.KeysDownDurationPrev[user_key_index] >= 0.0f && !g.IO.KeysDown[user_key_index]; } bool ImGui::IsMouseDown(int button) @@ -3193,6 +4561,15 @@ bool ImGui::IsMouseDown(int button) return g.IO.MouseDown[button]; } +bool ImGui::IsAnyMouseDown() +{ + ImGuiContext& g = *GImGui; + for (int n = 0; n < IM_ARRAYSIZE(g.IO.MouseDown); n++) + if (g.IO.MouseDown[n]) + return true; + return false; +} + bool ImGui::IsMouseClicked(int button, bool repeat) { ImGuiContext& g = *GImGui; @@ -3246,10 +4623,20 @@ ImVec2 ImGui::GetMousePosOnOpeningCurrentPopup() { ImGuiContext& g = *GImGui; if (g.CurrentPopupStack.Size > 0) - return g.OpenPopupStack[g.CurrentPopupStack.Size-1].MousePosOnOpen; + return g.OpenPopupStack[g.CurrentPopupStack.Size-1].OpenMousePos; return g.IO.MousePos; } +// We typically use ImVec2(-FLT_MAX,-FLT_MAX) to denote an invalid mouse position +bool ImGui::IsMousePosValid(const ImVec2* mouse_pos) +{ + if (mouse_pos == NULL) + mouse_pos = &GImGui->IO.MousePos; + const float MOUSE_INVALID = -256000.0f; + return mouse_pos->x >= MOUSE_INVALID && mouse_pos->y >= MOUSE_INVALID; +} + +// NB: This is only valid if IsMousePosValid(). Back-ends in theory should always keep mouse position valid when dragging even outside the client window. ImVec2 ImGui::GetMouseDragDelta(int button, float lock_threshold) { ImGuiContext& g = *GImGui; @@ -3282,24 +4669,12 @@ void ImGui::SetMouseCursor(ImGuiMouseCursor cursor_type) void ImGui::CaptureKeyboardFromApp(bool capture) { - GImGui->CaptureKeyboardNextFrame = capture ? 1 : 0; + GImGui->WantCaptureKeyboardNextFrame = capture ? 1 : 0; } void ImGui::CaptureMouseFromApp(bool capture) { - GImGui->CaptureMouseNextFrame = capture ? 1 : 0; -} - -bool ImGui::IsItemHovered() -{ - ImGuiWindow* window = GetCurrentWindowRead(); - return window->DC.LastItemHoveredAndUsable; -} - -bool ImGui::IsItemHoveredRect() -{ - ImGuiWindow* window = GetCurrentWindowRead(); - return window->DC.LastItemHoveredRect; + GImGui->WantCaptureMouseNextFrame = capture ? 1 : 0; } bool ImGui::IsItemActive() @@ -3307,32 +4682,45 @@ bool ImGui::IsItemActive() ImGuiContext& g = *GImGui; if (g.ActiveId) { - ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; return g.ActiveId == window->DC.LastItemId; } return false; } +bool ImGui::IsItemFocused() +{ + ImGuiContext& g = *GImGui; + return g.NavId && !g.NavDisableHighlight && g.NavId == g.CurrentWindow->DC.LastItemId; +} + bool ImGui::IsItemClicked(int mouse_button) { - return IsMouseClicked(mouse_button) && IsItemHovered(); + return IsMouseClicked(mouse_button) && IsItemHovered(ImGuiHoveredFlags_Default); } bool ImGui::IsAnyItemHovered() { - return GImGui->HoveredId != 0 || GImGui->HoveredIdPreviousFrame != 0; + ImGuiContext& g = *GImGui; + return g.HoveredId != 0 || g.HoveredIdPreviousFrame != 0; } bool ImGui::IsAnyItemActive() { - return GImGui->ActiveId != 0; + ImGuiContext& g = *GImGui; + return g.ActiveId != 0; +} + +bool ImGui::IsAnyItemFocused() +{ + ImGuiContext& g = *GImGui; + return g.NavId != 0 && !g.NavDisableHighlight; } bool ImGui::IsItemVisible() { ImGuiWindow* window = GetCurrentWindowRead(); - ImRect r(window->ClipRect); - return r.Overlaps(window->DC.LastItemRect); + return window->ClipRect.Overlaps(window->DC.LastItemRect); } // Allow last item to be overlapped by a subsequent item. Both may be activated during the same frame before the later one takes priority. @@ -3363,19 +4751,37 @@ ImVec2 ImGui::GetItemRectSize() return window->DC.LastItemRect.GetSize(); } -ImVec2 ImGui::CalcItemRectClosestPoint(const ImVec2& pos, bool on_edge, float outward) -{ - ImGuiWindow* window = GetCurrentWindowRead(); - ImRect rect = window->DC.LastItemRect; - rect.Expand(outward); - return rect.GetClosestPoint(pos, on_edge); -} - -// Tooltip is stored and turned into a BeginTooltip()/EndTooltip() sequence at the end of the frame. Each call override previous value. -void ImGui::SetTooltipV(const char* fmt, va_list args) +static ImRect GetViewportRect() { ImGuiContext& g = *GImGui; - ImFormatStringV(g.Tooltip, IM_ARRAYSIZE(g.Tooltip), fmt, args); + if (g.IO.DisplayVisibleMin.x != g.IO.DisplayVisibleMax.x && g.IO.DisplayVisibleMin.y != g.IO.DisplayVisibleMax.y) + return ImRect(g.IO.DisplayVisibleMin, g.IO.DisplayVisibleMax); + return ImRect(0.0f, 0.0f, g.IO.DisplaySize.x, g.IO.DisplaySize.y); +} + +// Not exposed publicly as BeginTooltip() because bool parameters are evil. Let's see if other needs arise first. +void ImGui::BeginTooltipEx(ImGuiWindowFlags extra_flags, bool override_previous_tooltip) +{ + ImGuiContext& g = *GImGui; + char window_name[16]; + ImFormatString(window_name, IM_ARRAYSIZE(window_name), "##Tooltip_%02d", g.TooltipOverrideCount); + if (override_previous_tooltip) + if (ImGuiWindow* window = FindWindowByName(window_name)) + if (window->Active) + { + // Hide previous tooltips. We can't easily "reset" the content of a window so we create a new one. + window->HiddenFrames = 1; + ImFormatString(window_name, IM_ARRAYSIZE(window_name), "##Tooltip_%02d", ++g.TooltipOverrideCount); + } + ImGuiWindowFlags flags = ImGuiWindowFlags_Tooltip|ImGuiWindowFlags_NoInputs|ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoResize|ImGuiWindowFlags_NoSavedSettings|ImGuiWindowFlags_AlwaysAutoResize|ImGuiWindowFlags_NoNav; + Begin(window_name, NULL, flags | extra_flags); +} + +void ImGui::SetTooltipV(const char* fmt, va_list args) +{ + BeginTooltipEx(0, true); + TextV(fmt, args); + EndTooltip(); } void ImGui::SetTooltip(const char* fmt, ...) @@ -3386,67 +4792,75 @@ void ImGui::SetTooltip(const char* fmt, ...) va_end(args); } -static ImRect GetVisibleRect() -{ - ImGuiContext& g = *GImGui; - if (g.IO.DisplayVisibleMin.x != g.IO.DisplayVisibleMax.x && g.IO.DisplayVisibleMin.y != g.IO.DisplayVisibleMax.y) - return ImRect(g.IO.DisplayVisibleMin, g.IO.DisplayVisibleMax); - return ImRect(0.0f, 0.0f, g.IO.DisplaySize.x, g.IO.DisplaySize.y); -} - void ImGui::BeginTooltip() { - ImGuiWindowFlags flags = ImGuiWindowFlags_Tooltip|ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoResize|ImGuiWindowFlags_NoSavedSettings|ImGuiWindowFlags_AlwaysAutoResize; - ImGui::Begin("##Tooltip", NULL, flags); + BeginTooltipEx(0, false); } void ImGui::EndTooltip() { IM_ASSERT(GetCurrentWindowRead()->Flags & ImGuiWindowFlags_Tooltip); // Mismatched BeginTooltip()/EndTooltip() calls - ImGui::End(); -} - -static bool IsPopupOpen(ImGuiID id) -{ - ImGuiContext& g = *GImGui; - return g.OpenPopupStack.Size > g.CurrentPopupStack.Size && g.OpenPopupStack[g.CurrentPopupStack.Size].PopupId == id; + End(); } // Mark popup as open (toggle toward open state). // Popups are closed when user click outside, or activate a pressable item, or CloseCurrentPopup() is called within a BeginPopup()/EndPopup() block. // Popup identifiers are relative to the current ID-stack (so OpenPopup and BeginPopup needs to be at the same level). // One open popup per level of the popup hierarchy (NB: when assigning we reset the Window member of ImGuiPopupRef to NULL) -void ImGui::OpenPopupEx(const char* str_id, bool reopen_existing) +void ImGui::OpenPopupEx(ImGuiID id) { ImGuiContext& g = *GImGui; - ImGuiWindow* window = g.CurrentWindow; - ImGuiID id = window->GetID(str_id); + ImGuiWindow* parent_window = g.CurrentWindow; int current_stack_size = g.CurrentPopupStack.Size; - ImGuiPopupRef popup_ref = ImGuiPopupRef(id, window, window->GetID("##menus"), g.IO.MousePos); // Tagged as new ref because constructor sets Window to NULL (we are passing the ParentWindow info here) + ImGuiPopupRef popup_ref; // Tagged as new ref as Window will be set back to NULL if we write this into OpenPopupStack. + popup_ref.PopupId = id; + popup_ref.Window = NULL; + popup_ref.ParentWindow = parent_window; + popup_ref.OpenFrameCount = g.FrameCount; + popup_ref.OpenParentId = parent_window->IDStack.back(); + popup_ref.OpenMousePos = g.IO.MousePos; + popup_ref.OpenPopupPos = (!g.NavDisableHighlight && g.NavDisableMouseHover) ? NavCalcPreferredMousePos() : g.IO.MousePos; + if (g.OpenPopupStack.Size < current_stack_size + 1) - g.OpenPopupStack.push_back(popup_ref); - else if (reopen_existing || g.OpenPopupStack[current_stack_size].PopupId != id) { - g.OpenPopupStack.resize(current_stack_size+1); - g.OpenPopupStack[current_stack_size] = popup_ref; + g.OpenPopupStack.push_back(popup_ref); + } + else + { + // Close child popups if any + g.OpenPopupStack.resize(current_stack_size + 1); + + // Gently handle the user mistakenly calling OpenPopup() every frame. It is a programming mistake! However, if we were to run the regular code path, the ui + // would become completely unusable because the popup will always be in hidden-while-calculating-size state _while_ claiming focus. Which would be a very confusing + // situation for the programmer. Instead, we silently allow the popup to proceed, it will keep reappearing and the programming error will be more obvious to understand. + if (g.OpenPopupStack[current_stack_size].PopupId == id && g.OpenPopupStack[current_stack_size].OpenFrameCount == g.FrameCount - 1) + g.OpenPopupStack[current_stack_size].OpenFrameCount = popup_ref.OpenFrameCount; + else + g.OpenPopupStack[current_stack_size] = popup_ref; + + // When reopening a popup we first refocus its parent, otherwise if its parent is itself a popup it would get closed by ClosePopupsOverWindow(). + // This is equivalent to what ClosePopupToLevel() does. + //if (g.OpenPopupStack[current_stack_size].PopupId == id) + // FocusWindow(parent_window); } } void ImGui::OpenPopup(const char* str_id) { - ImGui::OpenPopupEx(str_id, false); + ImGuiContext& g = *GImGui; + OpenPopupEx(g.CurrentWindow->GetID(str_id)); } -static void CloseInactivePopups() +void ImGui::ClosePopupsOverWindow(ImGuiWindow* ref_window) { ImGuiContext& g = *GImGui; if (g.OpenPopupStack.empty()) return; // When popups are stacked, clicking on a lower level popups puts focus back to it and close popups above it. - // Don't close our own child popup windows + // Don't close our own child popup windows. int n = 0; - if (g.FocusedWindow) + if (ref_window) { for (n = 0; n < g.OpenPopupStack.Size; n++) { @@ -3457,38 +4871,41 @@ static void CloseInactivePopups() if (popup.Window->Flags & ImGuiWindowFlags_ChildWindow) continue; + // Trim the stack if popups are not direct descendant of the reference window (which is often the NavWindow) bool has_focus = false; for (int m = n; m < g.OpenPopupStack.Size && !has_focus; m++) - has_focus = (g.OpenPopupStack[m].Window && g.OpenPopupStack[m].Window->RootWindow == g.FocusedWindow->RootWindow); + has_focus = (g.OpenPopupStack[m].Window && g.OpenPopupStack[m].Window->RootWindow == ref_window->RootWindow); if (!has_focus) break; } } - if (n < g.OpenPopupStack.Size) // This test is not required but it allows to set a useful breakpoint on the line below - g.OpenPopupStack.resize(n); + if (n < g.OpenPopupStack.Size) // This test is not required but it allows to set a convenient breakpoint on the block below + ClosePopupToLevel(n); } static ImGuiWindow* GetFrontMostModalRootWindow() { ImGuiContext& g = *GImGui; for (int n = g.OpenPopupStack.Size-1; n >= 0; n--) - if (ImGuiWindow* front_most_popup = g.OpenPopupStack.Data[n].Window) - if (front_most_popup->Flags & ImGuiWindowFlags_Modal) - return front_most_popup; + if (ImGuiWindow* popup = g.OpenPopupStack.Data[n].Window) + if (popup->Flags & ImGuiWindowFlags_Modal) + return popup; return NULL; } static void ClosePopupToLevel(int remaining) { + IM_ASSERT(remaining >= 0); ImGuiContext& g = *GImGui; - if (remaining > 0) - ImGui::FocusWindow(g.OpenPopupStack[remaining-1].Window); - else - ImGui::FocusWindow(g.OpenPopupStack[0].ParentWindow); + ImGuiWindow* focus_window = (remaining > 0) ? g.OpenPopupStack[remaining-1].Window : g.OpenPopupStack[0].ParentWindow; + if (g.NavLayer == 0) + focus_window = NavRestoreLastChildNavWindow(focus_window); + ImGui::FocusWindow(focus_window); + focus_window->DC.NavHideHighlightOneFrame = true; g.OpenPopupStack.resize(remaining); } -static void ClosePopup(ImGuiID id) +void ImGui::ClosePopup(ImGuiID id) { if (!IsPopupOpen(id)) return; @@ -3501,75 +4918,78 @@ void ImGui::CloseCurrentPopup() { ImGuiContext& g = *GImGui; int popup_idx = g.CurrentPopupStack.Size - 1; - if (popup_idx < 0 || popup_idx > g.OpenPopupStack.Size || g.CurrentPopupStack[popup_idx].PopupId != g.OpenPopupStack[popup_idx].PopupId) + if (popup_idx < 0 || popup_idx >= g.OpenPopupStack.Size || g.CurrentPopupStack[popup_idx].PopupId != g.OpenPopupStack[popup_idx].PopupId) return; while (popup_idx > 0 && g.OpenPopupStack[popup_idx].Window && (g.OpenPopupStack[popup_idx].Window->Flags & ImGuiWindowFlags_ChildMenu)) popup_idx--; ClosePopupToLevel(popup_idx); } -static inline void ClearSetNextWindowData() +bool ImGui::BeginPopupEx(ImGuiID id, ImGuiWindowFlags extra_flags) { ImGuiContext& g = *GImGui; - g.SetNextWindowPosCond = g.SetNextWindowSizeCond = g.SetNextWindowContentSizeCond = g.SetNextWindowCollapsedCond = 0; - g.SetNextWindowSizeConstraint = g.SetNextWindowFocus = false; -} - -static bool BeginPopupEx(const char* str_id, ImGuiWindowFlags extra_flags) -{ - ImGuiContext& g = *GImGui; - ImGuiWindow* window = g.CurrentWindow; - const ImGuiID id = window->GetID(str_id); if (!IsPopupOpen(id)) { - ClearSetNextWindowData(); // We behave like Begin() and need to consume those values + g.NextWindowData.Clear(); // We behave like Begin() and need to consume those values return false; } - ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0.0f); - ImGuiWindowFlags flags = extra_flags|ImGuiWindowFlags_Popup|ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoResize|ImGuiWindowFlags_NoSavedSettings|ImGuiWindowFlags_AlwaysAutoResize; - char name[20]; - if (flags & ImGuiWindowFlags_ChildMenu) - ImFormatString(name, IM_ARRAYSIZE(name), "##menu_%d", g.CurrentPopupStack.Size); // Recycle windows based on depth + if (extra_flags & ImGuiWindowFlags_ChildMenu) + ImFormatString(name, IM_ARRAYSIZE(name), "##Menu_%02d", g.CurrentPopupStack.Size); // Recycle windows based on depth else - ImFormatString(name, IM_ARRAYSIZE(name), "##popup_%08x", id); // Not recycling, so we can close/open during the same frame + ImFormatString(name, IM_ARRAYSIZE(name), "##Popup_%08x", id); // Not recycling, so we can close/open during the same frame - bool is_open = ImGui::Begin(name, NULL, flags); - if (!(window->Flags & ImGuiWindowFlags_ShowBorders)) - g.CurrentWindow->Flags &= ~ImGuiWindowFlags_ShowBorders; - if (!is_open) // NB: is_open can be 'false' when the popup is completely clipped (e.g. zero size display) - ImGui::EndPopup(); + bool is_open = Begin(name, NULL, extra_flags | ImGuiWindowFlags_Popup); + if (!is_open) // NB: Begin can return false when the popup is completely clipped (e.g. zero size display) + EndPopup(); return is_open; } -bool ImGui::BeginPopup(const char* str_id) +bool ImGui::BeginPopup(const char* str_id, ImGuiWindowFlags flags) { - if (GImGui->OpenPopupStack.Size <= GImGui->CurrentPopupStack.Size) // Early out for performance + ImGuiContext& g = *GImGui; + if (g.OpenPopupStack.Size <= g.CurrentPopupStack.Size) // Early out for performance { - ClearSetNextWindowData(); // We behave like Begin() and need to consume those values + g.NextWindowData.Clear(); // We behave like Begin() and need to consume those values return false; } - return BeginPopupEx(str_id, ImGuiWindowFlags_ShowBorders); + return BeginPopupEx(g.CurrentWindow->GetID(str_id), flags|ImGuiWindowFlags_AlwaysAutoResize|ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoSavedSettings); } -bool ImGui::BeginPopupModal(const char* name, bool* p_open, ImGuiWindowFlags extra_flags) +bool ImGui::IsPopupOpen(ImGuiID id) +{ + ImGuiContext& g = *GImGui; + return g.OpenPopupStack.Size > g.CurrentPopupStack.Size && g.OpenPopupStack[g.CurrentPopupStack.Size].PopupId == id; +} + +bool ImGui::IsPopupOpen(const char* str_id) +{ + ImGuiContext& g = *GImGui; + return g.OpenPopupStack.Size > g.CurrentPopupStack.Size && g.OpenPopupStack[g.CurrentPopupStack.Size].PopupId == g.CurrentWindow->GetID(str_id); +} + +bool ImGui::BeginPopupModal(const char* name, bool* p_open, ImGuiWindowFlags flags) { ImGuiContext& g = *GImGui; ImGuiWindow* window = g.CurrentWindow; const ImGuiID id = window->GetID(name); if (!IsPopupOpen(id)) { - ClearSetNextWindowData(); // We behave like Begin() and need to consume those values + g.NextWindowData.Clear(); // We behave like Begin() and need to consume those values return false; } - ImGuiWindowFlags flags = extra_flags|ImGuiWindowFlags_Popup|ImGuiWindowFlags_Modal|ImGuiWindowFlags_NoCollapse|ImGuiWindowFlags_NoSavedSettings; - bool is_open = ImGui::Begin(name, p_open, flags); + // Center modal windows by default + // FIXME: Should test for (PosCond & window->SetWindowPosAllowFlags) with the upcoming window. + if (g.NextWindowData.PosCond == 0) + SetNextWindowPos(g.IO.DisplaySize * 0.5f, ImGuiCond_Appearing, ImVec2(0.5f, 0.5f)); + + bool is_open = Begin(name, p_open, flags | ImGuiWindowFlags_Popup | ImGuiWindowFlags_Modal | ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings); if (!is_open || (p_open && !*p_open)) // NB: is_open can be 'false' when the popup is completely clipped (e.g. zero size display) { - ImGui::EndPopup(); + EndPopup(); if (is_open) ClosePopup(id); return false; @@ -3578,81 +4998,118 @@ bool ImGui::BeginPopupModal(const char* name, bool* p_open, ImGuiWindowFlags ext return is_open; } +static void NavProcessMoveRequestWrapAround(ImGuiWindow* window) +{ + ImGuiContext& g = *GImGui; + if (g.NavWindow == window && NavMoveRequestButNoResultYet()) + if ((g.NavMoveDir == ImGuiDir_Up || g.NavMoveDir == ImGuiDir_Down) && g.NavMoveRequestForward == ImGuiNavForward_None && g.NavLayer == 0) + { + g.NavMoveRequestForward = ImGuiNavForward_ForwardQueued; + ImGui::NavMoveRequestCancel(); + g.NavWindow->NavRectRel[0].Min.y = g.NavWindow->NavRectRel[0].Max.y = ((g.NavMoveDir == ImGuiDir_Up) ? ImMax(window->SizeFull.y, window->SizeContents.y) : 0.0f) - window->Scroll.y; + } +} + void ImGui::EndPopup() { - ImGuiWindow* window = GetCurrentWindow(); - IM_ASSERT(window->Flags & ImGuiWindowFlags_Popup); // Mismatched BeginPopup()/EndPopup() calls - IM_ASSERT(GImGui->CurrentPopupStack.Size > 0); - ImGui::End(); - if (!(window->Flags & ImGuiWindowFlags_Modal)) - ImGui::PopStyleVar(); + ImGuiContext& g = *GImGui; (void)g; + IM_ASSERT(g.CurrentWindow->Flags & ImGuiWindowFlags_Popup); // Mismatched BeginPopup()/EndPopup() calls + IM_ASSERT(g.CurrentPopupStack.Size > 0); + + // Make all menus and popups wrap around for now, may need to expose that policy. + NavProcessMoveRequestWrapAround(g.CurrentWindow); + + End(); } -// This is a helper to handle the most simple case of associating one named popup to one given widget. -// 1. If you have many possible popups (for different "instances" of a same widget, or for wholly different widgets), you may be better off handling -// this yourself so you can store data relative to the widget that opened the popup instead of choosing different popup identifiers. -// 2. If you want right-clicking on the same item to reopen the popup at new location, use the same code replacing IsItemHovered() with IsItemHoveredRect() -// and passing true to the OpenPopupEx(). -// Because: hovering an item in a window below the popup won't normally trigger is hovering behavior/coloring. The pattern of ignoring the fact that -// the item isn't interactable (because it is blocked by the active popup) may useful in some situation when e.g. large canvas as one item, content of menu -// driven by click position. +bool ImGui::OpenPopupOnItemClick(const char* str_id, int mouse_button) +{ + ImGuiWindow* window = GImGui->CurrentWindow; + if (IsMouseReleased(mouse_button) && IsItemHovered(ImGuiHoveredFlags_AllowWhenBlockedByPopup)) + { + ImGuiID id = str_id ? window->GetID(str_id) : window->DC.LastItemId; // If user hasn't passed an ID, we can use the LastItemID. Using LastItemID as a Popup ID won't conflict! + IM_ASSERT(id != 0); // However, you cannot pass a NULL str_id if the last item has no identifier (e.g. a Text() item) + OpenPopupEx(id); + return true; + } + return false; +} + +// This is a helper to handle the simplest case of associating one named popup to one given widget. +// You may want to handle this on user side if you have specific needs (e.g. tweaking IsItemHovered() parameters). +// You can pass a NULL str_id to use the identifier of the last item. bool ImGui::BeginPopupContextItem(const char* str_id, int mouse_button) { - if (IsItemHovered() && IsMouseClicked(mouse_button)) - OpenPopupEx(str_id, false); - return BeginPopup(str_id); + ImGuiWindow* window = GImGui->CurrentWindow; + ImGuiID id = str_id ? window->GetID(str_id) : window->DC.LastItemId; // If user hasn't passed an ID, we can use the LastItemID. Using LastItemID as a Popup ID won't conflict! + IM_ASSERT(id != 0); // However, you cannot pass a NULL str_id if the last item has no identifier (e.g. a Text() item) + if (IsMouseReleased(mouse_button) && IsItemHovered(ImGuiHoveredFlags_AllowWhenBlockedByPopup)) + OpenPopupEx(id); + return BeginPopupEx(id, ImGuiWindowFlags_AlwaysAutoResize|ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoSavedSettings); } -bool ImGui::BeginPopupContextWindow(bool also_over_items, const char* str_id, int mouse_button) +bool ImGui::BeginPopupContextWindow(const char* str_id, int mouse_button, bool also_over_items) { - if (!str_id) str_id = "window_context_menu"; - if (IsMouseHoveringWindow() && IsMouseClicked(mouse_button)) + if (!str_id) + str_id = "window_context"; + ImGuiID id = GImGui->CurrentWindow->GetID(str_id); + if (IsMouseReleased(mouse_button) && IsWindowHovered(ImGuiHoveredFlags_AllowWhenBlockedByPopup)) if (also_over_items || !IsAnyItemHovered()) - OpenPopupEx(str_id, true); - return BeginPopup(str_id); + OpenPopupEx(id); + return BeginPopupEx(id, ImGuiWindowFlags_AlwaysAutoResize|ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoSavedSettings); } bool ImGui::BeginPopupContextVoid(const char* str_id, int mouse_button) { - if (!str_id) str_id = "void_context_menu"; - if (!IsMouseHoveringAnyWindow() && IsMouseClicked(mouse_button)) - OpenPopupEx(str_id, true); - return BeginPopup(str_id); + if (!str_id) + str_id = "void_context"; + ImGuiID id = GImGui->CurrentWindow->GetID(str_id); + if (IsMouseReleased(mouse_button) && !IsWindowHovered(ImGuiHoveredFlags_AnyWindow)) + OpenPopupEx(id); + return BeginPopupEx(id, ImGuiWindowFlags_AlwaysAutoResize|ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoSavedSettings); } static bool BeginChildEx(const char* name, ImGuiID id, const ImVec2& size_arg, bool border, ImGuiWindowFlags extra_flags) { - ImGuiWindow* window = ImGui::GetCurrentWindow(); + ImGuiContext& g = *GImGui; + ImGuiWindow* parent_window = ImGui::GetCurrentWindow(); ImGuiWindowFlags flags = ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|ImGuiWindowFlags_NoSavedSettings|ImGuiWindowFlags_ChildWindow; + flags |= (parent_window->Flags & ImGuiWindowFlags_NoMove); // Inherit the NoMove flag const ImVec2 content_avail = ImGui::GetContentRegionAvail(); ImVec2 size = ImFloor(size_arg); + const int auto_fit_axises = ((size.x == 0.0f) ? (1 << ImGuiAxis_X) : 0x00) | ((size.y == 0.0f) ? (1 << ImGuiAxis_Y) : 0x00); if (size.x <= 0.0f) - { - if (size.x == 0.0f) - flags |= ImGuiWindowFlags_ChildWindowAutoFitX; - size.x = ImMax(content_avail.x, 4.0f) - fabsf(size.x); // Arbitrary minimum zero-ish child size of 4.0f (0.0f causing too much issues) - } + size.x = ImMax(content_avail.x + size.x, 4.0f); // Arbitrary minimum child size (0.0f causing too much issues) if (size.y <= 0.0f) - { - if (size.y == 0.0f) - flags |= ImGuiWindowFlags_ChildWindowAutoFitY; - size.y = ImMax(content_avail.y, 4.0f) - fabsf(size.y); - } - if (border) - flags |= ImGuiWindowFlags_ShowBorders; + size.y = ImMax(content_avail.y + size.y, 4.0f); + + const float backup_border_size = g.Style.ChildBorderSize; + if (!border) + g.Style.ChildBorderSize = 0.0f; flags |= extra_flags; char title[256]; if (name) - ImFormatString(title, IM_ARRAYSIZE(title), "%s.%s.%08X", window->Name, name, id); + ImFormatString(title, IM_ARRAYSIZE(title), "%s/%s_%08X", parent_window->Name, name, id); else - ImFormatString(title, IM_ARRAYSIZE(title), "%s.%08X", window->Name, id); + ImFormatString(title, IM_ARRAYSIZE(title), "%s/%08X", parent_window->Name, id); - bool ret = ImGui::Begin(title, NULL, size, -1.0f, flags); + ImGui::SetNextWindowSize(size); + bool ret = ImGui::Begin(title, NULL, flags); + ImGuiWindow* child_window = ImGui::GetCurrentWindow(); + child_window->ChildId = id; + child_window->AutoFitChildAxises = auto_fit_axises; + g.Style.ChildBorderSize = backup_border_size; - if (!(window->Flags & ImGuiWindowFlags_ShowBorders)) - ImGui::GetCurrentWindow()->Flags &= ~ImGuiWindowFlags_ShowBorders; + // Process navigation-in immediately so NavInit can run on first frame + if (!(flags & ImGuiWindowFlags_NavFlattened) && (child_window->DC.NavLayerActiveMask != 0 || child_window->DC.NavHasScroll) && g.NavActivateId == id) + { + ImGui::FocusWindow(child_window); + ImGui::NavInitWindow(child_window, false); + ImGui::SetActiveID(id+1, child_window); // Steal ActiveId with a dummy id so that key-press won't activate child item + g.ActiveIdSource = ImGuiInputSource_Nav; + } return ret; } @@ -3665,33 +5122,47 @@ bool ImGui::BeginChild(const char* str_id, const ImVec2& size_arg, bool border, bool ImGui::BeginChild(ImGuiID id, const ImVec2& size_arg, bool border, ImGuiWindowFlags extra_flags) { + IM_ASSERT(id != 0); return BeginChildEx(NULL, id, size_arg, border, extra_flags); } void ImGui::EndChild() { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; IM_ASSERT(window->Flags & ImGuiWindowFlags_ChildWindow); // Mismatched BeginChild()/EndChild() callss - if ((window->Flags & ImGuiWindowFlags_ComboBox) || window->BeginCount > 1) + if (window->BeginCount > 1) { - ImGui::End(); + End(); } else { // When using auto-filling child window, we don't provide full width/height to ItemSize so that it doesn't feed back into automatic size-fitting. ImVec2 sz = GetWindowSize(); - if (window->Flags & ImGuiWindowFlags_ChildWindowAutoFitX) // Arbitrary minimum zero-ish child size of 4.0f causes less trouble than a 0.0f + if (window->AutoFitChildAxises & (1 << ImGuiAxis_X)) // Arbitrary minimum zero-ish child size of 4.0f causes less trouble than a 0.0f sz.x = ImMax(4.0f, sz.x); - if (window->Flags & ImGuiWindowFlags_ChildWindowAutoFitY) + if (window->AutoFitChildAxises & (1 << ImGuiAxis_Y)) sz.y = ImMax(4.0f, sz.y); + End(); - ImGui::End(); - - window = GetCurrentWindow(); - ImRect bb(window->DC.CursorPos, window->DC.CursorPos + sz); + ImGuiWindow* parent_window = g.CurrentWindow; + ImRect bb(parent_window->DC.CursorPos, parent_window->DC.CursorPos + sz); ItemSize(sz); - ItemAdd(bb, NULL); + if ((window->DC.NavLayerActiveMask != 0 || window->DC.NavHasScroll) && !(window->Flags & ImGuiWindowFlags_NavFlattened)) + { + ItemAdd(bb, window->ChildId); + RenderNavHighlight(bb, window->ChildId); + + // When browsing a window that has no activable items (scroll only) we keep a highlight on the child + if (window->DC.NavLayerActiveMask == 0 && window == g.NavWindow) + RenderNavHighlight(ImRect(bb.Min - ImVec2(2,2), bb.Max + ImVec2(2,2)), g.NavId, ImGuiNavHighlightFlags_TypeThin); + } + else + { + // Not navigable into + ItemAdd(bb, 0); + } } } @@ -3700,17 +5171,18 @@ bool ImGui::BeginChildFrame(ImGuiID id, const ImVec2& size, ImGuiWindowFlags ext { ImGuiContext& g = *GImGui; const ImGuiStyle& style = g.Style; - ImGui::PushStyleColor(ImGuiCol_ChildWindowBg, style.Colors[ImGuiCol_FrameBg]); - ImGui::PushStyleVar(ImGuiStyleVar_ChildWindowRounding, style.FrameRounding); - ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, style.FramePadding); - return ImGui::BeginChild(id, size, (g.CurrentWindow->Flags & ImGuiWindowFlags_ShowBorders) ? true : false, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_AlwaysUseWindowPadding | extra_flags); + PushStyleColor(ImGuiCol_ChildBg, style.Colors[ImGuiCol_FrameBg]); + PushStyleVar(ImGuiStyleVar_ChildRounding, style.FrameRounding); + PushStyleVar(ImGuiStyleVar_ChildBorderSize, style.FrameBorderSize); + PushStyleVar(ImGuiStyleVar_WindowPadding, style.FramePadding); + return BeginChild(id, size, true, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_AlwaysUseWindowPadding | extra_flags); } void ImGui::EndChildFrame() { - ImGui::EndChild(); - ImGui::PopStyleVar(2); - ImGui::PopStyleColor(); + EndChild(); + PopStyleVar(3); + PopStyleColor(); } // Save and compare stack sizes on Begin()/End() to detect usage errors @@ -3719,52 +5191,93 @@ static void CheckStacksSize(ImGuiWindow* window, bool write) // NOT checking: DC.ItemWidth, DC.AllowKeyboardFocus, DC.ButtonRepeat, DC.TextWrapPos (per window) to allow user to conveniently push once and not pop (they are cleared on Begin) ImGuiContext& g = *GImGui; int* p_backup = &window->DC.StackSizesBackup[0]; - { int current = window->IDStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushID/PopID Mismatch!"); p_backup++; } // User forgot PopID() - { int current = window->DC.GroupStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "BeginGroup/EndGroup Mismatch!"); p_backup++; } // User forgot EndGroup() - { int current = g.CurrentPopupStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "BeginMenu/EndMenu or BeginPopup/EndPopup Mismatch"); p_backup++; }// User forgot EndPopup()/EndMenu() - { int current = g.ColorModifiers.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushStyleColor/PopStyleColor Mismatch!"); p_backup++; } // User forgot PopStyleColor() - { int current = g.StyleModifiers.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushStyleVar/PopStyleVar Mismatch!"); p_backup++; } // User forgot PopStyleVar() - { int current = g.FontStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushFont/PopFont Mismatch!"); p_backup++; } // User forgot PopFont() + { int current = window->IDStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushID/PopID or TreeNode/TreePop Mismatch!"); p_backup++; } // Too few or too many PopID()/TreePop() + { int current = window->DC.GroupStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "BeginGroup/EndGroup Mismatch!"); p_backup++; } // Too few or too many EndGroup() + { int current = g.CurrentPopupStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "BeginMenu/EndMenu or BeginPopup/EndPopup Mismatch"); p_backup++;}// Too few or too many EndMenu()/EndPopup() + { int current = g.ColorModifiers.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushStyleColor/PopStyleColor Mismatch!"); p_backup++; } // Too few or too many PopStyleColor() + { int current = g.StyleModifiers.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushStyleVar/PopStyleVar Mismatch!"); p_backup++; } // Too few or too many PopStyleVar() + { int current = g.FontStack.Size; if (write) *p_backup = current; else IM_ASSERT(*p_backup == current && "PushFont/PopFont Mismatch!"); p_backup++; } // Too few or too many PopFont() IM_ASSERT(p_backup == window->DC.StackSizesBackup + IM_ARRAYSIZE(window->DC.StackSizesBackup)); } -static ImVec2 FindBestPopupWindowPos(const ImVec2& base_pos, const ImVec2& size, int* last_dir, const ImRect& r_inner) +enum ImGuiPopupPositionPolicy +{ + ImGuiPopupPositionPolicy_Default, + ImGuiPopupPositionPolicy_ComboBox +}; + +static ImVec2 FindBestWindowPosForPopup(const ImVec2& ref_pos, const ImVec2& size, ImGuiDir* last_dir, const ImRect& r_avoid, ImGuiPopupPositionPolicy policy = ImGuiPopupPositionPolicy_Default) { const ImGuiStyle& style = GImGui->Style; - // Clamp into visible area while not overlapping the cursor. Safety padding is optional if our popup size won't fit without it. + // r_avoid = the rectangle to avoid (e.g. for tooltip it is a rectangle around the mouse cursor which we want to avoid. for popups it's a small point around the cursor.) + // r_outer = the visible area rectangle, minus safe area padding. If our popup size won't fit because of safe area padding we ignore it. ImVec2 safe_padding = style.DisplaySafeAreaPadding; - ImRect r_outer(GetVisibleRect()); - r_outer.Reduce(ImVec2((size.x - r_outer.GetWidth() > safe_padding.x*2) ? safe_padding.x : 0.0f, (size.y - r_outer.GetHeight() > safe_padding.y*2) ? safe_padding.y : 0.0f)); - ImVec2 base_pos_clamped = ImClamp(base_pos, r_outer.Min, r_outer.Max - size); + ImRect r_outer(GetViewportRect()); + r_outer.Expand(ImVec2((size.x - r_outer.GetWidth() > safe_padding.x*2) ? -safe_padding.x : 0.0f, (size.y - r_outer.GetHeight() > safe_padding.y*2) ? -safe_padding.y : 0.0f)); + ImVec2 base_pos_clamped = ImClamp(ref_pos, r_outer.Min, r_outer.Max - size); + //GImGui->OverlayDrawList.AddRect(r_avoid.Min, r_avoid.Max, IM_COL32(255,0,0,255)); + //GImGui->OverlayDrawList.AddRect(r_outer.Min, r_outer.Max, IM_COL32(0,255,0,255)); - for (int n = (*last_dir != -1) ? -1 : 0; n < 4; n++) // Last, Right, down, up, left. (Favor last used direction). + // Combo Box policy (we want a connecting edge) + if (policy == ImGuiPopupPositionPolicy_ComboBox) { - const int dir = (n == -1) ? *last_dir : n; - ImRect rect(dir == 0 ? r_inner.Max.x : r_outer.Min.x, dir == 1 ? r_inner.Max.y : r_outer.Min.y, dir == 3 ? r_inner.Min.x : r_outer.Max.x, dir == 2 ? r_inner.Min.y : r_outer.Max.y); - if (rect.GetWidth() < size.x || rect.GetHeight() < size.y) + const ImGuiDir dir_prefered_order[ImGuiDir_Count_] = { ImGuiDir_Down, ImGuiDir_Right, ImGuiDir_Left, ImGuiDir_Up }; + for (int n = (*last_dir != ImGuiDir_None) ? -1 : 0; n < ImGuiDir_Count_; n++) + { + const ImGuiDir dir = (n == -1) ? *last_dir : dir_prefered_order[n]; + if (n != -1 && dir == *last_dir) // Already tried this direction? + continue; + ImVec2 pos; + if (dir == ImGuiDir_Down) pos = ImVec2(r_avoid.Min.x, r_avoid.Max.y); // Below, Toward Right (default) + if (dir == ImGuiDir_Right) pos = ImVec2(r_avoid.Min.x, r_avoid.Min.y - size.y); // Above, Toward Right + if (dir == ImGuiDir_Left) pos = ImVec2(r_avoid.Max.x - size.x, r_avoid.Max.y); // Below, Toward Left + if (dir == ImGuiDir_Up) pos = ImVec2(r_avoid.Max.x - size.x, r_avoid.Min.y - size.y); // Above, Toward Left + if (!r_outer.Contains(ImRect(pos, pos + size))) + continue; + *last_dir = dir; + return pos; + } + } + + // Default popup policy + const ImGuiDir dir_prefered_order[ImGuiDir_Count_] = { ImGuiDir_Right, ImGuiDir_Down, ImGuiDir_Up, ImGuiDir_Left }; + for (int n = (*last_dir != ImGuiDir_None) ? -1 : 0; n < ImGuiDir_Count_; n++) + { + const ImGuiDir dir = (n == -1) ? *last_dir : dir_prefered_order[n]; + if (n != -1 && dir == *last_dir) // Already tried this direction? continue; + float avail_w = (dir == ImGuiDir_Left ? r_avoid.Min.x : r_outer.Max.x) - (dir == ImGuiDir_Right ? r_avoid.Max.x : r_outer.Min.x); + float avail_h = (dir == ImGuiDir_Up ? r_avoid.Min.y : r_outer.Max.y) - (dir == ImGuiDir_Down ? r_avoid.Max.y : r_outer.Min.y); + if (avail_w < size.x || avail_h < size.y) + continue; + ImVec2 pos; + pos.x = (dir == ImGuiDir_Left) ? r_avoid.Min.x - size.x : (dir == ImGuiDir_Right) ? r_avoid.Max.x : base_pos_clamped.x; + pos.y = (dir == ImGuiDir_Up) ? r_avoid.Min.y - size.y : (dir == ImGuiDir_Down) ? r_avoid.Max.y : base_pos_clamped.y; *last_dir = dir; - return ImVec2(dir == 0 ? r_inner.Max.x : dir == 3 ? r_inner.Min.x - size.x : base_pos_clamped.x, dir == 1 ? r_inner.Max.y : dir == 2 ? r_inner.Min.y - size.y : base_pos_clamped.y); + return pos; } // Fallback, try to keep within display - *last_dir = -1; - ImVec2 pos = base_pos; + *last_dir = ImGuiDir_None; + ImVec2 pos = ref_pos; pos.x = ImMax(ImMin(pos.x + size.x, r_outer.Max.x) - size.x, r_outer.Min.x); pos.y = ImMax(ImMin(pos.y + size.y, r_outer.Max.y) - size.y, r_outer.Min.y); return pos; } +static void SetWindowConditionAllowFlags(ImGuiWindow* window, ImGuiCond flags, bool enabled) +{ + window->SetWindowPosAllowFlags = enabled ? (window->SetWindowPosAllowFlags | flags) : (window->SetWindowPosAllowFlags & ~flags); + window->SetWindowSizeAllowFlags = enabled ? (window->SetWindowSizeAllowFlags | flags) : (window->SetWindowSizeAllowFlags & ~flags); + window->SetWindowCollapsedAllowFlags = enabled ? (window->SetWindowCollapsedAllowFlags | flags) : (window->SetWindowCollapsedAllowFlags & ~flags); +} + ImGuiWindow* ImGui::FindWindowByName(const char* name) { - // FIXME-OPT: Store sorted hashes -> pointers so we can do a bissection in a contiguous block ImGuiContext& g = *GImGui; ImGuiID id = ImHash(name, 0); - for (int i = 0; i < g.Windows.Size; i++) - if (g.Windows[i]->ID == id) - return g.Windows[i]; - return NULL; + return (ImGuiWindow*)g.WindowsById.GetVoidPtr(id); } static ImGuiWindow* CreateNewWindow(const char* name, ImVec2 size, ImGuiWindowFlags flags) @@ -3772,45 +5285,28 @@ static ImGuiWindow* CreateNewWindow(const char* name, ImVec2 size, ImGuiWindowFl ImGuiContext& g = *GImGui; // Create window the first time - ImGuiWindow* window = (ImGuiWindow*)ImGui::MemAlloc(sizeof(ImGuiWindow)); - IM_PLACEMENT_NEW(window) ImGuiWindow(name); + ImGuiWindow* window = IM_NEW(ImGuiWindow)(&g, name); window->Flags = flags; + g.WindowsById.SetVoidPtr(window->ID, window); - if (flags & ImGuiWindowFlags_NoSavedSettings) - { - // User can disable loading and saving of settings. Tooltip and child windows also don't store settings. - window->Size = window->SizeFull = size; - } - else + // User can disable loading and saving of settings. Tooltip and child windows also don't store settings. + if (!(flags & ImGuiWindowFlags_NoSavedSettings)) { // Retrieve settings from .ini file // Use SetWindowPos() or SetNextWindowPos() with the appropriate condition flag to change the initial position of a window. - window->PosFloat = ImVec2(60, 60); - window->Pos = ImVec2((float)(int)window->PosFloat.x, (float)(int)window->PosFloat.y); + window->Pos = window->PosFloat = ImVec2(60, 60); - ImGuiIniData* settings = FindWindowSettings(name); - if (!settings) - { - settings = AddWindowSettings(name); - } - else - { - window->SetWindowPosAllowFlags &= ~ImGuiSetCond_FirstUseEver; - window->SetWindowSizeAllowFlags &= ~ImGuiSetCond_FirstUseEver; - window->SetWindowCollapsedAllowFlags &= ~ImGuiSetCond_FirstUseEver; - } - - if (settings->Pos.x != FLT_MAX) + if (ImGuiWindowSettings* settings = ImGui::FindWindowSettings(window->ID)) { + SetWindowConditionAllowFlags(window, ImGuiCond_FirstUseEver, false); window->PosFloat = settings->Pos; - window->Pos = ImVec2((float)(int)window->PosFloat.x, (float)(int)window->PosFloat.y); + window->Pos = ImFloor(window->PosFloat); window->Collapsed = settings->Collapsed; + if (ImLengthSqr(settings->Size) > 0.00001f) + size = settings->Size; } - - if (ImLengthSqr(settings->Size) > 0.00001f && !(flags & ImGuiWindowFlags_NoResize)) - size = settings->Size; - window->Size = window->SizeFull = size; } + window->Size = window->SizeFull = window->SizeFullAtLastBegin = size; if ((flags & ImGuiWindowFlags_AlwaysAutoResize) != 0) { @@ -3833,46 +5329,260 @@ static ImGuiWindow* CreateNewWindow(const char* name, ImVec2 size, ImGuiWindowFl return window; } -static void ApplySizeFullWithConstraint(ImGuiWindow* window, ImVec2 new_size) +static ImVec2 CalcSizeAfterConstraint(ImGuiWindow* window, ImVec2 new_size) { ImGuiContext& g = *GImGui; - if (g.SetNextWindowSizeConstraint) + if (g.NextWindowData.SizeConstraintCond != 0) { // Using -1,-1 on either X/Y axis to preserve the current size. - ImRect cr = g.SetNextWindowSizeConstraintRect; + ImRect cr = g.NextWindowData.SizeConstraintRect; new_size.x = (cr.Min.x >= 0 && cr.Max.x >= 0) ? ImClamp(new_size.x, cr.Min.x, cr.Max.x) : window->SizeFull.x; new_size.y = (cr.Min.y >= 0 && cr.Max.y >= 0) ? ImClamp(new_size.y, cr.Min.y, cr.Max.y) : window->SizeFull.y; - if (g.SetNextWindowSizeConstraintCallback) + if (g.NextWindowData.SizeCallback) { - ImGuiSizeConstraintCallbackData data; - data.UserData = g.SetNextWindowSizeConstraintCallbackUserData; + ImGuiSizeCallbackData data; + data.UserData = g.NextWindowData.SizeCallbackUserData; data.Pos = window->Pos; data.CurrentSize = window->SizeFull; data.DesiredSize = new_size; - g.SetNextWindowSizeConstraintCallback(&data); + g.NextWindowData.SizeCallback(&data); new_size = data.DesiredSize; } } + + // Minimum size if (!(window->Flags & (ImGuiWindowFlags_ChildWindow | ImGuiWindowFlags_AlwaysAutoResize))) + { new_size = ImMax(new_size, g.Style.WindowMinSize); - window->SizeFull = new_size; + new_size.y = ImMax(new_size.y, window->TitleBarHeight() + window->MenuBarHeight() + ImMax(0.0f, g.Style.WindowRounding - 1.0f)); // Reduce artifacts with very small windows + } + return new_size; +} + +static ImVec2 CalcSizeContents(ImGuiWindow* window) +{ + ImVec2 sz; + sz.x = (float)(int)((window->SizeContentsExplicit.x != 0.0f) ? window->SizeContentsExplicit.x : (window->DC.CursorMaxPos.x - window->Pos.x + window->Scroll.x)); + sz.y = (float)(int)((window->SizeContentsExplicit.y != 0.0f) ? window->SizeContentsExplicit.y : (window->DC.CursorMaxPos.y - window->Pos.y + window->Scroll.y)); + return sz + window->WindowPadding; +} + +static ImVec2 CalcSizeAutoFit(ImGuiWindow* window, const ImVec2& size_contents) +{ + ImGuiContext& g = *GImGui; + ImGuiStyle& style = g.Style; + ImGuiWindowFlags flags = window->Flags; + ImVec2 size_auto_fit; + if ((flags & ImGuiWindowFlags_Tooltip) != 0) + { + // Tooltip always resize. We keep the spacing symmetric on both axises for aesthetic purpose. + size_auto_fit = size_contents; + } + else + { + // When the window cannot fit all contents (either because of constraints, either because screen is too small): we are growing the size on the other axis to compensate for expected scrollbar. FIXME: Might turn bigger than DisplaySize-WindowPadding. + size_auto_fit = ImClamp(size_contents, style.WindowMinSize, ImMax(style.WindowMinSize, g.IO.DisplaySize - g.Style.DisplaySafeAreaPadding)); + ImVec2 size_auto_fit_after_constraint = CalcSizeAfterConstraint(window, size_auto_fit); + if (size_auto_fit_after_constraint.x < size_contents.x && !(flags & ImGuiWindowFlags_NoScrollbar) && (flags & ImGuiWindowFlags_HorizontalScrollbar)) + size_auto_fit.y += style.ScrollbarSize; + if (size_auto_fit_after_constraint.y < size_contents.y && !(flags & ImGuiWindowFlags_NoScrollbar)) + size_auto_fit.x += style.ScrollbarSize; + } + return size_auto_fit; +} + +static float GetScrollMaxX(ImGuiWindow* window) +{ + return ImMax(0.0f, window->SizeContents.x - (window->SizeFull.x - window->ScrollbarSizes.x)); +} + +static float GetScrollMaxY(ImGuiWindow* window) +{ + return ImMax(0.0f, window->SizeContents.y - (window->SizeFull.y - window->ScrollbarSizes.y)); +} + +static ImVec2 CalcNextScrollFromScrollTargetAndClamp(ImGuiWindow* window) +{ + ImVec2 scroll = window->Scroll; + float cr_x = window->ScrollTargetCenterRatio.x; + float cr_y = window->ScrollTargetCenterRatio.y; + if (window->ScrollTarget.x < FLT_MAX) + scroll.x = window->ScrollTarget.x - cr_x * (window->SizeFull.x - window->ScrollbarSizes.x); + if (window->ScrollTarget.y < FLT_MAX) + scroll.y = window->ScrollTarget.y - (1.0f - cr_y) * (window->TitleBarHeight() + window->MenuBarHeight()) - cr_y * (window->SizeFull.y - window->ScrollbarSizes.y); + scroll = ImMax(scroll, ImVec2(0.0f, 0.0f)); + if (!window->Collapsed && !window->SkipItems) + { + scroll.x = ImMin(scroll.x, GetScrollMaxX(window)); + scroll.y = ImMin(scroll.y, GetScrollMaxY(window)); + } + return scroll; +} + +static ImGuiCol GetWindowBgColorIdxFromFlags(ImGuiWindowFlags flags) +{ + if (flags & (ImGuiWindowFlags_Tooltip | ImGuiWindowFlags_Popup)) + return ImGuiCol_PopupBg; + if (flags & ImGuiWindowFlags_ChildWindow) + return ImGuiCol_ChildBg; + return ImGuiCol_WindowBg; +} + +static void CalcResizePosSizeFromAnyCorner(ImGuiWindow* window, const ImVec2& corner_target, const ImVec2& corner_norm, ImVec2* out_pos, ImVec2* out_size) +{ + ImVec2 pos_min = ImLerp(corner_target, window->Pos, corner_norm); // Expected window upper-left + ImVec2 pos_max = ImLerp(window->Pos + window->Size, corner_target, corner_norm); // Expected window lower-right + ImVec2 size_expected = pos_max - pos_min; + ImVec2 size_constrained = CalcSizeAfterConstraint(window, size_expected); + *out_pos = pos_min; + if (corner_norm.x == 0.0f) + out_pos->x -= (size_constrained.x - size_expected.x); + if (corner_norm.y == 0.0f) + out_pos->y -= (size_constrained.y - size_expected.y); + *out_size = size_constrained; +} + +struct ImGuiResizeGripDef +{ + ImVec2 CornerPos; + ImVec2 InnerDir; + int AngleMin12, AngleMax12; +}; + +const ImGuiResizeGripDef resize_grip_def[4] = +{ + { ImVec2(1,1), ImVec2(-1,-1), 0, 3 }, // Lower right + { ImVec2(0,1), ImVec2(+1,-1), 3, 6 }, // Lower left + { ImVec2(0,0), ImVec2(+1,+1), 6, 9 }, // Upper left + { ImVec2(1,0), ImVec2(-1,+1), 9,12 }, // Upper right +}; + +static ImRect GetBorderRect(ImGuiWindow* window, int border_n, float perp_padding, float thickness) +{ + ImRect rect = window->Rect(); + if (thickness == 0.0f) rect.Max -= ImVec2(1,1); + if (border_n == 0) return ImRect(rect.Min.x + perp_padding, rect.Min.y, rect.Max.x - perp_padding, rect.Min.y + thickness); + if (border_n == 1) return ImRect(rect.Max.x - thickness, rect.Min.y + perp_padding, rect.Max.x, rect.Max.y - perp_padding); + if (border_n == 2) return ImRect(rect.Min.x + perp_padding, rect.Max.y - thickness, rect.Max.x - perp_padding, rect.Max.y); + if (border_n == 3) return ImRect(rect.Min.x, rect.Min.y + perp_padding, rect.Min.x + thickness, rect.Max.y - perp_padding); + IM_ASSERT(0); + return ImRect(); +} + +// Handle resize for: Resize Grips, Borders, Gamepad +static void ImGui::UpdateManualResize(ImGuiWindow* window, const ImVec2& size_auto_fit, int* border_held, int resize_grip_count, ImU32 resize_grip_col[4]) +{ + ImGuiContext& g = *GImGui; + ImGuiWindowFlags flags = window->Flags; + if ((flags & ImGuiWindowFlags_NoResize) || (flags & ImGuiWindowFlags_AlwaysAutoResize) || window->AutoFitFramesX > 0 || window->AutoFitFramesY > 0) + return; + + const int resize_border_count = (flags & ImGuiWindowFlags_ResizeFromAnySide) ? 4 : 0; + const float grip_draw_size = (float)(int)ImMax(g.FontSize * 1.35f, window->WindowRounding + 1.0f + g.FontSize * 0.2f); + const float grip_hover_size = (float)(int)(grip_draw_size * 0.75f); + + ImVec2 pos_target(FLT_MAX, FLT_MAX); + ImVec2 size_target(FLT_MAX, FLT_MAX); + + // Manual resize grips + PushID("#RESIZE"); + for (int resize_grip_n = 0; resize_grip_n < resize_grip_count; resize_grip_n++) + { + const ImGuiResizeGripDef& grip = resize_grip_def[resize_grip_n]; + const ImVec2 corner = ImLerp(window->Pos, window->Pos + window->Size, grip.CornerPos); + + // Using the FlattenChilds button flag we make the resize button accessible even if we are hovering over a child window + ImRect resize_rect(corner, corner + grip.InnerDir * grip_hover_size); + resize_rect.FixInverted(); + bool hovered, held; + ButtonBehavior(resize_rect, window->GetID((void*)(intptr_t)resize_grip_n), &hovered, &held, ImGuiButtonFlags_FlattenChildren | ImGuiButtonFlags_NoNavFocus); + if (hovered || held) + g.MouseCursor = (resize_grip_n & 1) ? ImGuiMouseCursor_ResizeNESW : ImGuiMouseCursor_ResizeNWSE; + + if (g.HoveredWindow == window && held && g.IO.MouseDoubleClicked[0] && resize_grip_n == 0) + { + // Manual auto-fit when double-clicking + size_target = CalcSizeAfterConstraint(window, size_auto_fit); + ClearActiveID(); + } + else if (held) + { + // Resize from any of the four corners + // We don't use an incremental MouseDelta but rather compute an absolute target size based on mouse position + ImVec2 corner_target = g.IO.MousePos - g.ActiveIdClickOffset + resize_rect.GetSize() * grip.CornerPos; // Corner of the window corresponding to our corner grip + CalcResizePosSizeFromAnyCorner(window, corner_target, grip.CornerPos, &pos_target, &size_target); + } + if (resize_grip_n == 0 || held || hovered) + resize_grip_col[resize_grip_n] = GetColorU32(held ? ImGuiCol_ResizeGripActive : hovered ? ImGuiCol_ResizeGripHovered : ImGuiCol_ResizeGrip); + } + for (int border_n = 0; border_n < resize_border_count; border_n++) + { + const float BORDER_SIZE = 5.0f; // FIXME: Only works _inside_ window because of HoveredWindow check. + const float BORDER_APPEAR_TIMER = 0.05f; // Reduce visual noise + bool hovered, held; + ImRect border_rect = GetBorderRect(window, border_n, grip_hover_size, BORDER_SIZE); + ButtonBehavior(border_rect, window->GetID((void*)(intptr_t)(border_n + 4)), &hovered, &held, ImGuiButtonFlags_FlattenChildren); + if ((hovered && g.HoveredIdTimer > BORDER_APPEAR_TIMER) || held) + { + g.MouseCursor = (border_n & 1) ? ImGuiMouseCursor_ResizeEW : ImGuiMouseCursor_ResizeNS; + if (held) *border_held = border_n; + } + if (held) + { + ImVec2 border_target = window->Pos; + ImVec2 border_posn; + if (border_n == 0) { border_posn = ImVec2(0, 0); border_target.y = (g.IO.MousePos.y - g.ActiveIdClickOffset.y); } + if (border_n == 1) { border_posn = ImVec2(1, 0); border_target.x = (g.IO.MousePos.x - g.ActiveIdClickOffset.x + BORDER_SIZE); } + if (border_n == 2) { border_posn = ImVec2(0, 1); border_target.y = (g.IO.MousePos.y - g.ActiveIdClickOffset.y + BORDER_SIZE); } + if (border_n == 3) { border_posn = ImVec2(0, 0); border_target.x = (g.IO.MousePos.x - g.ActiveIdClickOffset.x); } + CalcResizePosSizeFromAnyCorner(window, border_target, border_posn, &pos_target, &size_target); + } + } + PopID(); + + // Navigation/gamepad resize + if (g.NavWindowingTarget == window) + { + ImVec2 nav_resize_delta; + if (g.NavWindowingInputSource == ImGuiInputSource_NavKeyboard && g.IO.KeyShift) + nav_resize_delta = GetNavInputAmount2d(ImGuiNavDirSourceFlags_Keyboard, ImGuiInputReadMode_Down); + if (g.NavWindowingInputSource == ImGuiInputSource_NavGamepad) + nav_resize_delta = GetNavInputAmount2d(ImGuiNavDirSourceFlags_PadDPad, ImGuiInputReadMode_Down); + if (nav_resize_delta.x != 0.0f || nav_resize_delta.y != 0.0f) + { + const float NAV_RESIZE_SPEED = 600.0f; + nav_resize_delta *= ImFloor(NAV_RESIZE_SPEED * g.IO.DeltaTime * ImMin(g.IO.DisplayFramebufferScale.x, g.IO.DisplayFramebufferScale.y)); + g.NavWindowingToggleLayer = false; + g.NavDisableMouseHover = true; + resize_grip_col[0] = GetColorU32(ImGuiCol_ResizeGripActive); + // FIXME-NAV: Should store and accumulate into a separate size buffer to handle sizing constraints properly, right now a constraint will make us stuck. + size_target = CalcSizeAfterConstraint(window, window->SizeFull + nav_resize_delta); + } + } + + // Apply back modified position/size to window + if (size_target.x != FLT_MAX) + { + window->SizeFull = size_target; + MarkIniSettingsDirty(window); + } + if (pos_target.x != FLT_MAX) + { + window->Pos = window->PosFloat = ImFloor(pos_target); + MarkIniSettingsDirty(window); + } + + window->Size = window->SizeFull; } // Push a new ImGui window to add widgets to. // - A default window called "Debug" is automatically stacked at the beginning of every frame so you can use widgets without explicitly calling a Begin/End pair. // - Begin/End can be called multiple times during the frame with the same window name to append content. -// - 'size_on_first_use' for a regular window denote the initial size for first-time creation (no saved data) and isn't that useful. Use SetNextWindowSize() prior to calling Begin() for more flexible window manipulation. // - The window name is used as a unique identifier to preserve window information across frames (and save rudimentary information to the .ini file). // You can use the "##" or "###" markers to use the same label with different id, or same id with different label. See documentation at the top of this file. // - Return false when window is collapsed, so you can early out in your code. You always need to call ImGui::End() even if false is returned. // - Passing 'bool* p_open' displays a Close button on the upper-right corner of the window, the pointed value will be set to false when the button is pressed. -// - Passing non-zero 'size' is roughly equivalent to calling SetNextWindowSize(size, ImGuiSetCond_FirstUseEver) prior to calling Begin(). bool ImGui::Begin(const char* name, bool* p_open, ImGuiWindowFlags flags) -{ - return ImGui::Begin(name, p_open, ImVec2(0.f, 0.f), -1.0f, flags); -} - -bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_use, float bg_alpha, ImGuiWindowFlags flags) { ImGuiContext& g = *GImGui; const ImGuiStyle& style = g.Style; @@ -3880,141 +5590,153 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us IM_ASSERT(g.Initialized); // Forgot to call ImGui::NewFrame() IM_ASSERT(g.FrameCountEnded != g.FrameCount); // Called ImGui::Render() or ImGui::EndFrame() and haven't called ImGui::NewFrame() again yet - if (flags & ImGuiWindowFlags_NoInputs) - flags |= ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize; - // Find or create - bool window_is_new = false; ImGuiWindow* window = FindWindowByName(name); if (!window) { + ImVec2 size_on_first_use = (g.NextWindowData.SizeCond != 0) ? g.NextWindowData.SizeVal : ImVec2(0.0f, 0.0f); // Any condition flag will do since we are creating a new window here. window = CreateNewWindow(name, size_on_first_use, flags); - window_is_new = true; } - const int current_frame = ImGui::GetFrameCount(); + // Automatically disable manual moving/resizing when NoInputs is set + if (flags & ImGuiWindowFlags_NoInputs) + flags |= ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize; + + if (flags & ImGuiWindowFlags_NavFlattened) + IM_ASSERT(flags & ImGuiWindowFlags_ChildWindow); + + const int current_frame = g.FrameCount; const bool first_begin_of_the_frame = (window->LastFrameActive != current_frame); if (first_begin_of_the_frame) window->Flags = (ImGuiWindowFlags)flags; else flags = window->Flags; - // Add to stack - ImGuiWindow* parent_window = !g.CurrentWindowStack.empty() ? g.CurrentWindowStack.back() : NULL; - g.CurrentWindowStack.push_back(window); - SetCurrentWindow(window); - CheckStacksSize(window, true); - IM_ASSERT(parent_window != NULL || !(flags & ImGuiWindowFlags_ChildWindow)); - - bool window_was_active = (window->LastFrameActive == current_frame - 1); // Not using !WasActive because the implicit "Debug" window would always toggle off->on + // Update the Appearing flag + bool window_just_activated_by_user = (window->LastFrameActive < current_frame - 1); // Not using !WasActive because the implicit "Debug" window would always toggle off->on + const bool window_just_appearing_after_hidden_for_resize = (window->HiddenFrames == 1); + if (flags & ImGuiWindowFlags_Popup) + { + ImGuiPopupRef& popup_ref = g.OpenPopupStack[g.CurrentPopupStack.Size]; + window_just_activated_by_user |= (window->PopupId != popup_ref.PopupId); // We recycle popups so treat window as activated if popup id changed + window_just_activated_by_user |= (window != popup_ref.Window); + } + window->Appearing = (window_just_activated_by_user || window_just_appearing_after_hidden_for_resize); + window->CloseButton = (p_open != NULL); + if (window->Appearing) + SetWindowConditionAllowFlags(window, ImGuiCond_Appearing, true); + + // Parent window is latched only on the first call to Begin() of the frame, so further append-calls can be done from a different window stack + ImGuiWindow* parent_window_in_stack = g.CurrentWindowStack.empty() ? NULL : g.CurrentWindowStack.back(); + ImGuiWindow* parent_window = first_begin_of_the_frame ? ((flags & (ImGuiWindowFlags_ChildWindow | ImGuiWindowFlags_Popup)) ? parent_window_in_stack : NULL) : window->ParentWindow; + IM_ASSERT(parent_window != NULL || !(flags & ImGuiWindowFlags_ChildWindow)); + + // Add to stack + g.CurrentWindowStack.push_back(window); + SetCurrentWindow(window); + CheckStacksSize(window, true); if (flags & ImGuiWindowFlags_Popup) { ImGuiPopupRef& popup_ref = g.OpenPopupStack[g.CurrentPopupStack.Size]; - window_was_active &= (window->PopupId == popup_ref.PopupId); - window_was_active &= (window == popup_ref.Window); popup_ref.Window = window; g.CurrentPopupStack.push_back(popup_ref); window->PopupId = popup_ref.PopupId; } - const bool window_appearing_after_being_hidden = (window->HiddenFrames == 1); + if (window_just_appearing_after_hidden_for_resize && !(flags & ImGuiWindowFlags_ChildWindow)) + window->NavLastIds[0] = 0; // Process SetNextWindow***() calls - bool window_pos_set_by_api = false, window_size_set_by_api = false; - if (g.SetNextWindowPosCond) + bool window_pos_set_by_api = false; + bool window_size_x_set_by_api = false, window_size_y_set_by_api = false; + if (g.NextWindowData.PosCond) { - const ImVec2 backup_cursor_pos = window->DC.CursorPos; // FIXME: not sure of the exact reason of this saving/restore anymore :( need to look into that. - if (!window_was_active || window_appearing_after_being_hidden) window->SetWindowPosAllowFlags |= ImGuiSetCond_Appearing; - window_pos_set_by_api = (window->SetWindowPosAllowFlags & g.SetNextWindowPosCond) != 0; - if (window_pos_set_by_api && ImLengthSqr(g.SetNextWindowPosVal - ImVec2(-FLT_MAX,-FLT_MAX)) < 0.001f) + window_pos_set_by_api = (window->SetWindowPosAllowFlags & g.NextWindowData.PosCond) != 0; + if (window_pos_set_by_api && ImLengthSqr(g.NextWindowData.PosPivotVal) > 0.00001f) { - window->SetWindowPosCenterWanted = true; // May be processed on the next frame if this is our first frame and we are measuring size - window->SetWindowPosAllowFlags &= ~(ImGuiSetCond_Once | ImGuiSetCond_FirstUseEver | ImGuiSetCond_Appearing); + // May be processed on the next frame if this is our first frame and we are measuring size + // FIXME: Look into removing the branch so everything can go through this same code path for consistency. + window->SetWindowPosVal = g.NextWindowData.PosVal; + window->SetWindowPosPivot = g.NextWindowData.PosPivotVal; + window->SetWindowPosAllowFlags &= ~(ImGuiCond_Once | ImGuiCond_FirstUseEver | ImGuiCond_Appearing); } else { - SetWindowPos(window, g.SetNextWindowPosVal, g.SetNextWindowPosCond); + SetWindowPos(window, g.NextWindowData.PosVal, g.NextWindowData.PosCond); } - window->DC.CursorPos = backup_cursor_pos; - g.SetNextWindowPosCond = 0; + g.NextWindowData.PosCond = 0; } - if (g.SetNextWindowSizeCond) + if (g.NextWindowData.SizeCond) { - if (!window_was_active || window_appearing_after_being_hidden) window->SetWindowSizeAllowFlags |= ImGuiSetCond_Appearing; - window_size_set_by_api = (window->SetWindowSizeAllowFlags & g.SetNextWindowSizeCond) != 0; - SetWindowSize(window, g.SetNextWindowSizeVal, g.SetNextWindowSizeCond); - g.SetNextWindowSizeCond = 0; + window_size_x_set_by_api = (window->SetWindowSizeAllowFlags & g.NextWindowData.SizeCond) != 0 && (g.NextWindowData.SizeVal.x > 0.0f); + window_size_y_set_by_api = (window->SetWindowSizeAllowFlags & g.NextWindowData.SizeCond) != 0 && (g.NextWindowData.SizeVal.y > 0.0f); + SetWindowSize(window, g.NextWindowData.SizeVal, g.NextWindowData.SizeCond); + g.NextWindowData.SizeCond = 0; } - if (g.SetNextWindowContentSizeCond) + if (g.NextWindowData.ContentSizeCond) { - window->SizeContentsExplicit = g.SetNextWindowContentSizeVal; - g.SetNextWindowContentSizeCond = 0; + // Adjust passed "client size" to become a "window size" + window->SizeContentsExplicit = g.NextWindowData.ContentSizeVal; + if (window->SizeContentsExplicit.y != 0.0f) + window->SizeContentsExplicit.y += window->TitleBarHeight() + window->MenuBarHeight(); + g.NextWindowData.ContentSizeCond = 0; } else if (first_begin_of_the_frame) { window->SizeContentsExplicit = ImVec2(0.0f, 0.0f); } - if (g.SetNextWindowCollapsedCond) + if (g.NextWindowData.CollapsedCond) { - if (!window_was_active || window_appearing_after_being_hidden) window->SetWindowCollapsedAllowFlags |= ImGuiSetCond_Appearing; - SetWindowCollapsed(window, g.SetNextWindowCollapsedVal, g.SetNextWindowCollapsedCond); - g.SetNextWindowCollapsedCond = 0; + SetWindowCollapsed(window, g.NextWindowData.CollapsedVal, g.NextWindowData.CollapsedCond); + g.NextWindowData.CollapsedCond = 0; } - if (g.SetNextWindowFocus) + if (g.NextWindowData.FocusCond) { - ImGui::SetWindowFocus(); - g.SetNextWindowFocus = false; + SetWindowFocus(); + g.NextWindowData.FocusCond = 0; } - - // Update known root window (if we are a child window, otherwise window == window->RootWindow) - int root_idx, root_non_popup_idx; - for (root_idx = g.CurrentWindowStack.Size - 1; root_idx > 0; root_idx--) - if (!(g.CurrentWindowStack[root_idx]->Flags & ImGuiWindowFlags_ChildWindow)) - break; - for (root_non_popup_idx = root_idx; root_non_popup_idx > 0; root_non_popup_idx--) - if (!(g.CurrentWindowStack[root_non_popup_idx]->Flags & (ImGuiWindowFlags_ChildWindow | ImGuiWindowFlags_Popup))) - break; - window->ParentWindow = parent_window; - window->RootWindow = g.CurrentWindowStack[root_idx]; - window->RootNonPopupWindow = g.CurrentWindowStack[root_non_popup_idx]; // This is merely for displaying the TitleBgActive color. + if (window->Appearing) + SetWindowConditionAllowFlags(window, ImGuiCond_Appearing, false); // When reusing window again multiple times a frame, just append content (don't need to setup again) if (first_begin_of_the_frame) { + const bool window_is_child_tooltip = (flags & ImGuiWindowFlags_ChildWindow) && (flags & ImGuiWindowFlags_Tooltip); // FIXME-WIP: Undocumented behavior of Child+Tooltip for pinned tooltip (#1345) + + // Initialize + window->ParentWindow = parent_window; + window->RootWindow = window->RootWindowForTitleBarHighlight = window->RootWindowForTabbing = window->RootWindowForNav = window; + if (parent_window && (flags & ImGuiWindowFlags_ChildWindow) && !window_is_child_tooltip) + window->RootWindow = parent_window->RootWindow; + if (parent_window && !(flags & ImGuiWindowFlags_Modal) && (flags & (ImGuiWindowFlags_ChildWindow | ImGuiWindowFlags_Popup))) + window->RootWindowForTitleBarHighlight = window->RootWindowForTabbing = parent_window->RootWindowForTitleBarHighlight; // Same value in master branch, will differ for docking + while (window->RootWindowForNav->Flags & ImGuiWindowFlags_NavFlattened) + window->RootWindowForNav = window->RootWindowForNav->ParentWindow; + window->Active = true; - window->IndexWithinParent = 0; + window->BeginOrderWithinParent = 0; + window->BeginOrderWithinContext = g.WindowsActiveCount++; window->BeginCount = 0; window->ClipRect = ImVec4(-FLT_MAX,-FLT_MAX,+FLT_MAX,+FLT_MAX); window->LastFrameActive = current_frame; window->IDStack.resize(1); - // Clear draw list, setup texture, outer clipping rectangle - window->DrawList->Clear(); - window->DrawList->PushTextureID(g.Font->ContainerAtlas->TexID); - ImRect fullscreen_rect(GetVisibleRect()); - if ((flags & ImGuiWindowFlags_ChildWindow) && !(flags & (ImGuiWindowFlags_ComboBox|ImGuiWindowFlags_Popup))) - PushClipRect(parent_window->ClipRect.Min, parent_window->ClipRect.Max, true); - else - PushClipRect(fullscreen_rect.Min, fullscreen_rect.Max, true); - - if (!window_was_active) - { - // Popup first latch mouse position, will position itself when it appears next frame - window->AutoPosLastDirection = -1; - if ((flags & ImGuiWindowFlags_Popup) != 0 && !window_pos_set_by_api) - window->PosFloat = g.IO.MousePos; - } + // Lock window rounding, border size and rounding so that altering the border sizes for children doesn't have side-effects. + window->WindowRounding = (flags & ImGuiWindowFlags_ChildWindow) ? style.ChildRounding : ((flags & ImGuiWindowFlags_Popup) && !(flags & ImGuiWindowFlags_Modal)) ? style.PopupRounding : style.WindowRounding; + window->WindowBorderSize = (flags & ImGuiWindowFlags_ChildWindow) ? style.ChildBorderSize : ((flags & ImGuiWindowFlags_Popup) && !(flags & ImGuiWindowFlags_Modal)) ? style.PopupBorderSize : style.WindowBorderSize; + window->WindowPadding = style.WindowPadding; + if ((flags & ImGuiWindowFlags_ChildWindow) && !(flags & (ImGuiWindowFlags_AlwaysUseWindowPadding | ImGuiWindowFlags_Popup)) && window->WindowBorderSize == 0.0f) + window->WindowPadding = ImVec2(0.0f, (flags & ImGuiWindowFlags_MenuBar) ? style.WindowPadding.y : 0.0f); // Collapse window by double-clicking on title bar // At this point we don't have a clipping rectangle setup yet, so we can use the title bar area for hit detection and drawing if (!(flags & ImGuiWindowFlags_NoTitleBar) && !(flags & ImGuiWindowFlags_NoCollapse)) { ImRect title_bar_rect = window->TitleBarRect(); - if (g.HoveredWindow == window && IsMouseHoveringRect(title_bar_rect.Min, title_bar_rect.Max) && g.IO.MouseDoubleClicked[0]) + if (window->CollapseToggleWanted || (g.HoveredWindow == window && IsMouseHoveringRect(title_bar_rect.Min, title_bar_rect.Max) && g.IO.MouseDoubleClicked[0])) { window->Collapsed = !window->Collapsed; - if (!(flags & ImGuiWindowFlags_NoSavedSettings)) - MarkIniSettingsDirty(); + MarkIniSettingsDirty(window); FocusWindow(window); } } @@ -4022,102 +5744,95 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us { window->Collapsed = false; } + window->CollapseToggleWanted = false; // SIZE - // Save contents size from last frame for auto-fitting (unless explicitly specified) - window->SizeContents.x = (float)(int)((window->SizeContentsExplicit.x != 0.0f) ? window->SizeContentsExplicit.x : ((window_is_new ? 0.0f : window->DC.CursorMaxPos.x - window->Pos.x) + window->Scroll.x)); - window->SizeContents.y = (float)(int)((window->SizeContentsExplicit.y != 0.0f) ? window->SizeContentsExplicit.y : ((window_is_new ? 0.0f : window->DC.CursorMaxPos.y - window->Pos.y) + window->Scroll.y)); + // Update contents size from last frame for auto-fitting (unless explicitly specified) + window->SizeContents = CalcSizeContents(window); - // Hide popup/tooltip window when first appearing while we measure size (because we recycle them) + // Hide popup/tooltip window when re-opening while we measure size (because we recycle the windows) if (window->HiddenFrames > 0) window->HiddenFrames--; - if ((flags & (ImGuiWindowFlags_Popup | ImGuiWindowFlags_Tooltip)) != 0 && !window_was_active) + if ((flags & (ImGuiWindowFlags_Popup | ImGuiWindowFlags_Tooltip)) != 0 && window_just_activated_by_user) { window->HiddenFrames = 1; if (flags & ImGuiWindowFlags_AlwaysAutoResize) { - if (!window_size_set_by_api) - window->Size = window->SizeFull = ImVec2(0.f, 0.f); + if (!window_size_x_set_by_api) + window->Size.x = window->SizeFull.x = 0.f; + if (!window_size_y_set_by_api) + window->Size.y = window->SizeFull.y = 0.f; window->SizeContents = ImVec2(0.f, 0.f); } } - // Lock window padding so that altering the ShowBorders flag for children doesn't have side-effects. - window->WindowPadding = ((flags & ImGuiWindowFlags_ChildWindow) && !(flags & (ImGuiWindowFlags_AlwaysUseWindowPadding | ImGuiWindowFlags_ShowBorders | ImGuiWindowFlags_ComboBox | ImGuiWindowFlags_Popup))) ? ImVec2(0,0) : style.WindowPadding; - - // Calculate auto-fit size - ImVec2 size_auto_fit; - if ((flags & ImGuiWindowFlags_Tooltip) != 0) + // Calculate auto-fit size, handle automatic resize + const ImVec2 size_auto_fit = CalcSizeAutoFit(window, window->SizeContents); + ImVec2 size_full_modified(FLT_MAX, FLT_MAX); + if (flags & ImGuiWindowFlags_AlwaysAutoResize && !window->Collapsed) { - // Tooltip always resize. We keep the spacing symmetric on both axises for aesthetic purpose. - size_auto_fit = window->SizeContents + window->WindowPadding - ImVec2(0.0f, style.ItemSpacing.y); + // Using SetNextWindowSize() overrides ImGuiWindowFlags_AlwaysAutoResize, so it can be used on tooltips/popups, etc. + if (!window_size_x_set_by_api) + window->SizeFull.x = size_full_modified.x = size_auto_fit.x; + if (!window_size_y_set_by_api) + window->SizeFull.y = size_full_modified.y = size_auto_fit.y; } - else + else if (window->AutoFitFramesX > 0 || window->AutoFitFramesY > 0) { - size_auto_fit = ImClamp(window->SizeContents + window->WindowPadding, style.WindowMinSize, ImMax(style.WindowMinSize, g.IO.DisplaySize - g.Style.DisplaySafeAreaPadding)); - - // Handling case of auto fit window not fitting in screen on one axis, we are growing auto fit size on the other axis to compensate for expected scrollbar. FIXME: Might turn bigger than DisplaySize-WindowPadding. - if (size_auto_fit.x < window->SizeContents.x && !(flags & ImGuiWindowFlags_NoScrollbar) && (flags & ImGuiWindowFlags_HorizontalScrollbar)) - size_auto_fit.y += style.ScrollbarSize; - if (size_auto_fit.y < window->SizeContents.y && !(flags & ImGuiWindowFlags_NoScrollbar)) - size_auto_fit.x += style.ScrollbarSize; - size_auto_fit.y = ImMax(size_auto_fit.y - style.ItemSpacing.y, 0.0f); - } - - // Handle automatic resize - if (window->Collapsed) - { - // We still process initial auto-fit on collapsed windows to get a window width, - // But otherwise we don't honor ImGuiWindowFlags_AlwaysAutoResize when collapsed. - if (window->AutoFitFramesX > 0) - window->SizeFull.x = window->AutoFitOnlyGrows ? ImMax(window->SizeFull.x, size_auto_fit.x) : size_auto_fit.x; - if (window->AutoFitFramesY > 0) - window->SizeFull.y = window->AutoFitOnlyGrows ? ImMax(window->SizeFull.y, size_auto_fit.y) : size_auto_fit.y; - } - else - { - if ((flags & ImGuiWindowFlags_AlwaysAutoResize) && !window_size_set_by_api) - { - window->SizeFull = size_auto_fit; - } - else if ((window->AutoFitFramesX > 0 || window->AutoFitFramesY > 0) && !window_size_set_by_api) - { - // Auto-fit only grows during the first few frames - if (window->AutoFitFramesX > 0) - window->SizeFull.x = window->AutoFitOnlyGrows ? ImMax(window->SizeFull.x, size_auto_fit.x) : size_auto_fit.x; - if (window->AutoFitFramesY > 0) - window->SizeFull.y = window->AutoFitOnlyGrows ? ImMax(window->SizeFull.y, size_auto_fit.y) : size_auto_fit.y; - if (!(flags & ImGuiWindowFlags_NoSavedSettings)) - MarkIniSettingsDirty(); - } + // Auto-fit only grows during the first few frames + // We still process initial auto-fit on collapsed windows to get a window width, but otherwise don't honor ImGuiWindowFlags_AlwaysAutoResize when collapsed. + if (!window_size_x_set_by_api && window->AutoFitFramesX > 0) + window->SizeFull.x = size_full_modified.x = window->AutoFitOnlyGrows ? ImMax(window->SizeFull.x, size_auto_fit.x) : size_auto_fit.x; + if (!window_size_y_set_by_api && window->AutoFitFramesY > 0) + window->SizeFull.y = size_full_modified.y = window->AutoFitOnlyGrows ? ImMax(window->SizeFull.y, size_auto_fit.y) : size_auto_fit.y; + if (!window->Collapsed) + MarkIniSettingsDirty(window); } // Apply minimum/maximum window size constraints and final size - ApplySizeFullWithConstraint(window, window->SizeFull); - window->Size = window->Collapsed ? window->TitleBarRect().GetSize() : window->SizeFull; - + window->SizeFull = CalcSizeAfterConstraint(window, window->SizeFull); + window->Size = window->Collapsed && !(flags & ImGuiWindowFlags_ChildWindow) ? window->TitleBarRect().GetSize() : window->SizeFull; + + // SCROLLBAR STATUS + + // Update scrollbar status (based on the Size that was effective during last frame or the auto-resized Size). + if (!window->Collapsed) + { + // When reading the current size we need to read it after size constraints have been applied + float size_x_for_scrollbars = size_full_modified.x != FLT_MAX ? window->SizeFull.x : window->SizeFullAtLastBegin.x; + float size_y_for_scrollbars = size_full_modified.y != FLT_MAX ? window->SizeFull.y : window->SizeFullAtLastBegin.y; + window->ScrollbarY = (flags & ImGuiWindowFlags_AlwaysVerticalScrollbar) || ((window->SizeContents.y > size_y_for_scrollbars) && !(flags & ImGuiWindowFlags_NoScrollbar)); + window->ScrollbarX = (flags & ImGuiWindowFlags_AlwaysHorizontalScrollbar) || ((window->SizeContents.x > size_x_for_scrollbars - (window->ScrollbarY ? style.ScrollbarSize : 0.0f)) && !(flags & ImGuiWindowFlags_NoScrollbar) && (flags & ImGuiWindowFlags_HorizontalScrollbar)); + if (window->ScrollbarX && !window->ScrollbarY) + window->ScrollbarY = (window->SizeContents.y > size_y_for_scrollbars - style.ScrollbarSize) && !(flags & ImGuiWindowFlags_NoScrollbar); + window->ScrollbarSizes = ImVec2(window->ScrollbarY ? style.ScrollbarSize : 0.0f, window->ScrollbarX ? style.ScrollbarSize : 0.0f); + } + // POSITION + // Popup latch its initial position, will position itself when it appears next frame + if (window_just_activated_by_user) + { + window->AutoPosLastDirection = ImGuiDir_None; + if ((flags & ImGuiWindowFlags_Popup) != 0 && !window_pos_set_by_api) + window->Pos = window->PosFloat = g.CurrentPopupStack.back().OpenPopupPos; + } + // Position child window if (flags & ImGuiWindowFlags_ChildWindow) { - window->IndexWithinParent = parent_window->DC.ChildWindows.Size; + window->BeginOrderWithinParent = parent_window->DC.ChildWindows.Size; parent_window->DC.ChildWindows.push_back(window); - } - if ((flags & ImGuiWindowFlags_ChildWindow) && !(flags & ImGuiWindowFlags_Popup)) - { - window->Pos = window->PosFloat = parent_window->DC.CursorPos; - window->Size = window->SizeFull = size_on_first_use; // NB: argument name 'size_on_first_use' misleading here, it's really just 'size' as provided by user passed via BeginChild()->Begin(). + if (!(flags & ImGuiWindowFlags_Popup) && !window_pos_set_by_api && !window_is_child_tooltip) + window->Pos = window->PosFloat = parent_window->DC.CursorPos; } - bool window_pos_center = false; - window_pos_center |= (window->SetWindowPosCenterWanted && window->HiddenFrames == 0); - window_pos_center |= ((flags & ImGuiWindowFlags_Modal) && !window_pos_set_by_api && window_appearing_after_being_hidden); - if (window_pos_center) + const bool window_pos_with_pivot = (window->SetWindowPosVal.x != FLT_MAX && window->HiddenFrames == 0); + if (window_pos_with_pivot) { - // Center (any sort of window) - SetWindowPos(window, ImMax(style.DisplaySafeAreaPadding, fullscreen_rect.GetCenter() - window->SizeFull * 0.5f), 0); + // Position given a pivot (e.g. for centering) + SetWindowPos(window, ImMax(style.DisplaySafeAreaPadding, window->SetWindowPosVal - window->SizeFull * window->SetWindowPosPivot), 0); } else if (flags & ImGuiWindowFlags_ChildMenu) { @@ -4125,26 +5840,33 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us // This is how we end up with child menus appearing (most-commonly) on the right of the parent menu. IM_ASSERT(window_pos_set_by_api); float horizontal_overlap = style.ItemSpacing.x; // We want some overlap to convey the relative depth of each popup (currently the amount of overlap it is hard-coded to style.ItemSpacing.x, may need to introduce another style value). + ImGuiWindow* parent_menu = parent_window_in_stack; ImRect rect_to_avoid; - if (parent_window->DC.MenuBarAppending) - rect_to_avoid = ImRect(-FLT_MAX, parent_window->Pos.y + parent_window->TitleBarHeight(), FLT_MAX, parent_window->Pos.y + parent_window->TitleBarHeight() + parent_window->MenuBarHeight()); + if (parent_menu->DC.MenuBarAppending) + rect_to_avoid = ImRect(-FLT_MAX, parent_menu->Pos.y + parent_menu->TitleBarHeight(), FLT_MAX, parent_menu->Pos.y + parent_menu->TitleBarHeight() + parent_menu->MenuBarHeight()); else - rect_to_avoid = ImRect(parent_window->Pos.x + horizontal_overlap, -FLT_MAX, parent_window->Pos.x + parent_window->Size.x - horizontal_overlap - parent_window->ScrollbarSizes.x, FLT_MAX); - window->PosFloat = FindBestPopupWindowPos(window->PosFloat, window->Size, &window->AutoPosLastDirection, rect_to_avoid); + rect_to_avoid = ImRect(parent_menu->Pos.x + horizontal_overlap, -FLT_MAX, parent_menu->Pos.x + parent_menu->Size.x - horizontal_overlap - parent_menu->ScrollbarSizes.x, FLT_MAX); + window->PosFloat = FindBestWindowPosForPopup(window->PosFloat, window->Size, &window->AutoPosLastDirection, rect_to_avoid); } - else if ((flags & ImGuiWindowFlags_Popup) != 0 && !window_pos_set_by_api && window_appearing_after_being_hidden) + else if ((flags & ImGuiWindowFlags_Popup) != 0 && !window_pos_set_by_api && window_just_appearing_after_hidden_for_resize) { ImRect rect_to_avoid(window->PosFloat.x - 1, window->PosFloat.y - 1, window->PosFloat.x + 1, window->PosFloat.y + 1); - window->PosFloat = FindBestPopupWindowPos(window->PosFloat, window->Size, &window->AutoPosLastDirection, rect_to_avoid); + window->PosFloat = FindBestWindowPosForPopup(window->PosFloat, window->Size, &window->AutoPosLastDirection, rect_to_avoid); } // Position tooltip (always follows mouse) - if ((flags & ImGuiWindowFlags_Tooltip) != 0 && !window_pos_set_by_api) + if ((flags & ImGuiWindowFlags_Tooltip) != 0 && !window_pos_set_by_api && !window_is_child_tooltip) { - ImRect rect_to_avoid(g.IO.MousePos.x - 16, g.IO.MousePos.y - 8, g.IO.MousePos.x + 24, g.IO.MousePos.y + 24); // FIXME: Completely hard-coded. Perhaps center on cursor hit-point instead? - window->PosFloat = FindBestPopupWindowPos(g.IO.MousePos, window->Size, &window->AutoPosLastDirection, rect_to_avoid); - if (window->AutoPosLastDirection == -1) - window->PosFloat = g.IO.MousePos + ImVec2(2,2); // If there's not enough room, for tooltip we prefer avoiding the cursor at all cost even if it means that part of the tooltip won't be visible. + float sc = g.Style.MouseCursorScale; + ImVec2 ref_pos = (!g.NavDisableHighlight && g.NavDisableMouseHover) ? NavCalcPreferredMousePos() : g.IO.MousePos; + ImRect rect_to_avoid; + if (!g.NavDisableHighlight && g.NavDisableMouseHover && !(g.IO.NavFlags & ImGuiNavFlags_MoveMouse)) + rect_to_avoid = ImRect(ref_pos.x - 16, ref_pos.y - 8, ref_pos.x + 16, ref_pos.y + 8); + else + rect_to_avoid = ImRect(ref_pos.x - 16, ref_pos.y - 8, ref_pos.x + 24 * sc, ref_pos.y + 24 * sc); // FIXME: Hard-coded based on mouse cursor shape expectation. Exact dimension not very important. + window->PosFloat = FindBestWindowPosForPopup(ref_pos, window->Size, &window->AutoPosLastDirection, rect_to_avoid); + if (window->AutoPosLastDirection == ImGuiDir_None) + window->PosFloat = ref_pos + ImVec2(2,2); // If there's not enough room, for tooltip we prefer avoiding the cursor at all cost even if it means that part of the tooltip won't be visible. } // Clamp position so it stays visible @@ -4157,7 +5879,7 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us window->PosFloat = ImMin(window->PosFloat, g.IO.DisplaySize - padding); } } - window->Pos = ImVec2((float)(int)window->PosFloat.x, (float)(int)window->PosFloat.y); + window->Pos = ImFloor(window->PosFloat); // Default item width. Make it proportional to window size if window manually resizes if (window->Size.x > 0.0f && !(flags & ImGuiWindowFlags_Tooltip) && !(flags & ImGuiWindowFlags_AlwaysAutoResize)) @@ -4172,131 +5894,137 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us window->FocusIdxAllRequestNext = window->FocusIdxTabRequestNext = INT_MAX; // Apply scrolling - if (window->ScrollTarget.x < FLT_MAX) - { - window->Scroll.x = window->ScrollTarget.x; - window->ScrollTarget.x = FLT_MAX; - } - if (window->ScrollTarget.y < FLT_MAX) - { - float center_ratio = window->ScrollTargetCenterRatio.y; - window->Scroll.y = window->ScrollTarget.y - ((1.0f - center_ratio) * (window->TitleBarHeight() + window->MenuBarHeight())) - (center_ratio * window->SizeFull.y); - window->ScrollTarget.y = FLT_MAX; - } - window->Scroll = ImMax(window->Scroll, ImVec2(0.0f, 0.0f)); - if (!window->Collapsed && !window->SkipItems) - window->Scroll = ImMin(window->Scroll, ImMax(ImVec2(0.0f, 0.0f), window->SizeContents - window->SizeFull + window->ScrollbarSizes)); + window->Scroll = CalcNextScrollFromScrollTargetAndClamp(window); + window->ScrollTarget = ImVec2(FLT_MAX, FLT_MAX); - // Modal window darkens what is behind them + // Apply focus, new windows appears in front + bool want_focus = false; + if (window_just_activated_by_user && !(flags & ImGuiWindowFlags_NoFocusOnAppearing)) + if (!(flags & (ImGuiWindowFlags_ChildWindow | ImGuiWindowFlags_Tooltip)) || (flags & ImGuiWindowFlags_Popup)) + want_focus = true; + + // Handle manual resize: Resize Grips, Borders, Gamepad + int border_held = -1; + ImU32 resize_grip_col[4] = { 0 }; + const int resize_grip_count = (flags & ImGuiWindowFlags_ResizeFromAnySide) ? 2 : 1; // 4 + const float grip_draw_size = (float)(int)ImMax(g.FontSize * 1.35f, window->WindowRounding + 1.0f + g.FontSize * 0.2f); + if (!window->Collapsed) + UpdateManualResize(window, size_auto_fit, &border_held, resize_grip_count, &resize_grip_col[0]); + + // DRAWING + + // Setup draw list and outer clipping rectangle + window->DrawList->Clear(); + window->DrawList->Flags = (g.Style.AntiAliasedLines ? ImDrawListFlags_AntiAliasedLines : 0) | (g.Style.AntiAliasedFill ? ImDrawListFlags_AntiAliasedFill : 0); + window->DrawList->PushTextureID(g.Font->ContainerAtlas->TexID); + ImRect viewport_rect(GetViewportRect()); + if ((flags & ImGuiWindowFlags_ChildWindow) && !(flags & ImGuiWindowFlags_Popup) && !window_is_child_tooltip) + PushClipRect(parent_window->ClipRect.Min, parent_window->ClipRect.Max, true); + else + PushClipRect(viewport_rect.Min, viewport_rect.Max, true); + + // Draw modal window background (darkens what is behind them) if ((flags & ImGuiWindowFlags_Modal) != 0 && window == GetFrontMostModalRootWindow()) - window->DrawList->AddRectFilled(fullscreen_rect.Min, fullscreen_rect.Max, GetColorU32(ImGuiCol_ModalWindowDarkening, g.ModalWindowDarkeningRatio)); + window->DrawList->AddRectFilled(viewport_rect.Min, viewport_rect.Max, GetColorU32(ImGuiCol_ModalWindowDarkening, g.ModalWindowDarkeningRatio)); + + // Draw navigation selection/windowing rectangle background + if (g.NavWindowingTarget == window) + { + ImRect bb = window->Rect(); + bb.Expand(g.FontSize); + if (!bb.Contains(viewport_rect)) // Avoid drawing if the window covers all the viewport anyway + window->DrawList->AddRectFilled(bb.Min, bb.Max, GetColorU32(ImGuiCol_NavWindowingHighlight, g.NavWindowingHighlightAlpha * 0.25f), g.Style.WindowRounding); + } // Draw window + handle manual resize - ImRect title_bar_rect = window->TitleBarRect(); - const float window_rounding = (flags & ImGuiWindowFlags_ChildWindow) ? style.ChildWindowRounding : style.WindowRounding; + const float window_rounding = window->WindowRounding; + const float window_border_size = window->WindowBorderSize; + const bool title_bar_is_highlight = want_focus || (g.NavWindow && window->RootWindowForTitleBarHighlight == g.NavWindow->RootWindowForTitleBarHighlight); + const ImRect title_bar_rect = window->TitleBarRect(); if (window->Collapsed) { - // Draw title bar only - RenderFrame(title_bar_rect.GetTL(), title_bar_rect.GetBR(), GetColorU32(ImGuiCol_TitleBgCollapsed), true, window_rounding); + // Title bar only + float backup_border_size = style.FrameBorderSize; + g.Style.FrameBorderSize = window->WindowBorderSize; + ImU32 title_bar_col = GetColorU32((title_bar_is_highlight && !g.NavDisableHighlight) ? ImGuiCol_TitleBgActive : ImGuiCol_TitleBgCollapsed); + RenderFrame(title_bar_rect.Min, title_bar_rect.Max, title_bar_col, true, window_rounding); + g.Style.FrameBorderSize = backup_border_size; } else { - ImU32 resize_col = 0; - const float resize_corner_size = ImMax(g.FontSize * 1.35f, window_rounding + 1.0f + g.FontSize * 0.2f); - if (!(flags & ImGuiWindowFlags_AlwaysAutoResize) && window->AutoFitFramesX <= 0 && window->AutoFitFramesY <= 0 && !(flags & ImGuiWindowFlags_NoResize)) + // Window background + ImU32 bg_col = GetColorU32(GetWindowBgColorIdxFromFlags(flags)); + if (g.NextWindowData.BgAlphaCond != 0) { - // Manual resize - const ImVec2 br = window->Rect().GetBR(); - const ImRect resize_rect(br - ImVec2(resize_corner_size * 0.75f, resize_corner_size * 0.75f), br); - const ImGuiID resize_id = window->GetID("#RESIZE"); - bool hovered, held; - ButtonBehavior(resize_rect, resize_id, &hovered, &held, ImGuiButtonFlags_FlattenChilds); - resize_col = GetColorU32(held ? ImGuiCol_ResizeGripActive : hovered ? ImGuiCol_ResizeGripHovered : ImGuiCol_ResizeGrip); - - if (hovered || held) - g.MouseCursor = ImGuiMouseCursor_ResizeNWSE; - - if (g.HoveredWindow == window && held && g.IO.MouseDoubleClicked[0]) - { - // Manual auto-fit when double-clicking - ApplySizeFullWithConstraint(window, size_auto_fit); - if (!(flags & ImGuiWindowFlags_NoSavedSettings)) - MarkIniSettingsDirty(); - ClearActiveID(); - } - else if (held) - { - // We don't use an incremental MouseDelta but rather compute an absolute target size based on mouse position - ApplySizeFullWithConstraint(window, (g.IO.MousePos - g.ActiveIdClickOffset + resize_rect.GetSize()) - window->Pos); - if (!(flags & ImGuiWindowFlags_NoSavedSettings)) - MarkIniSettingsDirty(); - } - - window->Size = window->SizeFull; - title_bar_rect = window->TitleBarRect(); + bg_col = (bg_col & ~IM_COL32_A_MASK) | (IM_F32_TO_INT8_SAT(g.NextWindowData.BgAlphaVal) << IM_COL32_A_SHIFT); + g.NextWindowData.BgAlphaCond = 0; } - - // Scrollbars - window->ScrollbarY = (flags & ImGuiWindowFlags_AlwaysVerticalScrollbar) || ((window->SizeContents.y > window->Size.y + style.ItemSpacing.y) && !(flags & ImGuiWindowFlags_NoScrollbar)); - window->ScrollbarX = (flags & ImGuiWindowFlags_AlwaysHorizontalScrollbar) || ((window->SizeContents.x > window->Size.x - (window->ScrollbarY ? style.ScrollbarSize : 0.0f) - window->WindowPadding.x) && !(flags & ImGuiWindowFlags_NoScrollbar) && (flags & ImGuiWindowFlags_HorizontalScrollbar)); - window->ScrollbarSizes = ImVec2(window->ScrollbarY ? style.ScrollbarSize : 0.0f, window->ScrollbarX ? style.ScrollbarSize : 0.0f); - window->BorderSize = (flags & ImGuiWindowFlags_ShowBorders) ? 1.0f : 0.0f; - - // Window background, Default Alpha - ImGuiCol bg_color_idx = ImGuiCol_WindowBg; - if ((flags & ImGuiWindowFlags_ComboBox) != 0) - bg_color_idx = ImGuiCol_ComboBg; - else if ((flags & ImGuiWindowFlags_Tooltip) != 0 || (flags & ImGuiWindowFlags_Popup) != 0) - bg_color_idx = ImGuiCol_PopupBg; - else if ((flags & ImGuiWindowFlags_ChildWindow) != 0) - bg_color_idx = ImGuiCol_ChildWindowBg; - ImVec4 bg_color = style.Colors[bg_color_idx]; - if (bg_alpha >= 0.0f) - bg_color.w = bg_alpha; - bg_color.w *= style.Alpha; - if (bg_color.w > 0.0f) - window->DrawList->AddRectFilled(window->Pos+ImVec2(0,window->TitleBarHeight()), window->Pos+window->Size, ColorConvertFloat4ToU32(bg_color), window_rounding, (flags & ImGuiWindowFlags_NoTitleBar) ? ImGuiCorner_All : ImGuiCorner_BottomLeft|ImGuiCorner_BottomRight); + window->DrawList->AddRectFilled(window->Pos+ImVec2(0,window->TitleBarHeight()), window->Pos+window->Size, bg_col, window_rounding, (flags & ImGuiWindowFlags_NoTitleBar) ? ImDrawCornerFlags_All : ImDrawCornerFlags_Bot); // Title bar + ImU32 title_bar_col = GetColorU32(window->Collapsed ? ImGuiCol_TitleBgCollapsed : title_bar_is_highlight ? ImGuiCol_TitleBgActive : ImGuiCol_TitleBg); if (!(flags & ImGuiWindowFlags_NoTitleBar)) - window->DrawList->AddRectFilled(title_bar_rect.GetTL(), title_bar_rect.GetBR(), GetColorU32((g.FocusedWindow && window->RootNonPopupWindow == g.FocusedWindow->RootNonPopupWindow) ? ImGuiCol_TitleBgActive : ImGuiCol_TitleBg), window_rounding, ImGuiCorner_TopLeft|ImGuiCorner_TopRight); + window->DrawList->AddRectFilled(title_bar_rect.Min, title_bar_rect.Max, title_bar_col, window_rounding, ImDrawCornerFlags_Top); // Menu bar if (flags & ImGuiWindowFlags_MenuBar) { ImRect menu_bar_rect = window->MenuBarRect(); - if (flags & ImGuiWindowFlags_ShowBorders) - window->DrawList->AddLine(menu_bar_rect.GetBL(), menu_bar_rect.GetBR(), GetColorU32(ImGuiCol_Border)); - window->DrawList->AddRectFilled(menu_bar_rect.GetTL(), menu_bar_rect.GetBR(), GetColorU32(ImGuiCol_MenuBarBg), (flags & ImGuiWindowFlags_NoTitleBar) ? window_rounding : 0.0f, ImGuiCorner_TopLeft|ImGuiCorner_TopRight); + menu_bar_rect.ClipWith(window->Rect()); // Soft clipping, in particular child window don't have minimum size covering the menu bar so this is useful for them. + window->DrawList->AddRectFilled(menu_bar_rect.Min, menu_bar_rect.Max, GetColorU32(ImGuiCol_MenuBarBg), (flags & ImGuiWindowFlags_NoTitleBar) ? window_rounding : 0.0f, ImDrawCornerFlags_Top); + if (style.FrameBorderSize > 0.0f && menu_bar_rect.Max.y < window->Pos.y + window->Size.y) + window->DrawList->AddLine(menu_bar_rect.GetBL(), menu_bar_rect.GetBR(), GetColorU32(ImGuiCol_Border), style.FrameBorderSize); } // Scrollbars if (window->ScrollbarX) - Scrollbar(window, true); + Scrollbar(ImGuiLayoutType_Horizontal); if (window->ScrollbarY) - Scrollbar(window, false); + Scrollbar(ImGuiLayoutType_Vertical); - // Render resize grip - // (after the input handling so we don't have a frame of latency) + // Render resize grips (after their input handling so we don't have a frame of latency) if (!(flags & ImGuiWindowFlags_NoResize)) { - const ImVec2 br = window->Rect().GetBR(); - window->DrawList->PathLineTo(br + ImVec2(-resize_corner_size, -window->BorderSize)); - window->DrawList->PathLineTo(br + ImVec2(-window->BorderSize, -resize_corner_size)); - window->DrawList->PathArcToFast(ImVec2(br.x - window_rounding - window->BorderSize, br.y - window_rounding - window->BorderSize), window_rounding, 0, 3); - window->DrawList->PathFill(resize_col); + for (int resize_grip_n = 0; resize_grip_n < resize_grip_count; resize_grip_n++) + { + const ImGuiResizeGripDef& grip = resize_grip_def[resize_grip_n]; + const ImVec2 corner = ImLerp(window->Pos, window->Pos + window->Size, grip.CornerPos); + window->DrawList->PathLineTo(corner + grip.InnerDir * ((resize_grip_n & 1) ? ImVec2(window_border_size, grip_draw_size) : ImVec2(grip_draw_size, window_border_size))); + window->DrawList->PathLineTo(corner + grip.InnerDir * ((resize_grip_n & 1) ? ImVec2(grip_draw_size, window_border_size) : ImVec2(window_border_size, grip_draw_size))); + window->DrawList->PathArcToFast(ImVec2(corner.x + grip.InnerDir.x * (window_rounding + window_border_size), corner.y + grip.InnerDir.y * (window_rounding + window_border_size)), window_rounding, grip.AngleMin12, grip.AngleMax12); + window->DrawList->PathFillConvex(resize_grip_col[resize_grip_n]); + } } // Borders - if (flags & ImGuiWindowFlags_ShowBorders) + if (window_border_size > 0.0f) + window->DrawList->AddRect(window->Pos, window->Pos+window->Size, GetColorU32(ImGuiCol_Border), window_rounding, ImDrawCornerFlags_All, window_border_size); + if (border_held != -1) { - window->DrawList->AddRect(window->Pos+ImVec2(1,1), window->Pos+window->Size+ImVec2(1,1), GetColorU32(ImGuiCol_BorderShadow), window_rounding); - window->DrawList->AddRect(window->Pos, window->Pos+window->Size, GetColorU32(ImGuiCol_Border), window_rounding); - if (!(flags & ImGuiWindowFlags_NoTitleBar)) - window->DrawList->AddLine(title_bar_rect.GetBL()+ImVec2(1,0), title_bar_rect.GetBR()-ImVec2(1,0), GetColorU32(ImGuiCol_Border)); + ImRect border = GetBorderRect(window, border_held, grip_draw_size, 0.0f); + window->DrawList->AddLine(border.Min, border.Max, GetColorU32(ImGuiCol_SeparatorActive), ImMax(1.0f, window_border_size)); } + if (style.FrameBorderSize > 0 && !(flags & ImGuiWindowFlags_NoTitleBar)) + window->DrawList->AddLine(title_bar_rect.GetBL() + ImVec2(style.WindowBorderSize, -1), title_bar_rect.GetBR() + ImVec2(-style.WindowBorderSize,-1), GetColorU32(ImGuiCol_Border), style.FrameBorderSize); } + // Draw navigation selection/windowing rectangle border + if (g.NavWindowingTarget == window) + { + float rounding = ImMax(window->WindowRounding, g.Style.WindowRounding); + ImRect bb = window->Rect(); + bb.Expand(g.FontSize); + if (bb.Contains(viewport_rect)) // If a window fits the entire viewport, adjust its highlight inward + { + bb.Expand(-g.FontSize - 1.0f); + rounding = window->WindowRounding; + } + window->DrawList->AddRect(bb.Min, bb.Max, GetColorU32(ImGuiCol_NavWindowingHighlight, g.NavWindowingHighlightAlpha), rounding, ~0, 3.0f); + } + + // Store a backup of SizeFull which we will use next frame to decide if we need scrollbars. + window->SizeFullAtLastBegin = window->SizeFull; + // Update ContentsRegionMax. All the variable it depends on are set above in this function. window->ContentsRegionRect.Min.x = -window->Scroll.x + window->WindowPadding.x; window->ContentsRegionRect.Min.y = -window->Scroll.y + window->WindowPadding.y + window->TitleBarHeight() + window->MenuBarHeight(); @@ -4304,6 +6032,7 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us window->ContentsRegionRect.Max.y = -window->Scroll.y - window->WindowPadding.y + (window->SizeContentsExplicit.y != 0.0f ? window->SizeContentsExplicit.y : (window->Size.y - window->ScrollbarSizes.y)); // Setup drawing context + // (NB: That term "drawing context / DC" lost its meaning a long time ago. Initially was meant to hold transient data only. Nowadays difference between window-> and window->DC-> is dubious.) window->DC.IndentX = 0.0f + window->WindowPadding.x - window->Scroll.x; window->DC.GroupOffsetX = 0.0f; window->DC.ColumnsOffsetX = 0.0f; @@ -4313,70 +6042,97 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us window->DC.CursorMaxPos = window->DC.CursorStartPos; window->DC.CurrentLineHeight = window->DC.PrevLineHeight = 0.0f; window->DC.CurrentLineTextBaseOffset = window->DC.PrevLineTextBaseOffset = 0.0f; + window->DC.NavHideHighlightOneFrame = false; + window->DC.NavHasScroll = (GetScrollMaxY() > 0.0f); + window->DC.NavLayerActiveMask = window->DC.NavLayerActiveMaskNext; + window->DC.NavLayerActiveMaskNext = 0x00; window->DC.MenuBarAppending = false; window->DC.MenuBarOffsetX = ImMax(window->WindowPadding.x, style.ItemSpacing.x); window->DC.LogLinePosY = window->DC.CursorPos.y - 9999.0f; window->DC.ChildWindows.resize(0); window->DC.LayoutType = ImGuiLayoutType_Vertical; + window->DC.ParentLayoutType = parent_window ? parent_window->DC.LayoutType : ImGuiLayoutType_Vertical; + window->DC.ItemFlags = ImGuiItemFlags_Default_; window->DC.ItemWidth = window->ItemWidthDefault; window->DC.TextWrapPos = -1.0f; // disabled - window->DC.AllowKeyboardFocus = true; - window->DC.ButtonRepeat = false; + window->DC.ItemFlagsStack.resize(0); window->DC.ItemWidthStack.resize(0); - window->DC.AllowKeyboardFocusStack.resize(0); - window->DC.ButtonRepeatStack.resize(0); window->DC.TextWrapPosStack.resize(0); - window->DC.ColumnsCurrent = 0; - window->DC.ColumnsCount = 1; - window->DC.ColumnsStartPosY = window->DC.CursorPos.y; - window->DC.ColumnsCellMinY = window->DC.ColumnsCellMaxY = window->DC.ColumnsStartPosY; + window->DC.ColumnsSet = NULL; window->DC.TreeDepth = 0; + window->DC.TreeDepthMayCloseOnPop = 0x00; window->DC.StateStorage = &window->StateStorage; window->DC.GroupStack.resize(0); - window->DC.ColorEditMode = ImGuiColorEditMode_UserSelect; - window->MenuColumns.Update(3, style.ItemSpacing.x, !window_was_active); + window->MenuColumns.Update(3, style.ItemSpacing.x, window_just_activated_by_user); + + if ((flags & ImGuiWindowFlags_ChildWindow) && (window->DC.ItemFlags != parent_window->DC.ItemFlags)) + { + window->DC.ItemFlags = parent_window->DC.ItemFlags; + window->DC.ItemFlagsStack.push_back(window->DC.ItemFlags); + } if (window->AutoFitFramesX > 0) window->AutoFitFramesX--; if (window->AutoFitFramesY > 0) window->AutoFitFramesY--; - // New windows appears in front (we need to do that AFTER setting DC.CursorStartPos so our initial navigation reference rectangle can start around there) - if (!window_was_active && !(flags & ImGuiWindowFlags_NoFocusOnAppearing)) - if (!(flags & (ImGuiWindowFlags_ChildWindow|ImGuiWindowFlags_Tooltip)) || (flags & ImGuiWindowFlags_Popup)) - FocusWindow(window); + // Apply focus (we need to call FocusWindow() AFTER setting DC.CursorStartPos so our initial navigation reference rectangle can start around there) + if (want_focus) + { + FocusWindow(window); + NavInitWindow(window, false); + } // Title bar if (!(flags & ImGuiWindowFlags_NoTitleBar)) { + // Close & collapse button are on layer 1 (same as menus) and don't default focus + const ImGuiItemFlags item_flags_backup = window->DC.ItemFlags; + window->DC.ItemFlags |= ImGuiItemFlags_NoNavDefaultFocus; + window->DC.NavLayerCurrent++; + window->DC.NavLayerCurrentMask <<= 1; + + // Collapse button + if (!(flags & ImGuiWindowFlags_NoCollapse)) + { + ImGuiID id = window->GetID("#COLLAPSE"); + ImRect bb(window->Pos + style.FramePadding + ImVec2(1,1), window->Pos + style.FramePadding + ImVec2(g.FontSize,g.FontSize) - ImVec2(1,1)); + ItemAdd(bb, id); // To allow navigation + if (ButtonBehavior(bb, id, NULL, NULL)) + window->CollapseToggleWanted = true; // Defer collapsing to next frame as we are too far in the Begin() function + RenderNavHighlight(bb, id); + RenderTriangle(window->Pos + style.FramePadding, window->Collapsed ? ImGuiDir_Right : ImGuiDir_Down, 1.0f); + } + + // Close button if (p_open != NULL) { - const float pad = 2.0f; - const float rad = (window->TitleBarHeight() - pad*2.0f) * 0.5f; - if (CloseButton(window->GetID("#CLOSE"), window->Rect().GetTR() + ImVec2(-pad - rad, pad + rad), rad)) + const float PAD = 2.0f; + const float rad = (window->TitleBarHeight() - PAD*2.0f) * 0.5f; + if (CloseButton(window->GetID("#CLOSE"), window->Rect().GetTR() + ImVec2(-PAD - rad, PAD + rad), rad)) *p_open = false; } - const ImVec2 text_size = CalcTextSize(name, NULL, true); - if (!(flags & ImGuiWindowFlags_NoCollapse)) - RenderCollapseTriangle(window->Pos + style.FramePadding, !window->Collapsed, 1.0f); + window->DC.NavLayerCurrent--; + window->DC.NavLayerCurrentMask >>= 1; + window->DC.ItemFlags = item_flags_backup; - ImVec2 text_min = window->Pos; - ImVec2 text_max = window->Pos + ImVec2(window->Size.x, style.FramePadding.y*2 + text_size.y); - ImRect clip_rect; - clip_rect.Max = ImVec2(window->Pos.x + window->Size.x - (p_open ? title_bar_rect.GetHeight() - 3 : style.FramePadding.x), text_max.y); // Match the size of CloseWindowButton() + // Title text (FIXME: refactor text alignment facilities along with RenderText helpers) + ImVec2 text_size = CalcTextSize(name, NULL, true); + ImRect text_r = title_bar_rect; float pad_left = (flags & ImGuiWindowFlags_NoCollapse) == 0 ? (style.FramePadding.x + g.FontSize + style.ItemInnerSpacing.x) : style.FramePadding.x; float pad_right = (p_open != NULL) ? (style.FramePadding.x + g.FontSize + style.ItemInnerSpacing.x) : style.FramePadding.x; if (style.WindowTitleAlign.x > 0.0f) pad_right = ImLerp(pad_right, pad_left, style.WindowTitleAlign.x); - text_min.x += pad_left; - text_max.x -= pad_right; - clip_rect.Min = ImVec2(text_min.x, window->Pos.y); - RenderTextClipped(text_min, text_max, name, NULL, &text_size, style.WindowTitleAlign, &clip_rect); + text_r.Min.x += pad_left; + text_r.Max.x -= pad_right; + ImRect clip_rect = text_r; + clip_rect.Max.x = window->Pos.x + window->Size.x - (p_open ? title_bar_rect.GetHeight() - 3 : style.FramePadding.x); // Match the size of CloseButton() + RenderTextClipped(text_r.Min, text_r.Max, name, NULL, &text_size, style.WindowTitleAlign, &clip_rect); } // Save clipped aabb so we can access it in constant-time in FindHoveredWindow() window->WindowRectClipped = window->Rect(); - window->WindowRectClipped.Clip(window->ClipRect); + window->WindowRectClipped.ClipWith(window->ClipRect); // Pressing CTRL+C while holding on a window copy its content to the clipboard // This works but 1. doesn't handle multiple Begin/End pairs, 2. recursing into another Begin/End pair - so we need to work that out and add better logging scope. @@ -4386,25 +6142,38 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us if (g.IO.KeyCtrl && IsKeyPressedMap(ImGuiKey_C)) ImGui::LogToClipboard(); */ + + // Inner rectangle + // We set this up after processing the resize grip so that our clip rectangle doesn't lag by a frame + // Note that if our window is collapsed we will end up with a null clipping rectangle which is the correct behavior. + window->InnerRect.Min.x = title_bar_rect.Min.x + window->WindowBorderSize; + window->InnerRect.Min.y = title_bar_rect.Max.y + window->MenuBarHeight() + (((flags & ImGuiWindowFlags_MenuBar) || !(flags & ImGuiWindowFlags_NoTitleBar)) ? style.FrameBorderSize : window->WindowBorderSize); + window->InnerRect.Max.x = window->Pos.x + window->Size.x - window->ScrollbarSizes.x - window->WindowBorderSize; + window->InnerRect.Max.y = window->Pos.y + window->Size.y - window->ScrollbarSizes.y - window->WindowBorderSize; + //window->DrawList->AddRect(window->InnerRect.Min, window->InnerRect.Max, IM_COL32_WHITE); + + // After Begin() we fill the last item / hovered data using the title bar data. Make that a standard behavior (to allow usage of context menus on title bar only, etc.). + window->DC.LastItemId = window->MoveId; + window->DC.LastItemStatusFlags = IsMouseHoveringRect(title_bar_rect.Min, title_bar_rect.Max, false) ? ImGuiItemStatusFlags_HoveredRect : 0; + window->DC.LastItemRect = title_bar_rect; } // Inner clipping rectangle - // We set this up after processing the resize grip so that our clip rectangle doesn't lag by a frame - // Note that if our window is collapsed we will end up with a null clipping rectangle which is the correct behavior. - const ImRect title_bar_rect = window->TitleBarRect(); - const float border_size = window->BorderSize; - ImRect clip_rect; // Force round to ensure that e.g. (int)(max.x-min.x) in user's render code produce correct result. - clip_rect.Min.x = ImFloor(0.5f + title_bar_rect.Min.x + ImMax(border_size, ImFloor(window->WindowPadding.x*0.5f))); - clip_rect.Min.y = ImFloor(0.5f + title_bar_rect.Max.y + window->MenuBarHeight() + border_size); - clip_rect.Max.x = ImFloor(0.5f + window->Pos.x + window->Size.x - window->ScrollbarSizes.x - ImMax(border_size, ImFloor(window->WindowPadding.x*0.5f))); - clip_rect.Max.y = ImFloor(0.5f + window->Pos.y + window->Size.y - window->ScrollbarSizes.y - border_size); + // Force round operator last to ensure that e.g. (int)(max.x-min.x) in user's render code produce correct result. + const float border_size = window->WindowBorderSize; + ImRect clip_rect; + clip_rect.Min.x = ImFloor(0.5f + window->InnerRect.Min.x + ImMax(0.0f, ImFloor(window->WindowPadding.x*0.5f - border_size))); + clip_rect.Min.y = ImFloor(0.5f + window->InnerRect.Min.y); + clip_rect.Max.x = ImFloor(0.5f + window->InnerRect.Max.x - ImMax(0.0f, ImFloor(window->WindowPadding.x*0.5f - border_size))); + clip_rect.Max.y = ImFloor(0.5f + window->InnerRect.Max.y); PushClipRect(clip_rect.Min, clip_rect.Max, true); - // Clear 'accessed' flag last thing + // Clear 'accessed' flag last thing (After PushClipRect which will set the flag. We want the flag to stay false when the default "Debug" window is unused) if (first_begin_of_the_frame) - window->Accessed = false; + window->WriteAccessed = false; + window->BeginCount++; - g.SetNextWindowSizeConstraint = false; + g.NextWindowData.SizeConstraintCond = 0; // Child window can be out of sight and have "negative" clip windows. // Mark them as collapsed so commands are skipped earlier (we can't manually collapse because they have no title bar). @@ -4429,20 +6198,36 @@ bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_on_first_us return !window->SkipItems; } +// Old Begin() API with 5 parameters, avoid calling this version directly! Use SetNextWindowSize()/SetNextWindowBgAlpha() + Begin() instead. +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS +bool ImGui::Begin(const char* name, bool* p_open, const ImVec2& size_first_use, float bg_alpha_override, ImGuiWindowFlags flags) +{ + // Old API feature: we could pass the initial window size as a parameter. This was misleading because it only had an effect if the window didn't have data in the .ini file. + if (size_first_use.x != 0.0f || size_first_use.y != 0.0f) + ImGui::SetNextWindowSize(size_first_use, ImGuiCond_FirstUseEver); + + // Old API feature: override the window background alpha with a parameter. + if (bg_alpha_override >= 0.0f) + ImGui::SetNextWindowBgAlpha(bg_alpha_override); + + return ImGui::Begin(name, p_open, flags); +} +#endif // IMGUI_DISABLE_OBSOLETE_FUNCTIONS + void ImGui::End() { ImGuiContext& g = *GImGui; ImGuiWindow* window = g.CurrentWindow; - Columns(1, "#CloseColumns"); - PopClipRect(); // inner window clip rectangle + if (window->DC.ColumnsSet != NULL) + EndColumns(); + PopClipRect(); // Inner window clip rectangle // Stop logging if (!(window->Flags & ImGuiWindowFlags_ChildWindow)) // FIXME: add more options for scope of logging LogFinish(); - // Pop - // NB: we don't clear 'window->RootWindow'. The pointer is allowed to live until the next call to Begin(). + // Pop from window stack g.CurrentWindowStack.pop_back(); if (window->Flags & ImGuiWindowFlags_Popup) g.CurrentPopupStack.pop_back(); @@ -4455,9 +6240,12 @@ void ImGui::End() // - We handle absolute seeking (when first clicking outside the grab) and relative manipulation (afterward or when clicking inside the grab) // - We store values as normalized ratio and in a form that allows the window content to change while we are holding on a scrollbar // - We handle both horizontal and vertical scrollbars, which makes the terminology not ideal. -static void Scrollbar(ImGuiWindow* window, bool horizontal) +void ImGui::Scrollbar(ImGuiLayoutType direction) { ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + + const bool horizontal = (direction == ImGuiLayoutType_Horizontal); const ImGuiStyle& style = g.Style; const ImGuiID id = window->GetID(horizontal ? "#SCROLLX" : "#SCROLLY"); @@ -4465,38 +6253,41 @@ static void Scrollbar(ImGuiWindow* window, bool horizontal) bool other_scrollbar = (horizontal ? window->ScrollbarY : window->ScrollbarX); float other_scrollbar_size_w = other_scrollbar ? style.ScrollbarSize : 0.0f; const ImRect window_rect = window->Rect(); - const float border_size = window->BorderSize; + const float border_size = window->WindowBorderSize; ImRect bb = horizontal ? ImRect(window->Pos.x + border_size, window_rect.Max.y - style.ScrollbarSize, window_rect.Max.x - other_scrollbar_size_w - border_size, window_rect.Max.y - border_size) : ImRect(window_rect.Max.x - style.ScrollbarSize, window->Pos.y + border_size, window_rect.Max.x - border_size, window_rect.Max.y - other_scrollbar_size_w - border_size); if (!horizontal) bb.Min.y += window->TitleBarHeight() + ((window->Flags & ImGuiWindowFlags_MenuBar) ? window->MenuBarHeight() : 0.0f); + if (bb.GetWidth() <= 0.0f || bb.GetHeight() <= 0.0f) + return; - float window_rounding = (window->Flags & ImGuiWindowFlags_ChildWindow) ? style.ChildWindowRounding : style.WindowRounding; int window_rounding_corners; if (horizontal) - window_rounding_corners = ImGuiCorner_BottomLeft | (other_scrollbar ? 0 : ImGuiCorner_BottomRight); + window_rounding_corners = ImDrawCornerFlags_BotLeft | (other_scrollbar ? 0 : ImDrawCornerFlags_BotRight); else - window_rounding_corners = (((window->Flags & ImGuiWindowFlags_NoTitleBar) && !(window->Flags & ImGuiWindowFlags_MenuBar)) ? ImGuiCorner_TopRight : 0) | (other_scrollbar ? 0 : ImGuiCorner_BottomRight); - window->DrawList->AddRectFilled(bb.Min, bb.Max, ImGui::GetColorU32(ImGuiCol_ScrollbarBg), window_rounding, window_rounding_corners); - bb.Reduce(ImVec2(ImClamp((float)(int)((bb.Max.x - bb.Min.x - 2.0f) * 0.5f), 0.0f, 3.0f), ImClamp((float)(int)((bb.Max.y - bb.Min.y - 2.0f) * 0.5f), 0.0f, 3.0f))); + window_rounding_corners = (((window->Flags & ImGuiWindowFlags_NoTitleBar) && !(window->Flags & ImGuiWindowFlags_MenuBar)) ? ImDrawCornerFlags_TopRight : 0) | (other_scrollbar ? 0 : ImDrawCornerFlags_BotRight); + window->DrawList->AddRectFilled(bb.Min, bb.Max, GetColorU32(ImGuiCol_ScrollbarBg), window->WindowRounding, window_rounding_corners); + bb.Expand(ImVec2(-ImClamp((float)(int)((bb.Max.x - bb.Min.x - 2.0f) * 0.5f), 0.0f, 3.0f), -ImClamp((float)(int)((bb.Max.y - bb.Min.y - 2.0f) * 0.5f), 0.0f, 3.0f))); - // V denote the main axis of the scrollbar + // V denote the main, longer axis of the scrollbar (= height for a vertical scrollbar) float scrollbar_size_v = horizontal ? bb.GetWidth() : bb.GetHeight(); float scroll_v = horizontal ? window->Scroll.x : window->Scroll.y; - float win_size_avail_v = (horizontal ? window->Size.x : window->Size.y) - other_scrollbar_size_w; + float win_size_avail_v = (horizontal ? window->SizeFull.x : window->SizeFull.y) - other_scrollbar_size_w; float win_size_contents_v = horizontal ? window->SizeContents.x : window->SizeContents.y; - // The grabable box size generally represent the amount visible (vs the total scrollable amount) + // Calculate the height of our grabbable box. It generally represent the amount visible (vs the total scrollable amount) // But we maintain a minimum size in pixel to allow for the user to still aim inside. - const float grab_h_pixels = ImMin(ImMax(scrollbar_size_v * ImSaturate(win_size_avail_v / ImMax(win_size_contents_v, win_size_avail_v)), style.GrabMinSize), scrollbar_size_v); + IM_ASSERT(ImMax(win_size_contents_v, win_size_avail_v) > 0.0f); // Adding this assert to check if the ImMax(XXX,1.0f) is still needed. PLEASE CONTACT ME if this triggers. + const float win_size_v = ImMax(ImMax(win_size_contents_v, win_size_avail_v), 1.0f); + const float grab_h_pixels = ImClamp(scrollbar_size_v * (win_size_avail_v / win_size_v), style.GrabMinSize, scrollbar_size_v); const float grab_h_norm = grab_h_pixels / scrollbar_size_v; // Handle input right away. None of the code of Begin() is relying on scrolling position before calling Scrollbar(). bool held = false; bool hovered = false; const bool previously_held = (g.ActiveId == id); - ImGui::ButtonBehavior(bb, id, &hovered, &held); + ButtonBehavior(bb, id, &hovered, &held, ImGuiButtonFlags_NoNavFocus); float scroll_max = ImMax(1.0f, win_size_contents_v - win_size_avail_v); float scroll_ratio = ImSaturate(scroll_v / scroll_max); @@ -4509,7 +6300,7 @@ static void Scrollbar(ImGuiWindow* window, bool horizontal) // Click position in scrollbar normalized space (0.0f->1.0f) const float clicked_v_norm = ImSaturate((mouse_pos_v - scrollbar_pos_v) / scrollbar_size_v); - ImGui::SetHoveredID(id); + SetHoveredID(id); bool seek_absolute = false; if (!previously_held) @@ -4545,26 +6336,65 @@ static void Scrollbar(ImGuiWindow* window, bool horizontal) } // Render - const ImU32 grab_col = ImGui::GetColorU32(held ? ImGuiCol_ScrollbarGrabActive : hovered ? ImGuiCol_ScrollbarGrabHovered : ImGuiCol_ScrollbarGrab); + const ImU32 grab_col = GetColorU32(held ? ImGuiCol_ScrollbarGrabActive : hovered ? ImGuiCol_ScrollbarGrabHovered : ImGuiCol_ScrollbarGrab); + ImRect grab_rect; if (horizontal) - window->DrawList->AddRectFilled(ImVec2(ImLerp(bb.Min.x, bb.Max.x, grab_v_norm), bb.Min.y), ImVec2(ImLerp(bb.Min.x, bb.Max.x, grab_v_norm) + grab_h_pixels, bb.Max.y), grab_col, style.ScrollbarRounding); + grab_rect = ImRect(ImLerp(bb.Min.x, bb.Max.x, grab_v_norm), bb.Min.y, ImMin(ImLerp(bb.Min.x, bb.Max.x, grab_v_norm) + grab_h_pixels, window_rect.Max.x), bb.Max.y); else - window->DrawList->AddRectFilled(ImVec2(bb.Min.x, ImLerp(bb.Min.y, bb.Max.y, grab_v_norm)), ImVec2(bb.Max.x, ImLerp(bb.Min.y, bb.Max.y, grab_v_norm) + grab_h_pixels), grab_col, style.ScrollbarRounding); + grab_rect = ImRect(bb.Min.x, ImLerp(bb.Min.y, bb.Max.y, grab_v_norm), bb.Max.x, ImMin(ImLerp(bb.Min.y, bb.Max.y, grab_v_norm) + grab_h_pixels, window_rect.Max.y)); + window->DrawList->AddRectFilled(grab_rect.Min, grab_rect.Max, grab_col, style.ScrollbarRounding); } -// Moving window to front of display (which happens to be back of our sorted list) +void ImGui::BringWindowToFront(ImGuiWindow* window) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* current_front_window = g.Windows.back(); + if (current_front_window == window || current_front_window->RootWindow == window) + return; + for (int i = g.Windows.Size - 2; i >= 0; i--) // We can ignore the front most window + if (g.Windows[i] == window) + { + g.Windows.erase(g.Windows.Data + i); + g.Windows.push_back(window); + break; + } +} + +void ImGui::BringWindowToBack(ImGuiWindow* window) +{ + ImGuiContext& g = *GImGui; + if (g.Windows[0] == window) + return; + for (int i = 0; i < g.Windows.Size; i++) + if (g.Windows[i] == window) + { + memmove(&g.Windows[1], &g.Windows[0], (size_t)i * sizeof(ImGuiWindow*)); + g.Windows[0] = window; + break; + } +} + +// Moving window to front of display and set focus (which happens to be back of our sorted list) void ImGui::FocusWindow(ImGuiWindow* window) { ImGuiContext& g = *GImGui; - // Always mark the window we passed as focused. This is used for keyboard interactions such as tabbing. - g.FocusedWindow = window; + if (g.NavWindow != window) + { + g.NavWindow = window; + if (window && g.NavDisableMouseHover) + g.NavMousePosDirty = true; + g.NavInitRequest = false; + g.NavId = window ? window->NavLastIds[0] : 0; // Restore NavId + g.NavIdIsAlive = false; + g.NavLayer = 0; + } // Passing NULL allow to disable keyboard focus if (!window) return; - // And move its root window to the top of the pile + // Move the root window to the top of the pile if (window->RootWindow) window = window->RootWindow; @@ -4574,15 +6404,20 @@ void ImGui::FocusWindow(ImGuiWindow* window) ClearActiveID(); // Bring to front - if ((window->Flags & ImGuiWindowFlags_NoBringToFrontOnFocus) || g.Windows.back() == window) - return; - for (int i = 0; i < g.Windows.Size; i++) - if (g.Windows[i] == window) + if (!(window->Flags & ImGuiWindowFlags_NoBringToFrontOnFocus)) + BringWindowToFront(window); +} + +void ImGui::FocusFrontMostActiveWindow(ImGuiWindow* ignore_window) +{ + ImGuiContext& g = *GImGui; + for (int i = g.Windows.Size - 1; i >= 0; i--) + if (g.Windows[i] != ignore_window && g.Windows[i]->WasActive && !(g.Windows[i]->Flags & ImGuiWindowFlags_ChildWindow)) { - g.Windows.erase(g.Windows.begin() + i); - break; + ImGuiWindow* focus_window = NavRestoreLastChildNavWindow(g.Windows[i]); + FocusWindow(focus_window); + return; } - g.Windows.push_back(window); } void ImGui::PushItemWidth(float item_width) @@ -4592,12 +6427,12 @@ void ImGui::PushItemWidth(float item_width) window->DC.ItemWidthStack.push_back(window->DC.ItemWidth); } -static void PushMultiItemsWidths(int components, float w_full) +void ImGui::PushMultiItemsWidths(int components, float w_full) { - ImGuiWindow* window = ImGui::GetCurrentWindow(); + ImGuiWindow* window = GetCurrentWindow(); const ImGuiStyle& style = GImGui->Style; if (w_full <= 0.0f) - w_full = ImGui::CalcItemWidth(); + w_full = CalcItemWidth(); const float w_item_one = ImMax(1.0f, (float)(int)((w_full - (style.ItemInnerSpacing.x) * (components-1)) / (float)components)); const float w_item_last = ImMax(1.0f, (float)(int)(w_full - (w_item_one + style.ItemInnerSpacing.x) * (components-1))); window->DC.ItemWidthStack.push_back(w_item_last); @@ -4633,7 +6468,7 @@ static ImFont* GetDefaultFont() return g.IO.FontDefault ? g.IO.FontDefault : g.IO.Fonts->Fonts[0]; } -static void SetCurrentFont(ImFont* font) +void ImGui::SetCurrentFont(ImFont* font) { ImGuiContext& g = *GImGui; IM_ASSERT(font && font->IsLoaded()); // Font Atlas not created. Did you call io.Fonts->GetTexDataAsRGBA32 / GetTexDataAsAlpha8 ? @@ -4641,7 +6476,11 @@ static void SetCurrentFont(ImFont* font) g.Font = font; g.FontBaseSize = g.IO.FontGlobalScale * g.Font->FontSize * g.Font->Scale; g.FontSize = g.CurrentWindow ? g.CurrentWindow->CalcFontSize() : 0.0f; - g.FontTexUvWhitePixel = g.Font->ContainerAtlas->TexUvWhitePixel; + + ImFontAtlas* atlas = g.Font->ContainerAtlas; + g.DrawListSharedData.TexUvWhitePixel = atlas->TexUvWhitePixel; + g.DrawListSharedData.Font = g.Font; + g.DrawListSharedData.FontSize = g.FontSize; } void ImGui::PushFont(ImFont* font) @@ -4662,32 +6501,41 @@ void ImGui::PopFont() SetCurrentFont(g.FontStack.empty() ? GetDefaultFont() : g.FontStack.back()); } -void ImGui::PushAllowKeyboardFocus(bool allow_keyboard_focus) +void ImGui::PushItemFlag(ImGuiItemFlags option, bool enabled) { ImGuiWindow* window = GetCurrentWindow(); - window->DC.AllowKeyboardFocus = allow_keyboard_focus; - window->DC.AllowKeyboardFocusStack.push_back(allow_keyboard_focus); + if (enabled) + window->DC.ItemFlags |= option; + else + window->DC.ItemFlags &= ~option; + window->DC.ItemFlagsStack.push_back(window->DC.ItemFlags); +} + +void ImGui::PopItemFlag() +{ + ImGuiWindow* window = GetCurrentWindow(); + window->DC.ItemFlagsStack.pop_back(); + window->DC.ItemFlags = window->DC.ItemFlagsStack.empty() ? ImGuiItemFlags_Default_ : window->DC.ItemFlagsStack.back(); +} + +void ImGui::PushAllowKeyboardFocus(bool allow_keyboard_focus) +{ + PushItemFlag(ImGuiItemFlags_AllowKeyboardFocus, allow_keyboard_focus); } void ImGui::PopAllowKeyboardFocus() { - ImGuiWindow* window = GetCurrentWindow(); - window->DC.AllowKeyboardFocusStack.pop_back(); - window->DC.AllowKeyboardFocus = window->DC.AllowKeyboardFocusStack.empty() ? true : window->DC.AllowKeyboardFocusStack.back(); + PopItemFlag(); } void ImGui::PushButtonRepeat(bool repeat) { - ImGuiWindow* window = GetCurrentWindow(); - window->DC.ButtonRepeat = repeat; - window->DC.ButtonRepeatStack.push_back(repeat); + PushItemFlag(ImGuiItemFlags_ButtonRepeat, repeat); } void ImGui::PopButtonRepeat() { - ImGuiWindow* window = GetCurrentWindow(); - window->DC.ButtonRepeatStack.pop_back(); - window->DC.ButtonRepeat = window->DC.ButtonRepeatStack.empty() ? false : window->DC.ButtonRepeatStack.back(); + PopItemFlag(); } void ImGui::PushTextWrapPos(float wrap_pos_x) @@ -4704,6 +6552,17 @@ void ImGui::PopTextWrapPos() window->DC.TextWrapPos = window->DC.TextWrapPosStack.empty() ? -1.0f : window->DC.TextWrapPosStack.back(); } +// FIXME: This may incur a round-trip (if the end user got their data from a float4) but eventually we aim to store the in-flight colors as ImU32 +void ImGui::PushStyleColor(ImGuiCol idx, ImU32 col) +{ + ImGuiContext& g = *GImGui; + ImGuiColMod backup; + backup.Col = idx; + backup.BackupValue = g.Style.Colors[idx]; + g.ColorModifiers.push_back(backup); + g.Style.Colors[idx] = ColorConvertU32ToFloat4(col); +} + void ImGui::PushStyleColor(ImGuiCol idx, const ImVec4& col) { ImGuiContext& g = *GImGui; @@ -4730,28 +6589,38 @@ struct ImGuiStyleVarInfo { ImGuiDataType Type; ImU32 Offset; - void* GetVarPtr() const { return (void*)((unsigned char*)&GImGui->Style + Offset); } + void* GetVarPtr(ImGuiStyle* style) const { return (void*)((unsigned char*)style + Offset); } }; -static const ImGuiStyleVarInfo GStyleVarInfo[ImGuiStyleVar_Count_] = +static const ImGuiStyleVarInfo GStyleVarInfo[] = { - { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, Alpha) }, - { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowPadding) }, - { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowRounding) }, - { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowMinSize) }, - { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, ChildWindowRounding) }, - { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, FramePadding) }, - { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, FrameRounding) }, - { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, ItemSpacing) }, - { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, ItemInnerSpacing) }, - { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, IndentSpacing) }, - { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, GrabMinSize) }, - { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, ButtonTextAlign) }, + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, Alpha) }, // ImGuiStyleVar_Alpha + { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowPadding) }, // ImGuiStyleVar_WindowPadding + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowRounding) }, // ImGuiStyleVar_WindowRounding + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowBorderSize) }, // ImGuiStyleVar_WindowBorderSize + { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowMinSize) }, // ImGuiStyleVar_WindowMinSize + { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, WindowTitleAlign) }, // ImGuiStyleVar_WindowTitleAlign + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, ChildRounding) }, // ImGuiStyleVar_ChildRounding + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, ChildBorderSize) }, // ImGuiStyleVar_ChildBorderSize + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, PopupRounding) }, // ImGuiStyleVar_PopupRounding + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, PopupBorderSize) }, // ImGuiStyleVar_PopupBorderSize + { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, FramePadding) }, // ImGuiStyleVar_FramePadding + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, FrameRounding) }, // ImGuiStyleVar_FrameRounding + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, FrameBorderSize) }, // ImGuiStyleVar_FrameBorderSize + { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, ItemSpacing) }, // ImGuiStyleVar_ItemSpacing + { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, ItemInnerSpacing) }, // ImGuiStyleVar_ItemInnerSpacing + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, IndentSpacing) }, // ImGuiStyleVar_IndentSpacing + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, ScrollbarSize) }, // ImGuiStyleVar_ScrollbarSize + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, ScrollbarRounding) }, // ImGuiStyleVar_ScrollbarRounding + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, GrabMinSize) }, // ImGuiStyleVar_GrabMinSize + { ImGuiDataType_Float, (ImU32)IM_OFFSETOF(ImGuiStyle, GrabRounding) }, // ImGuiStyleVar_GrabRounding + { ImGuiDataType_Float2, (ImU32)IM_OFFSETOF(ImGuiStyle, ButtonTextAlign) }, // ImGuiStyleVar_ButtonTextAlign }; static const ImGuiStyleVarInfo* GetStyleVarInfo(ImGuiStyleVar idx) { IM_ASSERT(idx >= 0 && idx < ImGuiStyleVar_Count_); + IM_ASSERT(IM_ARRAYSIZE(GStyleVarInfo) == ImGuiStyleVar_Count_); return &GStyleVarInfo[idx]; } @@ -4760,8 +6629,9 @@ void ImGui::PushStyleVar(ImGuiStyleVar idx, float val) const ImGuiStyleVarInfo* var_info = GetStyleVarInfo(idx); if (var_info->Type == ImGuiDataType_Float) { - float* pvar = (float*)var_info->GetVarPtr(); - GImGui->StyleModifiers.push_back(ImGuiStyleMod(idx, *pvar)); + ImGuiContext& g = *GImGui; + float* pvar = (float*)var_info->GetVarPtr(&g.Style); + g.StyleModifiers.push_back(ImGuiStyleMod(idx, *pvar)); *pvar = val; return; } @@ -4773,8 +6643,9 @@ void ImGui::PushStyleVar(ImGuiStyleVar idx, const ImVec2& val) const ImGuiStyleVarInfo* var_info = GetStyleVarInfo(idx); if (var_info->Type == ImGuiDataType_Float2) { - ImVec2* pvar = (ImVec2*)var_info->GetVarPtr(); - GImGui->StyleModifiers.push_back(ImGuiStyleMod(idx, *pvar)); + ImGuiContext& g = *GImGui; + ImVec2* pvar = (ImVec2*)var_info->GetVarPtr(&g.Style); + g.StyleModifiers.push_back(ImGuiStyleMod(idx, *pvar)); *pvar = val; return; } @@ -4788,15 +6659,15 @@ void ImGui::PopStyleVar(int count) { ImGuiStyleMod& backup = g.StyleModifiers.back(); const ImGuiStyleVarInfo* info = GetStyleVarInfo(backup.VarIdx); - if (info->Type == ImGuiDataType_Float) (*(float*)info->GetVarPtr()) = backup.BackupFloat[0]; - else if (info->Type == ImGuiDataType_Float2) (*(ImVec2*)info->GetVarPtr()) = ImVec2(backup.BackupFloat[0], backup.BackupFloat[1]); - else if (info->Type == ImGuiDataType_Int) (*(int*)info->GetVarPtr()) = backup.BackupInt[0]; + if (info->Type == ImGuiDataType_Float) (*(float*)info->GetVarPtr(&g.Style)) = backup.BackupFloat[0]; + else if (info->Type == ImGuiDataType_Float2) (*(ImVec2*)info->GetVarPtr(&g.Style)) = ImVec2(backup.BackupFloat[0], backup.BackupFloat[1]); + else if (info->Type == ImGuiDataType_Int) (*(int*)info->GetVarPtr(&g.Style)) = backup.BackupInt[0]; g.StyleModifiers.pop_back(); count--; } } -const char* ImGui::GetStyleColName(ImGuiCol idx) +const char* ImGui::GetStyleColorName(ImGuiCol idx) { // Create switch-case from enum with regexp: ImGuiCol_{.*}, --> case ImGuiCol_\1: return "\1"; switch (idx) @@ -4804,7 +6675,7 @@ const char* ImGui::GetStyleColName(ImGuiCol idx) case ImGuiCol_Text: return "Text"; case ImGuiCol_TextDisabled: return "TextDisabled"; case ImGuiCol_WindowBg: return "WindowBg"; - case ImGuiCol_ChildWindowBg: return "ChildWindowBg"; + case ImGuiCol_ChildBg: return "ChildBg"; case ImGuiCol_PopupBg: return "PopupBg"; case ImGuiCol_Border: return "Border"; case ImGuiCol_BorderShadow: return "BorderShadow"; @@ -4812,14 +6683,13 @@ const char* ImGui::GetStyleColName(ImGuiCol idx) case ImGuiCol_FrameBgHovered: return "FrameBgHovered"; case ImGuiCol_FrameBgActive: return "FrameBgActive"; case ImGuiCol_TitleBg: return "TitleBg"; - case ImGuiCol_TitleBgCollapsed: return "TitleBgCollapsed"; case ImGuiCol_TitleBgActive: return "TitleBgActive"; + case ImGuiCol_TitleBgCollapsed: return "TitleBgCollapsed"; case ImGuiCol_MenuBarBg: return "MenuBarBg"; case ImGuiCol_ScrollbarBg: return "ScrollbarBg"; case ImGuiCol_ScrollbarGrab: return "ScrollbarGrab"; case ImGuiCol_ScrollbarGrabHovered: return "ScrollbarGrabHovered"; case ImGuiCol_ScrollbarGrabActive: return "ScrollbarGrabActive"; - case ImGuiCol_ComboBg: return "ComboBg"; case ImGuiCol_CheckMark: return "CheckMark"; case ImGuiCol_SliderGrab: return "SliderGrab"; case ImGuiCol_SliderGrabActive: return "SliderGrabActive"; @@ -4829,9 +6699,9 @@ const char* ImGui::GetStyleColName(ImGuiCol idx) case ImGuiCol_Header: return "Header"; case ImGuiCol_HeaderHovered: return "HeaderHovered"; case ImGuiCol_HeaderActive: return "HeaderActive"; - case ImGuiCol_Column: return "Column"; - case ImGuiCol_ColumnHovered: return "ColumnHovered"; - case ImGuiCol_ColumnActive: return "ColumnActive"; + case ImGuiCol_Separator: return "Separator"; + case ImGuiCol_SeparatorHovered: return "SeparatorHovered"; + case ImGuiCol_SeparatorActive: return "SeparatorActive"; case ImGuiCol_ResizeGrip: return "ResizeGrip"; case ImGuiCol_ResizeGripHovered: return "ResizeGripHovered"; case ImGuiCol_ResizeGripActive: return "ResizeGripActive"; @@ -4844,39 +6714,94 @@ const char* ImGui::GetStyleColName(ImGuiCol idx) case ImGuiCol_PlotHistogramHovered: return "PlotHistogramHovered"; case ImGuiCol_TextSelectedBg: return "TextSelectedBg"; case ImGuiCol_ModalWindowDarkening: return "ModalWindowDarkening"; + case ImGuiCol_DragDropTarget: return "DragDropTarget"; + case ImGuiCol_NavHighlight: return "NavHighlight"; + case ImGuiCol_NavWindowingHighlight: return "NavWindowingHighlight"; } IM_ASSERT(0); return "Unknown"; } -bool ImGui::IsWindowHovered() +bool ImGui::IsWindowChildOf(ImGuiWindow* window, ImGuiWindow* potential_parent) { - ImGuiContext& g = *GImGui; - return g.HoveredWindow == g.CurrentWindow && IsWindowContentHoverable(g.HoveredRootWindow); + if (window->RootWindow == potential_parent) + return true; + while (window != NULL) + { + if (window == potential_parent) + return true; + window = window->ParentWindow; + } + return false; } -bool ImGui::IsWindowFocused() +bool ImGui::IsWindowHovered(ImGuiHoveredFlags flags) { + IM_ASSERT((flags & ImGuiHoveredFlags_AllowWhenOverlapped) == 0); // Flags not supported by this function ImGuiContext& g = *GImGui; - return g.FocusedWindow == g.CurrentWindow; + + if (flags & ImGuiHoveredFlags_AnyWindow) + { + if (g.HoveredWindow == NULL) + return false; + } + else + { + switch (flags & (ImGuiHoveredFlags_RootWindow | ImGuiHoveredFlags_ChildWindows)) + { + case ImGuiHoveredFlags_RootWindow | ImGuiHoveredFlags_ChildWindows: + if (g.HoveredRootWindow != g.CurrentWindow->RootWindow) + return false; + break; + case ImGuiHoveredFlags_RootWindow: + if (g.HoveredWindow != g.CurrentWindow->RootWindow) + return false; + break; + case ImGuiHoveredFlags_ChildWindows: + if (g.HoveredWindow == NULL || !IsWindowChildOf(g.HoveredWindow, g.CurrentWindow)) + return false; + break; + default: + if (g.HoveredWindow != g.CurrentWindow) + return false; + break; + } + } + + if (!IsWindowContentHoverable(g.HoveredRootWindow, flags)) + return false; + if (!(flags & ImGuiHoveredFlags_AllowWhenBlockedByActiveItem)) + if (g.ActiveId != 0 && !g.ActiveIdAllowOverlap && g.ActiveId != g.HoveredWindow->MoveId) + return false; + return true; } -bool ImGui::IsRootWindowFocused() +bool ImGui::IsWindowFocused(ImGuiFocusedFlags flags) { ImGuiContext& g = *GImGui; - return g.FocusedWindow == g.CurrentWindow->RootWindow; + IM_ASSERT(g.CurrentWindow); // Not inside a Begin()/End() + + if (flags & ImGuiFocusedFlags_AnyWindow) + return g.NavWindow != NULL; + + switch (flags & (ImGuiFocusedFlags_RootWindow | ImGuiFocusedFlags_ChildWindows)) + { + case ImGuiFocusedFlags_RootWindow | ImGuiFocusedFlags_ChildWindows: + return g.NavWindow && g.NavWindow->RootWindow == g.CurrentWindow->RootWindow; + case ImGuiFocusedFlags_RootWindow: + return g.NavWindow == g.CurrentWindow->RootWindow; + case ImGuiFocusedFlags_ChildWindows: + return g.NavWindow && IsWindowChildOf(g.NavWindow, g.CurrentWindow); + default: + return g.NavWindow == g.CurrentWindow; + } } -bool ImGui::IsRootWindowOrAnyChildFocused() +// Can we focus this window with CTRL+TAB (or PadMenu + PadFocusPrev/PadFocusNext) +bool ImGui::IsWindowNavFocusable(ImGuiWindow* window) { ImGuiContext& g = *GImGui; - return g.FocusedWindow && g.FocusedWindow->RootWindow == g.CurrentWindow->RootWindow; -} - -bool ImGui::IsRootWindowOrAnyChildHovered() -{ - ImGuiContext& g = *GImGui; - return g.HoveredRootWindow && (g.HoveredRootWindow == g.CurrentWindow->RootWindow) && IsWindowContentHoverable(g.HoveredRootWindow); + return window->Active && window == window->RootWindowForTabbing && (!(window->Flags & ImGuiWindowFlags_NoNavFocus) || window == g.NavWindow); } float ImGui::GetWindowWidth() @@ -4898,36 +6823,43 @@ ImVec2 ImGui::GetWindowPos() return window->Pos; } +static void SetWindowScrollX(ImGuiWindow* window, float new_scroll_x) +{ + window->DC.CursorMaxPos.x += window->Scroll.x; // SizeContents is generally computed based on CursorMaxPos which is affected by scroll position, so we need to apply our change to it. + window->Scroll.x = new_scroll_x; + window->DC.CursorMaxPos.x -= window->Scroll.x; +} + static void SetWindowScrollY(ImGuiWindow* window, float new_scroll_y) { - window->DC.CursorMaxPos.y += window->Scroll.y; + window->DC.CursorMaxPos.y += window->Scroll.y; // SizeContents is generally computed based on CursorMaxPos which is affected by scroll position, so we need to apply our change to it. window->Scroll.y = new_scroll_y; window->DC.CursorMaxPos.y -= window->Scroll.y; } -static void SetWindowPos(ImGuiWindow* window, const ImVec2& pos, ImGuiSetCond cond) +static void SetWindowPos(ImGuiWindow* window, const ImVec2& pos, ImGuiCond cond) { // Test condition (NB: bit 0 is always true) and clear flags for next time if (cond && (window->SetWindowPosAllowFlags & cond) == 0) return; - window->SetWindowPosAllowFlags &= ~(ImGuiSetCond_Once | ImGuiSetCond_FirstUseEver | ImGuiSetCond_Appearing); - window->SetWindowPosCenterWanted = false; + window->SetWindowPosAllowFlags &= ~(ImGuiCond_Once | ImGuiCond_FirstUseEver | ImGuiCond_Appearing); + window->SetWindowPosVal = ImVec2(FLT_MAX, FLT_MAX); // Set const ImVec2 old_pos = window->Pos; window->PosFloat = pos; - window->Pos = ImVec2((float)(int)window->PosFloat.x, (float)(int)window->PosFloat.y); + window->Pos = ImFloor(pos); window->DC.CursorPos += (window->Pos - old_pos); // As we happen to move the window while it is being appended to (which is a bad idea - will smear) let's at least offset the cursor window->DC.CursorMaxPos += (window->Pos - old_pos); // And more importantly we need to adjust this so size calculation doesn't get affected. } -void ImGui::SetWindowPos(const ImVec2& pos, ImGuiSetCond cond) +void ImGui::SetWindowPos(const ImVec2& pos, ImGuiCond cond) { ImGuiWindow* window = GetCurrentWindowRead(); SetWindowPos(window, pos, cond); } -void ImGui::SetWindowPos(const char* name, const ImVec2& pos, ImGuiSetCond cond) +void ImGui::SetWindowPos(const char* name, const ImVec2& pos, ImGuiCond cond) { if (ImGuiWindow* window = FindWindowByName(name)) SetWindowPos(window, pos, cond); @@ -4939,12 +6871,12 @@ ImVec2 ImGui::GetWindowSize() return window->Size; } -static void SetWindowSize(ImGuiWindow* window, const ImVec2& size, ImGuiSetCond cond) +static void SetWindowSize(ImGuiWindow* window, const ImVec2& size, ImGuiCond cond) { // Test condition (NB: bit 0 is always true) and clear flags for next time if (cond && (window->SetWindowSizeAllowFlags & cond) == 0) return; - window->SetWindowSizeAllowFlags &= ~(ImGuiSetCond_Once | ImGuiSetCond_FirstUseEver | ImGuiSetCond_Appearing); + window->SetWindowSizeAllowFlags &= ~(ImGuiCond_Once | ImGuiCond_FirstUseEver | ImGuiCond_Appearing); // Set if (size.x > 0.0f) @@ -4969,43 +6901,48 @@ static void SetWindowSize(ImGuiWindow* window, const ImVec2& size, ImGuiSetCond } } -void ImGui::SetWindowSize(const ImVec2& size, ImGuiSetCond cond) +void ImGui::SetWindowSize(const ImVec2& size, ImGuiCond cond) { SetWindowSize(GImGui->CurrentWindow, size, cond); } -void ImGui::SetWindowSize(const char* name, const ImVec2& size, ImGuiSetCond cond) +void ImGui::SetWindowSize(const char* name, const ImVec2& size, ImGuiCond cond) { - ImGuiWindow* window = FindWindowByName(name); - if (window) + if (ImGuiWindow* window = FindWindowByName(name)) SetWindowSize(window, size, cond); } -static void SetWindowCollapsed(ImGuiWindow* window, bool collapsed, ImGuiSetCond cond) +static void SetWindowCollapsed(ImGuiWindow* window, bool collapsed, ImGuiCond cond) { // Test condition (NB: bit 0 is always true) and clear flags for next time if (cond && (window->SetWindowCollapsedAllowFlags & cond) == 0) return; - window->SetWindowCollapsedAllowFlags &= ~(ImGuiSetCond_Once | ImGuiSetCond_FirstUseEver | ImGuiSetCond_Appearing); + window->SetWindowCollapsedAllowFlags &= ~(ImGuiCond_Once | ImGuiCond_FirstUseEver | ImGuiCond_Appearing); // Set window->Collapsed = collapsed; } -void ImGui::SetWindowCollapsed(bool collapsed, ImGuiSetCond cond) +void ImGui::SetWindowCollapsed(bool collapsed, ImGuiCond cond) { SetWindowCollapsed(GImGui->CurrentWindow, collapsed, cond); } bool ImGui::IsWindowCollapsed() { - return GImGui->CurrentWindow->Collapsed; + ImGuiWindow* window = GetCurrentWindowRead(); + return window->Collapsed; } -void ImGui::SetWindowCollapsed(const char* name, bool collapsed, ImGuiSetCond cond) +bool ImGui::IsWindowAppearing() { - ImGuiWindow* window = FindWindowByName(name); - if (window) + ImGuiWindow* window = GetCurrentWindowRead(); + return window->Appearing; +} + +void ImGui::SetWindowCollapsed(const char* name, bool collapsed, ImGuiCond cond) +{ + if (ImGuiWindow* window = FindWindowByName(name)) SetWindowCollapsed(window, collapsed, cond); } @@ -5027,61 +6964,55 @@ void ImGui::SetWindowFocus(const char* name) } } -void ImGui::SetNextWindowPos(const ImVec2& pos, ImGuiSetCond cond) +void ImGui::SetNextWindowPos(const ImVec2& pos, ImGuiCond cond, const ImVec2& pivot) { ImGuiContext& g = *GImGui; - g.SetNextWindowPosVal = pos; - g.SetNextWindowPosCond = cond ? cond : ImGuiSetCond_Always; + g.NextWindowData.PosVal = pos; + g.NextWindowData.PosPivotVal = pivot; + g.NextWindowData.PosCond = cond ? cond : ImGuiCond_Always; } -void ImGui::SetNextWindowPosCenter(ImGuiSetCond cond) +void ImGui::SetNextWindowSize(const ImVec2& size, ImGuiCond cond) { ImGuiContext& g = *GImGui; - g.SetNextWindowPosVal = ImVec2(-FLT_MAX, -FLT_MAX); - g.SetNextWindowPosCond = cond ? cond : ImGuiSetCond_Always; + g.NextWindowData.SizeVal = size; + g.NextWindowData.SizeCond = cond ? cond : ImGuiCond_Always; } -void ImGui::SetNextWindowSize(const ImVec2& size, ImGuiSetCond cond) +void ImGui::SetNextWindowSizeConstraints(const ImVec2& size_min, const ImVec2& size_max, ImGuiSizeCallback custom_callback, void* custom_callback_user_data) { ImGuiContext& g = *GImGui; - g.SetNextWindowSizeVal = size; - g.SetNextWindowSizeCond = cond ? cond : ImGuiSetCond_Always; -} - -void ImGui::SetNextWindowSizeConstraints(const ImVec2& size_min, const ImVec2& size_max, ImGuiSizeConstraintCallback custom_callback, void* custom_callback_user_data) -{ - ImGuiContext& g = *GImGui; - g.SetNextWindowSizeConstraint = true; - g.SetNextWindowSizeConstraintRect = ImRect(size_min, size_max); - g.SetNextWindowSizeConstraintCallback = custom_callback; - g.SetNextWindowSizeConstraintCallbackUserData = custom_callback_user_data; + g.NextWindowData.SizeConstraintCond = ImGuiCond_Always; + g.NextWindowData.SizeConstraintRect = ImRect(size_min, size_max); + g.NextWindowData.SizeCallback = custom_callback; + g.NextWindowData.SizeCallbackUserData = custom_callback_user_data; } void ImGui::SetNextWindowContentSize(const ImVec2& size) { ImGuiContext& g = *GImGui; - g.SetNextWindowContentSizeVal = size; - g.SetNextWindowContentSizeCond = ImGuiSetCond_Always; + g.NextWindowData.ContentSizeVal = size; // In Begin() we will add the size of window decorations (title bar, menu etc.) to that to form a SizeContents value. + g.NextWindowData.ContentSizeCond = ImGuiCond_Always; } -void ImGui::SetNextWindowContentWidth(float width) +void ImGui::SetNextWindowCollapsed(bool collapsed, ImGuiCond cond) { ImGuiContext& g = *GImGui; - g.SetNextWindowContentSizeVal = ImVec2(width, g.SetNextWindowContentSizeCond ? g.SetNextWindowContentSizeVal.y : 0.0f); - g.SetNextWindowContentSizeCond = ImGuiSetCond_Always; -} - -void ImGui::SetNextWindowCollapsed(bool collapsed, ImGuiSetCond cond) -{ - ImGuiContext& g = *GImGui; - g.SetNextWindowCollapsedVal = collapsed; - g.SetNextWindowCollapsedCond = cond ? cond : ImGuiSetCond_Always; + g.NextWindowData.CollapsedVal = collapsed; + g.NextWindowData.CollapsedCond = cond ? cond : ImGuiCond_Always; } void ImGui::SetNextWindowFocus() { ImGuiContext& g = *GImGui; - g.SetNextWindowFocus = true; + g.NextWindowData.FocusCond = ImGuiCond_Always; // Using a Cond member for consistency (may transition all of them to single flag set for fast Clear() op) +} + +void ImGui::SetNextWindowBgAlpha(float alpha) +{ + ImGuiContext& g = *GImGui; + g.NextWindowData.BgAlphaVal = alpha; + g.NextWindowData.BgAlphaCond = ImGuiCond_Always; // Using a Cond member for consistency (may transition all of them to single flag set for fast Clear() op) } // In window space (not screen space!) @@ -5089,8 +7020,8 @@ ImVec2 ImGui::GetContentRegionMax() { ImGuiWindow* window = GetCurrentWindowRead(); ImVec2 mx = window->ContentsRegionRect.Max; - if (window->DC.ColumnsCount != 1) - mx.x = GetColumnOffset(window->DC.ColumnsCurrent + 1) - window->WindowPadding.x; + if (window->DC.ColumnsSet) + mx.x = GetColumnOffset(window->DC.ColumnsSet->Current + 1) - window->WindowPadding.x; return mx; } @@ -5136,7 +7067,13 @@ float ImGui::GetTextLineHeightWithSpacing() return g.FontSize + g.Style.ItemSpacing.y; } -float ImGui::GetItemsLineHeightWithSpacing() +float ImGui::GetFrameHeight() +{ + ImGuiContext& g = *GImGui; + return g.FontSize + g.Style.FramePadding.y * 2.0f; +} + +float ImGui::GetFrameHeightWithSpacing() { ImGuiContext& g = *GImGui; return g.FontSize + g.Style.FramePadding.y * 2.0f + g.Style.ItemSpacing.y; @@ -5160,7 +7097,7 @@ float ImGui::GetFontSize() ImVec2 ImGui::GetFontTexUvWhitePixel() { - return GImGui->FontTexUvWhitePixel; + return GImGui->DrawListSharedData.TexUvWhitePixel; } void ImGui::SetWindowFontScale(float scale) @@ -5168,7 +7105,7 @@ void ImGui::SetWindowFontScale(float scale) ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindow(); window->FontWindowScale = scale; - g.FontSize = window->CalcFontSize(); + g.FontSize = g.DrawListSharedData.FontSize = window->CalcFontSize(); } // User generally sees positions in window coordinates. Internally we store CursorPos in absolute screen coordinates because it is more convenient. @@ -5243,14 +7180,12 @@ float ImGui::GetScrollY() float ImGui::GetScrollMaxX() { - ImGuiWindow* window = GetCurrentWindowRead(); - return window->SizeContents.x - window->SizeFull.x - window->ScrollbarSizes.x; + return GetScrollMaxX(GImGui->CurrentWindow); } float ImGui::GetScrollMaxY() { - ImGuiWindow* window = GetCurrentWindowRead(); - return window->SizeContents.y - window->SizeFull.y - window->ScrollbarSizes.y; + return GetScrollMaxY(GImGui->CurrentWindow); } void ImGui::SetScrollX(float scroll_x) @@ -5273,26 +7208,55 @@ void ImGui::SetScrollFromPosY(float pos_y, float center_y_ratio) ImGuiWindow* window = GetCurrentWindow(); IM_ASSERT(center_y_ratio >= 0.0f && center_y_ratio <= 1.0f); window->ScrollTarget.y = (float)(int)(pos_y + window->Scroll.y); - if (center_y_ratio <= 0.0f && window->ScrollTarget.y <= window->WindowPadding.y) // Minor hack to make "scroll to top" take account of WindowPadding, else it would scroll to (WindowPadding.y - ItemSpacing.y) - window->ScrollTarget.y = 0.0f; window->ScrollTargetCenterRatio.y = center_y_ratio; + + // Minor hack to to make scrolling to top/bottom of window take account of WindowPadding, it looks more right to the user this way + if (center_y_ratio <= 0.0f && window->ScrollTarget.y <= window->WindowPadding.y) + window->ScrollTarget.y = 0.0f; + else if (center_y_ratio >= 1.0f && window->ScrollTarget.y >= window->SizeContents.y - window->WindowPadding.y + GImGui->Style.ItemSpacing.y) + window->ScrollTarget.y = window->SizeContents.y; } // center_y_ratio: 0.0f top of last item, 0.5f vertical center of last item, 1.0f bottom of last item. void ImGui::SetScrollHere(float center_y_ratio) { ImGuiWindow* window = GetCurrentWindow(); - float target_y = window->DC.CursorPosPrevLine.y + (window->DC.PrevLineHeight * center_y_ratio) + (GImGui->Style.ItemSpacing.y * (center_y_ratio - 0.5f) * 2.0f); // Precisely aim above, in the middle or below the last line. - SetScrollFromPosY(target_y - window->Pos.y, center_y_ratio); + float target_y = window->DC.CursorPosPrevLine.y - window->Pos.y; // Top of last item, in window space + target_y += (window->DC.PrevLineHeight * center_y_ratio) + (GImGui->Style.ItemSpacing.y * (center_y_ratio - 0.5f) * 2.0f); // Precisely aim above, in the middle or below the last line. + SetScrollFromPosY(target_y, center_y_ratio); +} + +void ImGui::ActivateItem(ImGuiID id) +{ + ImGuiContext& g = *GImGui; + g.NavNextActivateId = id; } void ImGui::SetKeyboardFocusHere(int offset) { + IM_ASSERT(offset >= -1); // -1 is allowed but not below ImGuiWindow* window = GetCurrentWindow(); window->FocusIdxAllRequestNext = window->FocusIdxAllCounter + 1 + offset; window->FocusIdxTabRequestNext = INT_MAX; } +void ImGui::SetItemDefaultFocus() +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + if (!window->Appearing) + return; + if (g.NavWindow == window->RootWindowForNav && (g.NavInitRequest || g.NavInitResultId != 0) && g.NavLayer == g.NavWindow->DC.NavLayerCurrent) + { + g.NavInitRequest = false; + g.NavInitResultId = g.NavWindow->DC.LastItemId; + g.NavInitResultRectRel = ImRect(g.NavWindow->DC.LastItemRect.Min - g.NavWindow->Pos, g.NavWindow->DC.LastItemRect.Max - g.NavWindow->Pos); + NavUpdateAnyRequestFlag(); + if (!IsItemVisible()) + SetScrollHere(); + } +} + void ImGui::SetStateStorage(ImGuiStorage* tree) { ImGuiWindow* window = GetCurrentWindow(); @@ -5382,6 +7346,7 @@ void ImGui::TextUnformatted(const char* text, const char* text_end) if (text_end == NULL) text_end = text + strlen(text); // FIXME-OPT + const ImVec2 text_pos(window->DC.CursorPos.x, window->DC.CursorPos.y + window->DC.CurrentLineTextBaseOffset); const float wrap_pos_x = window->DC.TextWrapPos; const bool wrap_enabled = wrap_pos_x >= 0.0f; if (text_end - text > 2000 && !wrap_enabled) @@ -5392,7 +7357,6 @@ void ImGui::TextUnformatted(const char* text, const char* text_end) // We also don't vertically center the text within the line full height, which is unlikely to matter because we are likely the biggest and only item on the line. const char* line = text; const float line_height = GetTextLineHeight(); - const ImVec2 text_pos = window->DC.CursorPos + ImVec2(0.0f, window->DC.CurrentLineTextBaseOffset); const ImRect clip_rect = window->ClipRect; ImVec2 text_size(0,0); @@ -5426,7 +7390,7 @@ void ImGui::TextUnformatted(const char* text, const char* text_end) while (line < text_end) { const char* line_end = strchr(line, '\n'); - if (IsClippedEx(line_rect, NULL, false)) + if (IsClippedEx(line_rect, 0, false)) break; const ImVec2 line_size = CalcTextSize(line, line_end, false); @@ -5458,7 +7422,7 @@ void ImGui::TextUnformatted(const char* text, const char* text_end) ImRect bb(text_pos, text_pos + text_size); ItemSize(bb); - ItemAdd(bb, NULL); + ItemAdd(bb, 0); } else { @@ -5466,10 +7430,9 @@ void ImGui::TextUnformatted(const char* text, const char* text_end) const ImVec2 text_size = CalcTextSize(text_begin, text_end, false, wrap_width); // Account of baseline offset - ImVec2 text_pos(window->DC.CursorPos.x, window->DC.CursorPos.y + window->DC.CurrentLineTextBaseOffset); ImRect bb(text_pos, text_pos + text_size); ItemSize(text_size); - if (!ItemAdd(bb, NULL)) + if (!ItemAdd(bb, 0)) return; // Render (we don't hide text after ## in this end-user function) @@ -5477,16 +7440,15 @@ void ImGui::TextUnformatted(const char* text, const char* text_end) } } -void ImGui::AlignFirstTextHeightToWidgets() +void ImGui::AlignTextToFramePadding() { ImGuiWindow* window = GetCurrentWindow(); if (window->SkipItems) return; - // Declare a dummy item size to that upcoming items that are smaller will center-align on the newly expanded line height. ImGuiContext& g = *GImGui; - ItemSize(ImVec2(0, g.FontSize + g.Style.FramePadding.y*2), g.Style.FramePadding.y); - SameLine(0, 0); + window->DC.CurrentLineHeight = ImMax(window->DC.CurrentLineHeight, g.FontSize + g.Style.FramePadding.y * 2); + window->DC.CurrentLineTextBaseOffset = ImMax(window->DC.CurrentLineTextBaseOffset, g.Style.FramePadding.y); } // Add a label+text combo aligned to other label+value widgets @@ -5504,7 +7466,7 @@ void ImGui::LabelTextV(const char* label, const char* fmt, va_list args) const ImRect value_bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(w, label_size.y + style.FramePadding.y*2)); const ImRect total_bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(w + (label_size.x > 0.0f ? style.ItemInnerSpacing.x : 0.0f), style.FramePadding.y*2) + label_size); ItemSize(total_bb, style.FramePadding.y); - if (!ItemAdd(total_bb, NULL)) + if (!ItemAdd(total_bb, 0)) return; // Render @@ -5523,18 +7485,6 @@ void ImGui::LabelText(const char* label, const char* fmt, ...) va_end(args); } -static inline bool IsWindowContentHoverable(ImGuiWindow* window) -{ - // An active popup disable hovering on other windows (apart from its own children) - ImGuiContext& g = *GImGui; - if (ImGuiWindow* focused_window = g.FocusedWindow) - if (ImGuiWindow* focused_root_window = focused_window->RootWindow) - if ((focused_root_window->Flags & ImGuiWindowFlags_Popup) != 0 && focused_root_window->WasActive && focused_root_window != window->RootWindow) - return false; - - return true; -} - bool ImGui::ButtonBehavior(const ImRect& bb, ImGuiID id, bool* out_hovered, bool* out_held, ImGuiButtonFlags flags) { ImGuiContext& g = *GImGui; @@ -5548,14 +7498,40 @@ bool ImGui::ButtonBehavior(const ImRect& bb, ImGuiID id, bool* out_hovered, bool return false; } + // Default behavior requires click+release on same spot if ((flags & (ImGuiButtonFlags_PressedOnClickRelease | ImGuiButtonFlags_PressedOnClick | ImGuiButtonFlags_PressedOnRelease | ImGuiButtonFlags_PressedOnDoubleClick)) == 0) flags |= ImGuiButtonFlags_PressedOnClickRelease; + ImGuiWindow* backup_hovered_window = g.HoveredWindow; + if ((flags & ImGuiButtonFlags_FlattenChildren) && g.HoveredRootWindow == window) + g.HoveredWindow = window; + bool pressed = false; - bool hovered = IsHovered(bb, id, (flags & ImGuiButtonFlags_FlattenChilds) != 0); + bool hovered = ItemHoverable(bb, id); + + // Special mode for Drag and Drop where holding button pressed for a long time while dragging another item triggers the button + if ((flags & ImGuiButtonFlags_PressedOnDragDropHold) && g.DragDropActive && !(g.DragDropSourceFlags & ImGuiDragDropFlags_SourceNoHoldToOpenOthers)) + if (IsItemHovered(ImGuiHoveredFlags_AllowWhenBlockedByActiveItem)) + { + hovered = true; + SetHoveredID(id); + if (CalcTypematicPressedRepeatAmount(g.HoveredIdTimer + 0.0001f, g.HoveredIdTimer + 0.0001f - g.IO.DeltaTime, 0.01f, 0.70f)) // FIXME: Our formula for CalcTypematicPressedRepeatAmount() is fishy + { + pressed = true; + FocusWindow(window); + } + } + + if ((flags & ImGuiButtonFlags_FlattenChildren) && g.HoveredRootWindow == window) + g.HoveredWindow = backup_hovered_window; + + // AllowOverlap mode (rarely used) requires previous frame HoveredId to be null or to match. This allows using patterns where a later submitted widget overlaps a previous one. + if (hovered && (flags & ImGuiButtonFlags_AllowItemOverlap) && (g.HoveredIdPreviousFrame != id && g.HoveredIdPreviousFrame != 0)) + hovered = false; + + // Mouse if (hovered) { - SetHoveredID(id); if (!(flags & ImGuiButtonFlags_NoKeyModifiers) || (!g.IO.KeyCtrl && !g.IO.KeyShift && !g.IO.KeyAlt)) { // | CLICKING | HOLDING with ImGuiButtonFlags_Repeat @@ -5563,16 +7539,21 @@ bool ImGui::ButtonBehavior(const ImRect& bb, ImGuiID id, bool* out_hovered, bool // PressedOnClick | | .. // PressedOnRelease | | .. (NOT on release) // PressedOnDoubleClick | | .. + // FIXME-NAV: We don't honor those different behaviors. if ((flags & ImGuiButtonFlags_PressedOnClickRelease) && g.IO.MouseClicked[0]) { - SetActiveID(id, window); // Hold on ID + SetActiveID(id, window); + if (!(flags & ImGuiButtonFlags_NoNavFocus)) + SetFocusID(id, window); FocusWindow(window); - g.ActiveIdClickOffset = g.IO.MousePos - bb.Min; } if (((flags & ImGuiButtonFlags_PressedOnClick) && g.IO.MouseClicked[0]) || ((flags & ImGuiButtonFlags_PressedOnDoubleClick) && g.IO.MouseDoubleClicked[0])) { pressed = true; - ClearActiveID(); + if (flags & ImGuiButtonFlags_NoHoldingActiveID) + ClearActiveID(); + else + SetActiveID(id, window); // Hold on ID FocusWindow(window); } if ((flags & ImGuiButtonFlags_PressedOnRelease) && g.IO.MouseReleased[0]) @@ -5587,28 +7568,62 @@ bool ImGui::ButtonBehavior(const ImRect& bb, ImGuiID id, bool* out_hovered, bool if ((flags & ImGuiButtonFlags_Repeat) && g.ActiveId == id && g.IO.MouseDownDuration[0] > 0.0f && IsMouseClicked(0, true)) pressed = true; } + + if (pressed) + g.NavDisableHighlight = true; + } + + // Gamepad/Keyboard navigation + // We report navigated item as hovered but we don't set g.HoveredId to not interfere with mouse. + if (g.NavId == id && !g.NavDisableHighlight && g.NavDisableMouseHover && (g.ActiveId == 0 || g.ActiveId == id || g.ActiveId == window->MoveId)) + hovered = true; + + if (g.NavActivateDownId == id) + { + bool nav_activated_by_code = (g.NavActivateId == id); + bool nav_activated_by_inputs = IsNavInputPressed(ImGuiNavInput_Activate, (flags & ImGuiButtonFlags_Repeat) ? ImGuiInputReadMode_Repeat : ImGuiInputReadMode_Pressed); + if (nav_activated_by_code || nav_activated_by_inputs) + pressed = true; + if (nav_activated_by_code || nav_activated_by_inputs || g.ActiveId == id) + { + // Set active id so it can be queried by user via IsItemActive(), equivalent of holding the mouse button. + g.NavActivateId = id; // This is so SetActiveId assign a Nav source + SetActiveID(id, window); + if (!(flags & ImGuiButtonFlags_NoNavFocus)) + SetFocusID(id, window); + g.ActiveIdAllowNavDirFlags = (1 << ImGuiDir_Left) | (1 << ImGuiDir_Right) | (1 << ImGuiDir_Up) | (1 << ImGuiDir_Down); + } } bool held = false; if (g.ActiveId == id) { - if (g.IO.MouseDown[0]) + if (g.ActiveIdSource == ImGuiInputSource_Mouse) { - held = true; + if (g.ActiveIdIsJustActivated) + g.ActiveIdClickOffset = g.IO.MousePos - bb.Min; + if (g.IO.MouseDown[0]) + { + held = true; + } + else + { + if (hovered && (flags & ImGuiButtonFlags_PressedOnClickRelease)) + if (!((flags & ImGuiButtonFlags_Repeat) && g.IO.MouseDownDurationPrev[0] >= g.IO.KeyRepeatDelay)) // Repeat mode trumps + if (!g.DragDropActive) + pressed = true; + ClearActiveID(); + } + if (!(flags & ImGuiButtonFlags_NoNavFocus)) + g.NavDisableHighlight = true; } - else + else if (g.ActiveIdSource == ImGuiInputSource_Nav) { - if (hovered && (flags & ImGuiButtonFlags_PressedOnClickRelease)) - if (!((flags & ImGuiButtonFlags_Repeat) && g.IO.MouseDownDurationPrev[0] >= g.IO.KeyRepeatDelay)) // Repeat mode trumps - pressed = true; - ClearActiveID(); + if (g.NavActivateDownId != id) + ClearActiveID(); } } - // AllowOverlap mode (rarely used) requires previous frame HoveredId to be null or to match. This allows using patterns where a later submitted widget overlaps a previous one. - if (hovered && (flags & ImGuiButtonFlags_AllowOverlapMode) && (g.HoveredIdPreviousFrame != id && g.HoveredIdPreviousFrame != 0)) - hovered = pressed = held = false; - if (out_hovered) *out_hovered = hovered; if (out_held) *out_held = held; @@ -5633,15 +7648,17 @@ bool ImGui::ButtonEx(const char* label, const ImVec2& size_arg, ImGuiButtonFlags const ImRect bb(pos, pos + size); ItemSize(bb, style.FramePadding.y); - if (!ItemAdd(bb, &id)) + if (!ItemAdd(bb, id)) return false; - if (window->DC.ButtonRepeat) flags |= ImGuiButtonFlags_Repeat; + if (window->DC.ItemFlags & ImGuiItemFlags_ButtonRepeat) + flags |= ImGuiButtonFlags_Repeat; bool hovered, held; bool pressed = ButtonBehavior(bb, id, &hovered, &held, flags); // Render const ImU32 col = GetColorU32((hovered && held) ? ImGuiCol_ButtonActive : hovered ? ImGuiCol_ButtonHovered : ImGuiCol_Button); + RenderNavHighlight(bb, id); RenderFrame(bb.Min, bb.Max, col, true, style.FrameRounding); RenderTextClipped(bb.Min + style.FramePadding, bb.Max - style.FramePadding, label, NULL, &label_size, style.ButtonTextAlign, &bb); @@ -5680,7 +7697,7 @@ bool ImGui::InvisibleButton(const char* str_id, const ImVec2& size_arg) ImVec2 size = CalcItemSize(size_arg, 0.0f, 0.0f); const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + size); ItemSize(bb); - if (!ItemAdd(bb, &id)) + if (!ItemAdd(bb, id)) return false; bool hovered, held; @@ -5689,27 +7706,59 @@ bool ImGui::InvisibleButton(const char* str_id, const ImVec2& size_arg) return pressed; } -// Upper-right button to close a window. +// Button to close a window bool ImGui::CloseButton(ImGuiID id, const ImVec2& pos, float radius) { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + // We intentionally allow interaction when clipped so that a mechanical Alt,Right,Validate sequence close a window. + // (this isn't the regular behavior of buttons, but it doesn't affect the user much because navigation tends to keep items visible). const ImRect bb(pos - ImVec2(radius,radius), pos + ImVec2(radius,radius)); + bool is_clipped = !ItemAdd(bb, id); bool hovered, held; bool pressed = ButtonBehavior(bb, id, &hovered, &held); + if (is_clipped) + return pressed; // Render const ImU32 col = GetColorU32((held && hovered) ? ImGuiCol_CloseButtonActive : hovered ? ImGuiCol_CloseButtonHovered : ImGuiCol_CloseButton); - const ImVec2 center = bb.GetCenter(); + ImVec2 center = bb.GetCenter(); window->DrawList->AddCircleFilled(center, ImMax(2.0f, radius), col, 12); const float cross_extent = (radius * 0.7071f) - 1.0f; if (hovered) { + center -= ImVec2(0.5f, 0.5f); window->DrawList->AddLine(center + ImVec2(+cross_extent,+cross_extent), center + ImVec2(-cross_extent,-cross_extent), GetColorU32(ImGuiCol_Text)); window->DrawList->AddLine(center + ImVec2(+cross_extent,-cross_extent), center + ImVec2(-cross_extent,+cross_extent), GetColorU32(ImGuiCol_Text)); } + return pressed; +} + +// [Internal] +bool ImGui::ArrowButton(ImGuiID id, ImGuiDir dir, ImVec2 padding, ImGuiButtonFlags flags) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + if (window->SkipItems) + return false; + + const ImGuiStyle& style = g.Style; + + const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(g.FontSize + padding.x * 2.0f, g.FontSize + padding.y * 2.0f)); + ItemSize(bb, style.FramePadding.y); + if (!ItemAdd(bb, id)) + return false; + + bool hovered, held; + bool pressed = ButtonBehavior(bb, id, &hovered, &held, flags); + + const ImU32 col = GetColorU32((hovered && held) ? ImGuiCol_ButtonActive : hovered ? ImGuiCol_ButtonHovered : ImGuiCol_Button); + RenderNavHighlight(bb, id); + RenderFrame(bb.Min, bb.Max, col, true, style.FrameRounding); + RenderTriangle(bb.Min + padding, dir, 1.0f); return pressed; } @@ -5724,7 +7773,7 @@ void ImGui::Image(ImTextureID user_texture_id, const ImVec2& size, const ImVec2& if (border_col.w > 0.0f) bb.Max += ImVec2(2,2); ItemSize(bb); - if (!ItemAdd(bb, NULL)) + if (!ItemAdd(bb, 0)) return; if (border_col.w > 0.0f) @@ -5761,7 +7810,7 @@ bool ImGui::ImageButton(ImTextureID user_texture_id, const ImVec2& size, const I const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + size + padding*2); const ImRect image_bb(window->DC.CursorPos + padding, window->DC.CursorPos + padding + size); ItemSize(bb); - if (!ItemAdd(bb, &id)) + if (!ItemAdd(bb, id)) return false; bool hovered, held; @@ -5769,6 +7818,7 @@ bool ImGui::ImageButton(ImTextureID user_texture_id, const ImVec2& size, const I // Render const ImU32 col = GetColorU32((hovered && held) ? ImGuiCol_ButtonActive : hovered ? ImGuiCol_ButtonHovered : ImGuiCol_Button); + RenderNavHighlight(bb, id); RenderFrame(bb.Min, bb.Max, col, true, ImClamp((float)ImMin(padding.x, padding.y), 0.0f, style.FrameRounding)); if (bg_col.w > 0.0f) window->DrawList->AddRectFilled(image_bb.Min, image_bb.Max, GetColorU32(bg_col)); @@ -5783,10 +7833,11 @@ void ImGui::LogToTTY(int max_depth) ImGuiContext& g = *GImGui; if (g.LogEnabled) return; - ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; - g.LogEnabled = true; + IM_ASSERT(g.LogFile == NULL); g.LogFile = stdout; + g.LogEnabled = true; g.LogStartDepth = window->DC.TreeDepth; if (max_depth >= 0) g.LogAutoExpandMaxDepth = max_depth; @@ -5798,7 +7849,7 @@ void ImGui::LogToFile(int max_depth, const char* filename) ImGuiContext& g = *GImGui; if (g.LogEnabled) return; - ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; if (!filename) { @@ -5807,6 +7858,7 @@ void ImGui::LogToFile(int max_depth, const char* filename) return; } + IM_ASSERT(g.LogFile == NULL); g.LogFile = ImFileOpen(filename, "ab"); if (!g.LogFile) { @@ -5825,10 +7877,11 @@ void ImGui::LogToClipboard(int max_depth) ImGuiContext& g = *GImGui; if (g.LogEnabled) return; - ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; - g.LogEnabled = true; + IM_ASSERT(g.LogFile == NULL); g.LogFile = NULL; + g.LogEnabled = true; g.LogStartDepth = window->DC.TreeDepth; if (max_depth >= 0) g.LogAutoExpandMaxDepth = max_depth; @@ -5841,7 +7894,6 @@ void ImGui::LogFinish() return; LogText(IM_NEWLINE); - g.LogEnabled = false; if (g.LogFile != NULL) { if (g.LogFile == stdout) @@ -5855,6 +7907,7 @@ void ImGui::LogFinish() SetClipboardText(g.LogClipboard->begin()); g.LogClipboard->clear(); } + g.LogEnabled = false; } // Helper to display logging buttons @@ -5893,20 +7946,20 @@ bool ImGui::TreeNodeBehaviorIsOpen(ImGuiID id, ImGuiTreeNodeFlags flags) ImGuiStorage* storage = window->DC.StateStorage; bool is_open; - if (g.SetNextTreeNodeOpenCond != 0) + if (g.NextTreeNodeOpenCond != 0) { - if (g.SetNextTreeNodeOpenCond & ImGuiSetCond_Always) + if (g.NextTreeNodeOpenCond & ImGuiCond_Always) { - is_open = g.SetNextTreeNodeOpenVal; + is_open = g.NextTreeNodeOpenVal; storage->SetInt(id, is_open); } else { - // We treat ImGuiSetCondition_Once and ImGuiSetCondition_FirstUseEver the same because tree node state are not saved persistently. + // We treat ImGuiCond_Once and ImGuiCond_FirstUseEver the same because tree node state are not saved persistently. const int stored_value = storage->GetInt(id, -1); if (stored_value == -1) { - is_open = g.SetNextTreeNodeOpenVal; + is_open = g.NextTreeNodeOpenVal; storage->SetInt(id, is_open); } else @@ -5914,7 +7967,7 @@ bool ImGui::TreeNodeBehaviorIsOpen(ImGuiID id, ImGuiTreeNodeFlags flags) is_open = stored_value != 0; } } - g.SetNextTreeNodeOpenCond = 0; + g.NextTreeNodeOpenCond = 0; } else { @@ -5938,21 +7991,21 @@ bool ImGui::TreeNodeBehavior(ImGuiID id, ImGuiTreeNodeFlags flags, const char* l ImGuiContext& g = *GImGui; const ImGuiStyle& style = g.Style; const bool display_frame = (flags & ImGuiTreeNodeFlags_Framed) != 0; - const ImVec2 padding = display_frame ? style.FramePadding : ImVec2(style.FramePadding.x, 0.0f); + const ImVec2 padding = (display_frame || (flags & ImGuiTreeNodeFlags_FramePadding)) ? style.FramePadding : ImVec2(style.FramePadding.x, 0.0f); if (!label_end) label_end = FindRenderedTextEnd(label); const ImVec2 label_size = CalcTextSize(label, label_end, false); // We vertically grow up to current line height up the typical widget height. - const float text_base_offset_y = ImMax(0.0f, window->DC.CurrentLineTextBaseOffset - padding.y); // Latch before ItemSize changes it + const float text_base_offset_y = ImMax(padding.y, window->DC.CurrentLineTextBaseOffset); // Latch before ItemSize changes it const float frame_height = ImMax(ImMin(window->DC.CurrentLineHeight, g.FontSize + style.FramePadding.y*2), label_size.y + padding.y*2); - ImRect bb = ImRect(window->DC.CursorPos, ImVec2(window->Pos.x + GetContentRegionMax().x, window->DC.CursorPos.y + frame_height)); + ImRect frame_bb = ImRect(window->DC.CursorPos, ImVec2(window->Pos.x + GetContentRegionMax().x, window->DC.CursorPos.y + frame_height)); if (display_frame) { // Framed header expand a little outside the default padding - bb.Min.x -= (float)(int)(window->WindowPadding.x*0.5f) - 1; - bb.Max.x += (float)(int)(window->WindowPadding.x*0.5f) - 1; + frame_bb.Min.x -= (float)(int)(window->WindowPadding.x*0.5f) - 1; + frame_bb.Max.x += (float)(int)(window->WindowPadding.x*0.5f) - 1; } const float text_offset_x = (g.FontSize + (display_frame ? padding.x*3 : padding.x*2)); // Collapser arrow width + Spacing @@ -5960,10 +8013,21 @@ bool ImGui::TreeNodeBehavior(ImGuiID id, ImGuiTreeNodeFlags flags, const char* l ItemSize(ImVec2(text_width, frame_height), text_base_offset_y); // For regular tree nodes, we arbitrary allow to click past 2 worth of ItemSpacing - // (Ideally we'd want to add a flag for the user to specify we want want the hit test to be done up to the right side of the content or not) - const ImRect interact_bb = display_frame ? bb : ImRect(bb.Min.x, bb.Min.y, bb.Min.x + text_width + style.ItemSpacing.x*2, bb.Max.y); + // (Ideally we'd want to add a flag for the user to specify if we want the hit test to be done up to the right side of the content or not) + const ImRect interact_bb = display_frame ? frame_bb : ImRect(frame_bb.Min.x, frame_bb.Min.y, frame_bb.Min.x + text_width + style.ItemSpacing.x*2, frame_bb.Max.y); bool is_open = TreeNodeBehaviorIsOpen(id, flags); - if (!ItemAdd(interact_bb, &id)) + + // Store a flag for the current depth to tell if we will allow closing this node when navigating one of its child. + // For this purpose we essentially compare if g.NavIdIsAlive went from 0 to 1 between TreeNode() and TreePop(). + // This is currently only support 32 level deep and we are fine with (1 << Depth) overflowing into a zero. + if (is_open && !g.NavIdIsAlive && (flags & ImGuiTreeNodeFlags_NavCloseFromChild) && !(flags & ImGuiTreeNodeFlags_NoTreePushOnOpen)) + window->DC.TreeDepthMayCloseOnPop |= (1 << window->DC.TreeDepth); + + bool item_add = ItemAdd(interact_bb, id); + window->DC.LastItemStatusFlags |= ImGuiItemStatusFlags_HasDisplayRect; + window->DC.LastItemDisplayRect = frame_bb; + + if (!item_add) { if (is_open && !(flags & ImGuiTreeNodeFlags_NoTreePushOnOpen)) TreePushRawID(id); @@ -5975,60 +8039,85 @@ bool ImGui::TreeNodeBehavior(ImGuiID id, ImGuiTreeNodeFlags flags, const char* l // - OpenOnDoubleClick .............. double-click anywhere to open // - OpenOnArrow .................... single-click on arrow to open // - OpenOnDoubleClick|OpenOnArrow .. single-click on arrow or double-click anywhere to open - ImGuiButtonFlags button_flags = ImGuiButtonFlags_NoKeyModifiers | ((flags & ImGuiTreeNodeFlags_AllowOverlapMode) ? ImGuiButtonFlags_AllowOverlapMode : 0); + ImGuiButtonFlags button_flags = ImGuiButtonFlags_NoKeyModifiers | ((flags & ImGuiTreeNodeFlags_AllowItemOverlap) ? ImGuiButtonFlags_AllowItemOverlap : 0); + if (!(flags & ImGuiTreeNodeFlags_Leaf)) + button_flags |= ImGuiButtonFlags_PressedOnDragDropHold; if (flags & ImGuiTreeNodeFlags_OpenOnDoubleClick) button_flags |= ImGuiButtonFlags_PressedOnDoubleClick | ((flags & ImGuiTreeNodeFlags_OpenOnArrow) ? ImGuiButtonFlags_PressedOnClickRelease : 0); + bool hovered, held, pressed = ButtonBehavior(interact_bb, id, &hovered, &held, button_flags); - if (pressed && !(flags & ImGuiTreeNodeFlags_Leaf)) + if (!(flags & ImGuiTreeNodeFlags_Leaf)) { - bool toggled = !(flags & (ImGuiTreeNodeFlags_OpenOnArrow | ImGuiTreeNodeFlags_OpenOnDoubleClick)); - if (flags & ImGuiTreeNodeFlags_OpenOnArrow) - toggled |= IsMouseHoveringRect(interact_bb.Min, ImVec2(interact_bb.Min.x + text_offset_x, interact_bb.Max.y)); - if (flags & ImGuiTreeNodeFlags_OpenOnDoubleClick) - toggled |= g.IO.MouseDoubleClicked[0]; + bool toggled = false; + if (pressed) + { + toggled = !(flags & (ImGuiTreeNodeFlags_OpenOnArrow | ImGuiTreeNodeFlags_OpenOnDoubleClick)) || (g.NavActivateId == id); + if (flags & ImGuiTreeNodeFlags_OpenOnArrow) + toggled |= IsMouseHoveringRect(interact_bb.Min, ImVec2(interact_bb.Min.x + text_offset_x, interact_bb.Max.y)) && (!g.NavDisableMouseHover); + if (flags & ImGuiTreeNodeFlags_OpenOnDoubleClick) + toggled |= g.IO.MouseDoubleClicked[0]; + if (g.DragDropActive && is_open) // When using Drag and Drop "hold to open" we keep the node highlighted after opening, but never close it again. + toggled = false; + } + + if (g.NavId == id && g.NavMoveRequest && g.NavMoveDir == ImGuiDir_Left && is_open) + { + toggled = true; + NavMoveRequestCancel(); + } + if (g.NavId == id && g.NavMoveRequest && g.NavMoveDir == ImGuiDir_Right && !is_open) // If there's something upcoming on the line we may want to give it the priority? + { + toggled = true; + NavMoveRequestCancel(); + } + if (toggled) { is_open = !is_open; window->DC.StateStorage->SetInt(id, is_open); } } - if (flags & ImGuiTreeNodeFlags_AllowOverlapMode) + if (flags & ImGuiTreeNodeFlags_AllowItemOverlap) SetItemAllowOverlap(); // Render const ImU32 col = GetColorU32((held && hovered) ? ImGuiCol_HeaderActive : hovered ? ImGuiCol_HeaderHovered : ImGuiCol_Header); - const ImVec2 text_pos = bb.Min + ImVec2(text_offset_x, padding.y + text_base_offset_y); + const ImVec2 text_pos = frame_bb.Min + ImVec2(text_offset_x, text_base_offset_y); if (display_frame) { // Framed type - RenderFrame(bb.Min, bb.Max, col, true, style.FrameRounding); - RenderCollapseTriangle(bb.Min + padding + ImVec2(0.0f, text_base_offset_y), is_open, 1.0f); + RenderFrame(frame_bb.Min, frame_bb.Max, col, true, style.FrameRounding); + RenderNavHighlight(frame_bb, id, ImGuiNavHighlightFlags_TypeThin); + RenderTriangle(frame_bb.Min + ImVec2(padding.x, text_base_offset_y), is_open ? ImGuiDir_Down : ImGuiDir_Right, 1.0f); if (g.LogEnabled) { // NB: '##' is normally used to hide text (as a library-wide feature), so we need to specify the text range to make sure the ## aren't stripped out here. const char log_prefix[] = "\n##"; const char log_suffix[] = "##"; - LogRenderedText(text_pos, log_prefix, log_prefix+3); - RenderTextClipped(text_pos, bb.Max, label, label_end, &label_size); - LogRenderedText(text_pos, log_suffix+1, log_suffix+3); + LogRenderedText(&text_pos, log_prefix, log_prefix+3); + RenderTextClipped(text_pos, frame_bb.Max, label, label_end, &label_size); + LogRenderedText(&text_pos, log_suffix+1, log_suffix+3); } else { - RenderTextClipped(text_pos, bb.Max, label, label_end, &label_size); + RenderTextClipped(text_pos, frame_bb.Max, label, label_end, &label_size); } } else { // Unframed typed for tree nodes if (hovered || (flags & ImGuiTreeNodeFlags_Selected)) - RenderFrame(bb.Min, bb.Max, col, false); + { + RenderFrame(frame_bb.Min, frame_bb.Max, col, false); + RenderNavHighlight(frame_bb, id, ImGuiNavHighlightFlags_TypeThin); + } if (flags & ImGuiTreeNodeFlags_Bullet) - RenderBullet(bb.Min + ImVec2(text_offset_x * 0.5f, g.FontSize*0.50f + text_base_offset_y)); + RenderBullet(frame_bb.Min + ImVec2(text_offset_x * 0.5f, g.FontSize*0.50f + text_base_offset_y)); else if (!(flags & ImGuiTreeNodeFlags_Leaf)) - RenderCollapseTriangle(bb.Min + ImVec2(padding.x, g.FontSize*0.15f + text_base_offset_y), is_open, 0.70f); + RenderTriangle(frame_bb.Min + ImVec2(padding.x, g.FontSize*0.15f + text_base_offset_y), is_open ? ImGuiDir_Down : ImGuiDir_Right, 0.70f); if (g.LogEnabled) - LogRenderedText(text_pos, ">"); + LogRenderedText(&text_pos, ">"); RenderText(text_pos, label, label_end, false); } @@ -6058,14 +8147,16 @@ bool ImGui::CollapsingHeader(const char* label, bool* p_open, ImGuiTreeNodeFlags return false; ImGuiID id = window->GetID(label); - bool is_open = TreeNodeBehavior(id, flags | ImGuiTreeNodeFlags_CollapsingHeader | ImGuiTreeNodeFlags_NoTreePushOnOpen | (p_open ? ImGuiTreeNodeFlags_AllowOverlapMode : 0), label); + bool is_open = TreeNodeBehavior(id, flags | ImGuiTreeNodeFlags_CollapsingHeader | ImGuiTreeNodeFlags_NoTreePushOnOpen | (p_open ? ImGuiTreeNodeFlags_AllowItemOverlap : 0), label); if (p_open) { // Create a small overlapping close button // FIXME: We can evolve this into user accessible helpers to add extra buttons on title bars, headers, etc. ImGuiContext& g = *GImGui; float button_sz = g.FontSize * 0.5f; + ImGuiItemHoveredDataBackup last_item_backup; if (CloseButton(window->GetID((void*)(intptr_t)(id+1)), ImVec2(ImMin(window->DC.LastItemRect.Max.x, window->ClipRect.Max.x) - g.Style.FramePadding.x - button_sz, window->DC.LastItemRect.Min.y + g.Style.FramePadding.y + button_sz), button_sz)) *p_open = false; + last_item_backup.Restore(); } return is_open; @@ -6169,41 +8260,43 @@ float ImGui::GetTreeNodeToLabelSpacing() return g.FontSize + (g.Style.FramePadding.x * 2.0f); } -void ImGui::SetNextTreeNodeOpen(bool is_open, ImGuiSetCond cond) +void ImGui::SetNextTreeNodeOpen(bool is_open, ImGuiCond cond) { ImGuiContext& g = *GImGui; - g.SetNextTreeNodeOpenVal = is_open; - g.SetNextTreeNodeOpenCond = cond ? cond : ImGuiSetCond_Always; + if (g.CurrentWindow->SkipItems) + return; + g.NextTreeNodeOpenVal = is_open; + g.NextTreeNodeOpenCond = cond ? cond : ImGuiCond_Always; } void ImGui::PushID(const char* str_id) { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = GetCurrentWindowRead(); window->IDStack.push_back(window->GetID(str_id)); } void ImGui::PushID(const char* str_id_begin, const char* str_id_end) { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = GetCurrentWindowRead(); window->IDStack.push_back(window->GetID(str_id_begin, str_id_end)); } void ImGui::PushID(const void* ptr_id) { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = GetCurrentWindowRead(); window->IDStack.push_back(window->GetID(ptr_id)); } void ImGui::PushID(int int_id) { const void* ptr_id = (void*)(intptr_t)int_id; - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = GetCurrentWindowRead(); window->IDStack.push_back(window->GetID(ptr_id)); } void ImGui::PopID() { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiWindow* window = GetCurrentWindowRead(); window->IDStack.pop_back(); } @@ -6233,7 +8326,7 @@ void ImGui::Bullet() const float line_height = ImMax(ImMin(window->DC.CurrentLineHeight, g.FontSize + g.Style.FramePadding.y*2), g.FontSize); const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(g.FontSize, line_height)); ItemSize(bb); - if (!ItemAdd(bb, NULL)) + if (!ItemAdd(bb, 0)) { SameLine(0, style.FramePadding.x*2); return; @@ -6261,7 +8354,7 @@ void ImGui::BulletTextV(const char* fmt, va_list args) const float line_height = ImMax(ImMin(window->DC.CurrentLineHeight, g.FontSize + g.Style.FramePadding.y*2), g.FontSize); const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(g.FontSize + (label_size.x > 0.0f ? (label_size.x + style.FramePadding.x*2) : 0.0f), ImMax(line_height, label_size.y))); // Empty text doesn't add padding ItemSize(bb); - if (!ItemAdd(bb, NULL)) + if (!ItemAdd(bb, 0)) return; // Render @@ -6349,16 +8442,16 @@ static bool DataTypeApplyOpFromText(const char* buf, const char* initial_value_b scalar_format = "%d"; int* v = (int*)data_ptr; const int old_v = *v; - int arg0 = *v; - if (op && sscanf(initial_value_buf, scalar_format, &arg0) < 1) + int arg0i = *v; + if (op && sscanf(initial_value_buf, scalar_format, &arg0i) < 1) return false; // Store operand in a float so we can use fractional value for multipliers (*1.1), but constant always parsed as integer so we can fit big integers (e.g. 2000000003) past float precision - float arg1 = 0.0f; - if (op == '+') { if (sscanf(buf, "%f", &arg1) == 1) *v = (int)(arg0 + arg1); } // Add (use "+-" to subtract) - else if (op == '*') { if (sscanf(buf, "%f", &arg1) == 1) *v = (int)(arg0 * arg1); } // Multiply - else if (op == '/') { if (sscanf(buf, "%f", &arg1) == 1 && arg1 != 0.0f) *v = (int)(arg0 / arg1); }// Divide - else { if (sscanf(buf, scalar_format, &arg0) == 1) *v = arg0; } // Assign constant + float arg1f = 0.0f; + if (op == '+') { if (sscanf(buf, "%f", &arg1f) == 1) *v = (int)(arg0i + arg1f); } // Add (use "+-" to subtract) + else if (op == '*') { if (sscanf(buf, "%f", &arg1f) == 1) *v = (int)(arg0i * arg1f); } // Multiply + else if (op == '/') { if (sscanf(buf, "%f", &arg1f) == 1 && arg1f != 0.0f) *v = (int)(arg0i / arg1f); }// Divide + else { if (sscanf(buf, scalar_format, &arg0i) == 1) *v = arg0i; } // Assign constant (read as integer so big values are not lossy) return (old_v != *v); } else if (data_type == ImGuiDataType_Float) @@ -6367,17 +8460,17 @@ static bool DataTypeApplyOpFromText(const char* buf, const char* initial_value_b scalar_format = "%f"; float* v = (float*)data_ptr; const float old_v = *v; - float arg0 = *v; - if (op && sscanf(initial_value_buf, scalar_format, &arg0) < 1) + float arg0f = *v; + if (op && sscanf(initial_value_buf, scalar_format, &arg0f) < 1) return false; - float arg1 = 0.0f; - if (sscanf(buf, scalar_format, &arg1) < 1) + float arg1f = 0.0f; + if (sscanf(buf, scalar_format, &arg1f) < 1) return false; - if (op == '+') { *v = arg0 + arg1; } // Add (use "+-" to subtract) - else if (op == '*') { *v = arg0 * arg1; } // Multiply - else if (op == '/') { if (arg1 != 0.0f) *v = arg0 / arg1; } // Divide - else { *v = arg1; } // Assign constant + if (op == '+') { *v = arg0f + arg1f; } // Add (use "+-" to subtract) + else if (op == '*') { *v = arg0f * arg1f; } // Multiply + else if (op == '/') { if (arg1f != 0.0f) *v = arg0f / arg1f; } // Divide + else { *v = arg1f; } // Assign constant return (old_v != *v); } @@ -6385,31 +8478,28 @@ static bool DataTypeApplyOpFromText(const char* buf, const char* initial_value_b } // Create text input in place of a slider (when CTRL+Clicking on slider) +// FIXME: Logic is messy and confusing. bool ImGui::InputScalarAsWidgetReplacement(const ImRect& aabb, const char* label, ImGuiDataType data_type, void* data_ptr, ImGuiID id, int decimal_precision) { ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindow(); // Our replacement widget will override the focus ID (registered previously to allow for a TAB focus to happen) + // On the first frame, g.ScalarAsInputTextId == 0, then on subsequent frames it becomes == id SetActiveID(g.ScalarAsInputTextId, window); + g.ActiveIdAllowNavDirFlags = (1 << ImGuiDir_Up) | (1 << ImGuiDir_Down); SetHoveredID(0); FocusableItemUnregister(window); char buf[32]; DataTypeFormatString(data_type, data_ptr, decimal_precision, buf, IM_ARRAYSIZE(buf)); bool text_value_changed = InputTextEx(label, buf, IM_ARRAYSIZE(buf), aabb.GetSize(), ImGuiInputTextFlags_CharsDecimal | ImGuiInputTextFlags_AutoSelectAll); - if (g.ScalarAsInputTextId == 0) + if (g.ScalarAsInputTextId == 0) // First frame we started displaying the InputText widget { - // First frame IM_ASSERT(g.ActiveId == id); // InputText ID expected to match the Slider ID (else we'd need to store them both, which is also possible) g.ScalarAsInputTextId = g.ActiveId; SetHoveredID(id); } - else if (g.ActiveId != g.ScalarAsInputTextId) - { - // Release - g.ScalarAsInputTextId = 0; - } if (text_value_changed) return DataTypeApplyOpFromText(buf, GImGui->InputTextState.InitialText.begin(), data_type, data_ptr, NULL); return false; @@ -6427,22 +8517,31 @@ int ImGui::ParseFormatPrecision(const char* fmt, int default_precision) fmt++; if (*fmt == '.') { - precision = atoi(fmt + 1); + fmt = ImAtoi(fmt + 1, &precision); if (precision < 0 || precision > 10) precision = default_precision; } + if (*fmt == 'e' || *fmt == 'E') // Maximum precision with scientific notation + precision = -1; break; } return precision; } +static float GetMinimumStepAtDecimalPrecision(int decimal_precision) +{ + static const float min_steps[10] = { 1.0f, 0.1f, 0.01f, 0.001f, 0.0001f, 0.00001f, 0.000001f, 0.0000001f, 0.00000001f, 0.000000001f }; + return (decimal_precision >= 0 && decimal_precision < 10) ? min_steps[decimal_precision] : powf(10.0f, (float)-decimal_precision); +} + float ImGui::RoundScalar(float value, int decimal_precision) { // Round past decimal precision // So when our value is 1.99999 with a precision of 0.001 we'll end up rounding to 2.0 // FIXME: Investigate better rounding methods - static const float min_steps[10] = { 1.0f, 0.1f, 0.01f, 0.001f, 0.0001f, 0.00001f, 0.000001f, 0.0000001f, 0.00000001f, 0.000000001f }; - float min_step = (decimal_precision >= 0 && decimal_precision < 10) ? min_steps[decimal_precision] : powf(10.0f, (float)-decimal_precision); + if (decimal_precision < 0) + return value; + const float min_step = GetMinimumStepAtDecimalPrecision(decimal_precision); bool negative = value < 0.0f; value = fabsf(value); float remainder = fmodf(value, min_step); @@ -6485,7 +8584,9 @@ bool ImGui::SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v const ImGuiStyle& style = g.Style; // Draw frame - RenderFrame(frame_bb.Min, frame_bb.Max, GetColorU32(ImGuiCol_FrameBg), true, style.FrameRounding); + const ImU32 frame_col = GetColorU32((g.ActiveId == id && g.ActiveIdSource == ImGuiInputSource_Nav) ? ImGuiCol_FrameBgActive : ImGuiCol_FrameBg); + RenderNavHighlight(frame_bb, id); + RenderFrame(frame_bb.Min, frame_bb.Max, frame_col, true, style.FrameRounding); const bool is_non_linear = (power < 1.0f-0.00001f) || (power > 1.0f+0.00001f); const bool is_horizontal = (flags & ImGuiSliderFlags_Vertical) == 0; @@ -6493,7 +8594,7 @@ bool ImGui::SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v const float grab_padding = 2.0f; const float slider_sz = is_horizontal ? (frame_bb.GetWidth() - grab_padding * 2.0f) : (frame_bb.GetHeight() - grab_padding * 2.0f); float grab_sz; - if (decimal_precision > 0) + if (decimal_precision != 0) grab_sz = ImMin(style.GrabMinSize, slider_sz); else grab_sz = ImMin(ImMax(1.0f * (slider_sz / ((v_min < v_max ? v_max - v_min : v_min - v_max) + 1.0f)), style.GrabMinSize), slider_sz); // Integer sliders, if possible have the grab size represent 1 unit @@ -6516,17 +8617,63 @@ bool ImGui::SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v linear_zero_pos = v_min < 0.0f ? 1.0f : 0.0f; } - // Process clicking on the slider + // Process interacting with the slider bool value_changed = false; if (g.ActiveId == id) { - if (g.IO.MouseDown[0]) + bool set_new_value = false; + float clicked_t = 0.0f; + if (g.ActiveIdSource == ImGuiInputSource_Mouse) { - const float mouse_abs_pos = is_horizontal ? g.IO.MousePos.x : g.IO.MousePos.y; - float clicked_t = (slider_usable_sz > 0.0f) ? ImClamp((mouse_abs_pos - slider_usable_pos_min) / slider_usable_sz, 0.0f, 1.0f) : 0.0f; - if (!is_horizontal) - clicked_t = 1.0f - clicked_t; + if (!g.IO.MouseDown[0]) + { + ClearActiveID(); + } + else + { + const float mouse_abs_pos = is_horizontal ? g.IO.MousePos.x : g.IO.MousePos.y; + clicked_t = (slider_usable_sz > 0.0f) ? ImClamp((mouse_abs_pos - slider_usable_pos_min) / slider_usable_sz, 0.0f, 1.0f) : 0.0f; + if (!is_horizontal) + clicked_t = 1.0f - clicked_t; + set_new_value = true; + } + } + else if (g.ActiveIdSource == ImGuiInputSource_Nav) + { + const ImVec2 delta2 = GetNavInputAmount2d(ImGuiNavDirSourceFlags_Keyboard | ImGuiNavDirSourceFlags_PadDPad, ImGuiInputReadMode_RepeatFast, 0.0f, 0.0f); + float delta = is_horizontal ? delta2.x : -delta2.y; + if (g.NavActivatePressedId == id && !g.ActiveIdIsJustActivated) + { + ClearActiveID(); + } + else if (delta != 0.0f) + { + clicked_t = SliderBehaviorCalcRatioFromValue(*v, v_min, v_max, power, linear_zero_pos); + if (decimal_precision == 0 && !is_non_linear) + { + if (fabsf(v_max - v_min) <= 100.0f || IsNavInputDown(ImGuiNavInput_TweakSlow)) + delta = ((delta < 0.0f) ? -1.0f : +1.0f) / (v_max - v_min); // Gamepad/keyboard tweak speeds in integer steps + else + delta /= 100.0f; + } + else + { + delta /= 100.0f; // Gamepad/keyboard tweak speeds in % of slider bounds + if (IsNavInputDown(ImGuiNavInput_TweakSlow)) + delta /= 10.0f; + } + if (IsNavInputDown(ImGuiNavInput_TweakFast)) + delta *= 10.0f; + set_new_value = true; + if ((clicked_t >= 1.0f && delta > 0.0f) || (clicked_t <= 0.0f && delta < 0.0f)) // This is to avoid applying the saturation when already past the limits + set_new_value = false; + else + clicked_t = ImSaturate(clicked_t + delta); + } + } + if (set_new_value) + { float new_value; if (is_non_linear) { @@ -6564,16 +8711,10 @@ bool ImGui::SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v value_changed = true; } } - else - { - ClearActiveID(); - } } - // Calculate slider grab positioning - float grab_t = SliderBehaviorCalcRatioFromValue(*v, v_min, v_max, power, linear_zero_pos); - // Draw + float grab_t = SliderBehaviorCalcRatioFromValue(*v, v_min, v_max, power, linear_zero_pos); if (!is_horizontal) grab_t = 1.0f - grab_t; const float grab_pos = ImLerp(slider_usable_pos_min, slider_usable_pos_max, grab_t); @@ -6608,15 +8749,12 @@ bool ImGui::SliderFloat(const char* label, float* v, float v_min, float v_max, c const ImRect total_bb(frame_bb.Min, frame_bb.Max + ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0.0f)); // NB- we don't call ItemSize() yet because we may turn into a text edit box below - if (!ItemAdd(total_bb, &id)) + if (!ItemAdd(total_bb, id, &frame_bb)) { ItemSize(total_bb, style.FramePadding.y); return false; } - - const bool hovered = IsHovered(frame_bb, id); - if (hovered) - SetHoveredID(id); + const bool hovered = ItemHoverable(frame_bb, id); if (!display_format) display_format = "%.3f"; @@ -6624,13 +8762,14 @@ bool ImGui::SliderFloat(const char* label, float* v, float v_min, float v_max, c // Tabbing or CTRL-clicking on Slider turns it into an input box bool start_text_input = false; - const bool tab_focus_requested = FocusableItemRegister(window, g.ActiveId == id); - if (tab_focus_requested || (hovered && g.IO.MouseClicked[0])) + const bool tab_focus_requested = FocusableItemRegister(window, id); + if (tab_focus_requested || (hovered && g.IO.MouseClicked[0]) || g.NavActivateId == id || (g.NavInputId == id && g.ScalarAsInputTextId != id)) { SetActiveID(id, window); + SetFocusID(id, window); FocusWindow(window); - - if (tab_focus_requested || g.IO.KeyCtrl) + g.ActiveIdAllowNavDirFlags = (1 << ImGuiDir_Up) | (1 << ImGuiDir_Down); + if (tab_focus_requested || g.IO.KeyCtrl || g.NavInputId == id) { start_text_input = true; g.ScalarAsInputTextId = 0; @@ -6639,9 +8778,8 @@ bool ImGui::SliderFloat(const char* label, float* v, float v_min, float v_max, c if (start_text_input || (g.ActiveId == id && g.ScalarAsInputTextId == id)) return InputScalarAsWidgetReplacement(frame_bb, label, ImGuiDataType_Float, v, id, decimal_precision); - ItemSize(total_bb, style.FramePadding.y); - // Actual slider behavior + render grab + ItemSize(total_bb, style.FramePadding.y); const bool value_changed = SliderBehavior(frame_bb, id, v, v_min, v_max, power, decimal_precision); // Display value using user-provided display format so user can add prefix/suffix/decorations to the value. @@ -6670,21 +8808,20 @@ bool ImGui::VSliderFloat(const char* label, const ImVec2& size, float* v, float const ImRect bb(frame_bb.Min, frame_bb.Max + ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0.0f)); ItemSize(bb, style.FramePadding.y); - if (!ItemAdd(frame_bb, &id)) + if (!ItemAdd(frame_bb, id)) return false; - - const bool hovered = IsHovered(frame_bb, id); - if (hovered) - SetHoveredID(id); + const bool hovered = ItemHoverable(frame_bb, id); if (!display_format) display_format = "%.3f"; int decimal_precision = ParseFormatPrecision(display_format, 3); - if (hovered && g.IO.MouseClicked[0]) + if ((hovered && g.IO.MouseClicked[0]) || g.NavActivateId == id || g.NavInputId == id) { SetActiveID(id, window); + SetFocusID(id, window); FocusWindow(window); + g.ActiveIdAllowNavDirFlags = (1 << ImGuiDir_Left) | (1 << ImGuiDir_Right); } // Actual slider behavior + render grab @@ -6821,68 +8958,81 @@ bool ImGui::DragBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v_s // Draw frame const ImU32 frame_col = GetColorU32(g.ActiveId == id ? ImGuiCol_FrameBgActive : g.HoveredId == id ? ImGuiCol_FrameBgHovered : ImGuiCol_FrameBg); + RenderNavHighlight(frame_bb, id); RenderFrame(frame_bb.Min, frame_bb.Max, frame_col, true, style.FrameRounding); bool value_changed = false; - // Process clicking on the drag + // Process interacting with the drag if (g.ActiveId == id) { - if (g.IO.MouseDown[0]) - { - if (g.ActiveIdIsJustActivated) - { - // Lock current value on click - g.DragCurrentValue = *v; - g.DragLastMouseDelta = ImVec2(0.f, 0.f); - } - - float v_cur = g.DragCurrentValue; - const ImVec2 mouse_drag_delta = GetMouseDragDelta(0, 1.0f); - if (fabsf(mouse_drag_delta.x - g.DragLastMouseDelta.x) > 0.0f) - { - float speed = v_speed; - if (speed == 0.0f && (v_max - v_min) != 0.0f && (v_max - v_min) < FLT_MAX) - speed = (v_max - v_min) * g.DragSpeedDefaultRatio; - if (g.IO.KeyShift && g.DragSpeedScaleFast >= 0.0f) - speed = speed * g.DragSpeedScaleFast; - if (g.IO.KeyAlt && g.DragSpeedScaleSlow >= 0.0f) - speed = speed * g.DragSpeedScaleSlow; - - float delta = (mouse_drag_delta.x - g.DragLastMouseDelta.x) * speed; - if (fabsf(power - 1.0f) > 0.001f) - { - // Logarithmic curve on both side of 0.0 - float v0_abs = v_cur >= 0.0f ? v_cur : -v_cur; - float v0_sign = v_cur >= 0.0f ? 1.0f : -1.0f; - float v1 = powf(v0_abs, 1.0f / power) + (delta * v0_sign); - float v1_abs = v1 >= 0.0f ? v1 : -v1; - float v1_sign = v1 >= 0.0f ? 1.0f : -1.0f; // Crossed sign line - v_cur = powf(v1_abs, power) * v0_sign * v1_sign; // Reapply sign - } - else - { - v_cur += delta; - } - g.DragLastMouseDelta.x = mouse_drag_delta.x; - - // Clamp - if (v_min < v_max) - v_cur = ImClamp(v_cur, v_min, v_max); - g.DragCurrentValue = v_cur; - } - - // Round to user desired precision, then apply - v_cur = RoundScalar(v_cur, decimal_precision); - if (*v != v_cur) - { - *v = v_cur; - value_changed = true; - } - } - else - { + if (g.ActiveIdSource == ImGuiInputSource_Mouse && !g.IO.MouseDown[0]) ClearActiveID(); + else if (g.ActiveIdSource == ImGuiInputSource_Nav && g.NavActivatePressedId == id && !g.ActiveIdIsJustActivated) + ClearActiveID(); + } + if (g.ActiveId == id) + { + if (g.ActiveIdIsJustActivated) + { + // Lock current value on click + g.DragCurrentValue = *v; + g.DragLastMouseDelta = ImVec2(0.f, 0.f); + } + + if (v_speed == 0.0f && (v_max - v_min) != 0.0f && (v_max - v_min) < FLT_MAX) + v_speed = (v_max - v_min) * g.DragSpeedDefaultRatio; + + float v_cur = g.DragCurrentValue; + const ImVec2 mouse_drag_delta = GetMouseDragDelta(0, 1.0f); + float adjust_delta = 0.0f; + if (g.ActiveIdSource == ImGuiInputSource_Mouse && IsMousePosValid()) + { + adjust_delta = mouse_drag_delta.x - g.DragLastMouseDelta.x; + if (g.IO.KeyShift && g.DragSpeedScaleFast >= 0.0f) + adjust_delta *= g.DragSpeedScaleFast; + if (g.IO.KeyAlt && g.DragSpeedScaleSlow >= 0.0f) + adjust_delta *= g.DragSpeedScaleSlow; + g.DragLastMouseDelta.x = mouse_drag_delta.x; + } + if (g.ActiveIdSource == ImGuiInputSource_Nav) + { + adjust_delta = GetNavInputAmount2d(ImGuiNavDirSourceFlags_Keyboard|ImGuiNavDirSourceFlags_PadDPad, ImGuiInputReadMode_RepeatFast, 1.0f/10.0f, 10.0f).x; + if (v_min < v_max && ((v_cur >= v_max && adjust_delta > 0.0f) || (v_cur <= v_min && adjust_delta < 0.0f))) // This is to avoid applying the saturation when already past the limits + adjust_delta = 0.0f; + v_speed = ImMax(v_speed, GetMinimumStepAtDecimalPrecision(decimal_precision)); + } + adjust_delta *= v_speed; + + if (fabsf(adjust_delta) > 0.0f) + { + if (fabsf(power - 1.0f) > 0.001f) + { + // Logarithmic curve on both side of 0.0 + float v0_abs = v_cur >= 0.0f ? v_cur : -v_cur; + float v0_sign = v_cur >= 0.0f ? 1.0f : -1.0f; + float v1 = powf(v0_abs, 1.0f / power) + (adjust_delta * v0_sign); + float v1_abs = v1 >= 0.0f ? v1 : -v1; + float v1_sign = v1 >= 0.0f ? 1.0f : -1.0f; // Crossed sign line + v_cur = powf(v1_abs, power) * v0_sign * v1_sign; // Reapply sign + } + else + { + v_cur += adjust_delta; + } + + // Clamp + if (v_min < v_max) + v_cur = ImClamp(v_cur, v_min, v_max); + g.DragCurrentValue = v_cur; + } + + // Round to user desired precision, then apply + v_cur = RoundScalar(v_cur, decimal_precision); + if (*v != v_cur) + { + *v = v_cur; + value_changed = true; } } @@ -6906,15 +9056,12 @@ bool ImGui::DragFloat(const char* label, float* v, float v_speed, float v_min, f const ImRect total_bb(frame_bb.Min, frame_bb.Max + ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0.0f)); // NB- we don't call ItemSize() yet because we may turn into a text edit box below - if (!ItemAdd(total_bb, &id)) + if (!ItemAdd(total_bb, id, &frame_bb)) { ItemSize(total_bb, style.FramePadding.y); return false; } - - const bool hovered = IsHovered(frame_bb, id); - if (hovered) - SetHoveredID(id); + const bool hovered = ItemHoverable(frame_bb, id); if (!display_format) display_format = "%.3f"; @@ -6922,13 +9069,14 @@ bool ImGui::DragFloat(const char* label, float* v, float v_speed, float v_min, f // Tabbing or CTRL-clicking on Drag turns it into an input box bool start_text_input = false; - const bool tab_focus_requested = FocusableItemRegister(window, g.ActiveId == id); - if (tab_focus_requested || (hovered && (g.IO.MouseClicked[0] | g.IO.MouseDoubleClicked[0]))) + const bool tab_focus_requested = FocusableItemRegister(window, id); + if (tab_focus_requested || (hovered && (g.IO.MouseClicked[0] || g.IO.MouseDoubleClicked[0])) || g.NavActivateId == id || (g.NavInputId == id && g.ScalarAsInputTextId != id)) { SetActiveID(id, window); + SetFocusID(id, window); FocusWindow(window); - - if (tab_focus_requested || g.IO.KeyCtrl || g.IO.MouseDoubleClicked[0]) + g.ActiveIdAllowNavDirFlags = (1 << ImGuiDir_Up) | (1 << ImGuiDir_Down); + if (tab_focus_requested || g.IO.KeyCtrl || g.IO.MouseDoubleClicked[0] || g.NavInputId == id) { start_text_input = true; g.ScalarAsInputTextId = 0; @@ -7116,8 +9264,9 @@ void ImGui::PlotEx(ImGuiPlotType plot_type, const char* label, float (*values_ge const ImRect inner_bb(frame_bb.Min + style.FramePadding, frame_bb.Max - style.FramePadding); const ImRect total_bb(frame_bb.Min, frame_bb.Max + ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0)); ItemSize(total_bb, style.FramePadding.y); - if (!ItemAdd(total_bb, NULL)) + if (!ItemAdd(total_bb, 0, &frame_bb)) return; + const bool hovered = ItemHoverable(inner_bb, 0); // Determine scale from values if not specified if (scale_min == FLT_MAX || scale_max == FLT_MAX) @@ -7145,7 +9294,7 @@ void ImGui::PlotEx(ImGuiPlotType plot_type, const char* label, float (*values_ge // Tooltip on hover int v_hovered = -1; - if (IsHovered(inner_bb, 0)) + if (hovered) { const float t = ImClamp((g.IO.MousePos.x - inner_bb.Min.x) / (inner_bb.Max.x - inner_bb.Min.x), 0.0f, 0.9999f); const int v_idx = (int)(t * item_count); @@ -7161,10 +9310,12 @@ void ImGui::PlotEx(ImGuiPlotType plot_type, const char* label, float (*values_ge } const float t_step = 1.0f / (float)res_w; + const float inv_scale = (scale_min == scale_max) ? 0.0f : (1.0f / (scale_max - scale_min)); float v0 = values_getter(data, (0 + values_offset) % values_count); float t0 = 0.0f; - ImVec2 tp0 = ImVec2( t0, 1.0f - ImSaturate((v0 - scale_min) / (scale_max - scale_min)) ); // Point in the normalized space of our target rectangle + ImVec2 tp0 = ImVec2( t0, 1.0f - ImSaturate((v0 - scale_min) * inv_scale) ); // Point in the normalized space of our target rectangle + float histogram_zero_line_t = (scale_min * scale_max < 0.0f) ? (-scale_min * inv_scale) : (scale_min < 0.0f ? 0.0f : 1.0f); // Where does the zero line stands const ImU32 col_base = GetColorU32((plot_type == ImGuiPlotType_Lines) ? ImGuiCol_PlotLines : ImGuiCol_PlotHistogram); const ImU32 col_hovered = GetColorU32((plot_type == ImGuiPlotType_Lines) ? ImGuiCol_PlotLinesHovered : ImGuiCol_PlotHistogramHovered); @@ -7175,11 +9326,11 @@ void ImGui::PlotEx(ImGuiPlotType plot_type, const char* label, float (*values_ge const int v1_idx = (int)(t0 * item_count + 0.5f); IM_ASSERT(v1_idx >= 0 && v1_idx < values_count); const float v1 = values_getter(data, (v1_idx + values_offset + 1) % values_count); - const ImVec2 tp1 = ImVec2( t1, 1.0f - ImSaturate((v1 - scale_min) / (scale_max - scale_min)) ); + const ImVec2 tp1 = ImVec2( t1, 1.0f - ImSaturate((v1 - scale_min) * inv_scale) ); // NB: Draw calls are merged together by the DrawList system. Still, we should render our batch are lower level to save a bit of CPU. ImVec2 pos0 = ImLerp(inner_bb.Min, inner_bb.Max, tp0); - ImVec2 pos1 = ImLerp(inner_bb.Min, inner_bb.Max, (plot_type == ImGuiPlotType_Lines) ? tp1 : ImVec2(tp1.x, 1.0f)); + ImVec2 pos1 = ImLerp(inner_bb.Min, inner_bb.Max, (plot_type == ImGuiPlotType_Lines) ? tp1 : ImVec2(tp1.x, histogram_zero_line_t)); if (plot_type == ImGuiPlotType_Lines) { window->DrawList->AddLine(pos0, pos1, v_hovered == v1_idx ? col_hovered : col_base); @@ -7254,15 +9405,15 @@ void ImGui::ProgressBar(float fraction, const ImVec2& size_arg, const char* over ImVec2 pos = window->DC.CursorPos; ImRect bb(pos, pos + CalcItemSize(size_arg, CalcItemWidth(), g.FontSize + style.FramePadding.y*2.0f)); ItemSize(bb, style.FramePadding.y); - if (!ItemAdd(bb, NULL)) + if (!ItemAdd(bb, 0)) return; // Render fraction = ImSaturate(fraction); RenderFrame(bb.Min, bb.Max, GetColorU32(ImGuiCol_FrameBg), true, style.FrameRounding); - bb.Reduce(ImVec2(window->BorderSize, window->BorderSize)); + bb.Expand(ImVec2(-style.FrameBorderSize, -style.FrameBorderSize)); const ImVec2 fill_br = ImVec2(ImLerp(bb.Min.x, bb.Max.x, fraction), bb.Max.y); - RenderFrame(bb.Min, fill_br, GetColorU32(ImGuiCol_PlotHistogram), false, style.FrameRounding); + RenderRectFilledRangeH(window->DrawList, bb, GetColorU32(ImGuiCol_PlotHistogram), 0.0f, fraction, style.FrameRounding); // Default displaying the fraction as percentage string, but user can override it char overlay_buf[32]; @@ -7288,7 +9439,7 @@ bool ImGui::Checkbox(const char* label, bool* v) const ImGuiID id = window->GetID(label); const ImVec2 label_size = CalcTextSize(label, NULL, true); - const ImRect check_bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(label_size.y + style.FramePadding.y*2, label_size.y + style.FramePadding.y*2)); + const ImRect check_bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(label_size.y + style.FramePadding.y*2, label_size.y + style.FramePadding.y*2)); // We want a square shape to we use Y twice ItemSize(check_bb, style.FramePadding.y); ImRect total_bb = check_bb; @@ -7301,7 +9452,7 @@ bool ImGui::Checkbox(const char* label, bool* v) total_bb = ImRect(ImMin(check_bb.Min, text_bb.Min), ImMax(check_bb.Max, text_bb.Max)); } - if (!ItemAdd(total_bb, &id)) + if (!ItemAdd(total_bb, id)) return false; bool hovered, held; @@ -7309,18 +9460,19 @@ bool ImGui::Checkbox(const char* label, bool* v) if (pressed) *v = !(*v); + RenderNavHighlight(total_bb, id); RenderFrame(check_bb.Min, check_bb.Max, GetColorU32((held && hovered) ? ImGuiCol_FrameBgActive : hovered ? ImGuiCol_FrameBgHovered : ImGuiCol_FrameBg), true, style.FrameRounding); if (*v) { const float check_sz = ImMin(check_bb.GetWidth(), check_bb.GetHeight()); const float pad = ImMax(1.0f, (float)(int)(check_sz / 6.0f)); - window->DrawList->AddRectFilled(check_bb.Min+ImVec2(pad,pad), check_bb.Max-ImVec2(pad,pad), GetColorU32(ImGuiCol_CheckMark), style.FrameRounding); + RenderCheckMark(check_bb.Min + ImVec2(pad,pad), GetColorU32(ImGuiCol_CheckMark), check_bb.GetWidth() - pad*2.0f); } if (g.LogEnabled) - LogRenderedText(text_bb.GetTL(), *v ? "[x]" : "[ ]"); + LogRenderedText(&text_bb.Min, *v ? "[x]" : "[ ]"); if (label_size.x > 0.0f) - RenderText(text_bb.GetTL(), label); + RenderText(text_bb.Min, label); return pressed; } @@ -7364,7 +9516,7 @@ bool ImGui::RadioButton(const char* label, bool active) total_bb.Add(text_bb); } - if (!ItemAdd(total_bb, &id)) + if (!ItemAdd(total_bb, id)) return false; ImVec2 center = check_bb.GetCenter(); @@ -7375,6 +9527,7 @@ bool ImGui::RadioButton(const char* label, bool active) bool hovered, held; bool pressed = ButtonBehavior(total_bb, id, &hovered, &held); + RenderNavHighlight(total_bb, id); window->DrawList->AddCircleFilled(center, radius, GetColorU32((held && hovered) ? ImGuiCol_FrameBgActive : hovered ? ImGuiCol_FrameBgHovered : ImGuiCol_FrameBg), 16); if (active) { @@ -7383,16 +9536,16 @@ bool ImGui::RadioButton(const char* label, bool active) window->DrawList->AddCircleFilled(center, radius-pad, GetColorU32(ImGuiCol_CheckMark), 16); } - if (window->Flags & ImGuiWindowFlags_ShowBorders) + if (style.FrameBorderSize > 0.0f) { - window->DrawList->AddCircle(center+ImVec2(1,1), radius, GetColorU32(ImGuiCol_BorderShadow), 16); - window->DrawList->AddCircle(center, radius, GetColorU32(ImGuiCol_Border), 16); + window->DrawList->AddCircle(center+ImVec2(1,1), radius, GetColorU32(ImGuiCol_BorderShadow), 16, style.FrameBorderSize); + window->DrawList->AddCircle(center, radius, GetColorU32(ImGuiCol_Border), 16, style.FrameBorderSize); } if (g.LogEnabled) - LogRenderedText(text_bb.GetTL(), active ? "(x)" : "( )"); + LogRenderedText(&text_bb.Min, active ? "(x)" : "( )"); if (label_size.x > 0.0f) - RenderText(text_bb.GetTL(), label); + RenderText(text_bb.Min, label); return pressed; } @@ -7678,6 +9831,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 const bool is_multiline = (flags & ImGuiInputTextFlags_Multiline) != 0; const bool is_editable = (flags & ImGuiInputTextFlags_ReadOnly) == 0; const bool is_password = (flags & ImGuiInputTextFlags_Password) != 0; + const bool is_undoable = (flags & ImGuiInputTextFlags_NoUndoRedo) == 0; if (is_multiline) // Open group before calling GetID() because groups tracks id created during their spawn BeginGroup(); @@ -7690,6 +9844,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 ImGuiWindow* draw_window = window; if (is_multiline) { + ItemAdd(total_bb, id, &frame_bb); if (!BeginChildFrame(id, frame_bb.GetSize())) { EndChildFrame(); @@ -7702,14 +9857,17 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 else { ItemSize(total_bb, style.FramePadding.y); - if (!ItemAdd(total_bb, &id)) + if (!ItemAdd(total_bb, id, &frame_bb)) return false; } + const bool hovered = ItemHoverable(frame_bb, id); + if (hovered) + g.MouseCursor = ImGuiMouseCursor_TextInput; // Password pushes a temporary font with only a fallback glyph if (is_password) { - const ImFont::Glyph* glyph = g.Font->FindGlyph('*'); + const ImFontGlyph* glyph = g.Font->FindGlyph('*'); ImFont* password_font = &g.InputTextPasswordFont; password_font->FontSize = g.Font->FontSize; password_font->Scale = g.Font->Scale; @@ -7718,29 +9876,25 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 password_font->Descent = g.Font->Descent; password_font->ContainerAtlas = g.Font->ContainerAtlas; password_font->FallbackGlyph = glyph; - password_font->FallbackXAdvance = glyph->XAdvance; - IM_ASSERT(password_font->Glyphs.empty() && password_font->IndexXAdvance.empty() && password_font->IndexLookup.empty()); + password_font->FallbackAdvanceX = glyph->AdvanceX; + IM_ASSERT(password_font->Glyphs.empty() && password_font->IndexAdvanceX.empty() && password_font->IndexLookup.empty()); PushFont(password_font); } // NB: we are only allowed to access 'edit_state' if we are the active widget. ImGuiTextEditState& edit_state = g.InputTextState; - const bool focus_requested = FocusableItemRegister(window, g.ActiveId == id, (flags & (ImGuiInputTextFlags_CallbackCompletion|ImGuiInputTextFlags_AllowTabInput)) == 0); // Using completion callback disable keyboard tabbing + const bool focus_requested = FocusableItemRegister(window, id, (flags & (ImGuiInputTextFlags_CallbackCompletion|ImGuiInputTextFlags_AllowTabInput)) == 0); // Using completion callback disable keyboard tabbing const bool focus_requested_by_code = focus_requested && (window->FocusIdxAllCounter == window->FocusIdxAllRequestCurrent); const bool focus_requested_by_tab = focus_requested && !focus_requested_by_code; - const bool hovered = IsHovered(frame_bb, id); - if (hovered) - { - SetHoveredID(id); - g.MouseCursor = ImGuiMouseCursor_TextInput; - } const bool user_clicked = hovered && io.MouseClicked[0]; const bool user_scrolled = is_multiline && g.ActiveId == 0 && edit_state.Id == id && g.ActiveIdPreviousFrame == draw_window->GetIDNoKeepAlive("#SCROLLY"); - bool select_all = (g.ActiveId != id) && (flags & ImGuiInputTextFlags_AutoSelectAll) != 0; - if (focus_requested || user_clicked || user_scrolled) + bool clear_active_id = false; + + bool select_all = (g.ActiveId != id) && (((flags & ImGuiInputTextFlags_AutoSelectAll) != 0) || (g.NavInputId == id)) && (!is_multiline); + if (focus_requested || user_clicked || user_scrolled || g.NavInputId == id) { if (g.ActiveId != id) { @@ -7779,13 +9933,15 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 select_all = true; } SetActiveID(id, window); + SetFocusID(id, window); FocusWindow(window); + if (!is_multiline && !(flags & ImGuiInputTextFlags_CallbackHistory)) + g.ActiveIdAllowNavDirFlags |= ((1 << ImGuiDir_Up) | (1 << ImGuiDir_Down)); } else if (io.MouseClicked[0]) { // Release focus when we click outside - if (g.ActiveId == id) - ClearActiveID(); + clear_active_id = true; } bool value_changed = false; @@ -7808,12 +9964,13 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 // Although we are active we don't prevent mouse from hovering other elements unless we are interacting right now with the widget. // Down the line we should have a cleaner library-wide concept of Selected vs Active. g.ActiveIdAllowOverlap = !io.MouseDown[0]; + g.WantTextInputNextFrame = 1; // Edit in progress const float mouse_x = (io.MousePos.x - frame_bb.Min.x - style.FramePadding.x) + edit_state.ScrollX; const float mouse_y = (is_multiline ? (io.MousePos.y - draw_window->DC.CursorPos.y - style.FramePadding.y) : (g.FontSize*0.5f)); - const bool osx_double_click_selects_words = io.OSXBehaviors; // OS X style: Double click selects by word instead of selecting whole text + const bool osx_double_click_selects_words = io.OptMacOSXBehaviors; // OS X style: Double click selects by word instead of selecting whole text if (select_all || (hovered && !osx_double_click_selects_words && io.MouseDoubleClicked[0])) { edit_state.SelectAll(); @@ -7827,8 +9984,11 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 } else if (io.MouseClicked[0] && !edit_state.SelectedAllMouseLock) { - stb_textedit_click(&edit_state, &edit_state.StbState, mouse_x, mouse_y); - edit_state.CursorAnimReset(); + if (hovered) + { + stb_textedit_click(&edit_state, &edit_state.StbState, mouse_x, mouse_y); + edit_state.CursorAnimReset(); + } } else if (io.MouseDown[0] && !edit_state.SelectedAllMouseLock && (io.MouseDelta.x != 0.0f || io.MouseDelta.y != 0.0f)) { @@ -7858,13 +10018,22 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 // Consume characters memset(g.IO.InputCharacters, 0, sizeof(g.IO.InputCharacters)); } + } - // Handle various key-presses - bool cancel_edit = false; + bool cancel_edit = false; + if (g.ActiveId == id && !g.ActiveIdIsJustActivated && !clear_active_id) + { + // Handle key-presses const int k_mask = (io.KeyShift ? STB_TEXTEDIT_K_SHIFT : 0); - const bool is_shortcut_key_only = (io.OSXBehaviors ? (io.KeySuper && !io.KeyCtrl) : (io.KeyCtrl && !io.KeySuper)) && !io.KeyAlt && !io.KeyShift; // OS X style: Shortcuts using Cmd/Super instead of Ctrl - const bool is_wordmove_key_down = io.OSXBehaviors ? io.KeyAlt : io.KeyCtrl; // OS X style: Text editing cursor movement using Alt instead of Ctrl - const bool is_startend_key_down = io.OSXBehaviors && io.KeySuper && !io.KeyCtrl && !io.KeyAlt; // OS X style: Line/Text Start and End using Cmd+Arrows instead of Home/End + const bool is_shortcut_key_only = (io.OptMacOSXBehaviors ? (io.KeySuper && !io.KeyCtrl) : (io.KeyCtrl && !io.KeySuper)) && !io.KeyAlt && !io.KeyShift; // OS X style: Shortcuts using Cmd/Super instead of Ctrl + const bool is_wordmove_key_down = io.OptMacOSXBehaviors ? io.KeyAlt : io.KeyCtrl; // OS X style: Text editing cursor movement using Alt instead of Ctrl + const bool is_startend_key_down = io.OptMacOSXBehaviors && io.KeySuper && !io.KeyCtrl && !io.KeyAlt; // OS X style: Line/Text Start and End using Cmd+Arrows instead of Home/End + const bool is_ctrl_key_only = io.KeyCtrl && !io.KeyShift && !io.KeyAlt && !io.KeySuper; + const bool is_shift_key_only = io.KeyShift && !io.KeyCtrl && !io.KeyAlt && !io.KeySuper; + + const bool is_cut = ((is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_X)) || (is_shift_key_only && IsKeyPressedMap(ImGuiKey_Delete))) && is_editable && !is_password && (!is_multiline || edit_state.HasSelection()); + const bool is_copy = ((is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_C)) || (is_ctrl_key_only && IsKeyPressedMap(ImGuiKey_Insert))) && !is_password && (!is_multiline || edit_state.HasSelection()); + const bool is_paste = ((is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_V)) || (is_shift_key_only && IsKeyPressedMap(ImGuiKey_Insert))) && is_editable; if (IsKeyPressedMap(ImGuiKey_LeftArrow)) { edit_state.OnKeyPressed((is_startend_key_down ? STB_TEXTEDIT_K_LINESTART : is_wordmove_key_down ? STB_TEXTEDIT_K_WORDLEFT : STB_TEXTEDIT_K_LEFT) | k_mask); } else if (IsKeyPressedMap(ImGuiKey_RightArrow)) { edit_state.OnKeyPressed((is_startend_key_down ? STB_TEXTEDIT_K_LINEEND : is_wordmove_key_down ? STB_TEXTEDIT_K_WORDRIGHT : STB_TEXTEDIT_K_RIGHT) | k_mask); } @@ -7878,7 +10047,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 if (!edit_state.HasSelection()) { if (is_wordmove_key_down) edit_state.OnKeyPressed(STB_TEXTEDIT_K_WORDLEFT|STB_TEXTEDIT_K_SHIFT); - else if (io.OSXBehaviors && io.KeySuper && !io.KeyAlt && !io.KeyCtrl) edit_state.OnKeyPressed(STB_TEXTEDIT_K_LINESTART|STB_TEXTEDIT_K_SHIFT); + else if (io.OptMacOSXBehaviors && io.KeySuper && !io.KeyAlt && !io.KeyCtrl) edit_state.OnKeyPressed(STB_TEXTEDIT_K_LINESTART|STB_TEXTEDIT_K_SHIFT); } edit_state.OnKeyPressed(STB_TEXTEDIT_K_BACKSPACE | k_mask); } @@ -7887,8 +10056,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 bool ctrl_enter_for_new_line = (flags & ImGuiInputTextFlags_CtrlEnterForNewLine) != 0; if (!is_multiline || (ctrl_enter_for_new_line && !io.KeyCtrl) || (!ctrl_enter_for_new_line && io.KeyCtrl)) { - ClearActiveID(); - enter_pressed = true; + enter_pressed = clear_active_id = true; } else if (is_editable) { @@ -7903,17 +10071,13 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 if (InputTextFilterCharacter(&c, flags, callback, user_data)) edit_state.OnKeyPressed((int)c); } - else if (IsKeyPressedMap(ImGuiKey_Escape)) { ClearActiveID(); cancel_edit = true; } - else if (is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_Z) && is_editable) { edit_state.OnKeyPressed(STB_TEXTEDIT_K_UNDO); edit_state.ClearSelection(); } - else if (is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_Y) && is_editable) { edit_state.OnKeyPressed(STB_TEXTEDIT_K_REDO); edit_state.ClearSelection(); } - else if (is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_A)) { edit_state.SelectAll(); edit_state.CursorFollow = true; } - else if (is_shortcut_key_only && !is_password && ((IsKeyPressedMap(ImGuiKey_X) && is_editable) || IsKeyPressedMap(ImGuiKey_C)) && (!is_multiline || edit_state.HasSelection())) + else if (IsKeyPressedMap(ImGuiKey_Escape)) { clear_active_id = cancel_edit = true; } + else if (is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_Z) && is_editable && is_undoable) { edit_state.OnKeyPressed(STB_TEXTEDIT_K_UNDO); edit_state.ClearSelection(); } + else if (is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_Y) && is_editable && is_undoable) { edit_state.OnKeyPressed(STB_TEXTEDIT_K_REDO); edit_state.ClearSelection(); } + else if (is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_A)) { edit_state.SelectAll(); edit_state.CursorFollow = true; } + else if (is_cut || is_copy) { // Cut, Copy - const bool cut = IsKeyPressedMap(ImGuiKey_X); - if (cut && !edit_state.HasSelection()) - edit_state.SelectAll(); - if (io.SetClipboardTextFn) { const int ib = edit_state.HasSelection() ? ImMin(edit_state.StbState.select_start, edit_state.StbState.select_end) : 0; @@ -7923,13 +10087,15 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 SetClipboardText(edit_state.TempTextBuffer.Data); } - if (cut) + if (is_cut) { + if (!edit_state.HasSelection()) + edit_state.SelectAll(); edit_state.CursorFollow = true; stb_textedit_cut(&edit_state, &edit_state.StbState); } } - else if (is_shortcut_key_only && IsKeyPressedMap(ImGuiKey_V) && is_editable) + else if (is_paste) { // Paste if (const char* clipboard = GetClipboardText()) @@ -7957,7 +10123,10 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 ImGui::MemFree(clipboard_filtered); } } + } + if (g.ActiveId == id) + { if (cancel_edit) { // Restore initial value @@ -7967,7 +10136,11 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 value_changed = true; } } - else + + // When using 'ImGuiInputTextFlags_EnterReturnsTrue' as a special case we reapply the live buffer back to the input buffer before clearing ActiveId, even though strictly speaking it wasn't modified on this frame. + // If we didn't do that, code like InputInt() with ImGuiInputTextFlags_EnterReturnsTrue would fail. Also this allows the user to use InputText() with ImGuiInputTextFlags_EnterReturnsTrue without maintaining any user-side storage. + bool apply_edit_back_to_user_buffer = !cancel_edit || (enter_pressed && (flags & ImGuiInputTextFlags_EnterReturnsTrue) != 0); + if (apply_edit_back_to_user_buffer) { // Apply new value immediately - copy modified buffer back // Note that as soon as the input box is active, the in-widget value gets priority over any underlying modification of the input buffer @@ -8055,10 +10228,15 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 } } + // Release active ID at the end of the function (so e.g. pressing Return still does a final application of the value) + if (clear_active_id && g.ActiveId == id) + ClearActiveID(); + // Render // Select which buffer we are going to display. When ImGuiInputTextFlags_NoLiveEdit is set 'buf' might still be the old value. We set buf to NULL to prevent accidental usage from now on. const char* buf_display = (g.ActiveId == id && is_editable) ? edit_state.TempTextBuffer.Data : buf; buf = NULL; + RenderNavHighlight(frame_bb, id); if (!is_multiline) RenderFrame(frame_bb.Min, frame_bb.Max, GetColorU32(ImGuiCol_FrameBg), true, style.FrameRounding); @@ -8117,7 +10295,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 select_start_offset.y = searches_result_line_number[1] * g.FontSize; } - // Calculate text height + // Store text height (note that we haven't calculated text width at all, see GitHub issues #383, #1224) if (is_multiline) text_size = ImVec2(size.x, line_count * g.FontSize); } @@ -8180,7 +10358,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 ImVec2 rect_size = InputTextCalcTextSizeW(p, text_selected_end, &p, NULL, true); if (rect_size.x <= 0.0f) rect_size.x = (float)(int)(g.Font->GetCharAdvance((unsigned short)' ') * 0.50f); // So we can see selected empty lines ImRect rect(rect_pos + ImVec2(0.0f, bg_offy_up - g.FontSize), rect_pos +ImVec2(rect_size.x, bg_offy_dn)); - rect.Clip(clip_rect); + rect.ClipWith(clip_rect); if (rect.Overlaps(clip_rect)) draw_window->DrawList->AddRectFilled(rect.Min, rect.Max, bg_color); } @@ -8192,7 +10370,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 draw_window->DrawList->AddText(g.Font, g.FontSize, render_pos - render_scroll, GetColorU32(ImGuiCol_Text), buf_display, buf_display + edit_state.CurLenA, 0.0f, is_multiline ? NULL : &clip_rect); // Draw blinking cursor - bool cursor_is_visible = (g.InputTextState.CursorAnim <= 0.0f) || fmodf(g.InputTextState.CursorAnim, 1.20f) <= 0.80f; + bool cursor_is_visible = (!g.IO.OptCursorBlink) || (g.InputTextState.CursorAnim <= 0.0f) || fmodf(g.InputTextState.CursorAnim, 1.20f) <= 0.80f; ImVec2 cursor_screen_pos = render_pos + cursor_offset - render_scroll; ImRect cursor_screen_rect(cursor_screen_pos.x, cursor_screen_pos.y-g.FontSize+0.5f, cursor_screen_pos.x+1.0f, cursor_screen_pos.y-1.5f); if (cursor_is_visible && cursor_screen_rect.Overlaps(clip_rect)) @@ -8223,7 +10401,7 @@ bool ImGui::InputTextEx(const char* label, char* buf, int buf_size, const ImVec2 // Log as text if (g.LogEnabled && !is_password) - LogRenderedText(render_pos, buf_display, NULL); + LogRenderedText(&render_pos, buf_display, NULL); if (label_size.x > 0) RenderText(ImVec2(frame_bb.Max.x + style.ItemInnerSpacing.x, frame_bb.Min.y + style.FramePadding.y), label); @@ -8258,7 +10436,7 @@ bool ImGui::InputScalarEx(const char* label, ImGuiDataType data_type, void* data BeginGroup(); PushID(label); - const ImVec2 button_sz = ImVec2(g.FontSize, g.FontSize) + style.FramePadding*2.0f; + const ImVec2 button_sz = ImVec2(GetFrameHeight(), GetFrameHeight()); if (step_ptr) PushItemWidth(ImMax(1.0f, CalcItemWidth() - (button_sz.x + style.ItemInnerSpacing.x)*2)); @@ -8340,7 +10518,6 @@ bool ImGui::InputFloatN(const char* label, float* v, int components, int decimal } PopID(); - window->DC.CurrentLineTextBaseOffset = ImMax(window->DC.CurrentLineTextBaseOffset, g.Style.FramePadding.y); TextUnformatted(label, FindRenderedTextEnd(label)); EndGroup(); @@ -8383,7 +10560,6 @@ bool ImGui::InputIntN(const char* label, int* v, int components, ImGuiInputTextF } PopID(); - window->DC.CurrentLineTextBaseOffset = ImMax(window->DC.CurrentLineTextBaseOffset, g.Style.FramePadding.y); TextUnformatted(label, FindRenderedTextEnd(label)); EndGroup(); @@ -8405,6 +10581,160 @@ bool ImGui::InputInt4(const char* label, int v[4], ImGuiInputTextFlags extra_fla return InputIntN(label, v, 4, extra_flags); } +static float CalcMaxPopupHeightFromItemCount(int items_count) +{ + ImGuiContext& g = *GImGui; + if (items_count <= 0) + return FLT_MAX; + return (g.FontSize + g.Style.ItemSpacing.y) * items_count - g.Style.ItemSpacing.y + (g.Style.WindowPadding.y * 2); +} + +bool ImGui::BeginCombo(const char* label, const char* preview_value, ImGuiComboFlags flags) +{ + // Always consume the SetNextWindowSizeConstraint() call in our early return paths + ImGuiContext& g = *GImGui; + ImGuiCond backup_next_window_size_constraint = g.NextWindowData.SizeConstraintCond; + g.NextWindowData.SizeConstraintCond = 0; + + ImGuiWindow* window = GetCurrentWindow(); + if (window->SkipItems) + return false; + + const ImGuiStyle& style = g.Style; + const ImGuiID id = window->GetID(label); + const float w = CalcItemWidth(); + + const ImVec2 label_size = CalcTextSize(label, NULL, true); + const ImRect frame_bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(w, label_size.y + style.FramePadding.y*2.0f)); + const ImRect total_bb(frame_bb.Min, frame_bb.Max + ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0.0f)); + ItemSize(total_bb, style.FramePadding.y); + if (!ItemAdd(total_bb, id, &frame_bb)) + return false; + + bool hovered, held; + bool pressed = ButtonBehavior(frame_bb, id, &hovered, &held); + bool popup_open = IsPopupOpen(id); + + const float arrow_size = GetFrameHeight(); + const ImRect value_bb(frame_bb.Min, frame_bb.Max - ImVec2(arrow_size, 0.0f)); + RenderNavHighlight(frame_bb, id); + RenderFrame(frame_bb.Min, frame_bb.Max, GetColorU32(ImGuiCol_FrameBg), true, style.FrameRounding); + RenderFrame(ImVec2(frame_bb.Max.x-arrow_size, frame_bb.Min.y), frame_bb.Max, GetColorU32(popup_open || hovered ? ImGuiCol_ButtonHovered : ImGuiCol_Button), true, style.FrameRounding); // FIXME-ROUNDING + RenderTriangle(ImVec2(frame_bb.Max.x - arrow_size + style.FramePadding.y, frame_bb.Min.y + style.FramePadding.y), ImGuiDir_Down); + if (preview_value != NULL) + RenderTextClipped(frame_bb.Min + style.FramePadding, value_bb.Max, preview_value, NULL, NULL, ImVec2(0.0f,0.0f)); + if (label_size.x > 0) + RenderText(ImVec2(frame_bb.Max.x + style.ItemInnerSpacing.x, frame_bb.Min.y + style.FramePadding.y), label); + + if ((pressed || g.NavActivateId == id) && !popup_open) + { + if (window->DC.NavLayerCurrent == 0) + window->NavLastIds[0] = id; + OpenPopupEx(id); + popup_open = true; + } + + if (!popup_open) + return false; + + if (backup_next_window_size_constraint) + { + g.NextWindowData.SizeConstraintCond = backup_next_window_size_constraint; + g.NextWindowData.SizeConstraintRect.Min.x = ImMax(g.NextWindowData.SizeConstraintRect.Min.x, w); + } + else + { + if ((flags & ImGuiComboFlags_HeightMask_) == 0) + flags |= ImGuiComboFlags_HeightRegular; + IM_ASSERT(ImIsPowerOfTwo(flags & ImGuiComboFlags_HeightMask_)); // Only one + int popup_max_height_in_items = -1; + if (flags & ImGuiComboFlags_HeightRegular) popup_max_height_in_items = 8; + else if (flags & ImGuiComboFlags_HeightSmall) popup_max_height_in_items = 4; + else if (flags & ImGuiComboFlags_HeightLarge) popup_max_height_in_items = 20; + SetNextWindowSizeConstraints(ImVec2(w, 0.0f), ImVec2(FLT_MAX, CalcMaxPopupHeightFromItemCount(popup_max_height_in_items))); + } + + char name[16]; + ImFormatString(name, IM_ARRAYSIZE(name), "##Combo_%02d", g.CurrentPopupStack.Size); // Recycle windows based on depth + + // Peak into expected window size so we can position it + if (ImGuiWindow* popup_window = FindWindowByName(name)) + if (popup_window->WasActive) + { + ImVec2 size_contents = CalcSizeContents(popup_window); + ImVec2 size_expected = CalcSizeAfterConstraint(popup_window, CalcSizeAutoFit(popup_window, size_contents)); + if (flags & ImGuiComboFlags_PopupAlignLeft) + popup_window->AutoPosLastDirection = ImGuiDir_Left; + ImVec2 pos = FindBestWindowPosForPopup(frame_bb.GetBL(), size_expected, &popup_window->AutoPosLastDirection, frame_bb, ImGuiPopupPositionPolicy_ComboBox); + SetNextWindowPos(pos); + } + + ImGuiWindowFlags window_flags = ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_Popup | ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings; + if (!Begin(name, NULL, window_flags)) + { + EndPopup(); + IM_ASSERT(0); // This should never happen as we tested for IsPopupOpen() above + return false; + } + + // Horizontally align ourselves with the framed text + if (style.FramePadding.x != style.WindowPadding.x) + Indent(style.FramePadding.x - style.WindowPadding.x); + + return true; +} + +void ImGui::EndCombo() +{ + const ImGuiStyle& style = GImGui->Style; + if (style.FramePadding.x != style.WindowPadding.x) + Unindent(style.FramePadding.x - style.WindowPadding.x); + EndPopup(); +} + +// Old API, prefer using BeginCombo() nowadays if you can. +bool ImGui::Combo(const char* label, int* current_item, bool (*items_getter)(void*, int, const char**), void* data, int items_count, int popup_max_height_in_items) +{ + ImGuiContext& g = *GImGui; + + const char* preview_text = NULL; + if (*current_item >= 0 && *current_item < items_count) + items_getter(data, *current_item, &preview_text); + + // The old Combo() API exposed "popup_max_height_in_items", however the new more general BeginCombo() API doesn't, so we emulate it here. + if (popup_max_height_in_items != -1 && !g.NextWindowData.SizeConstraintCond) + { + float popup_max_height = CalcMaxPopupHeightFromItemCount(popup_max_height_in_items); + SetNextWindowSizeConstraints(ImVec2(0,0), ImVec2(FLT_MAX, popup_max_height)); + } + + if (!BeginCombo(label, preview_text, 0)) + return false; + + // Display items + // FIXME-OPT: Use clipper (but we need to disable it on the appearing frame to make sure our call to SetItemDefaultFocus() is processed) + bool value_changed = false; + for (int i = 0; i < items_count; i++) + { + PushID((void*)(intptr_t)i); + const bool item_selected = (i == *current_item); + const char* item_text; + if (!items_getter(data, i, &item_text)) + item_text = "*Unknown item*"; + if (Selectable(item_text, item_selected)) + { + value_changed = true; + *current_item = i; + } + if (item_selected) + SetItemDefaultFocus(); + PopID(); + } + + EndCombo(); + return value_changed; +} + static bool Items_ArrayGetter(void* data, int idx, const char** out_text) { const char* const* items = (const char* const*)data; @@ -8434,7 +10764,7 @@ static bool Items_SingleStringGetter(void* data, int idx, const char** out_text) } // Combo box helper allowing to pass an array of strings. -bool ImGui::Combo(const char* label, int* current_item, const char* const* items, int items_count, int height_in_items) +bool ImGui::Combo(const char* label, int* current_item, const char* const items[], int items_count, int height_in_items) { const bool value_changed = Combo(label, current_item, Items_ArrayGetter, (void*)items, items_count, height_in_items); return value_changed; @@ -8454,114 +10784,6 @@ bool ImGui::Combo(const char* label, int* current_item, const char* items_separa return value_changed; } -// Combo box function. -bool ImGui::Combo(const char* label, int* current_item, bool (*items_getter)(void*, int, const char**), void* data, int items_count, int height_in_items) -{ - ImGuiWindow* window = GetCurrentWindow(); - if (window->SkipItems) - return false; - - ImGuiContext& g = *GImGui; - const ImGuiStyle& style = g.Style; - const ImGuiID id = window->GetID(label); - const float w = CalcItemWidth(); - - const ImVec2 label_size = CalcTextSize(label, NULL, true); - const ImRect frame_bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(w, label_size.y + style.FramePadding.y*2.0f)); - const ImRect total_bb(frame_bb.Min, frame_bb.Max + ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0.0f)); - ItemSize(total_bb, style.FramePadding.y); - if (!ItemAdd(total_bb, &id)) - return false; - - const float arrow_size = (g.FontSize + style.FramePadding.x * 2.0f); - const bool hovered = IsHovered(frame_bb, id); - bool popup_open = IsPopupOpen(id); - bool popup_opened_now = false; - - const ImRect value_bb(frame_bb.Min, frame_bb.Max - ImVec2(arrow_size, 0.0f)); - RenderFrame(frame_bb.Min, frame_bb.Max, GetColorU32(ImGuiCol_FrameBg), true, style.FrameRounding); - RenderFrame(ImVec2(frame_bb.Max.x-arrow_size, frame_bb.Min.y), frame_bb.Max, GetColorU32(popup_open || hovered ? ImGuiCol_ButtonHovered : ImGuiCol_Button), true, style.FrameRounding); // FIXME-ROUNDING - RenderCollapseTriangle(ImVec2(frame_bb.Max.x-arrow_size, frame_bb.Min.y) + style.FramePadding, true); - - if (*current_item >= 0 && *current_item < items_count) - { - const char* item_text; - if (items_getter(data, *current_item, &item_text)) - RenderTextClipped(frame_bb.Min + style.FramePadding, value_bb.Max, item_text, NULL, NULL, ImVec2(0.0f,0.0f)); - } - - if (label_size.x > 0) - RenderText(ImVec2(frame_bb.Max.x + style.ItemInnerSpacing.x, frame_bb.Min.y + style.FramePadding.y), label); - - if (hovered) - { - SetHoveredID(id); - if (g.IO.MouseClicked[0]) - { - ClearActiveID(); - if (IsPopupOpen(id)) - { - ClosePopup(id); - } - else - { - FocusWindow(window); - OpenPopup(label); - popup_open = popup_opened_now = true; - } - } - } - - bool value_changed = false; - if (IsPopupOpen(id)) - { - // Size default to hold ~7 items - if (height_in_items < 0) - height_in_items = 7; - - float popup_height = (label_size.y + style.ItemSpacing.y) * ImMin(items_count, height_in_items) + (style.FramePadding.y * 3); - float popup_y1 = frame_bb.Max.y; - float popup_y2 = ImClamp(popup_y1 + popup_height, popup_y1, g.IO.DisplaySize.y - style.DisplaySafeAreaPadding.y); - if ((popup_y2 - popup_y1) < ImMin(popup_height, frame_bb.Min.y - style.DisplaySafeAreaPadding.y)) - { - // Position our combo ABOVE because there's more space to fit! (FIXME: Handle in Begin() or use a shared helper. We have similar code in Begin() for popup placement) - popup_y1 = ImClamp(frame_bb.Min.y - popup_height, style.DisplaySafeAreaPadding.y, frame_bb.Min.y); - popup_y2 = frame_bb.Min.y; - } - ImRect popup_rect(ImVec2(frame_bb.Min.x, popup_y1), ImVec2(frame_bb.Max.x, popup_y2)); - SetNextWindowPos(popup_rect.Min); - SetNextWindowSize(popup_rect.GetSize()); - PushStyleVar(ImGuiStyleVar_WindowPadding, style.FramePadding); - - const ImGuiWindowFlags flags = ImGuiWindowFlags_ComboBox | ((window->Flags & ImGuiWindowFlags_ShowBorders) ? ImGuiWindowFlags_ShowBorders : 0); - if (BeginPopupEx(label, flags)) - { - // Display items - Spacing(); - for (int i = 0; i < items_count; i++) - { - PushID((void*)(intptr_t)i); - const bool item_selected = (i == *current_item); - const char* item_text; - if (!items_getter(data, i, &item_text)) - item_text = "*Unknown item*"; - if (Selectable(item_text, item_selected)) - { - ClearActiveID(); - value_changed = true; - *current_item = i; - } - if (item_selected && popup_opened_now) - SetScrollHere(); - PopID(); - } - EndPopup(); - } - PopStyleVar(); - } - return value_changed; -} - // Tip: pass an empty label (e.g. "##dummy") then you can use the space to draw other text or image. // But you need to make sure the ID is unique, e.g. enclose calls in PushID/PopID. bool ImGui::Selectable(const char* label, bool selected, ImGuiSelectableFlags flags, const ImVec2& size_arg) @@ -8573,7 +10795,7 @@ bool ImGui::Selectable(const char* label, bool selected, ImGuiSelectableFlags fl ImGuiContext& g = *GImGui; const ImGuiStyle& style = g.Style; - if ((flags & ImGuiSelectableFlags_SpanAllColumns) && window->DC.ColumnsCount > 1) + if ((flags & ImGuiSelectableFlags_SpanAllColumns) && window->DC.ColumnsSet) // FIXME-OPT: Avoid if vertically clipped. PopClipRect(); ImGuiID id = window->GetID(label); @@ -8602,16 +10824,16 @@ bool ImGui::Selectable(const char* label, bool selected, ImGuiSelectableFlags fl bb_with_spacing.Min.y -= spacing_U; bb_with_spacing.Max.x += spacing_R; bb_with_spacing.Max.y += spacing_D; - if (!ItemAdd(bb_with_spacing, &id)) + if (!ItemAdd(bb_with_spacing, (flags & ImGuiSelectableFlags_Disabled) ? 0 : id)) { - if ((flags & ImGuiSelectableFlags_SpanAllColumns) && window->DC.ColumnsCount > 1) + if ((flags & ImGuiSelectableFlags_SpanAllColumns) && window->DC.ColumnsSet) PushColumnClipRect(); return false; } ImGuiButtonFlags button_flags = 0; - if (flags & ImGuiSelectableFlags_Menu) button_flags |= ImGuiButtonFlags_PressedOnClick; - if (flags & ImGuiSelectableFlags_MenuItem) button_flags |= ImGuiButtonFlags_PressedOnClick|ImGuiButtonFlags_PressedOnRelease; + if (flags & ImGuiSelectableFlags_Menu) button_flags |= ImGuiButtonFlags_PressedOnClick | ImGuiButtonFlags_NoHoldingActiveID; + if (flags & ImGuiSelectableFlags_MenuItem) button_flags |= ImGuiButtonFlags_PressedOnRelease; if (flags & ImGuiSelectableFlags_Disabled) button_flags |= ImGuiButtonFlags_Disabled; if (flags & ImGuiSelectableFlags_AllowDoubleClick) button_flags |= ImGuiButtonFlags_PressedOnClickRelease | ImGuiButtonFlags_PressedOnDoubleClick; bool hovered, held; @@ -8619,14 +10841,23 @@ bool ImGui::Selectable(const char* label, bool selected, ImGuiSelectableFlags fl if (flags & ImGuiSelectableFlags_Disabled) selected = false; + // Hovering selectable with mouse updates NavId accordingly so navigation can be resumed with gamepad/keyboard (this doesn't happen on most widgets) + if (pressed || hovered)// && (g.IO.MouseDelta.x != 0.0f || g.IO.MouseDelta.y != 0.0f)) + if (!g.NavDisableMouseHover && g.NavWindow == window && g.NavLayer == window->DC.NavLayerActiveMask) + { + g.NavDisableHighlight = true; + SetNavID(id, window->DC.NavLayerCurrent); + } + // Render if (hovered || selected) { const ImU32 col = GetColorU32((held && hovered) ? ImGuiCol_HeaderActive : hovered ? ImGuiCol_HeaderHovered : ImGuiCol_Header); RenderFrame(bb_with_spacing.Min, bb_with_spacing.Max, col, false, 0.0f); + RenderNavHighlight(bb_with_spacing, id, ImGuiNavHighlightFlags_TypeThin | ImGuiNavHighlightFlags_NoRounding); } - if ((flags & ImGuiSelectableFlags_SpanAllColumns) && window->DC.ColumnsCount > 1) + if ((flags & ImGuiSelectableFlags_SpanAllColumns) && window->DC.ColumnsSet) { PushColumnClipRect(); bb_with_spacing.Max.x -= (GetContentRegionMax().x - max_x); @@ -8637,7 +10868,7 @@ bool ImGui::Selectable(const char* label, bool selected, ImGuiSelectableFlags fl if (flags & ImGuiSelectableFlags_Disabled) PopStyleColor(); // Automatically close popups - if (pressed && !(flags & ImGuiSelectableFlags_DontClosePopups) && (window->Flags & ImGuiWindowFlags_Popup)) + if (pressed && (window->Flags & ImGuiWindowFlags_Popup) && !(flags & ImGuiSelectableFlags_DontClosePopups) && !(window->DC.ItemFlags & ImGuiItemFlags_SelectableDontClosePopup)) CloseCurrentPopup(); return pressed; } @@ -8669,7 +10900,7 @@ bool ImGui::ListBoxHeader(const char* label, const ImVec2& size_arg) ImVec2 frame_size = ImVec2(size.x, ImMax(size.y, label_size.y)); ImRect frame_bb(window->DC.CursorPos, window->DC.CursorPos + frame_size); ImRect bb(frame_bb.Min, frame_bb.Max + ImVec2(label_size.x > 0.0f ? style.ItemInnerSpacing.x + label_size.x : 0.0f, 0.0f)); - window->DC.LastItemRect = bb; + window->DC.LastItemRect = bb; // Forward storage for ListBoxFooter.. dodgy. BeginGroup(); if (label_size.x > 0) @@ -8697,7 +10928,7 @@ bool ImGui::ListBoxHeader(const char* label, int items_count, int height_in_item void ImGui::ListBoxFooter() { - ImGuiWindow* parent_window = GetParentWindow(); + ImGuiWindow* parent_window = GetCurrentWindow()->ParentWindow; const ImRect bb = parent_window->DC.LastItemRect; const ImGuiStyle& style = GetStyle(); @@ -8711,7 +10942,7 @@ void ImGui::ListBoxFooter() EndGroup(); } -bool ImGui::ListBox(const char* label, int* current_item, const char* const* items, int items_count, int height_items) +bool ImGui::ListBox(const char* label, int* current_item, const char* const items[], int items_count, int height_items) { const bool value_changed = ListBox(label, current_item, Items_ArrayGetter, (void*)items, items_count, height_items); return value_changed; @@ -8724,7 +10955,7 @@ bool ImGui::ListBox(const char* label, int* current_item, bool (*items_getter)(v // Assume all items have even height (= 1 line of text). If you need items of different or variable sizes you can create a custom version of ListBox() in your code without using the clipper. bool value_changed = false; - ImGuiListClipper clipper(items_count, GetTextLineHeightWithSpacing()); + ImGuiListClipper clipper(items_count, GetTextLineHeightWithSpacing()); // We know exactly our line height here so we pass it as a minor optimization, but generally you don't need to. while (clipper.Step()) for (int i = clipper.DisplayStart; i < clipper.DisplayEnd; i++) { @@ -8739,6 +10970,8 @@ bool ImGui::ListBox(const char* label, int* current_item, bool (*items_getter)(v *current_item = i; value_changed = true; } + if (item_selected) + SetItemDefaultFocus(); PopID(); } ListBoxFooter(); @@ -8752,23 +10985,38 @@ bool ImGui::MenuItem(const char* label, const char* shortcut, bool selected, boo return false; ImGuiContext& g = *GImGui; + ImGuiStyle& style = g.Style; ImVec2 pos = window->DC.CursorPos; ImVec2 label_size = CalcTextSize(label, NULL, true); - ImVec2 shortcut_size = shortcut ? CalcTextSize(shortcut, NULL) : ImVec2(0.0f, 0.0f); - float w = window->MenuColumns.DeclColumns(label_size.x, shortcut_size.x, (float)(int)(g.FontSize * 1.20f)); // Feedback for next frame - float extra_w = ImMax(0.0f, GetContentRegionAvail().x - w); - bool pressed = Selectable(label, false, ImGuiSelectableFlags_MenuItem | ImGuiSelectableFlags_DrawFillAvailWidth | (enabled ? 0 : ImGuiSelectableFlags_Disabled), ImVec2(w, 0.0f)); - if (shortcut_size.x > 0.0f) + ImGuiSelectableFlags flags = ImGuiSelectableFlags_MenuItem | (enabled ? 0 : ImGuiSelectableFlags_Disabled); + bool pressed; + if (window->DC.LayoutType == ImGuiLayoutType_Horizontal) { - PushStyleColor(ImGuiCol_Text, g.Style.Colors[ImGuiCol_TextDisabled]); - RenderText(pos + ImVec2(window->MenuColumns.Pos[1] + extra_w, 0.0f), shortcut, NULL, false); - PopStyleColor(); + // Mimic the exact layout spacing of BeginMenu() to allow MenuItem() inside a menu bar, which is a little misleading but may be useful + // Note that in this situation we render neither the shortcut neither the selected tick mark + float w = label_size.x; + window->DC.CursorPos.x += (float)(int)(style.ItemSpacing.x * 0.5f); + PushStyleVar(ImGuiStyleVar_ItemSpacing, style.ItemSpacing * 2.0f); + pressed = Selectable(label, false, flags, ImVec2(w, 0.0f)); + PopStyleVar(); + window->DC.CursorPos.x += (float)(int)(style.ItemSpacing.x * (-1.0f + 0.5f)); // -1 spacing to compensate the spacing added when Selectable() did a SameLine(). It would also work to call SameLine() ourselves after the PopStyleVar(). + } + else + { + ImVec2 shortcut_size = shortcut ? CalcTextSize(shortcut, NULL) : ImVec2(0.0f, 0.0f); + float w = window->MenuColumns.DeclColumns(label_size.x, shortcut_size.x, (float)(int)(g.FontSize * 1.20f)); // Feedback for next frame + float extra_w = ImMax(0.0f, GetContentRegionAvail().x - w); + pressed = Selectable(label, false, flags | ImGuiSelectableFlags_DrawFillAvailWidth, ImVec2(w, 0.0f)); + if (shortcut_size.x > 0.0f) + { + PushStyleColor(ImGuiCol_Text, g.Style.Colors[ImGuiCol_TextDisabled]); + RenderText(pos + ImVec2(window->MenuColumns.Pos[1] + extra_w, 0.0f), shortcut, NULL, false); + PopStyleColor(); + } + if (selected) + RenderCheckMark(pos + ImVec2(window->MenuColumns.Pos[2] + extra_w + g.FontSize * 0.40f, g.FontSize * 0.134f * 0.5f), GetColorU32(enabled ? ImGuiCol_Text : ImGuiCol_TextDisabled), g.FontSize * 0.866f); } - - if (selected) - RenderCheckMark(pos + ImVec2(window->MenuColumns.Pos[2] + extra_w + g.FontSize * 0.20f, 0.0f), GetColorU32(enabled ? ImGuiCol_Text : ImGuiCol_TextDisabled)); - return pressed; } @@ -8804,6 +11052,12 @@ bool ImGui::BeginMainMenuBar() void ImGui::EndMainMenuBar() { EndMenuBar(); + + // When the user has left the menu layer (typically: closed menus through activation of an item), we restore focus to the previous window + ImGuiContext& g = *GImGui; + if (g.CurrentWindow == g.NavWindow && g.NavLayer == 0) + FocusFrontMostActiveWindow(g.NavWindow); + End(); PopStyleVar(2); } @@ -8819,12 +11073,20 @@ bool ImGui::BeginMenuBar() IM_ASSERT(!window->DC.MenuBarAppending); BeginGroup(); // Save position PushID("##menubar"); - ImRect rect = window->MenuBarRect(); - PushClipRect(ImVec2(ImFloor(rect.Min.x+0.5f), ImFloor(rect.Min.y + window->BorderSize + 0.5f)), ImVec2(ImFloor(rect.Max.x+0.5f), ImFloor(rect.Max.y+0.5f)), false); - window->DC.CursorPos = ImVec2(rect.Min.x + window->DC.MenuBarOffsetX, rect.Min.y);// + g.Style.FramePadding.y); + + // We don't clip with regular window clipping rectangle as it is already set to the area below. However we clip with window full rect. + // We remove 1 worth of rounding to Max.x to that text in long menus don't tend to display over the lower-right rounded area, which looks particularly glitchy. + ImRect bar_rect = window->MenuBarRect(); + ImRect clip_rect(ImFloor(bar_rect.Min.x + 0.5f), ImFloor(bar_rect.Min.y + window->WindowBorderSize + 0.5f), ImFloor(ImMax(bar_rect.Min.x, bar_rect.Max.x - window->WindowRounding) + 0.5f), ImFloor(bar_rect.Max.y + 0.5f)); + clip_rect.ClipWith(window->WindowRectClipped); + PushClipRect(clip_rect.Min, clip_rect.Max, false); + + window->DC.CursorPos = ImVec2(bar_rect.Min.x + window->DC.MenuBarOffsetX, bar_rect.Min.y);// + g.Style.FramePadding.y); window->DC.LayoutType = ImGuiLayoutType_Horizontal; + window->DC.NavLayerCurrent++; + window->DC.NavLayerCurrentMask <<= 1; window->DC.MenuBarAppending = true; - AlignFirstTextHeightToWidgets(); + AlignTextToFramePadding(); return true; } @@ -8833,6 +11095,27 @@ void ImGui::EndMenuBar() ImGuiWindow* window = GetCurrentWindow(); if (window->SkipItems) return; + ImGuiContext& g = *GImGui; + + // Nav: When a move request within one of our child menu failed, capture the request to navigate among our siblings. + if (NavMoveRequestButNoResultYet() && (g.NavMoveDir == ImGuiDir_Left || g.NavMoveDir == ImGuiDir_Right) && (g.NavWindow->Flags & ImGuiWindowFlags_ChildMenu)) + { + ImGuiWindow* nav_earliest_child = g.NavWindow; + while (nav_earliest_child->ParentWindow && (nav_earliest_child->ParentWindow->Flags & ImGuiWindowFlags_ChildMenu)) + nav_earliest_child = nav_earliest_child->ParentWindow; + if (nav_earliest_child->ParentWindow == window && nav_earliest_child->DC.ParentLayoutType == ImGuiLayoutType_Horizontal && g.NavMoveRequestForward == ImGuiNavForward_None) + { + // To do so we claim focus back, restore NavId and then process the movement request for yet another frame. + // This involve a one-frame delay which isn't very problematic in this situation. We could remove it by scoring in advance for multiple window (probably not worth the hassle/cost) + IM_ASSERT(window->DC.NavLayerActiveMaskNext & 0x02); // Sanity check + FocusWindow(window); + SetNavIDAndMoveMouse(window->NavLastIds[1], 1, window->NavRectRel[1]); + g.NavLayer = 1; + g.NavDisableHighlight = true; // Hide highlight for the current frame so we don't see the intermediary selection. + g.NavMoveRequestForward = ImGuiNavForward_ForwardQueued; + NavMoveRequestCancel(); + } + } IM_ASSERT(window->Flags & ImGuiWindowFlags_MenuBar); IM_ASSERT(window->DC.MenuBarAppending); @@ -8842,6 +11125,8 @@ void ImGui::EndMenuBar() window->DC.GroupStack.back().AdvanceCursor = false; EndGroup(); window->DC.LayoutType = ImGuiLayoutType_Vertical; + window->DC.NavLayerCurrent--; + window->DC.NavLayerCurrentMask >>= 1; window->DC.MenuBarAppending = false; } @@ -8856,48 +11141,51 @@ bool ImGui::BeginMenu(const char* label, bool enabled) const ImGuiID id = window->GetID(label); ImVec2 label_size = CalcTextSize(label, NULL, true); - ImGuiWindow* backed_focused_window = g.FocusedWindow; bool pressed; bool menu_is_open = IsPopupOpen(id); - bool menuset_is_open = !(window->Flags & ImGuiWindowFlags_Popup) && (g.OpenPopupStack.Size > g.CurrentPopupStack.Size && g.OpenPopupStack[g.CurrentPopupStack.Size].ParentMenuSet == window->GetID("##menus")); + bool menuset_is_open = !(window->Flags & ImGuiWindowFlags_Popup) && (g.OpenPopupStack.Size > g.CurrentPopupStack.Size && g.OpenPopupStack[g.CurrentPopupStack.Size].OpenParentId == window->IDStack.back()); + ImGuiWindow* backed_nav_window = g.NavWindow; if (menuset_is_open) - g.FocusedWindow = window; + g.NavWindow = window; // Odd hack to allow hovering across menus of a same menu-set (otherwise we wouldn't be able to hover parent) // The reference position stored in popup_pos will be used by Begin() to find a suitable position for the child menu (using FindBestPopupWindowPos). ImVec2 popup_pos, pos = window->DC.CursorPos; if (window->DC.LayoutType == ImGuiLayoutType_Horizontal) { + // Menu inside an horizontal menu bar + // Selectable extend their highlight by half ItemSpacing in each direction. + // For ChildMenu, the popup position will be overwritten by the call to FindBestPopupWindowPos() in Begin() popup_pos = ImVec2(pos.x - window->WindowPadding.x, pos.y - style.FramePadding.y + window->MenuBarHeight()); window->DC.CursorPos.x += (float)(int)(style.ItemSpacing.x * 0.5f); PushStyleVar(ImGuiStyleVar_ItemSpacing, style.ItemSpacing * 2.0f); float w = label_size.x; pressed = Selectable(label, menu_is_open, ImGuiSelectableFlags_Menu | ImGuiSelectableFlags_DontClosePopups | (!enabled ? ImGuiSelectableFlags_Disabled : 0), ImVec2(w, 0.0f)); PopStyleVar(); - SameLine(); - window->DC.CursorPos.x += (float)(int)(style.ItemSpacing.x * 0.5f); + window->DC.CursorPos.x += (float)(int)(style.ItemSpacing.x * (-1.0f + 0.5f)); // -1 spacing to compensate the spacing added when Selectable() did a SameLine(). It would also work to call SameLine() ourselves after the PopStyleVar(). } else { + // Menu inside a menu popup_pos = ImVec2(pos.x, pos.y - style.WindowPadding.y); float w = window->MenuColumns.DeclColumns(label_size.x, 0.0f, (float)(int)(g.FontSize * 1.20f)); // Feedback to next frame float extra_w = ImMax(0.0f, GetContentRegionAvail().x - w); pressed = Selectable(label, menu_is_open, ImGuiSelectableFlags_Menu | ImGuiSelectableFlags_DontClosePopups | ImGuiSelectableFlags_DrawFillAvailWidth | (!enabled ? ImGuiSelectableFlags_Disabled : 0), ImVec2(w, 0.0f)); if (!enabled) PushStyleColor(ImGuiCol_Text, g.Style.Colors[ImGuiCol_TextDisabled]); - RenderCollapseTriangle(pos + ImVec2(window->MenuColumns.Pos[2] + extra_w + g.FontSize * 0.20f, 0.0f), false); + RenderTriangle(pos + ImVec2(window->MenuColumns.Pos[2] + extra_w + g.FontSize * 0.30f, 0.0f), ImGuiDir_Right); if (!enabled) PopStyleColor(); } - bool hovered = enabled && IsHovered(window->DC.LastItemRect, id); + const bool hovered = enabled && ItemHoverable(window->DC.LastItemRect, id); if (menuset_is_open) - g.FocusedWindow = backed_focused_window; + g.NavWindow = backed_nav_window; bool want_open = false, want_close = false; - if (window->Flags & (ImGuiWindowFlags_Popup|ImGuiWindowFlags_ChildMenu)) + if (window->DC.LayoutType == ImGuiLayoutType_Vertical) // (window->Flags & (ImGuiWindowFlags_Popup|ImGuiWindowFlags_ChildMenu)) { // Implement http://bjk5.com/post/44698559168/breaking-down-amazons-mega-dropdown to avoid using timers, so menus feels more reactive. bool moving_within_opened_triangle = false; - if (g.HoveredWindow == window && g.OpenPopupStack.Size > g.CurrentPopupStack.Size && g.OpenPopupStack[g.CurrentPopupStack.Size].ParentWindow == window) + if (g.HoveredWindow == window && g.OpenPopupStack.Size > g.CurrentPopupStack.Size && g.OpenPopupStack[g.CurrentPopupStack.Size].ParentWindow == window && !(window->Flags & ImGuiWindowFlags_MenuBar)) { if (ImGuiWindow* next_window = g.OpenPopupStack[g.CurrentPopupStack.Size].Window) { @@ -8909,25 +11197,48 @@ bool ImGui::BeginMenu(const char* label, bool enabled) ta.x += (window->Pos.x < next_window->Pos.x) ? -0.5f : +0.5f; // to avoid numerical issues tb.y = ta.y + ImMax((tb.y - extra) - ta.y, -100.0f); // triangle is maximum 200 high to limit the slope and the bias toward large sub-menus // FIXME: Multiply by fb_scale? tc.y = ta.y + ImMin((tc.y + extra) - ta.y, +100.0f); - moving_within_opened_triangle = ImIsPointInTriangle(g.IO.MousePos, ta, tb, tc); + moving_within_opened_triangle = ImTriangleContainsPoint(ta, tb, tc, g.IO.MousePos); //window->DrawList->PushClipRectFullScreen(); window->DrawList->AddTriangleFilled(ta, tb, tc, moving_within_opened_triangle ? IM_COL32(0,128,0,128) : IM_COL32(128,0,0,128)); window->DrawList->PopClipRect(); // Debug } } want_close = (menu_is_open && !hovered && g.HoveredWindow == window && g.HoveredIdPreviousFrame != 0 && g.HoveredIdPreviousFrame != id && !moving_within_opened_triangle); want_open = (!menu_is_open && hovered && !moving_within_opened_triangle) || (!menu_is_open && hovered && pressed); + + if (g.NavActivateId == id) + { + want_close = menu_is_open; + want_open = !menu_is_open; + } + if (g.NavId == id && g.NavMoveRequest && g.NavMoveDir == ImGuiDir_Right) // Nav-Right to open + { + want_open = true; + NavMoveRequestCancel(); + } } - else if (menu_is_open && pressed && menuset_is_open) // menu-bar: click open menu to close + else { - want_close = true; - want_open = menu_is_open = false; + // Menu bar + if (menu_is_open && pressed && menuset_is_open) // Click an open menu again to close it + { + want_close = true; + want_open = menu_is_open = false; + } + else if (pressed || (hovered && menuset_is_open && !menu_is_open)) // First click to open, then hover to open others + { + want_open = true; + } + else if (g.NavId == id && g.NavMoveRequest && g.NavMoveDir == ImGuiDir_Down) // Nav-Down to open + { + want_open = true; + NavMoveRequestCancel(); + } } - else if (pressed || (hovered && menuset_is_open && !menu_is_open)) // menu-bar: first click to open, then hover to open others - want_open = true; + if (!enabled) // explicitly close if an open menu becomes disabled, facilitate users code a lot in pattern such as 'if (BeginMenu("options", has_object)) { ..use object.. }' want_close = true; if (want_close && IsPopupOpen(id)) - ClosePopupToLevel(GImGui->CurrentPopupStack.Size); + ClosePopupToLevel(g.CurrentPopupStack.Size); if (!menu_is_open && want_open && g.OpenPopupStack.Size > g.CurrentPopupStack.Size) { @@ -8942,9 +11253,9 @@ bool ImGui::BeginMenu(const char* label, bool enabled) if (menu_is_open) { - SetNextWindowPos(popup_pos, ImGuiSetCond_Always); - ImGuiWindowFlags flags = ImGuiWindowFlags_ShowBorders | ((window->Flags & (ImGuiWindowFlags_Popup|ImGuiWindowFlags_ChildMenu)) ? ImGuiWindowFlags_ChildMenu|ImGuiWindowFlags_ChildWindow : ImGuiWindowFlags_ChildMenu); - menu_is_open = BeginPopupEx(label, flags); // menu_is_open can be 'false' when the popup is completely clipped (e.g. zero size display) + SetNextWindowPos(popup_pos, ImGuiCond_Always); + ImGuiWindowFlags flags = ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoSavedSettings | ((window->Flags & (ImGuiWindowFlags_Popup|ImGuiWindowFlags_ChildMenu)) ? ImGuiWindowFlags_ChildMenu|ImGuiWindowFlags_ChildWindow : ImGuiWindowFlags_ChildMenu); + menu_is_open = BeginPopupEx(id, flags); // menu_is_open can be 'false' when the popup is completely clipped (e.g. zero size display) } return menu_is_open; @@ -8952,53 +11263,275 @@ bool ImGui::BeginMenu(const char* label, bool enabled) void ImGui::EndMenu() { + // Nav: When a left move request _within our child menu_ failed, close the menu. + // A menu doesn't close itself because EndMenuBar() wants the catch the last Left<>Right inputs. + // However it means that with the current code, a BeginMenu() from outside another menu or a menu-bar won't be closable with the Left direction. + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + if (g.NavWindow && g.NavWindow->ParentWindow == window && g.NavMoveDir == ImGuiDir_Left && NavMoveRequestButNoResultYet() && window->DC.LayoutType == ImGuiLayoutType_Vertical) + { + ClosePopupToLevel(g.OpenPopupStack.Size - 1); + NavMoveRequestCancel(); + } + EndPopup(); } +// Note: only access 3 floats if ImGuiColorEditFlags_NoAlpha flag is set. +void ImGui::ColorTooltip(const char* text, const float* col, ImGuiColorEditFlags flags) +{ + ImGuiContext& g = *GImGui; + + int cr = IM_F32_TO_INT8_SAT(col[0]), cg = IM_F32_TO_INT8_SAT(col[1]), cb = IM_F32_TO_INT8_SAT(col[2]), ca = (flags & ImGuiColorEditFlags_NoAlpha) ? 255 : IM_F32_TO_INT8_SAT(col[3]); + BeginTooltipEx(0, true); + + const char* text_end = text ? FindRenderedTextEnd(text, NULL) : text; + if (text_end > text) + { + TextUnformatted(text, text_end); + Separator(); + } + + ImVec2 sz(g.FontSize * 3 + g.Style.FramePadding.y * 2, g.FontSize * 3 + g.Style.FramePadding.y * 2); + ColorButton("##preview", ImVec4(col[0], col[1], col[2], col[3]), (flags & (ImGuiColorEditFlags_NoAlpha | ImGuiColorEditFlags_AlphaPreview | ImGuiColorEditFlags_AlphaPreviewHalf)) | ImGuiColorEditFlags_NoTooltip, sz); + SameLine(); + if (flags & ImGuiColorEditFlags_NoAlpha) + Text("#%02X%02X%02X\nR: %d, G: %d, B: %d\n(%.3f, %.3f, %.3f)", cr, cg, cb, cr, cg, cb, col[0], col[1], col[2]); + else + Text("#%02X%02X%02X%02X\nR:%d, G:%d, B:%d, A:%d\n(%.3f, %.3f, %.3f, %.3f)", cr, cg, cb, ca, cr, cg, cb, ca, col[0], col[1], col[2], col[3]); + EndTooltip(); +} + +static inline ImU32 ImAlphaBlendColor(ImU32 col_a, ImU32 col_b) +{ + float t = ((col_b >> IM_COL32_A_SHIFT) & 0xFF) / 255.f; + int r = ImLerp((int)(col_a >> IM_COL32_R_SHIFT) & 0xFF, (int)(col_b >> IM_COL32_R_SHIFT) & 0xFF, t); + int g = ImLerp((int)(col_a >> IM_COL32_G_SHIFT) & 0xFF, (int)(col_b >> IM_COL32_G_SHIFT) & 0xFF, t); + int b = ImLerp((int)(col_a >> IM_COL32_B_SHIFT) & 0xFF, (int)(col_b >> IM_COL32_B_SHIFT) & 0xFF, t); + return IM_COL32(r, g, b, 0xFF); +} + +// NB: This is rather brittle and will show artifact when rounding this enabled if rounded corners overlap multiple cells. Caller currently responsible for avoiding that. +// I spent a non reasonable amount of time trying to getting this right for ColorButton with rounding+anti-aliasing+ImGuiColorEditFlags_HalfAlphaPreview flag + various grid sizes and offsets, and eventually gave up... probably more reasonable to disable rounding alltogether. +void ImGui::RenderColorRectWithAlphaCheckerboard(ImVec2 p_min, ImVec2 p_max, ImU32 col, float grid_step, ImVec2 grid_off, float rounding, int rounding_corners_flags) +{ + ImGuiWindow* window = GetCurrentWindow(); + if (((col & IM_COL32_A_MASK) >> IM_COL32_A_SHIFT) < 0xFF) + { + ImU32 col_bg1 = GetColorU32(ImAlphaBlendColor(IM_COL32(204,204,204,255), col)); + ImU32 col_bg2 = GetColorU32(ImAlphaBlendColor(IM_COL32(128,128,128,255), col)); + window->DrawList->AddRectFilled(p_min, p_max, col_bg1, rounding, rounding_corners_flags); + + int yi = 0; + for (float y = p_min.y + grid_off.y; y < p_max.y; y += grid_step, yi++) + { + float y1 = ImClamp(y, p_min.y, p_max.y), y2 = ImMin(y + grid_step, p_max.y); + if (y2 <= y1) + continue; + for (float x = p_min.x + grid_off.x + (yi & 1) * grid_step; x < p_max.x; x += grid_step * 2.0f) + { + float x1 = ImClamp(x, p_min.x, p_max.x), x2 = ImMin(x + grid_step, p_max.x); + if (x2 <= x1) + continue; + int rounding_corners_flags_cell = 0; + if (y1 <= p_min.y) { if (x1 <= p_min.x) rounding_corners_flags_cell |= ImDrawCornerFlags_TopLeft; if (x2 >= p_max.x) rounding_corners_flags_cell |= ImDrawCornerFlags_TopRight; } + if (y2 >= p_max.y) { if (x1 <= p_min.x) rounding_corners_flags_cell |= ImDrawCornerFlags_BotLeft; if (x2 >= p_max.x) rounding_corners_flags_cell |= ImDrawCornerFlags_BotRight; } + rounding_corners_flags_cell &= rounding_corners_flags; + window->DrawList->AddRectFilled(ImVec2(x1,y1), ImVec2(x2,y2), col_bg2, rounding_corners_flags_cell ? rounding : 0.0f, rounding_corners_flags_cell); + } + } + } + else + { + window->DrawList->AddRectFilled(p_min, p_max, col, rounding, rounding_corners_flags); + } +} + +void ImGui::SetColorEditOptions(ImGuiColorEditFlags flags) +{ + ImGuiContext& g = *GImGui; + if ((flags & ImGuiColorEditFlags__InputsMask) == 0) + flags |= ImGuiColorEditFlags__OptionsDefault & ImGuiColorEditFlags__InputsMask; + if ((flags & ImGuiColorEditFlags__DataTypeMask) == 0) + flags |= ImGuiColorEditFlags__OptionsDefault & ImGuiColorEditFlags__DataTypeMask; + if ((flags & ImGuiColorEditFlags__PickerMask) == 0) + flags |= ImGuiColorEditFlags__OptionsDefault & ImGuiColorEditFlags__PickerMask; + IM_ASSERT(ImIsPowerOfTwo((int)(flags & ImGuiColorEditFlags__InputsMask))); // Check only 1 option is selected + IM_ASSERT(ImIsPowerOfTwo((int)(flags & ImGuiColorEditFlags__DataTypeMask))); // Check only 1 option is selected + IM_ASSERT(ImIsPowerOfTwo((int)(flags & ImGuiColorEditFlags__PickerMask))); // Check only 1 option is selected + g.ColorEditOptions = flags; +} + // A little colored square. Return true when clicked. // FIXME: May want to display/ignore the alpha component in the color display? Yet show it in the tooltip. -bool ImGui::ColorButton(const ImVec4& col, bool small_height, bool outline_border) +// 'desc_id' is not called 'label' because we don't display it next to the button, but only in the tooltip. +bool ImGui::ColorButton(const char* desc_id, const ImVec4& col, ImGuiColorEditFlags flags, ImVec2 size) { ImGuiWindow* window = GetCurrentWindow(); if (window->SkipItems) return false; ImGuiContext& g = *GImGui; - const ImGuiStyle& style = g.Style; - const ImGuiID id = window->GetID("#colorbutton"); - const float square_size = g.FontSize; - const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + ImVec2(square_size + style.FramePadding.y*2, square_size + (small_height ? 0 : style.FramePadding.y*2))); - ItemSize(bb, small_height ? 0.0f : style.FramePadding.y); - if (!ItemAdd(bb, &id)) + const ImGuiID id = window->GetID(desc_id); + float default_size = GetFrameHeight(); + if (size.x == 0.0f) + size.x = default_size; + if (size.y == 0.0f) + size.y = default_size; + const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + size); + ItemSize(bb, (size.y >= default_size) ? g.Style.FramePadding.y : 0.0f); + if (!ItemAdd(bb, id)) return false; bool hovered, held; bool pressed = ButtonBehavior(bb, id, &hovered, &held); - RenderFrame(bb.Min, bb.Max, GetColorU32(col), outline_border, style.FrameRounding); - if (hovered) - SetTooltip("Color:\n(%.2f,%.2f,%.2f,%.2f)\n#%02X%02X%02X%02X", col.x, col.y, col.z, col.w, IM_F32_TO_INT8_SAT(col.x), IM_F32_TO_INT8_SAT(col.y), IM_F32_TO_INT8_SAT(col.z), IM_F32_TO_INT8_SAT(col.w)); + if (flags & ImGuiColorEditFlags_NoAlpha) + flags &= ~(ImGuiColorEditFlags_AlphaPreview | ImGuiColorEditFlags_AlphaPreviewHalf); + + ImVec4 col_without_alpha(col.x, col.y, col.z, 1.0f); + float grid_step = ImMin(size.x, size.y) / 2.99f; + float rounding = ImMin(g.Style.FrameRounding, grid_step * 0.5f); + ImRect bb_inner = bb; + float off = -0.75f; // The border (using Col_FrameBg) tends to look off when color is near-opaque and rounding is enabled. This offset seemed like a good middle ground to reduce those artifacts. + bb_inner.Expand(off); + if ((flags & ImGuiColorEditFlags_AlphaPreviewHalf) && col.w < 1.0f) + { + float mid_x = (float)(int)((bb_inner.Min.x + bb_inner.Max.x) * 0.5f + 0.5f); + RenderColorRectWithAlphaCheckerboard(ImVec2(bb_inner.Min.x + grid_step, bb_inner.Min.y), bb_inner.Max, GetColorU32(col), grid_step, ImVec2(-grid_step + off, off), rounding, ImDrawCornerFlags_TopRight| ImDrawCornerFlags_BotRight); + window->DrawList->AddRectFilled(bb_inner.Min, ImVec2(mid_x, bb_inner.Max.y), GetColorU32(col_without_alpha), rounding, ImDrawCornerFlags_TopLeft|ImDrawCornerFlags_BotLeft); + } + else + { + // Because GetColorU32() multiplies by the global style Alpha and we don't want to display a checkerboard if the source code had no alpha + ImVec4 col_source = (flags & ImGuiColorEditFlags_AlphaPreview) ? col : col_without_alpha; + if (col_source.w < 1.0f) + RenderColorRectWithAlphaCheckerboard(bb_inner.Min, bb_inner.Max, GetColorU32(col_source), grid_step, ImVec2(off, off), rounding); + else + window->DrawList->AddRectFilled(bb_inner.Min, bb_inner.Max, GetColorU32(col_source), rounding, ImDrawCornerFlags_All); + } + RenderNavHighlight(bb, id); + if (g.Style.FrameBorderSize > 0.0f) + RenderFrameBorder(bb.Min, bb.Max, rounding); + else + window->DrawList->AddRect(bb.Min, bb.Max, GetColorU32(ImGuiCol_FrameBg), rounding); // Color button are often in need of some sort of border + + // Drag and Drop Source + if (g.ActiveId == id && BeginDragDropSource()) // NB: The ActiveId test is merely an optional micro-optimization + { + if (flags & ImGuiColorEditFlags_NoAlpha) + SetDragDropPayload(IMGUI_PAYLOAD_TYPE_COLOR_3F, &col, sizeof(float) * 3, ImGuiCond_Once); + else + SetDragDropPayload(IMGUI_PAYLOAD_TYPE_COLOR_4F, &col, sizeof(float) * 4, ImGuiCond_Once); + ColorButton(desc_id, col, flags); + SameLine(); + TextUnformatted("Color"); + EndDragDropSource(); + hovered = false; + } + + // Tooltip + if (!(flags & ImGuiColorEditFlags_NoTooltip) && hovered) + ColorTooltip(desc_id, &col.x, flags & (ImGuiColorEditFlags_NoAlpha | ImGuiColorEditFlags_AlphaPreview | ImGuiColorEditFlags_AlphaPreviewHalf)); return pressed; } -bool ImGui::ColorEdit3(const char* label, float col[3]) +bool ImGui::ColorEdit3(const char* label, float col[3], ImGuiColorEditFlags flags) { - float col4[4]; - col4[0] = col[0]; - col4[1] = col[1]; - col4[2] = col[2]; - col4[3] = 1.0f; - const bool value_changed = ColorEdit4(label, col4, false); - col[0] = col4[0]; - col[1] = col4[1]; - col[2] = col4[2]; - return value_changed; + return ColorEdit4(label, col, flags | ImGuiColorEditFlags_NoAlpha); } -// Edit colors components (each component in 0.0f..1.0f range -// Use CTRL-Click to input value and TAB to go to next item. -bool ImGui::ColorEdit4(const char* label, float col[4], bool alpha) +void ImGui::ColorEditOptionsPopup(const float* col, ImGuiColorEditFlags flags) +{ + bool allow_opt_inputs = !(flags & ImGuiColorEditFlags__InputsMask); + bool allow_opt_datatype = !(flags & ImGuiColorEditFlags__DataTypeMask); + if ((!allow_opt_inputs && !allow_opt_datatype) || !BeginPopup("context")) + return; + ImGuiContext& g = *GImGui; + ImGuiColorEditFlags opts = g.ColorEditOptions; + if (allow_opt_inputs) + { + if (RadioButton("RGB", (opts & ImGuiColorEditFlags_RGB) ? 1 : 0)) opts = (opts & ~ImGuiColorEditFlags__InputsMask) | ImGuiColorEditFlags_RGB; + if (RadioButton("HSV", (opts & ImGuiColorEditFlags_HSV) ? 1 : 0)) opts = (opts & ~ImGuiColorEditFlags__InputsMask) | ImGuiColorEditFlags_HSV; + if (RadioButton("HEX", (opts & ImGuiColorEditFlags_HEX) ? 1 : 0)) opts = (opts & ~ImGuiColorEditFlags__InputsMask) | ImGuiColorEditFlags_HEX; + } + if (allow_opt_datatype) + { + if (allow_opt_inputs) Separator(); + if (RadioButton("0..255", (opts & ImGuiColorEditFlags_Uint8) ? 1 : 0)) opts = (opts & ~ImGuiColorEditFlags__DataTypeMask) | ImGuiColorEditFlags_Uint8; + if (RadioButton("0.00..1.00", (opts & ImGuiColorEditFlags_Float) ? 1 : 0)) opts = (opts & ~ImGuiColorEditFlags__DataTypeMask) | ImGuiColorEditFlags_Float; + } + + if (allow_opt_inputs || allow_opt_datatype) + Separator(); + if (Button("Copy as..", ImVec2(-1,0))) + OpenPopup("Copy"); + if (BeginPopup("Copy")) + { + int cr = IM_F32_TO_INT8_SAT(col[0]), cg = IM_F32_TO_INT8_SAT(col[1]), cb = IM_F32_TO_INT8_SAT(col[2]), ca = (flags & ImGuiColorEditFlags_NoAlpha) ? 255 : IM_F32_TO_INT8_SAT(col[3]); + char buf[64]; + ImFormatString(buf, IM_ARRAYSIZE(buf), "(%.3ff, %.3ff, %.3ff, %.3ff)", col[0], col[1], col[2], (flags & ImGuiColorEditFlags_NoAlpha) ? 1.0f : col[3]); + if (Selectable(buf)) + SetClipboardText(buf); + ImFormatString(buf, IM_ARRAYSIZE(buf), "(%d,%d,%d,%d)", cr, cg, cb, ca); + if (Selectable(buf)) + SetClipboardText(buf); + if (flags & ImGuiColorEditFlags_NoAlpha) + ImFormatString(buf, IM_ARRAYSIZE(buf), "0x%02X%02X%02X", cr, cg, cb); + else + ImFormatString(buf, IM_ARRAYSIZE(buf), "0x%02X%02X%02X%02X", cr, cg, cb, ca); + if (Selectable(buf)) + SetClipboardText(buf); + EndPopup(); + } + + g.ColorEditOptions = opts; + EndPopup(); +} + +static void ColorPickerOptionsPopup(ImGuiColorEditFlags flags, const float* ref_col) +{ + bool allow_opt_picker = !(flags & ImGuiColorEditFlags__PickerMask); + bool allow_opt_alpha_bar = !(flags & ImGuiColorEditFlags_NoAlpha) && !(flags & ImGuiColorEditFlags_AlphaBar); + if ((!allow_opt_picker && !allow_opt_alpha_bar) || !ImGui::BeginPopup("context")) + return; + ImGuiContext& g = *GImGui; + if (allow_opt_picker) + { + ImVec2 picker_size(g.FontSize * 8, ImMax(g.FontSize * 8 - (ImGui::GetFrameHeight() + g.Style.ItemInnerSpacing.x), 1.0f)); // FIXME: Picker size copied from main picker function + ImGui::PushItemWidth(picker_size.x); + for (int picker_type = 0; picker_type < 2; picker_type++) + { + // Draw small/thumbnail version of each picker type (over an invisible button for selection) + if (picker_type > 0) ImGui::Separator(); + ImGui::PushID(picker_type); + ImGuiColorEditFlags picker_flags = ImGuiColorEditFlags_NoInputs|ImGuiColorEditFlags_NoOptions|ImGuiColorEditFlags_NoLabel|ImGuiColorEditFlags_NoSidePreview|(flags & ImGuiColorEditFlags_NoAlpha); + if (picker_type == 0) picker_flags |= ImGuiColorEditFlags_PickerHueBar; + if (picker_type == 1) picker_flags |= ImGuiColorEditFlags_PickerHueWheel; + ImVec2 backup_pos = ImGui::GetCursorScreenPos(); + if (ImGui::Selectable("##selectable", false, 0, picker_size)) // By default, Selectable() is closing popup + g.ColorEditOptions = (g.ColorEditOptions & ~ImGuiColorEditFlags__PickerMask) | (picker_flags & ImGuiColorEditFlags__PickerMask); + ImGui::SetCursorScreenPos(backup_pos); + ImVec4 dummy_ref_col; + memcpy(&dummy_ref_col.x, ref_col, sizeof(float) * (picker_flags & ImGuiColorEditFlags_NoAlpha ? 3 : 4)); + ImGui::ColorPicker4("##dummypicker", &dummy_ref_col.x, picker_flags); + ImGui::PopID(); + } + ImGui::PopItemWidth(); + } + if (allow_opt_alpha_bar) + { + if (allow_opt_picker) ImGui::Separator(); + ImGui::CheckboxFlags("Alpha Bar", (unsigned int*)&g.ColorEditOptions, ImGuiColorEditFlags_AlphaBar); + } + ImGui::EndPopup(); +} + +// Edit colors components (each component in 0.0f..1.0f range). +// See enum ImGuiColorEditFlags_ for available options. e.g. Only access 3 floats if ImGuiColorEditFlags_NoAlpha flag is set. +// With typical options: Left-click on colored square to open color picker. Right-click to open option menu. CTRL-Click over input fields to edit them and TAB to go to next item. +bool ImGui::ColorEdit4(const char* label, float col[4], ImGuiColorEditFlags flags) { ImGuiWindow* window = GetCurrentWindow(); if (window->SkipItems) @@ -9006,137 +11539,520 @@ bool ImGui::ColorEdit4(const char* label, float col[4], bool alpha) ImGuiContext& g = *GImGui; const ImGuiStyle& style = g.Style; - const ImGuiID id = window->GetID(label); - const float w_full = CalcItemWidth(); - const float square_sz = (g.FontSize + style.FramePadding.y * 2.0f); + const float square_sz = GetFrameHeight(); + const float w_extra = (flags & ImGuiColorEditFlags_NoSmallPreview) ? 0.0f : (square_sz + style.ItemInnerSpacing.x); + const float w_items_all = CalcItemWidth() - w_extra; + const char* label_display_end = FindRenderedTextEnd(label); - ImGuiColorEditMode edit_mode = window->DC.ColorEditMode; - if (edit_mode == ImGuiColorEditMode_UserSelect || edit_mode == ImGuiColorEditMode_UserSelectShowButton) - edit_mode = g.ColorEditModeStorage.GetInt(id, 0) % 3; - - float f[4] = { col[0], col[1], col[2], col[3] }; - if (edit_mode == ImGuiColorEditMode_HSV) - ColorConvertRGBtoHSV(f[0], f[1], f[2], f[0], f[1], f[2]); - - int i[4] = { IM_F32_TO_INT8_UNBOUND(f[0]), IM_F32_TO_INT8_UNBOUND(f[1]), IM_F32_TO_INT8_UNBOUND(f[2]), IM_F32_TO_INT8_UNBOUND(f[3]) }; - - int components = alpha ? 4 : 3; - bool value_changed = false; + const bool alpha = (flags & ImGuiColorEditFlags_NoAlpha) == 0; + const bool hdr = (flags & ImGuiColorEditFlags_HDR) != 0; + const int components = alpha ? 4 : 3; + const ImGuiColorEditFlags flags_untouched = flags; BeginGroup(); PushID(label); - const bool hsv = (edit_mode == 1); - switch (edit_mode) + // If we're not showing any slider there's no point in doing any HSV conversions + if (flags & ImGuiColorEditFlags_NoInputs) + flags = (flags & (~ImGuiColorEditFlags__InputsMask)) | ImGuiColorEditFlags_RGB | ImGuiColorEditFlags_NoOptions; + + // Context menu: display and modify options (before defaults are applied) + if (!(flags & ImGuiColorEditFlags_NoOptions)) + ColorEditOptionsPopup(col, flags); + + // Read stored options + if (!(flags & ImGuiColorEditFlags__InputsMask)) + flags |= (g.ColorEditOptions & ImGuiColorEditFlags__InputsMask); + if (!(flags & ImGuiColorEditFlags__DataTypeMask)) + flags |= (g.ColorEditOptions & ImGuiColorEditFlags__DataTypeMask); + if (!(flags & ImGuiColorEditFlags__PickerMask)) + flags |= (g.ColorEditOptions & ImGuiColorEditFlags__PickerMask); + flags |= (g.ColorEditOptions & ~(ImGuiColorEditFlags__InputsMask | ImGuiColorEditFlags__DataTypeMask | ImGuiColorEditFlags__PickerMask)); + + // Convert to the formats we need + float f[4] = { col[0], col[1], col[2], alpha ? col[3] : 1.0f }; + if (flags & ImGuiColorEditFlags_HSV) + ColorConvertRGBtoHSV(f[0], f[1], f[2], f[0], f[1], f[2]); + int i[4] = { IM_F32_TO_INT8_UNBOUND(f[0]), IM_F32_TO_INT8_UNBOUND(f[1]), IM_F32_TO_INT8_UNBOUND(f[2]), IM_F32_TO_INT8_UNBOUND(f[3]) }; + + bool value_changed = false; + bool value_changed_as_float = false; + + if ((flags & (ImGuiColorEditFlags_RGB | ImGuiColorEditFlags_HSV)) != 0 && (flags & ImGuiColorEditFlags_NoInputs) == 0) { - case ImGuiColorEditMode_RGB: - case ImGuiColorEditMode_HSV: - { - // RGB/HSV 0..255 Sliders - const float w_items_all = w_full - (square_sz + style.ItemInnerSpacing.x); - const float w_item_one = ImMax(1.0f, (float)(int)((w_items_all - (style.ItemInnerSpacing.x) * (components-1)) / (float)components)); - const float w_item_last = ImMax(1.0f, (float)(int)(w_items_all - (w_item_one + style.ItemInnerSpacing.x) * (components-1))); + // RGB/HSV 0..255 Sliders + const float w_item_one = ImMax(1.0f, (float)(int)((w_items_all - (style.ItemInnerSpacing.x) * (components-1)) / (float)components)); + const float w_item_last = ImMax(1.0f, (float)(int)(w_items_all - (w_item_one + style.ItemInnerSpacing.x) * (components-1))); - const bool hide_prefix = (w_item_one <= CalcTextSize("M:999").x); - const char* ids[4] = { "##X", "##Y", "##Z", "##W" }; - const char* fmt_table[3][4] = - { - { "%3.0f", "%3.0f", "%3.0f", "%3.0f" }, - { "R:%3.0f", "G:%3.0f", "B:%3.0f", "A:%3.0f" }, - { "H:%3.0f", "S:%3.0f", "V:%3.0f", "A:%3.0f" } - }; - const char** fmt = hide_prefix ? fmt_table[0] : hsv ? fmt_table[2] : fmt_table[1]; - - PushItemWidth(w_item_one); - for (int n = 0; n < components; n++) - { - if (n > 0) - SameLine(0, style.ItemInnerSpacing.x); - if (n + 1 == components) - PushItemWidth(w_item_last); - value_changed |= DragInt(ids[n], &i[n], 1.0f, 0, 255, fmt[n]); - } - PopItemWidth(); - PopItemWidth(); - } - break; - case ImGuiColorEditMode_HEX: + const bool hide_prefix = (w_item_one <= CalcTextSize((flags & ImGuiColorEditFlags_Float) ? "M:0.000" : "M:000").x); + const char* ids[4] = { "##X", "##Y", "##Z", "##W" }; + const char* fmt_table_int[3][4] = { - // RGB Hexadecimal Input - const float w_slider_all = w_full - square_sz; - char buf[64]; - if (alpha) - ImFormatString(buf, IM_ARRAYSIZE(buf), "#%02X%02X%02X%02X", i[0], i[1], i[2], i[3]); + { "%3.0f", "%3.0f", "%3.0f", "%3.0f" }, // Short display + { "R:%3.0f", "G:%3.0f", "B:%3.0f", "A:%3.0f" }, // Long display for RGBA + { "H:%3.0f", "S:%3.0f", "V:%3.0f", "A:%3.0f" } // Long display for HSVA + }; + const char* fmt_table_float[3][4] = + { + { "%0.3f", "%0.3f", "%0.3f", "%0.3f" }, // Short display + { "R:%0.3f", "G:%0.3f", "B:%0.3f", "A:%0.3f" }, // Long display for RGBA + { "H:%0.3f", "S:%0.3f", "V:%0.3f", "A:%0.3f" } // Long display for HSVA + }; + const int fmt_idx = hide_prefix ? 0 : (flags & ImGuiColorEditFlags_HSV) ? 2 : 1; + + PushItemWidth(w_item_one); + for (int n = 0; n < components; n++) + { + if (n > 0) + SameLine(0, style.ItemInnerSpacing.x); + if (n + 1 == components) + PushItemWidth(w_item_last); + if (flags & ImGuiColorEditFlags_Float) + value_changed = value_changed_as_float = value_changed | DragFloat(ids[n], &f[n], 1.0f/255.0f, 0.0f, hdr ? 0.0f : 1.0f, fmt_table_float[fmt_idx][n]); else - ImFormatString(buf, IM_ARRAYSIZE(buf), "#%02X%02X%02X", i[0], i[1], i[2]); - PushItemWidth(w_slider_all - style.ItemInnerSpacing.x); - if (InputText("##Text", buf, IM_ARRAYSIZE(buf), ImGuiInputTextFlags_CharsHexadecimal | ImGuiInputTextFlags_CharsUppercase)) - { - value_changed |= true; - char* p = buf; - while (*p == '#' || ImCharIsSpace(*p)) - p++; - i[0] = i[1] = i[2] = i[3] = 0; - if (alpha) - sscanf(p, "%02X%02X%02X%02X", (unsigned int*)&i[0], (unsigned int*)&i[1], (unsigned int*)&i[2], (unsigned int*)&i[3]); // Treat at unsigned (%X is unsigned) - else - sscanf(p, "%02X%02X%02X", (unsigned int*)&i[0], (unsigned int*)&i[1], (unsigned int*)&i[2]); - } - PopItemWidth(); + value_changed |= DragInt(ids[n], &i[n], 1.0f, 0, hdr ? 0 : 255, fmt_table_int[fmt_idx][n]); + if (!(flags & ImGuiColorEditFlags_NoOptions)) + OpenPopupOnItemClick("context"); } - break; + PopItemWidth(); + PopItemWidth(); + } + else if ((flags & ImGuiColorEditFlags_HEX) != 0 && (flags & ImGuiColorEditFlags_NoInputs) == 0) + { + // RGB Hexadecimal Input + char buf[64]; + if (alpha) + ImFormatString(buf, IM_ARRAYSIZE(buf), "#%02X%02X%02X%02X", ImClamp(i[0],0,255), ImClamp(i[1],0,255), ImClamp(i[2],0,255), ImClamp(i[3],0,255)); + else + ImFormatString(buf, IM_ARRAYSIZE(buf), "#%02X%02X%02X", ImClamp(i[0],0,255), ImClamp(i[1],0,255), ImClamp(i[2],0,255)); + PushItemWidth(w_items_all); + if (InputText("##Text", buf, IM_ARRAYSIZE(buf), ImGuiInputTextFlags_CharsHexadecimal | ImGuiInputTextFlags_CharsUppercase)) + { + value_changed = true; + char* p = buf; + while (*p == '#' || ImCharIsSpace(*p)) + p++; + i[0] = i[1] = i[2] = i[3] = 0; + if (alpha) + sscanf(p, "%02X%02X%02X%02X", (unsigned int*)&i[0], (unsigned int*)&i[1], (unsigned int*)&i[2], (unsigned int*)&i[3]); // Treat at unsigned (%X is unsigned) + else + sscanf(p, "%02X%02X%02X", (unsigned int*)&i[0], (unsigned int*)&i[1], (unsigned int*)&i[2]); + } + if (!(flags & ImGuiColorEditFlags_NoOptions)) + OpenPopupOnItemClick("context"); + PopItemWidth(); } - SameLine(0, style.ItemInnerSpacing.x); + ImGuiWindow* picker_active_window = NULL; + if (!(flags & ImGuiColorEditFlags_NoSmallPreview)) + { + if (!(flags & ImGuiColorEditFlags_NoInputs)) + SameLine(0, style.ItemInnerSpacing.x); - const ImVec4 col_display(col[0], col[1], col[2], 1.0f); - if (ColorButton(col_display)) - g.ColorEditModeStorage.SetInt(id, (edit_mode + 1) % 3); // Don't set local copy of 'edit_mode' right away! + const ImVec4 col_v4(col[0], col[1], col[2], alpha ? col[3] : 1.0f); + if (ColorButton("##ColorButton", col_v4, flags)) + { + if (!(flags & ImGuiColorEditFlags_NoPicker)) + { + // Store current color and open a picker + g.ColorPickerRef = col_v4; + OpenPopup("picker"); + SetNextWindowPos(window->DC.LastItemRect.GetBL() + ImVec2(-1,style.ItemSpacing.y)); + } + } + if (!(flags & ImGuiColorEditFlags_NoOptions)) + OpenPopupOnItemClick("context"); + + if (BeginPopup("picker")) + { + picker_active_window = g.CurrentWindow; + if (label != label_display_end) + { + TextUnformatted(label, label_display_end); + Separator(); + } + ImGuiColorEditFlags picker_flags_to_forward = ImGuiColorEditFlags__DataTypeMask | ImGuiColorEditFlags__PickerMask | ImGuiColorEditFlags_HDR | ImGuiColorEditFlags_NoAlpha | ImGuiColorEditFlags_AlphaBar; + ImGuiColorEditFlags picker_flags = (flags_untouched & picker_flags_to_forward) | ImGuiColorEditFlags__InputsMask | ImGuiColorEditFlags_NoLabel | ImGuiColorEditFlags_AlphaPreviewHalf; + PushItemWidth(square_sz * 12.0f); // Use 256 + bar sizes? + value_changed |= ColorPicker4("##picker", col, picker_flags, &g.ColorPickerRef.x); + PopItemWidth(); + EndPopup(); + } + } - // Recreate our own tooltip over's ColorButton() one because we want to display correct alpha here - if (IsItemHovered()) - SetTooltip("Color:\n(%.2f,%.2f,%.2f,%.2f)\n#%02X%02X%02X%02X", col[0], col[1], col[2], col[3], IM_F32_TO_INT8_SAT(col[0]), IM_F32_TO_INT8_SAT(col[1]), IM_F32_TO_INT8_SAT(col[2]), IM_F32_TO_INT8_SAT(col[3])); - - if (window->DC.ColorEditMode == ImGuiColorEditMode_UserSelectShowButton) + if (label != label_display_end && !(flags & ImGuiColorEditFlags_NoLabel)) { SameLine(0, style.ItemInnerSpacing.x); - const char* button_titles[3] = { "RGB", "HSV", "HEX" }; - if (ButtonEx(button_titles[edit_mode], ImVec2(0,0), ImGuiButtonFlags_DontClosePopups)) - g.ColorEditModeStorage.SetInt(id, (edit_mode + 1) % 3); // Don't set local copy of 'edit_mode' right away! - } - - const char* label_display_end = FindRenderedTextEnd(label); - if (label != label_display_end) - { - SameLine(0, (window->DC.ColorEditMode == ImGuiColorEditMode_UserSelectShowButton) ? -1.0f : style.ItemInnerSpacing.x); TextUnformatted(label, label_display_end); } // Convert back - for (int n = 0; n < 4; n++) - f[n] = i[n] / 255.0f; - if (edit_mode == 1) - ColorConvertHSVtoRGB(f[0], f[1], f[2], f[0], f[1], f[2]); - - if (value_changed) + if (picker_active_window == NULL) { - col[0] = f[0]; - col[1] = f[1]; - col[2] = f[2]; - if (alpha) - col[3] = f[3]; + if (!value_changed_as_float) + for (int n = 0; n < 4; n++) + f[n] = i[n] / 255.0f; + if (flags & ImGuiColorEditFlags_HSV) + ColorConvertHSVtoRGB(f[0], f[1], f[2], f[0], f[1], f[2]); + if (value_changed) + { + col[0] = f[0]; + col[1] = f[1]; + col[2] = f[2]; + if (alpha) + col[3] = f[3]; + } } PopID(); EndGroup(); + // Drag and Drop Target + if ((window->DC.LastItemStatusFlags & ImGuiItemStatusFlags_HoveredRect) && BeginDragDropTarget()) // NB: The flag test is merely an optional micro-optimization, BeginDragDropTarget() does the same test. + { + if (const ImGuiPayload* payload = AcceptDragDropPayload(IMGUI_PAYLOAD_TYPE_COLOR_3F)) + { + memcpy((float*)col, payload->Data, sizeof(float) * 3); + value_changed = true; + } + if (const ImGuiPayload* payload = AcceptDragDropPayload(IMGUI_PAYLOAD_TYPE_COLOR_4F)) + { + memcpy((float*)col, payload->Data, sizeof(float) * components); + value_changed = true; + } + EndDragDropTarget(); + } + + // When picker is being actively used, use its active id so IsItemActive() will function on ColorEdit4(). + if (picker_active_window && g.ActiveId != 0 && g.ActiveIdWindow == picker_active_window) + window->DC.LastItemId = g.ActiveId; + return value_changed; } -void ImGui::ColorEditMode(ImGuiColorEditMode mode) +bool ImGui::ColorPicker3(const char* label, float col[3], ImGuiColorEditFlags flags) { + float col4[4] = { col[0], col[1], col[2], 1.0f }; + if (!ColorPicker4(label, col4, flags | ImGuiColorEditFlags_NoAlpha)) + return false; + col[0] = col4[0]; col[1] = col4[1]; col[2] = col4[2]; + return true; +} + +// 'pos' is position of the arrow tip. half_sz.x is length from base to tip. half_sz.y is length on each side. +static void RenderArrow(ImDrawList* draw_list, ImVec2 pos, ImVec2 half_sz, ImGuiDir direction, ImU32 col) +{ + switch (direction) + { + case ImGuiDir_Left: draw_list->AddTriangleFilled(ImVec2(pos.x + half_sz.x, pos.y - half_sz.y), ImVec2(pos.x + half_sz.x, pos.y + half_sz.y), pos, col); return; + case ImGuiDir_Right: draw_list->AddTriangleFilled(ImVec2(pos.x - half_sz.x, pos.y + half_sz.y), ImVec2(pos.x - half_sz.x, pos.y - half_sz.y), pos, col); return; + case ImGuiDir_Up: draw_list->AddTriangleFilled(ImVec2(pos.x + half_sz.x, pos.y + half_sz.y), ImVec2(pos.x - half_sz.x, pos.y + half_sz.y), pos, col); return; + case ImGuiDir_Down: draw_list->AddTriangleFilled(ImVec2(pos.x - half_sz.x, pos.y - half_sz.y), ImVec2(pos.x + half_sz.x, pos.y - half_sz.y), pos, col); return; + case ImGuiDir_None: case ImGuiDir_Count_: break; // Fix warnings + } +} + +static void RenderArrowsForVerticalBar(ImDrawList* draw_list, ImVec2 pos, ImVec2 half_sz, float bar_w) +{ + RenderArrow(draw_list, ImVec2(pos.x + half_sz.x + 1, pos.y), ImVec2(half_sz.x + 2, half_sz.y + 1), ImGuiDir_Right, IM_COL32_BLACK); + RenderArrow(draw_list, ImVec2(pos.x + half_sz.x, pos.y), half_sz, ImGuiDir_Right, IM_COL32_WHITE); + RenderArrow(draw_list, ImVec2(pos.x + bar_w - half_sz.x - 1, pos.y), ImVec2(half_sz.x + 2, half_sz.y + 1), ImGuiDir_Left, IM_COL32_BLACK); + RenderArrow(draw_list, ImVec2(pos.x + bar_w - half_sz.x, pos.y), half_sz, ImGuiDir_Left, IM_COL32_WHITE); +} + +// ColorPicker +// Note: only access 3 floats if ImGuiColorEditFlags_NoAlpha flag is set. +// FIXME: we adjust the big color square height based on item width, which may cause a flickering feedback loop (if automatic height makes a vertical scrollbar appears, affecting automatic width..) +bool ImGui::ColorPicker4(const char* label, float col[4], ImGuiColorEditFlags flags, const float* ref_col) +{ + ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindow(); - window->DC.ColorEditMode = mode; + ImDrawList* draw_list = window->DrawList; + + ImGuiStyle& style = g.Style; + ImGuiIO& io = g.IO; + + PushID(label); + BeginGroup(); + + if (!(flags & ImGuiColorEditFlags_NoSidePreview)) + flags |= ImGuiColorEditFlags_NoSmallPreview; + + // Context menu: display and store options. + if (!(flags & ImGuiColorEditFlags_NoOptions)) + ColorPickerOptionsPopup(flags, col); + + // Read stored options + if (!(flags & ImGuiColorEditFlags__PickerMask)) + flags |= ((g.ColorEditOptions & ImGuiColorEditFlags__PickerMask) ? g.ColorEditOptions : ImGuiColorEditFlags__OptionsDefault) & ImGuiColorEditFlags__PickerMask; + IM_ASSERT(ImIsPowerOfTwo((int)(flags & ImGuiColorEditFlags__PickerMask))); // Check that only 1 is selected + if (!(flags & ImGuiColorEditFlags_NoOptions)) + flags |= (g.ColorEditOptions & ImGuiColorEditFlags_AlphaBar); + + // Setup + int components = (flags & ImGuiColorEditFlags_NoAlpha) ? 3 : 4; + bool alpha_bar = (flags & ImGuiColorEditFlags_AlphaBar) && !(flags & ImGuiColorEditFlags_NoAlpha); + ImVec2 picker_pos = window->DC.CursorPos; + float square_sz = GetFrameHeight(); + float bars_width = square_sz; // Arbitrary smallish width of Hue/Alpha picking bars + float sv_picker_size = ImMax(bars_width * 1, CalcItemWidth() - (alpha_bar ? 2 : 1) * (bars_width + style.ItemInnerSpacing.x)); // Saturation/Value picking box + float bar0_pos_x = picker_pos.x + sv_picker_size + style.ItemInnerSpacing.x; + float bar1_pos_x = bar0_pos_x + bars_width + style.ItemInnerSpacing.x; + float bars_triangles_half_sz = (float)(int)(bars_width * 0.20f); + + float backup_initial_col[4]; + memcpy(backup_initial_col, col, components * sizeof(float)); + + float wheel_thickness = sv_picker_size * 0.08f; + float wheel_r_outer = sv_picker_size * 0.50f; + float wheel_r_inner = wheel_r_outer - wheel_thickness; + ImVec2 wheel_center(picker_pos.x + (sv_picker_size + bars_width)*0.5f, picker_pos.y + sv_picker_size*0.5f); + + // Note: the triangle is displayed rotated with triangle_pa pointing to Hue, but most coordinates stays unrotated for logic. + float triangle_r = wheel_r_inner - (int)(sv_picker_size * 0.027f); + ImVec2 triangle_pa = ImVec2(triangle_r, 0.0f); // Hue point. + ImVec2 triangle_pb = ImVec2(triangle_r * -0.5f, triangle_r * -0.866025f); // Black point. + ImVec2 triangle_pc = ImVec2(triangle_r * -0.5f, triangle_r * +0.866025f); // White point. + + float H,S,V; + ColorConvertRGBtoHSV(col[0], col[1], col[2], H, S, V); + + bool value_changed = false, value_changed_h = false, value_changed_sv = false; + + PushItemFlag(ImGuiItemFlags_NoNav, true); + if (flags & ImGuiColorEditFlags_PickerHueWheel) + { + // Hue wheel + SV triangle logic + InvisibleButton("hsv", ImVec2(sv_picker_size + style.ItemInnerSpacing.x + bars_width, sv_picker_size)); + if (IsItemActive()) + { + ImVec2 initial_off = g.IO.MouseClickedPos[0] - wheel_center; + ImVec2 current_off = g.IO.MousePos - wheel_center; + float initial_dist2 = ImLengthSqr(initial_off); + if (initial_dist2 >= (wheel_r_inner-1)*(wheel_r_inner-1) && initial_dist2 <= (wheel_r_outer+1)*(wheel_r_outer+1)) + { + // Interactive with Hue wheel + H = atan2f(current_off.y, current_off.x) / IM_PI*0.5f; + if (H < 0.0f) + H += 1.0f; + value_changed = value_changed_h = true; + } + float cos_hue_angle = cosf(-H * 2.0f * IM_PI); + float sin_hue_angle = sinf(-H * 2.0f * IM_PI); + if (ImTriangleContainsPoint(triangle_pa, triangle_pb, triangle_pc, ImRotate(initial_off, cos_hue_angle, sin_hue_angle))) + { + // Interacting with SV triangle + ImVec2 current_off_unrotated = ImRotate(current_off, cos_hue_angle, sin_hue_angle); + if (!ImTriangleContainsPoint(triangle_pa, triangle_pb, triangle_pc, current_off_unrotated)) + current_off_unrotated = ImTriangleClosestPoint(triangle_pa, triangle_pb, triangle_pc, current_off_unrotated); + float uu, vv, ww; + ImTriangleBarycentricCoords(triangle_pa, triangle_pb, triangle_pc, current_off_unrotated, uu, vv, ww); + V = ImClamp(1.0f - vv, 0.0001f, 1.0f); + S = ImClamp(uu / V, 0.0001f, 1.0f); + value_changed = value_changed_sv = true; + } + } + if (!(flags & ImGuiColorEditFlags_NoOptions)) + OpenPopupOnItemClick("context"); + } + else if (flags & ImGuiColorEditFlags_PickerHueBar) + { + // SV rectangle logic + InvisibleButton("sv", ImVec2(sv_picker_size, sv_picker_size)); + if (IsItemActive()) + { + S = ImSaturate((io.MousePos.x - picker_pos.x) / (sv_picker_size-1)); + V = 1.0f - ImSaturate((io.MousePos.y - picker_pos.y) / (sv_picker_size-1)); + value_changed = value_changed_sv = true; + } + if (!(flags & ImGuiColorEditFlags_NoOptions)) + OpenPopupOnItemClick("context"); + + // Hue bar logic + SetCursorScreenPos(ImVec2(bar0_pos_x, picker_pos.y)); + InvisibleButton("hue", ImVec2(bars_width, sv_picker_size)); + if (IsItemActive()) + { + H = ImSaturate((io.MousePos.y - picker_pos.y) / (sv_picker_size-1)); + value_changed = value_changed_h = true; + } + } + + // Alpha bar logic + if (alpha_bar) + { + SetCursorScreenPos(ImVec2(bar1_pos_x, picker_pos.y)); + InvisibleButton("alpha", ImVec2(bars_width, sv_picker_size)); + if (IsItemActive()) + { + col[3] = 1.0f - ImSaturate((io.MousePos.y - picker_pos.y) / (sv_picker_size-1)); + value_changed = true; + } + } + PopItemFlag(); // ImGuiItemFlags_NoNav + + if (!(flags & ImGuiColorEditFlags_NoSidePreview)) + { + SameLine(0, style.ItemInnerSpacing.x); + BeginGroup(); + } + + if (!(flags & ImGuiColorEditFlags_NoLabel)) + { + const char* label_display_end = FindRenderedTextEnd(label); + if (label != label_display_end) + { + if ((flags & ImGuiColorEditFlags_NoSidePreview)) + SameLine(0, style.ItemInnerSpacing.x); + TextUnformatted(label, label_display_end); + } + } + + if (!(flags & ImGuiColorEditFlags_NoSidePreview)) + { + PushItemFlag(ImGuiItemFlags_NoNavDefaultFocus, true); + ImVec4 col_v4(col[0], col[1], col[2], (flags & ImGuiColorEditFlags_NoAlpha) ? 1.0f : col[3]); + if ((flags & ImGuiColorEditFlags_NoLabel)) + Text("Current"); + ColorButton("##current", col_v4, (flags & (ImGuiColorEditFlags_HDR|ImGuiColorEditFlags_AlphaPreview|ImGuiColorEditFlags_AlphaPreviewHalf|ImGuiColorEditFlags_NoTooltip)), ImVec2(square_sz * 3, square_sz * 2)); + if (ref_col != NULL) + { + Text("Original"); + ImVec4 ref_col_v4(ref_col[0], ref_col[1], ref_col[2], (flags & ImGuiColorEditFlags_NoAlpha) ? 1.0f : ref_col[3]); + if (ColorButton("##original", ref_col_v4, (flags & (ImGuiColorEditFlags_HDR|ImGuiColorEditFlags_AlphaPreview|ImGuiColorEditFlags_AlphaPreviewHalf|ImGuiColorEditFlags_NoTooltip)), ImVec2(square_sz * 3, square_sz * 2))) + { + memcpy(col, ref_col, components * sizeof(float)); + value_changed = true; + } + } + PopItemFlag(); + EndGroup(); + } + + // Convert back color to RGB + if (value_changed_h || value_changed_sv) + ColorConvertHSVtoRGB(H >= 1.0f ? H - 10 * 1e-6f : H, S > 0.0f ? S : 10*1e-6f, V > 0.0f ? V : 1e-6f, col[0], col[1], col[2]); + + // R,G,B and H,S,V slider color editor + if ((flags & ImGuiColorEditFlags_NoInputs) == 0) + { + PushItemWidth((alpha_bar ? bar1_pos_x : bar0_pos_x) + bars_width - picker_pos.x); + ImGuiColorEditFlags sub_flags_to_forward = ImGuiColorEditFlags__DataTypeMask | ImGuiColorEditFlags_HDR | ImGuiColorEditFlags_NoAlpha | ImGuiColorEditFlags_NoOptions | ImGuiColorEditFlags_NoSmallPreview | ImGuiColorEditFlags_AlphaPreview | ImGuiColorEditFlags_AlphaPreviewHalf; + ImGuiColorEditFlags sub_flags = (flags & sub_flags_to_forward) | ImGuiColorEditFlags_NoPicker; + if (flags & ImGuiColorEditFlags_RGB || (flags & ImGuiColorEditFlags__InputsMask) == 0) + value_changed |= ColorEdit4("##rgb", col, sub_flags | ImGuiColorEditFlags_RGB); + if (flags & ImGuiColorEditFlags_HSV || (flags & ImGuiColorEditFlags__InputsMask) == 0) + value_changed |= ColorEdit4("##hsv", col, sub_flags | ImGuiColorEditFlags_HSV); + if (flags & ImGuiColorEditFlags_HEX || (flags & ImGuiColorEditFlags__InputsMask) == 0) + value_changed |= ColorEdit4("##hex", col, sub_flags | ImGuiColorEditFlags_HEX); + PopItemWidth(); + } + + // Try to cancel hue wrap (after ColorEdit), if any + if (value_changed) + { + float new_H, new_S, new_V; + ColorConvertRGBtoHSV(col[0], col[1], col[2], new_H, new_S, new_V); + if (new_H <= 0 && H > 0) + { + if (new_V <= 0 && V != new_V) + ColorConvertHSVtoRGB(H, S, new_V <= 0 ? V * 0.5f : new_V, col[0], col[1], col[2]); + else if (new_S <= 0) + ColorConvertHSVtoRGB(H, new_S <= 0 ? S * 0.5f : new_S, new_V, col[0], col[1], col[2]); + } + } + + ImVec4 hue_color_f(1, 1, 1, 1); ColorConvertHSVtoRGB(H, 1, 1, hue_color_f.x, hue_color_f.y, hue_color_f.z); + ImU32 hue_color32 = ColorConvertFloat4ToU32(hue_color_f); + ImU32 col32_no_alpha = ColorConvertFloat4ToU32(ImVec4(col[0], col[1], col[2], 1.0f)); + + const ImU32 hue_colors[6+1] = { IM_COL32(255,0,0,255), IM_COL32(255,255,0,255), IM_COL32(0,255,0,255), IM_COL32(0,255,255,255), IM_COL32(0,0,255,255), IM_COL32(255,0,255,255), IM_COL32(255,0,0,255) }; + ImVec2 sv_cursor_pos; + + if (flags & ImGuiColorEditFlags_PickerHueWheel) + { + // Render Hue Wheel + const float aeps = 1.5f / wheel_r_outer; // Half a pixel arc length in radians (2pi cancels out). + const int segment_per_arc = ImMax(4, (int)wheel_r_outer / 12); + for (int n = 0; n < 6; n++) + { + const float a0 = (n) /6.0f * 2.0f * IM_PI - aeps; + const float a1 = (n+1.0f)/6.0f * 2.0f * IM_PI + aeps; + const int vert_start_idx = draw_list->VtxBuffer.Size; + draw_list->PathArcTo(wheel_center, (wheel_r_inner + wheel_r_outer)*0.5f, a0, a1, segment_per_arc); + draw_list->PathStroke(IM_COL32_WHITE, false, wheel_thickness); + const int vert_end_idx = draw_list->VtxBuffer.Size; + + // Paint colors over existing vertices + ImVec2 gradient_p0(wheel_center.x + cosf(a0) * wheel_r_inner, wheel_center.y + sinf(a0) * wheel_r_inner); + ImVec2 gradient_p1(wheel_center.x + cosf(a1) * wheel_r_inner, wheel_center.y + sinf(a1) * wheel_r_inner); + ShadeVertsLinearColorGradientKeepAlpha(draw_list->VtxBuffer.Data + vert_start_idx, draw_list->VtxBuffer.Data + vert_end_idx, gradient_p0, gradient_p1, hue_colors[n], hue_colors[n+1]); + } + + // Render Cursor + preview on Hue Wheel + float cos_hue_angle = cosf(H * 2.0f * IM_PI); + float sin_hue_angle = sinf(H * 2.0f * IM_PI); + ImVec2 hue_cursor_pos(wheel_center.x + cos_hue_angle * (wheel_r_inner+wheel_r_outer)*0.5f, wheel_center.y + sin_hue_angle * (wheel_r_inner+wheel_r_outer)*0.5f); + float hue_cursor_rad = value_changed_h ? wheel_thickness * 0.65f : wheel_thickness * 0.55f; + int hue_cursor_segments = ImClamp((int)(hue_cursor_rad / 1.4f), 9, 32); + draw_list->AddCircleFilled(hue_cursor_pos, hue_cursor_rad, hue_color32, hue_cursor_segments); + draw_list->AddCircle(hue_cursor_pos, hue_cursor_rad+1, IM_COL32(128,128,128,255), hue_cursor_segments); + draw_list->AddCircle(hue_cursor_pos, hue_cursor_rad, IM_COL32_WHITE, hue_cursor_segments); + + // Render SV triangle (rotated according to hue) + ImVec2 tra = wheel_center + ImRotate(triangle_pa, cos_hue_angle, sin_hue_angle); + ImVec2 trb = wheel_center + ImRotate(triangle_pb, cos_hue_angle, sin_hue_angle); + ImVec2 trc = wheel_center + ImRotate(triangle_pc, cos_hue_angle, sin_hue_angle); + ImVec2 uv_white = GetFontTexUvWhitePixel(); + draw_list->PrimReserve(6, 6); + draw_list->PrimVtx(tra, uv_white, hue_color32); + draw_list->PrimVtx(trb, uv_white, hue_color32); + draw_list->PrimVtx(trc, uv_white, IM_COL32_WHITE); + draw_list->PrimVtx(tra, uv_white, IM_COL32_BLACK_TRANS); + draw_list->PrimVtx(trb, uv_white, IM_COL32_BLACK); + draw_list->PrimVtx(trc, uv_white, IM_COL32_BLACK_TRANS); + draw_list->AddTriangle(tra, trb, trc, IM_COL32(128,128,128,255), 1.5f); + sv_cursor_pos = ImLerp(ImLerp(trc, tra, ImSaturate(S)), trb, ImSaturate(1 - V)); + } + else if (flags & ImGuiColorEditFlags_PickerHueBar) + { + // Render SV Square + draw_list->AddRectFilledMultiColor(picker_pos, picker_pos + ImVec2(sv_picker_size,sv_picker_size), IM_COL32_WHITE, hue_color32, hue_color32, IM_COL32_WHITE); + draw_list->AddRectFilledMultiColor(picker_pos, picker_pos + ImVec2(sv_picker_size,sv_picker_size), IM_COL32_BLACK_TRANS, IM_COL32_BLACK_TRANS, IM_COL32_BLACK, IM_COL32_BLACK); + RenderFrameBorder(picker_pos, picker_pos + ImVec2(sv_picker_size,sv_picker_size), 0.0f); + sv_cursor_pos.x = ImClamp((float)(int)(picker_pos.x + ImSaturate(S) * sv_picker_size + 0.5f), picker_pos.x + 2, picker_pos.x + sv_picker_size - 2); // Sneakily prevent the circle to stick out too much + sv_cursor_pos.y = ImClamp((float)(int)(picker_pos.y + ImSaturate(1 - V) * sv_picker_size + 0.5f), picker_pos.y + 2, picker_pos.y + sv_picker_size - 2); + + // Render Hue Bar + for (int i = 0; i < 6; ++i) + draw_list->AddRectFilledMultiColor(ImVec2(bar0_pos_x, picker_pos.y + i * (sv_picker_size / 6)), ImVec2(bar0_pos_x + bars_width, picker_pos.y + (i + 1) * (sv_picker_size / 6)), hue_colors[i], hue_colors[i], hue_colors[i + 1], hue_colors[i + 1]); + float bar0_line_y = (float)(int)(picker_pos.y + H * sv_picker_size + 0.5f); + RenderFrameBorder(ImVec2(bar0_pos_x, picker_pos.y), ImVec2(bar0_pos_x + bars_width, picker_pos.y + sv_picker_size), 0.0f); + RenderArrowsForVerticalBar(draw_list, ImVec2(bar0_pos_x - 1, bar0_line_y), ImVec2(bars_triangles_half_sz + 1, bars_triangles_half_sz), bars_width + 2.0f); + } + + // Render cursor/preview circle (clamp S/V within 0..1 range because floating points colors may lead HSV values to be out of range) + float sv_cursor_rad = value_changed_sv ? 10.0f : 6.0f; + draw_list->AddCircleFilled(sv_cursor_pos, sv_cursor_rad, col32_no_alpha, 12); + draw_list->AddCircle(sv_cursor_pos, sv_cursor_rad+1, IM_COL32(128,128,128,255), 12); + draw_list->AddCircle(sv_cursor_pos, sv_cursor_rad, IM_COL32_WHITE, 12); + + // Render alpha bar + if (alpha_bar) + { + float alpha = ImSaturate(col[3]); + ImRect bar1_bb(bar1_pos_x, picker_pos.y, bar1_pos_x + bars_width, picker_pos.y + sv_picker_size); + RenderColorRectWithAlphaCheckerboard(bar1_bb.Min, bar1_bb.Max, IM_COL32(0,0,0,0), bar1_bb.GetWidth() / 2.0f, ImVec2(0.0f, 0.0f)); + draw_list->AddRectFilledMultiColor(bar1_bb.Min, bar1_bb.Max, col32_no_alpha, col32_no_alpha, col32_no_alpha & ~IM_COL32_A_MASK, col32_no_alpha & ~IM_COL32_A_MASK); + float bar1_line_y = (float)(int)(picker_pos.y + (1.0f - alpha) * sv_picker_size + 0.5f); + RenderFrameBorder(bar1_bb.Min, bar1_bb.Max, 0.0f); + RenderArrowsForVerticalBar(draw_list, ImVec2(bar1_pos_x - 1, bar1_line_y), ImVec2(bars_triangles_half_sz + 1, bars_triangles_half_sz), bars_width + 2.0f); + } + + EndGroup(); + PopID(); + + return value_changed && memcmp(backup_initial_col, col, components * sizeof(float)); } // Horizontal separating line. @@ -9145,8 +12061,20 @@ void ImGui::Separator() ImGuiWindow* window = GetCurrentWindow(); if (window->SkipItems) return; + ImGuiContext& g = *GImGui; - if (window->DC.ColumnsCount > 1) + ImGuiWindowFlags flags = 0; + if ((flags & (ImGuiSeparatorFlags_Horizontal | ImGuiSeparatorFlags_Vertical)) == 0) + flags |= (window->DC.LayoutType == ImGuiLayoutType_Horizontal) ? ImGuiSeparatorFlags_Vertical : ImGuiSeparatorFlags_Horizontal; + IM_ASSERT(ImIsPowerOfTwo((int)(flags & (ImGuiSeparatorFlags_Horizontal | ImGuiSeparatorFlags_Vertical)))); // Check that only 1 option is selected + if (flags & ImGuiSeparatorFlags_Vertical) + { + VerticalSeparator(); + return; + } + + // Horizontal Separator + if (window->DC.ColumnsSet) PopClipRect(); float x1 = window->Pos.x; @@ -9156,26 +12084,91 @@ void ImGui::Separator() const ImRect bb(ImVec2(x1, window->DC.CursorPos.y), ImVec2(x2, window->DC.CursorPos.y+1.0f)); ItemSize(ImVec2(0.0f, 0.0f)); // NB: we don't provide our width so that it doesn't get feed back into AutoFit, we don't provide height to not alter layout. - if (!ItemAdd(bb, NULL)) + if (!ItemAdd(bb, 0)) { - if (window->DC.ColumnsCount > 1) + if (window->DC.ColumnsSet) PushColumnClipRect(); return; } - window->DrawList->AddLine(bb.Min, ImVec2(bb.Max.x,bb.Min.y), GetColorU32(ImGuiCol_Border)); + window->DrawList->AddLine(bb.Min, ImVec2(bb.Max.x,bb.Min.y), GetColorU32(ImGuiCol_Separator)); - ImGuiContext& g = *GImGui; if (g.LogEnabled) - LogText(IM_NEWLINE "--------------------------------"); + LogRenderedText(NULL, IM_NEWLINE "--------------------------------"); - if (window->DC.ColumnsCount > 1) + if (window->DC.ColumnsSet) { PushColumnClipRect(); - window->DC.ColumnsCellMinY = window->DC.CursorPos.y; + window->DC.ColumnsSet->CellMinY = window->DC.CursorPos.y; } } +void ImGui::VerticalSeparator() +{ + ImGuiWindow* window = GetCurrentWindow(); + if (window->SkipItems) + return; + ImGuiContext& g = *GImGui; + + float y1 = window->DC.CursorPos.y; + float y2 = window->DC.CursorPos.y + window->DC.CurrentLineHeight; + const ImRect bb(ImVec2(window->DC.CursorPos.x, y1), ImVec2(window->DC.CursorPos.x + 1.0f, y2)); + ItemSize(ImVec2(bb.GetWidth(), 0.0f)); + if (!ItemAdd(bb, 0)) + return; + + window->DrawList->AddLine(ImVec2(bb.Min.x, bb.Min.y), ImVec2(bb.Min.x, bb.Max.y), GetColorU32(ImGuiCol_Separator)); + if (g.LogEnabled) + LogText(" |"); +} + +bool ImGui::SplitterBehavior(ImGuiID id, const ImRect& bb, ImGuiAxis axis, float* size1, float* size2, float min_size1, float min_size2, float hover_extend) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + + const ImGuiItemFlags item_flags_backup = window->DC.ItemFlags; + window->DC.ItemFlags |= ImGuiItemFlags_NoNav | ImGuiItemFlags_NoNavDefaultFocus; + bool item_add = ItemAdd(bb, id); + window->DC.ItemFlags = item_flags_backup; + if (!item_add) + return false; + + bool hovered, held; + ImRect bb_interact = bb; + bb_interact.Expand(axis == ImGuiAxis_Y ? ImVec2(0.0f, hover_extend) : ImVec2(hover_extend, 0.0f)); + ButtonBehavior(bb_interact, id, &hovered, &held, ImGuiButtonFlags_FlattenChildren | ImGuiButtonFlags_AllowItemOverlap); + if (g.ActiveId != id) + SetItemAllowOverlap(); + + if (held || (g.HoveredId == id && g.HoveredIdPreviousFrame == id)) + SetMouseCursor(axis == ImGuiAxis_Y ? ImGuiMouseCursor_ResizeNS : ImGuiMouseCursor_ResizeEW); + + ImRect bb_render = bb; + if (held) + { + ImVec2 mouse_delta_2d = g.IO.MousePos - g.ActiveIdClickOffset - bb_interact.Min; + float mouse_delta = (axis == ImGuiAxis_Y) ? mouse_delta_2d.y : mouse_delta_2d.x; + + // Minimum pane size + if (mouse_delta < min_size1 - *size1) + mouse_delta = min_size1 - *size1; + if (mouse_delta > *size2 - min_size2) + mouse_delta = *size2 - min_size2; + + // Apply resize + *size1 += mouse_delta; + *size2 -= mouse_delta; + bb_render.Translate((axis == ImGuiAxis_X) ? ImVec2(mouse_delta, 0.0f) : ImVec2(0.0f, mouse_delta)); + } + + // Render + const ImU32 col = GetColorU32(held ? ImGuiCol_SeparatorActive : hovered ? ImGuiCol_SeparatorHovered : ImGuiCol_Separator); + window->DrawList->AddRectFilled(bb_render.Min, bb_render.Max, col, g.Style.FrameRounding); + + return held; +} + void ImGui::Spacing() { ImGuiWindow* window = GetCurrentWindow(); @@ -9192,7 +12185,7 @@ void ImGui::Dummy(const ImVec2& size) const ImRect bb(window->DC.CursorPos, window->DC.CursorPos + size); ItemSize(bb); - ItemAdd(bb, NULL); + ItemAdd(bb, 0); } bool ImGui::IsRectVisible(const ImVec2& size) @@ -9236,12 +12229,11 @@ void ImGui::EndGroup() ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindow(); - IM_ASSERT(!window->DC.GroupStack.empty()); // Mismatched BeginGroup()/EndGroup() calls + IM_ASSERT(!window->DC.GroupStack.empty()); // Mismatched BeginGroup()/EndGroup() calls ImGuiGroupData& group_data = window->DC.GroupStack.back(); ImRect group_bb(group_data.BackupCursorPos, window->DC.CursorMaxPos); - group_bb.Max.y -= g.Style.ItemSpacing.y; // Cancel out last vertical spacing because we are adding one ourselves. group_bb.Max = ImMax(group_bb.Min, group_bb.Max); window->DC.CursorPos = group_data.BackupCursorPos; @@ -9256,20 +12248,19 @@ void ImGui::EndGroup() { window->DC.CurrentLineTextBaseOffset = ImMax(window->DC.PrevLineTextBaseOffset, group_data.BackupCurrentLineTextBaseOffset); // FIXME: Incorrect, we should grab the base offset from the *first line* of the group but it is hard to obtain now. ItemSize(group_bb.GetSize(), group_data.BackupCurrentLineTextBaseOffset); - ItemAdd(group_bb, NULL); + ItemAdd(group_bb, 0); } - // If the current ActiveId was declared within the boundary of our group, we copy it to LastItemId so IsItemActive() will function on the entire group. + // If the current ActiveId was declared within the boundary of our group, we copy it to LastItemId so IsItemActive() will be functional on the entire group. // It would be be neater if we replaced window.DC.LastItemId by e.g. 'bool LastItemIsActive', but if you search for LastItemId you'll notice it is only used in that context. const bool active_id_within_group = (!group_data.BackupActiveIdIsAlive && g.ActiveIdIsAlive && g.ActiveId && g.ActiveIdWindow->RootWindow == window->RootWindow); if (active_id_within_group) window->DC.LastItemId = g.ActiveId; - if (active_id_within_group && g.HoveredId == g.ActiveId) - window->DC.LastItemHoveredAndUsable = window->DC.LastItemHoveredRect = true; + window->DC.LastItemRect = group_bb; window->DC.GroupStack.pop_back(); - //window->DrawList->AddRect(group_bb.Min, group_bb.Max, IM_COL32(255,0,255,255)); // Debug + //window->DrawList->AddRect(group_bb.Min, group_bb.Max, IM_COL32(255,0,255,255)); // [Debug] } // Gets back to previous line and continue with horizontal layout @@ -9305,38 +12296,44 @@ void ImGui::NewLine() ImGuiWindow* window = GetCurrentWindow(); if (window->SkipItems) return; + + ImGuiContext& g = *GImGui; + const ImGuiLayoutType backup_layout_type = window->DC.LayoutType; + window->DC.LayoutType = ImGuiLayoutType_Vertical; if (window->DC.CurrentLineHeight > 0.0f) // In the event that we are on a line with items that is smaller that FontSize high, we will preserve its height. ItemSize(ImVec2(0,0)); else - ItemSize(ImVec2(0.0f, GImGui->FontSize)); + ItemSize(ImVec2(0.0f, g.FontSize)); + window->DC.LayoutType = backup_layout_type; } void ImGui::NextColumn() { ImGuiWindow* window = GetCurrentWindow(); - if (window->SkipItems || window->DC.ColumnsCount <= 1) + if (window->SkipItems || window->DC.ColumnsSet == NULL) return; ImGuiContext& g = *GImGui; PopItemWidth(); PopClipRect(); - window->DC.ColumnsCellMaxY = ImMax(window->DC.ColumnsCellMaxY, window->DC.CursorPos.y); - if (++window->DC.ColumnsCurrent < window->DC.ColumnsCount) + ImGuiColumnsSet* columns = window->DC.ColumnsSet; + columns->CellMaxY = ImMax(columns->CellMaxY, window->DC.CursorPos.y); + if (++columns->Current < columns->Count) { // Columns 1+ cancel out IndentX - window->DC.ColumnsOffsetX = GetColumnOffset(window->DC.ColumnsCurrent) - window->DC.IndentX + g.Style.ItemSpacing.x; - window->DrawList->ChannelsSetCurrent(window->DC.ColumnsCurrent); + window->DC.ColumnsOffsetX = GetColumnOffset(columns->Current) - window->DC.IndentX + g.Style.ItemSpacing.x; + window->DrawList->ChannelsSetCurrent(columns->Current); } else { - window->DC.ColumnsCurrent = 0; window->DC.ColumnsOffsetX = 0.0f; - window->DC.ColumnsCellMinY = window->DC.ColumnsCellMaxY; window->DrawList->ChannelsSetCurrent(0); + columns->Current = 0; + columns->CellMinY = columns->CellMaxY; } window->DC.CursorPos.x = (float)(int)(window->Pos.x + window->DC.IndentX + window->DC.ColumnsOffsetX); - window->DC.CursorPos.y = window->DC.ColumnsCellMinY; + window->DC.CursorPos.y = columns->CellMinY; window->DC.CurrentLineHeight = 0.0f; window->DC.CurrentLineTextBaseOffset = 0.0f; @@ -9347,182 +12344,308 @@ void ImGui::NextColumn() int ImGui::GetColumnIndex() { ImGuiWindow* window = GetCurrentWindowRead(); - return window->DC.ColumnsCurrent; + return window->DC.ColumnsSet ? window->DC.ColumnsSet->Current : 0; } int ImGui::GetColumnsCount() { ImGuiWindow* window = GetCurrentWindowRead(); - return window->DC.ColumnsCount; + return window->DC.ColumnsSet ? window->DC.ColumnsSet->Count : 1; } -static float GetDraggedColumnOffset(int column_index) +static float OffsetNormToPixels(const ImGuiColumnsSet* columns, float offset_norm) +{ + return offset_norm * (columns->MaxX - columns->MinX); +} + +static float PixelsToOffsetNorm(const ImGuiColumnsSet* columns, float offset) +{ + return offset / (columns->MaxX - columns->MinX); +} + +static inline float GetColumnsRectHalfWidth() { return 4.0f; } + +static float GetDraggedColumnOffset(ImGuiColumnsSet* columns, int column_index) { // Active (dragged) column always follow mouse. The reason we need this is that dragging a column to the right edge of an auto-resizing // window creates a feedback loop because we store normalized positions. So while dragging we enforce absolute positioning. ImGuiContext& g = *GImGui; - ImGuiWindow* window = ImGui::GetCurrentWindowRead(); + ImGuiWindow* window = g.CurrentWindow; IM_ASSERT(column_index > 0); // We cannot drag column 0. If you get this assert you may have a conflict between the ID of your columns and another widgets. - IM_ASSERT(g.ActiveId == window->DC.ColumnsSetId + ImGuiID(column_index)); + IM_ASSERT(g.ActiveId == columns->ID + ImGuiID(column_index)); - float x = g.IO.MousePos.x - g.ActiveIdClickOffset.x - window->Pos.x; - x = ImClamp(x, ImGui::GetColumnOffset(column_index-1)+g.Style.ColumnsMinSpacing, ImGui::GetColumnOffset(column_index+1)-g.Style.ColumnsMinSpacing); + float x = g.IO.MousePos.x - g.ActiveIdClickOffset.x + GetColumnsRectHalfWidth() - window->Pos.x; + x = ImMax(x, ImGui::GetColumnOffset(column_index - 1) + g.Style.ColumnsMinSpacing); + if ((columns->Flags & ImGuiColumnsFlags_NoPreserveWidths)) + x = ImMin(x, ImGui::GetColumnOffset(column_index + 1) - g.Style.ColumnsMinSpacing); - return (float)(int)x; + return x; } float ImGui::GetColumnOffset(int column_index) { - ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindowRead(); - if (column_index < 0) - column_index = window->DC.ColumnsCurrent; + ImGuiColumnsSet* columns = window->DC.ColumnsSet; + IM_ASSERT(columns != NULL); + if (column_index < 0) + column_index = columns->Current; + IM_ASSERT(column_index < columns->Columns.Size); + + /* if (g.ActiveId) { - const ImGuiID column_id = window->DC.ColumnsSetId + ImGuiID(column_index); + ImGuiContext& g = *GImGui; + const ImGuiID column_id = columns->ColumnsSetId + ImGuiID(column_index); if (g.ActiveId == column_id) - return GetDraggedColumnOffset(column_index); + return GetDraggedColumnOffset(columns, column_index); } + */ - IM_ASSERT(column_index < window->DC.ColumnsData.Size); - const float t = window->DC.ColumnsData[column_index].OffsetNorm; - const float x_offset = window->DC.ColumnsMinX + t * (window->DC.ColumnsMaxX - window->DC.ColumnsMinX); - return (float)(int)x_offset; + const float t = columns->Columns[column_index].OffsetNorm; + const float x_offset = ImLerp(columns->MinX, columns->MaxX, t); + return x_offset; } -void ImGui::SetColumnOffset(int column_index, float offset) +static float GetColumnWidthEx(ImGuiColumnsSet* columns, int column_index, bool before_resize = false) { - ImGuiWindow* window = GetCurrentWindow(); if (column_index < 0) - column_index = window->DC.ColumnsCurrent; + column_index = columns->Current; - IM_ASSERT(column_index < window->DC.ColumnsData.Size); - const float t = (offset - window->DC.ColumnsMinX) / (window->DC.ColumnsMaxX - window->DC.ColumnsMinX); - window->DC.ColumnsData[column_index].OffsetNorm = t; - - const ImGuiID column_id = window->DC.ColumnsSetId + ImGuiID(column_index); - window->DC.StateStorage->SetFloat(column_id, t); + float offset_norm; + if (before_resize) + offset_norm = columns->Columns[column_index + 1].OffsetNormBeforeResize - columns->Columns[column_index].OffsetNormBeforeResize; + else + offset_norm = columns->Columns[column_index + 1].OffsetNorm - columns->Columns[column_index].OffsetNorm; + return OffsetNormToPixels(columns, offset_norm); } float ImGui::GetColumnWidth(int column_index) { ImGuiWindow* window = GetCurrentWindowRead(); - if (column_index < 0) - column_index = window->DC.ColumnsCurrent; + ImGuiColumnsSet* columns = window->DC.ColumnsSet; + IM_ASSERT(columns != NULL); - float w = GetColumnOffset(column_index+1) - GetColumnOffset(column_index); - return w; + if (column_index < 0) + column_index = columns->Current; + return OffsetNormToPixels(columns, columns->Columns[column_index + 1].OffsetNorm - columns->Columns[column_index].OffsetNorm); } -static void PushColumnClipRect(int column_index) +void ImGui::SetColumnOffset(int column_index, float offset) { - ImGuiWindow* window = ImGui::GetCurrentWindow(); - if (column_index < 0) - column_index = window->DC.ColumnsCurrent; + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + ImGuiColumnsSet* columns = window->DC.ColumnsSet; + IM_ASSERT(columns != NULL); - float x1 = ImFloor(0.5f + window->Pos.x + ImGui::GetColumnOffset(column_index) - 1.0f); - float x2 = ImFloor(0.5f + window->Pos.x + ImGui::GetColumnOffset(column_index+1) - 1.0f); - ImGui::PushClipRect(ImVec2(x1,-FLT_MAX), ImVec2(x2,+FLT_MAX), true); + if (column_index < 0) + column_index = columns->Current; + IM_ASSERT(column_index < columns->Columns.Size); + + const bool preserve_width = !(columns->Flags & ImGuiColumnsFlags_NoPreserveWidths) && (column_index < columns->Count-1); + const float width = preserve_width ? GetColumnWidthEx(columns, column_index, columns->IsBeingResized) : 0.0f; + + if (!(columns->Flags & ImGuiColumnsFlags_NoForceWithinWindow)) + offset = ImMin(offset, columns->MaxX - g.Style.ColumnsMinSpacing * (columns->Count - column_index)); + columns->Columns[column_index].OffsetNorm = PixelsToOffsetNorm(columns, offset - columns->MinX); + + if (preserve_width) + SetColumnOffset(column_index + 1, offset + ImMax(g.Style.ColumnsMinSpacing, width)); } -void ImGui::Columns(int columns_count, const char* id, bool border) +void ImGui::SetColumnWidth(int column_index, float width) +{ + ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiColumnsSet* columns = window->DC.ColumnsSet; + IM_ASSERT(columns != NULL); + + if (column_index < 0) + column_index = columns->Current; + SetColumnOffset(column_index + 1, GetColumnOffset(column_index) + width); +} + +void ImGui::PushColumnClipRect(int column_index) +{ + ImGuiWindow* window = GetCurrentWindowRead(); + ImGuiColumnsSet* columns = window->DC.ColumnsSet; + if (column_index < 0) + column_index = columns->Current; + + PushClipRect(columns->Columns[column_index].ClipRect.Min, columns->Columns[column_index].ClipRect.Max, false); +} + +static ImGuiColumnsSet* FindOrAddColumnsSet(ImGuiWindow* window, ImGuiID id) +{ + for (int n = 0; n < window->ColumnsStorage.Size; n++) + if (window->ColumnsStorage[n].ID == id) + return &window->ColumnsStorage[n]; + + window->ColumnsStorage.push_back(ImGuiColumnsSet()); + ImGuiColumnsSet* columns = &window->ColumnsStorage.back(); + columns->ID = id; + return columns; +} + +void ImGui::BeginColumns(const char* str_id, int columns_count, ImGuiColumnsFlags flags) { ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindow(); - IM_ASSERT(columns_count >= 1); - if (window->DC.ColumnsCount != 1) - { - if (window->DC.ColumnsCurrent != 0) - ItemSize(ImVec2(0,0)); // Advance to column 0 - PopItemWidth(); - PopClipRect(); - window->DrawList->ChannelsMerge(); - - window->DC.ColumnsCellMaxY = ImMax(window->DC.ColumnsCellMaxY, window->DC.CursorPos.y); - window->DC.CursorPos.y = window->DC.ColumnsCellMaxY; - } - - // Draw columns borders and handle resize at the time of "closing" a columns set - if (window->DC.ColumnsCount != columns_count && window->DC.ColumnsCount != 1 && window->DC.ColumnsShowBorders && !window->SkipItems) - { - const float y1 = window->DC.ColumnsStartPosY; - const float y2 = window->DC.CursorPos.y; - for (int i = 1; i < window->DC.ColumnsCount; i++) - { - float x = window->Pos.x + GetColumnOffset(i); - const ImGuiID column_id = window->DC.ColumnsSetId + ImGuiID(i); - const ImRect column_rect(ImVec2(x-4,y1),ImVec2(x+4,y2)); - if (IsClippedEx(column_rect, &column_id, false)) - continue; - - bool hovered, held; - ButtonBehavior(column_rect, column_id, &hovered, &held); - if (hovered || held) - g.MouseCursor = ImGuiMouseCursor_ResizeEW; - - // Draw before resize so our items positioning are in sync with the line being drawn - const ImU32 col = GetColorU32(held ? ImGuiCol_ColumnActive : hovered ? ImGuiCol_ColumnHovered : ImGuiCol_Column); - const float xi = (float)(int)x; - window->DrawList->AddLine(ImVec2(xi, y1+1.0f), ImVec2(xi, y2), col); - - if (held) - { - if (g.ActiveIdIsJustActivated) - g.ActiveIdClickOffset.x -= 4; // Store from center of column line (we used a 8 wide rect for columns clicking) - x = GetDraggedColumnOffset(i); - SetColumnOffset(i, x); - } - } - } + IM_ASSERT(columns_count > 1); + IM_ASSERT(window->DC.ColumnsSet == NULL); // Nested columns are currently not supported // Differentiate column ID with an arbitrary prefix for cases where users name their columns set the same as another widget. // In addition, when an identifier isn't explicitly provided we include the number of columns in the hash to make it uniquer. - PushID(0x11223347 + (id ? 0 : columns_count)); - window->DC.ColumnsSetId = window->GetID(id ? id : "columns"); + PushID(0x11223347 + (str_id ? 0 : columns_count)); + ImGuiID id = window->GetID(str_id ? str_id : "columns"); PopID(); - // Set state for first column - window->DC.ColumnsCurrent = 0; - window->DC.ColumnsCount = columns_count; - window->DC.ColumnsShowBorders = border; + // Acquire storage for the columns set + ImGuiColumnsSet* columns = FindOrAddColumnsSet(window, id); + IM_ASSERT(columns->ID == id); + columns->Current = 0; + columns->Count = columns_count; + columns->Flags = flags; + window->DC.ColumnsSet = columns; - const float content_region_width = (window->SizeContentsExplicit.x != 0.0f) ? window->SizeContentsExplicit.x : window->Size.x; - window->DC.ColumnsMinX = window->DC.IndentX; // Lock our horizontal range - window->DC.ColumnsMaxX = content_region_width - window->Scroll.x - ((window->Flags & ImGuiWindowFlags_NoScrollbar) ? 0 : g.Style.ScrollbarSize);// - window->WindowPadding().x; - window->DC.ColumnsStartPosY = window->DC.CursorPos.y; - window->DC.ColumnsCellMinY = window->DC.ColumnsCellMaxY = window->DC.CursorPos.y; + // Set state for first column + const float content_region_width = (window->SizeContentsExplicit.x != 0.0f) ? (window->SizeContentsExplicit.x) : (window->Size.x -window->ScrollbarSizes.x); + columns->MinX = window->DC.IndentX - g.Style.ItemSpacing.x; // Lock our horizontal range + //column->MaxX = content_region_width - window->Scroll.x - ((window->Flags & ImGuiWindowFlags_NoScrollbar) ? 0 : g.Style.ScrollbarSize);// - window->WindowPadding().x; + columns->MaxX = content_region_width - window->Scroll.x; + columns->StartPosY = window->DC.CursorPos.y; + columns->StartMaxPosX = window->DC.CursorMaxPos.x; + columns->CellMinY = columns->CellMaxY = window->DC.CursorPos.y; window->DC.ColumnsOffsetX = 0.0f; window->DC.CursorPos.x = (float)(int)(window->Pos.x + window->DC.IndentX + window->DC.ColumnsOffsetX); - if (window->DC.ColumnsCount != 1) + // Clear data if columns count changed + if (columns->Columns.Size != 0 && columns->Columns.Size != columns_count + 1) + columns->Columns.resize(0); + + // Initialize defaults + columns->IsFirstFrame = (columns->Columns.Size == 0); + if (columns->Columns.Size == 0) { - // Cache column offsets - window->DC.ColumnsData.resize(columns_count + 1); - for (int column_index = 0; column_index < columns_count + 1; column_index++) + columns->Columns.reserve(columns_count + 1); + for (int n = 0; n < columns_count + 1; n++) { - const ImGuiID column_id = window->DC.ColumnsSetId + ImGuiID(column_index); - KeepAliveID(column_id); - const float default_t = column_index / (float)window->DC.ColumnsCount; - const float t = window->DC.StateStorage->GetFloat(column_id, default_t); // Cheaply store our floating point value inside the integer (could store a union into the map?) - window->DC.ColumnsData[column_index].OffsetNorm = t; + ImGuiColumnData column; + column.OffsetNorm = n / (float)columns_count; + columns->Columns.push_back(column); } - window->DrawList->ChannelsSplit(window->DC.ColumnsCount); - PushColumnClipRect(); - PushItemWidth(GetColumnWidth() * 0.65f); } - else + + for (int n = 0; n < columns_count + 1; n++) { - window->DC.ColumnsData.resize(0); + // Clamp position + ImGuiColumnData* column = &columns->Columns[n]; + float t = column->OffsetNorm; + if (!(columns->Flags & ImGuiColumnsFlags_NoForceWithinWindow)) + t = ImMin(t, PixelsToOffsetNorm(columns, (columns->MaxX - columns->MinX) - g.Style.ColumnsMinSpacing * (columns->Count - n))); + column->OffsetNorm = t; + + if (n == columns_count) + continue; + + // Compute clipping rectangle + float clip_x1 = ImFloor(0.5f + window->Pos.x + GetColumnOffset(n) - 1.0f); + float clip_x2 = ImFloor(0.5f + window->Pos.x + GetColumnOffset(n + 1) - 1.0f); + column->ClipRect = ImRect(clip_x1, -FLT_MAX, clip_x2, +FLT_MAX); + column->ClipRect.ClipWith(window->ClipRect); } + + window->DrawList->ChannelsSplit(columns->Count); + PushColumnClipRect(); + PushItemWidth(GetColumnWidth() * 0.65f); +} + +void ImGui::EndColumns() +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = GetCurrentWindow(); + ImGuiColumnsSet* columns = window->DC.ColumnsSet; + IM_ASSERT(columns != NULL); + + PopItemWidth(); + PopClipRect(); + window->DrawList->ChannelsMerge(); + + columns->CellMaxY = ImMax(columns->CellMaxY, window->DC.CursorPos.y); + window->DC.CursorPos.y = columns->CellMaxY; + if (!(columns->Flags & ImGuiColumnsFlags_GrowParentContentsSize)) + window->DC.CursorMaxPos.x = ImMax(columns->StartMaxPosX, columns->MaxX); // Restore cursor max pos, as columns don't grow parent + + // Draw columns borders and handle resize + bool is_being_resized = false; + if (!(columns->Flags & ImGuiColumnsFlags_NoBorder) && !window->SkipItems) + { + const float y1 = columns->StartPosY; + const float y2 = window->DC.CursorPos.y; + int dragging_column = -1; + for (int n = 1; n < columns->Count; n++) + { + float x = window->Pos.x + GetColumnOffset(n); + const ImGuiID column_id = columns->ID + ImGuiID(n); + const float column_hw = GetColumnsRectHalfWidth(); // Half-width for interaction + const ImRect column_rect(ImVec2(x - column_hw, y1), ImVec2(x + column_hw, y2)); + KeepAliveID(column_id); + if (IsClippedEx(column_rect, column_id, false)) + continue; + + bool hovered = false, held = false; + if (!(columns->Flags & ImGuiColumnsFlags_NoResize)) + { + ButtonBehavior(column_rect, column_id, &hovered, &held); + if (hovered || held) + g.MouseCursor = ImGuiMouseCursor_ResizeEW; + if (held && !(columns->Columns[n].Flags & ImGuiColumnsFlags_NoResize)) + dragging_column = n; + } + + // Draw column (we clip the Y boundaries CPU side because very long triangles are mishandled by some GPU drivers.) + const ImU32 col = GetColorU32(held ? ImGuiCol_SeparatorActive : hovered ? ImGuiCol_SeparatorHovered : ImGuiCol_Separator); + const float xi = (float)(int)x; + window->DrawList->AddLine(ImVec2(xi, ImMax(y1 + 1.0f, window->ClipRect.Min.y)), ImVec2(xi, ImMin(y2, window->ClipRect.Max.y)), col); + } + + // Apply dragging after drawing the column lines, so our rendered lines are in sync with how items were displayed during the frame. + if (dragging_column != -1) + { + if (!columns->IsBeingResized) + for (int n = 0; n < columns->Count + 1; n++) + columns->Columns[n].OffsetNormBeforeResize = columns->Columns[n].OffsetNorm; + columns->IsBeingResized = is_being_resized = true; + float x = GetDraggedColumnOffset(columns, dragging_column); + SetColumnOffset(dragging_column, x); + } + } + columns->IsBeingResized = is_being_resized; + + window->DC.ColumnsSet = NULL; + window->DC.ColumnsOffsetX = 0.0f; + window->DC.CursorPos.x = (float)(int)(window->Pos.x + window->DC.IndentX + window->DC.ColumnsOffsetX); +} + +// [2017/12: This is currently the only public API, while we are working on making BeginColumns/EndColumns user-facing] +void ImGui::Columns(int columns_count, const char* id, bool border) +{ + ImGuiWindow* window = GetCurrentWindow(); + IM_ASSERT(columns_count >= 1); + if (window->DC.ColumnsSet != NULL && window->DC.ColumnsSet->Count != columns_count) + EndColumns(); + + ImGuiColumnsFlags flags = (border ? 0 : ImGuiColumnsFlags_NoBorder); + //flags |= ImGuiColumnsFlags_NoPreserveWidths; // NB: Legacy behavior + if (columns_count != 1) + BeginColumns(id, columns_count, flags); } void ImGui::Indent(float indent_w) { ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindow(); - window->DC.IndentX += (indent_w > 0.0f) ? indent_w : g.Style.IndentSpacing; + window->DC.IndentX += (indent_w != 0.0f) ? indent_w : g.Style.IndentSpacing; window->DC.CursorPos.x = window->Pos.x + window->DC.IndentX + window->DC.ColumnsOffsetX; } @@ -9530,7 +12653,7 @@ void ImGui::Unindent(float indent_w) { ImGuiContext& g = *GImGui; ImGuiWindow* window = GetCurrentWindow(); - window->DC.IndentX -= (indent_w > 0.0f) ? indent_w : g.Style.IndentSpacing; + window->DC.IndentX -= (indent_w != 0.0f) ? indent_w : g.Style.IndentSpacing; window->DC.CursorPos.x = window->Pos.x + window->DC.IndentX + window->DC.ColumnsOffsetX; } @@ -9560,9 +12683,19 @@ void ImGui::TreePushRawID(ImGuiID id) void ImGui::TreePop() { - ImGuiWindow* window = GetCurrentWindow(); + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; Unindent(); + window->DC.TreeDepth--; + if (g.NavMoveDir == ImGuiDir_Left && g.NavWindow == window && NavMoveRequestButNoResultYet()) + if (g.NavIdIsAlive && (window->DC.TreeDepthMayCloseOnPop & (1 << window->DC.TreeDepth))) + { + SetNavID(window->IDStack.back(), g.NavLayer); + NavMoveRequestCancel(); + } + window->DC.TreeDepthMayCloseOnPop &= (1 << window->DC.TreeDepth) - 1; + PopID(); } @@ -9595,33 +12728,289 @@ void ImGui::Value(const char* prefix, float v, const char* float_format) } } -// FIXME: May want to remove those helpers? -void ImGui::ValueColor(const char* prefix, const ImVec4& v) +//----------------------------------------------------------------------------- +// DRAG AND DROP +//----------------------------------------------------------------------------- + +void ImGui::ClearDragDrop() { - Text("%s: (%.2f,%.2f,%.2f,%.2f)", prefix, v.x, v.y, v.z, v.w); - SameLine(); - ColorButton(v, true); + ImGuiContext& g = *GImGui; + g.DragDropActive = false; + g.DragDropPayload.Clear(); + g.DragDropAcceptIdCurr = g.DragDropAcceptIdPrev = 0; + g.DragDropAcceptIdCurrRectSurface = FLT_MAX; + g.DragDropAcceptFrameCount = -1; } -void ImGui::ValueColor(const char* prefix, ImU32 v) +// Call when current ID is active. +// When this returns true you need to: a) call SetDragDropPayload() exactly once, b) you may render the payload visual/description, c) call EndDragDropSource() +bool ImGui::BeginDragDropSource(ImGuiDragDropFlags flags) { - Text("%s: %08X", prefix, v); - SameLine(); - ColorButton(ColorConvertU32ToFloat4(v), true); + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + + bool source_drag_active = false; + ImGuiID source_id = 0; + ImGuiID source_parent_id = 0; + int mouse_button = 0; + if (!(flags & ImGuiDragDropFlags_SourceExtern)) + { + source_id = window->DC.LastItemId; + if (source_id != 0 && g.ActiveId != source_id) // Early out for most common case + return false; + if (g.IO.MouseDown[mouse_button] == false) + return false; + + if (source_id == 0) + { + // If you want to use BeginDragDropSource() on an item with no unique identifier for interaction, such as Text() or Image(), you need to: + // A) Read the explanation below, B) Use the ImGuiDragDropFlags_SourceAllowNullID flag, C) Swallow your programmer pride. + if (!(flags & ImGuiDragDropFlags_SourceAllowNullID)) + { + IM_ASSERT(0); + return false; + } + + // Magic fallback (=somehow reprehensible) to handle items with no assigned ID, e.g. Text(), Image() + // We build a throwaway ID based on current ID stack + relative AABB of items in window. + // THE IDENTIFIER WON'T SURVIVE ANY REPOSITIONING OF THE WIDGET, so if your widget moves your dragging operation will be canceled. + // We don't need to maintain/call ClearActiveID() as releasing the button will early out this function and trigger !ActiveIdIsAlive. + bool is_hovered = (window->DC.LastItemStatusFlags & ImGuiItemStatusFlags_HoveredRect) != 0; + if (!is_hovered && (g.ActiveId == 0 || g.ActiveIdWindow != window)) + return false; + source_id = window->DC.LastItemId = window->GetIDFromRectangle(window->DC.LastItemRect); + if (is_hovered) + SetHoveredID(source_id); + if (is_hovered && g.IO.MouseClicked[mouse_button]) + { + SetActiveID(source_id, window); + FocusWindow(window); + } + if (g.ActiveId == source_id) // Allow the underlying widget to display/return hovered during the mouse release frame, else we would get a flicker. + g.ActiveIdAllowOverlap = is_hovered; + } + if (g.ActiveId != source_id) + return false; + source_parent_id = window->IDStack.back(); + source_drag_active = IsMouseDragging(mouse_button); + } + else + { + window = NULL; + source_id = ImHash("#SourceExtern", 0); + source_drag_active = true; + } + + if (source_drag_active) + { + if (!g.DragDropActive) + { + IM_ASSERT(source_id != 0); + ClearDragDrop(); + ImGuiPayload& payload = g.DragDropPayload; + payload.SourceId = source_id; + payload.SourceParentId = source_parent_id; + g.DragDropActive = true; + g.DragDropSourceFlags = flags; + g.DragDropMouseButton = mouse_button; + } + + if (!(flags & ImGuiDragDropFlags_SourceNoPreviewTooltip)) + { + // FIXME-DRAG + //SetNextWindowPos(g.IO.MousePos - g.ActiveIdClickOffset - g.Style.WindowPadding); + //PushStyleVar(ImGuiStyleVar_Alpha, g.Style.Alpha * 0.60f); // This is better but e.g ColorButton with checkboard has issue with transparent colors :( + SetNextWindowPos(g.IO.MousePos); + PushStyleColor(ImGuiCol_PopupBg, GetStyleColorVec4(ImGuiCol_PopupBg) * ImVec4(1.0f, 1.0f, 1.0f, 0.6f)); + BeginTooltip(); + } + + if (!(flags & ImGuiDragDropFlags_SourceNoDisableHover) && !(flags & ImGuiDragDropFlags_SourceExtern)) + window->DC.LastItemStatusFlags &= ~ImGuiItemStatusFlags_HoveredRect; + + return true; + } + return false; +} + +void ImGui::EndDragDropSource() +{ + ImGuiContext& g = *GImGui; + IM_ASSERT(g.DragDropActive); + + if (!(g.DragDropSourceFlags & ImGuiDragDropFlags_SourceNoPreviewTooltip)) + { + EndTooltip(); + PopStyleColor(); + //PopStyleVar(); + } + + // Discard the drag if have not called SetDragDropPayload() + if (g.DragDropPayload.DataFrameCount == -1) + ClearDragDrop(); +} + +// Use 'cond' to choose to submit payload on drag start or every frame +bool ImGui::SetDragDropPayload(const char* type, const void* data, size_t data_size, ImGuiCond cond) +{ + ImGuiContext& g = *GImGui; + ImGuiPayload& payload = g.DragDropPayload; + if (cond == 0) + cond = ImGuiCond_Always; + + IM_ASSERT(type != NULL); + IM_ASSERT(strlen(type) < IM_ARRAYSIZE(payload.DataType) && "Payload type can be at most 12 characters long"); + IM_ASSERT((data != NULL && data_size > 0) || (data == NULL && data_size == 0)); + IM_ASSERT(cond == ImGuiCond_Always || cond == ImGuiCond_Once); + IM_ASSERT(payload.SourceId != 0); // Not called between BeginDragDropSource() and EndDragDropSource() + + if (cond == ImGuiCond_Always || payload.DataFrameCount == -1) + { + // Copy payload + ImStrncpy(payload.DataType, type, IM_ARRAYSIZE(payload.DataType)); + g.DragDropPayloadBufHeap.resize(0); + if (data_size > sizeof(g.DragDropPayloadBufLocal)) + { + // Store in heap + g.DragDropPayloadBufHeap.resize((int)data_size); + payload.Data = g.DragDropPayloadBufHeap.Data; + memcpy((void*)payload.Data, data, data_size); + } + else if (data_size > 0) + { + // Store locally + memset(&g.DragDropPayloadBufLocal, 0, sizeof(g.DragDropPayloadBufLocal)); + payload.Data = g.DragDropPayloadBufLocal; + memcpy((void*)payload.Data, data, data_size); + } + else + { + payload.Data = NULL; + } + payload.DataSize = (int)data_size; + } + payload.DataFrameCount = g.FrameCount; + + return (g.DragDropAcceptFrameCount == g.FrameCount) || (g.DragDropAcceptFrameCount == g.FrameCount - 1); +} + +bool ImGui::BeginDragDropTargetCustom(const ImRect& bb, ImGuiID id) +{ + ImGuiContext& g = *GImGui; + if (!g.DragDropActive) + return false; + + ImGuiWindow* window = g.CurrentWindow; + if (g.HoveredWindow == NULL || window->RootWindow != g.HoveredWindow->RootWindow) + return false; + IM_ASSERT(id != 0); + if (!IsMouseHoveringRect(bb.Min, bb.Max) || (id == g.DragDropPayload.SourceId)) + return false; + + g.DragDropTargetRect = bb; + g.DragDropTargetId = id; + return true; +} + +// We don't use BeginDragDropTargetCustom() and duplicate its code because: +// 1) we use LastItemRectHoveredRect which handles items that pushes a temporarily clip rectangle in their code. Calling BeginDragDropTargetCustom(LastItemRect) would not handle them. +// 2) and it's faster. as this code may be very frequently called, we want to early out as fast as we can. +// Also note how the HoveredWindow test is positioned differently in both functions (in both functions we optimize for the cheapest early out case) +bool ImGui::BeginDragDropTarget() +{ + ImGuiContext& g = *GImGui; + if (!g.DragDropActive) + return false; + + ImGuiWindow* window = g.CurrentWindow; + if (!(window->DC.LastItemStatusFlags & ImGuiItemStatusFlags_HoveredRect)) + return false; + if (g.HoveredWindow == NULL || window->RootWindow != g.HoveredWindow->RootWindow) + return false; + + const ImRect& display_rect = (window->DC.LastItemStatusFlags & ImGuiItemStatusFlags_HasDisplayRect) ? window->DC.LastItemDisplayRect : window->DC.LastItemRect; + ImGuiID id = window->DC.LastItemId; + if (id == 0) + id = window->GetIDFromRectangle(display_rect); + if (g.DragDropPayload.SourceId == id) + return false; + + g.DragDropTargetRect = display_rect; + g.DragDropTargetId = id; + return true; +} + +bool ImGui::IsDragDropPayloadBeingAccepted() +{ + ImGuiContext& g = *GImGui; + return g.DragDropActive && g.DragDropAcceptIdPrev != 0; +} + +const ImGuiPayload* ImGui::AcceptDragDropPayload(const char* type, ImGuiDragDropFlags flags) +{ + ImGuiContext& g = *GImGui; + ImGuiWindow* window = g.CurrentWindow; + ImGuiPayload& payload = g.DragDropPayload; + IM_ASSERT(g.DragDropActive); // Not called between BeginDragDropTarget() and EndDragDropTarget() ? + IM_ASSERT(payload.DataFrameCount != -1); // Forgot to call EndDragDropTarget() ? + if (type != NULL && !payload.IsDataType(type)) + return NULL; + + // Accept smallest drag target bounding box, this allows us to nest drag targets conveniently without ordering constraints. + // NB: We currently accept NULL id as target. However, overlapping targets requires a unique ID to function! + const bool was_accepted_previously = (g.DragDropAcceptIdPrev == g.DragDropTargetId); + ImRect r = g.DragDropTargetRect; + float r_surface = r.GetWidth() * r.GetHeight(); + if (r_surface < g.DragDropAcceptIdCurrRectSurface) + { + g.DragDropAcceptIdCurr = g.DragDropTargetId; + g.DragDropAcceptIdCurrRectSurface = r_surface; + } + + // Render default drop visuals + payload.Preview = was_accepted_previously; + flags |= (g.DragDropSourceFlags & ImGuiDragDropFlags_AcceptNoDrawDefaultRect); // Source can also inhibit the preview (useful for external sources that lives for 1 frame) + if (!(flags & ImGuiDragDropFlags_AcceptNoDrawDefaultRect) && payload.Preview) + { + // FIXME-DRAG: Settle on a proper default visuals for drop target. + r.Expand(3.5f); + bool push_clip_rect = !window->ClipRect.Contains(r); + if (push_clip_rect) window->DrawList->PushClipRectFullScreen(); + window->DrawList->AddRect(r.Min, r.Max, GetColorU32(ImGuiCol_DragDropTarget), 0.0f, ~0, 2.0f); + if (push_clip_rect) window->DrawList->PopClipRect(); + } + + g.DragDropAcceptFrameCount = g.FrameCount; + payload.Delivery = was_accepted_previously && !IsMouseDown(g.DragDropMouseButton); // For extern drag sources affecting os window focus, it's easier to just test !IsMouseDown() instead of IsMouseReleased() + if (!payload.Delivery && !(flags & ImGuiDragDropFlags_AcceptBeforeDelivery)) + return NULL; + + return &payload; +} + +// We don't really use/need this now, but added it for the sake of consistency and because we might need it later. +void ImGui::EndDragDropTarget() +{ + ImGuiContext& g = *GImGui; (void)g; + IM_ASSERT(g.DragDropActive); } //----------------------------------------------------------------------------- // PLATFORM DEPENDENT HELPERS //----------------------------------------------------------------------------- -#if defined(_WIN32) && !defined(_WINDOWS_) && (!defined(IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCS) || !defined(IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCS)) +#if defined(_WIN32) && !defined(_WINDOWS_) && (!defined(IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCTIONS) || !defined(IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCTIONS)) #undef WIN32_LEAN_AND_MEAN #define WIN32_LEAN_AND_MEAN +#ifndef __MINGW32__ +#include +#else #include #endif +#endif // Win32 API clipboard implementation -#if defined(_WIN32) && !defined(IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCS) +#if defined(_WIN32) && !defined(IMGUI_DISABLE_WIN32_DEFAULT_CLIPBOARD_FUNCTIONS) #ifdef _MSC_VER #pragma comment(lib, "user32") @@ -9635,7 +13024,10 @@ static const char* GetClipboardTextFn_DefaultImpl(void*) return NULL; HANDLE wbuf_handle = GetClipboardData(CF_UNICODETEXT); if (wbuf_handle == NULL) + { + CloseClipboard(); return NULL; + } if (ImWchar* wbuf_global = (ImWchar*)GlobalLock(wbuf_handle)) { int buf_len = ImTextCountUtf8BytesFromStr(wbuf_global, NULL) + 1; @@ -9654,7 +13046,10 @@ static void SetClipboardTextFn_DefaultImpl(void*, const char* text) const int wbuf_length = ImTextCountCharsFromUtf8(text, NULL) + 1; HGLOBAL wbuf_handle = GlobalAlloc(GMEM_MOVEABLE, (SIZE_T)wbuf_length * sizeof(ImWchar)); if (wbuf_handle == NULL) + { + CloseClipboard(); return; + } ImWchar* wbuf_global = (ImWchar*)GlobalLock(wbuf_handle); ImTextStrFromUtf8(wbuf_global, wbuf_length, text, NULL); GlobalUnlock(wbuf_handle); @@ -9668,28 +13063,25 @@ static void SetClipboardTextFn_DefaultImpl(void*, const char* text) // Local ImGui-only clipboard implementation, if user hasn't defined better clipboard handlers static const char* GetClipboardTextFn_DefaultImpl(void*) { - return GImGui->PrivateClipboard; + ImGuiContext& g = *GImGui; + return g.PrivateClipboard.empty() ? NULL : g.PrivateClipboard.begin(); } // Local ImGui-only clipboard implementation, if user hasn't defined better clipboard handlers static void SetClipboardTextFn_DefaultImpl(void*, const char* text) { ImGuiContext& g = *GImGui; - if (g.PrivateClipboard) - { - ImGui::MemFree(g.PrivateClipboard); - g.PrivateClipboard = NULL; - } + g.PrivateClipboard.clear(); const char* text_end = text + strlen(text); - g.PrivateClipboard = (char*)ImGui::MemAlloc((size_t)(text_end - text) + 1); - memcpy(g.PrivateClipboard, text, (size_t)(text_end - text)); + g.PrivateClipboard.resize((int)(text_end - text) + 1); + memcpy(&g.PrivateClipboard[0], text, (size_t)(text_end - text)); g.PrivateClipboard[(int)(text_end - text)] = 0; } #endif // Win32 API IME support (for Asian languages, etc.) -#if defined(_WIN32) && !defined(__GNUC__) && !defined(IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCS) +#if defined(_WIN32) && !defined(__GNUC__) && !defined(IMGUI_DISABLE_WIN32_DEFAULT_IME_FUNCTIONS) #include #ifdef _MSC_VER @@ -9724,17 +13116,17 @@ void ImGui::ShowMetricsWindow(bool* p_open) { if (ImGui::Begin("ImGui Metrics", p_open)) { - ImGui::Text("ImGui %s", ImGui::GetVersion()); + ImGui::Text("Dear ImGui %s", ImGui::GetVersion()); ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate); ImGui::Text("%d vertices, %d indices (%d triangles)", ImGui::GetIO().MetricsRenderVertices, ImGui::GetIO().MetricsRenderIndices, ImGui::GetIO().MetricsRenderIndices / 3); - ImGui::Text("%d allocations", ImGui::GetIO().MetricsAllocs); + ImGui::Text("%d allocations", (int)GImAllocatorActiveAllocationsCount); static bool show_clip_rects = true; - ImGui::Checkbox("Show clipping rectangles when hovering a ImDrawCmd", &show_clip_rects); + ImGui::Checkbox("Show clipping rectangles when hovering draw commands", &show_clip_rects); ImGui::Separator(); struct Funcs { - static void NodeDrawList(ImDrawList* draw_list, const char* label) + static void NodeDrawList(ImGuiWindow* window, ImDrawList* draw_list, const char* label) { bool node_open = ImGui::TreeNode(draw_list, "%s: '%s' %d vtx, %d indices, %d cmds", label, draw_list->_OwnerName ? draw_list->_OwnerName : "", draw_list->VtxBuffer.Size, draw_list->IdxBuffer.Size, draw_list->CmdBuffer.Size); if (draw_list == ImGui::GetWindowDrawList()) @@ -9744,21 +13136,25 @@ void ImGui::ShowMetricsWindow(bool* p_open) if (node_open) ImGui::TreePop(); return; } + + ImDrawList* overlay_draw_list = ImGui::GetOverlayDrawList(); // Render additional visuals into the top-most draw list + if (window && ImGui::IsItemHovered()) + overlay_draw_list->AddRect(window->Pos, window->Pos + window->Size, IM_COL32(255, 255, 0, 255)); if (!node_open) return; - ImDrawList* overlay_draw_list = &GImGui->OverlayDrawList; // Render additional visuals into the top-most draw list - overlay_draw_list->PushClipRectFullScreen(); int elem_offset = 0; for (const ImDrawCmd* pcmd = draw_list->CmdBuffer.begin(); pcmd < draw_list->CmdBuffer.end(); elem_offset += pcmd->ElemCount, pcmd++) { + if (pcmd->UserCallback == NULL && pcmd->ElemCount == 0) + continue; if (pcmd->UserCallback) { ImGui::BulletText("Callback %p, user_data %p", pcmd->UserCallback, pcmd->UserCallbackData); continue; } ImDrawIdx* idx_buffer = (draw_list->IdxBuffer.Size > 0) ? draw_list->IdxBuffer.Data : NULL; - bool pcmd_node_open = ImGui::TreeNode((void*)(pcmd - draw_list->CmdBuffer.begin()), "Draw %-4d %s vtx, tex = %p, clip_rect = (%.0f,%.0f)..(%.0f,%.0f)", pcmd->ElemCount, draw_list->IdxBuffer.Size > 0 ? "indexed" : "non-indexed", pcmd->TextureId, pcmd->ClipRect.x, pcmd->ClipRect.y, pcmd->ClipRect.z, pcmd->ClipRect.w); + bool pcmd_node_open = ImGui::TreeNode((void*)(pcmd - draw_list->CmdBuffer.begin()), "Draw %4d %s vtx, tex 0x%p, clip_rect (%4.0f,%4.0f)-(%4.0f,%4.0f)", pcmd->ElemCount, draw_list->IdxBuffer.Size > 0 ? "indexed" : "non-indexed", pcmd->TextureId, pcmd->ClipRect.x, pcmd->ClipRect.y, pcmd->ClipRect.z, pcmd->ClipRect.w); if (show_clip_rects && ImGui::IsItemHovered()) { ImRect clip_rect = pcmd->ClipRect; @@ -9770,25 +13166,32 @@ void ImGui::ShowMetricsWindow(bool* p_open) } if (!pcmd_node_open) continue; + + // Display individual triangles/vertices. Hover on to get the corresponding triangle highlighted. ImGuiListClipper clipper(pcmd->ElemCount/3); // Manually coarse clip our print out of individual vertices to save CPU, only items that may be visible. while (clipper.Step()) for (int prim = clipper.DisplayStart, vtx_i = elem_offset + clipper.DisplayStart*3; prim < clipper.DisplayEnd; prim++) { - char buf[300], *buf_p = buf; + char buf[300]; + char *buf_p = buf, *buf_end = buf + IM_ARRAYSIZE(buf); ImVec2 triangles_pos[3]; for (int n = 0; n < 3; n++, vtx_i++) { ImDrawVert& v = draw_list->VtxBuffer[idx_buffer ? idx_buffer[vtx_i] : vtx_i]; triangles_pos[n] = v.pos; - buf_p += sprintf(buf_p, "%s %04d { pos = (%8.2f,%8.2f), uv = (%.6f,%.6f), col = %08X }\n", (n == 0) ? "vtx" : " ", vtx_i, v.pos.x, v.pos.y, v.uv.x, v.uv.y, v.col); + buf_p += ImFormatString(buf_p, (int)(buf_end - buf_p), "%s %04d: pos (%8.2f,%8.2f), uv (%.6f,%.6f), col %08X\n", (n == 0) ? "vtx" : " ", vtx_i, v.pos.x, v.pos.y, v.uv.x, v.uv.y, v.col); } ImGui::Selectable(buf, false); if (ImGui::IsItemHovered()) - overlay_draw_list->AddPolyline(triangles_pos, 3, IM_COL32(255,255,0,255), true, 1.0f, false); // Add triangle without AA, more readable for large-thin triangle + { + ImDrawListFlags backup_flags = overlay_draw_list->Flags; + overlay_draw_list->Flags &= ~ImDrawListFlags_AntiAliasedLines; // Disable AA on triangle outlines at is more readable for very large and thin triangles. + overlay_draw_list->AddPolyline(triangles_pos, 3, IM_COL32(255,255,0,255), true, 1.0f); + overlay_draw_list->Flags = backup_flags; + } } ImGui::TreePop(); } - overlay_draw_list->PopClipRect(); ImGui::TreePop(); } @@ -9805,10 +13208,20 @@ void ImGui::ShowMetricsWindow(bool* p_open) { if (!ImGui::TreeNode(window, "%s '%s', %d @ 0x%p", label, window->Name, window->Active || window->WasActive, window)) return; - NodeDrawList(window->DrawList, "DrawList"); - ImGui::BulletText("Pos: (%.1f,%.1f)", window->Pos.x, window->Pos.y); - ImGui::BulletText("Size: (%.1f,%.1f), SizeContents (%.1f,%.1f)", window->Size.x, window->Size.y, window->SizeContents.x, window->SizeContents.y); - ImGui::BulletText("Scroll: (%.2f,%.2f)", window->Scroll.x, window->Scroll.y); + ImGuiWindowFlags flags = window->Flags; + NodeDrawList(window, window->DrawList, "DrawList"); + ImGui::BulletText("Pos: (%.1f,%.1f), Size: (%.1f,%.1f), SizeContents (%.1f,%.1f)", window->Pos.x, window->Pos.y, window->Size.x, window->Size.y, window->SizeContents.x, window->SizeContents.y); + ImGui::BulletText("Flags: 0x%08X (%s%s%s%s%s%s..)", flags, + (flags & ImGuiWindowFlags_ChildWindow) ? "Child " : "", (flags & ImGuiWindowFlags_Tooltip) ? "Tooltip " : "", (flags & ImGuiWindowFlags_Popup) ? "Popup " : "", + (flags & ImGuiWindowFlags_Modal) ? "Modal " : "", (flags & ImGuiWindowFlags_ChildMenu) ? "ChildMenu " : "", (flags & ImGuiWindowFlags_NoSavedSettings) ? "NoSavedSettings " : ""); + ImGui::BulletText("Scroll: (%.2f/%.2f,%.2f/%.2f)", window->Scroll.x, GetScrollMaxX(window), window->Scroll.y, GetScrollMaxY(window)); + ImGui::BulletText("Active: %d, WriteAccessed: %d", window->Active, window->WriteAccessed); + ImGui::BulletText("NavLastIds: 0x%08X,0x%08X, NavLayerActiveMask: %X", window->NavLastIds[0], window->NavLastIds[1], window->DC.NavLayerActiveMask); + ImGui::BulletText("NavLastChildNavWindow: %s", window->NavLastChildNavWindow ? window->NavLastChildNavWindow->Name : "NULL"); + if (window->NavRectRel[0].IsFinite()) + ImGui::BulletText("NavRectRel[0]: (%.1f,%.1f)(%.1f,%.1f)", window->NavRectRel[0].Min.x, window->NavRectRel[0].Min.y, window->NavRectRel[0].Max.x, window->NavRectRel[0].Max.y); + else + ImGui::BulletText("NavRectRel[0]: "); if (window->RootWindow != window) NodeWindow(window->RootWindow, "RootWindow"); if (window->DC.ChildWindows.Size > 0) NodeWindows(window->DC.ChildWindows, "ChildWindows"); ImGui::BulletText("Storage: %d bytes", window->StateStorage.Data.Size * (int)sizeof(ImGuiStorage::Pair)); @@ -9816,12 +13229,13 @@ void ImGui::ShowMetricsWindow(bool* p_open) } }; - ImGuiContext& g = *GImGui; // Access private state + // Access private state, we are going to display the draw lists from last frame + ImGuiContext& g = *GImGui; Funcs::NodeWindows(g.Windows, "Windows"); - if (ImGui::TreeNode("DrawList", "Active DrawLists (%d)", g.RenderDrawLists[0].Size)) + if (ImGui::TreeNode("DrawList", "Active DrawLists (%d)", g.DrawDataBuilder.Layers[0].Size)) { - for (int i = 0; i < g.RenderDrawLists[0].Size; i++) - Funcs::NodeDrawList(g.RenderDrawLists[0][i], "DrawList"); + for (int i = 0; i < g.DrawDataBuilder.Layers[0].Size; i++) + Funcs::NodeDrawList(NULL, g.DrawDataBuilder.Layers[0][i], "DrawList"); ImGui::TreePop(); } if (ImGui::TreeNode("Popups", "Open Popups Stack (%d)", g.OpenPopupStack.Size)) @@ -9833,13 +13247,20 @@ void ImGui::ShowMetricsWindow(bool* p_open) } ImGui::TreePop(); } - if (ImGui::TreeNode("Basic state")) + if (ImGui::TreeNode("Internal state")) { - ImGui::Text("FocusedWindow: '%s'", g.FocusedWindow ? g.FocusedWindow->Name : "NULL"); + const char* input_source_names[] = { "None", "Mouse", "Nav", "NavGamepad", "NavKeyboard" }; IM_ASSERT(IM_ARRAYSIZE(input_source_names) == ImGuiInputSource_Count_); ImGui::Text("HoveredWindow: '%s'", g.HoveredWindow ? g.HoveredWindow->Name : "NULL"); ImGui::Text("HoveredRootWindow: '%s'", g.HoveredRootWindow ? g.HoveredRootWindow->Name : "NULL"); - ImGui::Text("HoveredID: 0x%08X/0x%08X", g.HoveredId, g.HoveredIdPreviousFrame); // Data is "in-flight" so depending on when the Metrics window is called we may see current frame information or not - ImGui::Text("ActiveID: 0x%08X/0x%08X", g.ActiveId, g.ActiveIdPreviousFrame); + ImGui::Text("HoveredId: 0x%08X/0x%08X (%.2f sec)", g.HoveredId, g.HoveredIdPreviousFrame, g.HoveredIdTimer); // Data is "in-flight" so depending on when the Metrics window is called we may see current frame information or not + ImGui::Text("ActiveId: 0x%08X/0x%08X (%.2f sec), ActiveIdSource: %s", g.ActiveId, g.ActiveIdPreviousFrame, g.ActiveIdTimer, input_source_names[g.ActiveIdSource]); + ImGui::Text("ActiveIdWindow: '%s'", g.ActiveIdWindow ? g.ActiveIdWindow->Name : "NULL"); + ImGui::Text("NavWindow: '%s'", g.NavWindow ? g.NavWindow->Name : "NULL"); + ImGui::Text("NavId: 0x%08X, NavLayer: %d", g.NavId, g.NavLayer); + ImGui::Text("NavActive: %d, NavVisible: %d", g.IO.NavActive, g.IO.NavVisible); + ImGui::Text("NavActivateId: 0x%08X, NavInputId: 0x%08X", g.NavActivateId, g.NavInputId); + ImGui::Text("NavDisableHighlight: %d, NavDisableMouseHover: %d", g.NavDisableHighlight, g.NavDisableMouseHover); + ImGui::Text("DragDrop: %d, SourceId = 0x%08X, Payload \"%s\" (%d bytes)", g.DragDropActive, g.DragDropPayload.SourceId, g.DragDropPayload.DataType, g.DragDropPayload.DataSize); ImGui::TreePop(); } } diff --git a/examples/ThirdPartyLibs/imgui/imgui.h b/examples/ThirdPartyLibs/imgui/imgui.h index bf6871786..2f874c6fc 100644 --- a/examples/ThirdPartyLibs/imgui/imgui.h +++ b/examples/ThirdPartyLibs/imgui/imgui.h @@ -1,22 +1,27 @@ -// dear imgui, v1.50 WIP +// dear imgui, v1.60 WIP // (headers) // See imgui.cpp file for documentation. -// See ImGui::ShowTestWindow() in imgui_demo.cpp for demo code. +// Call and read ImGui::ShowDemoWindow() in imgui_demo.cpp for demo code. // Read 'Programmer guide' in imgui.cpp for notes on how to setup ImGui in your codebase. // Get latest version at https://github.com/ocornut/imgui #pragma once -#if !defined(IMGUI_DISABLE_INCLUDE_IMCONFIG_H) || defined(IMGUI_INCLUDE_IMCONFIG_H) -#include "imconfig.h" // User-editable configuration file +// User-editable configuration files (edit stock imconfig.h or define IMGUI_USER_CONFIG to your own filename) +#ifdef IMGUI_USER_CONFIG +#include IMGUI_USER_CONFIG #endif +#if !defined(IMGUI_DISABLE_INCLUDE_IMCONFIG_H) || defined(IMGUI_INCLUDE_IMCONFIG_H) +#include "imconfig.h" +#endif + #include // FLT_MAX #include // va_list #include // ptrdiff_t, NULL #include // memset, memmove, memcpy, strlen, strchr, strcpy, strcmp -#define IMGUI_VERSION "1.50 WIP" +#define IMGUI_VERSION "1.60 WIP" // Define attributes of all API symbols declarations, e.g. for DLL under Windows. #ifndef IMGUI_API @@ -29,12 +34,17 @@ #define IM_ASSERT(_EXPR) assert(_EXPR) #endif +// Helpers // Some compilers support applying printf-style warnings to user functions. #if defined(__clang__) || defined(__GNUC__) -#define IM_PRINTFARGS(FMT) __attribute__((format(printf, FMT, (FMT+1)))) +#define IM_FMTARGS(FMT) __attribute__((format(printf, FMT, FMT+1))) +#define IM_FMTLIST(FMT) __attribute__((format(printf, FMT, 0))) #else -#define IM_PRINTFARGS(FMT) +#define IM_FMTARGS(FMT) +#define IM_FMTLIST(FMT) #endif +#define IM_ARRAYSIZE(_ARR) ((int)(sizeof(_ARR)/sizeof(*_ARR))) +#define IM_OFFSETOF(_TYPE,_MEMBER) ((size_t)&(((_TYPE*)0)->_MEMBER)) // Offset of _MEMBER within _TYPE. Standardized as offsetof() in modern C++. #if defined(__clang__) #pragma clang diagnostic push @@ -46,9 +56,10 @@ struct ImDrawChannel; // Temporary storage for outputting drawing struct ImDrawCmd; // A single draw command within a parent ImDrawList (generally maps to 1 GPU draw call) struct ImDrawData; // All draw command lists required to render the frame struct ImDrawList; // A single draw command list (generally one per window) +struct ImDrawListSharedData; // Data shared among multiple draw lists (typically owned by parent ImGui context, but you may create one yourself) struct ImDrawVert; // A single vertex (20 bytes by default, override layout with IMGUI_OVERRIDE_DRAWVERT_STRUCT_LAYOUT) struct ImFont; // Runtime data for a single font within a parent ImFontAtlas -struct ImFontAtlas; // Runtime data for multiple fonts, bake multiple fonts into a single texture, TTF font loader +struct ImFontAtlas; // Runtime data for multiple fonts, bake multiple fonts into a single texture, TTF/OTF font loader struct ImFontConfig; // Configuration data when adding a font or merging fonts struct ImColor; // Helper functions to create a color that can be converted to either u32 or float4 struct ImGuiIO; // Main configuration and I/O between your application and ImGui @@ -58,8 +69,9 @@ struct ImGuiStyle; // Runtime data for styling/colors struct ImGuiTextFilter; // Parse and apply text filters. In format "aaaaa[,bbbb][,ccccc]" struct ImGuiTextBuffer; // Text buffer for logging/accumulating text struct ImGuiTextEditCallbackData; // Shared state of ImGui::InputText() when using custom ImGuiTextEditCallback (rare/advanced use) -struct ImGuiSizeConstraintCallbackData;// Structure used to constraint window size in custom ways when using custom ImGuiSizeConstraintCallback (rare/advanced use) +struct ImGuiSizeCallbackData; // Structure used to constraint window size in custom ways when using custom ImGuiSizeCallback (rare/advanced use) struct ImGuiListClipper; // Helper to manually clip large list of items +struct ImGuiPayload; // User data payload for drag and drop operations struct ImGuiContext; // ImGui context (opaque) // Typedefs and Enumerations (declared as int for compatibility and to not pollute the top of this file) @@ -67,18 +79,33 @@ typedef unsigned int ImU32; // 32-bit unsigned integer (typically used t typedef unsigned int ImGuiID; // unique ID used by widgets (typically hashed from a stack of string) typedef unsigned short ImWchar; // character for keyboard input/display typedef void* ImTextureID; // user data to identify a texture (this is whatever to you want it to be! read the FAQ about ImTextureID in imgui.cpp) -typedef int ImGuiCol; // a color identifier for styling // enum ImGuiCol_ -typedef int ImGuiStyleVar; // a variable identifier for styling // enum ImGuiStyleVar_ -typedef int ImGuiKey; // a key identifier (ImGui-side enum) // enum ImGuiKey_ -typedef int ImGuiColorEditMode; // color edit mode for ColorEdit*() // enum ImGuiColorEditMode_ -typedef int ImGuiMouseCursor; // a mouse cursor identifier // enum ImGuiMouseCursor_ -typedef int ImGuiWindowFlags; // window flags for Begin*() // enum ImGuiWindowFlags_ -typedef int ImGuiSetCond; // condition flags for Set*() // enum ImGuiSetCond_ -typedef int ImGuiInputTextFlags; // flags for InputText*() // enum ImGuiInputTextFlags_ -typedef int ImGuiSelectableFlags; // flags for Selectable() // enum ImGuiSelectableFlags_ -typedef int ImGuiTreeNodeFlags; // flags for TreeNode*(), Collapsing*() // enum ImGuiTreeNodeFlags_ +typedef int ImGuiCol; // enum: a color identifier for styling // enum ImGuiCol_ +typedef int ImGuiCond; // enum: a condition for Set*() // enum ImGuiCond_ +typedef int ImGuiKey; // enum: a key identifier (ImGui-side enum) // enum ImGuiKey_ +typedef int ImGuiNavInput; // enum: an input identifier for navigation // enum ImGuiNavInput_ +typedef int ImGuiMouseCursor; // enum: a mouse cursor identifier // enum ImGuiMouseCursor_ +typedef int ImGuiStyleVar; // enum: a variable identifier for styling // enum ImGuiStyleVar_ +typedef int ImDrawCornerFlags; // flags: for ImDrawList::AddRect*() etc. // enum ImDrawCornerFlags_ +typedef int ImDrawListFlags; // flags: for ImDrawList // enum ImDrawListFlags_ +typedef int ImFontAtlasFlags; // flags: for ImFontAtlas // enum ImFontAtlasFlags_ +typedef int ImGuiColorEditFlags; // flags: for ColorEdit*(), ColorPicker*() // enum ImGuiColorEditFlags_ +typedef int ImGuiColumnsFlags; // flags: for *Columns*() // enum ImGuiColumnsFlags_ +typedef int ImGuiDragDropFlags; // flags: for *DragDrop*() // enum ImGuiDragDropFlags_ +typedef int ImGuiComboFlags; // flags: for BeginCombo() // enum ImGuiComboFlags_ +typedef int ImGuiFocusedFlags; // flags: for IsWindowFocused() // enum ImGuiFocusedFlags_ +typedef int ImGuiHoveredFlags; // flags: for IsItemHovered() etc. // enum ImGuiHoveredFlags_ +typedef int ImGuiInputTextFlags; // flags: for InputText*() // enum ImGuiInputTextFlags_ +typedef int ImGuiNavFlags; // flags: for io.NavFlags // enum ImGuiNavFlags_ +typedef int ImGuiSelectableFlags; // flags: for Selectable() // enum ImGuiSelectableFlags_ +typedef int ImGuiTreeNodeFlags; // flags: for TreeNode*(),CollapsingHeader()// enum ImGuiTreeNodeFlags_ +typedef int ImGuiWindowFlags; // flags: for Begin*() // enum ImGuiWindowFlags_ typedef int (*ImGuiTextEditCallback)(ImGuiTextEditCallbackData *data); -typedef void (*ImGuiSizeConstraintCallback)(ImGuiSizeConstraintCallbackData* data); +typedef void (*ImGuiSizeCallback)(ImGuiSizeCallbackData* data); +#if defined(_MSC_VER) && !defined(__clang__) +typedef unsigned __int64 ImU64; // 64-bit unsigned integer +#else +typedef unsigned long long ImU64; // 64-bit unsigned integer +#endif // Others helpers at bottom of the file: // class ImVector<> // Lightweight std::vector like class. @@ -89,6 +116,7 @@ struct ImVec2 float x, y; ImVec2() { x = y = 0.0f; } ImVec2(float _x, float _y) { x = _x; y = _y; } + float operator[] (size_t idx) const { IM_ASSERT(idx == 0 || idx == 1); return (&x)[idx]; } // We very rarely use this [] operator, thus an assert is fine. #ifdef IM_VEC2_CLASS_EXTRA // Define constructor and implicit cast operators in imconfig.h to convert back<>forth from your math types and ImVec2. IM_VEC2_CLASS_EXTRA #endif @@ -108,25 +136,42 @@ struct ImVec4 // In a namespace so that user can add extra functions in a separate file (e.g. Value() helpers for your vector or common types) namespace ImGui { + // Context creation and access, if you want to use multiple context, share context between modules (e.g. DLL). + // All contexts share a same ImFontAtlas by default. If you want different font atlas, you can new() them and overwrite the GetIO().Fonts variable of an ImGui context. + // All those functions are not reliant on the current context. + IMGUI_API ImGuiContext* CreateContext(ImFontAtlas* shared_font_atlas = NULL); + IMGUI_API void DestroyContext(ImGuiContext* ctx = NULL); // NULL = Destroy current context + IMGUI_API ImGuiContext* GetCurrentContext(); + IMGUI_API void SetCurrentContext(ImGuiContext* ctx); + // Main IMGUI_API ImGuiIO& GetIO(); IMGUI_API ImGuiStyle& GetStyle(); - IMGUI_API ImDrawData* GetDrawData(); // same value as passed to your io.RenderDrawListsFn() function. valid after Render() and until the next call to NewFrame() - IMGUI_API void NewFrame(); // start a new ImGui frame, you can submit any command from this point until NewFrame()/Render(). - IMGUI_API void Render(); // ends the ImGui frame, finalize rendering data, then call your io.RenderDrawListsFn() function if set. - IMGUI_API void Shutdown(); - IMGUI_API void ShowUserGuide(); // help block - IMGUI_API void ShowStyleEditor(ImGuiStyle* ref = NULL); // style editor block. you can pass in a reference ImGuiStyle structure to compare to, revert to and save to (else it uses the default style) - IMGUI_API void ShowTestWindow(bool* p_open = NULL); // test window demonstrating ImGui features - IMGUI_API void ShowMetricsWindow(bool* p_open = NULL); // metrics window for debugging ImGui (browse draw commands, individual vertices, window list, etc.) + IMGUI_API void NewFrame(); // start a new ImGui frame, you can submit any command from this point until Render()/EndFrame(). + IMGUI_API void Render(); // ends the ImGui frame, finalize the draw data. (Obsolete: optionally call io.RenderDrawListsFn if set. Nowadays, prefer calling your render function yourself.) + IMGUI_API ImDrawData* GetDrawData(); // valid after Render() and until the next call to NewFrame(). this is what you have to render. (Obsolete: this used to be passed to your io.RenderDrawListsFn() function.) + IMGUI_API void EndFrame(); // ends the ImGui frame. automatically called by Render(), so most likely don't need to ever call that yourself directly. If you don't need to render you may call EndFrame() but you'll have wasted CPU already. If you don't need to render, better to not create any imgui windows instead! + + // Demo, Debug, Informations + IMGUI_API void ShowDemoWindow(bool* p_open = NULL); // create demo/test window (previously called ShowTestWindow). demonstrate most ImGui features. call this to learn about the library! try to make it always available in your application! + IMGUI_API void ShowMetricsWindow(bool* p_open = NULL); // create metrics window. display ImGui internals: draw commands (with individual draw calls and vertices), window list, basic internal state, etc. + IMGUI_API void ShowStyleEditor(ImGuiStyle* ref = NULL); // add style editor block (not a window). you can pass in a reference ImGuiStyle structure to compare to, revert to and save to (else it uses the default style) + IMGUI_API bool ShowStyleSelector(const char* label); + IMGUI_API void ShowFontSelector(const char* label); + IMGUI_API void ShowUserGuide(); // add basic help/info block (not a window): how to manipulate ImGui as a end-user (mouse/keyboard controls). + IMGUI_API const char* GetVersion(); + + // Styles + IMGUI_API void StyleColorsDark(ImGuiStyle* dst = NULL); // New, recommended style + IMGUI_API void StyleColorsClassic(ImGuiStyle* dst = NULL); // Classic imgui style (default) + IMGUI_API void StyleColorsLight(ImGuiStyle* dst = NULL); // Best used with borders and a custom, thicker font // Window - IMGUI_API bool Begin(const char* name, bool* p_open = NULL, ImGuiWindowFlags flags = 0); // push window to the stack and start appending to it. see .cpp for details. return false when window is collapsed, so you can early out in your code. 'bool* p_open' creates a widget on the upper-right to close the window (which sets your bool to false). - IMGUI_API bool Begin(const char* name, bool* p_open, const ImVec2& size_on_first_use, float bg_alpha = -1.0f, ImGuiWindowFlags flags = 0); // OBSOLETE. this is the older/longer API. the extra parameters aren't very relevant. call SetNextWindowSize() instead if you want to set a window size. For regular windows, 'size_on_first_use' only applies to the first time EVER the window is created and probably not what you want! might obsolete this API eventually. - IMGUI_API void End(); // finish appending to current window, pop it off the window stack. - IMGUI_API bool BeginChild(const char* str_id, const ImVec2& size = ImVec2(0,0), bool border = false, ImGuiWindowFlags extra_flags = 0); // begin a scrolling region. size==0.0f: use remaining window size, size<0.0f: use remaining window size minus abs(size). size>0.0f: fixed size. each axis can use a different mode, e.g. ImVec2(0,400). - IMGUI_API bool BeginChild(ImGuiID id, const ImVec2& size = ImVec2(0,0), bool border = false, ImGuiWindowFlags extra_flags = 0); // " - IMGUI_API void EndChild(); + IMGUI_API bool Begin(const char* name, bool* p_open = NULL, ImGuiWindowFlags flags = 0); // push window to the stack and start appending to it. see .cpp for details. return false when window is collapsed (so you can early out in your code) but you always need to call End() regardless. 'bool* p_open' creates a widget on the upper-right to close the window (which sets your bool to false). + IMGUI_API void End(); // always call even if Begin() return false (which indicates a collapsed window)! finish appending to current window, pop it off the window stack. + IMGUI_API bool BeginChild(const char* str_id, const ImVec2& size = ImVec2(0,0), bool border = false, ImGuiWindowFlags flags = 0); // begin a scrolling region. size==0.0f: use remaining window size, size<0.0f: use remaining window size minus abs(size). size>0.0f: fixed size. each axis can use a different mode, e.g. ImVec2(0,400). + IMGUI_API bool BeginChild(ImGuiID id, const ImVec2& size = ImVec2(0,0), bool border = false, ImGuiWindowFlags flags = 0); // " + IMGUI_API void EndChild(); // always call even if BeginChild() return false (which indicates a collapsed or clipping child window) IMGUI_API ImVec2 GetContentRegionMax(); // current content boundaries (typically window boundaries including scrolling, or current column boundaries), in windows coordinates IMGUI_API ImVec2 GetContentRegionAvail(); // == GetContentRegionMax() - GetCursorPos() IMGUI_API float GetContentRegionAvailWidth(); // @@ -139,24 +184,24 @@ namespace ImGui IMGUI_API float GetWindowWidth(); IMGUI_API float GetWindowHeight(); IMGUI_API bool IsWindowCollapsed(); + IMGUI_API bool IsWindowAppearing(); IMGUI_API void SetWindowFontScale(float scale); // per-window font scale. Adjust IO.FontGlobalScale if you want to scale all windows - IMGUI_API void SetNextWindowPos(const ImVec2& pos, ImGuiSetCond cond = 0); // set next window position. call before Begin() - IMGUI_API void SetNextWindowPosCenter(ImGuiSetCond cond = 0); // set next window position to be centered on screen. call before Begin() - IMGUI_API void SetNextWindowSize(const ImVec2& size, ImGuiSetCond cond = 0); // set next window size. set axis to 0.0f to force an auto-fit on this axis. call before Begin() - IMGUI_API void SetNextWindowSizeConstraints(const ImVec2& size_min, const ImVec2& size_max, ImGuiSizeConstraintCallback custom_callback = NULL, void* custom_callback_data = NULL); // set next window size limits. use -1,-1 on either X/Y axis to preserve the current size. Use callback to apply non-trivial programmatic constraints. - IMGUI_API void SetNextWindowContentSize(const ImVec2& size); // set next window content size (enforce the range of scrollbars). set axis to 0.0f to leave it automatic. call before Begin() - IMGUI_API void SetNextWindowContentWidth(float width); // set next window content width (enforce the range of horizontal scrollbar). call before Begin() - IMGUI_API void SetNextWindowCollapsed(bool collapsed, ImGuiSetCond cond = 0); // set next window collapsed state. call before Begin() + IMGUI_API void SetNextWindowPos(const ImVec2& pos, ImGuiCond cond = 0, const ImVec2& pivot = ImVec2(0,0)); // set next window position. call before Begin(). use pivot=(0.5f,0.5f) to center on given point, etc. + IMGUI_API void SetNextWindowSize(const ImVec2& size, ImGuiCond cond = 0); // set next window size. set axis to 0.0f to force an auto-fit on this axis. call before Begin() + IMGUI_API void SetNextWindowSizeConstraints(const ImVec2& size_min, const ImVec2& size_max, ImGuiSizeCallback custom_callback = NULL, void* custom_callback_data = NULL); // set next window size limits. use -1,-1 on either X/Y axis to preserve the current size. Use callback to apply non-trivial programmatic constraints. + IMGUI_API void SetNextWindowContentSize(const ImVec2& size); // set next window content size (~ enforce the range of scrollbars). not including window decorations (title bar, menu bar, etc.). set an axis to 0.0f to leave it automatic. call before Begin() + IMGUI_API void SetNextWindowCollapsed(bool collapsed, ImGuiCond cond = 0); // set next window collapsed state. call before Begin() IMGUI_API void SetNextWindowFocus(); // set next window to be focused / front-most. call before Begin() - IMGUI_API void SetWindowPos(const ImVec2& pos, ImGuiSetCond cond = 0); // (not recommended) set current window position - call within Begin()/End(). prefer using SetNextWindowPos(), as this may incur tearing and side-effects. - IMGUI_API void SetWindowSize(const ImVec2& size, ImGuiSetCond cond = 0); // (not recommended) set current window size - call within Begin()/End(). set to ImVec2(0,0) to force an auto-fit. prefer using SetNextWindowSize(), as this may incur tearing and minor side-effects. - IMGUI_API void SetWindowCollapsed(bool collapsed, ImGuiSetCond cond = 0); // (not recommended) set current window collapsed state. prefer using SetNextWindowCollapsed(). + IMGUI_API void SetNextWindowBgAlpha(float alpha); // set next window background color alpha. helper to easily modify ImGuiCol_WindowBg/ChildBg/PopupBg. + IMGUI_API void SetWindowPos(const ImVec2& pos, ImGuiCond cond = 0); // (not recommended) set current window position - call within Begin()/End(). prefer using SetNextWindowPos(), as this may incur tearing and side-effects. + IMGUI_API void SetWindowSize(const ImVec2& size, ImGuiCond cond = 0); // (not recommended) set current window size - call within Begin()/End(). set to ImVec2(0,0) to force an auto-fit. prefer using SetNextWindowSize(), as this may incur tearing and minor side-effects. + IMGUI_API void SetWindowCollapsed(bool collapsed, ImGuiCond cond = 0); // (not recommended) set current window collapsed state. prefer using SetNextWindowCollapsed(). IMGUI_API void SetWindowFocus(); // (not recommended) set current window to be focused / front-most. prefer using SetNextWindowFocus(). - IMGUI_API void SetWindowPos(const char* name, const ImVec2& pos, ImGuiSetCond cond = 0); // set named window position. - IMGUI_API void SetWindowSize(const char* name, const ImVec2& size, ImGuiSetCond cond = 0); // set named window size. set axis to 0.0f to force an auto-fit on this axis. - IMGUI_API void SetWindowCollapsed(const char* name, bool collapsed, ImGuiSetCond cond = 0); // set named window collapsed state - IMGUI_API void SetWindowFocus(const char* name); // set named window to be focused / front-most. use NULL to remove focus. + IMGUI_API void SetWindowPos(const char* name, const ImVec2& pos, ImGuiCond cond = 0); // set named window position. + IMGUI_API void SetWindowSize(const char* name, const ImVec2& size, ImGuiCond cond = 0); // set named window size. set axis to 0.0f to force an auto-fit on this axis. + IMGUI_API void SetWindowCollapsed(const char* name, bool collapsed, ImGuiCond cond = 0); // set named window collapsed state + IMGUI_API void SetWindowFocus(const char* name); // set named window to be focused / front-most. use NULL to remove focus. IMGUI_API float GetScrollX(); // get scrolling amount [0..GetScrollMaxX()] IMGUI_API float GetScrollY(); // get scrolling amount [0..GetScrollMaxY()] @@ -164,25 +209,27 @@ namespace ImGui IMGUI_API float GetScrollMaxY(); // get maximum scrolling amount ~~ ContentSize.Y - WindowSize.Y IMGUI_API void SetScrollX(float scroll_x); // set scrolling amount [0..GetScrollMaxX()] IMGUI_API void SetScrollY(float scroll_y); // set scrolling amount [0..GetScrollMaxY()] - IMGUI_API void SetScrollHere(float center_y_ratio = 0.5f); // adjust scrolling amount to make current cursor position visible. center_y_ratio=0.0: top, 0.5: center, 1.0: bottom. + IMGUI_API void SetScrollHere(float center_y_ratio = 0.5f); // adjust scrolling amount to make current cursor position visible. center_y_ratio=0.0: top, 0.5: center, 1.0: bottom. When using to make a "default/current item" visible, consider using SetItemDefaultFocus() instead. IMGUI_API void SetScrollFromPosY(float pos_y, float center_y_ratio = 0.5f); // adjust scrolling amount to make given position valid. use GetCursorPos() or GetCursorStartPos()+offset to get valid positions. - IMGUI_API void SetKeyboardFocusHere(int offset = 0); // focus keyboard on the next widget. Use positive 'offset' to access sub components of a multiple component widget. Use negative 'offset' to access previous widgets. IMGUI_API void SetStateStorage(ImGuiStorage* tree); // replace tree state storage with our own (if you want to manipulate it yourself, typically clear subsection of it) IMGUI_API ImGuiStorage* GetStateStorage(); // Parameters stacks (shared) IMGUI_API void PushFont(ImFont* font); // use NULL as a shortcut to push default font IMGUI_API void PopFont(); + IMGUI_API void PushStyleColor(ImGuiCol idx, ImU32 col); IMGUI_API void PushStyleColor(ImGuiCol idx, const ImVec4& col); IMGUI_API void PopStyleColor(int count = 1); IMGUI_API void PushStyleVar(ImGuiStyleVar idx, float val); IMGUI_API void PushStyleVar(ImGuiStyleVar idx, const ImVec2& val); IMGUI_API void PopStyleVar(int count = 1); + IMGUI_API const ImVec4& GetStyleColorVec4(ImGuiCol idx); // retrieve style color as stored in ImGuiStyle structure. use to feed back into PushStyleColor(), otherwhise use GetColorU32() to get style color + style alpha. IMGUI_API ImFont* GetFont(); // get current font IMGUI_API float GetFontSize(); // get current font size (= height in pixels) of current font with current scale applied IMGUI_API ImVec2 GetFontTexUvWhitePixel(); // get UV coordinate for a while pixel, useful to draw custom shapes via the ImDrawList API IMGUI_API ImU32 GetColorU32(ImGuiCol idx, float alpha_mul = 1.0f); // retrieve given style color with style alpha applied and optional extra alpha multiplier IMGUI_API ImU32 GetColorU32(const ImVec4& col); // retrieve given color with style alpha applied + IMGUI_API ImU32 GetColorU32(ImU32 col); // retrieve given color with style alpha applied // Parameters stacks (current window) IMGUI_API void PushItemWidth(float item_width); // width of items for the common item+label case, pixels. 0.0f = default to ~2/3 of windows width, >0.0f: width in pixels, <0.0f align xx pixels to the right of window (so -1.0f always align width to the right side) @@ -190,19 +237,19 @@ namespace ImGui IMGUI_API float CalcItemWidth(); // width of item given pushed settings and current cursor position IMGUI_API void PushTextWrapPos(float wrap_pos_x = 0.0f); // word-wrapping for Text*() commands. < 0.0f: no wrapping; 0.0f: wrap to end of window (or column); > 0.0f: wrap at 'wrap_pos_x' position in window local space IMGUI_API void PopTextWrapPos(); - IMGUI_API void PushAllowKeyboardFocus(bool v); // allow focusing using TAB/Shift-TAB, enabled by default but you can disable it for certain widgets + IMGUI_API void PushAllowKeyboardFocus(bool allow_keyboard_focus); // allow focusing using TAB/Shift-TAB, enabled by default but you can disable it for certain widgets IMGUI_API void PopAllowKeyboardFocus(); - IMGUI_API void PushButtonRepeat(bool repeat); // in 'repeat' mode, Button*() functions return repeated true in a typematic manner (uses io.KeyRepeatDelay/io.KeyRepeatRate for now). Note that you can call IsItemActive() after any Button() to tell if the button is held in the current frame. + IMGUI_API void PushButtonRepeat(bool repeat); // in 'repeat' mode, Button*() functions return repeated true in a typematic manner (using io.KeyRepeatDelay/io.KeyRepeatRate setting). Note that you can call IsItemActive() after any Button() to tell if the button is held in the current frame. IMGUI_API void PopButtonRepeat(); // Cursor / Layout - IMGUI_API void Separator(); // horizontal line + IMGUI_API void Separator(); // separator, generally horizontal. inside a menu bar or in horizontal layout mode, this becomes a vertical separator. IMGUI_API void SameLine(float pos_x = 0.0f, float spacing_w = -1.0f); // call between widgets or groups to layout them horizontally IMGUI_API void NewLine(); // undo a SameLine() IMGUI_API void Spacing(); // add vertical spacing IMGUI_API void Dummy(const ImVec2& size); // add a dummy item of given size - IMGUI_API void Indent(float indent_w = 0.0f); // move content position toward the right, by style.IndentSpacing or indent_w if >0 - IMGUI_API void Unindent(float indent_w = 0.0f); // move content position back to the left, by style.IndentSpacing or indent_w if >0 + IMGUI_API void Indent(float indent_w = 0.0f); // move content position toward the right, by style.IndentSpacing or indent_w if != 0 + IMGUI_API void Unindent(float indent_w = 0.0f); // move content position back to the left, by style.IndentSpacing or indent_w if != 0 IMGUI_API void BeginGroup(); // lock horizontal starting position + capture group bounding box into one "item" (so you can use IsItemHovered() or layout primitives such as SameLine() on whole group, etc.) IMGUI_API void EndGroup(); IMGUI_API ImVec2 GetCursorPos(); // cursor position is relative to window position @@ -214,72 +261,79 @@ namespace ImGui IMGUI_API ImVec2 GetCursorStartPos(); // initial cursor position IMGUI_API ImVec2 GetCursorScreenPos(); // cursor position in absolute screen coordinates [0..io.DisplaySize] (useful to work with ImDrawList API) IMGUI_API void SetCursorScreenPos(const ImVec2& pos); // cursor position in absolute screen coordinates [0..io.DisplaySize] - IMGUI_API void AlignFirstTextHeightToWidgets(); // call once if the first item on the line is a Text() item and you want to vertically lower it to match subsequent (bigger) widgets - IMGUI_API float GetTextLineHeight(); // height of font == GetWindowFontSize() - IMGUI_API float GetTextLineHeightWithSpacing(); // distance (in pixels) between 2 consecutive lines of text == GetWindowFontSize() + GetStyle().ItemSpacing.y - IMGUI_API float GetItemsLineHeightWithSpacing(); // distance (in pixels) between 2 consecutive lines of standard height widgets == GetWindowFontSize() + GetStyle().FramePadding.y*2 + GetStyle().ItemSpacing.y + IMGUI_API void AlignTextToFramePadding(); // vertically align/lower upcoming text to FramePadding.y so that it will aligns to upcoming widgets (call if you have text on a line before regular widgets) + IMGUI_API float GetTextLineHeight(); // ~ FontSize + IMGUI_API float GetTextLineHeightWithSpacing(); // ~ FontSize + style.ItemSpacing.y (distance in pixels between 2 consecutive lines of text) + IMGUI_API float GetFrameHeight(); // ~ FontSize + style.FramePadding.y * 2 + IMGUI_API float GetFrameHeightWithSpacing(); // ~ FontSize + style.FramePadding.y * 2 + style.ItemSpacing.y (distance in pixels between 2 consecutive lines of framed widgets) // Columns - // You can also use SameLine(pos_x) for simplified columning. The columns API is still work-in-progress and rather lacking. - IMGUI_API void Columns(int count = 1, const char* id = NULL, bool border = true); // setup number of columns. use an identifier to distinguish multiple column sets. close with Columns(1). - IMGUI_API void NextColumn(); // next column + // You can also use SameLine(pos_x) for simplified columns. The columns API is still work-in-progress and rather lacking. + IMGUI_API void Columns(int count = 1, const char* id = NULL, bool border = true); + IMGUI_API void NextColumn(); // next column, defaults to current row or next row if the current row is finished IMGUI_API int GetColumnIndex(); // get current column index - IMGUI_API float GetColumnOffset(int column_index = -1); // get position of column line (in pixels, from the left side of the contents region). pass -1 to use current column, otherwise 0..GetcolumnsCount() inclusive. column 0 is usually 0.0f and not resizable unless you call this + IMGUI_API float GetColumnWidth(int column_index = -1); // get column width (in pixels). pass -1 to use current column + IMGUI_API void SetColumnWidth(int column_index, float width); // set column width (in pixels). pass -1 to use current column + IMGUI_API float GetColumnOffset(int column_index = -1); // get position of column line (in pixels, from the left side of the contents region). pass -1 to use current column, otherwise 0..GetColumnsCount() inclusive. column 0 is typically 0.0f IMGUI_API void SetColumnOffset(int column_index, float offset_x); // set position of column line (in pixels, from the left side of the contents region). pass -1 to use current column - IMGUI_API float GetColumnWidth(int column_index = -1); // column width (== GetColumnOffset(GetColumnIndex()+1) - GetColumnOffset(GetColumnOffset()) - IMGUI_API int GetColumnsCount(); // number of columns (what was passed to Columns()) + IMGUI_API int GetColumnsCount(); // ID scopes - // If you are creating widgets in a loop you most likely want to push a unique identifier so ImGui can differentiate them. + // If you are creating widgets in a loop you most likely want to push a unique identifier (e.g. object pointer, loop index) so ImGui can differentiate them. // You can also use the "##foobar" syntax within widget label to distinguish them from each others. Read "A primer on the use of labels/IDs" in the FAQ for more details. - IMGUI_API void PushID(const char* str_id); // push identifier into the ID stack. IDs are hash of the *entire* stack! + IMGUI_API void PushID(const char* str_id); // push identifier into the ID stack. IDs are hash of the entire stack! IMGUI_API void PushID(const char* str_id_begin, const char* str_id_end); IMGUI_API void PushID(const void* ptr_id); IMGUI_API void PushID(int int_id); IMGUI_API void PopID(); - IMGUI_API ImGuiID GetID(const char* str_id); // calculate unique ID (hash of whole ID stack + given parameter). useful if you want to query into ImGuiStorage yourself. otherwise rarely needed + IMGUI_API ImGuiID GetID(const char* str_id); // calculate unique ID (hash of whole ID stack + given parameter). e.g. if you want to query into ImGuiStorage yourself IMGUI_API ImGuiID GetID(const char* str_id_begin, const char* str_id_end); IMGUI_API ImGuiID GetID(const void* ptr_id); - // Widgets - IMGUI_API void Text(const char* fmt, ...) IM_PRINTFARGS(1); - IMGUI_API void TextV(const char* fmt, va_list args); - IMGUI_API void TextColored(const ImVec4& col, const char* fmt, ...) IM_PRINTFARGS(2); // shortcut for PushStyleColor(ImGuiCol_Text, col); Text(fmt, ...); PopStyleColor(); - IMGUI_API void TextColoredV(const ImVec4& col, const char* fmt, va_list args); - IMGUI_API void TextDisabled(const char* fmt, ...) IM_PRINTFARGS(1); // shortcut for PushStyleColor(ImGuiCol_Text, style.Colors[ImGuiCol_TextDisabled]); Text(fmt, ...); PopStyleColor(); - IMGUI_API void TextDisabledV(const char* fmt, va_list args); - IMGUI_API void TextWrapped(const char* fmt, ...) IM_PRINTFARGS(1); // shortcut for PushTextWrapPos(0.0f); Text(fmt, ...); PopTextWrapPos();. Note that this won't work on an auto-resizing window if there's no other widgets to extend the window width, yoy may need to set a size using SetNextWindowSize(). - IMGUI_API void TextWrappedV(const char* fmt, va_list args); - IMGUI_API void TextUnformatted(const char* text, const char* text_end = NULL); // doesn't require null terminated string if 'text_end' is specified. no copy done to any bounded stack buffer, recommended for long chunks of text - IMGUI_API void LabelText(const char* label, const char* fmt, ...) IM_PRINTFARGS(2); // display text+label aligned the same way as value+label widgets - IMGUI_API void LabelTextV(const char* label, const char* fmt, va_list args); - IMGUI_API void Bullet(); // draw a small circle and keep the cursor on the same line. advance cursor x position by GetTreeNodeToLabelSpacing(), same distance that TreeNode() uses - IMGUI_API void BulletText(const char* fmt, ...) IM_PRINTFARGS(1); // shortcut for Bullet()+Text() - IMGUI_API void BulletTextV(const char* fmt, va_list args); + // Widgets: Text + IMGUI_API void TextUnformatted(const char* text, const char* text_end = NULL); // raw text without formatting. Roughly equivalent to Text("%s", text) but: A) doesn't require null terminated string if 'text_end' is specified, B) it's faster, no memory copy is done, no buffer size limits, recommended for long chunks of text. + IMGUI_API void Text(const char* fmt, ...) IM_FMTARGS(1); // simple formatted text + IMGUI_API void TextV(const char* fmt, va_list args) IM_FMTLIST(1); + IMGUI_API void TextColored(const ImVec4& col, const char* fmt, ...) IM_FMTARGS(2); // shortcut for PushStyleColor(ImGuiCol_Text, col); Text(fmt, ...); PopStyleColor(); + IMGUI_API void TextColoredV(const ImVec4& col, const char* fmt, va_list args) IM_FMTLIST(2); + IMGUI_API void TextDisabled(const char* fmt, ...) IM_FMTARGS(1); // shortcut for PushStyleColor(ImGuiCol_Text, style.Colors[ImGuiCol_TextDisabled]); Text(fmt, ...); PopStyleColor(); + IMGUI_API void TextDisabledV(const char* fmt, va_list args) IM_FMTLIST(1); + IMGUI_API void TextWrapped(const char* fmt, ...) IM_FMTARGS(1); // shortcut for PushTextWrapPos(0.0f); Text(fmt, ...); PopTextWrapPos();. Note that this won't work on an auto-resizing window if there's no other widgets to extend the window width, yoy may need to set a size using SetNextWindowSize(). + IMGUI_API void TextWrappedV(const char* fmt, va_list args) IM_FMTLIST(1); + IMGUI_API void LabelText(const char* label, const char* fmt, ...) IM_FMTARGS(2); // display text+label aligned the same way as value+label widgets + IMGUI_API void LabelTextV(const char* label, const char* fmt, va_list args) IM_FMTLIST(2); + IMGUI_API void BulletText(const char* fmt, ...) IM_FMTARGS(1); // shortcut for Bullet()+Text() + IMGUI_API void BulletTextV(const char* fmt, va_list args) IM_FMTLIST(1); + IMGUI_API void Bullet(); // draw a small circle and keep the cursor on the same line. advance cursor x position by GetTreeNodeToLabelSpacing(), same distance that TreeNode() uses + + // Widgets: Main IMGUI_API bool Button(const char* label, const ImVec2& size = ImVec2(0,0)); // button - IMGUI_API bool SmallButton(const char* label); // button with FramePadding=(0,0) - IMGUI_API bool InvisibleButton(const char* str_id, const ImVec2& size); + IMGUI_API bool SmallButton(const char* label); // button with FramePadding=(0,0) to easily embed within text + IMGUI_API bool InvisibleButton(const char* str_id, const ImVec2& size); // button behavior without the visuals, useful to build custom behaviors using the public api (along with IsItemActive, IsItemHovered, etc.) IMGUI_API void Image(ImTextureID user_texture_id, const ImVec2& size, const ImVec2& uv0 = ImVec2(0,0), const ImVec2& uv1 = ImVec2(1,1), const ImVec4& tint_col = ImVec4(1,1,1,1), const ImVec4& border_col = ImVec4(0,0,0,0)); IMGUI_API bool ImageButton(ImTextureID user_texture_id, const ImVec2& size, const ImVec2& uv0 = ImVec2(0,0), const ImVec2& uv1 = ImVec2(1,1), int frame_padding = -1, const ImVec4& bg_col = ImVec4(0,0,0,0), const ImVec4& tint_col = ImVec4(1,1,1,1)); // <0 frame_padding uses default frame padding settings. 0 for no padding IMGUI_API bool Checkbox(const char* label, bool* v); IMGUI_API bool CheckboxFlags(const char* label, unsigned int* flags, unsigned int flags_value); IMGUI_API bool RadioButton(const char* label, bool active); IMGUI_API bool RadioButton(const char* label, int* v, int v_button); - IMGUI_API bool Combo(const char* label, int* current_item, const char* const* items, int items_count, int height_in_items = -1); - IMGUI_API bool Combo(const char* label, int* current_item, const char* items_separated_by_zeros, int height_in_items = -1); // separate items with \0, end item-list with \0\0 - IMGUI_API bool Combo(const char* label, int* current_item, bool (*items_getter)(void* data, int idx, const char** out_text), void* data, int items_count, int height_in_items = -1); - IMGUI_API bool ColorButton(const ImVec4& col, bool small_height = false, bool outline_border = true); - IMGUI_API bool ColorEdit3(const char* label, float col[3]); // Hint: 'float col[3]' function argument is same as 'float* col'. You can pass address of first element out of a contiguous set, e.g. &myvector.x - IMGUI_API bool ColorEdit4(const char* label, float col[4], bool show_alpha = true); // " - IMGUI_API void ColorEditMode(ImGuiColorEditMode mode); // FIXME-OBSOLETE: This is inconsistent with most of the API and will be obsoleted/replaced. IMGUI_API void PlotLines(const char* label, const float* values, int values_count, int values_offset = 0, const char* overlay_text = NULL, float scale_min = FLT_MAX, float scale_max = FLT_MAX, ImVec2 graph_size = ImVec2(0,0), int stride = sizeof(float)); IMGUI_API void PlotLines(const char* label, float (*values_getter)(void* data, int idx), void* data, int values_count, int values_offset = 0, const char* overlay_text = NULL, float scale_min = FLT_MAX, float scale_max = FLT_MAX, ImVec2 graph_size = ImVec2(0,0)); IMGUI_API void PlotHistogram(const char* label, const float* values, int values_count, int values_offset = 0, const char* overlay_text = NULL, float scale_min = FLT_MAX, float scale_max = FLT_MAX, ImVec2 graph_size = ImVec2(0,0), int stride = sizeof(float)); IMGUI_API void PlotHistogram(const char* label, float (*values_getter)(void* data, int idx), void* data, int values_count, int values_offset = 0, const char* overlay_text = NULL, float scale_min = FLT_MAX, float scale_max = FLT_MAX, ImVec2 graph_size = ImVec2(0,0)); IMGUI_API void ProgressBar(float fraction, const ImVec2& size_arg = ImVec2(-1,0), const char* overlay = NULL); + // Widgets: Combo Box + // The new BeginCombo()/EndCombo() api allows you to manage your contents and selection state however you want it. + // The old Combo() api are helpers over BeginCombo()/EndCombo() which are kept available for convenience purpose. + IMGUI_API bool BeginCombo(const char* label, const char* preview_value, ImGuiComboFlags flags = 0); + IMGUI_API void EndCombo(); // only call EndCombo() if BeginCombo() returns true! + IMGUI_API bool Combo(const char* label, int* current_item, const char* const items[], int items_count, int popup_max_height_in_items = -1); + IMGUI_API bool Combo(const char* label, int* current_item, const char* items_separated_by_zeros, int popup_max_height_in_items = -1); // Separate items with \0 within a string, end item-list with \0\0. e.g. "One\0Two\0Three\0" + IMGUI_API bool Combo(const char* label, int* current_item, bool(*items_getter)(void* data, int idx, const char** out_text), void* data, int items_count, int popup_max_height_in_items = -1); + // Widgets: Drags (tip: ctrl+click on a drag box to input with keyboard. manually input values aren't clamped, can go off-bounds) - // For all the Float2/Float3/Float4/Int2/Int3/Int4 versions of every functions, remember than a 'float v[3]' function argument is the same as 'float* v'. You can pass address of your first element out of a contiguous set, e.g. &myvector.x + // For all the Float2/Float3/Float4/Int2/Int3/Int4 versions of every functions, note that a 'float v[X]' function argument is the same as 'float* v', the array syntax is just a way to document the number of elements that are expected to be accessible. You can pass address of your first element out of a contiguous set, e.g. &myvector.x + // Speed are per-pixel of mouse movement (v_speed=0.2f: mouse needs to move by 5 pixels to increase value by 1). For gamepad/keyboard navigation, minimum speed is Max(v_speed, minimum_step_at_given_precision). IMGUI_API bool DragFloat(const char* label, float* v, float v_speed = 1.0f, float v_min = 0.0f, float v_max = 0.0f, const char* display_format = "%.3f", float power = 1.0f); // If v_min >= v_max we have no bound IMGUI_API bool DragFloat2(const char* label, float v[2], float v_speed = 1.0f, float v_min = 0.0f, float v_max = 0.0f, const char* display_format = "%.3f", float power = 1.0f); IMGUI_API bool DragFloat3(const char* label, float v[3], float v_speed = 1.0f, float v_min = 0.0f, float v_max = 0.0f, const char* display_format = "%.3f", float power = 1.0f); @@ -304,7 +358,7 @@ namespace ImGui IMGUI_API bool InputInt4(const char* label, int v[4], ImGuiInputTextFlags extra_flags = 0); // Widgets: Sliders (tip: ctrl+click on a slider to input with keyboard. manually input values aren't clamped, can go off-bounds) - IMGUI_API bool SliderFloat(const char* label, float* v, float v_min, float v_max, const char* display_format = "%.3f", float power = 1.0f); // adjust display_format to decorate the value with a prefix or a suffix. Use power!=1.0 for logarithmic sliders + IMGUI_API bool SliderFloat(const char* label, float* v, float v_min, float v_max, const char* display_format = "%.3f", float power = 1.0f); // adjust display_format to decorate the value with a prefix or a suffix for in-slider labels or unit display. Use power!=1.0 for logarithmic sliders IMGUI_API bool SliderFloat2(const char* label, float v[2], float v_min, float v_max, const char* display_format = "%.3f", float power = 1.0f); IMGUI_API bool SliderFloat3(const char* label, float v[3], float v_min, float v_max, const char* display_format = "%.3f", float power = 1.0f); IMGUI_API bool SliderFloat4(const char* label, float v[4], float v_min, float v_max, const char* display_format = "%.3f", float power = 1.0f); @@ -316,110 +370,131 @@ namespace ImGui IMGUI_API bool VSliderFloat(const char* label, const ImVec2& size, float* v, float v_min, float v_max, const char* display_format = "%.3f", float power = 1.0f); IMGUI_API bool VSliderInt(const char* label, const ImVec2& size, int* v, int v_min, int v_max, const char* display_format = "%.0f"); + // Widgets: Color Editor/Picker (tip: the ColorEdit* functions have a little colored preview square that can be left-clicked to open a picker, and right-clicked to open an option menu.) + // Note that a 'float v[X]' function argument is the same as 'float* v', the array syntax is just a way to document the number of elements that are expected to be accessible. You can the pass the address of a first float element out of a contiguous structure, e.g. &myvector.x + IMGUI_API bool ColorEdit3(const char* label, float col[3], ImGuiColorEditFlags flags = 0); + IMGUI_API bool ColorEdit4(const char* label, float col[4], ImGuiColorEditFlags flags = 0); + IMGUI_API bool ColorPicker3(const char* label, float col[3], ImGuiColorEditFlags flags = 0); + IMGUI_API bool ColorPicker4(const char* label, float col[4], ImGuiColorEditFlags flags = 0, const float* ref_col = NULL); + IMGUI_API bool ColorButton(const char* desc_id, const ImVec4& col, ImGuiColorEditFlags flags = 0, ImVec2 size = ImVec2(0,0)); // display a colored square/button, hover for details, return true when pressed. + IMGUI_API void SetColorEditOptions(ImGuiColorEditFlags flags); // initialize current options (generally on application startup) if you want to select a default format, picker type, etc. User will be able to change many settings, unless you pass the _NoOptions flag to your calls. + // Widgets: Trees IMGUI_API bool TreeNode(const char* label); // if returning 'true' the node is open and the tree id is pushed into the id stack. user is responsible for calling TreePop(). - IMGUI_API bool TreeNode(const char* str_id, const char* fmt, ...) IM_PRINTFARGS(2); // read the FAQ about why and how to use ID. to align arbitrary text at the same level as a TreeNode() you can use Bullet(). - IMGUI_API bool TreeNode(const void* ptr_id, const char* fmt, ...) IM_PRINTFARGS(2); // " - IMGUI_API bool TreeNodeV(const char* str_id, const char* fmt, va_list args); // " - IMGUI_API bool TreeNodeV(const void* ptr_id, const char* fmt, va_list args); // " + IMGUI_API bool TreeNode(const char* str_id, const char* fmt, ...) IM_FMTARGS(2); // read the FAQ about why and how to use ID. to align arbitrary text at the same level as a TreeNode() you can use Bullet(). + IMGUI_API bool TreeNode(const void* ptr_id, const char* fmt, ...) IM_FMTARGS(2); // " + IMGUI_API bool TreeNodeV(const char* str_id, const char* fmt, va_list args) IM_FMTLIST(2); + IMGUI_API bool TreeNodeV(const void* ptr_id, const char* fmt, va_list args) IM_FMTLIST(2); IMGUI_API bool TreeNodeEx(const char* label, ImGuiTreeNodeFlags flags = 0); - IMGUI_API bool TreeNodeEx(const char* str_id, ImGuiTreeNodeFlags flags, const char* fmt, ...) IM_PRINTFARGS(3); - IMGUI_API bool TreeNodeEx(const void* ptr_id, ImGuiTreeNodeFlags flags, const char* fmt, ...) IM_PRINTFARGS(3); - IMGUI_API bool TreeNodeExV(const char* str_id, ImGuiTreeNodeFlags flags, const char* fmt, va_list args); - IMGUI_API bool TreeNodeExV(const void* ptr_id, ImGuiTreeNodeFlags flags, const char* fmt, va_list args); - IMGUI_API void TreePush(const char* str_id = NULL); // ~ Indent()+PushId(). Already called by TreeNode() when returning true, but you can call Push/Pop yourself for layout purpose + IMGUI_API bool TreeNodeEx(const char* str_id, ImGuiTreeNodeFlags flags, const char* fmt, ...) IM_FMTARGS(3); + IMGUI_API bool TreeNodeEx(const void* ptr_id, ImGuiTreeNodeFlags flags, const char* fmt, ...) IM_FMTARGS(3); + IMGUI_API bool TreeNodeExV(const char* str_id, ImGuiTreeNodeFlags flags, const char* fmt, va_list args) IM_FMTLIST(3); + IMGUI_API bool TreeNodeExV(const void* ptr_id, ImGuiTreeNodeFlags flags, const char* fmt, va_list args) IM_FMTLIST(3); + IMGUI_API void TreePush(const char* str_id); // ~ Indent()+PushId(). Already called by TreeNode() when returning true, but you can call Push/Pop yourself for layout purpose IMGUI_API void TreePush(const void* ptr_id = NULL); // " IMGUI_API void TreePop(); // ~ Unindent()+PopId() IMGUI_API void TreeAdvanceToLabelPos(); // advance cursor x position by GetTreeNodeToLabelSpacing() IMGUI_API float GetTreeNodeToLabelSpacing(); // horizontal distance preceding label when using TreeNode*() or Bullet() == (g.FontSize + style.FramePadding.x*2) for a regular unframed TreeNode - IMGUI_API void SetNextTreeNodeOpen(bool is_open, ImGuiSetCond cond = 0); // set next TreeNode/CollapsingHeader open state. + IMGUI_API void SetNextTreeNodeOpen(bool is_open, ImGuiCond cond = 0); // set next TreeNode/CollapsingHeader open state. IMGUI_API bool CollapsingHeader(const char* label, ImGuiTreeNodeFlags flags = 0); // if returning 'true' the header is open. doesn't indent nor push on ID stack. user doesn't have to call TreePop(). IMGUI_API bool CollapsingHeader(const char* label, bool* p_open, ImGuiTreeNodeFlags flags = 0); // when 'p_open' isn't NULL, display an additional small close button on upper right of the header // Widgets: Selectable / Lists - IMGUI_API bool Selectable(const char* label, bool selected = false, ImGuiSelectableFlags flags = 0, const ImVec2& size = ImVec2(0,0)); // size.x==0.0: use remaining width, size.x>0.0: specify width. size.y==0.0: use label height, size.y>0.0: specify height - IMGUI_API bool Selectable(const char* label, bool* p_selected, ImGuiSelectableFlags flags = 0, const ImVec2& size = ImVec2(0,0)); - IMGUI_API bool ListBox(const char* label, int* current_item, const char* const* items, int items_count, int height_in_items = -1); + IMGUI_API bool Selectable(const char* label, bool selected = false, ImGuiSelectableFlags flags = 0, const ImVec2& size = ImVec2(0,0)); // "bool selected" carry the selection state (read-only). Selectable() is clicked is returns true so you can modify your selection state. size.x==0.0: use remaining width, size.x>0.0: specify width. size.y==0.0: use label height, size.y>0.0: specify height + IMGUI_API bool Selectable(const char* label, bool* p_selected, ImGuiSelectableFlags flags = 0, const ImVec2& size = ImVec2(0,0)); // "bool* p_selected" point to the selection state (read-write), as a convenient helper. + IMGUI_API bool ListBox(const char* label, int* current_item, const char* const items[], int items_count, int height_in_items = -1); IMGUI_API bool ListBox(const char* label, int* current_item, bool (*items_getter)(void* data, int idx, const char** out_text), void* data, int items_count, int height_in_items = -1); - IMGUI_API bool ListBoxHeader(const char* label, const ImVec2& size = ImVec2(0,0)); // use if you want to reimplement ListBox() will custom data or interactions. make sure to call ListBoxFooter() afterwards. + IMGUI_API bool ListBoxHeader(const char* label, const ImVec2& size = ImVec2(0,0)); // use if you want to reimplement ListBox() will custom data or interactions. make sure to call ListBoxFooter() afterwards. IMGUI_API bool ListBoxHeader(const char* label, int items_count, int height_in_items = -1); // " - IMGUI_API void ListBoxFooter(); // terminate the scrolling region + IMGUI_API void ListBoxFooter(); // terminate the scrolling region // Widgets: Value() Helpers. Output single value in "name: value" format (tip: freely declare more in your code to handle your types. you can add functions to the ImGui namespace) IMGUI_API void Value(const char* prefix, bool b); IMGUI_API void Value(const char* prefix, int v); IMGUI_API void Value(const char* prefix, unsigned int v); IMGUI_API void Value(const char* prefix, float v, const char* float_format = NULL); - IMGUI_API void ValueColor(const char* prefix, const ImVec4& v); - IMGUI_API void ValueColor(const char* prefix, ImU32 v); // Tooltips - IMGUI_API void SetTooltip(const char* fmt, ...) IM_PRINTFARGS(1); // set tooltip under mouse-cursor, typically use with ImGui::IsHovered(). last call wins - IMGUI_API void SetTooltipV(const char* fmt, va_list args); - IMGUI_API void BeginTooltip(); // use to create full-featured tooltip windows that aren't just text + IMGUI_API void SetTooltip(const char* fmt, ...) IM_FMTARGS(1); // set text tooltip under mouse-cursor, typically use with ImGui::IsItemHovered(). overidde any previous call to SetTooltip(). + IMGUI_API void SetTooltipV(const char* fmt, va_list args) IM_FMTLIST(1); + IMGUI_API void BeginTooltip(); // begin/append a tooltip window. to create full-featured tooltip (with any kind of contents). IMGUI_API void EndTooltip(); // Menus - IMGUI_API bool BeginMainMenuBar(); // create and append to a full screen menu-bar. only call EndMainMenuBar() if this returns true! - IMGUI_API void EndMainMenuBar(); - IMGUI_API bool BeginMenuBar(); // append to menu-bar of current window (requires ImGuiWindowFlags_MenuBar flag set). only call EndMenuBar() if this returns true! - IMGUI_API void EndMenuBar(); + IMGUI_API bool BeginMainMenuBar(); // create and append to a full screen menu-bar. + IMGUI_API void EndMainMenuBar(); // only call EndMainMenuBar() if BeginMainMenuBar() returns true! + IMGUI_API bool BeginMenuBar(); // append to menu-bar of current window (requires ImGuiWindowFlags_MenuBar flag set on parent window). + IMGUI_API void EndMenuBar(); // only call EndMenuBar() if BeginMenuBar() returns true! IMGUI_API bool BeginMenu(const char* label, bool enabled = true); // create a sub-menu entry. only call EndMenu() if this returns true! - IMGUI_API void EndMenu(); + IMGUI_API void EndMenu(); // only call EndBegin() if BeginMenu() returns true! IMGUI_API bool MenuItem(const char* label, const char* shortcut = NULL, bool selected = false, bool enabled = true); // return true when activated. shortcuts are displayed for convenience but not processed by ImGui at the moment IMGUI_API bool MenuItem(const char* label, const char* shortcut, bool* p_selected, bool enabled = true); // return true when activated + toggle (*p_selected) if p_selected != NULL // Popups - IMGUI_API void OpenPopup(const char* str_id); // mark popup as open. popups are closed when user click outside, or activate a pressable item, or CloseCurrentPopup() is called within a BeginPopup()/EndPopup() block. popup identifiers are relative to the current ID-stack (so OpenPopup and BeginPopup needs to be at the same level). - IMGUI_API bool BeginPopup(const char* str_id); // return true if the popup is open, and you can start outputting to it. only call EndPopup() if BeginPopup() returned true! - IMGUI_API bool BeginPopupModal(const char* name, bool* p_open = NULL, ImGuiWindowFlags extra_flags = 0); // modal dialog (block interactions behind the modal window, can't close the modal window by clicking outside) - IMGUI_API bool BeginPopupContextItem(const char* str_id, int mouse_button = 1); // helper to open and begin popup when clicked on last item. read comments in .cpp! - IMGUI_API bool BeginPopupContextWindow(bool also_over_items = true, const char* str_id = NULL, int mouse_button = 1); // helper to open and begin popup when clicked on current window. - IMGUI_API bool BeginPopupContextVoid(const char* str_id = NULL, int mouse_button = 1); // helper to open and begin popup when clicked in void (no window). - IMGUI_API void EndPopup(); + IMGUI_API void OpenPopup(const char* str_id); // call to mark popup as open (don't call every frame!). popups are closed when user click outside, or if CloseCurrentPopup() is called within a BeginPopup()/EndPopup() block. By default, Selectable()/MenuItem() are calling CloseCurrentPopup(). Popup identifiers are relative to the current ID-stack (so OpenPopup and BeginPopup needs to be at the same level). + IMGUI_API bool BeginPopup(const char* str_id, ImGuiWindowFlags flags = 0); // return true if the popup is open, and you can start outputting to it. only call EndPopup() if BeginPopup() returns true! + IMGUI_API bool BeginPopupContextItem(const char* str_id = NULL, int mouse_button = 1); // helper to open and begin popup when clicked on last item. if you can pass a NULL str_id only if the previous item had an id. If you want to use that on a non-interactive item such as Text() you need to pass in an explicit ID here. read comments in .cpp! + IMGUI_API bool BeginPopupContextWindow(const char* str_id = NULL, int mouse_button = 1, bool also_over_items = true); // helper to open and begin popup when clicked on current window. + IMGUI_API bool BeginPopupContextVoid(const char* str_id = NULL, int mouse_button = 1); // helper to open and begin popup when clicked in void (where there are no imgui windows). + IMGUI_API bool BeginPopupModal(const char* name, bool* p_open = NULL, ImGuiWindowFlags flags = 0); // modal dialog (regular window with title bar, block interactions behind the modal window, can't close the modal window by clicking outside) + IMGUI_API void EndPopup(); // only call EndPopup() if BeginPopupXXX() returns true! + IMGUI_API bool OpenPopupOnItemClick(const char* str_id = NULL, int mouse_button = 1); // helper to open popup when clicked on last item. return true when just opened. + IMGUI_API bool IsPopupOpen(const char* str_id); // return true if the popup is open IMGUI_API void CloseCurrentPopup(); // close the popup we have begin-ed into. clicking on a MenuItem or Selectable automatically close the current popup. - // Logging: all text output from interface is redirected to tty/file/clipboard. By default, tree nodes are automatically opened during logging. + // Logging/Capture: all text output from interface is captured to tty/file/clipboard. By default, tree nodes are automatically opened during logging. IMGUI_API void LogToTTY(int max_depth = -1); // start logging to tty IMGUI_API void LogToFile(int max_depth = -1, const char* filename = NULL); // start logging to file IMGUI_API void LogToClipboard(int max_depth = -1); // start logging to OS clipboard IMGUI_API void LogFinish(); // stop logging (close file, etc.) IMGUI_API void LogButtons(); // helper to display buttons for logging to tty/file/clipboard - IMGUI_API void LogText(const char* fmt, ...) IM_PRINTFARGS(1); // pass text data straight to log (without being displayed) + IMGUI_API void LogText(const char* fmt, ...) IM_FMTARGS(1); // pass text data straight to log (without being displayed) + + // Drag and Drop + // [BETA API] Missing Demo code. API may evolve. + IMGUI_API bool BeginDragDropSource(ImGuiDragDropFlags flags = 0); // call when the current item is active. If this return true, you can call SetDragDropPayload() + EndDragDropSource() + IMGUI_API bool SetDragDropPayload(const char* type, const void* data, size_t size, ImGuiCond cond = 0);// type is a user defined string of maximum 12 characters. Strings starting with '_' are reserved for dear imgui internal types. Data is copied and held by imgui. + IMGUI_API void EndDragDropSource(); // only call EndDragDropSource() if BeginDragDropSource() returns true! + IMGUI_API bool BeginDragDropTarget(); // call after submitting an item that may receive an item. If this returns true, you can call AcceptDragDropPayload() + EndDragDropTarget() + IMGUI_API const ImGuiPayload* AcceptDragDropPayload(const char* type, ImGuiDragDropFlags flags = 0); // accept contents of a given type. If ImGuiDragDropFlags_AcceptBeforeDelivery is set you can peek into the payload before the mouse button is released. + IMGUI_API void EndDragDropTarget(); // only call EndDragDropTarget() if BeginDragDropTarget() returns true! // Clipping IMGUI_API void PushClipRect(const ImVec2& clip_rect_min, const ImVec2& clip_rect_max, bool intersect_with_current_clip_rect); IMGUI_API void PopClipRect(); + // Focus, Activation + // (Prefer using "SetItemDefaultFocus()" over "if (IsWindowAppearing()) SetScrollHere()" when applicable, to make your code more forward compatible when navigation branch is merged) + IMGUI_API void SetItemDefaultFocus(); // make last item the default focused item of a window. Please use instead of "if (IsWindowAppearing()) SetScrollHere()" to signify "default item". + IMGUI_API void SetKeyboardFocusHere(int offset = 0); // focus keyboard on the next widget. Use positive 'offset' to access sub components of a multiple component widget. Use -1 to access previous widget. + // Utilities - IMGUI_API bool IsItemHovered(); // was the last item hovered by mouse? - IMGUI_API bool IsItemHoveredRect(); // was the last item hovered by mouse? even if another item is active or window is blocked by popup while we are hovering this - IMGUI_API bool IsItemActive(); // was the last item active? (e.g. button being held, text field being edited- items that don't interact will always return false) - IMGUI_API bool IsItemClicked(int mouse_button = 0); // was the last item clicked? (e.g. button/node just clicked on) - IMGUI_API bool IsItemVisible(); // was the last item visible? (aka not out of sight due to clipping/scrolling.) + IMGUI_API bool IsItemHovered(ImGuiHoveredFlags flags = 0); // is the last item hovered? (and usable, aka not blocked by a popup, etc.). See ImGuiHoveredFlags for more options. + IMGUI_API bool IsItemActive(); // is the last item active? (e.g. button being held, text field being edited- items that don't interact will always return false) + IMGUI_API bool IsItemFocused(); // is the last item focused for keyboard/gamepad navigation? + IMGUI_API bool IsItemClicked(int mouse_button = 0); // is the last item clicked? (e.g. button/node just clicked on) + IMGUI_API bool IsItemVisible(); // is the last item visible? (aka not out of sight due to clipping/scrolling.) IMGUI_API bool IsAnyItemHovered(); IMGUI_API bool IsAnyItemActive(); - IMGUI_API ImVec2 GetItemRectMin(); // get bounding rect of last item in screen space + IMGUI_API bool IsAnyItemFocused(); + IMGUI_API ImVec2 GetItemRectMin(); // get bounding rectangle of last item, in screen space IMGUI_API ImVec2 GetItemRectMax(); // " - IMGUI_API ImVec2 GetItemRectSize(); // " + IMGUI_API ImVec2 GetItemRectSize(); // get size of last item, in screen space IMGUI_API void SetItemAllowOverlap(); // allow last item to be overlapped by a subsequent item. sometimes useful with invisible buttons, selectables, etc. to catch unused area. - IMGUI_API bool IsWindowHovered(); // is current window hovered and hoverable (not blocked by a popup) (differentiate child windows from each others) - IMGUI_API bool IsWindowFocused(); // is current window focused - IMGUI_API bool IsRootWindowFocused(); // is current root window focused (root = top-most parent of a child, otherwise self) - IMGUI_API bool IsRootWindowOrAnyChildFocused(); // is current root window or any of its child (including current window) focused - IMGUI_API bool IsRootWindowOrAnyChildHovered(); // is current root window or any of its child (including current window) hovered and hoverable (not blocked by a popup) + IMGUI_API bool IsWindowFocused(ImGuiFocusedFlags flags = 0); // is current window focused? or its root/child, depending on flags. see flags for options. + IMGUI_API bool IsWindowHovered(ImGuiHoveredFlags flags = 0); // is current window hovered (and typically: not blocked by a popup/modal)? see flags for options. IMGUI_API bool IsRectVisible(const ImVec2& size); // test if rectangle (of given size, starting from cursor position) is visible / not clipped. IMGUI_API bool IsRectVisible(const ImVec2& rect_min, const ImVec2& rect_max); // test if rectangle (in screen space) is visible / not clipped. to perform coarse clipping on user's side. - IMGUI_API bool IsPosHoveringAnyWindow(const ImVec2& pos); // is given position hovering any active imgui window IMGUI_API float GetTime(); IMGUI_API int GetFrameCount(); - IMGUI_API const char* GetStyleColName(ImGuiCol idx); - IMGUI_API ImVec2 CalcItemRectClosestPoint(const ImVec2& pos, bool on_edge = false, float outward = +0.0f); // utility to find the closest point the last item bounding rectangle edge. useful to visually link items + IMGUI_API ImDrawList* GetOverlayDrawList(); // this draw list will be the last rendered one, useful to quickly draw overlays shapes/text + IMGUI_API ImDrawListSharedData* GetDrawListSharedData(); + IMGUI_API const char* GetStyleColorName(ImGuiCol idx); IMGUI_API ImVec2 CalcTextSize(const char* text, const char* text_end = NULL, bool hide_text_after_double_hash = false, float wrap_width = -1.0f); IMGUI_API void CalcListClipping(int items_count, float items_height, int* out_items_display_start, int* out_items_display_end); // calculate coarse clipping for large list of evenly sized items. Prefer using the ImGuiListClipper higher-level helper if you can. - IMGUI_API bool BeginChildFrame(ImGuiID id, const ImVec2& size, ImGuiWindowFlags extra_flags = 0); // helper to create a child window / scrolling region that looks like a normal widget frame - IMGUI_API void EndChildFrame(); + IMGUI_API bool BeginChildFrame(ImGuiID id, const ImVec2& size, ImGuiWindowFlags flags = 0); // helper to create a child window / scrolling region that looks like a normal widget frame + IMGUI_API void EndChildFrame(); // always call EndChildFrame() regardless of BeginChildFrame() return values (which indicates a collapsed/clipped window) IMGUI_API ImVec4 ColorConvertU32ToFloat4(ImU32 in); IMGUI_API ImU32 ColorConvertFloat4ToU32(const ImVec4& in); @@ -427,67 +502,54 @@ namespace ImGui IMGUI_API void ColorConvertHSVtoRGB(float h, float s, float v, float& out_r, float& out_g, float& out_b); // Inputs - IMGUI_API int GetKeyIndex(ImGuiKey key); // map ImGuiKey_* values into user's key index. == io.KeyMap[key] - IMGUI_API bool IsKeyDown(int key_index); // key_index into the keys_down[] array, imgui doesn't know the semantic of each entry, uses your own indices! - IMGUI_API bool IsKeyPressed(int key_index, bool repeat = true); // uses user's key indices as stored in the keys_down[] array. if repeat=true. uses io.KeyRepeatDelay / KeyRepeatRate - IMGUI_API bool IsKeyReleased(int key_index); // " + IMGUI_API int GetKeyIndex(ImGuiKey imgui_key); // map ImGuiKey_* values into user's key index. == io.KeyMap[key] + IMGUI_API bool IsKeyDown(int user_key_index); // is key being held. == io.KeysDown[user_key_index]. note that imgui doesn't know the semantic of each entry of io.KeyDown[]. Use your own indices/enums according to how your backend/engine stored them into KeyDown[]! + IMGUI_API bool IsKeyPressed(int user_key_index, bool repeat = true); // was key pressed (went from !Down to Down). if repeat=true, uses io.KeyRepeatDelay / KeyRepeatRate + IMGUI_API bool IsKeyReleased(int user_key_index); // was key released (went from Down to !Down).. + IMGUI_API int GetKeyPressedAmount(int key_index, float repeat_delay, float rate); // uses provided repeat rate/delay. return a count, most often 0 or 1 but might be >1 if RepeatRate is small enough that DeltaTime > RepeatRate IMGUI_API bool IsMouseDown(int button); // is mouse button held + IMGUI_API bool IsAnyMouseDown(); // is any mouse button held IMGUI_API bool IsMouseClicked(int button, bool repeat = false); // did mouse button clicked (went from !Down to Down) IMGUI_API bool IsMouseDoubleClicked(int button); // did mouse button double-clicked. a double-click returns false in IsMouseClicked(). uses io.MouseDoubleClickTime. IMGUI_API bool IsMouseReleased(int button); // did mouse button released (went from Down to !Down) - IMGUI_API bool IsMouseHoveringWindow(); // is mouse hovering current window ("window" in API names always refer to current window). disregarding of any consideration of being blocked by a popup. (unlike IsWindowHovered() this will return true even if the window is blocked because of a popup) - IMGUI_API bool IsMouseHoveringAnyWindow(); // is mouse hovering any visible window - IMGUI_API bool IsMouseHoveringRect(const ImVec2& r_min, const ImVec2& r_max, bool clip = true); // is mouse hovering given bounding rect (in screen space). clipped by current clipping settings. disregarding of consideration of focus/window ordering/blocked by a popup. IMGUI_API bool IsMouseDragging(int button = 0, float lock_threshold = -1.0f); // is mouse dragging. if lock_threshold < -1.0f uses io.MouseDraggingThreshold + IMGUI_API bool IsMouseHoveringRect(const ImVec2& r_min, const ImVec2& r_max, bool clip = true); // is mouse hovering given bounding rect (in screen space). clipped by current clipping settings. disregarding of consideration of focus/window ordering/blocked by a popup. + IMGUI_API bool IsMousePosValid(const ImVec2* mouse_pos = NULL); // IMGUI_API ImVec2 GetMousePos(); // shortcut to ImGui::GetIO().MousePos provided by user, to be consistent with other calls IMGUI_API ImVec2 GetMousePosOnOpeningCurrentPopup(); // retrieve backup of mouse positioning at the time of opening popup we have BeginPopup() into IMGUI_API ImVec2 GetMouseDragDelta(int button = 0, float lock_threshold = -1.0f); // dragging amount since clicking. if lock_threshold < -1.0f uses io.MouseDraggingThreshold IMGUI_API void ResetMouseDragDelta(int button = 0); // - IMGUI_API ImGuiMouseCursor GetMouseCursor(); // get desired cursor type, reset in ImGui::NewFrame(), this updated during the frame. valid before Render(). If you use software rendering by setting io.MouseDrawCursor ImGui will render those for you + IMGUI_API ImGuiMouseCursor GetMouseCursor(); // get desired cursor type, reset in ImGui::NewFrame(), this is updated during the frame. valid before Render(). If you use software rendering by setting io.MouseDrawCursor ImGui will render those for you IMGUI_API void SetMouseCursor(ImGuiMouseCursor type); // set desired cursor type IMGUI_API void CaptureKeyboardFromApp(bool capture = true); // manually override io.WantCaptureKeyboard flag next frame (said flag is entirely left for your application handle). e.g. force capture keyboard when your widget is being hovered. IMGUI_API void CaptureMouseFromApp(bool capture = true); // manually override io.WantCaptureMouse flag next frame (said flag is entirely left for your application handle). - // Helpers functions to access functions pointers in ImGui::GetIO() - IMGUI_API void* MemAlloc(size_t sz); - IMGUI_API void MemFree(void* ptr); + // Clipboard Utilities (also see the LogToClipboard() function to capture or output text data to the clipboard) IMGUI_API const char* GetClipboardText(); IMGUI_API void SetClipboardText(const char* text); - // Internal context access - if you want to use multiple context, share context between modules (e.g. DLL). There is a default context created and active by default. - // All contexts share a same ImFontAtlas by default. If you want different font atlas, you can new() them and overwrite the GetIO().Fonts variable of an ImGui context. - IMGUI_API const char* GetVersion(); - IMGUI_API ImGuiContext* CreateContext(void* (*malloc_fn)(size_t) = NULL, void (*free_fn)(void*) = NULL); - IMGUI_API void DestroyContext(ImGuiContext* ctx); - IMGUI_API ImGuiContext* GetCurrentContext(); - IMGUI_API void SetCurrentContext(ImGuiContext* ctx); - - // Obsolete (will be removed) -#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS - static inline bool CollapsingHeader(const char* label, const char* str_id, bool framed = true, bool default_open = false) { (void)str_id; (void)framed; ImGuiTreeNodeFlags default_open_flags = 1<<5; return CollapsingHeader(label, (default_open ? default_open_flags : 0)); } // OBSOLETE 1.49+ - static inline ImFont* GetWindowFont() { return GetFont(); } // OBSOLETE 1.48+ - static inline float GetWindowFontSize() { return GetFontSize(); } // OBSOLETE 1.48+ - static inline void SetScrollPosHere() { SetScrollHere(); } // OBSOLETE 1.42+ - static inline bool GetWindowCollapsed() { return ImGui::IsWindowCollapsed(); } // OBSOLETE 1.39+ - static inline bool IsRectClipped(const ImVec2& size) { return !IsRectVisible(size); } // OBSOLETE 1.39+ -#endif + // Memory Utilities + // All those functions are not reliant on the current context. + // If you reload the contents of imgui.cpp at runtime, you may need to call SetCurrentContext() + SetAllocatorFunctions() again. + IMGUI_API void SetAllocatorFunctions(void* (*alloc_func)(size_t sz, void* user_data), void(*free_func)(void* ptr, void* user_data), void* user_data = NULL); + IMGUI_API void* MemAlloc(size_t size); + IMGUI_API void MemFree(void* ptr); } // namespace ImGui // Flags for ImGui::Begin() enum ImGuiWindowFlags_ { - // Default: 0 ImGuiWindowFlags_NoTitleBar = 1 << 0, // Disable title-bar ImGuiWindowFlags_NoResize = 1 << 1, // Disable user resizing with the lower-right grip ImGuiWindowFlags_NoMove = 1 << 2, // Disable user moving the window ImGuiWindowFlags_NoScrollbar = 1 << 3, // Disable scrollbars (window can still scroll with mouse or programatically) - ImGuiWindowFlags_NoScrollWithMouse = 1 << 4, // Disable user vertically scrolling with mouse wheel + ImGuiWindowFlags_NoScrollWithMouse = 1 << 4, // Disable user vertically scrolling with mouse wheel. On child window, mouse wheel will be forwarded to the parent unless NoScrollbar is also set. ImGuiWindowFlags_NoCollapse = 1 << 5, // Disable user collapsing window by double-clicking on it ImGuiWindowFlags_AlwaysAutoResize = 1 << 6, // Resize every window to its content every frame - ImGuiWindowFlags_ShowBorders = 1 << 7, // Show borders around windows and items + //ImGuiWindowFlags_ShowBorders = 1 << 7, // Show borders around windows and items (OBSOLETE! Use e.g. style.FrameBorderSize=1.0f to enable borders). ImGuiWindowFlags_NoSavedSettings = 1 << 8, // Never load/save settings in .ini file - ImGuiWindowFlags_NoInputs = 1 << 9, // Disable catching mouse or keyboard inputs + ImGuiWindowFlags_NoInputs = 1 << 9, // Disable catching mouse or keyboard inputs, hovering test with pass through. ImGuiWindowFlags_MenuBar = 1 << 10, // Has a menu-bar ImGuiWindowFlags_HorizontalScrollbar = 1 << 11, // Allow horizontal scrollbar to appear (off by default). You may use SetNextWindowContentSize(ImVec2(width,0.0f)); prior to calling Begin() to specify width. Read code in imgui_demo in the "Horizontal Scrolling" section. ImGuiWindowFlags_NoFocusOnAppearing = 1 << 12, // Disable taking focus when transitioning from hidden to visible state @@ -495,21 +557,23 @@ enum ImGuiWindowFlags_ ImGuiWindowFlags_AlwaysVerticalScrollbar= 1 << 14, // Always show vertical scrollbar (even if ContentSize.y < Size.y) ImGuiWindowFlags_AlwaysHorizontalScrollbar=1<< 15, // Always show horizontal scrollbar (even if ContentSize.x < Size.x) ImGuiWindowFlags_AlwaysUseWindowPadding = 1 << 16, // Ensure child windows without border uses style.WindowPadding (ignored by default for non-bordered child windows, because more convenient) + ImGuiWindowFlags_ResizeFromAnySide = 1 << 17, // (WIP) Enable resize from any corners and borders. Your back-end needs to honor the different values of io.MouseCursor set by imgui. + ImGuiWindowFlags_NoNavInputs = 1 << 18, // No gamepad/keyboard navigation within the window + ImGuiWindowFlags_NoNavFocus = 1 << 19, // No focusing toward this window with gamepad/keyboard navigation (e.g. skipped by CTRL+TAB) + ImGuiWindowFlags_NoNav = ImGuiWindowFlags_NoNavInputs | ImGuiWindowFlags_NoNavFocus, + // [Internal] - ImGuiWindowFlags_ChildWindow = 1 << 20, // Don't use! For internal use by BeginChild() - ImGuiWindowFlags_ChildWindowAutoFitX = 1 << 21, // Don't use! For internal use by BeginChild() - ImGuiWindowFlags_ChildWindowAutoFitY = 1 << 22, // Don't use! For internal use by BeginChild() - ImGuiWindowFlags_ComboBox = 1 << 23, // Don't use! For internal use by ComboBox() - ImGuiWindowFlags_Tooltip = 1 << 24, // Don't use! For internal use by BeginTooltip() - ImGuiWindowFlags_Popup = 1 << 25, // Don't use! For internal use by BeginPopup() - ImGuiWindowFlags_Modal = 1 << 26, // Don't use! For internal use by BeginPopupModal() - ImGuiWindowFlags_ChildMenu = 1 << 27 // Don't use! For internal use by BeginMenu() + ImGuiWindowFlags_NavFlattened = 1 << 23, // (WIP) Allow gamepad/keyboard navigation to cross over parent border to this child (only use on child that have no scrolling!) + ImGuiWindowFlags_ChildWindow = 1 << 24, // Don't use! For internal use by BeginChild() + ImGuiWindowFlags_Tooltip = 1 << 25, // Don't use! For internal use by BeginTooltip() + ImGuiWindowFlags_Popup = 1 << 26, // Don't use! For internal use by BeginPopup() + ImGuiWindowFlags_Modal = 1 << 27, // Don't use! For internal use by BeginPopupModal() + ImGuiWindowFlags_ChildMenu = 1 << 28 // Don't use! For internal use by BeginMenu() }; // Flags for ImGui::InputText() enum ImGuiInputTextFlags_ { - // Default: 0 ImGuiInputTextFlags_CharsDecimal = 1 << 0, // Allow 0123456789.+-*/ ImGuiInputTextFlags_CharsHexadecimal = 1 << 1, // Allow 0123456789ABCDEFabcdef ImGuiInputTextFlags_CharsUppercase = 1 << 2, // Turn a..z into A..Z @@ -526,6 +590,7 @@ enum ImGuiInputTextFlags_ ImGuiInputTextFlags_AlwaysInsertMode = 1 << 13, // Insert mode ImGuiInputTextFlags_ReadOnly = 1 << 14, // Read-only mode ImGuiInputTextFlags_Password = 1 << 15, // Password mode, display all characters as '*' + ImGuiInputTextFlags_NoUndoRedo = 1 << 16, // Disable undo/redo. Note that input text owns the text data while active, if you want to provide your own undo/redo stack you need e.g. to call ClearActiveID(). // [Internal] ImGuiInputTextFlags_Multiline = 1 << 20 // For internal use by InputTextMultiline() }; @@ -535,7 +600,7 @@ enum ImGuiTreeNodeFlags_ { ImGuiTreeNodeFlags_Selected = 1 << 0, // Draw as selected ImGuiTreeNodeFlags_Framed = 1 << 1, // Full colored frame (e.g. for CollapsingHeader) - ImGuiTreeNodeFlags_AllowOverlapMode = 1 << 2, // Hit testing to allow subsequent widgets to overlap this one + ImGuiTreeNodeFlags_AllowItemOverlap = 1 << 2, // Hit testing to allow subsequent widgets to overlap this one ImGuiTreeNodeFlags_NoTreePushOnOpen = 1 << 3, // Don't do a TreePush() when open (e.g. for CollapsingHeader) = no extra indent nor pushing on ID stack ImGuiTreeNodeFlags_NoAutoOpenOnLog = 1 << 4, // Don't automatically and temporarily open node when Logging is active (by default logging will automatically open tree nodes) ImGuiTreeNodeFlags_DefaultOpen = 1 << 5, // Default node to be open @@ -543,36 +608,98 @@ enum ImGuiTreeNodeFlags_ ImGuiTreeNodeFlags_OpenOnArrow = 1 << 7, // Only open when clicking on the arrow part. If ImGuiTreeNodeFlags_OpenOnDoubleClick is also set, single-click arrow or double-click all box to open. ImGuiTreeNodeFlags_Leaf = 1 << 8, // No collapsing, no arrow (use as a convenience for leaf nodes). ImGuiTreeNodeFlags_Bullet = 1 << 9, // Display a bullet instead of arrow - //ImGuITreeNodeFlags_SpanAllAvailWidth = 1 << 10, // FIXME: TODO: Extend hit box horizontally even if not framed - //ImGuiTreeNodeFlags_NoScrollOnOpen = 1 << 11, // FIXME: TODO: Disable automatic scroll on TreePop() if node got just open and contents is not visible + ImGuiTreeNodeFlags_FramePadding = 1 << 10, // Use FramePadding (even for an unframed text node) to vertically align text baseline to regular widget height. Equivalent to calling AlignTextToFramePadding(). + //ImGuITreeNodeFlags_SpanAllAvailWidth = 1 << 11, // FIXME: TODO: Extend hit box horizontally even if not framed + //ImGuiTreeNodeFlags_NoScrollOnOpen = 1 << 12, // FIXME: TODO: Disable automatic scroll on TreePop() if node got just open and contents is not visible + ImGuiTreeNodeFlags_NavCloseFromChild = 1 << 13, // (WIP) Nav: left direction may close this TreeNode() when focusing on any child (items submitted between TreeNode and TreePop) ImGuiTreeNodeFlags_CollapsingHeader = ImGuiTreeNodeFlags_Framed | ImGuiTreeNodeFlags_NoAutoOpenOnLog + + // Obsolete names (will be removed) +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + , ImGuiTreeNodeFlags_AllowOverlapMode = ImGuiTreeNodeFlags_AllowItemOverlap +#endif }; // Flags for ImGui::Selectable() enum ImGuiSelectableFlags_ { - // Default: 0 ImGuiSelectableFlags_DontClosePopups = 1 << 0, // Clicking this don't close parent popup window ImGuiSelectableFlags_SpanAllColumns = 1 << 1, // Selectable frame can span all columns (text will still fit in current column) ImGuiSelectableFlags_AllowDoubleClick = 1 << 2 // Generate press events on double clicks too }; +// Flags for ImGui::BeginCombo() +enum ImGuiComboFlags_ +{ + ImGuiComboFlags_PopupAlignLeft = 1 << 0, // Align the popup toward the left by default + ImGuiComboFlags_HeightSmall = 1 << 1, // Max ~4 items visible. Tip: If you want your combo popup to be a specific size you can use SetNextWindowSizeConstraints() prior to calling BeginCombo() + ImGuiComboFlags_HeightRegular = 1 << 2, // Max ~8 items visible (default) + ImGuiComboFlags_HeightLarge = 1 << 3, // Max ~20 items visible + ImGuiComboFlags_HeightLargest = 1 << 4, // As many fitting items as possible + ImGuiComboFlags_HeightMask_ = ImGuiComboFlags_HeightSmall | ImGuiComboFlags_HeightRegular | ImGuiComboFlags_HeightLarge | ImGuiComboFlags_HeightLargest +}; + +// Flags for ImGui::IsWindowFocused() +enum ImGuiFocusedFlags_ +{ + ImGuiFocusedFlags_ChildWindows = 1 << 0, // IsWindowFocused(): Return true if any children of the window is focused + ImGuiFocusedFlags_RootWindow = 1 << 1, // IsWindowFocused(): Test from root window (top most parent of the current hierarchy) + ImGuiFocusedFlags_AnyWindow = 1 << 2, // IsWindowFocused(): Return true if any window is focused + ImGuiFocusedFlags_RootAndChildWindows = ImGuiFocusedFlags_RootWindow | ImGuiFocusedFlags_ChildWindows +}; + +// Flags for ImGui::IsItemHovered(), ImGui::IsWindowHovered() +enum ImGuiHoveredFlags_ +{ + ImGuiHoveredFlags_Default = 0, // Return true if directly over the item/window, not obstructed by another window, not obstructed by an active popup or modal blocking inputs under them. + ImGuiHoveredFlags_ChildWindows = 1 << 0, // IsWindowHovered() only: Return true if any children of the window is hovered + ImGuiHoveredFlags_RootWindow = 1 << 1, // IsWindowHovered() only: Test from root window (top most parent of the current hierarchy) + ImGuiHoveredFlags_AnyWindow = 1 << 2, // IsWindowHovered() only: Return true if any window is hovered + ImGuiHoveredFlags_AllowWhenBlockedByPopup = 1 << 3, // Return true even if a popup window is normally blocking access to this item/window + //ImGuiHoveredFlags_AllowWhenBlockedByModal = 1 << 4, // Return true even if a modal popup window is normally blocking access to this item/window. FIXME-TODO: Unavailable yet. + ImGuiHoveredFlags_AllowWhenBlockedByActiveItem = 1 << 5, // Return true even if an active item is blocking access to this item/window. Useful for Drag and Drop patterns. + ImGuiHoveredFlags_AllowWhenOverlapped = 1 << 6, // Return true even if the position is overlapped by another window + ImGuiHoveredFlags_RectOnly = ImGuiHoveredFlags_AllowWhenBlockedByPopup | ImGuiHoveredFlags_AllowWhenBlockedByActiveItem | ImGuiHoveredFlags_AllowWhenOverlapped, + ImGuiHoveredFlags_RootAndChildWindows = ImGuiHoveredFlags_RootWindow | ImGuiHoveredFlags_ChildWindows +}; + +// Flags for ImGui::BeginDragDropSource(), ImGui::AcceptDragDropPayload() +enum ImGuiDragDropFlags_ +{ + // BeginDragDropSource() flags + ImGuiDragDropFlags_SourceNoPreviewTooltip = 1 << 0, // By default, a successful call to BeginDragDropSource opens a tooltip so you can display a preview or description of the source contents. This flag disable this behavior. + ImGuiDragDropFlags_SourceNoDisableHover = 1 << 1, // By default, when dragging we clear data so that IsItemHovered() will return true, to avoid subsequent user code submitting tooltips. This flag disable this behavior so you can still call IsItemHovered() on the source item. + ImGuiDragDropFlags_SourceNoHoldToOpenOthers = 1 << 2, // Disable the behavior that allows to open tree nodes and collapsing header by holding over them while dragging a source item. + ImGuiDragDropFlags_SourceAllowNullID = 1 << 3, // Allow items such as Text(), Image() that have no unique identifier to be used as drag source, by manufacturing a temporary identifier based on their window-relative position. This is extremely unusual within the dear imgui ecosystem and so we made it explicit. + ImGuiDragDropFlags_SourceExtern = 1 << 4, // External source (from outside of imgui), won't attempt to read current item/window info. Will always return true. Only one Extern source can be active simultaneously. + // AcceptDragDropPayload() flags + ImGuiDragDropFlags_AcceptBeforeDelivery = 1 << 10, // AcceptDragDropPayload() will returns true even before the mouse button is released. You can then call IsDelivery() to test if the payload needs to be delivered. + ImGuiDragDropFlags_AcceptNoDrawDefaultRect = 1 << 11, // Do not draw the default highlight rectangle when hovering over target. + ImGuiDragDropFlags_AcceptPeekOnly = ImGuiDragDropFlags_AcceptBeforeDelivery | ImGuiDragDropFlags_AcceptNoDrawDefaultRect // For peeking ahead and inspecting the payload before delivery. +}; + +// Standard Drag and Drop payload types. You can define you own payload types using 12-characters long strings. Types starting with '_' are defined by Dear ImGui. +#define IMGUI_PAYLOAD_TYPE_COLOR_3F "_COL3F" // float[3] // Standard type for colors, without alpha. User code may use this type. +#define IMGUI_PAYLOAD_TYPE_COLOR_4F "_COL4F" // float[4] // Standard type for colors. User code may use this type. + // User fill ImGuiIO.KeyMap[] array with indices into the ImGuiIO.KeysDown[512] array enum ImGuiKey_ { - ImGuiKey_Tab, // for tabbing through fields - ImGuiKey_LeftArrow, // for text edit - ImGuiKey_RightArrow,// for text edit - ImGuiKey_UpArrow, // for text edit - ImGuiKey_DownArrow, // for text edit + ImGuiKey_Tab, + ImGuiKey_LeftArrow, + ImGuiKey_RightArrow, + ImGuiKey_UpArrow, + ImGuiKey_DownArrow, ImGuiKey_PageUp, ImGuiKey_PageDown, - ImGuiKey_Home, // for text edit - ImGuiKey_End, // for text edit - ImGuiKey_Delete, // for text edit - ImGuiKey_Backspace, // for text edit - ImGuiKey_Enter, // for text edit - ImGuiKey_Escape, // for text edit + ImGuiKey_Home, + ImGuiKey_End, + ImGuiKey_Insert, + ImGuiKey_Delete, + ImGuiKey_Backspace, + ImGuiKey_Space, + ImGuiKey_Enter, + ImGuiKey_Escape, ImGuiKey_A, // for text edit CTRL+A: select all ImGuiKey_C, // for text edit CTRL+C: copy ImGuiKey_V, // for text edit CTRL+V: paste @@ -582,13 +709,57 @@ enum ImGuiKey_ ImGuiKey_COUNT }; +// [BETA] Gamepad/Keyboard directional navigation +// Keyboard: Set io.NavFlags |= ImGuiNavFlags_EnableKeyboard to enable. NewFrame() will automatically fill io.NavInputs[] based on your io.KeyDown[] + io.KeyMap[] arrays. +// Gamepad: Set io.NavFlags |= ImGuiNavFlags_EnableGamepad to enable. Fill the io.NavInputs[] fields before calling NewFrame(). Note that io.NavInputs[] is cleared by EndFrame(). +// Read instructions in imgui.cpp for more details. +enum ImGuiNavInput_ +{ + // Gamepad Mapping + ImGuiNavInput_Activate, // activate / open / toggle / tweak value // e.g. Circle (PS4), A (Xbox), B (Switch), Space (Keyboard) + ImGuiNavInput_Cancel, // cancel / close / exit // e.g. Cross (PS4), B (Xbox), A (Switch), Escape (Keyboard) + ImGuiNavInput_Input, // text input / on-screen keyboard // e.g. Triang.(PS4), Y (Xbox), X (Switch), Return (Keyboard) + ImGuiNavInput_Menu, // tap: toggle menu / hold: focus, move, resize // e.g. Square (PS4), X (Xbox), Y (Switch), Alt (Keyboard) + ImGuiNavInput_DpadLeft, // move / tweak / resize window (w/ PadMenu) // e.g. D-pad Left/Right/Up/Down (Gamepads), Arrow keys (Keyboard) + ImGuiNavInput_DpadRight, // + ImGuiNavInput_DpadUp, // + ImGuiNavInput_DpadDown, // + ImGuiNavInput_LStickLeft, // scroll / move window (w/ PadMenu) // e.g. Left Analog Stick Left/Right/Up/Down + ImGuiNavInput_LStickRight, // + ImGuiNavInput_LStickUp, // + ImGuiNavInput_LStickDown, // + ImGuiNavInput_FocusPrev, // next window (w/ PadMenu) // e.g. L1 or L2 (PS4), LB or LT (Xbox), L or ZL (Switch) + ImGuiNavInput_FocusNext, // prev window (w/ PadMenu) // e.g. R1 or R2 (PS4), RB or RT (Xbox), R or ZL (Switch) + ImGuiNavInput_TweakSlow, // slower tweaks // e.g. L1 or L2 (PS4), LB or LT (Xbox), L or ZL (Switch) + ImGuiNavInput_TweakFast, // faster tweaks // e.g. R1 or R2 (PS4), RB or RT (Xbox), R or ZL (Switch) + + // [Internal] Don't use directly! This is used internally to differentiate keyboard from gamepad inputs for behaviors that require to differentiate them. + // Keyboard behavior that have no corresponding gamepad mapping (e.g. CTRL+TAB) may be directly reading from io.KeyDown[] instead of io.NavInputs[]. + ImGuiNavInput_KeyMenu_, // toggle menu // = io.KeyAlt + ImGuiNavInput_KeyLeft_, // move left // = Arrow keys + ImGuiNavInput_KeyRight_, // move right + ImGuiNavInput_KeyUp_, // move up + ImGuiNavInput_KeyDown_, // move down + ImGuiNavInput_COUNT, + ImGuiNavInput_InternalStart_ = ImGuiNavInput_KeyMenu_ +}; + +// [BETA] Gamepad/Keyboard directional navigation flags, stored in io.NavFlags +enum ImGuiNavFlags_ +{ + ImGuiNavFlags_EnableKeyboard = 1 << 0, // Master keyboard navigation enable flag. NewFrame() will automatically fill io.NavInputs[] based on io.KeyDown[]. + ImGuiNavFlags_EnableGamepad = 1 << 1, // Master gamepad navigation enable flag. This is mostly to instruct your imgui back-end to fill io.NavInputs[]. + ImGuiNavFlags_MoveMouse = 1 << 2, // Request navigation to allow moving the mouse cursor. May be useful on TV/console systems where moving a virtual mouse is awkward. Will update io.MousePos and set io.WantMoveMouse=true. If enabled you MUST honor io.WantMoveMouse requests in your binding, otherwise ImGui will react as if the mouse is jumping around back and forth. + ImGuiNavFlags_NoCaptureKeyboard = 1 << 3 // Do not set the io.WantCaptureKeyboard flag with io.NavActive is set. +}; + // Enumeration for PushStyleColor() / PopStyleColor() enum ImGuiCol_ { ImGuiCol_Text, ImGuiCol_TextDisabled, ImGuiCol_WindowBg, // Background of normal windows - ImGuiCol_ChildWindowBg, // Background of child windows + ImGuiCol_ChildBg, // Background of child windows ImGuiCol_PopupBg, // Background of popups, menus, tooltips windows ImGuiCol_Border, ImGuiCol_BorderShadow, @@ -596,14 +767,13 @@ enum ImGuiCol_ ImGuiCol_FrameBgHovered, ImGuiCol_FrameBgActive, ImGuiCol_TitleBg, - ImGuiCol_TitleBgCollapsed, ImGuiCol_TitleBgActive, + ImGuiCol_TitleBgCollapsed, ImGuiCol_MenuBarBg, ImGuiCol_ScrollbarBg, ImGuiCol_ScrollbarGrab, ImGuiCol_ScrollbarGrabHovered, ImGuiCol_ScrollbarGrabActive, - ImGuiCol_ComboBg, ImGuiCol_CheckMark, ImGuiCol_SliderGrab, ImGuiCol_SliderGrabActive, @@ -613,9 +783,9 @@ enum ImGuiCol_ ImGuiCol_Header, ImGuiCol_HeaderHovered, ImGuiCol_HeaderActive, - ImGuiCol_Column, - ImGuiCol_ColumnHovered, - ImGuiCol_ColumnActive, + ImGuiCol_Separator, + ImGuiCol_SeparatorHovered, + ImGuiCol_SeparatorActive, ImGuiCol_ResizeGrip, ImGuiCol_ResizeGripHovered, ImGuiCol_ResizeGripActive, @@ -628,37 +798,81 @@ enum ImGuiCol_ ImGuiCol_PlotHistogramHovered, ImGuiCol_TextSelectedBg, ImGuiCol_ModalWindowDarkening, // darken entire screen when a modal window is active + ImGuiCol_DragDropTarget, + ImGuiCol_NavHighlight, // gamepad/keyboard: current highlighted item + ImGuiCol_NavWindowingHighlight, // gamepad/keyboard: when holding NavMenu to focus/move/resize windows ImGuiCol_COUNT + + // Obsolete names (will be removed) +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + //, ImGuiCol_ComboBg = ImGuiCol_PopupBg // ComboBg has been merged with PopupBg, so a redirect isn't accurate. + , ImGuiCol_ChildWindowBg = ImGuiCol_ChildBg, ImGuiCol_Column = ImGuiCol_Separator, ImGuiCol_ColumnHovered = ImGuiCol_SeparatorHovered, ImGuiCol_ColumnActive = ImGuiCol_SeparatorActive +#endif }; -// Enumeration for PushStyleVar() / PopStyleVar() -// NB: the enum only refers to fields of ImGuiStyle() which makes sense to be pushed/poped in UI code. Feel free to add others. +// Enumeration for PushStyleVar() / PopStyleVar() to temporarily modify the ImGuiStyle structure. +// NB: the enum only refers to fields of ImGuiStyle which makes sense to be pushed/popped inside UI code. During initialization, feel free to just poke into ImGuiStyle directly. +// NB: if changing this enum, you need to update the associated internal table GStyleVarInfo[] accordingly. This is where we link enum values to members offset/type. enum ImGuiStyleVar_ { - ImGuiStyleVar_Alpha, // float - ImGuiStyleVar_WindowPadding, // ImVec2 - ImGuiStyleVar_WindowRounding, // float - ImGuiStyleVar_WindowMinSize, // ImVec2 - ImGuiStyleVar_ChildWindowRounding, // float - ImGuiStyleVar_FramePadding, // ImVec2 - ImGuiStyleVar_FrameRounding, // float - ImGuiStyleVar_ItemSpacing, // ImVec2 - ImGuiStyleVar_ItemInnerSpacing, // ImVec2 - ImGuiStyleVar_IndentSpacing, // float - ImGuiStyleVar_GrabMinSize, // float - ImGuiStyleVar_ButtonTextAlign, // flags ImGuiAlign_* + // Enum name ......................// Member in ImGuiStyle structure (see ImGuiStyle for descriptions) + ImGuiStyleVar_Alpha, // float Alpha + ImGuiStyleVar_WindowPadding, // ImVec2 WindowPadding + ImGuiStyleVar_WindowRounding, // float WindowRounding + ImGuiStyleVar_WindowBorderSize, // float WindowBorderSize + ImGuiStyleVar_WindowMinSize, // ImVec2 WindowMinSize + ImGuiStyleVar_WindowTitleAlign, // ImVec2 WindowTitleAlign + ImGuiStyleVar_ChildRounding, // float ChildRounding + ImGuiStyleVar_ChildBorderSize, // float ChildBorderSize + ImGuiStyleVar_PopupRounding, // float PopupRounding + ImGuiStyleVar_PopupBorderSize, // float PopupBorderSize + ImGuiStyleVar_FramePadding, // ImVec2 FramePadding + ImGuiStyleVar_FrameRounding, // float FrameRounding + ImGuiStyleVar_FrameBorderSize, // float FrameBorderSize + ImGuiStyleVar_ItemSpacing, // ImVec2 ItemSpacing + ImGuiStyleVar_ItemInnerSpacing, // ImVec2 ItemInnerSpacing + ImGuiStyleVar_IndentSpacing, // float IndentSpacing + ImGuiStyleVar_ScrollbarSize, // float ScrollbarSize + ImGuiStyleVar_ScrollbarRounding, // float ScrollbarRounding + ImGuiStyleVar_GrabMinSize, // float GrabMinSize + ImGuiStyleVar_GrabRounding, // float GrabRounding + ImGuiStyleVar_ButtonTextAlign, // ImVec2 ButtonTextAlign ImGuiStyleVar_Count_ + + // Obsolete names (will be removed) +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + , ImGuiStyleVar_ChildWindowRounding = ImGuiStyleVar_ChildRounding +#endif }; -// Enumeration for ColorEditMode() -// FIXME-OBSOLETE: Will be replaced by future color/picker api -enum ImGuiColorEditMode_ +// Enumeration for ColorEdit3() / ColorEdit4() / ColorPicker3() / ColorPicker4() / ColorButton() +enum ImGuiColorEditFlags_ { - ImGuiColorEditMode_UserSelect = -2, - ImGuiColorEditMode_UserSelectShowButton = -1, - ImGuiColorEditMode_RGB = 0, - ImGuiColorEditMode_HSV = 1, - ImGuiColorEditMode_HEX = 2 + ImGuiColorEditFlags_NoAlpha = 1 << 1, // // ColorEdit, ColorPicker, ColorButton: ignore Alpha component (read 3 components from the input pointer). + ImGuiColorEditFlags_NoPicker = 1 << 2, // // ColorEdit: disable picker when clicking on colored square. + ImGuiColorEditFlags_NoOptions = 1 << 3, // // ColorEdit: disable toggling options menu when right-clicking on inputs/small preview. + ImGuiColorEditFlags_NoSmallPreview = 1 << 4, // // ColorEdit, ColorPicker: disable colored square preview next to the inputs. (e.g. to show only the inputs) + ImGuiColorEditFlags_NoInputs = 1 << 5, // // ColorEdit, ColorPicker: disable inputs sliders/text widgets (e.g. to show only the small preview colored square). + ImGuiColorEditFlags_NoTooltip = 1 << 6, // // ColorEdit, ColorPicker, ColorButton: disable tooltip when hovering the preview. + ImGuiColorEditFlags_NoLabel = 1 << 7, // // ColorEdit, ColorPicker: disable display of inline text label (the label is still forwarded to the tooltip and picker). + ImGuiColorEditFlags_NoSidePreview = 1 << 8, // // ColorPicker: disable bigger color preview on right side of the picker, use small colored square preview instead. + // User Options (right-click on widget to change some of them). You can set application defaults using SetColorEditOptions(). The idea is that you probably don't want to override them in most of your calls, let the user choose and/or call SetColorEditOptions() during startup. + ImGuiColorEditFlags_AlphaBar = 1 << 9, // // ColorEdit, ColorPicker: show vertical alpha bar/gradient in picker. + ImGuiColorEditFlags_AlphaPreview = 1 << 10, // // ColorEdit, ColorPicker, ColorButton: display preview as a transparent color over a checkerboard, instead of opaque. + ImGuiColorEditFlags_AlphaPreviewHalf= 1 << 11, // // ColorEdit, ColorPicker, ColorButton: display half opaque / half checkerboard, instead of opaque. + ImGuiColorEditFlags_HDR = 1 << 12, // // (WIP) ColorEdit: Currently only disable 0.0f..1.0f limits in RGBA edition (note: you probably want to use ImGuiColorEditFlags_Float flag as well). + ImGuiColorEditFlags_RGB = 1 << 13, // [Inputs] // ColorEdit: choose one among RGB/HSV/HEX. ColorPicker: choose any combination using RGB/HSV/HEX. + ImGuiColorEditFlags_HSV = 1 << 14, // [Inputs] // " + ImGuiColorEditFlags_HEX = 1 << 15, // [Inputs] // " + ImGuiColorEditFlags_Uint8 = 1 << 16, // [DataType] // ColorEdit, ColorPicker, ColorButton: _display_ values formatted as 0..255. + ImGuiColorEditFlags_Float = 1 << 17, // [DataType] // ColorEdit, ColorPicker, ColorButton: _display_ values formatted as 0.0f..1.0f floats instead of 0..255 integers. No round-trip of value via integers. + ImGuiColorEditFlags_PickerHueBar = 1 << 18, // [PickerMode] // ColorPicker: bar for Hue, rectangle for Sat/Value. + ImGuiColorEditFlags_PickerHueWheel = 1 << 19, // [PickerMode] // ColorPicker: wheel for Hue, triangle for Sat/Value. + // Internals/Masks + ImGuiColorEditFlags__InputsMask = ImGuiColorEditFlags_RGB|ImGuiColorEditFlags_HSV|ImGuiColorEditFlags_HEX, + ImGuiColorEditFlags__DataTypeMask = ImGuiColorEditFlags_Uint8|ImGuiColorEditFlags_Float, + ImGuiColorEditFlags__PickerMask = ImGuiColorEditFlags_PickerHueWheel|ImGuiColorEditFlags_PickerHueBar, + ImGuiColorEditFlags__OptionsDefault = ImGuiColorEditFlags_Uint8|ImGuiColorEditFlags_RGB|ImGuiColorEditFlags_PickerHueBar // Change application default using SetColorEditOptions() }; // Enumeration for GetMouseCursor() @@ -667,52 +881,66 @@ enum ImGuiMouseCursor_ ImGuiMouseCursor_None = -1, ImGuiMouseCursor_Arrow = 0, ImGuiMouseCursor_TextInput, // When hovering over InputText, etc. - ImGuiMouseCursor_Move, // Unused - ImGuiMouseCursor_ResizeNS, // Unused - ImGuiMouseCursor_ResizeEW, // When hovering over a column - ImGuiMouseCursor_ResizeNESW, // Unused + ImGuiMouseCursor_ResizeAll, // Unused + ImGuiMouseCursor_ResizeNS, // When hovering over an horizontal border + ImGuiMouseCursor_ResizeEW, // When hovering over a vertical border or a column + ImGuiMouseCursor_ResizeNESW, // When hovering over the bottom-left corner of a window ImGuiMouseCursor_ResizeNWSE, // When hovering over the bottom-right corner of a window ImGuiMouseCursor_Count_ }; -// Condition flags for ImGui::SetWindow***(), SetNextWindow***(), SetNextTreeNode***() functions -// All those functions treat 0 as a shortcut to ImGuiSetCond_Always -enum ImGuiSetCond_ +// Condition for ImGui::SetWindow***(), SetNextWindow***(), SetNextTreeNode***() functions +// All those functions treat 0 as a shortcut to ImGuiCond_Always. From the point of view of the user use this as an enum (don't combine multiple values into flags). +enum ImGuiCond_ { - ImGuiSetCond_Always = 1 << 0, // Set the variable - ImGuiSetCond_Once = 1 << 1, // Set the variable once per runtime session (only the first call with succeed) - ImGuiSetCond_FirstUseEver = 1 << 2, // Set the variable if the window has no saved data (if doesn't exist in the .ini file) - ImGuiSetCond_Appearing = 1 << 3 // Set the variable if the window is appearing after being hidden/inactive (or the first time) + ImGuiCond_Always = 1 << 0, // Set the variable + ImGuiCond_Once = 1 << 1, // Set the variable once per runtime session (only the first call with succeed) + ImGuiCond_FirstUseEver = 1 << 2, // Set the variable if the window has no saved data (if doesn't exist in the .ini file) + ImGuiCond_Appearing = 1 << 3 // Set the variable if the window is appearing after being hidden/inactive (or the first time) + + // Obsolete names (will be removed) +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + , ImGuiSetCond_Always = ImGuiCond_Always, ImGuiSetCond_Once = ImGuiCond_Once, ImGuiSetCond_FirstUseEver = ImGuiCond_FirstUseEver, ImGuiSetCond_Appearing = ImGuiCond_Appearing +#endif }; +// You may modify the ImGui::GetStyle() main instance during initialization and before NewFrame(). +// During the frame, prefer using ImGui::PushStyleVar(ImGuiStyleVar_XXXX)/PopStyleVar() to alter the main style values, and ImGui::PushStyleColor(ImGuiCol_XXX)/PopStyleColor() for colors. struct ImGuiStyle { - float Alpha; // Global alpha applies to everything in ImGui - ImVec2 WindowPadding; // Padding within a window - ImVec2 WindowMinSize; // Minimum window size - float WindowRounding; // Radius of window corners rounding. Set to 0.0f to have rectangular windows + float Alpha; // Global alpha applies to everything in ImGui. + ImVec2 WindowPadding; // Padding within a window. + float WindowRounding; // Radius of window corners rounding. Set to 0.0f to have rectangular windows. + float WindowBorderSize; // Thickness of border around windows. Generally set to 0.0f or 1.0f. (Other values are not well tested and more CPU/GPU costly). + ImVec2 WindowMinSize; // Minimum window size. This is a global setting. If you want to constraint individual windows, use SetNextWindowSizeConstraints(). ImVec2 WindowTitleAlign; // Alignment for title bar text. Defaults to (0.0f,0.5f) for left-aligned,vertically centered. - float ChildWindowRounding; // Radius of child window corners rounding. Set to 0.0f to have rectangular windows - ImVec2 FramePadding; // Padding within a framed rectangle (used by most widgets) + float ChildRounding; // Radius of child window corners rounding. Set to 0.0f to have rectangular windows. + float ChildBorderSize; // Thickness of border around child windows. Generally set to 0.0f or 1.0f. (Other values are not well tested and more CPU/GPU costly). + float PopupRounding; // Radius of popup window corners rounding. + float PopupBorderSize; // Thickness of border around popup windows. Generally set to 0.0f or 1.0f. (Other values are not well tested and more CPU/GPU costly). + ImVec2 FramePadding; // Padding within a framed rectangle (used by most widgets). float FrameRounding; // Radius of frame corners rounding. Set to 0.0f to have rectangular frame (used by most widgets). - ImVec2 ItemSpacing; // Horizontal and vertical spacing between widgets/lines - ImVec2 ItemInnerSpacing; // Horizontal and vertical spacing between within elements of a composed widget (e.g. a slider and its label) + float FrameBorderSize; // Thickness of border around frames. Generally set to 0.0f or 1.0f. (Other values are not well tested and more CPU/GPU costly). + ImVec2 ItemSpacing; // Horizontal and vertical spacing between widgets/lines. + ImVec2 ItemInnerSpacing; // Horizontal and vertical spacing between within elements of a composed widget (e.g. a slider and its label). ImVec2 TouchExtraPadding; // Expand reactive bounding box for touch-based system where touch position is not accurate enough. Unfortunately we don't sort widgets so priority on overlap will always be given to the first widget. So don't grow this too much! float IndentSpacing; // Horizontal indentation when e.g. entering a tree node. Generally == (FontSize + FramePadding.x*2). - float ColumnsMinSpacing; // Minimum horizontal spacing between two columns - float ScrollbarSize; // Width of the vertical scrollbar, Height of the horizontal scrollbar - float ScrollbarRounding; // Radius of grab corners for scrollbar + float ColumnsMinSpacing; // Minimum horizontal spacing between two columns. + float ScrollbarSize; // Width of the vertical scrollbar, Height of the horizontal scrollbar. + float ScrollbarRounding; // Radius of grab corners for scrollbar. float GrabMinSize; // Minimum width/height of a grab box for slider/scrollbar. float GrabRounding; // Radius of grabs corners rounding. Set to 0.0f to have rectangular slider grabs. ImVec2 ButtonTextAlign; // Alignment of button text when button is larger than text. Defaults to (0.5f,0.5f) for horizontally+vertically centered. ImVec2 DisplayWindowPadding; // Window positions are clamped to be visible within the display area by at least this amount. Only covers regular windows. ImVec2 DisplaySafeAreaPadding; // If you cannot see the edge of your screen (e.g. on a TV) increase the safe area padding. Covers popups/tooltips as well regular windows. + float MouseCursorScale; // Scale software rendered mouse cursor (when io.MouseDrawCursor is enabled). May be removed later. bool AntiAliasedLines; // Enable anti-aliasing on lines/borders. Disable if you are really tight on CPU/GPU. - bool AntiAliasedShapes; // Enable anti-aliasing on filled shapes (rounded rectangles, circles, etc.) - float CurveTessellationTol; // Tessellation tolerance. Decrease for highly tessellated curves (higher quality, more polygons), increase to reduce quality. + bool AntiAliasedFill; // Enable anti-aliasing on filled shapes (rounded rectangles, circles, etc.) + float CurveTessellationTol; // Tessellation tolerance when using PathBezierCurveTo() without a specific number of segments. Decrease for highly tessellated curves (higher quality, more polygons), increase to reduce quality. ImVec4 Colors[ImGuiCol_COUNT]; IMGUI_API ImGuiStyle(); + IMGUI_API void ScaleAllSizes(float scale_factor); }; // This is where your app communicate with ImGui. Access via ImGui::GetIO(). @@ -725,15 +953,16 @@ struct ImGuiIO ImVec2 DisplaySize; // // Display size, in pixels. For clamping windows positions. float DeltaTime; // = 1.0f/60.0f // Time elapsed since last frame, in seconds. + ImGuiNavFlags NavFlags; // = 0x00 // See ImGuiNavFlags_. Gamepad/keyboard navigation options. float IniSavingRate; // = 5.0f // Maximum time between saving positions/sizes to .ini file, in seconds. const char* IniFilename; // = "imgui.ini" // Path to .ini file. NULL to disable .ini saving. const char* LogFilename; // = "imgui_log.txt" // Path to .log file (default parameter to ImGui::LogToFile when no file is specified). float MouseDoubleClickTime; // = 0.30f // Time for a double-click, in seconds. float MouseDoubleClickMaxDist; // = 6.0f // Distance threshold to stay in to validate a double-click, in pixels. - float MouseDragThreshold; // = 6.0f // Distance threshold before considering we are dragging - int KeyMap[ImGuiKey_COUNT]; // // Map of indices into the KeysDown[512] entries array + float MouseDragThreshold; // = 6.0f // Distance threshold before considering we are dragging. + int KeyMap[ImGuiKey_COUNT]; // // Map of indices into the KeysDown[512] entries array which represent your "native" keyboard state. float KeyRepeatDelay; // = 0.250f // When holding a key/button, time before it starts repeating, in seconds (for buttons in Repeat mode, etc.). - float KeyRepeatRate; // = 0.020f // When holding a key/button, rate at which it repeats, in seconds. + float KeyRepeatRate; // = 0.050f // When holding a key/button, rate at which it repeats, in seconds. void* UserData; // = NULL // Store your own data for retrieval by callbacks. ImFontAtlas* Fonts; // // Load and assemble one or more fonts into a single tightly packed texture. Output to Fonts array. @@ -745,47 +974,46 @@ struct ImGuiIO ImVec2 DisplayVisibleMax; // (0.0f,0.0f) // If the values are the same, we defaults to Min=(0.0f) and Max=DisplaySize // Advanced/subtle behaviors - bool OSXBehaviors; // = defined(__APPLE__) // OS X style: Text editing cursor movement using Alt instead of Ctrl, Shortcuts using Cmd/Super instead of Ctrl, Line/Text Start and End using Cmd+Arrows instead of Home/End, Double click selects by word instead of selecting whole text, Multi-selection in lists uses Cmd/Super instead of Ctrl + bool OptMacOSXBehaviors; // = defined(__APPLE__) // OS X style: Text editing cursor movement using Alt instead of Ctrl, Shortcuts using Cmd/Super instead of Ctrl, Line/Text Start and End using Cmd+Arrows instead of Home/End, Double click selects by word instead of selecting whole text, Multi-selection in lists uses Cmd/Super instead of Ctrl + bool OptCursorBlink; // = true // Enable blinking cursor, for users who consider it annoying. //------------------------------------------------------------------ - // User Functions + // Settings (User Functions) //------------------------------------------------------------------ - // Rendering function, will be called in Render(). - // Alternatively you can keep this to NULL and call GetDrawData() after Render() to get the same pointer. - // See example applications if you are unsure of how to implement this. - void (*RenderDrawListsFn)(ImDrawData* data); - // Optional: access OS clipboard // (default to use native Win32 clipboard on Windows, otherwise uses a private clipboard. Override to access OS clipboard on other architectures) const char* (*GetClipboardTextFn)(void* user_data); void (*SetClipboardTextFn)(void* user_data, const char* text); void* ClipboardUserData; - // Optional: override memory allocations. MemFreeFn() may be called with a NULL pointer. - // (default to posix malloc/free) - void* (*MemAllocFn)(size_t sz); - void (*MemFreeFn)(void* ptr); - // Optional: notify OS Input Method Editor of the screen position of your cursor for text input position (e.g. when using Japanese/Chinese IME in Windows) // (default to use native imm32 api on Windows) void (*ImeSetInputScreenPosFn)(int x, int y); void* ImeWindowHandle; // (Windows) Set this to your HWND to get automatic IME cursor positioning. +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + // [OBSOLETE] Rendering function, will be automatically called in Render(). Please call your rendering function yourself now! You can obtain the ImDrawData* by calling ImGui::GetDrawData() after Render(). + // See example applications if you are unsure of how to implement this. + void (*RenderDrawListsFn)(ImDrawData* data); +#endif + //------------------------------------------------------------------ // Input - Fill before calling NewFrame() //------------------------------------------------------------------ - ImVec2 MousePos; // Mouse position, in pixels (set to -1,-1 if no mouse / on another screen, etc.) - bool MouseDown[5]; // Mouse buttons: left, right, middle + extras. ImGui itself mostly only uses left button (BeginPopupContext** are using right button). Others buttons allows us to track if the mouse is being used by your application + available to user as a convenience via IsMouse** API. - float MouseWheel; // Mouse wheel: 1 unit scrolls about 5 lines text. - bool MouseDrawCursor; // Request ImGui to draw a mouse cursor for you (if you are on a platform without a mouse cursor). - bool KeyCtrl; // Keyboard modifier pressed: Control - bool KeyShift; // Keyboard modifier pressed: Shift - bool KeyAlt; // Keyboard modifier pressed: Alt - bool KeySuper; // Keyboard modifier pressed: Cmd/Super/Windows - bool KeysDown[512]; // Keyboard keys that are pressed (in whatever storage order you naturally have access to keyboard data) - ImWchar InputCharacters[16+1]; // List of characters input (translated by user from keypress+keyboard state). Fill using AddInputCharacter() helper. + ImVec2 MousePos; // Mouse position, in pixels. Set to ImVec2(-FLT_MAX,-FLT_MAX) if mouse is unavailable (on another screen, etc.) + bool MouseDown[5]; // Mouse buttons: left, right, middle + extras. ImGui itself mostly only uses left button (BeginPopupContext** are using right button). Others buttons allows us to track if the mouse is being used by your application + available to user as a convenience via IsMouse** API. + float MouseWheel; // Mouse wheel: 1 unit scrolls about 5 lines text. + float MouseWheelH; // Mouse wheel (Horizontal). Most users don't have a mouse with an horizontal wheel, may not be filled by all back-ends. + bool MouseDrawCursor; // Request ImGui to draw a mouse cursor for you (if you are on a platform without a mouse cursor). + bool KeyCtrl; // Keyboard modifier pressed: Control + bool KeyShift; // Keyboard modifier pressed: Shift + bool KeyAlt; // Keyboard modifier pressed: Alt + bool KeySuper; // Keyboard modifier pressed: Cmd/Super/Windows + bool KeysDown[512]; // Keyboard keys that are pressed (ideally left in the "native" order your engine has access to keyboard keys, so you can use your own defines/enums for keys). + ImWchar InputCharacters[16+1]; // List of characters input (translated by user from keypress+keyboard state). Fill using AddInputCharacter() helper. + float NavInputs[ImGuiNavInput_COUNT]; // Gamepad inputs (keyboard keys will be auto-mapped and be written here by ImGui::NewFrame) // Functions IMGUI_API void AddInputCharacter(ImWchar c); // Add new character into InputCharacters[] @@ -796,42 +1024,79 @@ struct ImGuiIO // Output - Retrieve after calling NewFrame() //------------------------------------------------------------------ - bool WantCaptureMouse; // Mouse is hovering a window or widget is active (= ImGui will use your mouse input). Use to hide mouse from the rest of your application - bool WantCaptureKeyboard; // Widget is active (= ImGui will use your keyboard input). Use to hide keyboard from the rest of your application - bool WantTextInput; // Some text input widget is active, which will read input characters from the InputCharacters array. Use to activate on screen keyboard if your system needs one + bool WantCaptureMouse; // When io.WantCaptureMouse is true, do not dispatch mouse input data to your main application. This is set by ImGui when it wants to use your mouse (e.g. unclicked mouse is hovering a window, or a widget is active). + bool WantCaptureKeyboard; // When io.WantCaptureKeyboard is true, do not dispatch keyboard input data to your main application. This is set by ImGui when it wants to use your keyboard inputs. + bool WantTextInput; // Mobile/console: when io.WantTextInput is true, you may display an on-screen keyboard. This is set by ImGui when it wants textual keyboard input to happen (e.g. when a InputText widget is active). + bool WantMoveMouse; // MousePos has been altered, back-end should reposition mouse on next frame. Set only when ImGuiNavFlags_MoveMouse flag is enabled in io.NavFlags. + bool NavActive; // Directional navigation is currently allowed (will handle ImGuiKey_NavXXX events) = a window is focused and it doesn't use the ImGuiWindowFlags_NoNavInputs flag. + bool NavVisible; // Directional navigation is visible and allowed (will handle ImGuiKey_NavXXX events). float Framerate; // Application framerate estimation, in frame per second. Solely for convenience. Rolling average estimation based on IO.DeltaTime over 120 frames - int MetricsAllocs; // Number of active memory allocations int MetricsRenderVertices; // Vertices output during last call to Render() int MetricsRenderIndices; // Indices output during last call to Render() = number of triangles * 3 int MetricsActiveWindows; // Number of visible root windows (exclude child windows) - ImVec2 MouseDelta; // Mouse delta. Note that this is zero if either current or previous position are negative, so a disappearing/reappearing mouse won't have a huge delta for one frame. + ImVec2 MouseDelta; // Mouse delta. Note that this is zero if either current or previous position are invalid (-FLT_MAX,-FLT_MAX), so a disappearing/reappearing mouse won't have a huge delta. //------------------------------------------------------------------ - // [Private] ImGui will maintain those fields. Forward compatibility not guaranteed! + // [Internal] ImGui will maintain those fields. Forward compatibility not guaranteed! //------------------------------------------------------------------ ImVec2 MousePosPrev; // Previous mouse position temporary storage (nb: not for public use, set to MousePos in NewFrame()) - bool MouseClicked[5]; // Mouse button went from !Down to Down ImVec2 MouseClickedPos[5]; // Position at time of clicking float MouseClickedTime[5]; // Time of last click (used to figure out double-click) + bool MouseClicked[5]; // Mouse button went from !Down to Down bool MouseDoubleClicked[5]; // Has mouse button been double-clicked? bool MouseReleased[5]; // Mouse button went from Down to !Down bool MouseDownOwned[5]; // Track if button was clicked inside a window. We don't request mouse capture from the application if click started outside ImGui bounds. float MouseDownDuration[5]; // Duration the mouse button has been down (0.0f == just clicked) float MouseDownDurationPrev[5]; // Previous time the mouse button has been down - float MouseDragMaxDistanceSqr[5]; // Squared maximum distance of how much mouse has traveled from the click point + ImVec2 MouseDragMaxDistanceAbs[5]; // Maximum distance, absolute, on each axis, of how much mouse has traveled from the clicking point + float MouseDragMaxDistanceSqr[5]; // Squared maximum distance of how much mouse has traveled from the clicking point float KeysDownDuration[512]; // Duration the keyboard key has been down (0.0f == just pressed) float KeysDownDurationPrev[512]; // Previous duration the key has been down + float NavInputsDownDuration[ImGuiNavInput_COUNT]; + float NavInputsDownDurationPrev[ImGuiNavInput_COUNT]; IMGUI_API ImGuiIO(); }; +//----------------------------------------------------------------------------- +// Obsolete functions (Will be removed! Read 'API BREAKING CHANGES' section in imgui.cpp for details) +//----------------------------------------------------------------------------- + +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS +namespace ImGui +{ + // OBSOLETED in 1.60 (from Dec 2017) + static inline bool IsAnyWindowFocused() { return IsWindowFocused(ImGuiFocusedFlags_AnyWindow); } + static inline bool IsAnyWindowHovered() { return IsWindowHovered(ImGuiHoveredFlags_AnyWindow); } + static inline ImVec2 CalcItemRectClosestPoint(const ImVec2& pos, bool on_edge = false, float outward = 0.f) { (void)on_edge; (void)outward; IM_ASSERT(0); return pos; } + // OBSOLETED in 1.53 (between Oct 2017 and Dec 2017) + static inline void ShowTestWindow() { return ShowDemoWindow(); } + static inline bool IsRootWindowFocused() { return IsWindowFocused(ImGuiFocusedFlags_RootWindow); } + static inline bool IsRootWindowOrAnyChildFocused() { return IsWindowFocused(ImGuiFocusedFlags_RootAndChildWindows); } + static inline void SetNextWindowContentWidth(float w) { SetNextWindowContentSize(ImVec2(w, 0.0f)); } + static inline float GetItemsLineHeightWithSpacing() { return GetFrameHeightWithSpacing(); } + // OBSOLETED in 1.52 (between Aug 2017 and Oct 2017) + bool Begin(const char* name, bool* p_open, const ImVec2& size_on_first_use, float bg_alpha_override = -1.0f, ImGuiWindowFlags flags = 0); // Use SetNextWindowSize(size, ImGuiCond_FirstUseEver) + SetNextWindowBgAlpha() instead. + static inline bool IsRootWindowOrAnyChildHovered() { return IsWindowHovered(ImGuiHoveredFlags_RootAndChildWindows); } + static inline void AlignFirstTextHeightToWidgets() { AlignTextToFramePadding(); } + static inline void SetNextWindowPosCenter(ImGuiCond c=0) { ImGuiIO& io = GetIO(); SetNextWindowPos(ImVec2(io.DisplaySize.x * 0.5f, io.DisplaySize.y * 0.5f), c, ImVec2(0.5f, 0.5f)); } + // OBSOLETED in 1.51 (between Jun 2017 and Aug 2017) + static inline bool IsItemHoveredRect() { return IsItemHovered(ImGuiHoveredFlags_RectOnly); } + static inline bool IsPosHoveringAnyWindow(const ImVec2&) { IM_ASSERT(0); return false; } // This was misleading and partly broken. You probably want to use the ImGui::GetIO().WantCaptureMouse flag instead. + static inline bool IsMouseHoveringAnyWindow() { return IsWindowHovered(ImGuiHoveredFlags_AnyWindow); } + static inline bool IsMouseHoveringWindow() { return IsWindowHovered(ImGuiHoveredFlags_AllowWhenBlockedByPopup | ImGuiHoveredFlags_AllowWhenBlockedByActiveItem); } + // OBSOLETED IN 1.49 (between Apr 2016 and May 2016) + static inline bool CollapsingHeader(const char* label, const char* str_id, bool framed = true, bool default_open = false) { (void)str_id; (void)framed; ImGuiTreeNodeFlags default_open_flags = 1 << 5; return CollapsingHeader(label, (default_open ? default_open_flags : 0)); } +} +#endif + //----------------------------------------------------------------------------- // Helpers //----------------------------------------------------------------------------- // Lightweight std::vector<> like class to avoid dragging dependencies (also: windows implementation of STL with debug enabled is absurdly slow, so let's bypass it so our code runs fast in debug). -// Our implementation does NOT call c++ constructors because we don't use them in ImGui. Don't use this class as a straight std::vector replacement in your code! +// Our implementation does NOT call C++ constructors/destructors. This is intentional and we do not require it. Do not use this class as a straight std::vector replacement in your code! template class ImVector { @@ -844,8 +1109,8 @@ public: typedef value_type* iterator; typedef const value_type* const_iterator; - ImVector() { Size = Capacity = 0; Data = NULL; } - ~ImVector() { if (Data) ImGui::MemFree(Data); } + inline ImVector() { Size = Capacity = 0; Data = NULL; } + inline ~ImVector() { if (Data) ImGui::MemFree(Data); } inline bool empty() const { return Size == 0; } inline int size() const { return Size; } @@ -861,40 +1126,41 @@ public: inline const_iterator end() const { return Data + Size; } inline value_type& front() { IM_ASSERT(Size > 0); return Data[0]; } inline const value_type& front() const { IM_ASSERT(Size > 0); return Data[0]; } - inline value_type& back() { IM_ASSERT(Size > 0); return Data[Size-1]; } - inline const value_type& back() const { IM_ASSERT(Size > 0); return Data[Size-1]; } + inline value_type& back() { IM_ASSERT(Size > 0); return Data[Size - 1]; } + inline const value_type& back() const { IM_ASSERT(Size > 0); return Data[Size - 1]; } inline void swap(ImVector& rhs) { int rhs_size = rhs.Size; rhs.Size = Size; Size = rhs_size; int rhs_cap = rhs.Capacity; rhs.Capacity = Capacity; Capacity = rhs_cap; value_type* rhs_data = rhs.Data; rhs.Data = Data; Data = rhs_data; } - inline int _grow_capacity(int new_size) { int new_capacity = Capacity ? (Capacity + Capacity/2) : 8; return new_capacity > new_size ? new_capacity : new_size; } + inline int _grow_capacity(int sz) const { int new_capacity = Capacity ? (Capacity + Capacity/2) : 8; return new_capacity > sz ? new_capacity : sz; } inline void resize(int new_size) { if (new_size > Capacity) reserve(_grow_capacity(new_size)); Size = new_size; } + inline void resize(int new_size, const T& v){ if (new_size > Capacity) reserve(_grow_capacity(new_size)); if (new_size > Size) for (int n = Size; n < new_size; n++) Data[n] = v; Size = new_size; } inline void reserve(int new_capacity) { - if (new_capacity <= Capacity) return; - T* new_data = (value_type*)ImGui::MemAlloc((size_t)new_capacity * sizeof(value_type)); + if (new_capacity <= Capacity) + return; + T* new_data = (value_type*)ImGui::MemAlloc((size_t)new_capacity * sizeof(T)); if (Data) - memcpy(new_data, Data, (size_t)Size * sizeof(value_type)); + memcpy(new_data, Data, (size_t)Size * sizeof(T)); ImGui::MemFree(Data); Data = new_data; Capacity = new_capacity; } - inline void push_back(const value_type& v) { if (Size == Capacity) reserve(_grow_capacity(Size+1)); Data[Size++] = v; } + // NB: &v cannot be pointing inside the ImVector Data itself! e.g. v.push_back(v[10]) is forbidden. + inline void push_back(const value_type& v) { if (Size == Capacity) reserve(_grow_capacity(Size + 1)); Data[Size++] = v; } inline void pop_back() { IM_ASSERT(Size > 0); Size--; } + inline void push_front(const value_type& v) { if (Size == 0) push_back(v); else insert(Data, v); } - inline iterator erase(const_iterator it) { IM_ASSERT(it >= Data && it < Data+Size); const ptrdiff_t off = it - Data; memmove(Data + off, Data + off + 1, ((size_t)Size - (size_t)off - 1) * sizeof(value_type)); Size--; return Data + off; } - inline iterator insert(const_iterator it, const value_type& v) { IM_ASSERT(it >= Data && it <= Data+Size); const ptrdiff_t off = it - Data; if (Size == Capacity) reserve(Capacity ? Capacity * 2 : 4); if (off < (int)Size) memmove(Data + off + 1, Data + off, ((size_t)Size - (size_t)off) * sizeof(value_type)); Data[off] = v; Size++; return Data + off; } + inline iterator erase(const_iterator it) { IM_ASSERT(it >= Data && it < Data+Size); const ptrdiff_t off = it - Data; memmove(Data + off, Data + off + 1, ((size_t)Size - (size_t)off - 1) * sizeof(value_type)); Size--; return Data + off; } + inline iterator insert(const_iterator it, const value_type& v) { IM_ASSERT(it >= Data && it <= Data+Size); const ptrdiff_t off = it - Data; if (Size == Capacity) reserve(_grow_capacity(Size + 1)); if (off < (int)Size) memmove(Data + off + 1, Data + off, ((size_t)Size - (size_t)off) * sizeof(value_type)); Data[off] = v; Size++; return Data + off; } + inline bool contains(const value_type& v) const { const T* data = Data; const T* data_end = Data + Size; while (data < data_end) if (*data++ == v) return true; return false; } }; -// Helper: execute a block of code at maximum once a frame -// Convenient if you want to quickly create an UI within deep-nested code that runs multiple times every frame. +// Helper: execute a block of code at maximum once a frame. Convenient if you want to quickly create an UI within deep-nested code that runs multiple times every frame. // Usage: -// IMGUI_ONCE_UPON_A_FRAME -// { -// // code block will be executed one per frame -// } -// Attention! the macro expands into 2 statement so make sure you don't use it within e.g. an if() statement without curly braces. -#define IMGUI_ONCE_UPON_A_FRAME static ImGuiOnceUponAFrame imgui_oaf##__LINE__; if (imgui_oaf##__LINE__) +// static ImGuiOnceUponAFrame oaf; +// if (oaf) +// ImGui::Text("This will be called only once per frame"); struct ImGuiOnceUponAFrame { ImGuiOnceUponAFrame() { RefFrame = -1; } @@ -902,6 +1168,11 @@ struct ImGuiOnceUponAFrame operator bool() const { int current_frame = ImGui::GetFrameCount(); if (RefFrame == current_frame) return false; RefFrame = current_frame; return true; } }; +// Helper macro for ImGuiOnceUponAFrame. Attention: The macro expands into 2 statement so make sure you don't use it within e.g. an if() statement without curly braces. +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS // Will obsolete +#define IMGUI_ONCE_UPON_A_FRAME static ImGuiOnceUponAFrame imgui_oaf; if (imgui_oaf) +#endif + // Helper: Parse and apply text filters. In format "aaaaa[,bbbb][,ccccc]" struct ImGuiTextFilter { @@ -925,13 +1196,12 @@ struct ImGuiTextFilter ImVector Filters; int CountGrep; - ImGuiTextFilter(const char* default_filter = ""); - ~ImGuiTextFilter() {} - void Clear() { InputBuf[0] = 0; Build(); } - bool Draw(const char* label = "Filter (inc,-exc)", float width = 0.0f); // Helper calling InputText+Build - bool PassFilter(const char* text, const char* text_end = NULL) const; - bool IsActive() const { return !Filters.empty(); } + IMGUI_API ImGuiTextFilter(const char* default_filter = ""); + IMGUI_API bool Draw(const char* label = "Filter (inc,-exc)", float width = 0.0f); // Helper calling InputText+Build + IMGUI_API bool PassFilter(const char* text, const char* text_end = NULL) const; IMGUI_API void Build(); + void Clear() { InputBuf[0] = 0; Build(); } + bool IsActive() const { return !Filters.empty(); } }; // Helper: Text buffer for logging/accumulating text @@ -946,18 +1216,19 @@ struct ImGuiTextBuffer int size() const { return Buf.Size - 1; } bool empty() { return Buf.Size <= 1; } void clear() { Buf.clear(); Buf.push_back(0); } + void reserve(int capacity) { Buf.reserve(capacity); } const char* c_str() const { return Buf.Data; } - IMGUI_API void append(const char* fmt, ...) IM_PRINTFARGS(2); - IMGUI_API void appendv(const char* fmt, va_list args); + IMGUI_API void appendf(const char* fmt, ...) IM_FMTARGS(2); + IMGUI_API void appendfv(const char* fmt, va_list args) IM_FMTLIST(2); }; // Helper: Simple Key->value storage // Typically you don't have to worry about this since a storage is held within each Window. -// We use it to e.g. store collapse state for a tree (Int 0/1), store color edit options. -// You can use it as custom user storage for temporary values. -// Declare your own storage if: +// We use it to e.g. store collapse state for a tree (Int 0/1), store color edit options. +// This is optimized for efficient reading (dichotomy into a contiguous buffer), rare writing (typically tied to user interactions) +// You can use it as custom user storage for temporary values. Declare your own storage if, for example: // - You want to manipulate the open/close state of a particular sub-tree in your interface (tree node uses Int 0/1 to store their state). -// - You want to store custom debug data easily without adding or editing structures in your code. +// - You want to store custom debug data easily without adding or editing structures in your code (probably not efficient, but convenient) // Types are NOT stored, so it is up to you to make sure your Key don't collide with different types. struct ImGuiStorage { @@ -965,7 +1236,7 @@ struct ImGuiStorage { ImGuiID key; union { int val_i; float val_f; void* val_p; }; - Pair(ImGuiID _key, int _val_i) { key = _key; val_i = _val_i; } + Pair(ImGuiID _key, int _val_i) { key = _key; val_i = _val_i; } Pair(ImGuiID _key, float _val_f) { key = _key; val_f = _val_f; } Pair(ImGuiID _key, void* _val_p) { key = _key; val_p = _val_p; } }; @@ -974,7 +1245,7 @@ struct ImGuiStorage // - Get***() functions find pair, never add/allocate. Pairs are sorted so a query is O(log N) // - Set***() functions find pair, insertion on demand if missing. // - Sorted insertion is costly, paid once. A typical frame shouldn't need to insert any new pair. - IMGUI_API void Clear(); + void Clear() { Data.clear(); } IMGUI_API int GetInt(ImGuiID key, int default_val = 0) const; IMGUI_API void SetInt(ImGuiID key, int val); IMGUI_API bool GetBool(ImGuiID key, bool default_val = false) const; @@ -995,6 +1266,9 @@ struct ImGuiStorage // Use on your own storage if you know only integer are being stored (open/close all tree nodes) IMGUI_API void SetAllInt(int val); + + // For quicker full rebuild of a storage (instead of an incremental one), you may add all your contents and then sort once. + IMGUI_API void BuildSortByKey(); }; // Shared state of InputText(), passed to callback when a ImGuiInputTextFlags_Callback* flag is used and the corresponding callback is triggered. @@ -1022,19 +1296,41 @@ struct ImGuiTextEditCallbackData // NB: Helper functions for text manipulation. Calling those function loses selection. IMGUI_API void DeleteChars(int pos, int bytes_count); IMGUI_API void InsertChars(int pos, const char* text, const char* text_end = NULL); - bool HasSelection() const { return SelectionStart != SelectionEnd; } + bool HasSelection() const { return SelectionStart != SelectionEnd; } }; // Resizing callback data to apply custom constraint. As enabled by SetNextWindowSizeConstraints(). Callback is called during the next Begin(). // NB: For basic min/max size constraint on each axis you don't need to use the callback! The SetNextWindowSizeConstraints() parameters are enough. -struct ImGuiSizeConstraintCallbackData +struct ImGuiSizeCallbackData { void* UserData; // Read-only. What user passed to SetNextWindowSizeConstraints() - ImVec2 Pos; // Read-only. Window position, for reference. - ImVec2 CurrentSize; // Read-only. Current window size. + ImVec2 Pos; // Read-only. Window position, for reference. + ImVec2 CurrentSize; // Read-only. Current window size. ImVec2 DesiredSize; // Read-write. Desired size, based on user's mouse position. Write to this field to restrain resizing. }; +// Data payload for Drag and Drop operations +struct ImGuiPayload +{ + // Members + const void* Data; // Data (copied and owned by dear imgui) + int DataSize; // Data size + + // [Internal] + ImGuiID SourceId; // Source item id + ImGuiID SourceParentId; // Source parent id (if available) + int DataFrameCount; // Data timestamp + char DataType[12 + 1]; // Data type tag (short user-supplied string, 12 characters max) + bool Preview; // Set when AcceptDragDropPayload() was called and mouse has been hovering the target item (nb: handle overlapping drag targets) + bool Delivery; // Set when AcceptDragDropPayload() was called and mouse button is released over the target item. + + ImGuiPayload() { Clear(); } + void Clear() { SourceId = SourceParentId = 0; Data = NULL; DataSize = 0; memset(DataType, 0, sizeof(DataType)); DataFrameCount = -1; Preview = Delivery = false; } + bool IsDataType(const char* type) const { return DataFrameCount != -1 && strcmp(type, DataType) == 0; } + bool IsPreview() const { return Preview; } + bool IsDelivery() const { return Delivery; } +}; + // Helpers macros to generate 32-bits encoded colors #ifdef IMGUI_USE_BGRA_PACKED_COLOR #define IM_COL32_R_SHIFT 16 @@ -1050,14 +1346,14 @@ struct ImGuiSizeConstraintCallbackData #define IM_COL32_A_MASK 0xFF000000 #endif #define IM_COL32(R,G,B,A) (((ImU32)(A)< IdxBuffer; }; +enum ImDrawCornerFlags_ +{ + ImDrawCornerFlags_TopLeft = 1 << 0, // 0x1 + ImDrawCornerFlags_TopRight = 1 << 1, // 0x2 + ImDrawCornerFlags_BotLeft = 1 << 2, // 0x4 + ImDrawCornerFlags_BotRight = 1 << 3, // 0x8 + ImDrawCornerFlags_Top = ImDrawCornerFlags_TopLeft | ImDrawCornerFlags_TopRight, // 0x3 + ImDrawCornerFlags_Bot = ImDrawCornerFlags_BotLeft | ImDrawCornerFlags_BotRight, // 0xC + ImDrawCornerFlags_Left = ImDrawCornerFlags_TopLeft | ImDrawCornerFlags_BotLeft, // 0x5 + ImDrawCornerFlags_Right = ImDrawCornerFlags_TopRight | ImDrawCornerFlags_BotRight, // 0xA + ImDrawCornerFlags_All = 0xF // In your function calls you may use ~0 (= all bits sets) instead of ImDrawCornerFlags_All, as a convenience +}; + +enum ImDrawListFlags_ +{ + ImDrawListFlags_AntiAliasedLines = 1 << 0, + ImDrawListFlags_AntiAliasedFill = 1 << 1 +}; + // Draw command list // This is the low-level list of polygons that ImGui functions are filling. At the end of the frame, all command lists are passed to your ImGuiIO::RenderDrawListFn function for rendering. -// At the moment, each ImGui window contains its own ImDrawList but they could potentially be merged in the future. -// If you want to add custom rendering within a window, you can use ImGui::GetWindowDrawList() to access the current draw list and add your own primitives. +// Each ImGui window contains its own ImDrawList. You can use ImGui::GetWindowDrawList() to access the current window draw list and draw custom primitives. // You can interleave normal ImGui:: calls and adding primitives to the current draw list. -// All positions are in screen coordinates (0,0=top-left, 1 pixel per unit). Primitives are always added to the list and not culled (culling is done at render time and at a higher-level by ImGui:: functions). +// All positions are generally in pixel coordinates (top-left at (0,0), bottom-right at io.DisplaySize), however you are totally free to apply whatever transformation matrix to want to the data (if you apply such transformation you'll want to apply it to ClipRect as well) +// Important: Primitives are always added to the list and not culled (culling is done at higher-level by ImGui:: functions), if you use this API a lot consider coarse culling your drawn objects. struct ImDrawList { // This is what you have to render - ImVector CmdBuffer; // Commands. Typically 1 command = 1 gpu draw call. + ImVector CmdBuffer; // Draw commands. Typically 1 command = 1 GPU draw call, unless the command is a callback. ImVector IdxBuffer; // Index buffer. Each command consume ImDrawCmd::ElemCount of those ImVector VtxBuffer; // Vertex buffer. // [Internal, used while building lists] + ImDrawListFlags Flags; // Flags, you may poke into these to adjust anti-aliasing settings per-primitive. + const ImDrawListSharedData* _Data; // Pointer to shared draw data (you can use ImGui::GetDrawListSharedData() to get the one from current ImGui context) const char* _OwnerName; // Pointer to owner window's name for debugging unsigned int _VtxCurrentIdx; // [Internal] == VtxBuffer.Size ImDrawVert* _VtxWritePtr; // [Internal] point within VtxBuffer.Data after each add command (to avoid using the ImVector<> operators too much) @@ -1181,18 +1499,21 @@ struct ImDrawList int _ChannelsCount; // [Internal] number of active channels (1+) ImVector _Channels; // [Internal] draw channels for columns API (not resized down so _ChannelsCount may be smaller than _Channels.Size) - ImDrawList() { _OwnerName = NULL; Clear(); } + // If you want to create ImDrawList instances, pass them ImGui::GetDrawListSharedData() or create and use your own ImDrawListSharedData (so you can use ImDrawList without ImGui) + ImDrawList(const ImDrawListSharedData* shared_data) { _Data = shared_data; _OwnerName = NULL; Clear(); } ~ImDrawList() { ClearFreeMemory(); } IMGUI_API void PushClipRect(ImVec2 clip_rect_min, ImVec2 clip_rect_max, bool intersect_with_current_clip_rect = false); // Render-level scissoring. This is passed down to your render function but not used for CPU-side coarse clipping. Prefer using higher-level ImGui::PushClipRect() to affect logic (hit-testing and widget culling) IMGUI_API void PushClipRectFullScreen(); IMGUI_API void PopClipRect(); - IMGUI_API void PushTextureID(const ImTextureID& texture_id); + IMGUI_API void PushTextureID(ImTextureID texture_id); IMGUI_API void PopTextureID(); + inline ImVec2 GetClipRectMin() const { const ImVec4& cr = _ClipRectStack.back(); return ImVec2(cr.x, cr.y); } + inline ImVec2 GetClipRectMax() const { const ImVec4& cr = _ClipRectStack.back(); return ImVec2(cr.z, cr.w); } // Primitives IMGUI_API void AddLine(const ImVec2& a, const ImVec2& b, ImU32 col, float thickness = 1.0f); - IMGUI_API void AddRect(const ImVec2& a, const ImVec2& b, ImU32 col, float rounding = 0.0f, int rounding_corners_flags = ~0, float thickness = 1.0f); // a: upper-left, b: lower-right, rounding_corners_flags: 4-bits corresponding to which corner to round - IMGUI_API void AddRectFilled(const ImVec2& a, const ImVec2& b, ImU32 col, float rounding = 0.0f, int rounding_corners_flags = ~0); // a: upper-left, b: lower-right + IMGUI_API void AddRect(const ImVec2& a, const ImVec2& b, ImU32 col, float rounding = 0.0f, int rounding_corners_flags = ImDrawCornerFlags_All, float thickness = 1.0f); // a: upper-left, b: lower-right, rounding_corners_flags: 4-bits corresponding to which corner to round + IMGUI_API void AddRectFilled(const ImVec2& a, const ImVec2& b, ImU32 col, float rounding = 0.0f, int rounding_corners_flags = ImDrawCornerFlags_All); // a: upper-left, b: lower-right IMGUI_API void AddRectFilledMultiColor(const ImVec2& a, const ImVec2& b, ImU32 col_upr_left, ImU32 col_upr_right, ImU32 col_bot_right, ImU32 col_bot_left); IMGUI_API void AddQuad(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& d, ImU32 col, float thickness = 1.0f); IMGUI_API void AddQuadFilled(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& d, ImU32 col); @@ -1202,21 +1523,23 @@ struct ImDrawList IMGUI_API void AddCircleFilled(const ImVec2& centre, float radius, ImU32 col, int num_segments = 12); IMGUI_API void AddText(const ImVec2& pos, ImU32 col, const char* text_begin, const char* text_end = NULL); IMGUI_API void AddText(const ImFont* font, float font_size, const ImVec2& pos, ImU32 col, const char* text_begin, const char* text_end = NULL, float wrap_width = 0.0f, const ImVec4* cpu_fine_clip_rect = NULL); - IMGUI_API void AddImage(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& uv0 = ImVec2(0,0), const ImVec2& uv1 = ImVec2(1,1), ImU32 col = 0xFFFFFFFF); - IMGUI_API void AddPolyline(const ImVec2* points, const int num_points, ImU32 col, bool closed, float thickness, bool anti_aliased); - IMGUI_API void AddConvexPolyFilled(const ImVec2* points, const int num_points, ImU32 col, bool anti_aliased); + IMGUI_API void AddImage(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& uv_a = ImVec2(0,0), const ImVec2& uv_b = ImVec2(1,1), ImU32 col = 0xFFFFFFFF); + IMGUI_API void AddImageQuad(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& d, const ImVec2& uv_a = ImVec2(0,0), const ImVec2& uv_b = ImVec2(1,0), const ImVec2& uv_c = ImVec2(1,1), const ImVec2& uv_d = ImVec2(0,1), ImU32 col = 0xFFFFFFFF); + IMGUI_API void AddImageRounded(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& uv_a, const ImVec2& uv_b, ImU32 col, float rounding, int rounding_corners = ImDrawCornerFlags_All); + IMGUI_API void AddPolyline(const ImVec2* points, const int num_points, ImU32 col, bool closed, float thickness); + IMGUI_API void AddConvexPolyFilled(const ImVec2* points, const int num_points, ImU32 col); IMGUI_API void AddBezierCurve(const ImVec2& pos0, const ImVec2& cp0, const ImVec2& cp1, const ImVec2& pos1, ImU32 col, float thickness, int num_segments = 0); // Stateful path API, add points then finish with PathFill() or PathStroke() inline void PathClear() { _Path.resize(0); } inline void PathLineTo(const ImVec2& pos) { _Path.push_back(pos); } inline void PathLineToMergeDuplicate(const ImVec2& pos) { if (_Path.Size == 0 || memcmp(&_Path[_Path.Size-1], &pos, 8) != 0) _Path.push_back(pos); } - inline void PathFill(ImU32 col) { AddConvexPolyFilled(_Path.Data, _Path.Size, col, true); PathClear(); } - inline void PathStroke(ImU32 col, bool closed, float thickness = 1.0f) { AddPolyline(_Path.Data, _Path.Size, col, closed, thickness, true); PathClear(); } + inline void PathFillConvex(ImU32 col) { AddConvexPolyFilled(_Path.Data, _Path.Size, col); PathClear(); } + inline void PathStroke(ImU32 col, bool closed, float thickness = 1.0f) { AddPolyline(_Path.Data, _Path.Size, col, closed, thickness); PathClear(); } IMGUI_API void PathArcTo(const ImVec2& centre, float radius, float a_min, float a_max, int num_segments = 10); IMGUI_API void PathArcToFast(const ImVec2& centre, float radius, int a_min_of_12, int a_max_of_12); // Use precomputed angles for a 12 steps circle IMGUI_API void PathBezierCurveTo(const ImVec2& p1, const ImVec2& p2, const ImVec2& p3, int num_segments = 0); - IMGUI_API void PathRect(const ImVec2& rect_min, const ImVec2& rect_max, float rounding = 0.0f, int rounding_corners_flags = ~0); // rounding_corners_flags: 4-bits corresponding to which corner to round + IMGUI_API void PathRect(const ImVec2& rect_min, const ImVec2& rect_max, float rounding = 0.0f, int rounding_corners_flags = ImDrawCornerFlags_All); // Channels // - Use to simulate layers. By switching channels to can render out-of-order (e.g. submit foreground primitives before background primitives) @@ -1254,41 +1577,57 @@ struct ImDrawData int TotalIdxCount; // For convenience, sum of all cmd_lists idx_buffer.Size // Functions - ImDrawData() { Valid = false; CmdLists = NULL; CmdListsCount = TotalVtxCount = TotalIdxCount = 0; } - IMGUI_API void DeIndexAllBuffers(); // For backward compatibility: convert all buffers from indexed to de-indexed, in case you cannot render indexed. Note: this is slow and most likely a waste of resources. Always prefer indexed rendering! + ImDrawData() { Clear(); } + void Clear() { Valid = false; CmdLists = NULL; CmdListsCount = TotalVtxCount = TotalIdxCount = 0; } // Draw lists are owned by the ImGuiContext and only pointed to here. + IMGUI_API void DeIndexAllBuffers(); // For backward compatibility or convenience: convert all buffers from indexed to de-indexed, in case you cannot render indexed. Note: this is slow and most likely a waste of resources. Always prefer indexed rendering! IMGUI_API void ScaleClipRects(const ImVec2& sc); // Helper to scale the ClipRect field of each ImDrawCmd. Use if your final output buffer is at a different scale than ImGui expects, or if there is a difference between your window resolution and framebuffer resolution. }; struct ImFontConfig { - void* FontData; // // TTF data - int FontDataSize; // // TTF data size - bool FontDataOwnedByAtlas; // true // TTF data ownership taken by the container ImFontAtlas (will delete memory itself). Set to true - int FontNo; // 0 // Index of font within TTF file - float SizePixels; // // Size in pixels for rasterizer + void* FontData; // // TTF/OTF data + int FontDataSize; // // TTF/OTF data size + bool FontDataOwnedByAtlas; // true // TTF/OTF data ownership taken by the container ImFontAtlas (will delete memory itself). + int FontNo; // 0 // Index of font within TTF/OTF file + float SizePixels; // // Size in pixels for rasterizer. int OversampleH, OversampleV; // 3, 1 // Rasterize at higher quality for sub-pixel positioning. We don't use sub-pixel positions on the Y axis. bool PixelSnapH; // false // Align every glyph to pixel boundary. Useful e.g. if you are merging a non-pixel aligned font with the default font. If enabled, you can set OversampleH/V to 1. - ImVec2 GlyphExtraSpacing; // 0, 0 // Extra spacing (in pixels) between glyphs - const ImWchar* GlyphRanges; // // Pointer to a user-provided list of Unicode range (2 value per range, values are inclusive, zero-terminated list). THE ARRAY DATA NEEDS TO PERSIST AS LONG AS THE FONT IS ALIVE. - bool MergeMode; // false // Merge into previous ImFont, so you can combine multiple inputs font into one ImFont (e.g. ASCII font + icons + Japanese glyphs). - bool MergeGlyphCenterV; // false // When merging (multiple ImFontInput for one ImFont), vertically center new glyphs instead of aligning their baseline + ImVec2 GlyphExtraSpacing; // 0, 0 // Extra spacing (in pixels) between glyphs. Only X axis is supported for now. + ImVec2 GlyphOffset; // 0, 0 // Offset all glyphs from this font input. + const ImWchar* GlyphRanges; // NULL // Pointer to a user-provided list of Unicode range (2 value per range, values are inclusive, zero-terminated list). THE ARRAY DATA NEEDS TO PERSIST AS LONG AS THE FONT IS ALIVE. + bool MergeMode; // false // Merge into previous ImFont, so you can combine multiple inputs font into one ImFont (e.g. ASCII font + icons + Japanese glyphs). You may want to use GlyphOffset.y when merge font of different heights. + unsigned int RasterizerFlags; // 0x00 // Settings for custom font rasterizer (e.g. ImGuiFreeType). Leave as zero if you aren't using one. + float RasterizerMultiply; // 1.0f // Brighten (>1.0f) or darken (<1.0f) font output. Brightening small fonts may be a good workaround to make them more readable. // [Internal] - char Name[32]; // Name (strictly for debugging) + char Name[32]; // Name (strictly to ease debugging) ImFont* DstFont; IMGUI_API ImFontConfig(); }; -// Load and rasterize multiple TTF fonts into a same texture. +struct ImFontGlyph +{ + ImWchar Codepoint; // 0x0000..0xFFFF + float AdvanceX; // Distance to next character (= data from font + ImFontConfig::GlyphExtraSpacing.x baked in) + float X0, Y0, X1, Y1; // Glyph corners + float U0, V0, U1, V1; // Texture coordinates +}; + +enum ImFontAtlasFlags_ +{ + ImFontAtlasFlags_NoPowerOfTwoHeight = 1 << 0, // Don't round the height to next power of two + ImFontAtlasFlags_NoMouseCursors = 1 << 1 // Don't build software mouse cursors into the atlas +}; + +// Load and rasterize multiple TTF/OTF fonts into a same texture. // Sharing a texture for multiple fonts allows us to reduce the number of draw calls during rendering. // We also add custom graphic data into the texture that serves for ImGui. // 1. (Optional) Call AddFont*** functions. If you don't call any, the default font will be loaded for you. // 2. Call GetTexDataAsAlpha8() or GetTexDataAsRGBA32() to build and retrieve pixels data. // 3. Upload the pixels data into a texture within your graphics system. // 4. Call SetTexID(my_tex_id); and pass the pointer/identifier to your texture. This value will be passed back to you during rendering to identify the texture. -// 5. Call ClearTexData() to free textures memory on the heap. -// NB: If you use a 'glyph_ranges' array you need to make sure that your array persist up until the ImFont is cleared. We only copy the pointer, not the data. +// IMPORTANT: If you pass a 'glyph_ranges' array to AddFont*** functions, you need to make sure that your array persist up until the ImFont is build (when calling GetTextData*** or Build()). We only copy the pointer, not the data. struct ImFontAtlas { IMGUI_API ImFontAtlas(); @@ -1296,70 +1635,111 @@ struct ImFontAtlas IMGUI_API ImFont* AddFont(const ImFontConfig* font_cfg); IMGUI_API ImFont* AddFontDefault(const ImFontConfig* font_cfg = NULL); IMGUI_API ImFont* AddFontFromFileTTF(const char* filename, float size_pixels, const ImFontConfig* font_cfg = NULL, const ImWchar* glyph_ranges = NULL); - IMGUI_API ImFont* AddFontFromMemoryTTF(void* ttf_data, int ttf_size, float size_pixels, const ImFontConfig* font_cfg = NULL, const ImWchar* glyph_ranges = NULL); // Transfer ownership of 'ttf_data' to ImFontAtlas, will be deleted after Build() - IMGUI_API ImFont* AddFontFromMemoryCompressedTTF(const void* compressed_ttf_data, int compressed_ttf_size, float size_pixels, const ImFontConfig* font_cfg = NULL, const ImWchar* glyph_ranges = NULL); // 'compressed_ttf_data' still owned by caller. Compress with binary_to_compressed_c.cpp - IMGUI_API ImFont* AddFontFromMemoryCompressedBase85TTF(const char* compressed_ttf_data_base85, float size_pixels, const ImFontConfig* font_cfg = NULL, const ImWchar* glyph_ranges = NULL); // 'compressed_ttf_data_base85' still owned by caller. Compress with binary_to_compressed_c.cpp with -base85 paramaeter + IMGUI_API ImFont* AddFontFromMemoryTTF(void* font_data, int font_size, float size_pixels, const ImFontConfig* font_cfg = NULL, const ImWchar* glyph_ranges = NULL); // Note: Transfer ownership of 'ttf_data' to ImFontAtlas! Will be deleted after Build(). Set font_cfg->FontDataOwnedByAtlas to false to keep ownership. + IMGUI_API ImFont* AddFontFromMemoryCompressedTTF(const void* compressed_font_data, int compressed_font_size, float size_pixels, const ImFontConfig* font_cfg = NULL, const ImWchar* glyph_ranges = NULL); // 'compressed_font_data' still owned by caller. Compress with binary_to_compressed_c.cpp. + IMGUI_API ImFont* AddFontFromMemoryCompressedBase85TTF(const char* compressed_font_data_base85, float size_pixels, const ImFontConfig* font_cfg = NULL, const ImWchar* glyph_ranges = NULL); // 'compressed_font_data_base85' still owned by caller. Compress with binary_to_compressed_c.cpp with -base85 parameter. IMGUI_API void ClearTexData(); // Clear the CPU-side texture data. Saves RAM once the texture has been copied to graphics memory. IMGUI_API void ClearInputData(); // Clear the input TTF data (inc sizes, glyph ranges) IMGUI_API void ClearFonts(); // Clear the ImGui-side font data (glyphs storage, UV coordinates) IMGUI_API void Clear(); // Clear all - // Retrieve texture data - // User is in charge of copying the pixels into graphics memory, then call SetTextureUserID() - // After loading the texture into your graphic system, store your texture handle in 'TexID' (ignore if you aren't using multiple fonts nor images) - // RGBA32 format is provided for convenience and high compatibility, but note that all RGB pixels are white, so 75% of the memory is wasted. + // Build atlas, retrieve pixel data. + // User is in charge of copying the pixels into graphics memory (e.g. create a texture with your engine). Then store your texture handle with SetTexID(). + // RGBA32 format is provided for convenience and compatibility, but note that unless you use CustomRect to draw color data, the RGB pixels emitted from Fonts will all be white (~75% of waste). // Pitch = Width * BytesPerPixels + IMGUI_API bool Build(); // Build pixels data. This is called automatically for you by the GetTexData*** functions. IMGUI_API void GetTexDataAsAlpha8(unsigned char** out_pixels, int* out_width, int* out_height, int* out_bytes_per_pixel = NULL); // 1 byte per-pixel IMGUI_API void GetTexDataAsRGBA32(unsigned char** out_pixels, int* out_width, int* out_height, int* out_bytes_per_pixel = NULL); // 4 bytes-per-pixel - void SetTexID(void* id) { TexID = id; } + void SetTexID(ImTextureID id) { TexID = id; } + + //------------------------------------------- + // Glyph Ranges + //------------------------------------------- // Helpers to retrieve list of common Unicode ranges (2 value per range, values are inclusive, zero-terminated list) - // NB: Make sure that your string are UTF-8 and NOT in your local code page. See FAQ for details. + // NB: Make sure that your string are UTF-8 and NOT in your local code page. In C++11, you can create UTF-8 string literal using the u8"Hello world" syntax. See FAQ for details. IMGUI_API const ImWchar* GetGlyphRangesDefault(); // Basic Latin, Extended Latin IMGUI_API const ImWchar* GetGlyphRangesKorean(); // Default + Korean characters IMGUI_API const ImWchar* GetGlyphRangesJapanese(); // Default + Hiragana, Katakana, Half-Width, Selection of 1946 Ideographs - IMGUI_API const ImWchar* GetGlyphRangesChinese(); // Japanese + full set of about 21000 CJK Unified Ideographs + IMGUI_API const ImWchar* GetGlyphRangesChinese(); // Default + Japanese + full set of about 21000 CJK Unified Ideographs IMGUI_API const ImWchar* GetGlyphRangesCyrillic(); // Default + about 400 Cyrillic characters IMGUI_API const ImWchar* GetGlyphRangesThai(); // Default + Thai characters + // Helpers to build glyph ranges from text data. Feed your application strings/characters to it then call BuildRanges(). + struct GlyphRangesBuilder + { + ImVector UsedChars; // Store 1-bit per Unicode code point (0=unused, 1=used) + GlyphRangesBuilder() { UsedChars.resize(0x10000 / 8); memset(UsedChars.Data, 0, 0x10000 / 8); } + bool GetBit(int n) { return (UsedChars[n >> 3] & (1 << (n & 7))) != 0; } + void SetBit(int n) { UsedChars[n >> 3] |= 1 << (n & 7); } // Set bit 'c' in the array + void AddChar(ImWchar c) { SetBit(c); } // Add character + IMGUI_API void AddText(const char* text, const char* text_end = NULL); // Add string (each character of the UTF-8 string are added) + IMGUI_API void AddRanges(const ImWchar* ranges); // Add ranges, e.g. builder.AddRanges(ImFontAtlas::GetGlyphRangesDefault) to force add all of ASCII/Latin+Ext + IMGUI_API void BuildRanges(ImVector* out_ranges); // Output new ranges + }; + + //------------------------------------------- + // Custom Rectangles/Glyphs API + //------------------------------------------- + + // You can request arbitrary rectangles to be packed into the atlas, for your own purposes. After calling Build(), you can query the rectangle position and render your pixels. + // You can also request your rectangles to be mapped as font glyph (given a font + Unicode point), so you can render e.g. custom colorful icons and use them as regular glyphs. + struct CustomRect + { + unsigned int ID; // Input // User ID. Use <0x10000 to map into a font glyph, >=0x10000 for other/internal/custom texture data. + unsigned short Width, Height; // Input // Desired rectangle dimension + unsigned short X, Y; // Output // Packed position in Atlas + float GlyphAdvanceX; // Input // For custom font glyphs only (ID<0x10000): glyph xadvance + ImVec2 GlyphOffset; // Input // For custom font glyphs only (ID<0x10000): glyph display offset + ImFont* Font; // Input // For custom font glyphs only (ID<0x10000): target font + CustomRect() { ID = 0xFFFFFFFF; Width = Height = 0; X = Y = 0xFFFF; GlyphAdvanceX = 0.0f; GlyphOffset = ImVec2(0,0); Font = NULL; } + bool IsPacked() const { return X != 0xFFFF; } + }; + + IMGUI_API int AddCustomRectRegular(unsigned int id, int width, int height); // Id needs to be >= 0x10000. Id >= 0x80000000 are reserved for ImGui and ImDrawList + IMGUI_API int AddCustomRectFontGlyph(ImFont* font, ImWchar id, int width, int height, float advance_x, const ImVec2& offset = ImVec2(0,0)); // Id needs to be < 0x10000 to register a rectangle to map into a specific font. + const CustomRect* GetCustomRectByIndex(int index) const { if (index < 0) return NULL; return &CustomRects[index]; } + + // Internals + IMGUI_API void CalcCustomRectUV(const CustomRect* rect, ImVec2* out_uv_min, ImVec2* out_uv_max); + IMGUI_API bool GetMouseCursorTexData(ImGuiMouseCursor cursor, ImVec2* out_offset, ImVec2* out_size, ImVec2 out_uv_border[2], ImVec2 out_uv_fill[2]); + + //------------------------------------------- // Members - // (Access texture data via GetTexData*() calls which will setup a default font for you.) - void* TexID; // User data to refer to the texture once it has been uploaded to user's graphic systems. It ia passed back to you during rendering. + //------------------------------------------- + + ImFontAtlasFlags Flags; // Build flags (see ImFontAtlasFlags_) + ImTextureID TexID; // User data to refer to the texture once it has been uploaded to user's graphic systems. It is passed back to you during rendering via the ImDrawCmd structure. + int TexDesiredWidth; // Texture width desired by user before Build(). Must be a power-of-two. If have many glyphs your graphics API have texture size restrictions you may want to increase texture width to decrease height. + int TexGlyphPadding; // Padding between glyphs within texture in pixels. Defaults to 1. + + // [Internal] + // NB: Access texture data via GetTexData*() calls! Which will setup a default font for you. unsigned char* TexPixelsAlpha8; // 1 component per pixel, each component is unsigned 8-bit. Total size = TexWidth * TexHeight unsigned int* TexPixelsRGBA32; // 4 component per pixel, each component is unsigned 8-bit. Total size = TexWidth * TexHeight * 4 int TexWidth; // Texture width calculated during Build(). int TexHeight; // Texture height calculated during Build(). - int TexDesiredWidth; // Texture width desired by user before Build(). Must be a power-of-two. If have many glyphs your graphics API have texture size restrictions you may want to increase texture width to decrease height. + ImVec2 TexUvScale; // = (1.0f/TexWidth, 1.0f/TexHeight) ImVec2 TexUvWhitePixel; // Texture coordinates to a white pixel ImVector Fonts; // Hold all the fonts returned by AddFont*. Fonts[0] is the default font upon calling ImGui::NewFrame(), use ImGui::PushFont()/PopFont() to change the current font. - - // Private + ImVector CustomRects; // Rectangles for packing custom texture data into the atlas. ImVector ConfigData; // Internal data - IMGUI_API bool Build(); // Build pixels data. This is automatically for you by the GetTexData*** functions. - IMGUI_API void RenderCustomTexData(int pass, void* rects); + int CustomRectIds[1]; // Identifiers of custom texture rectangle used by ImFontAtlas/ImDrawList }; // Font runtime data and rendering // ImFontAtlas automatically loads a default embedded font for you when you call GetTexDataAsAlpha8() or GetTexDataAsRGBA32(). struct ImFont { - struct Glyph - { - ImWchar Codepoint; - float XAdvance; - float X0, Y0, X1, Y1; - float U0, V0, U1, V1; // Texture coordinates - }; - // Members: Hot ~62/78 bytes float FontSize; // // Height of characters, set during loading (don't change after loading) float Scale; // = 1.f // Base font scale, multiplied by the per-window font scale which you can adjust with SetFontScale() ImVec2 DisplayOffset; // = (0.f,1.f) // Offset font rendering by xx pixels - ImVector Glyphs; // // All glyphs. - ImVector IndexXAdvance; // // Sparse. Glyphs->XAdvance in a directly indexable way (more cache-friendly, for CalcTextSize functions which are often bottleneck in large UI). + ImVector Glyphs; // // All glyphs. + ImVector IndexAdvanceX; // // Sparse. Glyphs->AdvanceX in a directly indexable way (more cache-friendly, for CalcTextSize functions which are often bottleneck in large UI). ImVector IndexLookup; // // Sparse. Index glyphs by Unicode code-point. - const Glyph* FallbackGlyph; // == FindGlyph(FontFallbackChar) - float FallbackXAdvance; // == FallbackGlyph->XAdvance + const ImFontGlyph* FallbackGlyph; // == FindGlyph(FontFallbackChar) + float FallbackAdvanceX; // == FallbackGlyph->AdvanceX ImWchar FallbackChar; // = '?' // Replacement glyph if one isn't found. Only set via SetFallbackChar() // Members: Cold ~18/26 bytes @@ -1372,12 +1752,13 @@ struct ImFont // Methods IMGUI_API ImFont(); IMGUI_API ~ImFont(); - IMGUI_API void Clear(); + IMGUI_API void ClearOutputData(); IMGUI_API void BuildLookupTable(); - IMGUI_API const Glyph* FindGlyph(ImWchar c) const; + IMGUI_API const ImFontGlyph*FindGlyph(ImWchar c) const; IMGUI_API void SetFallbackChar(ImWchar c); - float GetCharAdvance(ImWchar c) const { return ((int)c < IndexXAdvance.Size) ? IndexXAdvance[(int)c] : FallbackXAdvance; } + float GetCharAdvance(ImWchar c) const { return ((int)c < IndexAdvanceX.Size) ? IndexAdvanceX[(int)c] : FallbackAdvanceX; } bool IsLoaded() const { return ContainerAtlas != NULL; } + const char* GetDebugName() const { return ConfigData ? ConfigData->Name : ""; } // 'max_width' stops rendering after a certain width (could be turned into a 2d size). FLT_MAX to disable. // 'wrap_width' enable automatic word-wrapping across multiple lines to fit into given width. 0.0f to disable. @@ -1386,9 +1767,14 @@ struct ImFont IMGUI_API void RenderChar(ImDrawList* draw_list, float size, ImVec2 pos, ImU32 col, unsigned short c) const; IMGUI_API void RenderText(ImDrawList* draw_list, float size, ImVec2 pos, ImU32 col, const ImVec4& clip_rect, const char* text_begin, const char* text_end, float wrap_width = 0.0f, bool cpu_fine_clip = false) const; - // Private + // [Internal] IMGUI_API void GrowIndex(int new_size); + IMGUI_API void AddGlyph(ImWchar c, float x0, float y0, float x1, float y1, float u0, float v0, float u1, float v1, float advance_x); IMGUI_API void AddRemapChar(ImWchar dst, ImWchar src, bool overwrite_dst = true); // Makes 'dst' character/glyph points to 'src' character/glyph. Currently needs to be called AFTER fonts have been built. + +#ifndef IMGUI_DISABLE_OBSOLETE_FUNCTIONS + typedef ImFontGlyph Glyph; // OBSOLETE 1.52+ +#endif }; #if defined(__clang__) diff --git a/examples/ThirdPartyLibs/imgui/imgui_demo.cpp b/examples/ThirdPartyLibs/imgui/imgui_demo.cpp index 58f7a7957..2a1972781 100644 --- a/examples/ThirdPartyLibs/imgui/imgui_demo.cpp +++ b/examples/ThirdPartyLibs/imgui/imgui_demo.cpp @@ -1,9 +1,22 @@ -// dear imgui, v1.50 WIP +// dear imgui, v1.60 WIP // (demo code) -// Don't remove this file from your project! It is useful reference code that you can execute. -// You can call ImGui::ShowTestWindow() in your code to learn about various features of ImGui. -// Everything in this file will be stripped out by the linker if you don't call ImGui::ShowTestWindow(). +// Message to the person tempted to delete this file when integrating ImGui into their code base: +// Don't do it! Do NOT remove this file from your project! It is useful reference code that you and other users will want to refer to. +// Everything in this file will be stripped out by the linker if you don't call ImGui::ShowDemoWindow(). +// During development, you can call ImGui::ShowDemoWindow() in your code to learn about various features of ImGui. Have it wired in a debug menu! +// Removing this file from your project is hindering access to documentation for everyone in your team, likely leading you to poorer usage of the library. +// Note that you can #define IMGUI_DISABLE_DEMO_WINDOWS in imconfig.h for the same effect. +// If you want to link core ImGui in your final builds but not those demo windows, #define IMGUI_DISABLE_DEMO_WINDOWS in imconfig.h and those functions will be empty. +// In other situation, when you have ImGui available you probably want this to be available for reference and execution. +// Thank you, +// -Your beloved friend, imgui_demo.cpp (that you won't delete) + +// Message to beginner C/C++ programmers. About the meaning of 'static': in this demo code, we frequently we use 'static' variables inside functions. +// We do this as a way to gather code and data in the same place, just to make the demo code faster to read, faster to write, and use less code. +// A static variable persist across calls, so it is essentially like a global variable but declared inside the scope of the function. +// It also happens to be a convenient way of storing simple UI related information as long as your function doesn't need to be reentrant or used in threads. +// This might be a pattern you occasionally want to use in your code, but most of the real data you would be editing is likely to be stored outside your function. #if defined(_MSC_VER) && !defined(_CRT_SECURE_NO_WARNINGS) #define _CRT_SECURE_NO_WARNINGS @@ -13,7 +26,7 @@ #include // toupper, isprint #include // sqrtf, powf, cosf, sinf, floorf, ceilf #include // vsnprintf, sscanf, printf -#include // NULL, malloc, free, qsort, atoi +#include // NULL, malloc, free, atoi #if defined(_MSC_VER) && _MSC_VER <= 1500 // MSVC 2008 or earlier #include // intptr_t #else @@ -39,25 +52,28 @@ #pragma GCC diagnostic ignored "-Wdouble-promotion" // warning: implicit conversion from 'float' to 'double' when passing argument to function #pragma GCC diagnostic ignored "-Wconversion" // warning: conversion to 'xxxx' from 'xxxx' may alter its value #if (__GNUC__ >= 6) -#pragma GCC diagnostic ignored "-Wmisleading-indentation" // warning: this 'if' clause does not guard this statement // GCC 6.0+ only. See #883 on github. +#pragma GCC diagnostic ignored "-Wmisleading-indentation" // warning: this 'if' clause does not guard this statement // GCC 6.0+ only. See #883 on GitHub. #endif #endif -// Play it nice with Windows users. Notepad in 2015 still doesn't display text data with Unix-style \n. +// Play it nice with Windows users. Notepad in 2017 still doesn't display text data with Unix-style \n. #ifdef _WIN32 #define IM_NEWLINE "\r\n" #else #define IM_NEWLINE "\n" #endif -#define IM_ARRAYSIZE(_ARR) ((int)(sizeof(_ARR)/sizeof(*_ARR))) #define IM_MAX(_A,_B) (((_A) >= (_B)) ? (_A) : (_B)) //----------------------------------------------------------------------------- // DEMO CODE //----------------------------------------------------------------------------- -#ifndef IMGUI_DISABLE_TEST_WINDOWS +#if !defined(IMGUI_DISABLE_OBSOLETE_FUNCTIONS) && defined(IMGUI_DISABLE_TEST_WINDOWS) && !defined(IMGUI_DISABLE_DEMO_WINDOWS) // Obsolete name since 1.53, TEST->DEMO +#define IMGUI_DISABLE_DEMO_WINDOWS +#endif + +#if !defined(IMGUI_DISABLE_DEMO_WINDOWS) static void ShowExampleAppConsole(bool* p_open); static void ShowExampleAppLog(bool* p_open); @@ -67,7 +83,7 @@ static void ShowExampleAppLongText(bool* p_open); static void ShowExampleAppAutoResize(bool* p_open); static void ShowExampleAppConstrainedResize(bool* p_open); static void ShowExampleAppFixedOverlay(bool* p_open); -static void ShowExampleAppManipulatingWindowTitle(bool* p_open); +static void ShowExampleAppWindowTitles(bool* p_open); static void ShowExampleAppCustomRendering(bool* p_open); static void ShowExampleAppMainMenuBar(); static void ShowExampleMenuFile(); @@ -78,7 +94,7 @@ static void ShowHelpMarker(const char* desc) if (ImGui::IsItemHovered()) { ImGui::BeginTooltip(); - ImGui::PushTextWrapPos(450.0f); + ImGui::PushTextWrapPos(ImGui::GetFontSize() * 35.0f); ImGui::TextUnformatted(desc); ImGui::PopTextWrapPos(); ImGui::EndTooltip(); @@ -88,27 +104,27 @@ static void ShowHelpMarker(const char* desc) void ImGui::ShowUserGuide() { ImGui::BulletText("Double-click on title bar to collapse window."); - ImGui::BulletText("Click and drag on lower right corner to resize window."); + ImGui::BulletText("Click and drag on lower right corner to resize window\n(double-click to auto fit window to its contents)."); ImGui::BulletText("Click and drag on any empty space to move window."); - ImGui::BulletText("Mouse Wheel to scroll."); + ImGui::BulletText("TAB/SHIFT+TAB to cycle through keyboard editable fields."); + ImGui::BulletText("CTRL+Click on a slider or drag box to input value as text."); if (ImGui::GetIO().FontAllowUserScaling) ImGui::BulletText("CTRL+Mouse Wheel to zoom window contents."); - ImGui::BulletText("TAB/SHIFT+TAB to cycle through keyboard editable fields."); - ImGui::BulletText("CTRL+Click on a slider or drag box to input text."); - ImGui::BulletText( - "While editing text:\n" - "- Hold SHIFT or use mouse to select text\n" - "- CTRL+Left/Right to word jump\n" - "- CTRL+A or double-click to select all\n" - "- CTRL+X,CTRL+C,CTRL+V clipboard\n" - "- CTRL+Z,CTRL+Y undo/redo\n" - "- ESCAPE to revert\n" - "- You can apply arithmetic operators +,*,/ on numerical values.\n" - " Use +- to subtract.\n"); + ImGui::BulletText("Mouse Wheel to scroll."); + ImGui::BulletText("While editing text:\n"); + ImGui::Indent(); + ImGui::BulletText("Hold SHIFT or use mouse to select text."); + ImGui::BulletText("CTRL+Left/Right to word jump."); + ImGui::BulletText("CTRL+A or double-click to select all."); + ImGui::BulletText("CTRL+X,CTRL+C,CTRL+V to use clipboard."); + ImGui::BulletText("CTRL+Z,CTRL+Y to undo/redo."); + ImGui::BulletText("ESCAPE to revert."); + ImGui::BulletText("You can apply arithmetic operators +,*,/ on numerical values.\nUse +- to subtract."); + ImGui::Unindent(); } // Demonstrate most ImGui features (big function!) -void ImGui::ShowTestWindow(bool* p_open) +void ImGui::ShowDemoWindow(bool* p_open) { // Examples apps static bool show_app_main_menu_bar = false; @@ -120,55 +136,58 @@ void ImGui::ShowTestWindow(bool* p_open) static bool show_app_auto_resize = false; static bool show_app_constrained_resize = false; static bool show_app_fixed_overlay = false; - static bool show_app_manipulating_window_title = false; + static bool show_app_window_titles = false; static bool show_app_custom_rendering = false; static bool show_app_style_editor = false; static bool show_app_metrics = false; static bool show_app_about = false; - if (show_app_main_menu_bar) ShowExampleAppMainMenuBar(); - if (show_app_console) ShowExampleAppConsole(&show_app_console); - if (show_app_log) ShowExampleAppLog(&show_app_log); - if (show_app_layout) ShowExampleAppLayout(&show_app_layout); - if (show_app_property_editor) ShowExampleAppPropertyEditor(&show_app_property_editor); - if (show_app_long_text) ShowExampleAppLongText(&show_app_long_text); - if (show_app_auto_resize) ShowExampleAppAutoResize(&show_app_auto_resize); - if (show_app_constrained_resize) ShowExampleAppConstrainedResize(&show_app_constrained_resize); - if (show_app_fixed_overlay) ShowExampleAppFixedOverlay(&show_app_fixed_overlay); - if (show_app_manipulating_window_title) ShowExampleAppManipulatingWindowTitle(&show_app_manipulating_window_title); - if (show_app_custom_rendering) ShowExampleAppCustomRendering(&show_app_custom_rendering); + if (show_app_main_menu_bar) ShowExampleAppMainMenuBar(); + if (show_app_console) ShowExampleAppConsole(&show_app_console); + if (show_app_log) ShowExampleAppLog(&show_app_log); + if (show_app_layout) ShowExampleAppLayout(&show_app_layout); + if (show_app_property_editor) ShowExampleAppPropertyEditor(&show_app_property_editor); + if (show_app_long_text) ShowExampleAppLongText(&show_app_long_text); + if (show_app_auto_resize) ShowExampleAppAutoResize(&show_app_auto_resize); + if (show_app_constrained_resize) ShowExampleAppConstrainedResize(&show_app_constrained_resize); + if (show_app_fixed_overlay) ShowExampleAppFixedOverlay(&show_app_fixed_overlay); + if (show_app_window_titles) ShowExampleAppWindowTitles(&show_app_window_titles); + if (show_app_custom_rendering) ShowExampleAppCustomRendering(&show_app_custom_rendering); - if (show_app_metrics) ImGui::ShowMetricsWindow(&show_app_metrics); - if (show_app_style_editor) { ImGui::Begin("Style Editor", &show_app_style_editor); ImGui::ShowStyleEditor(); ImGui::End(); } + if (show_app_metrics) { ImGui::ShowMetricsWindow(&show_app_metrics); } + if (show_app_style_editor) { ImGui::Begin("Style Editor", &show_app_style_editor); ImGui::ShowStyleEditor(); ImGui::End(); } if (show_app_about) { - ImGui::Begin("About ImGui", &show_app_about, ImGuiWindowFlags_AlwaysAutoResize); - ImGui::Text("dear imgui, %s", ImGui::GetVersion()); + ImGui::Begin("About Dear ImGui", &show_app_about, ImGuiWindowFlags_AlwaysAutoResize); + ImGui::Text("Dear ImGui, %s", ImGui::GetVersion()); ImGui::Separator(); - ImGui::Text("By Omar Cornut and all github contributors."); - ImGui::Text("ImGui is licensed under the MIT License, see LICENSE for more information."); + ImGui::Text("By Omar Cornut and all dear imgui contributors."); + ImGui::Text("Dear ImGui is licensed under the MIT License, see LICENSE for more information."); ImGui::End(); } static bool no_titlebar = false; - static bool no_border = true; - static bool no_resize = false; - static bool no_move = false; static bool no_scrollbar = false; - static bool no_collapse = false; static bool no_menu = false; + static bool no_move = false; + static bool no_resize = false; + static bool no_collapse = false; + static bool no_close = false; + static bool no_nav = false; // Demonstrate the various window flags. Typically you would just use the default. ImGuiWindowFlags window_flags = 0; if (no_titlebar) window_flags |= ImGuiWindowFlags_NoTitleBar; - if (!no_border) window_flags |= ImGuiWindowFlags_ShowBorders; - if (no_resize) window_flags |= ImGuiWindowFlags_NoResize; - if (no_move) window_flags |= ImGuiWindowFlags_NoMove; if (no_scrollbar) window_flags |= ImGuiWindowFlags_NoScrollbar; - if (no_collapse) window_flags |= ImGuiWindowFlags_NoCollapse; if (!no_menu) window_flags |= ImGuiWindowFlags_MenuBar; - ImGui::SetNextWindowSize(ImVec2(550,680), ImGuiSetCond_FirstUseEver); + if (no_move) window_flags |= ImGuiWindowFlags_NoMove; + if (no_resize) window_flags |= ImGuiWindowFlags_NoResize; + if (no_collapse) window_flags |= ImGuiWindowFlags_NoCollapse; + if (no_nav) window_flags |= ImGuiWindowFlags_NoNav; + if (no_close) p_open = NULL; // Don't pass our bool* to Begin + + ImGui::SetNextWindowSize(ImVec2(550,680), ImGuiCond_FirstUseEver); if (!ImGui::Begin("ImGui Demo", p_open, window_flags)) { // Early out if the window is collapsed, as an optimization. @@ -179,7 +198,7 @@ void ImGui::ShowTestWindow(bool* p_open) //ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.65f); // 2/3 of the space for widget and 1/3 for labels ImGui::PushItemWidth(-140); // Right align, keep 140 pixels for labels - ImGui::Text("Dear ImGui says hello."); + ImGui::Text("dear imgui says hello. (%s)", IMGUI_VERSION); // Menu if (ImGui::BeginMenuBar()) @@ -200,7 +219,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::MenuItem("Auto-resizing window", NULL, &show_app_auto_resize); ImGui::MenuItem("Constrained-resizing window", NULL, &show_app_constrained_resize); ImGui::MenuItem("Simple overlay", NULL, &show_app_fixed_overlay); - ImGui::MenuItem("Manipulating window title", NULL, &show_app_manipulating_window_title); + ImGui::MenuItem("Manipulating window titles", NULL, &show_app_window_titles); ImGui::MenuItem("Custom rendering", NULL, &show_app_custom_rendering); ImGui::EndMenu(); } @@ -208,7 +227,7 @@ void ImGui::ShowTestWindow(bool* p_open) { ImGui::MenuItem("Metrics", NULL, &show_app_metrics); ImGui::MenuItem("Style Editor", NULL, &show_app_style_editor); - ImGui::MenuItem("About ImGui", NULL, &show_app_about); + ImGui::MenuItem("About Dear ImGui", NULL, &show_app_about); ImGui::EndMenu(); } ImGui::EndMenuBar(); @@ -217,19 +236,21 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::Spacing(); if (ImGui::CollapsingHeader("Help")) { - ImGui::TextWrapped("This window is being created by the ShowTestWindow() function. Please refer to the code for programming reference.\n\nUser Guide:"); + ImGui::TextWrapped("This window is being created by the ShowDemoWindow() function. Please refer to the code in imgui_demo.cpp for reference.\n\n"); + ImGui::Text("USER GUIDE:"); ImGui::ShowUserGuide(); } if (ImGui::CollapsingHeader("Window options")) { ImGui::Checkbox("No titlebar", &no_titlebar); ImGui::SameLine(150); - ImGui::Checkbox("No border", &no_border); ImGui::SameLine(300); - ImGui::Checkbox("No resize", &no_resize); - ImGui::Checkbox("No move", &no_move); ImGui::SameLine(150); ImGui::Checkbox("No scrollbar", &no_scrollbar); ImGui::SameLine(300); - ImGui::Checkbox("No collapse", &no_collapse); ImGui::Checkbox("No menu", &no_menu); + ImGui::Checkbox("No move", &no_move); ImGui::SameLine(150); + ImGui::Checkbox("No resize", &no_resize); ImGui::SameLine(300); + ImGui::Checkbox("No collapse", &no_collapse); + ImGui::Checkbox("No close", &no_close); ImGui::SameLine(150); + ImGui::Checkbox("No nav", &no_nav); if (ImGui::TreeNode("Style")) { @@ -237,7 +258,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::TreePop(); } - if (ImGui::TreeNode("Logging")) + if (ImGui::TreeNode("Capture/Logging")) { ImGui::TextWrapped("The logging API redirects all text output so you can easily capture the content of a window or a block. Tree nodes can be automatically expanded. You can also call ImGui::LogText() to output directly to the log without a visual output."); ImGui::LogButtons(); @@ -247,6 +268,145 @@ void ImGui::ShowTestWindow(bool* p_open) if (ImGui::CollapsingHeader("Widgets")) { + if (ImGui::TreeNode("Basic")) + { + static int clicked = 0; + if (ImGui::Button("Button")) + clicked++; + if (clicked & 1) + { + ImGui::SameLine(); + ImGui::Text("Thanks for clicking me!"); + } + + static bool check = true; + ImGui::Checkbox("checkbox", &check); + + static int e = 0; + ImGui::RadioButton("radio a", &e, 0); ImGui::SameLine(); + ImGui::RadioButton("radio b", &e, 1); ImGui::SameLine(); + ImGui::RadioButton("radio c", &e, 2); + + // Color buttons, demonstrate using PushID() to add unique identifier in the ID stack, and changing style. + for (int i = 0; i < 7; i++) + { + if (i > 0) ImGui::SameLine(); + ImGui::PushID(i); + ImGui::PushStyleColor(ImGuiCol_Button, (ImVec4)ImColor::HSV(i/7.0f, 0.6f, 0.6f)); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, (ImVec4)ImColor::HSV(i/7.0f, 0.7f, 0.7f)); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, (ImVec4)ImColor::HSV(i/7.0f, 0.8f, 0.8f)); + ImGui::Button("Click"); + ImGui::PopStyleColor(3); + ImGui::PopID(); + } + + ImGui::Text("Hover over me"); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("I am a tooltip"); + + ImGui::SameLine(); + ImGui::Text("- or me"); + if (ImGui::IsItemHovered()) + { + ImGui::BeginTooltip(); + ImGui::Text("I am a fancy tooltip"); + static float arr[] = { 0.6f, 0.1f, 1.0f, 0.5f, 0.92f, 0.1f, 0.2f }; + ImGui::PlotLines("Curve", arr, IM_ARRAYSIZE(arr)); + ImGui::EndTooltip(); + } + + // Testing ImGuiOnceUponAFrame helper. + //static ImGuiOnceUponAFrame once; + //for (int i = 0; i < 5; i++) + // if (once) + // ImGui::Text("This will be displayed only once."); + + ImGui::Separator(); + + ImGui::LabelText("label", "Value"); + + { + // Simplified one-liner Combo() API, using values packed in a single constant string + static int current_item_1 = 1; + ImGui::Combo("combo", ¤t_item_1, "aaaa\0bbbb\0cccc\0dddd\0eeee\0\0"); + //ImGui::Combo("combo w/ array of char*", ¤t_item_2_idx, items, IM_ARRAYSIZE(items)); // Combo using proper array. You can also pass a callback to retrieve array value, no need to create/copy an array just for that. + + // General BeginCombo() API, you have full control over your selection data and display type + const char* items[] = { "AAAA", "BBBB", "CCCC", "DDDD", "EEEE", "FFFF", "GGGG", "HHHH", "IIII", "JJJJ", "KKKK", "LLLLLLL", "MMMM", "OOOOOOO", "PPPP", "QQQQQQQQQQ", "RRR", "SSSS" }; + static const char* current_item_2 = NULL; + if (ImGui::BeginCombo("combo 2", current_item_2)) // The second parameter is the label previewed before opening the combo. + { + for (int n = 0; n < IM_ARRAYSIZE(items); n++) + { + bool is_selected = (current_item_2 == items[n]); // You can store your selection however you want, outside or inside your objects + if (ImGui::Selectable(items[n], is_selected)) + current_item_2 = items[n]; + if (is_selected) + ImGui::SetItemDefaultFocus(); // Set the initial focus when opening the combo (scrolling + for keyboard navigation support in the upcoming navigation branch) + } + ImGui::EndCombo(); + } + } + + { + static char str0[128] = "Hello, world!"; + static int i0=123; + static float f0=0.001f; + ImGui::InputText("input text", str0, IM_ARRAYSIZE(str0)); + ImGui::SameLine(); ShowHelpMarker("Hold SHIFT or use mouse to select text.\n" "CTRL+Left/Right to word jump.\n" "CTRL+A or double-click to select all.\n" "CTRL+X,CTRL+C,CTRL+V clipboard.\n" "CTRL+Z,CTRL+Y undo/redo.\n" "ESCAPE to revert.\n"); + + ImGui::InputInt("input int", &i0); + ImGui::SameLine(); ShowHelpMarker("You can apply arithmetic operators +,*,/ on numerical values.\n e.g. [ 100 ], input \'*2\', result becomes [ 200 ]\nUse +- to subtract.\n"); + + ImGui::InputFloat("input float", &f0, 0.01f, 1.0f); + + static float vec4a[4] = { 0.10f, 0.20f, 0.30f, 0.44f }; + ImGui::InputFloat3("input float3", vec4a); + } + + { + static int i1=50, i2=42; + ImGui::DragInt("drag int", &i1, 1); + ImGui::SameLine(); ShowHelpMarker("Click and drag to edit value.\nHold SHIFT/ALT for faster/slower edit.\nDouble-click or CTRL+click to input value."); + + ImGui::DragInt("drag int 0..100", &i2, 1, 0, 100, "%.0f%%"); + + static float f1=1.00f, f2=0.0067f; + ImGui::DragFloat("drag float", &f1, 0.005f); + ImGui::DragFloat("drag small float", &f2, 0.0001f, 0.0f, 0.0f, "%.06f ns"); + } + + { + static int i1=0; + ImGui::SliderInt("slider int", &i1, -1, 3); + ImGui::SameLine(); ShowHelpMarker("CTRL+click to input value."); + + static float f1=0.123f, f2=0.0f; + ImGui::SliderFloat("slider float", &f1, 0.0f, 1.0f, "ratio = %.3f"); + ImGui::SliderFloat("slider log float", &f2, -10.0f, 10.0f, "%.4f", 3.0f); + static float angle = 0.0f; + ImGui::SliderAngle("slider angle", &angle); + } + + static float col1[3] = { 1.0f,0.0f,0.2f }; + static float col2[4] = { 0.4f,0.7f,0.0f,0.5f }; + ImGui::ColorEdit3("color 1", col1); + ImGui::SameLine(); ShowHelpMarker("Click on the colored square to open a color picker.\nRight-click on the colored square to show options.\nCTRL+click on individual component to input value.\n"); + + ImGui::ColorEdit4("color 2", col2); + + const char* listbox_items[] = { "Apple", "Banana", "Cherry", "Kiwi", "Mango", "Orange", "Pineapple", "Strawberry", "Watermelon" }; + static int listbox_item_current = 1; + ImGui::ListBox("listbox\n(single select)", &listbox_item_current, listbox_items, IM_ARRAYSIZE(listbox_items), 4); + + //static int listbox_item_current2 = 2; + //ImGui::PushItemWidth(-1); + //ImGui::ListBox("##listbox2", &listbox_item_current2, listbox_items, IM_ARRAYSIZE(listbox_items), 4); + //ImGui::PopItemWidth(); + + ImGui::TreePop(); + } + if (ImGui::TreeNode("Trees")) { if (ImGui::TreeNode("Basic trees")) @@ -256,7 +416,7 @@ void ImGui::ShowTestWindow(bool* p_open) { ImGui::Text("blah blah"); ImGui::SameLine(); - if (ImGui::SmallButton("print")) printf("Child %d pressed", i); + if (ImGui::SmallButton("button")) { }; ImGui::TreePop(); } ImGui::TreePop(); @@ -293,7 +453,8 @@ void ImGui::ShowTestWindow(bool* p_open) else { // Leaf: The only reason we have a TreeNode at all is to allow selection of the leaf. Otherwise we can use BulletText() or TreeAdvanceToLabelPos()+Text(). - ImGui::TreeNodeEx((void*)(intptr_t)i, node_flags | ImGuiTreeNodeFlags_Leaf | ImGuiTreeNodeFlags_NoTreePushOnOpen, "Selectable Leaf %d", i); + node_flags |= ImGuiTreeNodeFlags_Leaf | ImGuiTreeNodeFlags_NoTreePushOnOpen; // ImGuiTreeNodeFlags_Bullet + ImGui::TreeNodeEx((void*)(intptr_t)i, node_flags, "Selectable Leaf %d", i); if (ImGui::IsItemClicked()) node_clicked = i; } @@ -317,14 +478,16 @@ void ImGui::ShowTestWindow(bool* p_open) if (ImGui::TreeNode("Collapsing Headers")) { static bool closable_group = true; + ImGui::Checkbox("Enable extra group", &closable_group); if (ImGui::CollapsingHeader("Header")) { - ImGui::Checkbox("Enable extra group", &closable_group); + ImGui::Text("IsItemHovered: %d", IsItemHovered()); for (int i = 0; i < 5; i++) ImGui::Text("Some content %d", i); } if (ImGui::CollapsingHeader("Header with a close button", &closable_group)) { + ImGui::Text("IsItemHovered: %d", IsItemHovered()); for (int i = 0; i < 5; i++) ImGui::Text("More content %d", i); } @@ -340,79 +503,95 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::TreePop(); } - if (ImGui::TreeNode("Colored Text")) + if (ImGui::TreeNode("Text")) { - // Using shortcut. You can use PushStyleColor()/PopStyleColor() for more flexibility. - ImGui::TextColored(ImVec4(1.0f,0.0f,1.0f,1.0f), "Pink"); - ImGui::TextColored(ImVec4(1.0f,1.0f,0.0f,1.0f), "Yellow"); - ImGui::TextDisabled("Disabled"); - ImGui::TreePop(); - } + if (ImGui::TreeNode("Colored Text")) + { + // Using shortcut. You can use PushStyleColor()/PopStyleColor() for more flexibility. + ImGui::TextColored(ImVec4(1.0f,0.0f,1.0f,1.0f), "Pink"); + ImGui::TextColored(ImVec4(1.0f,1.0f,0.0f,1.0f), "Yellow"); + ImGui::TextDisabled("Disabled"); + ImGui::SameLine(); ShowHelpMarker("The TextDisabled color is stored in ImGuiStyle."); + ImGui::TreePop(); + } - if (ImGui::TreeNode("Word Wrapping")) - { - // Using shortcut. You can use PushTextWrapPos()/PopTextWrapPos() for more flexibility. - ImGui::TextWrapped("This text should automatically wrap on the edge of the window. The current implementation for text wrapping follows simple rules suitable for English and possibly other languages."); - ImGui::Spacing(); + if (ImGui::TreeNode("Word Wrapping")) + { + // Using shortcut. You can use PushTextWrapPos()/PopTextWrapPos() for more flexibility. + ImGui::TextWrapped("This text should automatically wrap on the edge of the window. The current implementation for text wrapping follows simple rules suitable for English and possibly other languages."); + ImGui::Spacing(); - static float wrap_width = 200.0f; - ImGui::SliderFloat("Wrap width", &wrap_width, -20, 600, "%.0f"); + static float wrap_width = 200.0f; + ImGui::SliderFloat("Wrap width", &wrap_width, -20, 600, "%.0f"); - ImGui::Text("Test paragraph 1:"); - ImVec2 pos = ImGui::GetCursorScreenPos(); - ImGui::GetWindowDrawList()->AddRectFilled(ImVec2(pos.x + wrap_width, pos.y), ImVec2(pos.x + wrap_width + 10, pos.y + ImGui::GetTextLineHeight()), IM_COL32(255,0,255,255)); - ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + wrap_width); - ImGui::Text("The lazy dog is a good dog. This paragraph is made to fit within %.0f pixels. Testing a 1 character word. The quick brown fox jumps over the lazy dog.", wrap_width); - ImGui::GetWindowDrawList()->AddRect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax(), IM_COL32(255,255,0,255)); - ImGui::PopTextWrapPos(); + ImGui::Text("Test paragraph 1:"); + ImVec2 pos = ImGui::GetCursorScreenPos(); + ImGui::GetWindowDrawList()->AddRectFilled(ImVec2(pos.x + wrap_width, pos.y), ImVec2(pos.x + wrap_width + 10, pos.y + ImGui::GetTextLineHeight()), IM_COL32(255,0,255,255)); + ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + wrap_width); + ImGui::Text("The lazy dog is a good dog. This paragraph is made to fit within %.0f pixels. Testing a 1 character word. The quick brown fox jumps over the lazy dog.", wrap_width); + ImGui::GetWindowDrawList()->AddRect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax(), IM_COL32(255,255,0,255)); + ImGui::PopTextWrapPos(); - ImGui::Text("Test paragraph 2:"); - pos = ImGui::GetCursorScreenPos(); - ImGui::GetWindowDrawList()->AddRectFilled(ImVec2(pos.x + wrap_width, pos.y), ImVec2(pos.x + wrap_width + 10, pos.y + ImGui::GetTextLineHeight()), IM_COL32(255,0,255,255)); - ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + wrap_width); - ImGui::Text("aaaaaaaa bbbbbbbb, c cccccccc,dddddddd. d eeeeeeee ffffffff. gggggggg!hhhhhhhh"); - ImGui::GetWindowDrawList()->AddRect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax(), IM_COL32(255,255,0,255)); - ImGui::PopTextWrapPos(); + ImGui::Text("Test paragraph 2:"); + pos = ImGui::GetCursorScreenPos(); + ImGui::GetWindowDrawList()->AddRectFilled(ImVec2(pos.x + wrap_width, pos.y), ImVec2(pos.x + wrap_width + 10, pos.y + ImGui::GetTextLineHeight()), IM_COL32(255,0,255,255)); + ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + wrap_width); + ImGui::Text("aaaaaaaa bbbbbbbb, c cccccccc,dddddddd. d eeeeeeee ffffffff. gggggggg!hhhhhhhh"); + ImGui::GetWindowDrawList()->AddRect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax(), IM_COL32(255,255,0,255)); + ImGui::PopTextWrapPos(); - ImGui::TreePop(); - } + ImGui::TreePop(); + } - if (ImGui::TreeNode("UTF-8 Text")) - { - // UTF-8 test with Japanese characters - // (needs a suitable font, try Arial Unicode or M+ fonts http://mplus-fonts.sourceforge.jp/mplus-outline-fonts/index-en.html) - // Most compiler appears to support UTF-8 in source code (with Visual Studio you need to save your file as 'UTF-8 without signature') - // However for the sake for maximum portability here we are *not* including raw UTF-8 character in this source file, instead we encode the string with hexadecimal constants. - // In your own application be reasonable and use UTF-8 in source or retrieve the data from file system! - // Note that characters values are preserved even if the font cannot be displayed, so you can safely copy & paste garbled characters into another application. - ImGui::TextWrapped("CJK text will only appears if the font was loaded with the appropriate CJK character ranges. Call io.Font->LoadFromFileTTF() manually to load extra character ranges."); - ImGui::Text("Hiragana: \xe3\x81\x8b\xe3\x81\x8d\xe3\x81\x8f\xe3\x81\x91\xe3\x81\x93 (kakikukeko)"); - ImGui::Text("Kanjis: \xe6\x97\xa5\xe6\x9c\xac\xe8\xaa\x9e (nihongo)"); - static char buf[32] = "\xe6\x97\xa5\xe6\x9c\xac\xe8\xaa\x9e"; - ImGui::InputText("UTF-8 input", buf, IM_ARRAYSIZE(buf)); + if (ImGui::TreeNode("UTF-8 Text")) + { + // UTF-8 test with Japanese characters + // (needs a suitable font, try Arial Unicode or M+ fonts http://mplus-fonts.sourceforge.jp/mplus-outline-fonts/index-en.html) + // - From C++11 you can use the u8"my text" syntax to encode literal strings as UTF-8 + // - For earlier compiler, you may be able to encode your sources as UTF-8 (e.g. Visual Studio save your file as 'UTF-8 without signature') + // - HOWEVER, FOR THIS DEMO FILE, BECAUSE WE WANT TO SUPPORT COMPILER, WE ARE *NOT* INCLUDING RAW UTF-8 CHARACTERS IN THIS SOURCE FILE. + // Instead we are encoding a few string with hexadecimal constants. Don't do this in your application! + // Note that characters values are preserved even by InputText() if the font cannot be displayed, so you can safely copy & paste garbled characters into another application. + ImGui::TextWrapped("CJK text will only appears if the font was loaded with the appropriate CJK character ranges. Call io.Font->LoadFromFileTTF() manually to load extra character ranges."); + ImGui::Text("Hiragana: \xe3\x81\x8b\xe3\x81\x8d\xe3\x81\x8f\xe3\x81\x91\xe3\x81\x93 (kakikukeko)"); + ImGui::Text("Kanjis: \xe6\x97\xa5\xe6\x9c\xac\xe8\xaa\x9e (nihongo)"); + static char buf[32] = "\xe6\x97\xa5\xe6\x9c\xac\xe8\xaa\x9e"; // "nihongo" + ImGui::InputText("UTF-8 input", buf, IM_ARRAYSIZE(buf)); + ImGui::TreePop(); + } ImGui::TreePop(); } if (ImGui::TreeNode("Images")) { ImGui::TextWrapped("Below we are displaying the font texture (which is the only texture we have access to in this demo). Use the 'ImTextureID' type as storage to pass pointers or identifier to your own texture data. Hover the texture for a zoomed view!"); - ImVec2 tex_screen_pos = ImGui::GetCursorScreenPos(); - float tex_w = (float)ImGui::GetIO().Fonts->TexWidth; - float tex_h = (float)ImGui::GetIO().Fonts->TexHeight; - ImTextureID tex_id = ImGui::GetIO().Fonts->TexID; - ImGui::Text("%.0fx%.0f", tex_w, tex_h); - ImGui::Image(tex_id, ImVec2(tex_w, tex_h), ImVec2(0,0), ImVec2(1,1), ImColor(255,255,255,255), ImColor(255,255,255,128)); + ImGuiIO& io = ImGui::GetIO(); + + // Here we are grabbing the font texture because that's the only one we have access to inside the demo code. + // Remember that ImTextureID is just storage for whatever you want it to be, it is essentially a value that will be passed to the render function inside the ImDrawCmd structure. + // If you use one of the default imgui_impl_XXXX.cpp renderer, they all have comments at the top of their file to specify what they expect to be stored in ImTextureID. + // (for example, the imgui_impl_dx11.cpp renderer expect a 'ID3D11ShaderResourceView*' pointer. The imgui_impl_glfw_gl3.cpp renderer expect a GLuint OpenGL texture identifier etc.) + // If you decided that ImTextureID = MyEngineTexture*, then you can pass your MyEngineTexture* pointers to ImGui::Image(), and gather width/height through your own functions, etc. + // Using ShowMetricsWindow() as a "debugger" to inspect the draw data that are being passed to your render will help you debug issues if you are confused about this. + // Consider using the lower-level ImDrawList::AddImage() API, via ImGui::GetWindowDrawList()->AddImage(). + ImTextureID my_tex_id = io.Fonts->TexID; + float my_tex_w = (float)io.Fonts->TexWidth; + float my_tex_h = (float)io.Fonts->TexHeight; + + ImGui::Text("%.0fx%.0f", my_tex_w, my_tex_h); + ImVec2 pos = ImGui::GetCursorScreenPos(); + ImGui::Image(my_tex_id, ImVec2(my_tex_w, my_tex_h), ImVec2(0,0), ImVec2(1,1), ImColor(255,255,255,255), ImColor(255,255,255,128)); if (ImGui::IsItemHovered()) { ImGui::BeginTooltip(); float focus_sz = 32.0f; - float focus_x = ImGui::GetMousePos().x - tex_screen_pos.x - focus_sz * 0.5f; if (focus_x < 0.0f) focus_x = 0.0f; else if (focus_x > tex_w - focus_sz) focus_x = tex_w - focus_sz; - float focus_y = ImGui::GetMousePos().y - tex_screen_pos.y - focus_sz * 0.5f; if (focus_y < 0.0f) focus_y = 0.0f; else if (focus_y > tex_h - focus_sz) focus_y = tex_h - focus_sz; + float focus_x = io.MousePos.x - pos.x - focus_sz * 0.5f; if (focus_x < 0.0f) focus_x = 0.0f; else if (focus_x > my_tex_w - focus_sz) focus_x = my_tex_w - focus_sz; + float focus_y = io.MousePos.y - pos.y - focus_sz * 0.5f; if (focus_y < 0.0f) focus_y = 0.0f; else if (focus_y > my_tex_h - focus_sz) focus_y = my_tex_h - focus_sz; ImGui::Text("Min: (%.2f, %.2f)", focus_x, focus_y); ImGui::Text("Max: (%.2f, %.2f)", focus_x + focus_sz, focus_y + focus_sz); - ImVec2 uv0 = ImVec2((focus_x) / tex_w, (focus_y) / tex_h); - ImVec2 uv1 = ImVec2((focus_x + focus_sz) / tex_w, (focus_y + focus_sz) / tex_h); - ImGui::Image(tex_id, ImVec2(128,128), uv0, uv1, ImColor(255,255,255,255), ImColor(255,255,255,128)); + ImVec2 uv0 = ImVec2((focus_x) / my_tex_w, (focus_y) / my_tex_h); + ImVec2 uv1 = ImVec2((focus_x + focus_sz) / my_tex_w, (focus_y + focus_sz) / my_tex_h); + ImGui::Image(my_tex_id, ImVec2(128,128), uv0, uv1, ImColor(255,255,255,255), ImColor(255,255,255,128)); ImGui::EndTooltip(); } ImGui::TextWrapped("And now some textured buttons.."); @@ -421,7 +600,7 @@ void ImGui::ShowTestWindow(bool* p_open) { ImGui::PushID(i); int frame_padding = -1 + i; // -1 = uses default padding - if (ImGui::ImageButton(tex_id, ImVec2(32,32), ImVec2(0,0), ImVec2(32.0f/tex_w,32/tex_h), frame_padding, ImColor(0,0,0,255))) + if (ImGui::ImageButton(my_tex_id, ImVec2(32,32), ImVec2(0,0), ImVec2(32.0f/my_tex_w,32/my_tex_h), frame_padding, ImColor(0,0,0,255))) pressed_count += 1; ImGui::PopID(); ImGui::SameLine(); @@ -433,24 +612,58 @@ void ImGui::ShowTestWindow(bool* p_open) if (ImGui::TreeNode("Selectables")) { + // Selectable() has 2 overloads: + // - The one taking "bool selected" as a read-only selection information. When Selectable() has been clicked is returns true and you can alter selection state accordingly. + // - The one taking "bool* p_selected" as a read-write selection information (convenient in some cases) + // The earlier is more flexible, as in real application your selection may be stored in a different manner (in flags within objects, as an external list, etc). if (ImGui::TreeNode("Basic")) { - static bool selected[4] = { false, true, false, false }; - ImGui::Selectable("1. I am selectable", &selected[0]); - ImGui::Selectable("2. I am selectable", &selected[1]); + static bool selection[5] = { false, true, false, false, false }; + ImGui::Selectable("1. I am selectable", &selection[0]); + ImGui::Selectable("2. I am selectable", &selection[1]); ImGui::Text("3. I am not selectable"); - ImGui::Selectable("4. I am selectable", &selected[2]); - if (ImGui::Selectable("5. I am double clickable", selected[3], ImGuiSelectableFlags_AllowDoubleClick)) + ImGui::Selectable("4. I am selectable", &selection[3]); + if (ImGui::Selectable("5. I am double clickable", selection[4], ImGuiSelectableFlags_AllowDoubleClick)) if (ImGui::IsMouseDoubleClicked(0)) - selected[3] = !selected[3]; + selection[4] = !selection[4]; ImGui::TreePop(); } - if (ImGui::TreeNode("Rendering more text into the same block")) + if (ImGui::TreeNode("Selection State: Single Selection")) { + static int selected = -1; + for (int n = 0; n < 5; n++) + { + char buf[32]; + sprintf(buf, "Object %d", n); + if (ImGui::Selectable(buf, selected == n)) + selected = n; + } + ImGui::TreePop(); + } + if (ImGui::TreeNode("Selection State: Multiple Selection")) + { + ShowHelpMarker("Hold CTRL and click to select multiple items."); + static bool selection[5] = { false, false, false, false, false }; + for (int n = 0; n < 5; n++) + { + char buf[32]; + sprintf(buf, "Object %d", n); + if (ImGui::Selectable(buf, selection[n])) + { + if (!ImGui::GetIO().KeyCtrl) // Clear selection when CTRL is not held + memset(selection, 0, sizeof(selection)); + selection[n] ^= 1; + } + } + ImGui::TreePop(); + } + if (ImGui::TreeNode("Rendering more text into the same line")) + { + // Using the Selectable() override that takes "bool* p_selected" parameter and toggle your booleans automatically. static bool selected[3] = { false, false, false }; - ImGui::Selectable("main.c", &selected[0]); ImGui::SameLine(300); ImGui::Text(" 2,345 bytes"); + ImGui::Selectable("main.c", &selected[0]); ImGui::SameLine(300); ImGui::Text(" 2,345 bytes"); ImGui::Selectable("Hello.cpp", &selected[1]); ImGui::SameLine(300); ImGui::Text("12,345 bytes"); - ImGui::Selectable("Hello.h", &selected[2]); ImGui::SameLine(300); ImGui::Text(" 2,345 bytes"); + ImGui::Selectable("Hello.h", &selected[2]); ImGui::SameLine(300); ImGui::Text(" 2,345 bytes"); ImGui::TreePop(); } if (ImGui::TreeNode("In columns")) @@ -529,143 +742,219 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::TreePop(); } - static bool a=false; - if (ImGui::Button("Button")) { printf("Clicked\n"); a ^= 1; } - if (a) + if (ImGui::TreeNode("Plots widgets")) { - ImGui::SameLine(); - ImGui::Text("Thanks for clicking me!"); - } + static bool animate = true; + ImGui::Checkbox("Animate", &animate); - static bool check = true; - ImGui::Checkbox("checkbox", &check); - - static int e = 0; - ImGui::RadioButton("radio a", &e, 0); ImGui::SameLine(); - ImGui::RadioButton("radio b", &e, 1); ImGui::SameLine(); - ImGui::RadioButton("radio c", &e, 2); - - // Color buttons, demonstrate using PushID() to add unique identifier in the ID stack, and changing style. - for (int i = 0; i < 7; i++) - { - if (i > 0) ImGui::SameLine(); - ImGui::PushID(i); - ImGui::PushStyleColor(ImGuiCol_Button, ImColor::HSV(i/7.0f, 0.6f, 0.6f)); - ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImColor::HSV(i/7.0f, 0.7f, 0.7f)); - ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImColor::HSV(i/7.0f, 0.8f, 0.8f)); - ImGui::Button("Click"); - ImGui::PopStyleColor(3); - ImGui::PopID(); - } - - ImGui::Text("Hover over me"); - if (ImGui::IsItemHovered()) - ImGui::SetTooltip("I am a tooltip"); - - ImGui::SameLine(); - ImGui::Text("- or me"); - if (ImGui::IsItemHovered()) - { - ImGui::BeginTooltip(); - ImGui::Text("I am a fancy tooltip"); static float arr[] = { 0.6f, 0.1f, 1.0f, 0.5f, 0.92f, 0.1f, 0.2f }; - ImGui::PlotLines("Curve", arr, IM_ARRAYSIZE(arr)); - ImGui::EndTooltip(); + ImGui::PlotLines("Frame Times", arr, IM_ARRAYSIZE(arr)); + + // Create a dummy array of contiguous float values to plot + // Tip: If your float aren't contiguous but part of a structure, you can pass a pointer to your first float and the sizeof() of your structure in the Stride parameter. + static float values[90] = { 0 }; + static int values_offset = 0; + static float refresh_time = 0.0f; + if (!animate || refresh_time == 0.0f) + refresh_time = ImGui::GetTime(); + while (refresh_time < ImGui::GetTime()) // Create dummy data at fixed 60 hz rate for the demo + { + static float phase = 0.0f; + values[values_offset] = cosf(phase); + values_offset = (values_offset+1) % IM_ARRAYSIZE(values); + phase += 0.10f*values_offset; + refresh_time += 1.0f/60.0f; + } + ImGui::PlotLines("Lines", values, IM_ARRAYSIZE(values), values_offset, "avg 0.0", -1.0f, 1.0f, ImVec2(0,80)); + ImGui::PlotHistogram("Histogram", arr, IM_ARRAYSIZE(arr), 0, NULL, 0.0f, 1.0f, ImVec2(0,80)); + + // Use functions to generate output + // FIXME: This is rather awkward because current plot API only pass in indices. We probably want an API passing floats and user provide sample rate/count. + struct Funcs + { + static float Sin(void*, int i) { return sinf(i * 0.1f); } + static float Saw(void*, int i) { return (i & 1) ? 1.0f : -1.0f; } + }; + static int func_type = 0, display_count = 70; + ImGui::Separator(); + ImGui::PushItemWidth(100); ImGui::Combo("func", &func_type, "Sin\0Saw\0"); ImGui::PopItemWidth(); + ImGui::SameLine(); + ImGui::SliderInt("Sample count", &display_count, 1, 400); + float (*func)(void*, int) = (func_type == 0) ? Funcs::Sin : Funcs::Saw; + ImGui::PlotLines("Lines", func, NULL, display_count, 0, NULL, -1.0f, 1.0f, ImVec2(0,80)); + ImGui::PlotHistogram("Histogram", func, NULL, display_count, 0, NULL, -1.0f, 1.0f, ImVec2(0,80)); + ImGui::Separator(); + + // Animate a simple progress bar + static float progress = 0.0f, progress_dir = 1.0f; + if (animate) + { + progress += progress_dir * 0.4f * ImGui::GetIO().DeltaTime; + if (progress >= +1.1f) { progress = +1.1f; progress_dir *= -1.0f; } + if (progress <= -0.1f) { progress = -0.1f; progress_dir *= -1.0f; } + } + + // Typically we would use ImVec2(-1.0f,0.0f) to use all available width, or ImVec2(width,0.0f) for a specified width. ImVec2(0.0f,0.0f) uses ItemWidth. + ImGui::ProgressBar(progress, ImVec2(0.0f,0.0f)); + ImGui::SameLine(0.0f, ImGui::GetStyle().ItemInnerSpacing.x); + ImGui::Text("Progress Bar"); + + float progress_saturated = (progress < 0.0f) ? 0.0f : (progress > 1.0f) ? 1.0f : progress; + char buf[32]; + sprintf(buf, "%d/%d", (int)(progress_saturated*1753), 1753); + ImGui::ProgressBar(progress, ImVec2(0.f,0.f), buf); + ImGui::TreePop(); } - // Testing IMGUI_ONCE_UPON_A_FRAME macro - //for (int i = 0; i < 5; i++) - //{ - // IMGUI_ONCE_UPON_A_FRAME - // { - // ImGui::Text("This will be displayed only once."); - // } - //} - - ImGui::Separator(); - - ImGui::LabelText("label", "Value"); - - static int item = 1; - ImGui::Combo("combo", &item, "aaaa\0bbbb\0cccc\0dddd\0eeee\0\0"); // Combo using values packed in a single constant string (for really quick combo) - - const char* items[] = { "AAAA", "BBBB", "CCCC", "DDDD", "EEEE", "FFFF", "GGGG", "HHHH", "IIII", "JJJJ", "KKKK" }; - static int item2 = -1; - ImGui::Combo("combo scroll", &item2, items, IM_ARRAYSIZE(items)); // Combo using proper array. You can also pass a callback to retrieve array value, no need to create/copy an array just for that. - + if (ImGui::TreeNode("Color/Picker Widgets")) { - static char str0[128] = "Hello, world!"; - static int i0=123; - static float f0=0.001f; - ImGui::InputText("input text", str0, IM_ARRAYSIZE(str0)); - ImGui::SameLine(); ShowHelpMarker("Hold SHIFT or use mouse to select text.\n" "CTRL+Left/Right to word jump.\n" "CTRL+A or double-click to select all.\n" "CTRL+X,CTRL+C,CTRL+V clipboard.\n" "CTRL+Z,CTRL+Y undo/redo.\n" "ESCAPE to revert.\n"); + static ImVec4 color = ImColor(114, 144, 154, 200); - ImGui::InputInt("input int", &i0); - ImGui::SameLine(); ShowHelpMarker("You can apply arithmetic operators +,*,/ on numerical values.\n e.g. [ 100 ], input \'*2\', result becomes [ 200 ]\nUse +- to subtract.\n"); + static bool alpha_preview = true; + static bool alpha_half_preview = false; + static bool options_menu = true; + static bool hdr = false; + ImGui::Checkbox("With Alpha Preview", &alpha_preview); + ImGui::Checkbox("With Half Alpha Preview", &alpha_half_preview); + ImGui::Checkbox("With Options Menu", &options_menu); ImGui::SameLine(); ShowHelpMarker("Right-click on the individual color widget to show options."); + ImGui::Checkbox("With HDR", &hdr); ImGui::SameLine(); ShowHelpMarker("Currently all this does is to lift the 0..1 limits on dragging widgets."); + int misc_flags = (hdr ? ImGuiColorEditFlags_HDR : 0) | (alpha_half_preview ? ImGuiColorEditFlags_AlphaPreviewHalf : (alpha_preview ? ImGuiColorEditFlags_AlphaPreview : 0)) | (options_menu ? 0 : ImGuiColorEditFlags_NoOptions); - ImGui::InputFloat("input float", &f0, 0.01f, 1.0f); + ImGui::Text("Color widget:"); + ImGui::SameLine(); ShowHelpMarker("Click on the colored square to open a color picker.\nCTRL+click on individual component to input value.\n"); + ImGui::ColorEdit3("MyColor##1", (float*)&color, misc_flags); - static float vec4a[4] = { 0.10f, 0.20f, 0.30f, 0.44f }; - ImGui::InputFloat3("input float3", vec4a); + ImGui::Text("Color widget HSV with Alpha:"); + ImGui::ColorEdit4("MyColor##2", (float*)&color, ImGuiColorEditFlags_HSV | misc_flags); + + ImGui::Text("Color widget with Float Display:"); + ImGui::ColorEdit4("MyColor##2f", (float*)&color, ImGuiColorEditFlags_Float | misc_flags); + + ImGui::Text("Color button with Picker:"); + ImGui::SameLine(); ShowHelpMarker("With the ImGuiColorEditFlags_NoInputs flag you can hide all the slider/text inputs.\nWith the ImGuiColorEditFlags_NoLabel flag you can pass a non-empty label which will only be used for the tooltip and picker popup."); + ImGui::ColorEdit4("MyColor##3", (float*)&color, ImGuiColorEditFlags_NoInputs | ImGuiColorEditFlags_NoLabel | misc_flags); + + ImGui::Text("Color button with Custom Picker Popup:"); + + // Generate a dummy palette + static bool saved_palette_inited = false; + static ImVec4 saved_palette[32]; + if (!saved_palette_inited) + for (int n = 0; n < IM_ARRAYSIZE(saved_palette); n++) + { + ImGui::ColorConvertHSVtoRGB(n / 31.0f, 0.8f, 0.8f, saved_palette[n].x, saved_palette[n].y, saved_palette[n].z); + saved_palette[n].w = 1.0f; // Alpha + } + saved_palette_inited = true; + + static ImVec4 backup_color; + bool open_popup = ImGui::ColorButton("MyColor##3b", color, misc_flags); + ImGui::SameLine(); + open_popup |= ImGui::Button("Palette"); + if (open_popup) + { + ImGui::OpenPopup("mypicker"); + backup_color = color; + } + if (ImGui::BeginPopup("mypicker")) + { + // FIXME: Adding a drag and drop example here would be perfect! + ImGui::Text("MY CUSTOM COLOR PICKER WITH AN AMAZING PALETTE!"); + ImGui::Separator(); + ImGui::ColorPicker4("##picker", (float*)&color, misc_flags | ImGuiColorEditFlags_NoSidePreview | ImGuiColorEditFlags_NoSmallPreview); + ImGui::SameLine(); + ImGui::BeginGroup(); + ImGui::Text("Current"); + ImGui::ColorButton("##current", color, ImGuiColorEditFlags_NoPicker | ImGuiColorEditFlags_AlphaPreviewHalf, ImVec2(60,40)); + ImGui::Text("Previous"); + if (ImGui::ColorButton("##previous", backup_color, ImGuiColorEditFlags_NoPicker | ImGuiColorEditFlags_AlphaPreviewHalf, ImVec2(60,40))) + color = backup_color; + ImGui::Separator(); + ImGui::Text("Palette"); + for (int n = 0; n < IM_ARRAYSIZE(saved_palette); n++) + { + ImGui::PushID(n); + if ((n % 8) != 0) + ImGui::SameLine(0.0f, ImGui::GetStyle().ItemSpacing.y); + if (ImGui::ColorButton("##palette", saved_palette[n], ImGuiColorEditFlags_NoAlpha | ImGuiColorEditFlags_NoPicker | ImGuiColorEditFlags_NoTooltip, ImVec2(20,20))) + color = ImVec4(saved_palette[n].x, saved_palette[n].y, saved_palette[n].z, color.w); // Preserve alpha! + + if (ImGui::BeginDragDropTarget()) + { + if (const ImGuiPayload* payload = AcceptDragDropPayload(IMGUI_PAYLOAD_TYPE_COLOR_3F)) + memcpy((float*)&saved_palette[n], payload->Data, sizeof(float) * 3); + if (const ImGuiPayload* payload = AcceptDragDropPayload(IMGUI_PAYLOAD_TYPE_COLOR_4F)) + memcpy((float*)&saved_palette[n], payload->Data, sizeof(float) * 4); + EndDragDropTarget(); + } + + ImGui::PopID(); + } + ImGui::EndGroup(); + ImGui::EndPopup(); + } + + ImGui::Text("Color button only:"); + ImGui::ColorButton("MyColor##3c", *(ImVec4*)&color, misc_flags, ImVec2(80,80)); + + ImGui::Text("Color picker:"); + static bool alpha = true; + static bool alpha_bar = true; + static bool side_preview = true; + static bool ref_color = false; + static ImVec4 ref_color_v(1.0f,0.0f,1.0f,0.5f); + static int inputs_mode = 2; + static int picker_mode = 0; + ImGui::Checkbox("With Alpha", &alpha); + ImGui::Checkbox("With Alpha Bar", &alpha_bar); + ImGui::Checkbox("With Side Preview", &side_preview); + if (side_preview) + { + ImGui::SameLine(); + ImGui::Checkbox("With Ref Color", &ref_color); + if (ref_color) + { + ImGui::SameLine(); + ImGui::ColorEdit4("##RefColor", &ref_color_v.x, ImGuiColorEditFlags_NoInputs | misc_flags); + } + } + ImGui::Combo("Inputs Mode", &inputs_mode, "All Inputs\0No Inputs\0RGB Input\0HSV Input\0HEX Input\0"); + ImGui::Combo("Picker Mode", &picker_mode, "Auto/Current\0Hue bar + SV rect\0Hue wheel + SV triangle\0"); + ImGui::SameLine(); ShowHelpMarker("User can right-click the picker to change mode."); + ImGuiColorEditFlags flags = misc_flags; + if (!alpha) flags |= ImGuiColorEditFlags_NoAlpha; // This is by default if you call ColorPicker3() instead of ColorPicker4() + if (alpha_bar) flags |= ImGuiColorEditFlags_AlphaBar; + if (!side_preview) flags |= ImGuiColorEditFlags_NoSidePreview; + if (picker_mode == 1) flags |= ImGuiColorEditFlags_PickerHueBar; + if (picker_mode == 2) flags |= ImGuiColorEditFlags_PickerHueWheel; + if (inputs_mode == 1) flags |= ImGuiColorEditFlags_NoInputs; + if (inputs_mode == 2) flags |= ImGuiColorEditFlags_RGB; + if (inputs_mode == 3) flags |= ImGuiColorEditFlags_HSV; + if (inputs_mode == 4) flags |= ImGuiColorEditFlags_HEX; + ImGui::ColorPicker4("MyColor##4", (float*)&color, flags, ref_color ? &ref_color_v.x : NULL); + + ImGui::Text("Programmatically set defaults/options:"); + ImGui::SameLine(); ShowHelpMarker("SetColorEditOptions() is designed to allow you to set boot-time default.\nWe don't have Push/Pop functions because you can force options on a per-widget basis if needed, and the user can change non-forced ones with the options menu.\nWe don't have a getter to avoid encouraging you to persistently save values that aren't forward-compatible."); + if (ImGui::Button("Uint8 + HSV")) + ImGui::SetColorEditOptions(ImGuiColorEditFlags_Uint8 | ImGuiColorEditFlags_HSV); + ImGui::SameLine(); + if (ImGui::Button("Float + HDR")) + ImGui::SetColorEditOptions(ImGuiColorEditFlags_Float | ImGuiColorEditFlags_RGB); + + ImGui::TreePop(); } - { - static int i1=50, i2=42; - ImGui::DragInt("drag int", &i1, 1); - ImGui::SameLine(); ShowHelpMarker("Click and drag to edit value.\nHold SHIFT/ALT for faster/slower edit.\nDouble-click or CTRL+click to input value."); - - ImGui::DragInt("drag int 0..100", &i2, 1, 0, 100, "%.0f%%"); - - static float f1=1.00f, f2=0.0067f; - ImGui::DragFloat("drag float", &f1, 0.005f); - ImGui::DragFloat("drag small float", &f2, 0.0001f, 0.0f, 0.0f, "%.06f ns"); - } - - { - static int i1=0; - ImGui::SliderInt("slider int", &i1, -1, 3); - ImGui::SameLine(); ShowHelpMarker("CTRL+click to input value."); - - static float f1=0.123f, f2=0.0f; - ImGui::SliderFloat("slider float", &f1, 0.0f, 1.0f, "ratio = %.3f"); - ImGui::SliderFloat("slider log float", &f2, -10.0f, 10.0f, "%.4f", 3.0f); - static float angle = 0.0f; - ImGui::SliderAngle("slider angle", &angle); - } - - static float col1[3] = { 1.0f,0.0f,0.2f }; - static float col2[4] = { 0.4f,0.7f,0.0f,0.5f }; - ImGui::ColorEdit3("color 1", col1); - ImGui::SameLine(); ShowHelpMarker("Click on the colored square to change edit mode.\nCTRL+click on individual component to input value.\n"); - - ImGui::ColorEdit4("color 2", col2); - - const char* listbox_items[] = { "Apple", "Banana", "Cherry", "Kiwi", "Mango", "Orange", "Pineapple", "Strawberry", "Watermelon" }; - static int listbox_item_current = 1; - ImGui::ListBox("listbox\n(single select)", &listbox_item_current, listbox_items, IM_ARRAYSIZE(listbox_items), 4); - - //static int listbox_item_current2 = 2; - //ImGui::PushItemWidth(-1); - //ImGui::ListBox("##listbox2", &listbox_item_current2, listbox_items, IM_ARRAYSIZE(listbox_items), 4); - //ImGui::PopItemWidth(); - if (ImGui::TreeNode("Range Widgets")) { - ImGui::Unindent(); - static float begin = 10, end = 90; static int begin_i = 100, end_i = 1000; ImGui::DragFloatRange2("range", &begin, &end, 0.25f, 0.0f, 100.0f, "Min: %.1f %%", "Max: %.1f %%"); ImGui::DragIntRange2("range int (no bounds)", &begin_i, &end_i, 5, 0, 0, "Min: %.0f units", "Max: %.0f units"); - - ImGui::Indent(); ImGui::TreePop(); } if (ImGui::TreeNode("Multi-component Widgets")) { - ImGui::Unindent(); - static float vec4f[4] = { 0.10f, 0.20f, 0.30f, 0.44f }; static int vec4i[4] = { 1, 5, 100, 255 }; @@ -692,13 +981,11 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::DragInt4("drag int4", vec4i, 1, 0, 255); ImGui::SliderInt4("slider int4", vec4i, 0, 255); - ImGui::Indent(); ImGui::TreePop(); } if (ImGui::TreeNode("Vertical Sliders")) { - ImGui::Unindent(); const float spacing = 4; ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(spacing, spacing)); @@ -712,10 +999,10 @@ void ImGui::ShowTestWindow(bool* p_open) { if (i > 0) ImGui::SameLine(); ImGui::PushID(i); - ImGui::PushStyleColor(ImGuiCol_FrameBg, ImColor::HSV(i/7.0f, 0.5f, 0.5f)); - ImGui::PushStyleColor(ImGuiCol_FrameBgHovered, ImColor::HSV(i/7.0f, 0.6f, 0.5f)); - ImGui::PushStyleColor(ImGuiCol_FrameBgActive, ImColor::HSV(i/7.0f, 0.7f, 0.5f)); - ImGui::PushStyleColor(ImGuiCol_SliderGrab, ImColor::HSV(i/7.0f, 0.9f, 0.9f)); + ImGui::PushStyleColor(ImGuiCol_FrameBg, (ImVec4)ImColor::HSV(i/7.0f, 0.5f, 0.5f)); + ImGui::PushStyleColor(ImGuiCol_FrameBgHovered, (ImVec4)ImColor::HSV(i/7.0f, 0.6f, 0.5f)); + ImGui::PushStyleColor(ImGuiCol_FrameBgActive, (ImVec4)ImColor::HSV(i/7.0f, 0.7f, 0.5f)); + ImGui::PushStyleColor(ImGuiCol_SliderGrab, (ImVec4)ImColor::HSV(i/7.0f, 0.9f, 0.9f)); ImGui::VSliderFloat("##v", ImVec2(18,160), &values[i], 0.0f, 1.0f, ""); if (ImGui::IsItemActive() || ImGui::IsItemHovered()) ImGui::SetTooltip("%.3f", values[i]); @@ -758,113 +1045,67 @@ void ImGui::ShowTestWindow(bool* p_open) } ImGui::PopID(); ImGui::PopStyleVar(); - - ImGui::Indent(); ImGui::TreePop(); } } - if (ImGui::CollapsingHeader("Graphs widgets")) - { - static bool animate = true; - ImGui::Checkbox("Animate", &animate); - - static float arr[] = { 0.6f, 0.1f, 1.0f, 0.5f, 0.92f, 0.1f, 0.2f }; - ImGui::PlotLines("Frame Times", arr, IM_ARRAYSIZE(arr)); - - // Create a dummy array of contiguous float values to plot - // Tip: If your float aren't contiguous but part of a structure, you can pass a pointer to your first float and the sizeof() of your structure in the Stride parameter. - static float values[90] = { 0 }; - static int values_offset = 0; - if (animate) - { - static float refresh_time = ImGui::GetTime(); // Create dummy data at fixed 60 hz rate for the demo - for (; ImGui::GetTime() > refresh_time + 1.0f/60.0f; refresh_time += 1.0f/60.0f) - { - static float phase = 0.0f; - values[values_offset] = cosf(phase); - values_offset = (values_offset+1) % IM_ARRAYSIZE(values); - phase += 0.10f*values_offset; - } - } - ImGui::PlotLines("Lines", values, IM_ARRAYSIZE(values), values_offset, "avg 0.0", -1.0f, 1.0f, ImVec2(0,80)); - ImGui::PlotHistogram("Histogram", arr, IM_ARRAYSIZE(arr), 0, NULL, 0.0f, 1.0f, ImVec2(0,80)); - - // Use functions to generate output - // FIXME: This is rather awkward because current plot API only pass in indices. We probably want an API passing floats and user provide sample rate/count. - struct Funcs - { - static float Sin(void*, int i) { return sinf(i * 0.1f); } - static float Saw(void*, int i) { return (i & 1) ? 1.0f : 0.0f; } - }; - static int func_type = 0, display_count = 70; - ImGui::Separator(); - ImGui::PushItemWidth(100); ImGui::Combo("func", &func_type, "Sin\0Saw\0"); ImGui::PopItemWidth(); - ImGui::SameLine(); - ImGui::SliderInt("Sample count", &display_count, 1, 400); - float (*func)(void*, int) = (func_type == 0) ? Funcs::Sin : Funcs::Saw; - ImGui::PlotLines("Lines", func, NULL, display_count, 0, NULL, -1.0f, 1.0f, ImVec2(0,80)); - ImGui::PlotHistogram("Histogram", func, NULL, display_count, 0, NULL, -1.0f, 1.0f, ImVec2(0,80)); - ImGui::Separator(); - - // Animate a simple progress bar - static float progress = 0.0f, progress_dir = 1.0f; - if (animate) - { - progress += progress_dir * 0.4f * ImGui::GetIO().DeltaTime; - if (progress >= +1.1f) { progress = +1.1f; progress_dir *= -1.0f; } - if (progress <= -0.1f) { progress = -0.1f; progress_dir *= -1.0f; } - } - - // Typically we would use ImVec2(-1.0f,0.0f) to use all available width, or ImVec2(width,0.0f) for a specified width. ImVec2(0.0f,0.0f) uses ItemWidth. - ImGui::ProgressBar(progress, ImVec2(0.0f,0.0f)); - ImGui::SameLine(0.0f, ImGui::GetStyle().ItemInnerSpacing.x); - ImGui::Text("Progress Bar"); - - float progress_saturated = (progress < 0.0f) ? 0.0f : (progress > 1.0f) ? 1.0f : progress; - char buf[32]; - sprintf(buf, "%d/%d", (int)(progress_saturated*1753), 1753); - ImGui::ProgressBar(progress, ImVec2(0.f,0.f), buf); - } - if (ImGui::CollapsingHeader("Layout")) { if (ImGui::TreeNode("Child regions")) { - ImGui::Text("Without border"); + static bool disable_mouse_wheel = false; + static bool disable_menu = false; + ImGui::Checkbox("Disable Mouse Wheel", &disable_mouse_wheel); + ImGui::Checkbox("Disable Menu", &disable_menu); + static int line = 50; bool goto_line = ImGui::Button("Goto"); ImGui::SameLine(); ImGui::PushItemWidth(100); goto_line |= ImGui::InputInt("##Line", &line, 0, 0, ImGuiInputTextFlags_EnterReturnsTrue); ImGui::PopItemWidth(); - ImGui::BeginChild("Sub1", ImVec2(ImGui::GetWindowContentRegionWidth() * 0.5f,300), false, ImGuiWindowFlags_HorizontalScrollbar); - for (int i = 0; i < 100; i++) + + // Child 1: no border, enable horizontal scrollbar { - ImGui::Text("%04d: scrollable region", i); - if (goto_line && line == i) + ImGui::BeginChild("Child1", ImVec2(ImGui::GetWindowContentRegionWidth() * 0.5f, 300), false, ImGuiWindowFlags_HorizontalScrollbar | (disable_mouse_wheel ? ImGuiWindowFlags_NoScrollWithMouse : 0)); + for (int i = 0; i < 100; i++) + { + ImGui::Text("%04d: scrollable region", i); + if (goto_line && line == i) + ImGui::SetScrollHere(); + } + if (goto_line && line >= 100) ImGui::SetScrollHere(); + ImGui::EndChild(); } - if (goto_line && line >= 100) - ImGui::SetScrollHere(); - ImGui::EndChild(); ImGui::SameLine(); - ImGui::PushStyleVar(ImGuiStyleVar_ChildWindowRounding, 5.0f); - ImGui::BeginChild("Sub2", ImVec2(0,300), true); - ImGui::Text("With border"); - ImGui::Columns(2); - for (int i = 0; i < 100; i++) + // Child 2: rounded border { - if (i == 50) - ImGui::NextColumn(); - char buf[32]; - sprintf(buf, "%08x", i*5731); - ImGui::Button(buf, ImVec2(-1.0f, 0.0f)); + ImGui::PushStyleVar(ImGuiStyleVar_ChildRounding, 5.0f); + ImGui::BeginChild("Child2", ImVec2(0,300), true, (disable_mouse_wheel ? ImGuiWindowFlags_NoScrollWithMouse : 0) | (disable_menu ? 0 : ImGuiWindowFlags_MenuBar)); + if (!disable_menu && ImGui::BeginMenuBar()) + { + if (ImGui::BeginMenu("Menu")) + { + ShowExampleMenuFile(); + ImGui::EndMenu(); + } + ImGui::EndMenuBar(); + } + ImGui::Columns(2); + for (int i = 0; i < 100; i++) + { + if (i == 50) + ImGui::NextColumn(); + char buf[32]; + sprintf(buf, "%08x", i*5731); + ImGui::Button(buf, ImVec2(-1.0f, 0.0f)); + } + ImGui::EndChild(); + ImGui::PopStyleVar(); } - ImGui::EndChild(); - ImGui::PopStyleVar(); ImGui::TreePop(); } @@ -918,7 +1159,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::TextColored(ImVec4(1,1,0,1), "Sailor"); // Button - ImGui::AlignFirstTextHeightToWidgets(); + ImGui::AlignTextToFramePadding(); ImGui::Text("Normal buttons"); ImGui::SameLine(); ImGui::Button("Banana"); ImGui::SameLine(); ImGui::Button("Apple"); ImGui::SameLine(); @@ -991,11 +1232,11 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::Button("CCC"); ImGui::Button("DDD"); ImGui::EndGroup(); - if (ImGui::IsItemHovered()) - ImGui::SetTooltip("Group hovered"); ImGui::SameLine(); ImGui::Button("EEE"); ImGui::EndGroup(); + if (ImGui::IsItemHovered()) + ImGui::SetTooltip("First group hovered"); } // Capture the group size and create widgets using the same size ImVec2 size = ImGui::GetItemRectSize(); @@ -1044,11 +1285,12 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::Text("TEST"); ImGui::SameLine(); ImGui::SmallButton("TEST##2"); - ImGui::AlignFirstTextHeightToWidgets(); // If your line starts with text, call this to align it to upcoming widgets. + ImGui::AlignTextToFramePadding(); // If your line starts with text, call this to align it to upcoming widgets. ImGui::Text("Text aligned to Widget"); ImGui::SameLine(); ImGui::Button("Widget##1"); ImGui::SameLine(); ImGui::Text("Widget"); ImGui::SameLine(); - ImGui::SmallButton("Widget##2"); + ImGui::SmallButton("Widget##2"); ImGui::SameLine(); + ImGui::Button("Widget##3"); // Tree const float spacing = ImGui::GetStyle().ItemInnerSpacing.x; @@ -1056,7 +1298,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::SameLine(0.0f, spacing); if (ImGui::TreeNode("Node##1")) { for (int i = 0; i < 6; i++) ImGui::BulletText("Item %d..", i); ImGui::TreePop(); } // Dummy tree data - ImGui::AlignFirstTextHeightToWidgets(); // Vertically align text node a bit lower so it'll be vertically centered with upcoming widget. Otherwise you can use SmallButton (smaller fit). + ImGui::AlignTextToFramePadding(); // Vertically align text node a bit lower so it'll be vertically centered with upcoming widget. Otherwise you can use SmallButton (smaller fit). bool node_open = ImGui::TreeNode("Node##2"); // Common mistake to avoid: if we want to SameLine after TreeNode we need to do it before we add child content. ImGui::SameLine(0.0f, spacing); ImGui::Button("Button##2"); if (node_open) { for (int i = 0; i < 6; i++) ImGui::BulletText("Item %d..", i); ImGui::TreePop(); } // Dummy tree data @@ -1066,7 +1308,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::SameLine(0.0f, spacing); ImGui::BulletText("Bullet text"); - ImGui::AlignFirstTextHeightToWidgets(); + ImGui::AlignTextToFramePadding(); ImGui::BulletText("Node"); ImGui::SameLine(0.0f, spacing); ImGui::Button("Button##4"); @@ -1080,9 +1322,9 @@ void ImGui::ShowTestWindow(bool* p_open) static int track_line = 50, scroll_to_px = 200; ImGui::Checkbox("Track", &track); ImGui::PushItemWidth(100); - ImGui::SameLine(130); track |= ImGui::DragInt("##line", &track_line, 0.25f, 0, 99, "Line %.0f"); - bool scroll_to = ImGui::Button("Scroll To"); - ImGui::SameLine(130); scroll_to |= ImGui::DragInt("##pos_y", &scroll_to_px, 1.00f, 0, 9999, "y = %.0f px"); + ImGui::SameLine(130); track |= ImGui::DragInt("##line", &track_line, 0.25f, 0, 99, "Line = %.0f"); + bool scroll_to = ImGui::Button("Scroll To Pos"); + ImGui::SameLine(130); scroll_to |= ImGui::DragInt("##pos_y", &scroll_to_px, 1.00f, 0, 9999, "Y = %.0f px"); ImGui::PopItemWidth(); if (scroll_to) track = false; @@ -1106,7 +1348,9 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::Text("Line %d", line); } } + float scroll_y = ImGui::GetScrollY(), scroll_max_y = ImGui::GetScrollMaxY(); ImGui::EndChild(); + ImGui::Text("%.0f/%0.f", scroll_y, scroll_max_y); ImGui::EndGroup(); } ImGui::TreePop(); @@ -1120,7 +1364,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::SliderInt("Lines", &lines, 1, 15); ImGui::PushStyleVar(ImGuiStyleVar_FrameRounding, 3.0f); ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(2.0f, 1.0f)); - ImGui::BeginChild("scrolling", ImVec2(0, ImGui::GetItemsLineHeightWithSpacing()*7 + 30), true, ImGuiWindowFlags_HorizontalScrollbar); + ImGui::BeginChild("scrolling", ImVec2(0, ImGui::GetFrameHeightWithSpacing()*7 + 30), true, ImGuiWindowFlags_HorizontalScrollbar); for (int line = 0; line < lines; line++) { // Display random stuff (for the sake of this trivial demo we are using basic Button+SameLine. If you want to create your own time line for a real application you may be better off @@ -1131,22 +1375,25 @@ void ImGui::ShowTestWindow(bool* p_open) if (n > 0) ImGui::SameLine(); ImGui::PushID(n + line * 1000); char num_buf[16]; - const char* label = (!(n%15)) ? "FizzBuzz" : (!(n%3)) ? "Fizz" : (!(n%5)) ? "Buzz" : (sprintf(num_buf, "%d", n), num_buf); + sprintf(num_buf, "%d", n); + const char* label = (!(n%15)) ? "FizzBuzz" : (!(n%3)) ? "Fizz" : (!(n%5)) ? "Buzz" : num_buf; float hue = n*0.05f; - ImGui::PushStyleColor(ImGuiCol_Button, ImColor::HSV(hue, 0.6f, 0.6f)); - ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImColor::HSV(hue, 0.7f, 0.7f)); - ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImColor::HSV(hue, 0.8f, 0.8f)); + ImGui::PushStyleColor(ImGuiCol_Button, (ImVec4)ImColor::HSV(hue, 0.6f, 0.6f)); + ImGui::PushStyleColor(ImGuiCol_ButtonHovered, (ImVec4)ImColor::HSV(hue, 0.7f, 0.7f)); + ImGui::PushStyleColor(ImGuiCol_ButtonActive, (ImVec4)ImColor::HSV(hue, 0.8f, 0.8f)); ImGui::Button(label, ImVec2(40.0f + sinf((float)(line + n)) * 20.0f, 0.0f)); ImGui::PopStyleColor(3); ImGui::PopID(); } } + float scroll_x = ImGui::GetScrollX(), scroll_max_x = ImGui::GetScrollMaxX(); ImGui::EndChild(); ImGui::PopStyleVar(2); float scroll_x_delta = 0.0f; - ImGui::SmallButton("<<"); if (ImGui::IsItemActive()) scroll_x_delta = -ImGui::GetIO().DeltaTime * 1000.0f; - ImGui::SameLine(); ImGui::Text("Scroll from code"); ImGui::SameLine(); - ImGui::SmallButton(">>"); if (ImGui::IsItemActive()) scroll_x_delta = +ImGui::GetIO().DeltaTime * 1000.0f; + ImGui::SmallButton("<<"); if (ImGui::IsItemActive()) scroll_x_delta = -ImGui::GetIO().DeltaTime * 1000.0f; ImGui::SameLine(); + ImGui::Text("Scroll from code"); ImGui::SameLine(); + ImGui::SmallButton(">>"); if (ImGui::IsItemActive()) scroll_x_delta = +ImGui::GetIO().DeltaTime * 1000.0f; ImGui::SameLine(); + ImGui::Text("%.0f/%.0f", scroll_x, scroll_max_x); if (scroll_x_delta != 0.0f) { ImGui::BeginChild("scrolling"); // Demonstrate a trick: you can use Begin to set yourself in the context of another window (here we are already out of your child window) @@ -1166,8 +1413,8 @@ void ImGui::ShowTestWindow(bool* p_open) ImVec4 clip_rect(pos.x, pos.y, pos.x+size.x, pos.y+size.y); ImGui::InvisibleButton("##dummy", size); if (ImGui::IsItemActive() && ImGui::IsMouseDragging()) { offset.x += ImGui::GetIO().MouseDelta.x; offset.y += ImGui::GetIO().MouseDelta.y; } - ImGui::GetWindowDrawList()->AddRectFilled(pos, ImVec2(pos.x+size.x,pos.y+size.y), ImColor(90,90,120,255)); - ImGui::GetWindowDrawList()->AddText(ImGui::GetFont(), ImGui::GetFontSize()*2.0f, ImVec2(pos.x+offset.x,pos.y+offset.y), ImColor(255,255,255,255), "Line 1 hello\nLine 2 clip me!", NULL, 0.0f, &clip_rect); + ImGui::GetWindowDrawList()->AddRectFilled(pos, ImVec2(pos.x+size.x,pos.y+size.y), IM_COL32(90,90,120,255)); + ImGui::GetWindowDrawList()->AddText(ImGui::GetFont(), ImGui::GetFontSize()*2.0f, ImVec2(pos.x+offset.x,pos.y+offset.y), IM_COL32(255,255,255,255), "Line 1 hello\nLine 2 clip me!", NULL, 0.0f, &clip_rect); ImGui::TreePop(); } } @@ -1187,7 +1434,7 @@ void ImGui::ShowTestWindow(bool* p_open) if (ImGui::Button("Select..")) ImGui::OpenPopup("select"); ImGui::SameLine(); - ImGui::Text(selected_fish == -1 ? "" : names[selected_fish]); + ImGui::TextUnformatted(selected_fish == -1 ? "" : names[selected_fish]); if (ImGui::BeginPopup("select")) { ImGui::Text("Aquarium"); @@ -1240,42 +1487,35 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::EndPopup(); } - ImGui::Spacing(); - ImGui::TextWrapped("Below we are testing adding menu items to a regular window. It's rather unusual but should work!"); - ImGui::Separator(); - // NB: As a quirk in this very specific example, we want to differentiate the parent of this menu from the parent of the various popup menus above. - // To do so we are encloding the items in a PushID()/PopID() block to make them two different menusets. If we don't, opening any popup above and hovering our menu here - // would open it. This is because once a menu is active, we allow to switch to a sibling menu by just hovering on it, which is the desired behavior for regular menus. - ImGui::PushID("foo"); - ImGui::MenuItem("Menu item", "CTRL+M"); - if (ImGui::BeginMenu("Menu inside a regular window")) - { - ShowExampleMenuFile(); - ImGui::EndMenu(); - } - ImGui::PopID(); - ImGui::Separator(); - ImGui::TreePop(); } if (ImGui::TreeNode("Context menus")) { + // BeginPopupContextItem() is a helper to provide common/simple popup behavior of essentially doing: + // if (IsItemHovered() && IsMouseClicked(0)) + // OpenPopup(id); + // return BeginPopup(id); + // For more advanced uses you may want to replicate and cuztomize this code. This the comments inside BeginPopupContextItem() implementation. static float value = 0.5f; ImGui::Text("Value = %.3f (<-- right-click here)", value); if (ImGui::BeginPopupContextItem("item context menu")) { if (ImGui::Selectable("Set to zero")) value = 0.0f; if (ImGui::Selectable("Set to PI")) value = 3.1415f; + ImGui::PushItemWidth(-1); + ImGui::DragFloat("##Value", &value, 0.1f, 0.0f, 0.0f); + ImGui::PopItemWidth(); ImGui::EndPopup(); } - static ImVec4 color = ImColor(0.8f, 0.5f, 1.0f, 1.0f); - ImGui::ColorButton(color); - if (ImGui::BeginPopupContextItem("color context menu")) + static char name[32] = "Label1"; + char buf[64]; sprintf(buf, "Button: %s###Button", name); // ### operator override ID ignoring the preceding label + ImGui::Button(buf); + if (ImGui::BeginPopupContextItem()) // When used after an item that has an ID (here the Button), we can skip providing an ID to BeginPopupContextItem(). { - ImGui::Text("Edit color"); - ImGui::ColorEdit3("##edit", (float*)&color); + ImGui::Text("Edit name:"); + ImGui::InputText("##edit", name, IM_ARRAYSIZE(name)); if (ImGui::Button("Close")) ImGui::CloseCurrentPopup(); ImGui::EndPopup(); @@ -1305,6 +1545,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::PopStyleVar(); if (ImGui::Button("OK", ImVec2(120,0))) { ImGui::CloseCurrentPopup(); } + ImGui::SetItemDefaultFocus(); ImGui::SameLine(); if (ImGui::Button("Cancel", ImVec2(120,0))) { ImGui::CloseCurrentPopup(); } ImGui::EndPopup(); @@ -1314,13 +1555,17 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::OpenPopup("Stacked 1"); if (ImGui::BeginPopupModal("Stacked 1")) { - ImGui::Text("Hello from Stacked The First"); + ImGui::Text("Hello from Stacked The First\nUsing style.Colors[ImGuiCol_ModalWindowDarkening] for darkening."); + static int item = 1; + ImGui::Combo("Combo", &item, "aaaa\0bbbb\0cccc\0dddd\0eeee\0\0"); + static float color[4] = { 0.4f,0.7f,0.0f,0.5f }; + ImGui::ColorEdit4("color", color); // This is to test behavior of stacked regular popups over a modal - if (ImGui::Button("Another one..")) + if (ImGui::Button("Add another modal..")) ImGui::OpenPopup("Stacked 2"); if (ImGui::BeginPopupModal("Stacked 2")) { - ImGui::Text("Hello from Stacked The Second"); + ImGui::Text("Hello from Stacked The Second!"); if (ImGui::Button("Close")) ImGui::CloseCurrentPopup(); ImGui::EndPopup(); @@ -1333,10 +1578,31 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::TreePop(); } + + if (ImGui::TreeNode("Menus inside a regular window")) + { + ImGui::TextWrapped("Below we are testing adding menu items to a regular window. It's rather unusual but should work!"); + ImGui::Separator(); + // NB: As a quirk in this very specific example, we want to differentiate the parent of this menu from the parent of the various popup menus above. + // To do so we are encloding the items in a PushID()/PopID() block to make them two different menusets. If we don't, opening any popup above and hovering our menu here + // would open it. This is because once a menu is active, we allow to switch to a sibling menu by just hovering on it, which is the desired behavior for regular menus. + ImGui::PushID("foo"); + ImGui::MenuItem("Menu item", "CTRL+M"); + if (ImGui::BeginMenu("Menu inside a regular window")) + { + ShowExampleMenuFile(); + ImGui::EndMenu(); + } + ImGui::PopID(); + ImGui::Separator(); + ImGui::TreePop(); + } } if (ImGui::CollapsingHeader("Columns")) { + ImGui::PushID("Columns"); + // Basic columns if (ImGui::TreeNode("Basic")) { @@ -1360,7 +1626,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::Text("ID"); ImGui::NextColumn(); ImGui::Text("Name"); ImGui::NextColumn(); ImGui::Text("Path"); ImGui::NextColumn(); - ImGui::Text("Flags"); ImGui::NextColumn(); + ImGui::Text("Hovered"); ImGui::NextColumn(); ImGui::Separator(); const char* names[3] = { "One", "Two", "Three" }; const char* paths[3] = { "/path/one", "/path/two", "/path/three" }; @@ -1371,19 +1637,89 @@ void ImGui::ShowTestWindow(bool* p_open) sprintf(label, "%04d", i); if (ImGui::Selectable(label, selected == i, ImGuiSelectableFlags_SpanAllColumns)) selected = i; + bool hovered = ImGui::IsItemHovered(); ImGui::NextColumn(); ImGui::Text(names[i]); ImGui::NextColumn(); ImGui::Text(paths[i]); ImGui::NextColumn(); - ImGui::Text("...."); ImGui::NextColumn(); + ImGui::Text("%d", hovered); ImGui::NextColumn(); } ImGui::Columns(1); ImGui::Separator(); ImGui::TreePop(); } + // Create multiple items in a same cell before switching to next column + if (ImGui::TreeNode("Mixed items")) + { + ImGui::Columns(3, "mixed"); + ImGui::Separator(); + + ImGui::Text("Hello"); + ImGui::Button("Banana"); + ImGui::NextColumn(); + + ImGui::Text("ImGui"); + ImGui::Button("Apple"); + static float foo = 1.0f; + ImGui::InputFloat("red", &foo, 0.05f, 0, 3); + ImGui::Text("An extra line here."); + ImGui::NextColumn(); + + ImGui::Text("Sailor"); + ImGui::Button("Corniflower"); + static float bar = 1.0f; + ImGui::InputFloat("blue", &bar, 0.05f, 0, 3); + ImGui::NextColumn(); + + if (ImGui::CollapsingHeader("Category A")) { ImGui::Text("Blah blah blah"); } ImGui::NextColumn(); + if (ImGui::CollapsingHeader("Category B")) { ImGui::Text("Blah blah blah"); } ImGui::NextColumn(); + if (ImGui::CollapsingHeader("Category C")) { ImGui::Text("Blah blah blah"); } ImGui::NextColumn(); + ImGui::Columns(1); + ImGui::Separator(); + ImGui::TreePop(); + } + + // Word wrapping + if (ImGui::TreeNode("Word-wrapping")) + { + ImGui::Columns(2, "word-wrapping"); + ImGui::Separator(); + ImGui::TextWrapped("The quick brown fox jumps over the lazy dog."); + ImGui::TextWrapped("Hello Left"); + ImGui::NextColumn(); + ImGui::TextWrapped("The quick brown fox jumps over the lazy dog."); + ImGui::TextWrapped("Hello Right"); + ImGui::Columns(1); + ImGui::Separator(); + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Borders")) + { + // NB: Future columns API should allow automatic horizontal borders. + static bool h_borders = true; + static bool v_borders = true; + ImGui::Checkbox("horizontal", &h_borders); + ImGui::SameLine(); + ImGui::Checkbox("vertical", &v_borders); + ImGui::Columns(4, NULL, v_borders); + for (int i = 0; i < 4*3; i++) + { + if (h_borders && ImGui::GetColumnIndex() == 0) + ImGui::Separator(); + ImGui::Text("%c%c%c", 'a'+i, 'a'+i, 'a'+i); + ImGui::Text("Width %.2f\nOffset %.2f", ImGui::GetColumnWidth(), ImGui::GetColumnOffset()); + ImGui::NextColumn(); + } + ImGui::Columns(1); + if (h_borders) + ImGui::Separator(); + ImGui::TreePop(); + } + // Scrolling columns /* - if (ImGui::TreeNode("Scrolling")) + if (ImGui::TreeNode("Vertical Scrolling")) { ImGui::BeginChild("##header", ImVec2(0, ImGui::GetTextLineHeightWithSpacing()+ImGui::GetStyle().ItemSpacing.y)); ImGui::Columns(3); @@ -1407,73 +1743,29 @@ void ImGui::ShowTestWindow(bool* p_open) } */ - // Create multiple items in a same cell before switching to next column - if (ImGui::TreeNode("Mixed items")) + if (ImGui::TreeNode("Horizontal Scrolling")) { - ImGui::Columns(3, "mixed"); - ImGui::Separator(); - - ImGui::Text("Hello"); - ImGui::Button("Banana"); - ImGui::NextColumn(); - - ImGui::Text("ImGui"); - ImGui::Button("Apple"); - static float foo = 1.0f; - ImGui::InputFloat("red", &foo, 0.05f, 0, 3); - ImGui::Text("An extra line here."); - ImGui::NextColumn(); - - ImGui::Text("Sailor"); - ImGui::Button("Corniflower"); - static float bar = 1.0f; - ImGui::InputFloat("blue", &bar, 0.05f, 0, 3); - ImGui::NextColumn(); - - if (ImGui::CollapsingHeader("Category A")) ImGui::Text("Blah blah blah"); ImGui::NextColumn(); - if (ImGui::CollapsingHeader("Category B")) ImGui::Text("Blah blah blah"); ImGui::NextColumn(); - if (ImGui::CollapsingHeader("Category C")) ImGui::Text("Blah blah blah"); ImGui::NextColumn(); - ImGui::Columns(1); - ImGui::Separator(); - ImGui::TreePop(); - } - - // Word wrapping - if (ImGui::TreeNode("Word-wrapping")) - { - ImGui::Columns(2, "word-wrapping"); - ImGui::Separator(); - ImGui::TextWrapped("The quick brown fox jumps over the lazy dog."); - ImGui::TextWrapped("Hello Left"); - ImGui::NextColumn(); - ImGui::TextWrapped("The quick brown fox jumps over the lazy dog."); - ImGui::TextWrapped("Hello Right"); - ImGui::Columns(1); - ImGui::Separator(); - ImGui::TreePop(); - } - - if (ImGui::TreeNode("Borders")) - { - static bool h_borders = true; - static bool v_borders = true; - ImGui::Checkbox("horizontal", &h_borders); - ImGui::SameLine(); - ImGui::Checkbox("vertical", &v_borders); - ImGui::Columns(4, NULL, v_borders); - if (h_borders) ImGui::Separator(); - for (int i = 0; i < 8; i++) + ImGui::SetNextWindowContentSize(ImVec2(1500.0f, 0.0f)); + ImGui::BeginChild("##ScrollingRegion", ImVec2(0, ImGui::GetFontSize() * 20), false, ImGuiWindowFlags_HorizontalScrollbar); + ImGui::Columns(10); + int ITEMS_COUNT = 2000; + ImGuiListClipper clipper(ITEMS_COUNT); // Also demonstrate using the clipper for large list + while (clipper.Step()) { - ImGui::Text("%c%c%c", 'a'+i, 'a'+i, 'a'+i); - ImGui::NextColumn(); + for (int i = clipper.DisplayStart; i < clipper.DisplayEnd; i++) + for (int j = 0; j < 10; j++) + { + ImGui::Text("Line %d Column %d...", i, j); + ImGui::NextColumn(); + } } ImGui::Columns(1); - if (h_borders) ImGui::Separator(); + ImGui::EndChild(); ImGui::TreePop(); } bool node_open = ImGui::TreeNode("Tree within single cell"); - ImGui::SameLine(); ShowHelpMarker("NB: Tree node must be poped before ending the cell.\nThere's no storage of state per-cell."); + ImGui::SameLine(); ShowHelpMarker("NB: Tree node must be poped before ending the cell. There's no storage of state per-cell."); if (node_open) { ImGui::Columns(2, "tree items"); @@ -1484,6 +1776,7 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::Separator(); ImGui::TreePop(); } + ImGui::PopID(); } if (ImGui::CollapsingHeader("Filtering")) @@ -1501,8 +1794,55 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::BulletText("%s", lines[i]); } - if (ImGui::CollapsingHeader("Keyboard, Mouse & Focus")) + if (ImGui::CollapsingHeader("Inputs, Navigation & Focus")) { + ImGuiIO& io = ImGui::GetIO(); + + ImGui::Text("WantCaptureMouse: %d", io.WantCaptureMouse); + ImGui::Text("WantCaptureKeyboard: %d", io.WantCaptureKeyboard); + ImGui::Text("WantTextInput: %d", io.WantTextInput); + ImGui::Text("WantMoveMouse: %d", io.WantMoveMouse); + ImGui::Text("NavActive: %d, NavVisible: %d", io.NavActive, io.NavVisible); + + ImGui::Checkbox("io.MouseDrawCursor", &io.MouseDrawCursor); + ImGui::SameLine(); ShowHelpMarker("Request ImGui to render a mouse cursor for you in software. Note that a mouse cursor rendered via your application GPU rendering path will feel more laggy than hardware cursor, but will be more in sync with your other visuals.\n\nSome desktop applications may use both kinds of cursors (e.g. enable software cursor only when resizing/dragging something)."); + ImGui::CheckboxFlags("io.NavFlags: EnableGamepad", (unsigned int *)&io.NavFlags, ImGuiNavFlags_EnableGamepad); + ImGui::CheckboxFlags("io.NavFlags: EnableKeyboard", (unsigned int *)&io.NavFlags, ImGuiNavFlags_EnableKeyboard); + ImGui::CheckboxFlags("io.NavFlags: MoveMouse", (unsigned int *)&io.NavFlags, ImGuiNavFlags_MoveMouse); + ImGui::SameLine(); ShowHelpMarker("Request ImGui to move your move cursor when using gamepad/keyboard navigation. NewFrame() will change io.MousePos and set the io.WantMoveMouse flag, your backend will need to apply the new mouse position."); + + if (ImGui::TreeNode("Keyboard, Mouse & Navigation State")) + { + if (ImGui::IsMousePosValid()) + ImGui::Text("Mouse pos: (%g, %g)", io.MousePos.x, io.MousePos.y); + else + ImGui::Text("Mouse pos: "); + ImGui::Text("Mouse down:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (io.MouseDownDuration[i] >= 0.0f) { ImGui::SameLine(); ImGui::Text("b%d (%.02f secs)", i, io.MouseDownDuration[i]); } + ImGui::Text("Mouse clicked:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (ImGui::IsMouseClicked(i)) { ImGui::SameLine(); ImGui::Text("b%d", i); } + ImGui::Text("Mouse dbl-clicked:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (ImGui::IsMouseDoubleClicked(i)) { ImGui::SameLine(); ImGui::Text("b%d", i); } + ImGui::Text("Mouse released:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (ImGui::IsMouseReleased(i)) { ImGui::SameLine(); ImGui::Text("b%d", i); } + ImGui::Text("Mouse wheel: %.1f", io.MouseWheel); + + ImGui::Text("Keys down:"); for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); i++) if (io.KeysDownDuration[i] >= 0.0f) { ImGui::SameLine(); ImGui::Text("%d (%.02f secs)", i, io.KeysDownDuration[i]); } + ImGui::Text("Keys pressed:"); for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); i++) if (ImGui::IsKeyPressed(i)) { ImGui::SameLine(); ImGui::Text("%d", i); } + ImGui::Text("Keys release:"); for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); i++) if (ImGui::IsKeyReleased(i)) { ImGui::SameLine(); ImGui::Text("%d", i); } + ImGui::Text("Keys mods: %s%s%s%s", io.KeyCtrl ? "CTRL " : "", io.KeyShift ? "SHIFT " : "", io.KeyAlt ? "ALT " : "", io.KeySuper ? "SUPER " : ""); + + ImGui::Text("NavInputs down:"); for (int i = 0; i < IM_ARRAYSIZE(io.NavInputs); i++) if (io.NavInputs[i] > 0.0f) { ImGui::SameLine(); ImGui::Text("[%d] %.2f", i, io.NavInputs[i]); } + ImGui::Text("NavInputs pressed:"); for (int i = 0; i < IM_ARRAYSIZE(io.NavInputs); i++) if (io.NavInputsDownDuration[i] == 0.0f) { ImGui::SameLine(); ImGui::Text("[%d]", i); } + ImGui::Text("NavInputs duration:"); for (int i = 0; i < IM_ARRAYSIZE(io.NavInputs); i++) if (io.NavInputsDownDuration[i] >= 0.0f) { ImGui::SameLine(); ImGui::Text("[%d] %.2f", i, io.NavInputsDownDuration[i]); } + + ImGui::Button("Hovering me sets the\nkeyboard capture flag"); + if (ImGui::IsItemHovered()) + ImGui::CaptureKeyboardFromApp(true); + ImGui::SameLine(); + ImGui::Button("Holding me clears the\nthe keyboard capture flag"); + if (ImGui::IsItemActive()) + ImGui::CaptureKeyboardFromApp(false); + + ImGui::TreePop(); + } + if (ImGui::TreeNode("Tabbing")) { ImGui::Text("Use TAB/SHIFT+TAB to cycle through keyboard editable fields."); @@ -1539,75 +1879,125 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::InputText("3 (tab skip)", buf, IM_ARRAYSIZE(buf)); if (ImGui::IsItemActive()) has_focus = 3; ImGui::PopAllowKeyboardFocus(); + if (has_focus) ImGui::Text("Item with focus: %d", has_focus); else ImGui::Text("Item with focus: "); - ImGui::TextWrapped("Cursor & selection are preserved when refocusing last used item in code."); + + // Use >= 0 parameter to SetKeyboardFocusHere() to focus an upcoming item + static float f3[3] = { 0.0f, 0.0f, 0.0f }; + int focus_ahead = -1; + if (ImGui::Button("Focus on X")) focus_ahead = 0; ImGui::SameLine(); + if (ImGui::Button("Focus on Y")) focus_ahead = 1; ImGui::SameLine(); + if (ImGui::Button("Focus on Z")) focus_ahead = 2; + if (focus_ahead != -1) ImGui::SetKeyboardFocusHere(focus_ahead); + ImGui::SliderFloat3("Float3", &f3[0], 0.0f, 1.0f); + + ImGui::TextWrapped("NB: Cursor & selection are preserved when refocusing last used item in code."); + ImGui::TreePop(); + } + + if (ImGui::TreeNode("Focused & Hovered Test")) + { + static bool embed_all_inside_a_child_window = false; + ImGui::Checkbox("Embed everything inside a child window (for additional testing)", &embed_all_inside_a_child_window); + if (embed_all_inside_a_child_window) + ImGui::BeginChild("embeddingchild", ImVec2(0, ImGui::GetFontSize() * 25), true); + + // Testing IsWindowFocused() function with its various flags (note that the flags can be combined) + ImGui::BulletText( + "IsWindowFocused() = %d\n" + "IsWindowFocused(_ChildWindows) = %d\n" + "IsWindowFocused(_ChildWindows|_RootWindow) = %d\n" + "IsWindowFocused(_RootWindow) = %d\n" + "IsWindowFocused(_AnyWindow) = %d\n", + ImGui::IsWindowFocused(), + ImGui::IsWindowFocused(ImGuiFocusedFlags_ChildWindows), + ImGui::IsWindowFocused(ImGuiFocusedFlags_ChildWindows | ImGuiFocusedFlags_RootWindow), + ImGui::IsWindowFocused(ImGuiFocusedFlags_RootWindow), + ImGui::IsWindowFocused(ImGuiFocusedFlags_AnyWindow)); + + // Testing IsWindowHovered() function with its various flags (note that the flags can be combined) + ImGui::BulletText( + "IsWindowHovered() = %d\n" + "IsWindowHovered(_AllowWhenBlockedByPopup) = %d\n" + "IsWindowHovered(_AllowWhenBlockedByActiveItem) = %d\n" + "IsWindowHovered(_ChildWindows) = %d\n" + "IsWindowHovered(_ChildWindows|_RootWindow) = %d\n" + "IsWindowHovered(_RootWindow) = %d\n" + "IsWindowHovered(_AnyWindow) = %d\n", + ImGui::IsWindowHovered(), + ImGui::IsWindowHovered(ImGuiHoveredFlags_AllowWhenBlockedByPopup), + ImGui::IsWindowHovered(ImGuiHoveredFlags_AllowWhenBlockedByActiveItem), + ImGui::IsWindowHovered(ImGuiHoveredFlags_ChildWindows), + ImGui::IsWindowHovered(ImGuiHoveredFlags_ChildWindows | ImGuiHoveredFlags_RootWindow), + ImGui::IsWindowHovered(ImGuiHoveredFlags_RootWindow), + ImGui::IsWindowHovered(ImGuiHoveredFlags_AnyWindow)); + + // Testing IsItemHovered() function (because BulletText is an item itself and that would affect the output of IsItemHovered, we pass all lines in a single items to shorten the code) + ImGui::Button("ITEM"); + ImGui::BulletText( + "IsItemHovered() = %d\n" + "IsItemHovered(_AllowWhenBlockedByPopup) = %d\n" + "IsItemHovered(_AllowWhenBlockedByActiveItem) = %d\n" + "IsItemHovered(_AllowWhenOverlapped) = %d\n" + "IsItemhovered(_RectOnly) = %d\n", + ImGui::IsItemHovered(), + ImGui::IsItemHovered(ImGuiHoveredFlags_AllowWhenBlockedByPopup), + ImGui::IsItemHovered(ImGuiHoveredFlags_AllowWhenBlockedByActiveItem), + ImGui::IsItemHovered(ImGuiHoveredFlags_AllowWhenOverlapped), + ImGui::IsItemHovered(ImGuiHoveredFlags_RectOnly)); + + ImGui::BeginChild("child", ImVec2(0,50), true); + ImGui::Text("This is another child window for testing IsWindowHovered() flags."); + ImGui::EndChild(); + + if (embed_all_inside_a_child_window) + EndChild(); + ImGui::TreePop(); } if (ImGui::TreeNode("Dragging")) { ImGui::TextWrapped("You can use ImGui::GetMouseDragDelta(0) to query for the dragged amount on any widget."); + for (int button = 0; button < 3; button++) + ImGui::Text("IsMouseDragging(%d):\n w/ default threshold: %d,\n w/ zero threshold: %d\n w/ large threshold: %d", + button, ImGui::IsMouseDragging(button), ImGui::IsMouseDragging(button, 0.0f), ImGui::IsMouseDragging(button, 20.0f)); ImGui::Button("Drag Me"); if (ImGui::IsItemActive()) { // Draw a line between the button and the mouse cursor ImDrawList* draw_list = ImGui::GetWindowDrawList(); draw_list->PushClipRectFullScreen(); - draw_list->AddLine(ImGui::CalcItemRectClosestPoint(ImGui::GetIO().MousePos, true, -2.0f), ImGui::GetIO().MousePos, ImColor(ImGui::GetStyle().Colors[ImGuiCol_Button]), 4.0f); + draw_list->AddLine(io.MouseClickedPos[0], io.MousePos, ImGui::GetColorU32(ImGuiCol_Button), 4.0f); draw_list->PopClipRect(); + + // Drag operations gets "unlocked" when the mouse has moved past a certain threshold (the default threshold is stored in io.MouseDragThreshold) + // You can request a lower or higher threshold using the second parameter of IsMouseDragging() and GetMouseDragDelta() ImVec2 value_raw = ImGui::GetMouseDragDelta(0, 0.0f); ImVec2 value_with_lock_threshold = ImGui::GetMouseDragDelta(0); - ImVec2 mouse_delta = ImGui::GetIO().MouseDelta; + ImVec2 mouse_delta = io.MouseDelta; ImGui::SameLine(); ImGui::Text("Raw (%.1f, %.1f), WithLockThresold (%.1f, %.1f), MouseDelta (%.1f, %.1f)", value_raw.x, value_raw.y, value_with_lock_threshold.x, value_with_lock_threshold.y, mouse_delta.x, mouse_delta.y); } ImGui::TreePop(); } - if (ImGui::TreeNode("Keyboard & Mouse State")) - { - ImGuiIO& io = ImGui::GetIO(); - - ImGui::Text("MousePos: (%g, %g)", io.MousePos.x, io.MousePos.y); - ImGui::Text("Mouse down:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (io.MouseDownDuration[i] >= 0.0f) { ImGui::SameLine(); ImGui::Text("b%d (%.02f secs)", i, io.MouseDownDuration[i]); } - ImGui::Text("Mouse clicked:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (ImGui::IsMouseClicked(i)) { ImGui::SameLine(); ImGui::Text("b%d", i); } - ImGui::Text("Mouse dbl-clicked:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (ImGui::IsMouseDoubleClicked(i)) { ImGui::SameLine(); ImGui::Text("b%d", i); } - ImGui::Text("Mouse released:"); for (int i = 0; i < IM_ARRAYSIZE(io.MouseDown); i++) if (ImGui::IsMouseReleased(i)) { ImGui::SameLine(); ImGui::Text("b%d", i); } - ImGui::Text("MouseWheel: %.1f", io.MouseWheel); - - ImGui::Text("Keys down:"); for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); i++) if (io.KeysDownDuration[i] >= 0.0f) { ImGui::SameLine(); ImGui::Text("%d (%.02f secs)", i, io.KeysDownDuration[i]); } - ImGui::Text("Keys pressed:"); for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); i++) if (ImGui::IsKeyPressed(i)) { ImGui::SameLine(); ImGui::Text("%d", i); } - ImGui::Text("Keys release:"); for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); i++) if (ImGui::IsKeyReleased(i)) { ImGui::SameLine(); ImGui::Text("%d", i); } - ImGui::Text("KeyMods: %s%s%s%s", io.KeyCtrl ? "CTRL " : "", io.KeyShift ? "SHIFT " : "", io.KeyAlt ? "ALT " : "", io.KeySuper ? "SUPER " : ""); - - ImGui::Text("WantCaptureMouse: %s", io.WantCaptureMouse ? "true" : "false"); - ImGui::Text("WantCaptureKeyboard: %s", io.WantCaptureKeyboard ? "true" : "false"); - ImGui::Text("WantTextInput: %s", io.WantTextInput ? "true" : "false"); - - ImGui::Button("Hovering me sets the\nkeyboard capture flag"); - if (ImGui::IsItemHovered()) - ImGui::CaptureKeyboardFromApp(true); - ImGui::SameLine(); - ImGui::Button("Holding me clears the\nthe keyboard capture flag"); - if (ImGui::IsItemActive()) - ImGui::CaptureKeyboardFromApp(false); - - ImGui::TreePop(); - } - if (ImGui::TreeNode("Mouse cursors")) { - ImGui::TextWrapped("Your application can render a different mouse cursor based on what ImGui::GetMouseCursor() returns. You can also set io.MouseDrawCursor to ask ImGui to render the cursor for you in software."); - ImGui::Checkbox("io.MouseDrawCursor", &ImGui::GetIO().MouseDrawCursor); + const char* mouse_cursors_names[] = { "Arrow", "TextInput", "Move", "ResizeNS", "ResizeEW", "ResizeNESW", "ResizeNWSE" }; + IM_ASSERT(IM_ARRAYSIZE(mouse_cursors_names) == ImGuiMouseCursor_Count_); + + ImGui::Text("Current mouse cursor = %d: %s", ImGui::GetMouseCursor(), mouse_cursors_names[ImGui::GetMouseCursor()]); ImGui::Text("Hover to see mouse cursors:"); + ImGui::SameLine(); ShowHelpMarker("Your application can render a different mouse cursor based on what ImGui::GetMouseCursor() returns. If software cursor rendering (io.MouseDrawCursor) is set ImGui will draw the right cursor for you, otherwise your backend needs to handle it."); for (int i = 0; i < ImGuiMouseCursor_Count_; i++) { char label[32]; - sprintf(label, "Mouse cursor %d", i); + sprintf(label, "Mouse cursor %d: %s", i, mouse_cursors_names[i]); ImGui::Bullet(); ImGui::Selectable(label, false); - if (ImGui::IsItemHovered()) + if (ImGui::IsItemHovered() || ImGui::IsItemFocused()) ImGui::SetMouseCursor(i); } ImGui::TreePop(); @@ -1617,28 +2007,87 @@ void ImGui::ShowTestWindow(bool* p_open) ImGui::End(); } +// Demo helper function to select among default colors. See ShowStyleEditor() for more advanced options. +// Here we use the simplified Combo() api that packs items into a single literal string. Useful for quick combo boxes where the choices are known locally. +bool ImGui::ShowStyleSelector(const char* label) +{ + static int style_idx = -1; + if (ImGui::Combo(label, &style_idx, "Classic\0Dark\0Light\0")) + { + switch (style_idx) + { + case 0: ImGui::StyleColorsClassic(); break; + case 1: ImGui::StyleColorsDark(); break; + case 2: ImGui::StyleColorsLight(); break; + } + return true; + } + return false; +} + +// Demo helper function to select among loaded fonts. +// Here we use the regular BeginCombo()/EndCombo() api which is more the more flexible one. +void ImGui::ShowFontSelector(const char* label) +{ + ImGuiIO& io = ImGui::GetIO(); + ImFont* font_current = ImGui::GetFont(); + if (ImGui::BeginCombo(label, font_current->GetDebugName())) + { + for (int n = 0; n < io.Fonts->Fonts.Size; n++) + if (ImGui::Selectable(io.Fonts->Fonts[n]->GetDebugName(), io.Fonts->Fonts[n] == font_current)) + io.FontDefault = io.Fonts->Fonts[n]; + ImGui::EndCombo(); + } + ImGui::SameLine(); + ShowHelpMarker( + "- Load additional fonts with io.Fonts->AddFontFromFileTTF().\n" + "- The font atlas is built when calling io.Fonts->GetTexDataAsXXXX() or io.Fonts->Build().\n" + "- Read FAQ and documentation in misc/fonts/ for more details.\n" + "- If you need to add/remove fonts at runtime (e.g. for DPI change), do it before calling NewFrame()."); +} + void ImGui::ShowStyleEditor(ImGuiStyle* ref) { + // You can pass in a reference ImGuiStyle structure to compare to, revert to and save to (else it compares to an internally stored reference) ImGuiStyle& style = ImGui::GetStyle(); + static ImGuiStyle ref_saved_style; - // You can pass in a reference ImGuiStyle structure to compare to, revert to and save to (else it compares to the default style) - const ImGuiStyle default_style; // Default style - if (ImGui::Button("Revert Style")) - style = ref ? *ref : default_style; + // Default to using internal storage as reference + static bool init = true; + if (init && ref == NULL) + ref_saved_style = style; + init = false; + if (ref == NULL) + ref = &ref_saved_style; - if (ref) - { - ImGui::SameLine(); - if (ImGui::Button("Save Style")) - *ref = style; - } + ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.50f); - ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.55f); + if (ImGui::ShowStyleSelector("Colors##Selector")) + ref_saved_style = style; + ImGui::ShowFontSelector("Fonts##Selector"); + + // Simplified Settings + if (ImGui::SliderFloat("FrameRounding", &style.FrameRounding, 0.0f, 12.0f, "%.0f")) + style.GrabRounding = style.FrameRounding; // Make GrabRounding always the same value as FrameRounding + { bool window_border = (style.WindowBorderSize > 0.0f); if (ImGui::Checkbox("WindowBorder", &window_border)) style.WindowBorderSize = window_border ? 1.0f : 0.0f; } + ImGui::SameLine(); + { bool frame_border = (style.FrameBorderSize > 0.0f); if (ImGui::Checkbox("FrameBorder", &frame_border)) style.FrameBorderSize = frame_border ? 1.0f : 0.0f; } + ImGui::SameLine(); + { bool popup_border = (style.PopupBorderSize > 0.0f); if (ImGui::Checkbox("PopupBorder", &popup_border)) style.PopupBorderSize = popup_border ? 1.0f : 0.0f; } + + // Save/Revert button + if (ImGui::Button("Save Ref")) + *ref = ref_saved_style = style; + ImGui::SameLine(); + if (ImGui::Button("Revert Ref")) + style = *ref; + ImGui::SameLine(); + ShowHelpMarker("Save/Revert in local non-persistent storage. Default Colors definition are not affected. Use \"Export Colors\" below to save them somewhere."); if (ImGui::TreeNode("Rendering")) { - ImGui::Checkbox("Anti-aliased lines", &style.AntiAliasedLines); - ImGui::Checkbox("Anti-aliased shapes", &style.AntiAliasedShapes); + ImGui::Checkbox("Anti-aliased lines", &style.AntiAliasedLines); ImGui::SameLine(); ShowHelpMarker("When disabling anti-aliasing lines, you'll probably want to disable borders in your style as well."); + ImGui::Checkbox("Anti-aliased fill", &style.AntiAliasedFill); ImGui::PushItemWidth(100); ImGui::DragFloat("Curve Tessellation Tolerance", &style.CurveTessellationTol, 0.02f, 0.10f, FLT_MAX, NULL, 2.0f); if (style.CurveTessellationTol < 0.0f) style.CurveTessellationTol = 0.10f; @@ -1650,18 +2099,25 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) if (ImGui::TreeNode("Settings")) { ImGui::SliderFloat2("WindowPadding", (float*)&style.WindowPadding, 0.0f, 20.0f, "%.0f"); - ImGui::SliderFloat("WindowRounding", &style.WindowRounding, 0.0f, 16.0f, "%.0f"); - ImGui::SliderFloat("ChildWindowRounding", &style.ChildWindowRounding, 0.0f, 16.0f, "%.0f"); + ImGui::SliderFloat("PopupRounding", &style.PopupRounding, 0.0f, 16.0f, "%.0f"); ImGui::SliderFloat2("FramePadding", (float*)&style.FramePadding, 0.0f, 20.0f, "%.0f"); - ImGui::SliderFloat("FrameRounding", &style.FrameRounding, 0.0f, 16.0f, "%.0f"); ImGui::SliderFloat2("ItemSpacing", (float*)&style.ItemSpacing, 0.0f, 20.0f, "%.0f"); ImGui::SliderFloat2("ItemInnerSpacing", (float*)&style.ItemInnerSpacing, 0.0f, 20.0f, "%.0f"); ImGui::SliderFloat2("TouchExtraPadding", (float*)&style.TouchExtraPadding, 0.0f, 10.0f, "%.0f"); ImGui::SliderFloat("IndentSpacing", &style.IndentSpacing, 0.0f, 30.0f, "%.0f"); ImGui::SliderFloat("ScrollbarSize", &style.ScrollbarSize, 1.0f, 20.0f, "%.0f"); - ImGui::SliderFloat("ScrollbarRounding", &style.ScrollbarRounding, 0.0f, 16.0f, "%.0f"); ImGui::SliderFloat("GrabMinSize", &style.GrabMinSize, 1.0f, 20.0f, "%.0f"); - ImGui::SliderFloat("GrabRounding", &style.GrabRounding, 0.0f, 16.0f, "%.0f"); + ImGui::Text("BorderSize"); + ImGui::SliderFloat("WindowBorderSize", &style.WindowBorderSize, 0.0f, 1.0f, "%.0f"); + ImGui::SliderFloat("ChildBorderSize", &style.ChildBorderSize, 0.0f, 1.0f, "%.0f"); + ImGui::SliderFloat("PopupBorderSize", &style.PopupBorderSize, 0.0f, 1.0f, "%.0f"); + ImGui::SliderFloat("FrameBorderSize", &style.FrameBorderSize, 0.0f, 1.0f, "%.0f"); + ImGui::Text("Rounding"); + ImGui::SliderFloat("WindowRounding", &style.WindowRounding, 0.0f, 14.0f, "%.0f"); + ImGui::SliderFloat("ChildRounding", &style.ChildRounding, 0.0f, 16.0f, "%.0f"); + ImGui::SliderFloat("FrameRounding", &style.FrameRounding, 0.0f, 12.0f, "%.0f"); + ImGui::SliderFloat("ScrollbarRounding", &style.ScrollbarRounding, 0.0f, 12.0f, "%.0f"); + ImGui::SliderFloat("GrabRounding", &style.GrabRounding, 0.0f, 12.0f, "%.0f"); ImGui::Text("Alignment"); ImGui::SliderFloat2("WindowTitleAlign", (float*)&style.WindowTitleAlign, 0.0f, 1.0f, "%.2f"); ImGui::SliderFloat2("ButtonTextAlign", (float*)&style.ButtonTextAlign, 0.0f, 1.0f, "%.2f"); ImGui::SameLine(); ShowHelpMarker("Alignment applies when a button is larger than its text content."); @@ -1671,52 +2127,54 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) if (ImGui::TreeNode("Colors")) { static int output_dest = 0; - static bool output_only_modified = false; - if (ImGui::Button("Copy Colors")) + static bool output_only_modified = true; + if (ImGui::Button("Export Unsaved")) { if (output_dest == 0) ImGui::LogToClipboard(); else ImGui::LogToTTY(); - ImGui::LogText("ImGuiStyle& style = ImGui::GetStyle();" IM_NEWLINE); + ImGui::LogText("ImVec4* colors = ImGui::GetStyle().Colors;" IM_NEWLINE); for (int i = 0; i < ImGuiCol_COUNT; i++) { const ImVec4& col = style.Colors[i]; - const char* name = ImGui::GetStyleColName(i); - if (!output_only_modified || memcmp(&col, (ref ? &ref->Colors[i] : &default_style.Colors[i]), sizeof(ImVec4)) != 0) - ImGui::LogText("style.Colors[ImGuiCol_%s]%*s= ImVec4(%.2ff, %.2ff, %.2ff, %.2ff);" IM_NEWLINE, name, 22 - (int)strlen(name), "", col.x, col.y, col.z, col.w); + const char* name = ImGui::GetStyleColorName(i); + if (!output_only_modified || memcmp(&col, &ref->Colors[i], sizeof(ImVec4)) != 0) + ImGui::LogText("colors[ImGuiCol_%s]%*s= ImVec4(%.2ff, %.2ff, %.2ff, %.2ff);" IM_NEWLINE, name, 23-(int)strlen(name), "", col.x, col.y, col.z, col.w); } ImGui::LogFinish(); } ImGui::SameLine(); ImGui::PushItemWidth(120); ImGui::Combo("##output_type", &output_dest, "To Clipboard\0To TTY\0"); ImGui::PopItemWidth(); - ImGui::SameLine(); ImGui::Checkbox("Only Modified Fields", &output_only_modified); + ImGui::SameLine(); ImGui::Checkbox("Only Modified Colors", &output_only_modified); - static ImGuiColorEditMode edit_mode = ImGuiColorEditMode_RGB; - ImGui::RadioButton("RGB", &edit_mode, ImGuiColorEditMode_RGB); - ImGui::SameLine(); - ImGui::RadioButton("HSV", &edit_mode, ImGuiColorEditMode_HSV); - ImGui::SameLine(); - ImGui::RadioButton("HEX", &edit_mode, ImGuiColorEditMode_HEX); - //ImGui::Text("Tip: Click on colored square to change edit mode."); + ImGui::Text("Tip: Left-click on colored square to open color picker,\nRight-click to open edit options menu."); static ImGuiTextFilter filter; filter.Draw("Filter colors", 200); - ImGui::BeginChild("#colors", ImVec2(0, 300), true, ImGuiWindowFlags_AlwaysVerticalScrollbar); + static ImGuiColorEditFlags alpha_flags = 0; + ImGui::RadioButton("Opaque", &alpha_flags, 0); ImGui::SameLine(); + ImGui::RadioButton("Alpha", &alpha_flags, ImGuiColorEditFlags_AlphaPreview); ImGui::SameLine(); + ImGui::RadioButton("Both", &alpha_flags, ImGuiColorEditFlags_AlphaPreviewHalf); + + ImGui::BeginChild("#colors", ImVec2(0, 300), true, ImGuiWindowFlags_AlwaysVerticalScrollbar | ImGuiWindowFlags_AlwaysHorizontalScrollbar | ImGuiWindowFlags_NavFlattened); ImGui::PushItemWidth(-160); - ImGui::ColorEditMode(edit_mode); for (int i = 0; i < ImGuiCol_COUNT; i++) { - const char* name = ImGui::GetStyleColName(i); + const char* name = ImGui::GetStyleColorName(i); if (!filter.PassFilter(name)) continue; ImGui::PushID(i); - ImGui::ColorEdit4(name, (float*)&style.Colors[i], true); - if (memcmp(&style.Colors[i], (ref ? &ref->Colors[i] : &default_style.Colors[i]), sizeof(ImVec4)) != 0) + ImGui::ColorEdit4("##color", (float*)&style.Colors[i], ImGuiColorEditFlags_AlphaBar | alpha_flags); + if (memcmp(&style.Colors[i], &ref->Colors[i], sizeof(ImVec4)) != 0) { - ImGui::SameLine(); if (ImGui::Button("Revert")) style.Colors[i] = ref ? ref->Colors[i] : default_style.Colors[i]; - if (ref) { ImGui::SameLine(); if (ImGui::Button("Save")) ref->Colors[i] = style.Colors[i]; } + // Tips: in a real user application, you may want to merge and use an icon font into the main font, so instead of "Save"/"Revert" you'd use icons. + // Read the FAQ and misc/fonts/README.txt about using icon fonts. It's really easy and super convenient! + ImGui::SameLine(0.0f, style.ItemInnerSpacing.x); if (ImGui::Button("Save")) ref->Colors[i] = style.Colors[i]; + ImGui::SameLine(0.0f, style.ItemInnerSpacing.x); if (ImGui::Button("Revert")) style.Colors[i] = ref->Colors[i]; } + ImGui::SameLine(0.0f, style.ItemInnerSpacing.x); + ImGui::TextUnformatted(name); ImGui::PopID(); } ImGui::PopItemWidth(); @@ -1725,9 +2183,9 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) ImGui::TreePop(); } - if (ImGui::TreeNode("Fonts", "Fonts (%d)", ImGui::GetIO().Fonts->Fonts.Size)) + bool fonts_opened = ImGui::TreeNode("Fonts", "Fonts (%d)", ImGui::GetIO().Fonts->Fonts.Size); + if (fonts_opened) { - ImGui::SameLine(); ShowHelpMarker("Tip: Load fonts with io.Fonts->AddFontFromFileTTF()\nbefore calling io.Fonts->GetTex* functions."); ImFontAtlas* atlas = ImGui::GetIO().Fonts; if (ImGui::TreeNode("Atlas texture", "Atlas texture (%dx%d pixels)", atlas->TexWidth, atlas->TexHeight)) { @@ -1738,19 +2196,20 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) for (int i = 0; i < atlas->Fonts.Size; i++) { ImFont* font = atlas->Fonts[i]; - ImGui::BulletText("Font %d: \'%s\', %.2f px, %d glyphs", i, font->ConfigData ? font->ConfigData[0].Name : "", font->FontSize, font->Glyphs.Size); - ImGui::TreePush((void*)(intptr_t)i); + ImGui::PushID(font); + bool font_details_opened = ImGui::TreeNode(font, "Font %d: \'%s\', %.2f px, %d glyphs", i, font->ConfigData ? font->ConfigData[0].Name : "", font->FontSize, font->Glyphs.Size); ImGui::SameLine(); if (ImGui::SmallButton("Set as default")) ImGui::GetIO().FontDefault = font; - ImGui::PushFont(font); - ImGui::Text("The quick brown fox jumps over the lazy dog"); - ImGui::PopFont(); - if (ImGui::TreeNode("Details")) + if (font_details_opened) { + ImGui::PushFont(font); + ImGui::Text("The quick brown fox jumps over the lazy dog"); + ImGui::PopFont(); ImGui::DragFloat("Font scale", &font->Scale, 0.005f, 0.3f, 2.0f, "%.1f"); // Scale only this font + ImGui::InputFloat("Font offset", &font->DisplayOffset.y, 1, 1, 0); ImGui::SameLine(); ShowHelpMarker("Note than the default embedded font is NOT meant to be scaled.\n\nFont are currently rendered into bitmaps at a given size at the time of building the atlas. You may oversample them to get some flexibility with scaling. You can also render at multiple sizes and select which one to use at runtime.\n\n(Glimmer of hope: the atlas system should hopefully be rewritten in the future to make scaling more natural and automatic.)"); ImGui::Text("Ascent: %f, Descent: %f, Height: %f", font->Ascent, font->Descent, font->Ascent - font->Descent); ImGui::Text("Fallback character: '%c' (%d)", font->FallbackChar, font->FallbackChar); - ImGui::Text("Texture surface: %d pixels (approx)", font->MetricsTotalSurface); + ImGui::Text("Texture surface: %d pixels (approx) ~ %dx%d", font->MetricsTotalSurface, (int)sqrtf((float)font->MetricsTotalSurface), (int)sqrtf((float)font->MetricsTotalSurface)); for (int config_i = 0; config_i < font->ConfigDataCount; config_i++) { ImFontConfig* cfg = &font->ConfigData[config_i]; @@ -1759,7 +2218,7 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) if (ImGui::TreeNode("Glyphs", "Glyphs (%d)", font->Glyphs.Size)) { // Display all glyphs of the fonts in separate pages of 256 characters - const ImFont::Glyph* glyph_fallback = font->FallbackGlyph; // Forcefully/dodgily make FindGlyph() return NULL on fallback, which isn't the default behavior. + const ImFontGlyph* glyph_fallback = font->FallbackGlyph; // Forcefully/dodgily make FindGlyph() return NULL on fallback, which isn't the default behavior. font->FallbackGlyph = NULL; for (int base = 0; base < 0x10000; base += 256) { @@ -1776,7 +2235,7 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) { ImVec2 cell_p1(base_pos.x + (n % 16) * (cell_size.x + cell_spacing), base_pos.y + (n / 16) * (cell_size.y + cell_spacing)); ImVec2 cell_p2(cell_p1.x + cell_size.x, cell_p1.y + cell_size.y); - const ImFont::Glyph* glyph = font->FindGlyph((ImWchar)(base+n));; + const ImFontGlyph* glyph = font->FindGlyph((ImWchar)(base+n));; draw_list->AddRect(cell_p1, cell_p2, glyph ? IM_COL32(255,255,255,100) : IM_COL32(255,255,255,50)); font->RenderChar(draw_list, cell_size.x, cell_p1, ImGui::GetColorU32(ImGuiCol_Text), (ImWchar)(base+n)); // We use ImFont::RenderChar as a shortcut because we don't have UTF-8 conversion functions available to generate a string. if (glyph && ImGui::IsMouseHoveringRect(cell_p1, cell_p2)) @@ -1784,7 +2243,7 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) ImGui::BeginTooltip(); ImGui::Text("Codepoint: U+%04X", base+n); ImGui::Separator(); - ImGui::Text("XAdvance+1: %.1f", glyph->XAdvance); + ImGui::Text("AdvanceX: %.1f", glyph->AdvanceX); ImGui::Text("Pos: (%.2f,%.2f)->(%.2f,%.2f)", glyph->X0, glyph->Y0, glyph->X1, glyph->Y1); ImGui::Text("UV: (%.3f,%.3f)->(%.3f,%.3f)", glyph->U0, glyph->V0, glyph->U1, glyph->V1); ImGui::EndTooltip(); @@ -1799,7 +2258,7 @@ void ImGui::ShowStyleEditor(ImGuiStyle* ref) } ImGui::TreePop(); } - ImGui::TreePop(); + ImGui::PopID(); } static float window_scale = 1.0f; ImGui::DragFloat("this window scale", &window_scale, 0.005f, 0.3f, 2.0f, "%.1f"); // scale only this window @@ -1872,15 +2331,25 @@ static void ShowExampleMenuFile() ImGui::EndChild(); static float f = 0.5f; static int n = 0; + static bool b = true; ImGui::SliderFloat("Value", &f, 0.0f, 1.0f); ImGui::InputFloat("Input", &f, 0.1f); ImGui::Combo("Combo", &n, "Yes\0No\0Maybe\0\0"); + ImGui::Checkbox("Check", &b); ImGui::EndMenu(); } if (ImGui::BeginMenu("Colors")) { + float sz = ImGui::GetTextLineHeight(); for (int i = 0; i < ImGuiCol_COUNT; i++) - ImGui::MenuItem(ImGui::GetStyleColName((ImGuiCol)i)); + { + const char* name = ImGui::GetStyleColorName((ImGuiCol)i); + ImVec2 p = ImGui::GetCursorScreenPos(); + ImGui::GetWindowDrawList()->AddRectFilled(p, ImVec2(p.x+sz, p.y+sz), ImGui::GetColorU32((ImGuiCol)i)); + ImGui::Dummy(ImVec2(sz, sz)); + ImGui::SameLine(); + ImGui::MenuItem(name); + } ImGui::EndMenu(); } if (ImGui::BeginMenu("Disabled", false)) // Disabled @@ -1913,76 +2382,97 @@ static void ShowExampleAppConstrainedResize(bool* p_open) { struct CustomConstraints // Helper functions to demonstrate programmatic constraints { - static void Square(ImGuiSizeConstraintCallbackData* data) { data->DesiredSize = ImVec2(IM_MAX(data->DesiredSize.x, data->DesiredSize.y), IM_MAX(data->DesiredSize.x, data->DesiredSize.y)); } - static void Step(ImGuiSizeConstraintCallbackData* data) { float step = (float)(int)(intptr_t)data->UserData; data->DesiredSize = ImVec2((int)(data->DesiredSize.x / step + 0.5f) * step, (int)(data->DesiredSize.y / step + 0.5f) * step); } + static void Square(ImGuiSizeCallbackData* data) { data->DesiredSize = ImVec2(IM_MAX(data->DesiredSize.x, data->DesiredSize.y), IM_MAX(data->DesiredSize.x, data->DesiredSize.y)); } + static void Step(ImGuiSizeCallbackData* data) { float step = (float)(int)(intptr_t)data->UserData; data->DesiredSize = ImVec2((int)(data->DesiredSize.x / step + 0.5f) * step, (int)(data->DesiredSize.y / step + 0.5f) * step); } }; + static bool auto_resize = false; static int type = 0; + static int display_lines = 10; if (type == 0) ImGui::SetNextWindowSizeConstraints(ImVec2(-1, 0), ImVec2(-1, FLT_MAX)); // Vertical only if (type == 1) ImGui::SetNextWindowSizeConstraints(ImVec2(0, -1), ImVec2(FLT_MAX, -1)); // Horizontal only if (type == 2) ImGui::SetNextWindowSizeConstraints(ImVec2(100, 100), ImVec2(FLT_MAX, FLT_MAX)); // Width > 100, Height > 100 - if (type == 3) ImGui::SetNextWindowSizeConstraints(ImVec2(300, 0), ImVec2(400, FLT_MAX)); // Width 300-400 - if (type == 4) ImGui::SetNextWindowSizeConstraints(ImVec2(0, 0), ImVec2(FLT_MAX, FLT_MAX), CustomConstraints::Square); // Always Square - if (type == 5) ImGui::SetNextWindowSizeConstraints(ImVec2(0, 0), ImVec2(FLT_MAX, FLT_MAX), CustomConstraints::Step, (void*)100);// Fixed Step + if (type == 3) ImGui::SetNextWindowSizeConstraints(ImVec2(400, -1), ImVec2(500, -1)); // Width 400-500 + if (type == 4) ImGui::SetNextWindowSizeConstraints(ImVec2(-1, 400), ImVec2(-1, 500)); // Height 400-500 + if (type == 5) ImGui::SetNextWindowSizeConstraints(ImVec2(0, 0), ImVec2(FLT_MAX, FLT_MAX), CustomConstraints::Square); // Always Square + if (type == 6) ImGui::SetNextWindowSizeConstraints(ImVec2(0, 0), ImVec2(FLT_MAX, FLT_MAX), CustomConstraints::Step, (void*)100);// Fixed Step - if (ImGui::Begin("Example: Constrained Resize", p_open)) + ImGuiWindowFlags flags = auto_resize ? ImGuiWindowFlags_AlwaysAutoResize : 0; + if (ImGui::Begin("Example: Constrained Resize", p_open, flags)) { const char* desc[] = { "Resize vertical only", "Resize horizontal only", "Width > 100, Height > 100", - "Width 300-400", + "Width 400-500", + "Height 400-500", "Custom: Always Square", "Custom: Fixed Steps (100)", }; - ImGui::Combo("Constraint", &type, desc, IM_ARRAYSIZE(desc)); - if (ImGui::Button("200x200")) ImGui::SetWindowSize(ImVec2(200,200)); ImGui::SameLine(); - if (ImGui::Button("500x500")) ImGui::SetWindowSize(ImVec2(500,500)); ImGui::SameLine(); - if (ImGui::Button("800x200")) ImGui::SetWindowSize(ImVec2(800,200)); - for (int i = 0; i < 10; i++) - ImGui::Text("Hello, sailor! Making this line long enough for the example."); + if (ImGui::Button("200x200")) { ImGui::SetWindowSize(ImVec2(200, 200)); } ImGui::SameLine(); + if (ImGui::Button("500x500")) { ImGui::SetWindowSize(ImVec2(500, 500)); } ImGui::SameLine(); + if (ImGui::Button("800x200")) { ImGui::SetWindowSize(ImVec2(800, 200)); } + ImGui::PushItemWidth(200); + ImGui::Combo("Constraint", &type, desc, IM_ARRAYSIZE(desc)); + ImGui::DragInt("Lines", &display_lines, 0.2f, 1, 100); + ImGui::PopItemWidth(); + ImGui::Checkbox("Auto-resize", &auto_resize); + for (int i = 0; i < display_lines; i++) + ImGui::Text("%*sHello, sailor! Making this line long enough for the example.", i * 4, ""); } ImGui::End(); } -// Demonstrate creating a simple static window with no decoration. +// Demonstrate creating a simple static window with no decoration + a context-menu to choose which corner of the screen to use. static void ShowExampleAppFixedOverlay(bool* p_open) { - ImGui::SetNextWindowPos(ImVec2(10,10)); - if (!ImGui::Begin("Example: Fixed Overlay", p_open, ImVec2(0,0), 0.3f, ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings)) + const float DISTANCE = 10.0f; + static int corner = 0; + ImVec2 window_pos = ImVec2((corner & 1) ? ImGui::GetIO().DisplaySize.x - DISTANCE : DISTANCE, (corner & 2) ? ImGui::GetIO().DisplaySize.y - DISTANCE : DISTANCE); + ImVec2 window_pos_pivot = ImVec2((corner & 1) ? 1.0f : 0.0f, (corner & 2) ? 1.0f : 0.0f); + ImGui::SetNextWindowPos(window_pos, ImGuiCond_Always, window_pos_pivot); + ImGui::SetNextWindowBgAlpha(0.3f); // Transparent background + if (ImGui::Begin("Example: Fixed Overlay", p_open, ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|ImGuiWindowFlags_AlwaysAutoResize|ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings|ImGuiWindowFlags_NoFocusOnAppearing|ImGuiWindowFlags_NoNav)) { + ImGui::Text("Simple overlay\nin the corner of the screen.\n(right-click to change position)"); + ImGui::Separator(); + ImGui::Text("Mouse Position: (%.1f,%.1f)", ImGui::GetIO().MousePos.x, ImGui::GetIO().MousePos.y); + if (ImGui::BeginPopupContextWindow()) + { + if (ImGui::MenuItem("Top-left", NULL, corner == 0)) corner = 0; + if (ImGui::MenuItem("Top-right", NULL, corner == 1)) corner = 1; + if (ImGui::MenuItem("Bottom-left", NULL, corner == 2)) corner = 2; + if (ImGui::MenuItem("Bottom-right", NULL, corner == 3)) corner = 3; + if (p_open && ImGui::MenuItem("Close")) *p_open = false; + ImGui::EndPopup(); + } ImGui::End(); - return; } - ImGui::Text("Simple overlay\non the top-left side of the screen."); - ImGui::Separator(); - ImGui::Text("Mouse Position: (%.1f,%.1f)", ImGui::GetIO().MousePos.x, ImGui::GetIO().MousePos.y); - ImGui::End(); } // Demonstrate using "##" and "###" in identifiers to manipulate ID generation. -// Read section "How can I have multiple widgets with the same label? Can I have widget without a label? (Yes). A primer on the purpose of labels/IDs." about ID. -static void ShowExampleAppManipulatingWindowTitle(bool*) +// This apply to regular items as well. Read FAQ section "How can I have multiple widgets with the same label? Can I have widget without a label? (Yes). A primer on the purpose of labels/IDs." for details. +static void ShowExampleAppWindowTitles(bool*) { // By default, Windows are uniquely identified by their title. // You can use the "##" and "###" markers to manipulate the display/ID. // Using "##" to display same title but have unique identifier. - ImGui::SetNextWindowPos(ImVec2(100,100), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowPos(ImVec2(100,100), ImGuiCond_FirstUseEver); ImGui::Begin("Same title as another window##1"); ImGui::Text("This is window 1.\nMy title is the same as window 2, but my identifier is unique."); ImGui::End(); - ImGui::SetNextWindowPos(ImVec2(100,200), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowPos(ImVec2(100,200), ImGuiCond_FirstUseEver); ImGui::Begin("Same title as another window##2"); ImGui::Text("This is window 2.\nMy title is the same as window 1, but my identifier is unique."); ImGui::End(); // Using "###" to display a changing title but keep a static identifier "AnimatedTitle" char buf[128]; - sprintf(buf, "Animated title %c %d###AnimatedTitle", "|/-\\"[(int)(ImGui::GetTime()/0.25f)&3], rand()); - ImGui::SetNextWindowPos(ImVec2(100,300), ImGuiSetCond_FirstUseEver); + sprintf(buf, "Animated title %c %d###AnimatedTitle", "|/-\\"[(int)(ImGui::GetTime()/0.25f)&3], ImGui::GetFrameCount()); + ImGui::SetNextWindowPos(ImVec2(100,300), ImGuiCond_FirstUseEver); ImGui::Begin(buf); ImGui::Text("This window has a changing title."); ImGui::End(); @@ -1991,7 +2481,7 @@ static void ShowExampleAppManipulatingWindowTitle(bool*) // Demonstrate using the low-level ImDrawList to draw custom shapes. static void ShowExampleAppCustomRendering(bool* p_open) { - ImGui::SetNextWindowSize(ImVec2(350,560), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowSize(ImVec2(350,560), ImGuiCond_FirstUseEver); if (!ImGui::Begin("Example: Custom rendering", p_open)) { ImGui::End(); @@ -2018,8 +2508,9 @@ static void ShowExampleAppCustomRendering(bool* p_open) { float thickness = (n == 0) ? 1.0f : 4.0f; draw_list->AddCircle(ImVec2(x+sz*0.5f, y+sz*0.5f), sz*0.5f, col32, 20, thickness); x += sz+spacing; - draw_list->AddRect(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, 0.0f, ~0, thickness); x += sz+spacing; - draw_list->AddRect(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, 10.0f, ~0, thickness); x += sz+spacing; + draw_list->AddRect(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, 0.0f, ImDrawCornerFlags_All, thickness); x += sz+spacing; + draw_list->AddRect(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, 10.0f, ImDrawCornerFlags_All, thickness); x += sz+spacing; + draw_list->AddRect(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, 10.0f, ImDrawCornerFlags_TopLeft|ImDrawCornerFlags_BotRight, thickness); x += sz+spacing; draw_list->AddTriangle(ImVec2(x+sz*0.5f, y), ImVec2(x+sz,y+sz-0.5f), ImVec2(x,y+sz-0.5f), col32, thickness); x += sz+spacing; draw_list->AddLine(ImVec2(x, y), ImVec2(x+sz, y ), col32, thickness); x += sz+spacing; draw_list->AddLine(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, thickness); x += sz+spacing; @@ -2031,8 +2522,9 @@ static void ShowExampleAppCustomRendering(bool* p_open) draw_list->AddCircleFilled(ImVec2(x+sz*0.5f, y+sz*0.5f), sz*0.5f, col32, 32); x += sz+spacing; draw_list->AddRectFilled(ImVec2(x, y), ImVec2(x+sz, y+sz), col32); x += sz+spacing; draw_list->AddRectFilled(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, 10.0f); x += sz+spacing; + draw_list->AddRectFilled(ImVec2(x, y), ImVec2(x+sz, y+sz), col32, 10.0f, ImDrawCornerFlags_TopLeft|ImDrawCornerFlags_BotRight); x += sz+spacing; draw_list->AddTriangleFilled(ImVec2(x+sz*0.5f, y), ImVec2(x+sz,y+sz-0.5f), ImVec2(x,y+sz-0.5f), col32); x += sz+spacing; - draw_list->AddRectFilledMultiColor(ImVec2(x, y), ImVec2(x+sz, y+sz), ImColor(0,0,0), ImColor(255,0,0), ImColor(255,255,0), ImColor(0,255,0)); + draw_list->AddRectFilledMultiColor(ImVec2(x, y), ImVec2(x+sz, y+sz), IM_COL32(0,0,0,255), IM_COL32(255,0,0,255), IM_COL32(255,255,0,255), IM_COL32(0,255,0,255)); ImGui::Dummy(ImVec2((sz+spacing)*8, (sz+spacing)*3)); } ImGui::Separator(); @@ -2051,8 +2543,8 @@ static void ShowExampleAppCustomRendering(bool* p_open) ImVec2 canvas_size = ImGui::GetContentRegionAvail(); // Resize canvas to what's available if (canvas_size.x < 50.0f) canvas_size.x = 50.0f; if (canvas_size.y < 50.0f) canvas_size.y = 50.0f; - draw_list->AddRectFilledMultiColor(canvas_pos, ImVec2(canvas_pos.x + canvas_size.x, canvas_pos.y + canvas_size.y), ImColor(50,50,50), ImColor(50,50,60), ImColor(60,60,70), ImColor(50,50,60)); - draw_list->AddRect(canvas_pos, ImVec2(canvas_pos.x + canvas_size.x, canvas_pos.y + canvas_size.y), ImColor(255,255,255)); + draw_list->AddRectFilledMultiColor(canvas_pos, ImVec2(canvas_pos.x + canvas_size.x, canvas_pos.y + canvas_size.y), IM_COL32(50,50,50,255), IM_COL32(50,50,60,255), IM_COL32(60,60,70,255), IM_COL32(50,50,60,255)); + draw_list->AddRect(canvas_pos, ImVec2(canvas_pos.x + canvas_size.x, canvas_pos.y + canvas_size.y), IM_COL32(255,255,255,255)); bool adding_preview = false; ImGui::InvisibleButton("canvas", canvas_size); @@ -2061,7 +2553,7 @@ static void ShowExampleAppCustomRendering(bool* p_open) { adding_preview = true; points.push_back(mouse_pos_in_canvas); - if (!ImGui::GetIO().MouseDown[0]) + if (!ImGui::IsMouseDown(0)) adding_line = adding_preview = false; } if (ImGui::IsItemHovered()) @@ -2078,7 +2570,7 @@ static void ShowExampleAppCustomRendering(bool* p_open) points.pop_back(); } } - draw_list->PushClipRect(canvas_pos, ImVec2(canvas_pos.x+canvas_size.x, canvas_pos.y+canvas_size.y)); // clip lines within the canvas (if we resize it, etc.) + draw_list->PushClipRect(canvas_pos, ImVec2(canvas_pos.x+canvas_size.x, canvas_pos.y+canvas_size.y), true); // clip lines within the canvas (if we resize it, etc.) for (int i = 0; i < points.Size - 1; i += 2) draw_list->AddLine(ImVec2(canvas_pos.x + points[i].x, canvas_pos.y + points[i].y), ImVec2(canvas_pos.x + points[i+1].x, canvas_pos.y + points[i+1].y), IM_COL32(255,255,0,255), 2.0f); draw_list->PopClipRect(); @@ -2130,8 +2622,9 @@ struct ExampleAppConsole ScrollToBottom = true; } - void AddLog(const char* fmt, ...) IM_PRINTFARGS(2) + void AddLog(const char* fmt, ...) IM_FMTARGS(2) { + // FIXME-OPT char buf[1024]; va_list args; va_start(args, fmt); @@ -2144,21 +2637,31 @@ struct ExampleAppConsole void Draw(const char* title, bool* p_open) { - ImGui::SetNextWindowSize(ImVec2(520,600), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowSize(ImVec2(520,600), ImGuiCond_FirstUseEver); if (!ImGui::Begin(title, p_open)) { ImGui::End(); return; } + // As a specific feature guaranteed by the library, after calling Begin() the last Item represent the title bar. So e.g. IsItemHovered() will return true when hovering the title bar. + // Here we create a context menu only available from the title bar. + if (ImGui::BeginPopupContextItem()) + { + if (ImGui::MenuItem("Close")) + *p_open = false; + ImGui::EndPopup(); + } + ImGui::TextWrapped("This example implements a console with basic coloring, completion and history. A more elaborate implementation may want to store entries along with extra data such as timestamp, emitter, etc."); ImGui::TextWrapped("Enter 'HELP' for help, press TAB to use text completion."); // TODO: display items starting from the bottom if (ImGui::SmallButton("Add Dummy Text")) { AddLog("%d some text", Items.Size); AddLog("some more text"); AddLog("display very important message here!"); } ImGui::SameLine(); - if (ImGui::SmallButton("Add Dummy Error")) AddLog("[error] something went wrong"); ImGui::SameLine(); - if (ImGui::SmallButton("Clear")) ClearLog(); ImGui::SameLine(); + if (ImGui::SmallButton("Add Dummy Error")) { AddLog("[error] something went wrong"); } ImGui::SameLine(); + if (ImGui::SmallButton("Clear")) { ClearLog(); } ImGui::SameLine(); + bool copy_to_clipboard = ImGui::SmallButton("Copy"); ImGui::SameLine(); if (ImGui::SmallButton("Scroll to bottom")) ScrollToBottom = true; //static float t = 0.0f; if (ImGui::GetTime() - t > 0.02f) { t = ImGui::GetTime(); AddLog("Spam %f", t); } @@ -2170,7 +2673,8 @@ struct ExampleAppConsole ImGui::PopStyleVar(); ImGui::Separator(); - ImGui::BeginChild("ScrollingRegion", ImVec2(0,-ImGui::GetItemsLineHeightWithSpacing()), false, ImGuiWindowFlags_HorizontalScrollbar); + const float footer_height_to_reserve = ImGui::GetStyle().ItemSpacing.y + ImGui::GetFrameHeightWithSpacing(); // 1 separator, 1 input text + ImGui::BeginChild("ScrollingRegion", ImVec2(0, -footer_height_to_reserve), false, ImGuiWindowFlags_HorizontalScrollbar); // Leave room for 1 separator + 1 InputText if (ImGui::BeginPopupContextWindow()) { if (ImGui::Selectable("Clear")) ClearLog(); @@ -2189,18 +2693,23 @@ struct ExampleAppConsole // and appending newly elements as they are inserted. This is left as a task to the user until we can manage to improve this example code! // If your items are of variable size you may want to implement code similar to what ImGuiListClipper does. Or split your data into fixed height items to allow random-seeking into your list. ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(4,1)); // Tighten spacing + if (copy_to_clipboard) + ImGui::LogToClipboard(); + ImVec4 col_default_text = ImGui::GetStyleColorVec4(ImGuiCol_Text); for (int i = 0; i < Items.Size; i++) { const char* item = Items[i]; if (!filter.PassFilter(item)) continue; - ImVec4 col = ImVec4(1.0f,1.0f,1.0f,1.0f); // A better implementation may store a type per-item. For the sample let's just parse the text. + ImVec4 col = col_default_text; if (strstr(item, "[error]")) col = ImColor(1.0f,0.4f,0.4f,1.0f); else if (strncmp(item, "# ", 2) == 0) col = ImColor(1.0f,0.78f,0.58f,1.0f); ImGui::PushStyleColor(ImGuiCol_Text, col); ImGui::TextUnformatted(item); ImGui::PopStyleColor(); } + if (copy_to_clipboard) + ImGui::LogFinish(); if (ScrollToBottom) ImGui::SetScrollHere(); ScrollToBottom = false; @@ -2209,17 +2718,20 @@ struct ExampleAppConsole ImGui::Separator(); // Command-line + bool reclaim_focus = false; if (ImGui::InputText("Input", InputBuf, IM_ARRAYSIZE(InputBuf), ImGuiInputTextFlags_EnterReturnsTrue|ImGuiInputTextFlags_CallbackCompletion|ImGuiInputTextFlags_CallbackHistory, &TextEditCallbackStub, (void*)this)) { char* input_end = InputBuf+strlen(InputBuf); - while (input_end > InputBuf && input_end[-1] == ' ') input_end--; *input_end = 0; + while (input_end > InputBuf && input_end[-1] == ' ') { input_end--; } *input_end = 0; if (InputBuf[0]) ExecCommand(InputBuf); strcpy(InputBuf, ""); + reclaim_focus = true; } - // Demonstrate keeping auto focus on the input box - if (ImGui::IsItemHovered() || (ImGui::IsRootWindowOrAnyChildFocused() && !ImGui::IsAnyItemActive() && !ImGui::IsMouseClicked(0))) + // Demonstrate keeping focus on the input box + ImGui::SetItemDefaultFocus(); + if (reclaim_focus) ImGui::SetKeyboardFocusHere(-1); // Auto focus previous widget ImGui::End(); @@ -2253,7 +2765,8 @@ struct ExampleAppConsole } else if (Stricmp(command_line, "HISTORY") == 0) { - for (int i = History.Size >= 10 ? History.Size - 10 : 0; i < History.Size; i++) + int first = History.Size - 10; + for (int i = first > 0 ? first : 0; i < History.Size; i++) AddLog("%3d: %s\n", i, History[i]); } else @@ -2387,12 +2900,12 @@ struct ExampleAppLog void Clear() { Buf.clear(); LineOffsets.clear(); } - void AddLog(const char* fmt, ...) IM_PRINTFARGS(2) + void AddLog(const char* fmt, ...) IM_FMTARGS(2) { int old_size = Buf.size(); va_list args; va_start(args, fmt); - Buf.appendv(fmt, args); + Buf.appendfv(fmt, args); va_end(args); for (int new_size = Buf.size(); old_size < new_size; old_size++) if (Buf[old_size] == '\n') @@ -2402,7 +2915,7 @@ struct ExampleAppLog void Draw(const char* title, bool* p_open = NULL) { - ImGui::SetNextWindowSize(ImVec2(500,400), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowSize(ImVec2(500,400), ImGuiCond_FirstUseEver); ImGui::Begin(title, p_open); if (ImGui::Button("Clear")) Clear(); ImGui::SameLine(); @@ -2443,13 +2956,13 @@ static void ShowExampleAppLog(bool* p_open) { static ExampleAppLog log; - // Demo fill + // Demo: add random items (unless Ctrl is held) static float last_time = -1.0f; float time = ImGui::GetTime(); - if (time - last_time >= 0.3f) + if (time - last_time >= 0.20f && !ImGui::GetIO().KeyCtrl) { const char* random_words[] = { "system", "info", "warning", "error", "fatal", "notice", "log" }; - log.AddLog("[%s] Hello, time is %.1f, rand() %d\n", random_words[rand() % IM_ARRAYSIZE(random_words)], time, (int)rand()); + log.AddLog("[%s] Hello, time is %.1f, frame count is %d\n", random_words[rand() % IM_ARRAYSIZE(random_words)], time, ImGui::GetFrameCount()); last_time = time; } @@ -2459,7 +2972,7 @@ static void ShowExampleAppLog(bool* p_open) // Demonstrate create a window with multiple child windows. static void ShowExampleAppLayout(bool* p_open) { - ImGui::SetNextWindowSize(ImVec2(500, 440), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowSize(ImVec2(500, 440), ImGuiCond_FirstUseEver); if (ImGui::Begin("Example: Layout", p_open, ImGuiWindowFlags_MenuBar)) { if (ImGui::BeginMenuBar()) @@ -2487,16 +3000,14 @@ static void ShowExampleAppLayout(bool* p_open) // right ImGui::BeginGroup(); - ImGui::BeginChild("item view", ImVec2(0, -ImGui::GetItemsLineHeightWithSpacing())); // Leave room for 1 line below us + ImGui::BeginChild("item view", ImVec2(0, -ImGui::GetFrameHeightWithSpacing())); // Leave room for 1 line below us ImGui::Text("MyObject: %d", selected); ImGui::Separator(); ImGui::TextWrapped("Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. "); ImGui::EndChild(); - ImGui::BeginChild("buttons"); - if (ImGui::Button("Revert")) {} - ImGui::SameLine(); - if (ImGui::Button("Save")) {} - ImGui::EndChild(); + if (ImGui::Button("Revert")) {} + ImGui::SameLine(); + if (ImGui::Button("Save")) {} ImGui::EndGroup(); } ImGui::End(); @@ -2505,7 +3016,7 @@ static void ShowExampleAppLayout(bool* p_open) // Demonstrate create a simple property editor. static void ShowExampleAppPropertyEditor(bool* p_open) { - ImGui::SetNextWindowSize(ImVec2(430,450), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowSize(ImVec2(430,450), ImGuiCond_FirstUseEver); if (!ImGui::Begin("Example: Property editor", p_open)) { ImGui::End(); @@ -2523,10 +3034,10 @@ static void ShowExampleAppPropertyEditor(bool* p_open) static void ShowDummyObject(const char* prefix, int uid) { ImGui::PushID(uid); // Use object uid as identifier. Most commonly you could also use the object pointer as a base ID. - ImGui::AlignFirstTextHeightToWidgets(); // Text and Tree nodes are less high than regular widgets, here we add vertical spacing to make the tree lines equal high. + ImGui::AlignTextToFramePadding(); // Text and Tree nodes are less high than regular widgets, here we add vertical spacing to make the tree lines equal high. bool node_open = ImGui::TreeNode("Object", "%s_%u", prefix, uid); ImGui::NextColumn(); - ImGui::AlignFirstTextHeightToWidgets(); + ImGui::AlignTextToFramePadding(); ImGui::Text("my sailor is rich"); ImGui::NextColumn(); if (node_open) @@ -2541,7 +3052,7 @@ static void ShowExampleAppPropertyEditor(bool* p_open) } else { - ImGui::AlignFirstTextHeightToWidgets(); + ImGui::AlignTextToFramePadding(); // Here we use a Selectable (instead of Text) to highlight on hover //ImGui::Text("Field_%d", i); char label[32]; @@ -2578,7 +3089,7 @@ static void ShowExampleAppPropertyEditor(bool* p_open) // Demonstrate/test rendering huge amount of text, and the incidence of clipping. static void ShowExampleAppLongText(bool* p_open) { - ImGui::SetNextWindowSize(ImVec2(520,600), ImGuiSetCond_FirstUseEver); + ImGui::SetNextWindowSize(ImVec2(520,600), ImGuiCond_FirstUseEver); if (!ImGui::Begin("Example: Long text display", p_open)) { ImGui::End(); @@ -2589,14 +3100,14 @@ static void ShowExampleAppLongText(bool* p_open) static ImGuiTextBuffer log; static int lines = 0; ImGui::Text("Printing unusually long amount of text."); - ImGui::Combo("Test type", &test_type, "Single call to TextUnformatted()\0Multiple calls to Text(), clipped manually\0Multiple calls to Text(), not clipped\0"); + ImGui::Combo("Test type", &test_type, "Single call to TextUnformatted()\0Multiple calls to Text(), clipped manually\0Multiple calls to Text(), not clipped (slow)\0"); ImGui::Text("Buffer contents: %d lines, %d bytes", lines, log.size()); if (ImGui::Button("Clear")) { log.clear(); lines = 0; } ImGui::SameLine(); if (ImGui::Button("Add 1000 lines")) { for (int i = 0; i < 1000; i++) - log.append("%i The quick brown fox jumps over the lazy dog\n", lines+i); + log.appendf("%i The quick brown fox jumps over the lazy dog\n", lines+i); lines += 1000; } ImGui::BeginChild("Log"); @@ -2632,7 +3143,7 @@ static void ShowExampleAppLongText(bool* p_open) // End of Demo code #else -void ImGui::ShowTestWindow(bool*) {} +void ImGui::ShowDemoWindow(bool*) {} void ImGui::ShowUserGuide() {} void ImGui::ShowStyleEditor(ImGuiStyle*) {} diff --git a/examples/ThirdPartyLibs/imgui/imgui_draw.cpp b/examples/ThirdPartyLibs/imgui/imgui_draw.cpp index 1b2e9e0c2..7a38af8bb 100644 --- a/examples/ThirdPartyLibs/imgui/imgui_draw.cpp +++ b/examples/ThirdPartyLibs/imgui/imgui_draw.cpp @@ -1,7 +1,8 @@ -// dear imgui, v1.50 WIP +// dear imgui, v1.60 WIP // (drawing and font code) // Contains implementation for +// - Default styles // - ImDrawList // - ImDrawData // - ImFontAtlas @@ -14,17 +15,19 @@ #include "imgui.h" #define IMGUI_DEFINE_MATH_OPERATORS -#define IMGUI_DEFINE_PLACEMENT_NEW #include "imgui_internal.h" #include // vsnprintf, sscanf, printf #if !defined(alloca) #ifdef _WIN32 #include // alloca -#elif (defined(__FreeBSD__) || defined(FreeBSD_kernel) || defined(__DragonFly__)) && !defined(__GLIBC__) -#include // alloca. FreeBSD uses stdlib.h unless GLIBC -#else +#if !defined(alloca) +#define alloca _alloca // for clang with MS Codegen +#endif +#elif defined(__GLIBC__) || defined(__sun) #include // alloca +#else +#include // alloca #endif #endif @@ -39,9 +42,15 @@ #pragma clang diagnostic ignored "-Wfloat-equal" // warning : comparing floating point with == or != is unsafe // storing and comparing against same constants ok. #pragma clang diagnostic ignored "-Wglobal-constructors" // warning : declaration requires a global destructor // similar to above, not sure what the exact difference it. #pragma clang diagnostic ignored "-Wsign-conversion" // warning : implicit conversion changes signedness // +#if __has_warning("-Wcomma") +#pragma clang diagnostic ignored "-Wcomma" // warning : possible misuse of comma operator here // +#endif #if __has_warning("-Wreserved-id-macro") #pragma clang diagnostic ignored "-Wreserved-id-macro" // warning : macro name is a reserved identifier // #endif +#if __has_warning("-Wdouble-promotion") +#pragma clang diagnostic ignored "-Wdouble-promotion" // warning: implicit conversion from 'float' to 'double' when passing argument to function +#endif #elif defined(__GNUC__) #pragma GCC diagnostic ignored "-Wunused-function" // warning: 'xxxx' defined but not used #pragma GCC diagnostic ignored "-Wdouble-promotion" // warning: implicit conversion from 'float' to 'double' when passing argument to function @@ -69,9 +78,9 @@ namespace IMGUI_STB_NAMESPACE #ifdef __clang__ #pragma clang diagnostic push -#pragma clang diagnostic ignored "-Wold-style-cast" // warning : use of old-style cast // yes, they are more terse. #pragma clang diagnostic ignored "-Wunused-function" #pragma clang diagnostic ignored "-Wmissing-prototypes" +#pragma clang diagnostic ignored "-Wimplicit-fallthrough" #endif #ifdef __GNUC__ @@ -115,16 +124,197 @@ using namespace IMGUI_STB_NAMESPACE; #endif //----------------------------------------------------------------------------- -// ImDrawList +// Style functions //----------------------------------------------------------------------------- -static const ImVec4 GNullClipRect(-8192.0f, -8192.0f, +8192.0f, +8192.0f); // Large values that are easy to encode in a few bits+shift +void ImGui::StyleColorsDark(ImGuiStyle* dst) +{ + ImGuiStyle* style = dst ? dst : &ImGui::GetStyle(); + ImVec4* colors = style->Colors; + + colors[ImGuiCol_Text] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f); + colors[ImGuiCol_TextDisabled] = ImVec4(0.50f, 0.50f, 0.50f, 1.00f); + colors[ImGuiCol_WindowBg] = ImVec4(0.06f, 0.06f, 0.06f, 0.94f); + colors[ImGuiCol_ChildBg] = ImVec4(1.00f, 1.00f, 1.00f, 0.00f); + colors[ImGuiCol_PopupBg] = ImVec4(0.08f, 0.08f, 0.08f, 0.94f); + colors[ImGuiCol_Border] = ImVec4(0.43f, 0.43f, 0.50f, 0.50f); + colors[ImGuiCol_BorderShadow] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f); + colors[ImGuiCol_FrameBg] = ImVec4(0.16f, 0.29f, 0.48f, 0.54f); + colors[ImGuiCol_FrameBgHovered] = ImVec4(0.26f, 0.59f, 0.98f, 0.40f); + colors[ImGuiCol_FrameBgActive] = ImVec4(0.26f, 0.59f, 0.98f, 0.67f); + colors[ImGuiCol_TitleBg] = ImVec4(0.04f, 0.04f, 0.04f, 1.00f); + colors[ImGuiCol_TitleBgActive] = ImVec4(0.16f, 0.29f, 0.48f, 1.00f); + colors[ImGuiCol_TitleBgCollapsed] = ImVec4(0.00f, 0.00f, 0.00f, 0.51f); + colors[ImGuiCol_MenuBarBg] = ImVec4(0.14f, 0.14f, 0.14f, 1.00f); + colors[ImGuiCol_ScrollbarBg] = ImVec4(0.02f, 0.02f, 0.02f, 0.53f); + colors[ImGuiCol_ScrollbarGrab] = ImVec4(0.31f, 0.31f, 0.31f, 1.00f); + colors[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.41f, 0.41f, 0.41f, 1.00f); + colors[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.51f, 0.51f, 0.51f, 1.00f); + colors[ImGuiCol_CheckMark] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_SliderGrab] = ImVec4(0.24f, 0.52f, 0.88f, 1.00f); + colors[ImGuiCol_SliderGrabActive] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_Button] = ImVec4(0.26f, 0.59f, 0.98f, 0.40f); + colors[ImGuiCol_ButtonHovered] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_ButtonActive] = ImVec4(0.06f, 0.53f, 0.98f, 1.00f); + colors[ImGuiCol_Header] = ImVec4(0.26f, 0.59f, 0.98f, 0.31f); + colors[ImGuiCol_HeaderHovered] = ImVec4(0.26f, 0.59f, 0.98f, 0.80f); + colors[ImGuiCol_HeaderActive] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_Separator] = colors[ImGuiCol_Border]; + colors[ImGuiCol_SeparatorHovered] = ImVec4(0.10f, 0.40f, 0.75f, 0.78f); + colors[ImGuiCol_SeparatorActive] = ImVec4(0.10f, 0.40f, 0.75f, 1.00f); + colors[ImGuiCol_ResizeGrip] = ImVec4(0.26f, 0.59f, 0.98f, 0.25f); + colors[ImGuiCol_ResizeGripHovered] = ImVec4(0.26f, 0.59f, 0.98f, 0.67f); + colors[ImGuiCol_ResizeGripActive] = ImVec4(0.26f, 0.59f, 0.98f, 0.95f); + colors[ImGuiCol_CloseButton] = ImVec4(0.41f, 0.41f, 0.41f, 0.50f); + colors[ImGuiCol_CloseButtonHovered] = ImVec4(0.98f, 0.39f, 0.36f, 1.00f); + colors[ImGuiCol_CloseButtonActive] = ImVec4(0.98f, 0.39f, 0.36f, 1.00f); + colors[ImGuiCol_PlotLines] = ImVec4(0.61f, 0.61f, 0.61f, 1.00f); + colors[ImGuiCol_PlotLinesHovered] = ImVec4(1.00f, 0.43f, 0.35f, 1.00f); + colors[ImGuiCol_PlotHistogram] = ImVec4(0.90f, 0.70f, 0.00f, 1.00f); + colors[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00f, 0.60f, 0.00f, 1.00f); + colors[ImGuiCol_TextSelectedBg] = ImVec4(0.26f, 0.59f, 0.98f, 0.35f); + colors[ImGuiCol_ModalWindowDarkening] = ImVec4(0.80f, 0.80f, 0.80f, 0.35f); + colors[ImGuiCol_DragDropTarget] = ImVec4(1.00f, 1.00f, 0.00f, 0.90f); + colors[ImGuiCol_NavHighlight] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00f, 1.00f, 1.00f, 0.70f); +} + +void ImGui::StyleColorsClassic(ImGuiStyle* dst) +{ + ImGuiStyle* style = dst ? dst : &ImGui::GetStyle(); + ImVec4* colors = style->Colors; + + colors[ImGuiCol_Text] = ImVec4(0.90f, 0.90f, 0.90f, 1.00f); + colors[ImGuiCol_TextDisabled] = ImVec4(0.60f, 0.60f, 0.60f, 1.00f); + colors[ImGuiCol_WindowBg] = ImVec4(0.00f, 0.00f, 0.00f, 0.70f); + colors[ImGuiCol_ChildBg] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f); + colors[ImGuiCol_PopupBg] = ImVec4(0.11f, 0.11f, 0.14f, 0.92f); + colors[ImGuiCol_Border] = ImVec4(0.50f, 0.50f, 0.50f, 0.50f); + colors[ImGuiCol_BorderShadow] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f); + colors[ImGuiCol_FrameBg] = ImVec4(0.43f, 0.43f, 0.43f, 0.39f); + colors[ImGuiCol_FrameBgHovered] = ImVec4(0.47f, 0.47f, 0.69f, 0.40f); + colors[ImGuiCol_FrameBgActive] = ImVec4(0.42f, 0.41f, 0.64f, 0.69f); + colors[ImGuiCol_TitleBg] = ImVec4(0.27f, 0.27f, 0.54f, 0.83f); + colors[ImGuiCol_TitleBgActive] = ImVec4(0.32f, 0.32f, 0.63f, 0.87f); + colors[ImGuiCol_TitleBgCollapsed] = ImVec4(0.40f, 0.40f, 0.80f, 0.20f); + colors[ImGuiCol_MenuBarBg] = ImVec4(0.40f, 0.40f, 0.55f, 0.80f); + colors[ImGuiCol_ScrollbarBg] = ImVec4(0.20f, 0.25f, 0.30f, 0.60f); + colors[ImGuiCol_ScrollbarGrab] = ImVec4(0.40f, 0.40f, 0.80f, 0.30f); + colors[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.40f, 0.40f, 0.80f, 0.40f); + colors[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.41f, 0.39f, 0.80f, 0.60f); + colors[ImGuiCol_CheckMark] = ImVec4(0.90f, 0.90f, 0.90f, 0.50f); + colors[ImGuiCol_SliderGrab] = ImVec4(1.00f, 1.00f, 1.00f, 0.30f); + colors[ImGuiCol_SliderGrabActive] = ImVec4(0.41f, 0.39f, 0.80f, 0.60f); + colors[ImGuiCol_Button] = ImVec4(0.35f, 0.40f, 0.61f, 0.62f); + colors[ImGuiCol_ButtonHovered] = ImVec4(0.40f, 0.48f, 0.71f, 0.79f); + colors[ImGuiCol_ButtonActive] = ImVec4(0.46f, 0.54f, 0.80f, 1.00f); + colors[ImGuiCol_Header] = ImVec4(0.40f, 0.40f, 0.90f, 0.45f); + colors[ImGuiCol_HeaderHovered] = ImVec4(0.45f, 0.45f, 0.90f, 0.80f); + colors[ImGuiCol_HeaderActive] = ImVec4(0.53f, 0.53f, 0.87f, 0.80f); + colors[ImGuiCol_Separator] = ImVec4(0.50f, 0.50f, 0.50f, 1.00f); + colors[ImGuiCol_SeparatorHovered] = ImVec4(0.60f, 0.60f, 0.70f, 1.00f); + colors[ImGuiCol_SeparatorActive] = ImVec4(0.70f, 0.70f, 0.90f, 1.00f); + colors[ImGuiCol_ResizeGrip] = ImVec4(1.00f, 1.00f, 1.00f, 0.16f); + colors[ImGuiCol_ResizeGripHovered] = ImVec4(0.78f, 0.82f, 1.00f, 0.60f); + colors[ImGuiCol_ResizeGripActive] = ImVec4(0.78f, 0.82f, 1.00f, 0.90f); + colors[ImGuiCol_CloseButton] = ImVec4(0.50f, 0.50f, 0.90f, 0.50f); + colors[ImGuiCol_CloseButtonHovered] = ImVec4(0.70f, 0.70f, 0.90f, 0.60f); + colors[ImGuiCol_CloseButtonActive] = ImVec4(0.70f, 0.70f, 0.70f, 1.00f); + colors[ImGuiCol_PlotLines] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f); + colors[ImGuiCol_PlotLinesHovered] = ImVec4(0.90f, 0.70f, 0.00f, 1.00f); + colors[ImGuiCol_PlotHistogram] = ImVec4(0.90f, 0.70f, 0.00f, 1.00f); + colors[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00f, 0.60f, 0.00f, 1.00f); + colors[ImGuiCol_TextSelectedBg] = ImVec4(0.00f, 0.00f, 1.00f, 0.35f); + colors[ImGuiCol_ModalWindowDarkening] = ImVec4(0.20f, 0.20f, 0.20f, 0.35f); + colors[ImGuiCol_DragDropTarget] = ImVec4(1.00f, 1.00f, 0.00f, 0.90f); + colors[ImGuiCol_NavHighlight] = colors[ImGuiCol_HeaderHovered]; + colors[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00f, 1.00f, 1.00f, 0.70f); +} + +// Those light colors are better suited with a thicker font than the default one + FrameBorder +void ImGui::StyleColorsLight(ImGuiStyle* dst) +{ + ImGuiStyle* style = dst ? dst : &ImGui::GetStyle(); + ImVec4* colors = style->Colors; + + colors[ImGuiCol_Text] = ImVec4(0.00f, 0.00f, 0.00f, 1.00f); + colors[ImGuiCol_TextDisabled] = ImVec4(0.60f, 0.60f, 0.60f, 1.00f); + //colors[ImGuiCol_TextHovered] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f); + //colors[ImGuiCol_TextActive] = ImVec4(1.00f, 1.00f, 0.00f, 1.00f); + colors[ImGuiCol_WindowBg] = ImVec4(0.94f, 0.94f, 0.94f, 1.00f); + colors[ImGuiCol_ChildBg] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f); + colors[ImGuiCol_PopupBg] = ImVec4(1.00f, 1.00f, 1.00f, 0.98f); + colors[ImGuiCol_Border] = ImVec4(0.00f, 0.00f, 0.00f, 0.30f); + colors[ImGuiCol_BorderShadow] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f); + colors[ImGuiCol_FrameBg] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f); + colors[ImGuiCol_FrameBgHovered] = ImVec4(0.26f, 0.59f, 0.98f, 0.40f); + colors[ImGuiCol_FrameBgActive] = ImVec4(0.26f, 0.59f, 0.98f, 0.67f); + colors[ImGuiCol_TitleBg] = ImVec4(0.96f, 0.96f, 0.96f, 1.00f); + colors[ImGuiCol_TitleBgActive] = ImVec4(0.82f, 0.82f, 0.82f, 1.00f); + colors[ImGuiCol_TitleBgCollapsed] = ImVec4(1.00f, 1.00f, 1.00f, 0.51f); + colors[ImGuiCol_MenuBarBg] = ImVec4(0.86f, 0.86f, 0.86f, 1.00f); + colors[ImGuiCol_ScrollbarBg] = ImVec4(0.98f, 0.98f, 0.98f, 0.53f); + colors[ImGuiCol_ScrollbarGrab] = ImVec4(0.69f, 0.69f, 0.69f, 0.80f); + colors[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.49f, 0.49f, 0.49f, 0.80f); + colors[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.49f, 0.49f, 0.49f, 1.00f); + colors[ImGuiCol_CheckMark] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_SliderGrab] = ImVec4(0.26f, 0.59f, 0.98f, 0.78f); + colors[ImGuiCol_SliderGrabActive] = ImVec4(0.46f, 0.54f, 0.80f, 0.60f); + colors[ImGuiCol_Button] = ImVec4(0.26f, 0.59f, 0.98f, 0.40f); + colors[ImGuiCol_ButtonHovered] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_ButtonActive] = ImVec4(0.06f, 0.53f, 0.98f, 1.00f); + colors[ImGuiCol_Header] = ImVec4(0.26f, 0.59f, 0.98f, 0.31f); + colors[ImGuiCol_HeaderHovered] = ImVec4(0.26f, 0.59f, 0.98f, 0.80f); + colors[ImGuiCol_HeaderActive] = ImVec4(0.26f, 0.59f, 0.98f, 1.00f); + colors[ImGuiCol_Separator] = ImVec4(0.39f, 0.39f, 0.39f, 1.00f); + colors[ImGuiCol_SeparatorHovered] = ImVec4(0.14f, 0.44f, 0.80f, 0.78f); + colors[ImGuiCol_SeparatorActive] = ImVec4(0.14f, 0.44f, 0.80f, 1.00f); + colors[ImGuiCol_ResizeGrip] = ImVec4(0.80f, 0.80f, 0.80f, 0.56f); + colors[ImGuiCol_ResizeGripHovered] = ImVec4(0.26f, 0.59f, 0.98f, 0.67f); + colors[ImGuiCol_ResizeGripActive] = ImVec4(0.26f, 0.59f, 0.98f, 0.95f); + colors[ImGuiCol_CloseButton] = ImVec4(0.59f, 0.59f, 0.59f, 0.50f); + colors[ImGuiCol_CloseButtonHovered] = ImVec4(0.98f, 0.39f, 0.36f, 1.00f); + colors[ImGuiCol_CloseButtonActive] = ImVec4(0.98f, 0.39f, 0.36f, 1.00f); + colors[ImGuiCol_PlotLines] = ImVec4(0.39f, 0.39f, 0.39f, 1.00f); + colors[ImGuiCol_PlotLinesHovered] = ImVec4(1.00f, 0.43f, 0.35f, 1.00f); + colors[ImGuiCol_PlotHistogram] = ImVec4(0.90f, 0.70f, 0.00f, 1.00f); + colors[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00f, 0.45f, 0.00f, 1.00f); + colors[ImGuiCol_TextSelectedBg] = ImVec4(0.26f, 0.59f, 0.98f, 0.35f); + colors[ImGuiCol_ModalWindowDarkening] = ImVec4(0.20f, 0.20f, 0.20f, 0.35f); + colors[ImGuiCol_DragDropTarget] = ImVec4(0.26f, 0.59f, 0.98f, 0.95f); + colors[ImGuiCol_NavHighlight] = colors[ImGuiCol_HeaderHovered]; + colors[ImGuiCol_NavWindowingHighlight] = ImVec4(0.70f, 0.70f, 0.70f, 0.70f); +} + +//----------------------------------------------------------------------------- +// ImDrawListData +//----------------------------------------------------------------------------- + +ImDrawListSharedData::ImDrawListSharedData() +{ + Font = NULL; + FontSize = 0.0f; + CurveTessellationTol = 0.0f; + ClipRectFullscreen = ImVec4(-8192.0f, -8192.0f, +8192.0f, +8192.0f); + + // Const data + for (int i = 0; i < IM_ARRAYSIZE(CircleVtx12); i++) + { + const float a = ((float)i * 2 * IM_PI) / (float)IM_ARRAYSIZE(CircleVtx12); + CircleVtx12[i] = ImVec2(cosf(a), sinf(a)); + } +} + +//----------------------------------------------------------------------------- +// ImDrawList +//----------------------------------------------------------------------------- void ImDrawList::Clear() { CmdBuffer.resize(0); IdxBuffer.resize(0); VtxBuffer.resize(0); + Flags = ImDrawListFlags_AntiAliasedLines | ImDrawListFlags_AntiAliasedFill; _VtxCurrentIdx = 0; _VtxWritePtr = NULL; _IdxWritePtr = NULL; @@ -158,8 +348,8 @@ void ImDrawList::ClearFreeMemory() _Channels.clear(); } -// Use macros because C++ is a terrible language, we want guaranteed inline, no code in header, and no overhead in Debug mode -#define GetCurrentClipRect() (_ClipRectStack.Size ? _ClipRectStack.Data[_ClipRectStack.Size-1] : GNullClipRect) +// Using macros because C++ is a terrible language, we want guaranteed inline, no code in header, and no overhead in Debug builds +#define GetCurrentClipRect() (_ClipRectStack.Size ? _ClipRectStack.Data[_ClipRectStack.Size-1] : _Data->ClipRectFullscreen) #define GetCurrentTextureId() (_TextureIdStack.Size ? _TextureIdStack.Data[_TextureIdStack.Size-1] : NULL) void ImDrawList::AddDrawCmd() @@ -220,7 +410,7 @@ void ImDrawList::UpdateTextureID() // Try to merge with previous command if it matches, else use current command ImDrawCmd* prev_cmd = CmdBuffer.Size > 1 ? curr_cmd - 1 : NULL; - if (prev_cmd && prev_cmd->TextureId == curr_texture_id && memcmp(&prev_cmd->ClipRect, &GetCurrentClipRect(), sizeof(ImVec4)) == 0 && prev_cmd->UserCallback == NULL) + if (curr_cmd->ElemCount == 0 && prev_cmd && prev_cmd->TextureId == curr_texture_id && memcmp(&prev_cmd->ClipRect, &GetCurrentClipRect(), sizeof(ImVec4)) == 0 && prev_cmd->UserCallback == NULL) CmdBuffer.pop_back(); else curr_cmd->TextureId = curr_texture_id; @@ -250,8 +440,7 @@ void ImDrawList::PushClipRect(ImVec2 cr_min, ImVec2 cr_max, bool intersect_with_ void ImDrawList::PushClipRectFullScreen() { - PushClipRect(ImVec2(GNullClipRect.x, GNullClipRect.y), ImVec2(GNullClipRect.z, GNullClipRect.w)); - //PushClipRect(GetVisibleRect()); // FIXME-OPT: This would be more correct but we're not supposed to access ImGuiContext from here? + PushClipRect(ImVec2(_Data->ClipRectFullscreen.x, _Data->ClipRectFullscreen.y), ImVec2(_Data->ClipRectFullscreen.z, _Data->ClipRectFullscreen.w)); } void ImDrawList::PopClipRect() @@ -261,7 +450,7 @@ void ImDrawList::PopClipRect() UpdateClipRect(); } -void ImDrawList::PushTextureID(const ImTextureID& texture_id) +void ImDrawList::PushTextureID(ImTextureID texture_id) { _TextureIdStack.push_back(texture_id); UpdateTextureID(); @@ -282,7 +471,7 @@ void ImDrawList::ChannelsSplit(int channels_count) _Channels.resize(channels_count); _ChannelsCount = channels_count; - // _Channels[] (24 bytes each) hold storage that we'll swap with this->_CmdBuffer/_IdxBuffer + // _Channels[] (24/32 bytes each) hold storage that we'll swap with this->_CmdBuffer/_IdxBuffer // The content of _Channels[0] at this point doesn't matter. We clear it to make state tidy in a debugger but we don't strictly need to. // When we switch to the next channel, we'll copy _CmdBuffer/_IdxBuffer into _Channels[0] and then _Channels[1] into _CmdBuffer/_IdxBuffer memset(&_Channels[0], 0, sizeof(ImDrawChannel)); @@ -337,7 +526,7 @@ void ImDrawList::ChannelsMerge() if (int sz = ch.CmdBuffer.Size) { memcpy(cmd_write, ch.CmdBuffer.Data, sz * sizeof(ImDrawCmd)); cmd_write += sz; } if (int sz = ch.IdxBuffer.Size) { memcpy(_IdxWritePtr, ch.IdxBuffer.Data, sz * sizeof(ImDrawIdx)); _IdxWritePtr += sz; } } - AddDrawCmd(); + UpdateClipRect(); // We call this instead of AddDrawCmd(), so that empty channels won't produce an extra draw call. _ChannelsCount = 1; } @@ -359,19 +548,19 @@ void ImDrawList::PrimReserve(int idx_count, int vtx_count) ImDrawCmd& draw_cmd = CmdBuffer.Data[CmdBuffer.Size-1]; draw_cmd.ElemCount += idx_count; - int vtx_buffer_size = VtxBuffer.Size; - VtxBuffer.resize(vtx_buffer_size + vtx_count); - _VtxWritePtr = VtxBuffer.Data + vtx_buffer_size; + int vtx_buffer_old_size = VtxBuffer.Size; + VtxBuffer.resize(vtx_buffer_old_size + vtx_count); + _VtxWritePtr = VtxBuffer.Data + vtx_buffer_old_size; - int idx_buffer_size = IdxBuffer.Size; - IdxBuffer.resize(idx_buffer_size + idx_count); - _IdxWritePtr = IdxBuffer.Data + idx_buffer_size; + int idx_buffer_old_size = IdxBuffer.Size; + IdxBuffer.resize(idx_buffer_old_size + idx_count); + _IdxWritePtr = IdxBuffer.Data + idx_buffer_old_size; } // Fully unrolled with inline call to keep our debug builds decently fast. void ImDrawList::PrimRect(const ImVec2& a, const ImVec2& c, ImU32 col) { - ImVec2 b(c.x, a.y), d(a.x, c.y), uv(GImGui->FontTexUvWhitePixel); + ImVec2 b(c.x, a.y), d(a.x, c.y), uv(_Data->TexUvWhitePixel); ImDrawIdx idx = (ImDrawIdx)_VtxCurrentIdx; _IdxWritePtr[0] = idx; _IdxWritePtr[1] = (ImDrawIdx)(idx+1); _IdxWritePtr[2] = (ImDrawIdx)(idx+2); _IdxWritePtr[3] = idx; _IdxWritePtr[4] = (ImDrawIdx)(idx+2); _IdxWritePtr[5] = (ImDrawIdx)(idx+3); @@ -414,25 +603,23 @@ void ImDrawList::PrimQuadUV(const ImVec2& a, const ImVec2& b, const ImVec2& c, c } // TODO: Thickness anti-aliased lines cap are missing their AA fringe. -void ImDrawList::AddPolyline(const ImVec2* points, const int points_count, ImU32 col, bool closed, float thickness, bool anti_aliased) +void ImDrawList::AddPolyline(const ImVec2* points, const int points_count, ImU32 col, bool closed, float thickness) { if (points_count < 2) return; - const ImVec2 uv = GImGui->FontTexUvWhitePixel; - anti_aliased &= GImGui->Style.AntiAliasedLines; - //if (ImGui::GetIO().KeyCtrl) anti_aliased = false; // Debug + const ImVec2 uv = _Data->TexUvWhitePixel; int count = points_count; if (!closed) count = points_count-1; const bool thick_line = thickness > 1.0f; - if (anti_aliased) + if (Flags & ImDrawListFlags_AntiAliasedLines) { // Anti-aliased stroke const float AA_SIZE = 1.0f; - const ImU32 col_trans = col & IM_COL32(255,255,255,0); + const ImU32 col_trans = col & ~IM_COL32_A_MASK; const int idx_count = thick_line ? count*18 : count*12; const int vtx_count = thick_line ? points_count*4 : points_count*3; @@ -595,17 +782,15 @@ void ImDrawList::AddPolyline(const ImVec2* points, const int points_count, ImU32 } } -void ImDrawList::AddConvexPolyFilled(const ImVec2* points, const int points_count, ImU32 col, bool anti_aliased) +void ImDrawList::AddConvexPolyFilled(const ImVec2* points, const int points_count, ImU32 col) { - const ImVec2 uv = GImGui->FontTexUvWhitePixel; - anti_aliased &= GImGui->Style.AntiAliasedShapes; - //if (ImGui::GetIO().KeyCtrl) anti_aliased = false; // Debug + const ImVec2 uv = _Data->TexUvWhitePixel; - if (anti_aliased) + if (Flags & ImDrawListFlags_AntiAliasedFill) { // Anti-aliased Fill const float AA_SIZE = 1.0f; - const ImU32 col_trans = col & IM_COL32(255,255,255,0); + const ImU32 col_trans = col & ~IM_COL32_A_MASK; const int idx_count = (points_count-2)*3 + points_count*6; const int vtx_count = (points_count*2); PrimReserve(idx_count, vtx_count); @@ -678,46 +863,32 @@ void ImDrawList::AddConvexPolyFilled(const ImVec2* points, const int points_coun } } -void ImDrawList::PathArcToFast(const ImVec2& centre, float radius, int amin, int amax) +void ImDrawList::PathArcToFast(const ImVec2& centre, float radius, int a_min_of_12, int a_max_of_12) { - static ImVec2 circle_vtx[12]; - static bool circle_vtx_builds = false; - const int circle_vtx_count = IM_ARRAYSIZE(circle_vtx); - if (!circle_vtx_builds) - { - for (int i = 0; i < circle_vtx_count; i++) - { - const float a = ((float)i / (float)circle_vtx_count) * 2*IM_PI; - circle_vtx[i].x = cosf(a); - circle_vtx[i].y = sinf(a); - } - circle_vtx_builds = true; - } - - if (amin > amax) return; - if (radius == 0.0f) + if (radius == 0.0f || a_min_of_12 > a_max_of_12) { _Path.push_back(centre); + return; } - else + _Path.reserve(_Path.Size + (a_max_of_12 - a_min_of_12 + 1)); + for (int a = a_min_of_12; a <= a_max_of_12; a++) { - _Path.reserve(_Path.Size + (amax - amin + 1)); - for (int a = amin; a <= amax; a++) - { - const ImVec2& c = circle_vtx[a % circle_vtx_count]; - _Path.push_back(ImVec2(centre.x + c.x * radius, centre.y + c.y * radius)); - } + const ImVec2& c = _Data->CircleVtx12[a % IM_ARRAYSIZE(_Data->CircleVtx12)]; + _Path.push_back(ImVec2(centre.x + c.x * radius, centre.y + c.y * radius)); } } -void ImDrawList::PathArcTo(const ImVec2& centre, float radius, float amin, float amax, int num_segments) +void ImDrawList::PathArcTo(const ImVec2& centre, float radius, float a_min, float a_max, int num_segments) { if (radius == 0.0f) + { _Path.push_back(centre); + return; + } _Path.reserve(_Path.Size + (num_segments + 1)); for (int i = 0; i <= num_segments; i++) { - const float a = amin + ((float)i / (float)num_segments) * (amax - amin); + const float a = a_min + ((float)i / (float)num_segments) * (a_max - a_min); _Path.push_back(ImVec2(centre.x + cosf(a) * radius, centre.y + sinf(a) * radius)); } } @@ -754,7 +925,7 @@ void ImDrawList::PathBezierCurveTo(const ImVec2& p2, const ImVec2& p3, const ImV if (num_segments == 0) { // Auto-tessellated - PathBezierToCasteljau(&_Path, p1.x, p1.y, p2.x, p2.y, p3.x, p3.y, p4.x, p4.y, GImGui->Style.CurveTessellationTol, 0); + PathBezierToCasteljau(&_Path, p1.x, p1.y, p2.x, p2.y, p3.x, p3.y, p4.x, p4.y, _Data->CurveTessellationTol, 0); } else { @@ -774,27 +945,26 @@ void ImDrawList::PathBezierCurveTo(const ImVec2& p2, const ImVec2& p3, const ImV void ImDrawList::PathRect(const ImVec2& a, const ImVec2& b, float rounding, int rounding_corners) { - float r = rounding; - r = ImMin(r, fabsf(b.x-a.x) * ( ((rounding_corners&(1|2))==(1|2)) || ((rounding_corners&(4|8))==(4|8)) ? 0.5f : 1.0f ) - 1.0f); - r = ImMin(r, fabsf(b.y-a.y) * ( ((rounding_corners&(1|8))==(1|8)) || ((rounding_corners&(2|4))==(2|4)) ? 0.5f : 1.0f ) - 1.0f); + rounding = ImMin(rounding, fabsf(b.x - a.x) * ( ((rounding_corners & ImDrawCornerFlags_Top) == ImDrawCornerFlags_Top) || ((rounding_corners & ImDrawCornerFlags_Bot) == ImDrawCornerFlags_Bot) ? 0.5f : 1.0f ) - 1.0f); + rounding = ImMin(rounding, fabsf(b.y - a.y) * ( ((rounding_corners & ImDrawCornerFlags_Left) == ImDrawCornerFlags_Left) || ((rounding_corners & ImDrawCornerFlags_Right) == ImDrawCornerFlags_Right) ? 0.5f : 1.0f ) - 1.0f); - if (r <= 0.0f || rounding_corners == 0) + if (rounding <= 0.0f || rounding_corners == 0) { PathLineTo(a); - PathLineTo(ImVec2(b.x,a.y)); + PathLineTo(ImVec2(b.x, a.y)); PathLineTo(b); - PathLineTo(ImVec2(a.x,b.y)); + PathLineTo(ImVec2(a.x, b.y)); } else { - const float r0 = (rounding_corners & 1) ? r : 0.0f; - const float r1 = (rounding_corners & 2) ? r : 0.0f; - const float r2 = (rounding_corners & 4) ? r : 0.0f; - const float r3 = (rounding_corners & 8) ? r : 0.0f; - PathArcToFast(ImVec2(a.x+r0,a.y+r0), r0, 6, 9); - PathArcToFast(ImVec2(b.x-r1,a.y+r1), r1, 9, 12); - PathArcToFast(ImVec2(b.x-r2,b.y-r2), r2, 0, 3); - PathArcToFast(ImVec2(a.x+r3,b.y-r3), r3, 3, 6); + const float rounding_tl = (rounding_corners & ImDrawCornerFlags_TopLeft) ? rounding : 0.0f; + const float rounding_tr = (rounding_corners & ImDrawCornerFlags_TopRight) ? rounding : 0.0f; + const float rounding_br = (rounding_corners & ImDrawCornerFlags_BotRight) ? rounding : 0.0f; + const float rounding_bl = (rounding_corners & ImDrawCornerFlags_BotLeft) ? rounding : 0.0f; + PathArcToFast(ImVec2(a.x + rounding_tl, a.y + rounding_tl), rounding_tl, 6, 9); + PathArcToFast(ImVec2(b.x - rounding_tr, a.y + rounding_tr), rounding_tr, 9, 12); + PathArcToFast(ImVec2(b.x - rounding_br, b.y - rounding_br), rounding_br, 0, 3); + PathArcToFast(ImVec2(a.x + rounding_bl, b.y - rounding_bl), rounding_bl, 3, 6); } } @@ -823,7 +993,7 @@ void ImDrawList::AddRectFilled(const ImVec2& a, const ImVec2& b, ImU32 col, floa if (rounding > 0.0f) { PathRect(a, b, rounding, rounding_corners_flags); - PathFill(col); + PathFillConvex(col); } else { @@ -837,7 +1007,7 @@ void ImDrawList::AddRectFilledMultiColor(const ImVec2& a, const ImVec2& c, ImU32 if (((col_upr_left | col_upr_right | col_bot_right | col_bot_left) & IM_COL32_A_MASK) == 0) return; - const ImVec2 uv = GImGui->FontTexUvWhitePixel; + const ImVec2 uv = _Data->TexUvWhitePixel; PrimReserve(6, 4); PrimWriteIdx((ImDrawIdx)(_VtxCurrentIdx)); PrimWriteIdx((ImDrawIdx)(_VtxCurrentIdx+1)); PrimWriteIdx((ImDrawIdx)(_VtxCurrentIdx+2)); PrimWriteIdx((ImDrawIdx)(_VtxCurrentIdx)); PrimWriteIdx((ImDrawIdx)(_VtxCurrentIdx+2)); PrimWriteIdx((ImDrawIdx)(_VtxCurrentIdx+3)); @@ -868,7 +1038,7 @@ void ImDrawList::AddQuadFilled(const ImVec2& a, const ImVec2& b, const ImVec2& c PathLineTo(b); PathLineTo(c); PathLineTo(d); - PathFill(col); + PathFillConvex(col); } void ImDrawList::AddTriangle(const ImVec2& a, const ImVec2& b, const ImVec2& c, ImU32 col, float thickness) @@ -890,7 +1060,7 @@ void ImDrawList::AddTriangleFilled(const ImVec2& a, const ImVec2& b, const ImVec PathLineTo(a); PathLineTo(b); PathLineTo(c); - PathFill(col); + PathFillConvex(col); } void ImDrawList::AddCircle(const ImVec2& centre, float radius, ImU32 col, int num_segments, float thickness) @@ -910,7 +1080,7 @@ void ImDrawList::AddCircleFilled(const ImVec2& centre, float radius, ImU32 col, const float a_max = IM_PI*2.0f * ((float)num_segments - 1.0f) / (float)num_segments; PathArcTo(centre, radius, 0.0f, a_max, num_segments); - PathFill(col); + PathFillConvex(col); } void ImDrawList::AddBezierCurve(const ImVec2& pos0, const ImVec2& cp0, const ImVec2& cp1, const ImVec2& pos1, ImU32 col, float thickness, int num_segments) @@ -933,12 +1103,11 @@ void ImDrawList::AddText(const ImFont* font, float font_size, const ImVec2& pos, if (text_begin == text_end) return; - // Note: This is one of the few instance of breaking the encapsulation of ImDrawList, as we pull this from ImGui state, but it is just SO useful. - // Might just move Font/FontSize to ImDrawList? + // Pull default font/size from the shared ImDrawListSharedData instance if (font == NULL) - font = GImGui->Font; + font = _Data->Font; if (font_size == 0.0f) - font_size = GImGui->FontSize; + font_size = _Data->FontSize; IM_ASSERT(font->ContainerAtlas->TexID == _TextureIdStack.back()); // Use high-level ImGui::PushFont() or low-level ImDrawList::PushTextureId() to change font. @@ -955,21 +1124,61 @@ void ImDrawList::AddText(const ImFont* font, float font_size, const ImVec2& pos, void ImDrawList::AddText(const ImVec2& pos, ImU32 col, const char* text_begin, const char* text_end) { - AddText(GImGui->Font, GImGui->FontSize, pos, col, text_begin, text_end); + AddText(NULL, 0.0f, pos, col, text_begin, text_end); } -void ImDrawList::AddImage(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& uv0, const ImVec2& uv1, ImU32 col) +void ImDrawList::AddImage(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& uv_a, const ImVec2& uv_b, ImU32 col) { if ((col & IM_COL32_A_MASK) == 0) return; - // FIXME-OPT: This is wasting draw calls. const bool push_texture_id = _TextureIdStack.empty() || user_texture_id != _TextureIdStack.back(); if (push_texture_id) PushTextureID(user_texture_id); PrimReserve(6, 4); - PrimRectUV(a, b, uv0, uv1, col); + PrimRectUV(a, b, uv_a, uv_b, col); + + if (push_texture_id) + PopTextureID(); +} + +void ImDrawList::AddImageQuad(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& d, const ImVec2& uv_a, const ImVec2& uv_b, const ImVec2& uv_c, const ImVec2& uv_d, ImU32 col) +{ + if ((col & IM_COL32_A_MASK) == 0) + return; + + const bool push_texture_id = _TextureIdStack.empty() || user_texture_id != _TextureIdStack.back(); + if (push_texture_id) + PushTextureID(user_texture_id); + + PrimReserve(6, 4); + PrimQuadUV(a, b, c, d, uv_a, uv_b, uv_c, uv_d, col); + + if (push_texture_id) + PopTextureID(); +} + +void ImDrawList::AddImageRounded(ImTextureID user_texture_id, const ImVec2& a, const ImVec2& b, const ImVec2& uv_a, const ImVec2& uv_b, ImU32 col, float rounding, int rounding_corners) +{ + if ((col & IM_COL32_A_MASK) == 0) + return; + + if (rounding <= 0.0f || (rounding_corners & ImDrawCornerFlags_All) == 0) + { + AddImage(user_texture_id, a, b, uv_a, uv_b, col); + return; + } + + const bool push_texture_id = _TextureIdStack.empty() || user_texture_id != _TextureIdStack.back(); + if (push_texture_id) + PushTextureID(user_texture_id); + + int vert_start_idx = VtxBuffer.Size; + PathRect(a, b, rounding, rounding_corners); + PathFillConvex(col); + int vert_end_idx = VtxBuffer.Size; + ImGui::ShadeVertsLinearUV(VtxBuffer.Data + vert_start_idx, VtxBuffer.Data + vert_end_idx, a, b, uv_a, uv_b, true); if (push_texture_id) PopTextureID(); @@ -1013,7 +1222,68 @@ void ImDrawData::ScaleClipRects(const ImVec2& scale) } //----------------------------------------------------------------------------- -// ImFontAtlas +// Shade functions +//----------------------------------------------------------------------------- + +// Generic linear color gradient, write to RGB fields, leave A untouched. +void ImGui::ShadeVertsLinearColorGradientKeepAlpha(ImDrawVert* vert_start, ImDrawVert* vert_end, ImVec2 gradient_p0, ImVec2 gradient_p1, ImU32 col0, ImU32 col1) +{ + ImVec2 gradient_extent = gradient_p1 - gradient_p0; + float gradient_inv_length2 = 1.0f / ImLengthSqr(gradient_extent); + for (ImDrawVert* vert = vert_start; vert < vert_end; vert++) + { + float d = ImDot(vert->pos - gradient_p0, gradient_extent); + float t = ImClamp(d * gradient_inv_length2, 0.0f, 1.0f); + int r = ImLerp((int)(col0 >> IM_COL32_R_SHIFT) & 0xFF, (int)(col1 >> IM_COL32_R_SHIFT) & 0xFF, t); + int g = ImLerp((int)(col0 >> IM_COL32_G_SHIFT) & 0xFF, (int)(col1 >> IM_COL32_G_SHIFT) & 0xFF, t); + int b = ImLerp((int)(col0 >> IM_COL32_B_SHIFT) & 0xFF, (int)(col1 >> IM_COL32_B_SHIFT) & 0xFF, t); + vert->col = (r << IM_COL32_R_SHIFT) | (g << IM_COL32_G_SHIFT) | (b << IM_COL32_B_SHIFT) | (vert->col & IM_COL32_A_MASK); + } +} + +// Scan and shade backward from the end of given vertices. Assume vertices are text only (= vert_start..vert_end going left to right) so we can break as soon as we are out the gradient bounds. +void ImGui::ShadeVertsLinearAlphaGradientForLeftToRightText(ImDrawVert* vert_start, ImDrawVert* vert_end, float gradient_p0_x, float gradient_p1_x) +{ + float gradient_extent_x = gradient_p1_x - gradient_p0_x; + float gradient_inv_length2 = 1.0f / (gradient_extent_x * gradient_extent_x); + int full_alpha_count = 0; + for (ImDrawVert* vert = vert_end - 1; vert >= vert_start; vert--) + { + float d = (vert->pos.x - gradient_p0_x) * (gradient_extent_x); + float alpha_mul = 1.0f - ImClamp(d * gradient_inv_length2, 0.0f, 1.0f); + if (alpha_mul >= 1.0f && ++full_alpha_count > 2) + return; // Early out + int a = (int)(((vert->col >> IM_COL32_A_SHIFT) & 0xFF) * alpha_mul); + vert->col = (vert->col & ~IM_COL32_A_MASK) | (a << IM_COL32_A_SHIFT); + } +} + +// Distribute UV over (a, b) rectangle +void ImGui::ShadeVertsLinearUV(ImDrawVert* vert_start, ImDrawVert* vert_end, const ImVec2& a, const ImVec2& b, const ImVec2& uv_a, const ImVec2& uv_b, bool clamp) +{ + const ImVec2 size = b - a; + const ImVec2 uv_size = uv_b - uv_a; + const ImVec2 scale = ImVec2( + size.x != 0.0f ? (uv_size.x / size.x) : 0.0f, + size.y != 0.0f ? (uv_size.y / size.y) : 0.0f); + + if (clamp) + { + const ImVec2 min = ImMin(uv_a, uv_b); + const ImVec2 max = ImMax(uv_a, uv_b); + + for (ImDrawVert* vertex = vert_start; vertex < vert_end; ++vertex) + vertex->uv = ImClamp(uv_a + ImMul(ImVec2(vertex->pos.x, vertex->pos.y) - a, scale), min, max); + } + else + { + for (ImDrawVert* vertex = vert_start; vertex < vert_end; ++vertex) + vertex->uv = uv_a + ImMul(ImVec2(vertex->pos.x, vertex->pos.y) - a, scale); + } +} + +//----------------------------------------------------------------------------- +// ImFontConfig //----------------------------------------------------------------------------- ImFontConfig::ImFontConfig() @@ -1027,20 +1297,81 @@ ImFontConfig::ImFontConfig() OversampleV = 1; PixelSnapH = false; GlyphExtraSpacing = ImVec2(0.0f, 0.0f); + GlyphOffset = ImVec2(0.0f, 0.0f); GlyphRanges = NULL; MergeMode = false; - MergeGlyphCenterV = false; - DstFont = NULL; + RasterizerFlags = 0x00; + RasterizerMultiply = 1.0f; memset(Name, 0, sizeof(Name)); + DstFont = NULL; } +//----------------------------------------------------------------------------- +// ImFontAtlas +//----------------------------------------------------------------------------- + +// A work of art lies ahead! (. = white layer, X = black layer, others are blank) +// The white texels on the top left are the ones we'll use everywhere in ImGui to render filled shapes. +const int FONT_ATLAS_DEFAULT_TEX_DATA_W_HALF = 90; +const int FONT_ATLAS_DEFAULT_TEX_DATA_H = 27; +const unsigned int FONT_ATLAS_DEFAULT_TEX_DATA_ID = 0x80000000; +static const char FONT_ATLAS_DEFAULT_TEX_DATA_PIXELS[FONT_ATLAS_DEFAULT_TEX_DATA_W_HALF * FONT_ATLAS_DEFAULT_TEX_DATA_H + 1] = +{ + "..- -XXXXXXX- X - X -XXXXXXX - XXXXXXX" + "..- -X.....X- X.X - X.X -X.....X - X.....X" + "--- -XXX.XXX- X...X - X...X -X....X - X....X" + "X - X.X - X.....X - X.....X -X...X - X...X" + "XX - X.X -X.......X- X.......X -X..X.X - X.X..X" + "X.X - X.X -XXXX.XXXX- XXXX.XXXX -X.X X.X - X.X X.X" + "X..X - X.X - X.X - X.X -XX X.X - X.X XX" + "X...X - X.X - X.X - XX X.X XX - X.X - X.X " + "X....X - X.X - X.X - X.X X.X X.X - X.X - X.X " + "X.....X - X.X - X.X - X..X X.X X..X - X.X - X.X " + "X......X - X.X - X.X - X...XXXXXX.XXXXXX...X - X.X XX-XX X.X " + "X.......X - X.X - X.X -X.....................X- X.X X.X-X.X X.X " + "X........X - X.X - X.X - X...XXXXXX.XXXXXX...X - X.X..X-X..X.X " + "X.........X -XXX.XXX- X.X - X..X X.X X..X - X...X-X...X " + "X..........X-X.....X- X.X - X.X X.X X.X - X....X-X....X " + "X......XXXXX-XXXXXXX- X.X - XX X.X XX - X.....X-X.....X " + "X...X..X --------- X.X - X.X - XXXXXXX-XXXXXXX " + "X..X X..X - -XXXX.XXXX- XXXX.XXXX ------------------------------------" + "X.X X..X - -X.......X- X.......X - XX XX - " + "XX X..X - - X.....X - X.....X - X.X X.X - " + " X..X - X...X - X...X - X..X X..X - " + " XX - X.X - X.X - X...XXXXXXXXXXXXX...X - " + "------------ - X - X -X.....................X- " + " ----------------------------------- X...XXXXXXXXXXXXX...X - " + " - X..X X..X - " + " - X.X X.X - " + " - XX XX - " +}; + +static const ImVec2 FONT_ATLAS_DEFAULT_TEX_CURSOR_DATA[ImGuiMouseCursor_Count_][3] = +{ + // Pos ........ Size ......... Offset ...... + { ImVec2(0,3), ImVec2(12,19), ImVec2( 0, 0) }, // ImGuiMouseCursor_Arrow + { ImVec2(13,0), ImVec2(7,16), ImVec2( 4, 8) }, // ImGuiMouseCursor_TextInput + { ImVec2(31,0), ImVec2(23,23), ImVec2(11,11) }, // ImGuiMouseCursor_ResizeAll + { ImVec2(21,0), ImVec2( 9,23), ImVec2( 5,11) }, // ImGuiMouseCursor_ResizeNS + { ImVec2(55,18),ImVec2(23, 9), ImVec2(11, 5) }, // ImGuiMouseCursor_ResizeEW + { ImVec2(73,0), ImVec2(17,17), ImVec2( 9, 9) }, // ImGuiMouseCursor_ResizeNESW + { ImVec2(55,0), ImVec2(17,17), ImVec2( 9, 9) }, // ImGuiMouseCursor_ResizeNWSE +}; + ImFontAtlas::ImFontAtlas() { + Flags = 0x00; TexID = NULL; + TexDesiredWidth = 0; + TexGlyphPadding = 1; + TexPixelsAlpha8 = NULL; TexPixelsRGBA32 = NULL; - TexWidth = TexHeight = TexDesiredWidth = 0; - TexUvWhitePixel = ImVec2(0, 0); + TexWidth = TexHeight = 0; + TexUvScale = ImVec2(0.0f, 0.0f); + TexUvWhitePixel = ImVec2(0.0f, 0.0f); + for (int n = 0; n < IM_ARRAYSIZE(CustomRectIds); n++) + CustomRectIds[n] = -1; } ImFontAtlas::~ImFontAtlas() @@ -1057,7 +1388,7 @@ void ImFontAtlas::ClearInputData() ConfigData[i].FontData = NULL; } - // When clearing this we lose access to the font name and other information used to build the font. + // When clearing this we lose access to the font name and other information used to build the font. for (int i = 0; i < Fonts.Size; i++) if (Fonts[i]->ConfigData >= ConfigData.Data && Fonts[i]->ConfigData < ConfigData.Data + ConfigData.Size) { @@ -1065,6 +1396,9 @@ void ImFontAtlas::ClearInputData() Fonts[i]->ConfigDataCount = 0; } ConfigData.clear(); + CustomRects.clear(); + for (int n = 0; n < IM_ARRAYSIZE(CustomRectIds); n++) + CustomRectIds[n] = -1; } void ImFontAtlas::ClearTexData() @@ -1080,10 +1414,7 @@ void ImFontAtlas::ClearTexData() void ImFontAtlas::ClearFonts() { for (int i = 0; i < Fonts.Size; i++) - { - Fonts[i]->~ImFont(); - ImGui::MemFree(Fonts[i]); - } + IM_DELETE(Fonts[i]); Fonts.clear(); } @@ -1116,13 +1447,16 @@ void ImFontAtlas::GetTexDataAsRGBA32(unsigned char** out_pixels, int* out_wid // Although it is likely to be the most commonly used format, our font rendering is 1 channel / 8 bpp if (!TexPixelsRGBA32) { - unsigned char* pixels; + unsigned char* pixels = NULL; GetTexDataAsAlpha8(&pixels, NULL, NULL); - TexPixelsRGBA32 = (unsigned int*)ImGui::MemAlloc((size_t)(TexWidth * TexHeight * 4)); - const unsigned char* src = pixels; - unsigned int* dst = TexPixelsRGBA32; - for (int n = TexWidth * TexHeight; n > 0; n--) - *dst++ = IM_COL32(255, 255, 255, (unsigned int)(*src++)); + if (pixels) + { + TexPixelsRGBA32 = (unsigned int*)ImGui::MemAlloc((size_t)(TexWidth * TexHeight * 4)); + const unsigned char* src = pixels; + unsigned int* dst = TexPixelsRGBA32; + for (int n = TexWidth * TexHeight; n > 0; n--) + *dst++ = IM_COL32(255, 255, 255, (unsigned int)(*src++)); + } } *out_pixels = (unsigned char*)TexPixelsRGBA32; @@ -1138,16 +1472,14 @@ ImFont* ImFontAtlas::AddFont(const ImFontConfig* font_cfg) // Create new font if (!font_cfg->MergeMode) - { - ImFont* font = (ImFont*)ImGui::MemAlloc(sizeof(ImFont)); - IM_PLACEMENT_NEW(font) ImFont(); - Fonts.push_back(font); - } + Fonts.push_back(IM_NEW(ImFont)); + else + IM_ASSERT(!Fonts.empty()); // When using MergeMode make sure that a font has already been added before. You can use ImGui::GetIO().Fonts->AddFontDefault() to add the default imgui font. ConfigData.push_back(*font_cfg); ImFontConfig& new_font_cfg = ConfigData.back(); - if (!new_font_cfg.DstFont) - new_font_cfg.DstFont = Fonts.back(); + if (!new_font_cfg.DstFont) + new_font_cfg.DstFont = Fonts.back(); if (!new_font_cfg.FontDataOwnedByAtlas) { new_font_cfg.FontData = ImGui::MemAlloc(new_font_cfg.FontDataSize); @@ -1160,7 +1492,7 @@ ImFont* ImFontAtlas::AddFont(const ImFontConfig* font_cfg) return new_font_cfg.DstFont; } -// Default font TTF is compressed with stb_compress then base85 encoded (see extra_fonts/binary_to_compressed_c.cpp for encoder) +// Default font TTF is compressed with stb_compress then base85 encoded (see misc/fonts/binary_to_compressed_c.cpp for encoder) static unsigned int stb_decompress_length(unsigned char *input); static unsigned int stb_decompress(unsigned char *output, unsigned char *i, unsigned int length); static const char* GetDefaultCompressedFontDataTTFBase85(); @@ -1186,9 +1518,10 @@ ImFont* ImFontAtlas::AddFontDefault(const ImFontConfig* font_cfg_template) font_cfg.PixelSnapH = true; } if (font_cfg.Name[0] == '\0') strcpy(font_cfg.Name, "ProggyClean.ttf, 13px"); + if (font_cfg.SizePixels <= 0.0f) font_cfg.SizePixels = 13.0f; const char* ttf_compressed_base85 = GetDefaultCompressedFontDataTTFBase85(); - ImFont* font = AddFontFromMemoryCompressedBase85TTF(ttf_compressed_base85, 13.0f, &font_cfg, GetGlyphRangesDefault()); + ImFont* font = AddFontFromMemoryCompressedBase85TTF(ttf_compressed_base85, font_cfg.SizePixels, &font_cfg, GetGlyphRangesDefault()); return font; } @@ -1212,7 +1545,7 @@ ImFont* ImFontAtlas::AddFontFromFileTTF(const char* filename, float size_pixels, return AddFontFromMemoryTTF(data, data_size, size_pixels, &font_cfg, glyph_ranges); } -// NBM Transfer ownership of 'ttf_data' to ImFontAtlas, unless font_cfg_template->FontDataOwnedByAtlas == false. Owned TTF buffer will be deleted after Build(). +// NB: Transfer ownership of 'ttf_data' to ImFontAtlas, unless font_cfg_template->FontDataOwnedByAtlas == false. Owned TTF buffer will be deleted after Build(). ImFont* ImFontAtlas::AddFontFromMemoryTTF(void* ttf_data, int ttf_size, float size_pixels, const ImFontConfig* font_cfg_template, const ImWchar* glyph_ranges) { ImFontConfig font_cfg = font_cfg_template ? *font_cfg_template : ImFontConfig(); @@ -1247,92 +1580,175 @@ ImFont* ImFontAtlas::AddFontFromMemoryCompressedBase85TTF(const char* compressed return font; } +int ImFontAtlas::AddCustomRectRegular(unsigned int id, int width, int height) +{ + IM_ASSERT(id >= 0x10000); + IM_ASSERT(width > 0 && width <= 0xFFFF); + IM_ASSERT(height > 0 && height <= 0xFFFF); + CustomRect r; + r.ID = id; + r.Width = (unsigned short)width; + r.Height = (unsigned short)height; + CustomRects.push_back(r); + return CustomRects.Size - 1; // Return index +} + +int ImFontAtlas::AddCustomRectFontGlyph(ImFont* font, ImWchar id, int width, int height, float advance_x, const ImVec2& offset) +{ + IM_ASSERT(font != NULL); + IM_ASSERT(width > 0 && width <= 0xFFFF); + IM_ASSERT(height > 0 && height <= 0xFFFF); + CustomRect r; + r.ID = id; + r.Width = (unsigned short)width; + r.Height = (unsigned short)height; + r.GlyphAdvanceX = advance_x; + r.GlyphOffset = offset; + r.Font = font; + CustomRects.push_back(r); + return CustomRects.Size - 1; // Return index +} + +void ImFontAtlas::CalcCustomRectUV(const CustomRect* rect, ImVec2* out_uv_min, ImVec2* out_uv_max) +{ + IM_ASSERT(TexWidth > 0 && TexHeight > 0); // Font atlas needs to be built before we can calculate UV coordinates + IM_ASSERT(rect->IsPacked()); // Make sure the rectangle has been packed + *out_uv_min = ImVec2((float)rect->X * TexUvScale.x, (float)rect->Y * TexUvScale.y); + *out_uv_max = ImVec2((float)(rect->X + rect->Width) * TexUvScale.x, (float)(rect->Y + rect->Height) * TexUvScale.y); +} + +bool ImFontAtlas::GetMouseCursorTexData(ImGuiMouseCursor cursor_type, ImVec2* out_offset, ImVec2* out_size, ImVec2 out_uv_border[2], ImVec2 out_uv_fill[2]) +{ + if (cursor_type <= ImGuiMouseCursor_None || cursor_type >= ImGuiMouseCursor_Count_) + return false; + if (Flags & ImFontAtlasFlags_NoMouseCursors) + return false; + + ImFontAtlas::CustomRect& r = CustomRects[CustomRectIds[0]]; + IM_ASSERT(r.ID == FONT_ATLAS_DEFAULT_TEX_DATA_ID); + ImVec2 pos = FONT_ATLAS_DEFAULT_TEX_CURSOR_DATA[cursor_type][0] + ImVec2((float)r.X, (float)r.Y); + ImVec2 size = FONT_ATLAS_DEFAULT_TEX_CURSOR_DATA[cursor_type][1]; + *out_size = size; + *out_offset = FONT_ATLAS_DEFAULT_TEX_CURSOR_DATA[cursor_type][2]; + out_uv_border[0] = (pos) * TexUvScale; + out_uv_border[1] = (pos + size) * TexUvScale; + pos.x += FONT_ATLAS_DEFAULT_TEX_DATA_W_HALF + 1; + out_uv_fill[0] = (pos) * TexUvScale; + out_uv_fill[1] = (pos + size) * TexUvScale; + return true; +} + bool ImFontAtlas::Build() { - IM_ASSERT(ConfigData.Size > 0); + return ImFontAtlasBuildWithStbTruetype(this); +} - TexID = NULL; - TexWidth = TexHeight = 0; - TexUvWhitePixel = ImVec2(0, 0); - ClearTexData(); +void ImFontAtlasBuildMultiplyCalcLookupTable(unsigned char out_table[256], float in_brighten_factor) +{ + for (unsigned int i = 0; i < 256; i++) + { + unsigned int value = (unsigned int)(i * in_brighten_factor); + out_table[i] = value > 255 ? 255 : (value & 0xFF); + } +} +void ImFontAtlasBuildMultiplyRectAlpha8(const unsigned char table[256], unsigned char* pixels, int x, int y, int w, int h, int stride) +{ + unsigned char* data = pixels + x + y * stride; + for (int j = h; j > 0; j--, data += stride) + for (int i = 0; i < w; i++) + data[i] = table[data[i]]; +} + +bool ImFontAtlasBuildWithStbTruetype(ImFontAtlas* atlas) +{ + IM_ASSERT(atlas->ConfigData.Size > 0); + + ImFontAtlasBuildRegisterDefaultCustomRects(atlas); + + atlas->TexID = NULL; + atlas->TexWidth = atlas->TexHeight = 0; + atlas->TexUvScale = ImVec2(0.0f, 0.0f); + atlas->TexUvWhitePixel = ImVec2(0.0f, 0.0f); + atlas->ClearTexData(); + + // Count glyphs/ranges + int total_glyphs_count = 0; + int total_ranges_count = 0; + for (int input_i = 0; input_i < atlas->ConfigData.Size; input_i++) + { + ImFontConfig& cfg = atlas->ConfigData[input_i]; + if (!cfg.GlyphRanges) + cfg.GlyphRanges = atlas->GetGlyphRangesDefault(); + for (const ImWchar* in_range = cfg.GlyphRanges; in_range[0] && in_range[1]; in_range += 2, total_ranges_count++) + total_glyphs_count += (in_range[1] - in_range[0]) + 1; + } + + // We need a width for the skyline algorithm. Using a dumb heuristic here to decide of width. User can override TexDesiredWidth and TexGlyphPadding if they wish. + // Width doesn't really matter much, but some API/GPU have texture size limitations and increasing width can decrease height. + atlas->TexWidth = (atlas->TexDesiredWidth > 0) ? atlas->TexDesiredWidth : (total_glyphs_count > 4000) ? 4096 : (total_glyphs_count > 2000) ? 2048 : (total_glyphs_count > 1000) ? 1024 : 512; + atlas->TexHeight = 0; + + // Start packing + const int max_tex_height = 1024*32; + stbtt_pack_context spc = {}; + if (!stbtt_PackBegin(&spc, NULL, atlas->TexWidth, max_tex_height, 0, atlas->TexGlyphPadding, NULL)) + return false; + stbtt_PackSetOversampling(&spc, 1, 1); + + // Pack our extra data rectangles first, so it will be on the upper-left corner of our texture (UV will have small values). + ImFontAtlasBuildPackCustomRects(atlas, spc.pack_info); + + // Initialize font information (so we can error without any cleanup) struct ImFontTempBuildData { stbtt_fontinfo FontInfo; stbrp_rect* Rects; + int RectsCount; stbtt_pack_range* Ranges; int RangesCount; }; - ImFontTempBuildData* tmp_array = (ImFontTempBuildData*)ImGui::MemAlloc((size_t)ConfigData.Size * sizeof(ImFontTempBuildData)); - - // Initialize font information early (so we can error without any cleanup) + count glyphs - int total_glyph_count = 0; - int total_glyph_range_count = 0; - for (int input_i = 0; input_i < ConfigData.Size; input_i++) + ImFontTempBuildData* tmp_array = (ImFontTempBuildData*)ImGui::MemAlloc((size_t)atlas->ConfigData.Size * sizeof(ImFontTempBuildData)); + for (int input_i = 0; input_i < atlas->ConfigData.Size; input_i++) { - ImFontConfig& cfg = ConfigData[input_i]; + ImFontConfig& cfg = atlas->ConfigData[input_i]; ImFontTempBuildData& tmp = tmp_array[input_i]; + IM_ASSERT(cfg.DstFont && (!cfg.DstFont->IsLoaded() || cfg.DstFont->ContainerAtlas == atlas)); - IM_ASSERT(cfg.DstFont && (!cfg.DstFont->IsLoaded() || cfg.DstFont->ContainerAtlas == this)); const int font_offset = stbtt_GetFontOffsetForIndex((unsigned char*)cfg.FontData, cfg.FontNo); IM_ASSERT(font_offset >= 0); if (!stbtt_InitFont(&tmp.FontInfo, (unsigned char*)cfg.FontData, font_offset)) - return false; - - // Count glyphs - if (!cfg.GlyphRanges) - cfg.GlyphRanges = GetGlyphRangesDefault(); - for (const ImWchar* in_range = cfg.GlyphRanges; in_range[0] && in_range[1]; in_range += 2) { - total_glyph_count += (in_range[1] - in_range[0]) + 1; - total_glyph_range_count++; + atlas->TexWidth = atlas->TexHeight = 0; // Reset output on failure + ImGui::MemFree(tmp_array); + return false; } } - // Start packing. We need a known width for the skyline algorithm. Using a cheap heuristic here to decide of width. User can override TexDesiredWidth if they wish. - // After packing is done, width shouldn't matter much, but some API/GPU have texture size limitations and increasing width can decrease height. - TexWidth = (TexDesiredWidth > 0) ? TexDesiredWidth : (total_glyph_count > 4000) ? 4096 : (total_glyph_count > 2000) ? 2048 : (total_glyph_count > 1000) ? 1024 : 512; - TexHeight = 0; - const int max_tex_height = 1024*32; - stbtt_pack_context spc; - stbtt_PackBegin(&spc, NULL, TexWidth, max_tex_height, 0, 1, NULL); - - // Pack our extra data rectangles first, so it will be on the upper-left corner of our texture (UV will have small values). - ImVector extra_rects; - RenderCustomTexData(0, &extra_rects); - stbtt_PackSetOversampling(&spc, 1, 1); - stbrp_pack_rects((stbrp_context*)spc.pack_info, &extra_rects[0], extra_rects.Size); - for (int i = 0; i < extra_rects.Size; i++) - if (extra_rects[i].was_packed) - TexHeight = ImMax(TexHeight, extra_rects[i].y + extra_rects[i].h); - // Allocate packing character data and flag packed characters buffer as non-packed (x0=y0=x1=y1=0) int buf_packedchars_n = 0, buf_rects_n = 0, buf_ranges_n = 0; - stbtt_packedchar* buf_packedchars = (stbtt_packedchar*)ImGui::MemAlloc(total_glyph_count * sizeof(stbtt_packedchar)); - stbrp_rect* buf_rects = (stbrp_rect*)ImGui::MemAlloc(total_glyph_count * sizeof(stbrp_rect)); - stbtt_pack_range* buf_ranges = (stbtt_pack_range*)ImGui::MemAlloc(total_glyph_range_count * sizeof(stbtt_pack_range)); - memset(buf_packedchars, 0, total_glyph_count * sizeof(stbtt_packedchar)); - memset(buf_rects, 0, total_glyph_count * sizeof(stbrp_rect)); // Unnecessary but let's clear this for the sake of sanity. - memset(buf_ranges, 0, total_glyph_range_count * sizeof(stbtt_pack_range)); + stbtt_packedchar* buf_packedchars = (stbtt_packedchar*)ImGui::MemAlloc(total_glyphs_count * sizeof(stbtt_packedchar)); + stbrp_rect* buf_rects = (stbrp_rect*)ImGui::MemAlloc(total_glyphs_count * sizeof(stbrp_rect)); + stbtt_pack_range* buf_ranges = (stbtt_pack_range*)ImGui::MemAlloc(total_ranges_count * sizeof(stbtt_pack_range)); + memset(buf_packedchars, 0, total_glyphs_count * sizeof(stbtt_packedchar)); + memset(buf_rects, 0, total_glyphs_count * sizeof(stbrp_rect)); // Unnecessary but let's clear this for the sake of sanity. + memset(buf_ranges, 0, total_ranges_count * sizeof(stbtt_pack_range)); // First font pass: pack all glyphs (no rendering at this point, we are working with rectangles in an infinitely tall texture at this point) - for (int input_i = 0; input_i < ConfigData.Size; input_i++) + for (int input_i = 0; input_i < atlas->ConfigData.Size; input_i++) { - ImFontConfig& cfg = ConfigData[input_i]; + ImFontConfig& cfg = atlas->ConfigData[input_i]; ImFontTempBuildData& tmp = tmp_array[input_i]; // Setup ranges - int glyph_count = 0; - int glyph_ranges_count = 0; - for (const ImWchar* in_range = cfg.GlyphRanges; in_range[0] && in_range[1]; in_range += 2) - { - glyph_count += (in_range[1] - in_range[0]) + 1; - glyph_ranges_count++; - } + int font_glyphs_count = 0; + int font_ranges_count = 0; + for (const ImWchar* in_range = cfg.GlyphRanges; in_range[0] && in_range[1]; in_range += 2, font_ranges_count++) + font_glyphs_count += (in_range[1] - in_range[0]) + 1; tmp.Ranges = buf_ranges + buf_ranges_n; - tmp.RangesCount = glyph_ranges_count; - buf_ranges_n += glyph_ranges_count; - for (int i = 0; i < glyph_ranges_count; i++) + tmp.RangesCount = font_ranges_count; + buf_ranges_n += font_ranges_count; + for (int i = 0; i < font_ranges_count; i++) { const ImWchar* in_range = &cfg.GlyphRanges[i * 2]; stbtt_pack_range& range = tmp.Ranges[i]; @@ -1345,34 +1761,45 @@ bool ImFontAtlas::Build() // Pack tmp.Rects = buf_rects + buf_rects_n; - buf_rects_n += glyph_count; + tmp.RectsCount = font_glyphs_count; + buf_rects_n += font_glyphs_count; stbtt_PackSetOversampling(&spc, cfg.OversampleH, cfg.OversampleV); int n = stbtt_PackFontRangesGatherRects(&spc, &tmp.FontInfo, tmp.Ranges, tmp.RangesCount, tmp.Rects); + IM_ASSERT(n == font_glyphs_count); stbrp_pack_rects((stbrp_context*)spc.pack_info, tmp.Rects, n); // Extend texture height for (int i = 0; i < n; i++) if (tmp.Rects[i].was_packed) - TexHeight = ImMax(TexHeight, tmp.Rects[i].y + tmp.Rects[i].h); + atlas->TexHeight = ImMax(atlas->TexHeight, tmp.Rects[i].y + tmp.Rects[i].h); } - IM_ASSERT(buf_rects_n == total_glyph_count); - IM_ASSERT(buf_packedchars_n == total_glyph_count); - IM_ASSERT(buf_ranges_n == total_glyph_range_count); + IM_ASSERT(buf_rects_n == total_glyphs_count); + IM_ASSERT(buf_packedchars_n == total_glyphs_count); + IM_ASSERT(buf_ranges_n == total_ranges_count); // Create texture - TexHeight = ImUpperPowerOfTwo(TexHeight); - TexPixelsAlpha8 = (unsigned char*)ImGui::MemAlloc(TexWidth * TexHeight); - memset(TexPixelsAlpha8, 0, TexWidth * TexHeight); - spc.pixels = TexPixelsAlpha8; - spc.height = TexHeight; + atlas->TexHeight = (atlas->Flags & ImFontAtlasFlags_NoPowerOfTwoHeight) ? (atlas->TexHeight + 1) : ImUpperPowerOfTwo(atlas->TexHeight); + atlas->TexUvScale = ImVec2(1.0f / atlas->TexWidth, 1.0f / atlas->TexHeight); + atlas->TexPixelsAlpha8 = (unsigned char*)ImGui::MemAlloc(atlas->TexWidth * atlas->TexHeight); + memset(atlas->TexPixelsAlpha8, 0, atlas->TexWidth * atlas->TexHeight); + spc.pixels = atlas->TexPixelsAlpha8; + spc.height = atlas->TexHeight; - // Second pass: render characters - for (int input_i = 0; input_i < ConfigData.Size; input_i++) + // Second pass: render font characters + for (int input_i = 0; input_i < atlas->ConfigData.Size; input_i++) { - ImFontConfig& cfg = ConfigData[input_i]; + ImFontConfig& cfg = atlas->ConfigData[input_i]; ImFontTempBuildData& tmp = tmp_array[input_i]; stbtt_PackSetOversampling(&spc, cfg.OversampleH, cfg.OversampleV); stbtt_PackFontRangesRenderIntoRects(&spc, &tmp.FontInfo, tmp.Ranges, tmp.RangesCount, tmp.Rects); + if (cfg.RasterizerMultiply != 1.0f) + { + unsigned char multiply_table[256]; + ImFontAtlasBuildMultiplyCalcLookupTable(multiply_table, cfg.RasterizerMultiply); + for (const stbrp_rect* r = tmp.Rects; r != tmp.Rects + tmp.RectsCount; r++) + if (r->was_packed) + ImFontAtlasBuildMultiplyRectAlpha8(multiply_table, spc.pixels, r->x, r->y, r->w, r->h, spc.stride_in_bytes); + } tmp.Rects = NULL; } @@ -1382,33 +1809,22 @@ bool ImFontAtlas::Build() buf_rects = NULL; // Third pass: setup ImFont and glyphs for runtime - for (int input_i = 0; input_i < ConfigData.Size; input_i++) + for (int input_i = 0; input_i < atlas->ConfigData.Size; input_i++) { - ImFontConfig& cfg = ConfigData[input_i]; + ImFontConfig& cfg = atlas->ConfigData[input_i]; ImFontTempBuildData& tmp = tmp_array[input_i]; ImFont* dst_font = cfg.DstFont; // We can have multiple input fonts writing into a same destination font (when using MergeMode=true) - float font_scale = stbtt_ScaleForPixelHeight(&tmp.FontInfo, cfg.SizePixels); + const float font_scale = stbtt_ScaleForPixelHeight(&tmp.FontInfo, cfg.SizePixels); int unscaled_ascent, unscaled_descent, unscaled_line_gap; stbtt_GetFontVMetrics(&tmp.FontInfo, &unscaled_ascent, &unscaled_descent, &unscaled_line_gap); - float ascent = unscaled_ascent * font_scale; - float descent = unscaled_descent * font_scale; - if (!cfg.MergeMode) - { - dst_font->ContainerAtlas = this; - dst_font->ConfigData = &cfg; - dst_font->ConfigDataCount = 0; - dst_font->FontSize = cfg.SizePixels; - dst_font->Ascent = ascent; - dst_font->Descent = descent; - dst_font->Glyphs.resize(0); - dst_font->MetricsTotalSurface = 0; - } - dst_font->ConfigDataCount++; - float off_y = (cfg.MergeMode && cfg.MergeGlyphCenterV) ? (ascent - dst_font->Ascent) * 0.5f : 0.0f; + const float ascent = unscaled_ascent * font_scale; + const float descent = unscaled_descent * font_scale; + ImFontAtlasBuildSetupFont(atlas, dst_font, &cfg, ascent, descent); + const float off_x = cfg.GlyphOffset.x; + const float off_y = cfg.GlyphOffset.y + (float)(int)(dst_font->Ascent + 0.5f); - dst_font->FallbackGlyph = NULL; // Always clear fallback so FindGlyph can return NULL. It will be set again in BuildLookupTable() for (int i = 0; i < tmp.RangesCount; i++) { stbtt_pack_range& range = tmp.Ranges[i]; @@ -1424,22 +1840,10 @@ bool ImFontAtlas::Build() stbtt_aligned_quad q; float dummy_x = 0.0f, dummy_y = 0.0f; - stbtt_GetPackedQuad(range.chardata_for_range, TexWidth, TexHeight, char_idx, &dummy_x, &dummy_y, &q, 0); - - dst_font->Glyphs.resize(dst_font->Glyphs.Size + 1); - ImFont::Glyph& glyph = dst_font->Glyphs.back(); - glyph.Codepoint = (ImWchar)codepoint; - glyph.X0 = q.x0; glyph.Y0 = q.y0; glyph.X1 = q.x1; glyph.Y1 = q.y1; - glyph.U0 = q.s0; glyph.V0 = q.t0; glyph.U1 = q.s1; glyph.V1 = q.t1; - glyph.Y0 += (float)(int)(dst_font->Ascent + off_y + 0.5f); - glyph.Y1 += (float)(int)(dst_font->Ascent + off_y + 0.5f); - glyph.XAdvance = (pc.xadvance + cfg.GlyphExtraSpacing.x); // Bake spacing into XAdvance - if (cfg.PixelSnapH) - glyph.XAdvance = (float)(int)(glyph.XAdvance + 0.5f); - dst_font->MetricsTotalSurface += (int)(glyph.X1 - glyph.X0 + 1.99f) * (int)(glyph.Y1 - glyph.Y0 + 1.99f); // +1 to account for average padding, +0.99 to round + stbtt_GetPackedQuad(range.chardata_for_range, atlas->TexWidth, atlas->TexHeight, char_idx, &dummy_x, &dummy_y, &q, 0); + dst_font->AddGlyph((ImWchar)codepoint, q.x0 + off_x, q.y0 + off_y, q.x1 + off_x, q.y1 + off_y, q.s0, q.t0, q.s1, q.t1, pc.xadvance); } } - cfg.DstFont->BuildLookupTable(); } // Cleanup temporaries @@ -1447,102 +1851,113 @@ bool ImFontAtlas::Build() ImGui::MemFree(buf_ranges); ImGui::MemFree(tmp_array); - // Render into our custom data block - RenderCustomTexData(1, &extra_rects); + ImFontAtlasBuildFinish(atlas); return true; } -void ImFontAtlas::RenderCustomTexData(int pass, void* p_rects) +void ImFontAtlasBuildRegisterDefaultCustomRects(ImFontAtlas* atlas) { - // A work of art lies ahead! (. = white layer, X = black layer, others are blank) - // The white texels on the top left are the ones we'll use everywhere in ImGui to render filled shapes. - const int TEX_DATA_W = 90; - const int TEX_DATA_H = 27; - const char texture_data[TEX_DATA_W*TEX_DATA_H+1] = - { - "..- -XXXXXXX- X - X -XXXXXXX - XXXXXXX" - "..- -X.....X- X.X - X.X -X.....X - X.....X" - "--- -XXX.XXX- X...X - X...X -X....X - X....X" - "X - X.X - X.....X - X.....X -X...X - X...X" - "XX - X.X -X.......X- X.......X -X..X.X - X.X..X" - "X.X - X.X -XXXX.XXXX- XXXX.XXXX -X.X X.X - X.X X.X" - "X..X - X.X - X.X - X.X -XX X.X - X.X XX" - "X...X - X.X - X.X - XX X.X XX - X.X - X.X " - "X....X - X.X - X.X - X.X X.X X.X - X.X - X.X " - "X.....X - X.X - X.X - X..X X.X X..X - X.X - X.X " - "X......X - X.X - X.X - X...XXXXXX.XXXXXX...X - X.X XX-XX X.X " - "X.......X - X.X - X.X -X.....................X- X.X X.X-X.X X.X " - "X........X - X.X - X.X - X...XXXXXX.XXXXXX...X - X.X..X-X..X.X " - "X.........X -XXX.XXX- X.X - X..X X.X X..X - X...X-X...X " - "X..........X-X.....X- X.X - X.X X.X X.X - X....X-X....X " - "X......XXXXX-XXXXXXX- X.X - XX X.X XX - X.....X-X.....X " - "X...X..X --------- X.X - X.X - XXXXXXX-XXXXXXX " - "X..X X..X - -XXXX.XXXX- XXXX.XXXX ------------------------------------" - "X.X X..X - -X.......X- X.......X - XX XX - " - "XX X..X - - X.....X - X.....X - X.X X.X - " - " X..X - X...X - X...X - X..X X..X - " - " XX - X.X - X.X - X...XXXXXXXXXXXXX...X - " - "------------ - X - X -X.....................X- " - " ----------------------------------- X...XXXXXXXXXXXXX...X - " - " - X..X X..X - " - " - X.X X.X - " - " - XX XX - " - }; + if (atlas->CustomRectIds[0] >= 0) + return; + if (!(atlas->Flags & ImFontAtlasFlags_NoMouseCursors)) + atlas->CustomRectIds[0] = atlas->AddCustomRectRegular(FONT_ATLAS_DEFAULT_TEX_DATA_ID, FONT_ATLAS_DEFAULT_TEX_DATA_W_HALF*2+1, FONT_ATLAS_DEFAULT_TEX_DATA_H); + else + atlas->CustomRectIds[0] = atlas->AddCustomRectRegular(FONT_ATLAS_DEFAULT_TEX_DATA_ID, 2, 2); +} - ImVector& rects = *(ImVector*)p_rects; - if (pass == 0) +void ImFontAtlasBuildSetupFont(ImFontAtlas* atlas, ImFont* font, ImFontConfig* font_config, float ascent, float descent) +{ + if (!font_config->MergeMode) { - // Request rectangles - stbrp_rect r; - memset(&r, 0, sizeof(r)); - r.w = (TEX_DATA_W*2)+1; - r.h = TEX_DATA_H+1; - rects.push_back(r); + font->ClearOutputData(); + font->FontSize = font_config->SizePixels; + font->ConfigData = font_config; + font->ContainerAtlas = atlas; + font->Ascent = ascent; + font->Descent = descent; } - else if (pass == 1) + font->ConfigDataCount++; +} + +void ImFontAtlasBuildPackCustomRects(ImFontAtlas* atlas, void* pack_context_opaque) +{ + stbrp_context* pack_context = (stbrp_context*)pack_context_opaque; + + ImVector& user_rects = atlas->CustomRects; + IM_ASSERT(user_rects.Size >= 1); // We expect at least the default custom rects to be registered, else something went wrong. + + ImVector pack_rects; + pack_rects.resize(user_rects.Size); + memset(pack_rects.Data, 0, sizeof(stbrp_rect) * user_rects.Size); + for (int i = 0; i < user_rects.Size; i++) + { + pack_rects[i].w = user_rects[i].Width; + pack_rects[i].h = user_rects[i].Height; + } + stbrp_pack_rects(pack_context, &pack_rects[0], pack_rects.Size); + for (int i = 0; i < pack_rects.Size; i++) + if (pack_rects[i].was_packed) + { + user_rects[i].X = pack_rects[i].x; + user_rects[i].Y = pack_rects[i].y; + IM_ASSERT(pack_rects[i].w == user_rects[i].Width && pack_rects[i].h == user_rects[i].Height); + atlas->TexHeight = ImMax(atlas->TexHeight, pack_rects[i].y + pack_rects[i].h); + } +} + +static void ImFontAtlasBuildRenderDefaultTexData(ImFontAtlas* atlas) +{ + IM_ASSERT(atlas->CustomRectIds[0] >= 0); + IM_ASSERT(atlas->TexPixelsAlpha8 != NULL); + ImFontAtlas::CustomRect& r = atlas->CustomRects[atlas->CustomRectIds[0]]; + IM_ASSERT(r.ID == FONT_ATLAS_DEFAULT_TEX_DATA_ID); + IM_ASSERT(r.IsPacked()); + + const int w = atlas->TexWidth; + if (!(atlas->Flags & ImFontAtlasFlags_NoMouseCursors)) { // Render/copy pixels - const stbrp_rect& r = rects[0]; - for (int y = 0, n = 0; y < TEX_DATA_H; y++) - for (int x = 0; x < TEX_DATA_W; x++, n++) + IM_ASSERT(r.Width == FONT_ATLAS_DEFAULT_TEX_DATA_W_HALF * 2 + 1 && r.Height == FONT_ATLAS_DEFAULT_TEX_DATA_H); + for (int y = 0, n = 0; y < FONT_ATLAS_DEFAULT_TEX_DATA_H; y++) + for (int x = 0; x < FONT_ATLAS_DEFAULT_TEX_DATA_W_HALF; x++, n++) { - const int offset0 = (int)(r.x + x) + (int)(r.y + y) * TexWidth; - const int offset1 = offset0 + 1 + TEX_DATA_W; - TexPixelsAlpha8[offset0] = texture_data[n] == '.' ? 0xFF : 0x00; - TexPixelsAlpha8[offset1] = texture_data[n] == 'X' ? 0xFF : 0x00; + const int offset0 = (int)(r.X + x) + (int)(r.Y + y) * w; + const int offset1 = offset0 + FONT_ATLAS_DEFAULT_TEX_DATA_W_HALF + 1; + atlas->TexPixelsAlpha8[offset0] = FONT_ATLAS_DEFAULT_TEX_DATA_PIXELS[n] == '.' ? 0xFF : 0x00; + atlas->TexPixelsAlpha8[offset1] = FONT_ATLAS_DEFAULT_TEX_DATA_PIXELS[n] == 'X' ? 0xFF : 0x00; } - const ImVec2 tex_uv_scale(1.0f / TexWidth, 1.0f / TexHeight); - TexUvWhitePixel = ImVec2((r.x + 0.5f) * tex_uv_scale.x, (r.y + 0.5f) * tex_uv_scale.y); - - // Setup mouse cursors - const ImVec2 cursor_datas[ImGuiMouseCursor_Count_][3] = - { - // Pos ........ Size ......... Offset ...... - { ImVec2(0,3), ImVec2(12,19), ImVec2( 0, 0) }, // ImGuiMouseCursor_Arrow - { ImVec2(13,0), ImVec2(7,16), ImVec2( 4, 8) }, // ImGuiMouseCursor_TextInput - { ImVec2(31,0), ImVec2(23,23), ImVec2(11,11) }, // ImGuiMouseCursor_Move - { ImVec2(21,0), ImVec2( 9,23), ImVec2( 5,11) }, // ImGuiMouseCursor_ResizeNS - { ImVec2(55,18),ImVec2(23, 9), ImVec2(11, 5) }, // ImGuiMouseCursor_ResizeEW - { ImVec2(73,0), ImVec2(17,17), ImVec2( 9, 9) }, // ImGuiMouseCursor_ResizeNESW - { ImVec2(55,0), ImVec2(17,17), ImVec2( 9, 9) }, // ImGuiMouseCursor_ResizeNWSE - }; - - for (int type = 0; type < ImGuiMouseCursor_Count_; type++) - { - ImGuiMouseCursorData& cursor_data = GImGui->MouseCursorData[type]; - ImVec2 pos = cursor_datas[type][0] + ImVec2((float)r.x, (float)r.y); - const ImVec2 size = cursor_datas[type][1]; - cursor_data.Type = type; - cursor_data.Size = size; - cursor_data.HotOffset = cursor_datas[type][2]; - cursor_data.TexUvMin[0] = (pos) * tex_uv_scale; - cursor_data.TexUvMax[0] = (pos + size) * tex_uv_scale; - pos.x += TEX_DATA_W+1; - cursor_data.TexUvMin[1] = (pos) * tex_uv_scale; - cursor_data.TexUvMax[1] = (pos + size) * tex_uv_scale; - } } + else + { + IM_ASSERT(r.Width == 2 && r.Height == 2); + const int offset = (int)(r.X) + (int)(r.Y) * w; + atlas->TexPixelsAlpha8[offset] = atlas->TexPixelsAlpha8[offset + 1] = atlas->TexPixelsAlpha8[offset + w] = atlas->TexPixelsAlpha8[offset + w + 1] = 0xFF; + } + atlas->TexUvWhitePixel = ImVec2((r.X + 0.5f) * atlas->TexUvScale.x, (r.Y + 0.5f) * atlas->TexUvScale.y); +} + +void ImFontAtlasBuildFinish(ImFontAtlas* atlas) +{ + // Render into our custom data block + ImFontAtlasBuildRenderDefaultTexData(atlas); + + // Register custom rectangle glyphs + for (int i = 0; i < atlas->CustomRects.Size; i++) + { + const ImFontAtlas::CustomRect& r = atlas->CustomRects[i]; + if (r.Font == NULL || r.ID > 0x10000) + continue; + + IM_ASSERT(r.Font->ContainerAtlas == atlas); + ImVec2 uv0, uv1; + atlas->CalcCustomRectUV(&r, &uv0, &uv1); + r.Font->AddGlyph((ImWchar)r.ID, r.GlyphOffset.x, r.GlyphOffset.y, r.GlyphOffset.x + r.Width, r.GlyphOffset.y + r.Height, uv0.x, uv0.y, uv1.x, uv1.y, r.GlyphAdvanceX); + } + + // Build all fonts lookup tables + for (int i = 0; i < atlas->Fonts.Size; i++) + atlas->Fonts[i]->BuildLookupTable(); } // Retrieve list of range (2 int per range, values are inclusive) @@ -1585,7 +2000,10 @@ const ImWchar* ImFontAtlas::GetGlyphRangesChinese() const ImWchar* ImFontAtlas::GetGlyphRangesJapanese() { // Store the 1946 ideograms code points as successive offsets from the initial unicode codepoint 0x4E00. Each offset has an implicit +1. - // This encoding helps us reduce the source code size. + // This encoding is designed to helps us reduce the source code size. + // FIXME: Source a list of the revised 2136 joyo kanji list from 2010 and rebuild this. + // The current list was sourced from http://theinstructionlimit.com/author/renaudbedardrenaudbedard/page/3 + // Note that you may use ImFontAtlas::GlyphRangesBuilder to create your own ranges, by merging existing ranges or adding new characters. static const short offsets_from_0x4E00[] = { -1,0,1,3,0,0,0,0,1,0,5,1,1,0,7,4,6,10,0,1,9,9,7,1,3,19,1,10,7,1,0,1,0,5,1,0,6,4,2,6,0,0,12,6,8,0,3,5,0,1,0,9,0,0,8,1,1,3,4,5,13,0,0,8,2,17, @@ -1662,12 +2080,51 @@ const ImWchar* ImFontAtlas::GetGlyphRangesThai() static const ImWchar ranges[] = { 0x0020, 0x00FF, // Basic Latin + 0x2010, 0x205E, // Punctuations 0x0E00, 0x0E7F, // Thai 0, }; return &ranges[0]; } +//----------------------------------------------------------------------------- +// ImFontAtlas::GlyphRangesBuilder +//----------------------------------------------------------------------------- + +void ImFontAtlas::GlyphRangesBuilder::AddText(const char* text, const char* text_end) +{ + while (text_end ? (text < text_end) : *text) + { + unsigned int c = 0; + int c_len = ImTextCharFromUtf8(&c, text, text_end); + text += c_len; + if (c_len == 0) + break; + if (c < 0x10000) + AddChar((ImWchar)c); + } +} + +void ImFontAtlas::GlyphRangesBuilder::AddRanges(const ImWchar* ranges) +{ + for (; ranges[0]; ranges += 2) + for (ImWchar c = ranges[0]; c <= ranges[1]; c++) + AddChar(c); +} + +void ImFontAtlas::GlyphRangesBuilder::BuildRanges(ImVector* out_ranges) +{ + for (int n = 0; n < 0x10000; n++) + if (GetBit(n)) + { + out_ranges->push_back((ImWchar)n); + while (n < 0x10000 && GetBit(n + 1)) + n++; + out_ranges->push_back((ImWchar)n); + } + out_ranges->push_back(0); +} + //----------------------------------------------------------------------------- // ImFont //----------------------------------------------------------------------------- @@ -1676,7 +2133,8 @@ ImFont::ImFont() { Scale = 1.0f; FallbackChar = (ImWchar)'?'; - Clear(); + DisplayOffset = ImVec2(0.0f, 1.0f); + ClearOutputData(); } ImFont::~ImFont() @@ -1689,18 +2147,17 @@ ImFont::~ImFont() if (g.Font == this) g.Font = NULL; */ - Clear(); + ClearOutputData(); } -void ImFont::Clear() +void ImFont::ClearOutputData() { FontSize = 0.0f; - DisplayOffset = ImVec2(0.0f, 1.0f); Glyphs.clear(); - IndexXAdvance.clear(); + IndexAdvanceX.clear(); IndexLookup.clear(); FallbackGlyph = NULL; - FallbackXAdvance = 0.0f; + FallbackAdvanceX = 0.0f; ConfigDataCount = 0; ConfigData = NULL; ContainerAtlas = NULL; @@ -1715,13 +2172,13 @@ void ImFont::BuildLookupTable() max_codepoint = ImMax(max_codepoint, (int)Glyphs[i].Codepoint); IM_ASSERT(Glyphs.Size < 0xFFFF); // -1 is reserved - IndexXAdvance.clear(); + IndexAdvanceX.clear(); IndexLookup.clear(); GrowIndex(max_codepoint + 1); for (int i = 0; i < Glyphs.Size; i++) { int codepoint = (int)Glyphs[i].Codepoint; - IndexXAdvance[codepoint] = Glyphs[i].XAdvance; + IndexAdvanceX[codepoint] = Glyphs[i].AdvanceX; IndexLookup[codepoint] = (unsigned short)i; } @@ -1731,20 +2188,20 @@ void ImFont::BuildLookupTable() { if (Glyphs.back().Codepoint != '\t') // So we can call this function multiple times Glyphs.resize(Glyphs.Size + 1); - ImFont::Glyph& tab_glyph = Glyphs.back(); + ImFontGlyph& tab_glyph = Glyphs.back(); tab_glyph = *FindGlyph((unsigned short)' '); tab_glyph.Codepoint = '\t'; - tab_glyph.XAdvance *= 4; - IndexXAdvance[(int)tab_glyph.Codepoint] = (float)tab_glyph.XAdvance; + tab_glyph.AdvanceX *= 4; + IndexAdvanceX[(int)tab_glyph.Codepoint] = (float)tab_glyph.AdvanceX; IndexLookup[(int)tab_glyph.Codepoint] = (unsigned short)(Glyphs.Size-1); } FallbackGlyph = NULL; FallbackGlyph = FindGlyph(FallbackChar); - FallbackXAdvance = FallbackGlyph ? FallbackGlyph->XAdvance : 0.0f; + FallbackAdvanceX = FallbackGlyph ? FallbackGlyph->AdvanceX : 0.0f; for (int i = 0; i < max_codepoint + 1; i++) - if (IndexXAdvance[i] < 0.0f) - IndexXAdvance[i] = FallbackXAdvance; + if (IndexAdvanceX[i] < 0.0f) + IndexAdvanceX[i] = FallbackAdvanceX; } void ImFont::SetFallbackChar(ImWchar c) @@ -1755,17 +2212,33 @@ void ImFont::SetFallbackChar(ImWchar c) void ImFont::GrowIndex(int new_size) { - IM_ASSERT(IndexXAdvance.Size == IndexLookup.Size); - int old_size = IndexLookup.Size; - if (new_size <= old_size) + IM_ASSERT(IndexAdvanceX.Size == IndexLookup.Size); + if (new_size <= IndexLookup.Size) return; - IndexXAdvance.resize(new_size); - IndexLookup.resize(new_size); - for (int i = old_size; i < new_size; i++) - { - IndexXAdvance[i] = -1.0f; - IndexLookup[i] = (unsigned short)-1; - } + IndexAdvanceX.resize(new_size, -1.0f); + IndexLookup.resize(new_size, (unsigned short)-1); +} + +void ImFont::AddGlyph(ImWchar codepoint, float x0, float y0, float x1, float y1, float u0, float v0, float u1, float v1, float advance_x) +{ + Glyphs.resize(Glyphs.Size + 1); + ImFontGlyph& glyph = Glyphs.back(); + glyph.Codepoint = (ImWchar)codepoint; + glyph.X0 = x0; + glyph.Y0 = y0; + glyph.X1 = x1; + glyph.Y1 = y1; + glyph.U0 = u0; + glyph.V0 = v0; + glyph.U1 = u1; + glyph.V1 = v1; + glyph.AdvanceX = advance_x + ConfigData->GlyphExtraSpacing.x; // Bake spacing into AdvanceX + + if (ConfigData->PixelSnapH) + glyph.AdvanceX = (float)(int)(glyph.AdvanceX + 0.5f); + + // Compute rough surface usage metrics (+1 to account for average padding, +0.99 to round) + MetricsTotalSurface += (int)((glyph.U1 - glyph.U0) * ContainerAtlas->TexWidth + 1.99f) * (int)((glyph.V1 - glyph.V0) * ContainerAtlas->TexHeight + 1.99f); } void ImFont::AddRemapChar(ImWchar dst, ImWchar src, bool overwrite_dst) @@ -1780,10 +2253,10 @@ void ImFont::AddRemapChar(ImWchar dst, ImWchar src, bool overwrite_dst) GrowIndex(dst + 1); IndexLookup[dst] = (src < index_size) ? IndexLookup.Data[src] : (unsigned short)-1; - IndexXAdvance[dst] = (src < index_size) ? IndexXAdvance.Data[src] : 1.0f; + IndexAdvanceX[dst] = (src < index_size) ? IndexAdvanceX.Data[src] : 1.0f; } -const ImFont::Glyph* ImFont::FindGlyph(unsigned short c) const +const ImFontGlyph* ImFont::FindGlyph(ImWchar c) const { if (c < IndexLookup.Size) { @@ -1814,6 +2287,7 @@ const char* ImFont::CalcWordWrapPositionA(float scale, const char* text, const c float line_width = 0.0f; float word_width = 0.0f; float blank_width = 0.0f; + wrap_width /= scale; // We work with unscaled widths to avoid scaling every characters const char* word_end = text; const char* prev_word_end = NULL; @@ -1847,7 +2321,7 @@ const char* ImFont::CalcWordWrapPositionA(float scale, const char* text, const c } } - const float char_width = ((int)c < IndexXAdvance.Size ? IndexXAdvance[(int)c] : FallbackXAdvance) * scale; + const float char_width = ((int)c < IndexAdvanceX.Size ? IndexAdvanceX[(int)c] : FallbackAdvanceX); if (ImCharIsSpace(c)) { if (inside_word) @@ -1964,7 +2438,7 @@ ImVec2 ImFont::CalcTextSizeA(float size, float max_width, float wrap_width, cons continue; } - const float char_width = ((int)c < IndexXAdvance.Size ? IndexXAdvance[(int)c] : FallbackXAdvance) * scale; + const float char_width = ((int)c < IndexAdvanceX.Size ? IndexAdvanceX[(int)c] : FallbackAdvanceX) * scale; if (line_width + char_width >= max_width) { s = prev_s; @@ -1990,15 +2464,13 @@ void ImFont::RenderChar(ImDrawList* draw_list, float size, ImVec2 pos, ImU32 col { if (c == ' ' || c == '\t' || c == '\n' || c == '\r') // Match behavior of RenderText(), those 4 codepoints are hard-coded. return; - if (const Glyph* glyph = FindGlyph(c)) + if (const ImFontGlyph* glyph = FindGlyph(c)) { float scale = (size >= 0.0f) ? (size / FontSize) : 1.0f; pos.x = (float)(int)pos.x + DisplayOffset.x; pos.y = (float)(int)pos.y + DisplayOffset.y; - ImVec2 pos_tl(pos.x + glyph->X0 * scale, pos.y + glyph->Y0 * scale); - ImVec2 pos_br(pos.x + glyph->X1 * scale, pos.y + glyph->Y1 * scale); draw_list->PrimReserve(6, 4); - draw_list->PrimRectUV(pos_tl, pos_br, ImVec2(glyph->U0, glyph->V0), ImVec2(glyph->U1, glyph->V1), col); + draw_list->PrimRectUV(ImVec2(pos.x + glyph->X0 * scale, pos.y + glyph->Y0 * scale), ImVec2(pos.x + glyph->X1 * scale, pos.y + glyph->Y1 * scale), ImVec2(glyph->U0, glyph->V0), ImVec2(glyph->U1, glyph->V1), col); } } @@ -2096,9 +2568,9 @@ void ImFont::RenderText(ImDrawList* draw_list, float size, ImVec2 pos, ImU32 col } float char_width = 0.0f; - if (const Glyph* glyph = FindGlyph((unsigned short)c)) + if (const ImFontGlyph* glyph = FindGlyph((unsigned short)c)) { - char_width = glyph->XAdvance * scale; + char_width = glyph->AdvanceX * scale; // Arbitrarily assume that both space and tabs are empty glyphs as an optimization if (c != ' ' && c != '\t') @@ -2146,8 +2618,7 @@ void ImFont::RenderText(ImDrawList* draw_list, float size, ImVec2 pos, ImU32 col } } - // We are NOT calling PrimRectUV() here because non-inlined causes too much overhead in a debug build. - // Inlined here: + // We are NOT calling PrimRectUV() here because non-inlined causes too much overhead in a debug builds. Inlined here: { idx_write[0] = (ImDrawIdx)(vtx_current_idx); idx_write[1] = (ImDrawIdx)(vtx_current_idx+1); idx_write[2] = (ImDrawIdx)(vtx_current_idx+2); idx_write[3] = (ImDrawIdx)(vtx_current_idx); idx_write[4] = (ImDrawIdx)(vtx_current_idx+2); idx_write[5] = (ImDrawIdx)(vtx_current_idx+3); @@ -2175,11 +2646,83 @@ void ImFont::RenderText(ImDrawList* draw_list, float size, ImVec2 pos, ImU32 col draw_list->_VtxCurrentIdx = (unsigned int)draw_list->VtxBuffer.Size; } +//----------------------------------------------------------------------------- +// Internals Drawing Helpers +//----------------------------------------------------------------------------- + +static inline float ImAcos01(float x) +{ + if (x <= 0.0f) return IM_PI * 0.5f; + if (x >= 1.0f) return 0.0f; + return acosf(x); + //return (-0.69813170079773212f * x * x - 0.87266462599716477f) * x + 1.5707963267948966f; // Cheap approximation, may be enough for what we do. +} + +// FIXME: Cleanup and move code to ImDrawList. +void ImGui::RenderRectFilledRangeH(ImDrawList* draw_list, const ImRect& rect, ImU32 col, float x_start_norm, float x_end_norm, float rounding) +{ + if (x_end_norm == x_start_norm) + return; + if (x_start_norm > x_end_norm) + ImSwap(x_start_norm, x_end_norm); + + ImVec2 p0 = ImVec2(ImLerp(rect.Min.x, rect.Max.x, x_start_norm), rect.Min.y); + ImVec2 p1 = ImVec2(ImLerp(rect.Min.x, rect.Max.x, x_end_norm), rect.Max.y); + if (rounding == 0.0f) + { + draw_list->AddRectFilled(p0, p1, col, 0.0f); + return; + } + + rounding = ImClamp(ImMin((rect.Max.x - rect.Min.x) * 0.5f, (rect.Max.y - rect.Min.y) * 0.5f) - 1.0f, 0.0f, rounding); + const float inv_rounding = 1.0f / rounding; + const float arc0_b = ImAcos01(1.0f - (p0.x - rect.Min.x) * inv_rounding); + const float arc0_e = ImAcos01(1.0f - (p1.x - rect.Min.x) * inv_rounding); + const float x0 = ImMax(p0.x, rect.Min.x + rounding); + if (arc0_b == arc0_e) + { + draw_list->PathLineTo(ImVec2(x0, p1.y)); + draw_list->PathLineTo(ImVec2(x0, p0.y)); + } + else if (arc0_b == 0.0f && arc0_e == IM_PI*0.5f) + { + draw_list->PathArcToFast(ImVec2(x0, p1.y - rounding), rounding, 3, 6); // BL + draw_list->PathArcToFast(ImVec2(x0, p0.y + rounding), rounding, 6, 9); // TR + } + else + { + draw_list->PathArcTo(ImVec2(x0, p1.y - rounding), rounding, IM_PI - arc0_e, IM_PI - arc0_b, 3); // BL + draw_list->PathArcTo(ImVec2(x0, p0.y + rounding), rounding, IM_PI + arc0_b, IM_PI + arc0_e, 3); // TR + } + if (p1.x > rect.Min.x + rounding) + { + const float arc1_b = ImAcos01(1.0f - (rect.Max.x - p1.x) * inv_rounding); + const float arc1_e = ImAcos01(1.0f - (rect.Max.x - p0.x) * inv_rounding); + const float x1 = ImMin(p1.x, rect.Max.x - rounding); + if (arc1_b == arc1_e) + { + draw_list->PathLineTo(ImVec2(x1, p0.y)); + draw_list->PathLineTo(ImVec2(x1, p1.y)); + } + else if (arc1_b == 0.0f && arc1_e == IM_PI*0.5f) + { + draw_list->PathArcToFast(ImVec2(x1, p0.y + rounding), rounding, 9, 12); // TR + draw_list->PathArcToFast(ImVec2(x1, p1.y - rounding), rounding, 0, 3); // BR + } + else + { + draw_list->PathArcTo(ImVec2(x1, p0.y + rounding), rounding, -arc1_e, -arc1_b, 3); // TR + draw_list->PathArcTo(ImVec2(x1, p1.y - rounding), rounding, +arc1_b, +arc1_e, 3); // BR + } + } + draw_list->PathFillConvex(col); +} + //----------------------------------------------------------------------------- // DEFAULT FONT DATA //----------------------------------------------------------------------------- // Compressed with stb_compress() then converted to a C array. -// Use the program in extra_fonts/binary_to_compressed_c.cpp to create the array from a TTF file. +// Use the program in misc/fonts/binary_to_compressed_c.cpp to create the array from a TTF file. // Decompression from stb.h (public domain) by Sean Barrett https://github.com/nothings/stb/blob/master/stb.h //----------------------------------------------------------------------------- diff --git a/examples/ThirdPartyLibs/imgui/imgui_internal.h b/examples/ThirdPartyLibs/imgui/imgui_internal.h index effc5ce7f..c2c055504 100644 --- a/examples/ThirdPartyLibs/imgui/imgui_internal.h +++ b/examples/ThirdPartyLibs/imgui/imgui_internal.h @@ -1,9 +1,10 @@ -// dear imgui, v1.50 WIP +// dear imgui, v1.60 WIP // (internals) // You may use this file to debug, understand or extend ImGui features but we don't provide any guarantee of forward compatibility! -// Implement maths operators for ImVec2 (disabled by default to not collide with using IM_VEC2_CLASS_EXTRA along with your own math types+operators) +// Set: // #define IMGUI_DEFINE_MATH_OPERATORS +// To implement maths operators for ImVec2 (disabled by default to not collide with using IM_VEC2_CLASS_EXTRA along with your own math types+operators) #pragma once @@ -13,6 +14,7 @@ #include // FILE* #include // sqrtf, fabsf, fmodf, powf, floorf, ceilf, cosf, sinf +#include // INT_MIN, INT_MAX #ifdef _MSC_VER #pragma warning (push) @@ -34,18 +36,21 @@ struct ImRect; struct ImGuiColMod; struct ImGuiStyleMod; struct ImGuiGroupData; -struct ImGuiSimpleColumns; +struct ImGuiMenuColumns; struct ImGuiDrawContext; struct ImGuiTextEditState; -struct ImGuiIniData; -struct ImGuiMouseCursorData; struct ImGuiPopupRef; struct ImGuiWindow; +struct ImGuiWindowSettings; -typedef int ImGuiLayoutType; // enum ImGuiLayoutType_ -typedef int ImGuiButtonFlags; // enum ImGuiButtonFlags_ -typedef int ImGuiTreeNodeFlags; // enum ImGuiTreeNodeFlags_ -typedef int ImGuiSliderFlags; // enum ImGuiSliderFlags_ +typedef int ImGuiLayoutType; // enum: horizontal or vertical // enum ImGuiLayoutType_ +typedef int ImGuiButtonFlags; // flags: for ButtonEx(), ButtonBehavior() // enum ImGuiButtonFlags_ +typedef int ImGuiItemFlags; // flags: for PushItemFlag() // enum ImGuiItemFlags_ +typedef int ImGuiItemStatusFlags; // flags: storage for DC.LastItemXXX // enum ImGuiItemStatusFlags_ +typedef int ImGuiNavHighlightFlags; // flags: for RenderNavHighlight() // enum ImGuiNavHighlightFlags_ +typedef int ImGuiNavDirSourceFlags; // flags: for GetNavInputAmount2d() // enum ImGuiNavDirSourceFlags_ +typedef int ImGuiSeparatorFlags; // flags: for Separator() - internal // enum ImGuiSeparatorFlags_ +typedef int ImGuiSliderFlags; // flags: for SliderBehavior() // enum ImGuiSliderFlags_ //------------------------------------------------------------------------- // STB libraries @@ -75,9 +80,7 @@ extern IMGUI_API ImGuiContext* GImGui; // Current implicit ImGui context pointe // Helpers //----------------------------------------------------------------------------- -#define IM_ARRAYSIZE(_ARR) ((int)(sizeof(_ARR)/sizeof(*_ARR))) -#define IM_PI 3.14159265358979323846f -#define IM_OFFSETOF(_TYPE,_ELM) ((size_t)&(((_TYPE*)0)->_ELM)) +#define IM_PI 3.14159265358979323846f // Helpers: UTF-8 <> wchar IMGUI_API int ImTextStrToUtf8(char* buf, int buf_size, const ImWchar* in_text, const ImWchar* in_text_end); // return output UTF-8 bytes count @@ -89,20 +92,28 @@ IMGUI_API int ImTextCountUtf8BytesFromStr(const ImWchar* in_text, cons // Helpers: Misc IMGUI_API ImU32 ImHash(const void* data, int data_size, ImU32 seed = 0); // Pass data_size==0 for zero-terminated strings IMGUI_API void* ImFileLoadToMemory(const char* filename, const char* file_open_mode, int* out_file_size = NULL, int padding_bytes = 0); -IMGUI_API FILE* ImFileOpen(const char* filename, const char* file_open_mode); -IMGUI_API bool ImIsPointInTriangle(const ImVec2& p, const ImVec2& a, const ImVec2& b, const ImVec2& c); +IMGUI_API FILE* ImFileOpen(const char* filename, const char* file_open_mode); static inline bool ImCharIsSpace(int c) { return c == ' ' || c == '\t' || c == 0x3000; } +static inline bool ImIsPowerOfTwo(int v) { return v != 0 && (v & (v - 1)) == 0; } static inline int ImUpperPowerOfTwo(int v) { v--; v |= v >> 1; v |= v >> 2; v |= v >> 4; v |= v >> 8; v |= v >> 16; v++; return v; } +// Helpers: Geometry +IMGUI_API ImVec2 ImLineClosestPoint(const ImVec2& a, const ImVec2& b, const ImVec2& p); +IMGUI_API bool ImTriangleContainsPoint(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& p); +IMGUI_API ImVec2 ImTriangleClosestPoint(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& p); +IMGUI_API void ImTriangleBarycentricCoords(const ImVec2& a, const ImVec2& b, const ImVec2& c, const ImVec2& p, float& out_u, float& out_v, float& out_w); + // Helpers: String IMGUI_API int ImStricmp(const char* str1, const char* str2); -IMGUI_API int ImStrnicmp(const char* str1, const char* str2, int count); +IMGUI_API int ImStrnicmp(const char* str1, const char* str2, size_t count); +IMGUI_API void ImStrncpy(char* dst, const char* src, size_t count); IMGUI_API char* ImStrdup(const char* str); +IMGUI_API char* ImStrchrRange(const char* str_begin, const char* str_end, char c); IMGUI_API int ImStrlenW(const ImWchar* str); IMGUI_API const ImWchar*ImStrbolW(const ImWchar* buf_mid_line, const ImWchar* buf_begin); // Find beginning-of-line IMGUI_API const char* ImStristr(const char* haystack, const char* haystack_end, const char* needle, const char* needle_end); -IMGUI_API int ImFormatString(char* buf, int buf_size, const char* fmt, ...) IM_PRINTFARGS(3); -IMGUI_API int ImFormatStringV(char* buf, int buf_size, const char* fmt, va_list args); +IMGUI_API int ImFormatString(char* buf, size_t buf_size, const char* fmt, ...) IM_FMTARGS(3); +IMGUI_API int ImFormatStringV(char* buf, size_t buf_size, const char* fmt, va_list args) IM_FMTLIST(3); // Helpers: Math // We are keeping those not leaking to the user by default, in the case the user has implicit cast operators between ImVec2 and its own types (when IM_VEC2_CLASS_EXTRA is defined) @@ -117,35 +128,46 @@ static inline ImVec2& operator+=(ImVec2& lhs, const ImVec2& rhs) static inline ImVec2& operator-=(ImVec2& lhs, const ImVec2& rhs) { lhs.x -= rhs.x; lhs.y -= rhs.y; return lhs; } static inline ImVec2& operator*=(ImVec2& lhs, const float rhs) { lhs.x *= rhs; lhs.y *= rhs; return lhs; } static inline ImVec2& operator/=(ImVec2& lhs, const float rhs) { lhs.x /= rhs; lhs.y /= rhs; return lhs; } +static inline ImVec4 operator+(const ImVec4& lhs, const ImVec4& rhs) { return ImVec4(lhs.x+rhs.x, lhs.y+rhs.y, lhs.z+rhs.z, lhs.w+rhs.w); } static inline ImVec4 operator-(const ImVec4& lhs, const ImVec4& rhs) { return ImVec4(lhs.x-rhs.x, lhs.y-rhs.y, lhs.z-rhs.z, lhs.w-rhs.w); } +static inline ImVec4 operator*(const ImVec4& lhs, const ImVec4& rhs) { return ImVec4(lhs.x*rhs.x, lhs.y*rhs.y, lhs.z*rhs.z, lhs.w*rhs.w); } #endif static inline int ImMin(int lhs, int rhs) { return lhs < rhs ? lhs : rhs; } static inline int ImMax(int lhs, int rhs) { return lhs >= rhs ? lhs : rhs; } static inline float ImMin(float lhs, float rhs) { return lhs < rhs ? lhs : rhs; } static inline float ImMax(float lhs, float rhs) { return lhs >= rhs ? lhs : rhs; } -static inline ImVec2 ImMin(const ImVec2& lhs, const ImVec2& rhs) { return ImVec2(ImMin(lhs.x,rhs.x), ImMin(lhs.y,rhs.y)); } -static inline ImVec2 ImMax(const ImVec2& lhs, const ImVec2& rhs) { return ImVec2(ImMax(lhs.x,rhs.x), ImMax(lhs.y,rhs.y)); } +static inline ImVec2 ImMin(const ImVec2& lhs, const ImVec2& rhs) { return ImVec2(lhs.x < rhs.x ? lhs.x : rhs.x, lhs.y < rhs.y ? lhs.y : rhs.y); } +static inline ImVec2 ImMax(const ImVec2& lhs, const ImVec2& rhs) { return ImVec2(lhs.x >= rhs.x ? lhs.x : rhs.x, lhs.y >= rhs.y ? lhs.y : rhs.y); } static inline int ImClamp(int v, int mn, int mx) { return (v < mn) ? mn : (v > mx) ? mx : v; } static inline float ImClamp(float v, float mn, float mx) { return (v < mn) ? mn : (v > mx) ? mx : v; } static inline ImVec2 ImClamp(const ImVec2& f, const ImVec2& mn, ImVec2 mx) { return ImVec2(ImClamp(f.x,mn.x,mx.x), ImClamp(f.y,mn.y,mx.y)); } static inline float ImSaturate(float f) { return (f < 0.0f) ? 0.0f : (f > 1.0f) ? 1.0f : f; } +static inline void ImSwap(int& a, int& b) { int tmp = a; a = b; b = tmp; } +static inline void ImSwap(float& a, float& b) { float tmp = a; a = b; b = tmp; } +static inline int ImLerp(int a, int b, float t) { return (int)(a + (b - a) * t); } static inline float ImLerp(float a, float b, float t) { return a + (b - a) * t; } +static inline ImVec2 ImLerp(const ImVec2& a, const ImVec2& b, float t) { return ImVec2(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t); } static inline ImVec2 ImLerp(const ImVec2& a, const ImVec2& b, const ImVec2& t) { return ImVec2(a.x + (b.x - a.x) * t.x, a.y + (b.y - a.y) * t.y); } +static inline ImVec4 ImLerp(const ImVec4& a, const ImVec4& b, float t) { return ImVec4(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t, a.z + (b.z - a.z) * t, a.w + (b.w - a.w) * t); } static inline float ImLengthSqr(const ImVec2& lhs) { return lhs.x*lhs.x + lhs.y*lhs.y; } static inline float ImLengthSqr(const ImVec4& lhs) { return lhs.x*lhs.x + lhs.y*lhs.y + lhs.z*lhs.z + lhs.w*lhs.w; } static inline float ImInvLength(const ImVec2& lhs, float fail_value) { float d = lhs.x*lhs.x + lhs.y*lhs.y; if (d > 0.0f) return 1.0f / sqrtf(d); return fail_value; } static inline float ImFloor(float f) { return (float)(int)f; } -static inline ImVec2 ImFloor(ImVec2 v) { return ImVec2((float)(int)v.x, (float)(int)v.y); } +static inline ImVec2 ImFloor(const ImVec2& v) { return ImVec2((float)(int)v.x, (float)(int)v.y); } +static inline float ImDot(const ImVec2& a, const ImVec2& b) { return a.x * b.x + a.y * b.y; } +static inline ImVec2 ImRotate(const ImVec2& v, float cos_a, float sin_a) { return ImVec2(v.x * cos_a - v.y * sin_a, v.x * sin_a + v.y * cos_a); } +static inline float ImLinearSweep(float current, float target, float speed) { if (current < target) return ImMin(current + speed, target); if (current > target) return ImMax(current - speed, target); return current; } +static inline ImVec2 ImMul(const ImVec2& lhs, const ImVec2& rhs) { return ImVec2(lhs.x * rhs.x, lhs.y * rhs.y); } // We call C++ constructor on own allocated memory via the placement "new(ptr) Type()" syntax. // Defining a custom placement new() with a dummy parameter allows us to bypass including which on some platforms complains when user has disabled exceptions. -#ifdef IMGUI_DEFINE_PLACEMENT_NEW -struct ImPlacementNewDummy {}; -inline void* operator new(size_t, ImPlacementNewDummy, void* ptr) { return ptr; } -inline void operator delete(void*, ImPlacementNewDummy, void*) {} -#define IM_PLACEMENT_NEW(_PTR) new(ImPlacementNewDummy(), _PTR) -#endif +struct ImNewPlacementDummy {}; +inline void* operator new(size_t, ImNewPlacementDummy, void* ptr) { return ptr; } +inline void operator delete(void*, ImNewPlacementDummy, void*) {} // This is only required so we can use the symetrical new() +#define IM_PLACEMENT_NEW(_PTR) new(ImNewPlacementDummy(), _PTR) +#define IM_NEW(_TYPE) new(ImNewPlacementDummy(), ImGui::MemAlloc(sizeof(_TYPE))) _TYPE +template void IM_DELETE(T*& p) { if (p) { p->~T(); ImGui::MemFree(p); p = NULL; } } //----------------------------------------------------------------------------- // Types @@ -154,16 +176,19 @@ inline void operator delete(void*, ImPlacementNewDummy, void*) {} enum ImGuiButtonFlags_ { ImGuiButtonFlags_Repeat = 1 << 0, // hold to repeat - ImGuiButtonFlags_PressedOnClickRelease = 1 << 1, // (default) return pressed on click+release on same item (default if no PressedOn** flag is set) - ImGuiButtonFlags_PressedOnClick = 1 << 2, // return pressed on click (default requires click+release) - ImGuiButtonFlags_PressedOnRelease = 1 << 3, // return pressed on release (default requires click+release) - ImGuiButtonFlags_PressedOnDoubleClick = 1 << 4, // return pressed on double-click (default requires click+release) - ImGuiButtonFlags_FlattenChilds = 1 << 5, // allow interaction even if a child window is overlapping - ImGuiButtonFlags_DontClosePopups = 1 << 6, // disable automatically closing parent popup on press - ImGuiButtonFlags_Disabled = 1 << 7, // disable interaction - ImGuiButtonFlags_AlignTextBaseLine = 1 << 8, // vertically align button to match text baseline - ButtonEx() only - ImGuiButtonFlags_NoKeyModifiers = 1 << 9, // disable interaction if a key modifier is held - ImGuiButtonFlags_AllowOverlapMode = 1 << 10 // require previous frame HoveredId to either match id or be null before being usable + ImGuiButtonFlags_PressedOnClickRelease = 1 << 1, // return true on click + release on same item [DEFAULT if no PressedOn* flag is set] + ImGuiButtonFlags_PressedOnClick = 1 << 2, // return true on click (default requires click+release) + ImGuiButtonFlags_PressedOnRelease = 1 << 3, // return true on release (default requires click+release) + ImGuiButtonFlags_PressedOnDoubleClick = 1 << 4, // return true on double-click (default requires click+release) + ImGuiButtonFlags_FlattenChildren = 1 << 5, // allow interactions even if a child window is overlapping + ImGuiButtonFlags_AllowItemOverlap = 1 << 6, // require previous frame HoveredId to either match id or be null before being usable, use along with SetItemAllowOverlap() + ImGuiButtonFlags_DontClosePopups = 1 << 7, // disable automatically closing parent popup on press // [UNUSED] + ImGuiButtonFlags_Disabled = 1 << 8, // disable interactions + ImGuiButtonFlags_AlignTextBaseLine = 1 << 9, // vertically align button to match text baseline - ButtonEx() only // FIXME: Should be removed and handled by SmallButton(), not possible currently because of DC.CursorPosPrevLine + ImGuiButtonFlags_NoKeyModifiers = 1 << 10, // disable interaction if a key modifier is held + ImGuiButtonFlags_NoHoldingActiveID = 1 << 11, // don't set ActiveId while holding the mouse (ImGuiButtonFlags_PressedOnClick only) + ImGuiButtonFlags_PressedOnDragDropHold = 1 << 12, // press when held into while we are drag and dropping another item (used by e.g. tree nodes, collapsing headers) + ImGuiButtonFlags_NoNavFocus = 1 << 13 // don't override navigation focus when activated }; enum ImGuiSliderFlags_ @@ -171,15 +196,38 @@ enum ImGuiSliderFlags_ ImGuiSliderFlags_Vertical = 1 << 0 }; +enum ImGuiColumnsFlags_ +{ + // Default: 0 + ImGuiColumnsFlags_NoBorder = 1 << 0, // Disable column dividers + ImGuiColumnsFlags_NoResize = 1 << 1, // Disable resizing columns when clicking on the dividers + ImGuiColumnsFlags_NoPreserveWidths = 1 << 2, // Disable column width preservation when adjusting columns + ImGuiColumnsFlags_NoForceWithinWindow = 1 << 3, // Disable forcing columns to fit within window + ImGuiColumnsFlags_GrowParentContentsSize= 1 << 4 // (WIP) Restore pre-1.51 behavior of extending the parent window contents size but _without affecting the columns width at all_. Will eventually remove. +}; + enum ImGuiSelectableFlagsPrivate_ { // NB: need to be in sync with last value of ImGuiSelectableFlags_ - ImGuiSelectableFlags_Menu = 1 << 3, - ImGuiSelectableFlags_MenuItem = 1 << 4, + ImGuiSelectableFlags_Menu = 1 << 3, // -> PressedOnClick + ImGuiSelectableFlags_MenuItem = 1 << 4, // -> PressedOnRelease ImGuiSelectableFlags_Disabled = 1 << 5, ImGuiSelectableFlags_DrawFillAvailWidth = 1 << 6 }; +enum ImGuiSeparatorFlags_ +{ + ImGuiSeparatorFlags_Horizontal = 1 << 0, // Axis default to current layout type, so generally Horizontal unless e.g. in a menu bar + ImGuiSeparatorFlags_Vertical = 1 << 1 +}; + +// Storage for LastItem data +enum ImGuiItemStatusFlags_ +{ + ImGuiItemStatusFlags_HoveredRect = 1 << 0, + ImGuiItemStatusFlags_HasDisplayRect = 1 << 1 +}; + // FIXME: this is in development, not exposed/functional as a generic feature yet. enum ImGuiLayoutType_ { @@ -187,6 +235,13 @@ enum ImGuiLayoutType_ ImGuiLayoutType_Horizontal }; +enum ImGuiAxis +{ + ImGuiAxis_None = -1, + ImGuiAxis_X = 0, + ImGuiAxis_Y = 1 +}; + enum ImGuiPlotType { ImGuiPlotType_Lines, @@ -197,16 +252,60 @@ enum ImGuiDataType { ImGuiDataType_Int, ImGuiDataType_Float, - ImGuiDataType_Float2, + ImGuiDataType_Float2 }; -enum ImGuiCorner +enum ImGuiDir { - ImGuiCorner_TopLeft = 1 << 0, // 1 - ImGuiCorner_TopRight = 1 << 1, // 2 - ImGuiCorner_BottomRight = 1 << 2, // 4 - ImGuiCorner_BottomLeft = 1 << 3, // 8 - ImGuiCorner_All = 0x0F + ImGuiDir_None = -1, + ImGuiDir_Left = 0, + ImGuiDir_Right = 1, + ImGuiDir_Up = 2, + ImGuiDir_Down = 3, + ImGuiDir_Count_ +}; + +enum ImGuiInputSource +{ + ImGuiInputSource_None = 0, + ImGuiInputSource_Mouse, + ImGuiInputSource_Nav, + ImGuiInputSource_NavKeyboard, // Only used occasionally for storage, not tested/handled by most code + ImGuiInputSource_NavGamepad, // " + ImGuiInputSource_Count_, +}; + +// FIXME-NAV: Clarify/expose various repeat delay/rate +enum ImGuiInputReadMode +{ + ImGuiInputReadMode_Down, + ImGuiInputReadMode_Pressed, + ImGuiInputReadMode_Released, + ImGuiInputReadMode_Repeat, + ImGuiInputReadMode_RepeatSlow, + ImGuiInputReadMode_RepeatFast +}; + +enum ImGuiNavHighlightFlags_ +{ + ImGuiNavHighlightFlags_TypeDefault = 1 << 0, + ImGuiNavHighlightFlags_TypeThin = 1 << 1, + ImGuiNavHighlightFlags_AlwaysDraw = 1 << 2, + ImGuiNavHighlightFlags_NoRounding = 1 << 3 +}; + +enum ImGuiNavDirSourceFlags_ +{ + ImGuiNavDirSourceFlags_Keyboard = 1 << 0, + ImGuiNavDirSourceFlags_PadDPad = 1 << 1, + ImGuiNavDirSourceFlags_PadLStick = 1 << 2 +}; + +enum ImGuiNavForward +{ + ImGuiNavForward_None, + ImGuiNavForward_ForwardQueued, + ImGuiNavForward_ForwardActive }; // 2D axis aligned bounding-box @@ -221,34 +320,28 @@ struct IMGUI_API ImRect ImRect(const ImVec4& v) : Min(v.x, v.y), Max(v.z, v.w) {} ImRect(float x1, float y1, float x2, float y2) : Min(x1, y1), Max(x2, y2) {} - ImVec2 GetCenter() const { return ImVec2((Min.x+Max.x)*0.5f, (Min.y+Max.y)*0.5f); } - ImVec2 GetSize() const { return ImVec2(Max.x-Min.x, Max.y-Min.y); } - float GetWidth() const { return Max.x-Min.x; } - float GetHeight() const { return Max.y-Min.y; } - ImVec2 GetTL() const { return Min; } // Top-left - ImVec2 GetTR() const { return ImVec2(Max.x, Min.y); } // Top-right - ImVec2 GetBL() const { return ImVec2(Min.x, Max.y); } // Bottom-left - ImVec2 GetBR() const { return Max; } // Bottom-right - bool Contains(const ImVec2& p) const { return p.x >= Min.x && p.y >= Min.y && p.x < Max.x && p.y < Max.y; } - bool Contains(const ImRect& r) const { return r.Min.x >= Min.x && r.Min.y >= Min.y && r.Max.x < Max.x && r.Max.y < Max.y; } - bool Overlaps(const ImRect& r) const { return r.Min.y < Max.y && r.Max.y > Min.y && r.Min.x < Max.x && r.Max.x > Min.x; } - void Add(const ImVec2& rhs) { if (Min.x > rhs.x) Min.x = rhs.x; if (Min.y > rhs.y) Min.y = rhs.y; if (Max.x < rhs.x) Max.x = rhs.x; if (Max.y < rhs.y) Max.y = rhs.y; } - void Add(const ImRect& rhs) { if (Min.x > rhs.Min.x) Min.x = rhs.Min.x; if (Min.y > rhs.Min.y) Min.y = rhs.Min.y; if (Max.x < rhs.Max.x) Max.x = rhs.Max.x; if (Max.y < rhs.Max.y) Max.y = rhs.Max.y; } - void Expand(const float amount) { Min.x -= amount; Min.y -= amount; Max.x += amount; Max.y += amount; } - void Expand(const ImVec2& amount) { Min.x -= amount.x; Min.y -= amount.y; Max.x += amount.x; Max.y += amount.y; } - void Reduce(const ImVec2& amount) { Min.x += amount.x; Min.y += amount.y; Max.x -= amount.x; Max.y -= amount.y; } - void Clip(const ImRect& clip) { if (Min.x < clip.Min.x) Min.x = clip.Min.x; if (Min.y < clip.Min.y) Min.y = clip.Min.y; if (Max.x > clip.Max.x) Max.x = clip.Max.x; if (Max.y > clip.Max.y) Max.y = clip.Max.y; } - void Floor() { Min.x = (float)(int)Min.x; Min.y = (float)(int)Min.y; Max.x = (float)(int)Max.x; Max.y = (float)(int)Max.y; } - ImVec2 GetClosestPoint(ImVec2 p, bool on_edge) const - { - if (!on_edge && Contains(p)) - return p; - if (p.x > Max.x) p.x = Max.x; - else if (p.x < Min.x) p.x = Min.x; - if (p.y > Max.y) p.y = Max.y; - else if (p.y < Min.y) p.y = Min.y; - return p; - } + ImVec2 GetCenter() const { return ImVec2((Min.x + Max.x) * 0.5f, (Min.y + Max.y) * 0.5f); } + ImVec2 GetSize() const { return ImVec2(Max.x - Min.x, Max.y - Min.y); } + float GetWidth() const { return Max.x - Min.x; } + float GetHeight() const { return Max.y - Min.y; } + ImVec2 GetTL() const { return Min; } // Top-left + ImVec2 GetTR() const { return ImVec2(Max.x, Min.y); } // Top-right + ImVec2 GetBL() const { return ImVec2(Min.x, Max.y); } // Bottom-left + ImVec2 GetBR() const { return Max; } // Bottom-right + bool Contains(const ImVec2& p) const { return p.x >= Min.x && p.y >= Min.y && p.x < Max.x && p.y < Max.y; } + bool Contains(const ImRect& r) const { return r.Min.x >= Min.x && r.Min.y >= Min.y && r.Max.x <= Max.x && r.Max.y <= Max.y; } + bool Overlaps(const ImRect& r) const { return r.Min.y < Max.y && r.Max.y > Min.y && r.Min.x < Max.x && r.Max.x > Min.x; } + void Add(const ImVec2& p) { if (Min.x > p.x) Min.x = p.x; if (Min.y > p.y) Min.y = p.y; if (Max.x < p.x) Max.x = p.x; if (Max.y < p.y) Max.y = p.y; } + void Add(const ImRect& r) { if (Min.x > r.Min.x) Min.x = r.Min.x; if (Min.y > r.Min.y) Min.y = r.Min.y; if (Max.x < r.Max.x) Max.x = r.Max.x; if (Max.y < r.Max.y) Max.y = r.Max.y; } + void Expand(const float amount) { Min.x -= amount; Min.y -= amount; Max.x += amount; Max.y += amount; } + void Expand(const ImVec2& amount) { Min.x -= amount.x; Min.y -= amount.y; Max.x += amount.x; Max.y += amount.y; } + void Translate(const ImVec2& v) { Min.x += v.x; Min.y += v.y; Max.x += v.x; Max.y += v.y; } + void ClipWith(const ImRect& r) { Min = ImMax(Min, r.Min); Max = ImMin(Max, r.Max); } // Simple version, may lead to an inverted rectangle, which is fine for Contains/Overlaps test but not for display. + void ClipWithFull(const ImRect& r) { Min = ImClamp(Min, r.Min, r.Max); Max = ImClamp(Max, r.Min, r.Max); } // Full version, ensure both points are fully clipped. + void Floor() { Min.x = (float)(int)Min.x; Min.y = (float)(int)Min.y; Max.x = (float)(int)Max.x; Max.y = (float)(int)Max.y; } + void FixInverted() { if (Min.x > Max.x) ImSwap(Min.x, Max.x); if (Min.y > Max.y) ImSwap(Min.y, Max.y); } + bool IsInverted() const { return Min.x > Max.x || Min.y > Max.y; } + bool IsFinite() const { return Min.x != FLT_MAX; } }; // Stacked color modifier, backup of modified data so we can restore it @@ -282,22 +375,15 @@ struct ImGuiGroupData bool AdvanceCursor; }; -// Per column data for Columns() -struct ImGuiColumnData -{ - float OffsetNorm; // Column start offset, normalized 0.0 (far left) -> 1.0 (far right) - //float IndentX; -}; - // Simple column measurement currently used for MenuItem() only. This is very short-sighted/throw-away code and NOT a generic helper. -struct IMGUI_API ImGuiSimpleColumns +struct IMGUI_API ImGuiMenuColumns { int Count; float Spacing; float Width, NextWidth; - float Pos[8], NextWidths[8]; + float Pos[4], NextWidths[4]; - ImGuiSimpleColumns(); + ImGuiMenuColumns(); void Update(int count, float spacing, bool clear); float DeclColumns(float w0, float w1, float w2); float CalcExtraSpace(float avail_w); @@ -323,52 +409,174 @@ struct IMGUI_API ImGuiTextEditState void CursorClamp() { StbState.cursor = ImMin(StbState.cursor, CurLenW); StbState.select_start = ImMin(StbState.select_start, CurLenW); StbState.select_end = ImMin(StbState.select_end, CurLenW); } bool HasSelection() const { return StbState.select_start != StbState.select_end; } void ClearSelection() { StbState.select_start = StbState.select_end = StbState.cursor; } - void SelectAll() { StbState.select_start = 0; StbState.select_end = CurLenW; StbState.cursor = StbState.select_end; StbState.has_preferred_x = false; } + void SelectAll() { StbState.select_start = 0; StbState.cursor = StbState.select_end = CurLenW; StbState.has_preferred_x = false; } void OnKeyPressed(int key); }; // Data saved in imgui.ini file -struct ImGuiIniData +struct ImGuiWindowSettings { char* Name; ImGuiID Id; ImVec2 Pos; ImVec2 Size; bool Collapsed; + + ImGuiWindowSettings() { Name = NULL; Id = 0; Pos = Size = ImVec2(0,0); Collapsed = false; } }; -// Mouse cursor data (used when io.MouseDrawCursor is set) -struct ImGuiMouseCursorData +struct ImGuiSettingsHandler { - ImGuiMouseCursor Type; - ImVec2 HotOffset; - ImVec2 Size; - ImVec2 TexUvMin[2]; - ImVec2 TexUvMax[2]; + const char* TypeName; // Short description stored in .ini file. Disallowed characters: '[' ']' + ImGuiID TypeHash; // == ImHash(TypeName, 0, 0) + void* (*ReadOpenFn)(ImGuiContext* ctx, ImGuiSettingsHandler* handler, const char* name); + void (*ReadLineFn)(ImGuiContext* ctx, ImGuiSettingsHandler* handler, void* entry, const char* line); + void (*WriteAllFn)(ImGuiContext* ctx, ImGuiSettingsHandler* handler, ImGuiTextBuffer* out_buf); + void* UserData; + + ImGuiSettingsHandler() { memset(this, 0, sizeof(*this)); } }; // Storage for current popup stack struct ImGuiPopupRef { - ImGuiID PopupId; // Set on OpenPopup() - ImGuiWindow* Window; // Resolved on BeginPopup() - may stay unresolved if user never calls OpenPopup() - ImGuiWindow* ParentWindow; // Set on OpenPopup() - ImGuiID ParentMenuSet; // Set on OpenPopup() - ImVec2 MousePosOnOpen; // Copy of mouse position at the time of opening popup + ImGuiID PopupId; // Set on OpenPopup() + ImGuiWindow* Window; // Resolved on BeginPopup() - may stay unresolved if user never calls OpenPopup() + ImGuiWindow* ParentWindow; // Set on OpenPopup() + int OpenFrameCount; // Set on OpenPopup() + ImGuiID OpenParentId; // Set on OpenPopup(), we need this to differenciate multiple menu sets from each others (e.g. inside menu bar vs loose menu items) + ImVec2 OpenPopupPos; // Set on OpenPopup(), preferred popup position (typically == OpenMousePos when using mouse) + ImVec2 OpenMousePos; // Set on OpenPopup(), copy of mouse position at the time of opening popup +}; - ImGuiPopupRef(ImGuiID id, ImGuiWindow* parent_window, ImGuiID parent_menu_set, const ImVec2& mouse_pos) { PopupId = id; Window = NULL; ParentWindow = parent_window; ParentMenuSet = parent_menu_set; MousePosOnOpen = mouse_pos; } +struct ImGuiColumnData +{ + float OffsetNorm; // Column start offset, normalized 0.0 (far left) -> 1.0 (far right) + float OffsetNormBeforeResize; + ImGuiColumnsFlags Flags; // Not exposed + ImRect ClipRect; + + ImGuiColumnData() { OffsetNorm = OffsetNormBeforeResize = 0.0f; Flags = 0; } +}; + +struct ImGuiColumnsSet +{ + ImGuiID ID; + ImGuiColumnsFlags Flags; + bool IsFirstFrame; + bool IsBeingResized; + int Current; + int Count; + float MinX, MaxX; + float StartPosY; + float StartMaxPosX; // Backup of CursorMaxPos + float CellMinY, CellMaxY; + ImVector Columns; + + ImGuiColumnsSet() { Clear(); } + void Clear() + { + ID = 0; + Flags = 0; + IsFirstFrame = false; + IsBeingResized = false; + Current = 0; + Count = 1; + MinX = MaxX = 0.0f; + StartPosY = 0.0f; + StartMaxPosX = 0.0f; + CellMinY = CellMaxY = 0.0f; + Columns.clear(); + } +}; + +struct IMGUI_API ImDrawListSharedData +{ + ImVec2 TexUvWhitePixel; // UV of white pixel in the atlas + ImFont* Font; // Current/default font (optional, for simplified AddText overload) + float FontSize; // Current/default font size (optional, for simplified AddText overload) + float CurveTessellationTol; + ImVec4 ClipRectFullscreen; // Value for PushClipRectFullscreen() + + // Const data + // FIXME: Bake rounded corners fill/borders in atlas + ImVec2 CircleVtx12[12]; + + ImDrawListSharedData(); +}; + +struct ImDrawDataBuilder +{ + ImVector Layers[2]; // Global layers for: regular, tooltip + + void Clear() { for (int n = 0; n < IM_ARRAYSIZE(Layers); n++) Layers[n].resize(0); } + void ClearFreeMemory() { for (int n = 0; n < IM_ARRAYSIZE(Layers); n++) Layers[n].clear(); } + IMGUI_API void FlattenIntoSingleLayer(); +}; + +struct ImGuiNavMoveResult +{ + ImGuiID ID; // Best candidate + ImGuiID ParentID; // Best candidate window->IDStack.back() - to compare context + ImGuiWindow* Window; // Best candidate window + float DistBox; // Best candidate box distance to current NavId + float DistCenter; // Best candidate center distance to current NavId + float DistAxial; + ImRect RectRel; // Best candidate bounding box in window relative space + + ImGuiNavMoveResult() { Clear(); } + void Clear() { ID = ParentID = 0; Window = NULL; DistBox = DistCenter = DistAxial = FLT_MAX; RectRel = ImRect(); } +}; + +// Storage for SetNexWindow** functions +struct ImGuiNextWindowData +{ + ImGuiCond PosCond; + ImGuiCond SizeCond; + ImGuiCond ContentSizeCond; + ImGuiCond CollapsedCond; + ImGuiCond SizeConstraintCond; + ImGuiCond FocusCond; + ImGuiCond BgAlphaCond; + ImVec2 PosVal; + ImVec2 PosPivotVal; + ImVec2 SizeVal; + ImVec2 ContentSizeVal; + bool CollapsedVal; + ImRect SizeConstraintRect; // Valid if 'SetNextWindowSizeConstraint' is true + ImGuiSizeCallback SizeCallback; + void* SizeCallbackUserData; + float BgAlphaVal; + + ImGuiNextWindowData() + { + PosCond = SizeCond = ContentSizeCond = CollapsedCond = SizeConstraintCond = FocusCond = BgAlphaCond = 0; + PosVal = PosPivotVal = SizeVal = ImVec2(0.0f, 0.0f); + ContentSizeVal = ImVec2(0.0f, 0.0f); + CollapsedVal = false; + SizeConstraintRect = ImRect(); + SizeCallback = NULL; + SizeCallbackUserData = NULL; + BgAlphaVal = FLT_MAX; + } + + void Clear() + { + PosCond = SizeCond = ContentSizeCond = CollapsedCond = SizeConstraintCond = FocusCond = BgAlphaCond = 0; + } }; // Main state for ImGui struct ImGuiContext { bool Initialized; + bool FontAtlasOwnedByContext; // Io.Fonts-> is owned by the ImGuiContext and will be destructed along with it. ImGuiIO IO; ImGuiStyle Style; ImFont* Font; // (Shortcut) == FontStack.empty() ? IO.Font : FontStack.back() - float FontSize; // (Shortcut) == FontBaseSize * g.CurrentWindow->FontWindowScale == window->FontSize() - float FontBaseSize; // (Shortcut) == IO.FontGlobalScale * Font->Scale * Font->FontSize. Size of characters. - ImVec2 FontTexUvWhitePixel; // (Shortcut) == Font->TexUvWhitePixel + float FontSize; // (Shortcut) == FontBaseSize * g.CurrentWindow->FontWindowScale == window->FontSize(). Text height for current window. + float FontBaseSize; // (Shortcut) == IO.FontGlobalScale * Font->Scale * Font->FontSize. Base text height. + ImDrawListSharedData DrawListSharedData; float Time; int FrameCount; @@ -376,71 +584,114 @@ struct ImGuiContext int FrameCountRendered; ImVector Windows; ImVector WindowsSortBuffer; - ImGuiWindow* CurrentWindow; // Being drawn into ImVector CurrentWindowStack; - ImGuiWindow* FocusedWindow; // Will catch keyboard inputs + ImGuiStorage WindowsById; + int WindowsActiveCount; + ImGuiWindow* CurrentWindow; // Being drawn into ImGuiWindow* HoveredWindow; // Will catch mouse inputs ImGuiWindow* HoveredRootWindow; // Will catch mouse inputs (for focus/move only) ImGuiID HoveredId; // Hovered widget bool HoveredIdAllowOverlap; ImGuiID HoveredIdPreviousFrame; + float HoveredIdTimer; ImGuiID ActiveId; // Active widget ImGuiID ActiveIdPreviousFrame; - bool ActiveIdIsAlive; + float ActiveIdTimer; + bool ActiveIdIsAlive; // Active widget has been seen this frame bool ActiveIdIsJustActivated; // Set at the time of activation for one frame - bool ActiveIdAllowOverlap; // Set only by active widget + bool ActiveIdAllowOverlap; // Active widget allows another widget to steal active id (generally for overlapping widgets, but not always) + int ActiveIdAllowNavDirFlags; // Active widget allows using directional navigation (e.g. can activate a button and move away from it) ImVec2 ActiveIdClickOffset; // Clicked offset from upper-left corner, if applicable (currently only set by ButtonBehavior) ImGuiWindow* ActiveIdWindow; - ImGuiWindow* MovedWindow; // Track the child window we clicked on to move a window. - ImGuiID MovedWindowMoveId; // == MovedWindow->RootWindow->MoveId - ImVector Settings; // .ini Settings - float SettingsDirtyTimer; // Save .ini Settings on disk when time reaches zero + ImGuiInputSource ActiveIdSource; // Activating with mouse or nav (gamepad/keyboard) + ImGuiWindow* MovingWindow; // Track the window we clicked on (in order to preserve focus). The actually window that is moved is generally MovingWindow->RootWindow. ImVector ColorModifiers; // Stack for PushStyleColor()/PopStyleColor() ImVector StyleModifiers; // Stack for PushStyleVar()/PopStyleVar() ImVector FontStack; // Stack for PushFont()/PopFont() ImVector OpenPopupStack; // Which popups are open (persistent) ImVector CurrentPopupStack; // Which level of BeginPopup() we are in (reset every frame) + ImGuiNextWindowData NextWindowData; // Storage for SetNextWindow** functions + bool NextTreeNodeOpenVal; // Storage for SetNextTreeNode** functions + ImGuiCond NextTreeNodeOpenCond; - // Storage for SetNexWindow** and SetNextTreeNode*** functions - ImVec2 SetNextWindowPosVal; - ImVec2 SetNextWindowSizeVal; - ImVec2 SetNextWindowContentSizeVal; - bool SetNextWindowCollapsedVal; - ImGuiSetCond SetNextWindowPosCond; - ImGuiSetCond SetNextWindowSizeCond; - ImGuiSetCond SetNextWindowContentSizeCond; - ImGuiSetCond SetNextWindowCollapsedCond; - ImRect SetNextWindowSizeConstraintRect; // Valid if 'SetNextWindowSizeConstraint' is true - ImGuiSizeConstraintCallback SetNextWindowSizeConstraintCallback; - void* SetNextWindowSizeConstraintCallbackUserData; - bool SetNextWindowSizeConstraint; - bool SetNextWindowFocus; - bool SetNextTreeNodeOpenVal; - ImGuiSetCond SetNextTreeNodeOpenCond; + // Navigation data (for gamepad/keyboard) + ImGuiWindow* NavWindow; // Focused window for navigation. Could be called 'FocusWindow' + ImGuiID NavId; // Focused item for navigation + ImGuiID NavActivateId; // ~~ (g.ActiveId == 0) && IsNavInputPressed(ImGuiNavInput_Activate) ? NavId : 0, also set when calling ActivateItem() + ImGuiID NavActivateDownId; // ~~ IsNavInputDown(ImGuiNavInput_Activate) ? NavId : 0 + ImGuiID NavActivatePressedId; // ~~ IsNavInputPressed(ImGuiNavInput_Activate) ? NavId : 0 + ImGuiID NavInputId; // ~~ IsNavInputPressed(ImGuiNavInput_Input) ? NavId : 0 + ImGuiID NavJustTabbedId; // Just tabbed to this id. + ImGuiID NavNextActivateId; // Set by ActivateItem(), queued until next frame + ImGuiID NavJustMovedToId; // Just navigated to this id (result of a successfully MoveRequest) + ImRect NavScoringRectScreen; // Rectangle used for scoring, in screen space. Based of window->DC.NavRefRectRel[], modified for directional navigation scoring. + int NavScoringCount; // Metrics for debugging + ImGuiWindow* NavWindowingTarget; // When selecting a window (holding Menu+FocusPrev/Next, or equivalent of CTRL-TAB) this window is temporarily displayed front-most. + float NavWindowingHighlightTimer; + float NavWindowingHighlightAlpha; + bool NavWindowingToggleLayer; + ImGuiInputSource NavWindowingInputSource; // Gamepad or keyboard mode + int NavLayer; // Layer we are navigating on. For now the system is hard-coded for 0=main contents and 1=menu/title bar, may expose layers later. + int NavIdTabCounter; // == NavWindow->DC.FocusIdxTabCounter at time of NavId processing + bool NavIdIsAlive; // Nav widget has been seen this frame ~~ NavRefRectRel is valid + bool NavMousePosDirty; // When set we will update mouse position if (NavFlags & ImGuiNavFlags_MoveMouse) if set (NB: this not enabled by default) + bool NavDisableHighlight; // When user starts using mouse, we hide gamepad/keyboard highlight (nb: but they are still available, which is why NavDisableHighlight isn't always != NavDisableMouseHover) + bool NavDisableMouseHover; // When user starts using gamepad/keyboard, we hide mouse hovering highlight until mouse is touched again. + bool NavAnyRequest; // ~~ NavMoveRequest || NavInitRequest + bool NavInitRequest; // Init request for appearing window to select first item + bool NavInitRequestFromMove; + ImGuiID NavInitResultId; + ImRect NavInitResultRectRel; + bool NavMoveFromClampedRefRect; // Set by manual scrolling, if we scroll to a point where NavId isn't visible we reset navigation from visible items + bool NavMoveRequest; // Move request for this frame + ImGuiNavForward NavMoveRequestForward; // None / ForwardQueued / ForwardActive (this is used to navigate sibling parent menus from a child menu) + ImGuiDir NavMoveDir, NavMoveDirLast; // Direction of the move request (left/right/up/down), direction of the previous move request + ImGuiNavMoveResult NavMoveResultLocal; // Best move request candidate within NavWindow + ImGuiNavMoveResult NavMoveResultOther; // Best move request candidate within NavWindow's flattened hierarchy (when using the NavFlattened flag) // Render - ImDrawData RenderDrawData; // Main ImDrawData instance to pass render information to the user - ImVector RenderDrawLists[3]; + ImDrawData DrawData; // Main ImDrawData instance to pass render information to the user + ImDrawDataBuilder DrawDataBuilder; float ModalWindowDarkeningRatio; ImDrawList OverlayDrawList; // Optional software render of mouse cursors, if io.MouseDrawCursor is set + a few debug overlays ImGuiMouseCursor MouseCursor; - ImGuiMouseCursorData MouseCursorData[ImGuiMouseCursor_Count_]; + + // Drag and Drop + bool DragDropActive; + ImGuiDragDropFlags DragDropSourceFlags; + int DragDropMouseButton; + ImGuiPayload DragDropPayload; + ImRect DragDropTargetRect; + ImGuiID DragDropTargetId; + float DragDropAcceptIdCurrRectSurface; + ImGuiID DragDropAcceptIdCurr; // Target item id (set at the time of accepting the payload) + ImGuiID DragDropAcceptIdPrev; // Target item id from previous frame (we need to store this to allow for overlapping drag and drop targets) + int DragDropAcceptFrameCount; // Last time a target expressed a desire to accept the source + ImVector DragDropPayloadBufHeap; // We don't expose the ImVector<> directly + unsigned char DragDropPayloadBufLocal[8]; // Widget state ImGuiTextEditState InputTextState; ImFont InputTextPasswordFont; ImGuiID ScalarAsInputTextId; // Temporary text input when CTRL+clicking on a slider, etc. - ImGuiStorage ColorEditModeStorage; // Store user selection of color edit mode + ImGuiColorEditFlags ColorEditOptions; // Store user options for color edit widgets + ImVec4 ColorPickerRef; float DragCurrentValue; // Currently dragged value, always float, not rounded by end-user precision settings ImVec2 DragLastMouseDelta; float DragSpeedDefaultRatio; // If speed == 0.0f, uses (max-min) * DragSpeedDefaultRatio float DragSpeedScaleSlow; float DragSpeedScaleFast; ImVec2 ScrollbarClickDeltaToGrabCenter; // Distance between mouse and center of grab box, normalized in parent space. Use storage? - char Tooltip[1024]; - char* PrivateClipboard; // If no custom clipboard handler is defined + int TooltipOverrideCount; + ImVector PrivateClipboard; // If no custom clipboard handler is defined ImVec2 OsImePosRequest, OsImePosSet; // Cursor position request & last passed to the OS Input Method Editor + // Settings + bool SettingsLoaded; + float SettingsDirtyTimer; // Save .ini Settings on disk when time reaches zero + ImVector SettingsWindows; // .ini settings for ImGuiWindow + ImVector SettingsHandlers; // List of .ini settings handlers + // Logging bool LogEnabled; FILE* LogFile; // If != NULL log to stdout/ file @@ -452,68 +703,95 @@ struct ImGuiContext float FramerateSecPerFrame[120]; // calculate estimate of framerate for user int FramerateSecPerFrameIdx; float FramerateSecPerFrameAccum; - int CaptureMouseNextFrame; // explicit capture via CaptureInputs() sets those flags - int CaptureKeyboardNextFrame; + int WantCaptureMouseNextFrame; // explicit capture via CaptureInputs() sets those flags + int WantCaptureKeyboardNextFrame; + int WantTextInputNextFrame; char TempBuffer[1024*3+1]; // temporary text buffer - ImGuiContext() + ImGuiContext(ImFontAtlas* shared_font_atlas) : OverlayDrawList(NULL) { Initialized = false; Font = NULL; FontSize = FontBaseSize = 0.0f; - FontTexUvWhitePixel = ImVec2(0.0f, 0.0f); + FontAtlasOwnedByContext = shared_font_atlas ? false : true; + IO.Fonts = shared_font_atlas ? shared_font_atlas : IM_NEW(ImFontAtlas)(); Time = 0.0f; FrameCount = 0; FrameCountEnded = FrameCountRendered = -1; + WindowsActiveCount = 0; CurrentWindow = NULL; - FocusedWindow = NULL; HoveredWindow = NULL; HoveredRootWindow = NULL; HoveredId = 0; HoveredIdAllowOverlap = false; HoveredIdPreviousFrame = 0; + HoveredIdTimer = 0.0f; ActiveId = 0; ActiveIdPreviousFrame = 0; + ActiveIdTimer = 0.0f; ActiveIdIsAlive = false; ActiveIdIsJustActivated = false; ActiveIdAllowOverlap = false; + ActiveIdAllowNavDirFlags = 0; ActiveIdClickOffset = ImVec2(-1,-1); ActiveIdWindow = NULL; - MovedWindow = NULL; - MovedWindowMoveId = 0; - SettingsDirtyTimer = 0.0f; + ActiveIdSource = ImGuiInputSource_None; + MovingWindow = NULL; + NextTreeNodeOpenVal = false; + NextTreeNodeOpenCond = 0; - SetNextWindowPosVal = ImVec2(0.0f, 0.0f); - SetNextWindowSizeVal = ImVec2(0.0f, 0.0f); - SetNextWindowCollapsedVal = false; - SetNextWindowPosCond = 0; - SetNextWindowSizeCond = 0; - SetNextWindowContentSizeCond = 0; - SetNextWindowCollapsedCond = 0; - SetNextWindowSizeConstraintRect = ImRect(); - SetNextWindowSizeConstraintCallback = NULL; - SetNextWindowSizeConstraintCallbackUserData = NULL; - SetNextWindowSizeConstraint = false; - SetNextWindowFocus = false; - SetNextTreeNodeOpenVal = false; - SetNextTreeNodeOpenCond = 0; + NavWindow = NULL; + NavId = NavActivateId = NavActivateDownId = NavActivatePressedId = NavInputId = 0; + NavJustTabbedId = NavJustMovedToId = NavNextActivateId = 0; + NavScoringRectScreen = ImRect(); + NavScoringCount = 0; + NavWindowingTarget = NULL; + NavWindowingHighlightTimer = NavWindowingHighlightAlpha = 0.0f; + NavWindowingToggleLayer = false; + NavWindowingInputSource = ImGuiInputSource_None; + NavLayer = 0; + NavIdTabCounter = INT_MAX; + NavIdIsAlive = false; + NavMousePosDirty = false; + NavDisableHighlight = true; + NavDisableMouseHover = false; + NavAnyRequest = false; + NavInitRequest = false; + NavInitRequestFromMove = false; + NavInitResultId = 0; + NavMoveFromClampedRefRect = false; + NavMoveRequest = false; + NavMoveRequestForward = ImGuiNavForward_None; + NavMoveDir = NavMoveDirLast = ImGuiDir_None; + + ModalWindowDarkeningRatio = 0.0f; + OverlayDrawList._Data = &DrawListSharedData; + OverlayDrawList._OwnerName = "##Overlay"; // Give it a name for debugging + MouseCursor = ImGuiMouseCursor_Arrow; + + DragDropActive = false; + DragDropSourceFlags = 0; + DragDropMouseButton = -1; + DragDropTargetId = 0; + DragDropAcceptIdCurrRectSurface = 0.0f; + DragDropAcceptIdPrev = DragDropAcceptIdCurr = 0; + DragDropAcceptFrameCount = -1; + memset(DragDropPayloadBufLocal, 0, sizeof(DragDropPayloadBufLocal)); ScalarAsInputTextId = 0; + ColorEditOptions = ImGuiColorEditFlags__OptionsDefault; DragCurrentValue = 0.0f; DragLastMouseDelta = ImVec2(0.0f, 0.0f); DragSpeedDefaultRatio = 1.0f / 100.0f; - DragSpeedScaleSlow = 0.01f; + DragSpeedScaleSlow = 1.0f / 100.0f; DragSpeedScaleFast = 10.0f; ScrollbarClickDeltaToGrabCenter = ImVec2(0.0f, 0.0f); - memset(Tooltip, 0, sizeof(Tooltip)); - PrivateClipboard = NULL; + TooltipOverrideCount = 0; OsImePosRequest = OsImePosSet = ImVec2(-1.0f, -1.0f); - ModalWindowDarkeningRatio = 0.0f; - OverlayDrawList._OwnerName = "##Overlay"; // Give it a name for debugging - MouseCursor = ImGuiMouseCursor_Arrow; - memset(MouseCursorData, 0, sizeof(MouseCursorData)); + SettingsLoaded = false; + SettingsDirtyTimer = 0.0f; LogEnabled = false; LogFile = NULL; @@ -524,11 +802,24 @@ struct ImGuiContext memset(FramerateSecPerFrame, 0, sizeof(FramerateSecPerFrame)); FramerateSecPerFrameIdx = 0; FramerateSecPerFrameAccum = 0.0f; - CaptureMouseNextFrame = CaptureKeyboardNextFrame = -1; + WantCaptureMouseNextFrame = WantCaptureKeyboardNextFrame = WantTextInputNextFrame = -1; memset(TempBuffer, 0, sizeof(TempBuffer)); } }; +// Transient per-window flags, reset at the beginning of the frame. For child window, inherited from parent on first Begin(). +// This is going to be exposed in imgui.h when stabilized enough. +enum ImGuiItemFlags_ +{ + ImGuiItemFlags_AllowKeyboardFocus = 1 << 0, // true + ImGuiItemFlags_ButtonRepeat = 1 << 1, // false // Button() will return true multiple times based on io.KeyRepeatDelay and io.KeyRepeatRate settings. + ImGuiItemFlags_Disabled = 1 << 2, // false // FIXME-WIP: Disable interactions but doesn't affect visuals. Should be: grey out and disable interactions with widgets that affect data + view widgets (WIP) + ImGuiItemFlags_NoNav = 1 << 3, // false + ImGuiItemFlags_NoNavDefaultFocus = 1 << 4, // false + ImGuiItemFlags_SelectableDontClosePopup = 1 << 5, // false // MenuItem/Selectable() automatically closes current Popup window + ImGuiItemFlags_Default_ = ImGuiItemFlags_AllowKeyboardFocus +}; + // Transient per-window data, reset at the beginning of the frame // FIXME: That's theory, in practice the delimitation between ImGuiWindow and ImGuiDrawContext is quite tenuous and could be reconsidered. struct IMGUI_API ImGuiDrawContext @@ -536,49 +827,45 @@ struct IMGUI_API ImGuiDrawContext ImVec2 CursorPos; ImVec2 CursorPosPrevLine; ImVec2 CursorStartPos; - ImVec2 CursorMaxPos; // Implicitly calculate the size of our contents, always extending. Saved into window->SizeContents at the end of the frame + ImVec2 CursorMaxPos; // Used to implicitly calculate the size of our contents, always growing during the frame. Turned into window->SizeContents at the beginning of next frame float CurrentLineHeight; float CurrentLineTextBaseOffset; float PrevLineHeight; float PrevLineTextBaseOffset; float LogLinePosY; int TreeDepth; + ImU32 TreeDepthMayCloseOnPop; // Store a copy of !g.NavIdIsAlive for TreeDepth 0..31 ImGuiID LastItemId; - ImRect LastItemRect; - bool LastItemHoveredAndUsable; // Item rectangle is hovered, and its window is currently interactable with (not blocked by a popup preventing access to the window) - bool LastItemHoveredRect; // Item rectangle is hovered, but its window may or not be currently interactable with (might be blocked by a popup preventing access to the window) - bool MenuBarAppending; + ImGuiItemStatusFlags LastItemStatusFlags; + ImRect LastItemRect; // Interaction rect + ImRect LastItemDisplayRect; // End-user display rect (only valid if LastItemStatusFlags & ImGuiItemStatusFlags_HasDisplayRect) + bool NavHideHighlightOneFrame; + bool NavHasScroll; // Set when scrolling can be used (ScrollMax > 0.0f) + int NavLayerCurrent; // Current layer, 0..31 (we currently only use 0..1) + int NavLayerCurrentMask; // = (1 << NavLayerCurrent) used by ItemAdd prior to clipping. + int NavLayerActiveMask; // Which layer have been written to (result from previous frame) + int NavLayerActiveMaskNext; // Which layer have been written to (buffer for current frame) + bool MenuBarAppending; // FIXME: Remove this float MenuBarOffsetX; ImVector ChildWindows; ImGuiStorage* StateStorage; ImGuiLayoutType LayoutType; + ImGuiLayoutType ParentLayoutType; // Layout type of parent window at the time of Begin() // We store the current settings outside of the vectors to increase memory locality (reduce cache misses). The vectors are rarely modified. Also it allows us to not heap allocate for short-lived windows which are not using those settings. + ImGuiItemFlags ItemFlags; // == ItemFlagsStack.back() [empty == ImGuiItemFlags_Default] float ItemWidth; // == ItemWidthStack.back(). 0.0: default, >0.0: width in pixels, <0.0: align xx pixels to the right of window float TextWrapPos; // == TextWrapPosStack.back() [empty == -1.0f] - bool AllowKeyboardFocus; // == AllowKeyboardFocusStack.back() [empty == true] - bool ButtonRepeat; // == ButtonRepeatStack.back() [empty == false] + ImVectorItemFlagsStack; ImVector ItemWidthStack; ImVector TextWrapPosStack; - ImVector AllowKeyboardFocusStack; - ImVector ButtonRepeatStack; ImVectorGroupStack; - ImGuiColorEditMode ColorEditMode; int StackSizesBackup[6]; // Store size of various stacks for asserting float IndentX; // Indentation / start position from left of window (increased by TreePush/TreePop, etc.) float GroupOffsetX; float ColumnsOffsetX; // Offset to the current column (if ColumnsCurrent > 0). FIXME: This and the above should be a stack to allow use cases like Tree->Column->Tree. Need revamp columns API. - int ColumnsCurrent; - int ColumnsCount; - float ColumnsMinX; - float ColumnsMaxX; - float ColumnsStartPosY; - float ColumnsCellMinY; - float ColumnsCellMaxY; - bool ColumnsShowBorders; - ImGuiID ColumnsSetId; - ImVector ColumnsData; + ImGuiColumnsSet* ColumnsSet; // Current columns set ImGuiDrawContext() { @@ -587,30 +874,28 @@ struct IMGUI_API ImGuiDrawContext CurrentLineTextBaseOffset = PrevLineTextBaseOffset = 0.0f; LogLinePosY = -1.0f; TreeDepth = 0; + TreeDepthMayCloseOnPop = 0x00; LastItemId = 0; - LastItemRect = ImRect(0.0f,0.0f,0.0f,0.0f); - LastItemHoveredAndUsable = LastItemHoveredRect = false; + LastItemStatusFlags = 0; + LastItemRect = LastItemDisplayRect = ImRect(); + NavHideHighlightOneFrame = false; + NavHasScroll = false; + NavLayerActiveMask = NavLayerActiveMaskNext = 0x00; + NavLayerCurrent = 0; + NavLayerCurrentMask = 1 << 0; MenuBarAppending = false; MenuBarOffsetX = 0.0f; StateStorage = NULL; - LayoutType = ImGuiLayoutType_Vertical; + LayoutType = ParentLayoutType = ImGuiLayoutType_Vertical; ItemWidth = 0.0f; - ButtonRepeat = false; - AllowKeyboardFocus = true; + ItemFlags = ImGuiItemFlags_Default_; TextWrapPos = -1.0f; - ColorEditMode = ImGuiColorEditMode_RGB; memset(StackSizesBackup, 0, sizeof(StackSizesBackup)); IndentX = 0.0f; GroupOffsetX = 0.0f; ColumnsOffsetX = 0.0f; - ColumnsCurrent = 0; - ColumnsCount = 1; - ColumnsMinX = ColumnsMaxX = 0.0f; - ColumnsStartPosY = 0.0f; - ColumnsCellMinY = ColumnsCellMaxY = 0.0f; - ColumnsShowBorders = true; - ColumnsSetId = 0; + ColumnsSet = NULL; } }; @@ -620,53 +905,71 @@ struct IMGUI_API ImGuiWindow char* Name; ImGuiID ID; // == ImHash(Name) ImGuiWindowFlags Flags; // See enum ImGuiWindowFlags_ - int IndexWithinParent; // Order within immediate parent window, if we are a child window. Otherwise 0. ImVec2 PosFloat; ImVec2 Pos; // Position rounded-up to nearest pixel ImVec2 Size; // Current size (==SizeFull or collapsed title bar size) ImVec2 SizeFull; // Size when non collapsed - ImVec2 SizeContents; // Size of contents (== extents reach of the drawing cursor) from previous frame + ImVec2 SizeFullAtLastBegin; // Copy of SizeFull at the end of Begin. This is the reference value we'll use on the next frame to decide if we need scrollbars. + ImVec2 SizeContents; // Size of contents (== extents reach of the drawing cursor) from previous frame. Include decoration, window title, border, menu, etc. ImVec2 SizeContentsExplicit; // Size of contents explicitly set by the user via SetNextWindowContentSize() ImRect ContentsRegionRect; // Maximum visible content position in window coordinates. ~~ (SizeContentsExplicit ? SizeContentsExplicit : Size - ScrollbarSizes) - CursorStartPos, per axis - ImVec2 WindowPadding; // Window padding at the time of begin. We need to lock it, in particular manipulation of the ShowBorder would have an effect + ImVec2 WindowPadding; // Window padding at the time of begin. + float WindowRounding; // Window rounding at the time of begin. + float WindowBorderSize; // Window border size at the time of begin. ImGuiID MoveId; // == window->GetID("#MOVE") + ImGuiID ChildId; // Id of corresponding item in parent window (for child windows) ImVec2 Scroll; ImVec2 ScrollTarget; // target scroll position. stored as cursor position with scrolling canceled out, so the highest point is always 0.0f. (FLT_MAX for no change) ImVec2 ScrollTargetCenterRatio; // 0.0f = scroll so that target position is at top, 0.5f = scroll so that target position is centered bool ScrollbarX, ScrollbarY; ImVec2 ScrollbarSizes; - float BorderSize; - bool Active; // Set to true on Begin() + bool Active; // Set to true on Begin(), unless Collapsed bool WasActive; - bool Accessed; // Set to true when any widget access the current window + bool WriteAccessed; // Set to true when any widget access the current window bool Collapsed; // Set when collapsing window to become only title-bar - bool SkipItems; // == Visible && !Collapsed + bool CollapseToggleWanted; + bool SkipItems; // Set when items can safely be all clipped (e.g. window not visible or collapsed) + bool Appearing; // Set during the frame where the window is appearing (or re-appearing) + bool CloseButton; // Set when the window has a close button (p_open != NULL) + int BeginOrderWithinParent; // Order within immediate parent window, if we are a child window. Otherwise 0. + int BeginOrderWithinContext; // Order within entire imgui context. This is mostly used for debugging submission order related issues. int BeginCount; // Number of Begin() during the current frame (generally 0 or 1, 1+ if appending via multiple Begin/End pairs) ImGuiID PopupId; // ID in the popup stack when this window is used as a popup/menu (because we use generic Name/ID for recycling) int AutoFitFramesX, AutoFitFramesY; bool AutoFitOnlyGrows; - int AutoPosLastDirection; + int AutoFitChildAxises; + ImGuiDir AutoPosLastDirection; int HiddenFrames; - int SetWindowPosAllowFlags; // bit ImGuiSetCond_*** specify if SetWindowPos() call will succeed with this particular flag. - int SetWindowSizeAllowFlags; // bit ImGuiSetCond_*** specify if SetWindowSize() call will succeed with this particular flag. - int SetWindowCollapsedAllowFlags; // bit ImGuiSetCond_*** specify if SetWindowCollapsed() call will succeed with this particular flag. - bool SetWindowPosCenterWanted; + ImGuiCond SetWindowPosAllowFlags; // store condition flags for next SetWindowPos() call. + ImGuiCond SetWindowSizeAllowFlags; // store condition flags for next SetWindowSize() call. + ImGuiCond SetWindowCollapsedAllowFlags; // store condition flags for next SetWindowCollapsed() call. + ImVec2 SetWindowPosVal; // store window position when using a non-zero Pivot (position set needs to be processed when we know the window size) + ImVec2 SetWindowPosPivot; // store window pivot for positioning. ImVec2(0,0) when positioning from top-left corner; ImVec2(0.5f,0.5f) for centering; ImVec2(1,1) for bottom right. ImGuiDrawContext DC; // Temporary per-window data, reset at the beginning of the frame ImVector IDStack; // ID stack. ID are hashes seeded with the value at the top of the stack ImRect ClipRect; // = DrawList->clip_rect_stack.back(). Scissoring / clipping rectangle. x1, y1, x2, y2. ImRect WindowRectClipped; // = WindowRect just after setup in Begin(). == window->Rect() for root window. + ImRect InnerRect; int LastFrameActive; float ItemWidthDefault; - ImGuiSimpleColumns MenuColumns; // Simplified columns storage for menu items + ImGuiMenuColumns MenuColumns; // Simplified columns storage for menu items ImGuiStorage StateStorage; + ImVector ColumnsStorage; float FontWindowScale; // Scale multiplier per-window ImDrawList* DrawList; - ImGuiWindow* RootWindow; // If we are a child window, this is pointing to the first non-child parent window. Else point to ourself. - ImGuiWindow* RootNonPopupWindow; // If we are a child window, this is pointing to the first non-child non-popup parent window. Else point to ourself. - ImGuiWindow* ParentWindow; // If we are a child window, this is pointing to our parent window. Else point to NULL. + ImGuiWindow* ParentWindow; // If we are a child _or_ popup window, this is pointing to our parent. Otherwise NULL. + ImGuiWindow* RootWindow; // Point to ourself or first ancestor that is not a child window. + ImGuiWindow* RootWindowForTitleBarHighlight; // Point to ourself or first ancestor which will display TitleBgActive color when this window is active. + ImGuiWindow* RootWindowForTabbing; // Point to ourself or first ancestor which can be CTRL-Tabbed into. + ImGuiWindow* RootWindowForNav; // Point to ourself or first ancestor which doesn't have the NavFlattened flag. + + ImGuiWindow* NavLastChildNavWindow; // When going to the menu bar, we remember the child window we came from. (This could probably be made implicit if we kept g.Windows sorted by last focused including child window.) + ImGuiID NavLastIds[2]; // Last known NavId for this window, per layer (0/1) + ImRect NavRectRel[2]; // Reference rectangle, in window relative space // Navigation / Focus + // FIXME-NAV: Merge all this with the new Nav system, at least the request variables should be moved to ImGuiContext int FocusIdxAllCounter; // Start at -1 and increase as assigned via FocusItemRegister() int FocusIdxTabCounter; // (same, but only count widgets which you can Tab through) int FocusIdxAllRequestCurrent; // Item being requested for focus @@ -675,13 +978,15 @@ struct IMGUI_API ImGuiWindow int FocusIdxTabRequestNext; // " public: - ImGuiWindow(const char* name); + ImGuiWindow(ImGuiContext* context, const char* name); ~ImGuiWindow(); ImGuiID GetID(const char* str, const char* str_end = NULL); ImGuiID GetID(const void* ptr); ImGuiID GetIDNoKeepAlive(const char* str, const char* str_end = NULL); + ImGuiID GetIDFromRectangle(const ImRect& r_abs); + // We don't use g.FontSize because the window may be != g.CurrentWidow. ImRect Rect() const { return ImRect(Pos.x, Pos.y, Pos.x+Size.x, Pos.y+Size.y); } float CalcFontSize() const { return GImGui->FontBaseSize * FontWindowScale; } float TitleBarHeight() const { return (Flags & ImGuiWindowFlags_NoTitleBar) ? 0.0f : CalcFontSize() + GImGui->Style.FramePadding.y * 2.0f; } @@ -690,6 +995,19 @@ public: ImRect MenuBarRect() const { float y1 = Pos.y + TitleBarHeight(); return ImRect(Pos.x, y1, Pos.x + SizeFull.x, y1 + MenuBarHeight()); } }; +// Backup and restore just enough data to be able to use IsItemHovered() on item A after another B in the same window has overwritten the data. +struct ImGuiItemHoveredDataBackup +{ + ImGuiID LastItemId; + ImGuiItemStatusFlags LastItemStatusFlags; + ImRect LastItemRect; + ImRect LastItemDisplayRect; + + ImGuiItemHoveredDataBackup() { Backup(); } + void Backup() { ImGuiWindow* window = GImGui->CurrentWindow; LastItemId = window->DC.LastItemId; LastItemStatusFlags = window->DC.LastItemStatusFlags; LastItemRect = window->DC.LastItemRect; LastItemDisplayRect = window->DC.LastItemDisplayRect; } + void Restore() const { ImGuiWindow* window = GImGui->CurrentWindow; window->DC.LastItemId = LastItemId; window->DC.LastItemStatusFlags = LastItemStatusFlags; window->DC.LastItemRect = LastItemRect; window->DC.LastItemDisplayRect = LastItemDisplayRect; } +}; + //----------------------------------------------------------------------------- // Internal API // No guarantee of forward compatibility here. @@ -702,45 +1020,91 @@ namespace ImGui // - ImGui::NewFrame() has never been called, which is illegal. // - You are calling ImGui functions after ImGui::Render() and before the next ImGui::NewFrame(), which is also illegal. inline ImGuiWindow* GetCurrentWindowRead() { ImGuiContext& g = *GImGui; return g.CurrentWindow; } - inline ImGuiWindow* GetCurrentWindow() { ImGuiContext& g = *GImGui; g.CurrentWindow->Accessed = true; return g.CurrentWindow; } - IMGUI_API ImGuiWindow* GetParentWindow(); + inline ImGuiWindow* GetCurrentWindow() { ImGuiContext& g = *GImGui; g.CurrentWindow->WriteAccessed = true; return g.CurrentWindow; } IMGUI_API ImGuiWindow* FindWindowByName(const char* name); IMGUI_API void FocusWindow(ImGuiWindow* window); + IMGUI_API void BringWindowToFront(ImGuiWindow* window); + IMGUI_API void BringWindowToBack(ImGuiWindow* window); + IMGUI_API bool IsWindowChildOf(ImGuiWindow* window, ImGuiWindow* potential_parent); + IMGUI_API bool IsWindowNavFocusable(ImGuiWindow* window); - IMGUI_API void EndFrame(); // Ends the ImGui frame. Automatically called by Render()! you most likely don't need to ever call that yourself directly. If you don't need to render you can call EndFrame() but you'll have wasted CPU already. If you don't need to render, don't create any windows instead! + IMGUI_API void Initialize(ImGuiContext* context); + IMGUI_API void Shutdown(ImGuiContext* context); // Since 1.60 this is a _private_ function. You can call DestroyContext() to destroy the context created by CreateContext(). + + IMGUI_API void MarkIniSettingsDirty(); + IMGUI_API ImGuiSettingsHandler* FindSettingsHandler(const char* type_name); + IMGUI_API ImGuiWindowSettings* FindWindowSettings(ImGuiID id); IMGUI_API void SetActiveID(ImGuiID id, ImGuiWindow* window); - IMGUI_API void ClearActiveID(); + IMGUI_API ImGuiID GetActiveID(); + IMGUI_API void SetFocusID(ImGuiID id, ImGuiWindow* window); + IMGUI_API void ClearActiveID(); IMGUI_API void SetHoveredID(ImGuiID id); + IMGUI_API ImGuiID GetHoveredID(); IMGUI_API void KeepAliveID(ImGuiID id); IMGUI_API void ItemSize(const ImVec2& size, float text_offset_y = 0.0f); IMGUI_API void ItemSize(const ImRect& bb, float text_offset_y = 0.0f); - IMGUI_API bool ItemAdd(const ImRect& bb, const ImGuiID* id); - IMGUI_API bool IsClippedEx(const ImRect& bb, const ImGuiID* id, bool clip_even_when_logged); - IMGUI_API bool IsHovered(const ImRect& bb, ImGuiID id, bool flatten_childs = false); - IMGUI_API bool FocusableItemRegister(ImGuiWindow* window, bool is_active, bool tab_stop = true); // Return true if focus is requested + IMGUI_API bool ItemAdd(const ImRect& bb, ImGuiID id, const ImRect* nav_bb = NULL); + IMGUI_API bool ItemHoverable(const ImRect& bb, ImGuiID id); + IMGUI_API bool IsClippedEx(const ImRect& bb, ImGuiID id, bool clip_even_when_logged); + IMGUI_API bool FocusableItemRegister(ImGuiWindow* window, ImGuiID id, bool tab_stop = true); // Return true if focus is requested IMGUI_API void FocusableItemUnregister(ImGuiWindow* window); IMGUI_API ImVec2 CalcItemSize(ImVec2 size, float default_x, float default_y); IMGUI_API float CalcWrapWidthForPos(const ImVec2& pos, float wrap_pos_x); + IMGUI_API void PushMultiItemsWidths(int components, float width_full = 0.0f); + IMGUI_API void PushItemFlag(ImGuiItemFlags option, bool enabled); + IMGUI_API void PopItemFlag(); - IMGUI_API void OpenPopupEx(const char* str_id, bool reopen_existing); + IMGUI_API void SetCurrentFont(ImFont* font); - // NB: All position are in absolute pixels coordinates (not window coordinates) - // FIXME: All those functions are a mess and needs to be refactored into something decent. AVOID USING OUTSIDE OF IMGUI.CPP! NOT FOR PUBLIC CONSUMPTION. - // We need: a sort of symbol library, preferably baked into font atlas when possible + decent text rendering helpers. + IMGUI_API void OpenPopupEx(ImGuiID id); + IMGUI_API void ClosePopup(ImGuiID id); + IMGUI_API void ClosePopupsOverWindow(ImGuiWindow* ref_window); + IMGUI_API bool IsPopupOpen(ImGuiID id); + IMGUI_API bool BeginPopupEx(ImGuiID id, ImGuiWindowFlags extra_flags); + IMGUI_API void BeginTooltipEx(ImGuiWindowFlags extra_flags, bool override_previous_tooltip = true); + + IMGUI_API void NavInitWindow(ImGuiWindow* window, bool force_reinit); + IMGUI_API void NavMoveRequestCancel(); + IMGUI_API void ActivateItem(ImGuiID id); // Remotely activate a button, checkbox, tree node etc. given its unique ID. activation is queued and processed on the next frame when the item is encountered again. + + IMGUI_API float GetNavInputAmount(ImGuiNavInput n, ImGuiInputReadMode mode); + IMGUI_API ImVec2 GetNavInputAmount2d(ImGuiNavDirSourceFlags dir_sources, ImGuiInputReadMode mode, float slow_factor = 0.0f, float fast_factor = 0.0f); + IMGUI_API int CalcTypematicPressedRepeatAmount(float t, float t_prev, float repeat_delay, float repeat_rate); + + IMGUI_API void Scrollbar(ImGuiLayoutType direction); + IMGUI_API void VerticalSeparator(); // Vertical separator, for menu bars (use current line height). not exposed because it is misleading what it doesn't have an effect on regular layout. + IMGUI_API bool SplitterBehavior(ImGuiID id, const ImRect& bb, ImGuiAxis axis, float* size1, float* size2, float min_size1, float min_size2, float hover_extend = 0.0f); + + IMGUI_API bool BeginDragDropTargetCustom(const ImRect& bb, ImGuiID id); + IMGUI_API void ClearDragDrop(); + IMGUI_API bool IsDragDropPayloadBeingAccepted(); + + // FIXME-WIP: New Columns API + IMGUI_API void BeginColumns(const char* str_id, int count, ImGuiColumnsFlags flags = 0); // setup number of columns. use an identifier to distinguish multiple column sets. close with EndColumns(). + IMGUI_API void EndColumns(); // close columns + IMGUI_API void PushColumnClipRect(int column_index = -1); + + // NB: All position are in absolute pixels coordinates (never using window coordinates internally) + // AVOID USING OUTSIDE OF IMGUI.CPP! NOT FOR PUBLIC CONSUMPTION. THOSE FUNCTIONS ARE A MESS. THEIR SIGNATURE AND BEHAVIOR WILL CHANGE, THEY NEED TO BE REFACTORED INTO SOMETHING DECENT. IMGUI_API void RenderText(ImVec2 pos, const char* text, const char* text_end = NULL, bool hide_text_after_hash = true); IMGUI_API void RenderTextWrapped(ImVec2 pos, const char* text, const char* text_end, float wrap_width); IMGUI_API void RenderTextClipped(const ImVec2& pos_min, const ImVec2& pos_max, const char* text, const char* text_end, const ImVec2* text_size_if_known, const ImVec2& align = ImVec2(0,0), const ImRect* clip_rect = NULL); IMGUI_API void RenderFrame(ImVec2 p_min, ImVec2 p_max, ImU32 fill_col, bool border = true, float rounding = 0.0f); - IMGUI_API void RenderCollapseTriangle(ImVec2 pos, bool is_open, float scale = 1.0f); + IMGUI_API void RenderFrameBorder(ImVec2 p_min, ImVec2 p_max, float rounding = 0.0f); + IMGUI_API void RenderColorRectWithAlphaCheckerboard(ImVec2 p_min, ImVec2 p_max, ImU32 fill_col, float grid_step, ImVec2 grid_off, float rounding = 0.0f, int rounding_corners_flags = ~0); + IMGUI_API void RenderTriangle(ImVec2 pos, ImGuiDir dir, float scale = 1.0f); IMGUI_API void RenderBullet(ImVec2 pos); - IMGUI_API void RenderCheckMark(ImVec2 pos, ImU32 col); + IMGUI_API void RenderCheckMark(ImVec2 pos, ImU32 col, float sz); + IMGUI_API void RenderNavHighlight(const ImRect& bb, ImGuiID id, ImGuiNavHighlightFlags flags = ImGuiNavHighlightFlags_TypeDefault); // Navigation highlight + IMGUI_API void RenderRectFilledRangeH(ImDrawList* draw_list, const ImRect& rect, ImU32 col, float x_start_norm, float x_end_norm, float rounding); IMGUI_API const char* FindRenderedTextEnd(const char* text, const char* text_end = NULL); // Find the optional ## from which we stop displaying text. IMGUI_API bool ButtonBehavior(const ImRect& bb, ImGuiID id, bool* out_hovered, bool* out_held, ImGuiButtonFlags flags = 0); IMGUI_API bool ButtonEx(const char* label, const ImVec2& size_arg = ImVec2(0,0), ImGuiButtonFlags flags = 0); IMGUI_API bool CloseButton(ImGuiID id, const ImVec2& pos, float radius); + IMGUI_API bool ArrowButton(ImGuiID id, ImGuiDir dir, ImVec2 padding, ImGuiButtonFlags flags = 0); IMGUI_API bool SliderBehavior(const ImRect& frame_bb, ImGuiID id, float* v, float v_min, float v_max, float power, int decimal_precision, ImGuiSliderFlags flags = 0); IMGUI_API bool SliderFloatN(const char* label, float* v, int components, float v_min, float v_max, const char* display_format, float power); @@ -756,6 +1120,9 @@ namespace ImGui IMGUI_API bool InputScalarEx(const char* label, ImGuiDataType data_type, void* data_ptr, void* step_ptr, void* step_fast_ptr, const char* scalar_format, ImGuiInputTextFlags extra_flags); IMGUI_API bool InputScalarAsWidgetReplacement(const ImRect& aabb, const char* label, ImGuiDataType data_type, void* data_ptr, ImGuiID id, int decimal_precision); + IMGUI_API void ColorTooltip(const char* text, const float* col, ImGuiColorEditFlags flags); + IMGUI_API void ColorEditOptionsPopup(const float* col, ImGuiColorEditFlags flags); + IMGUI_API bool TreeNodeBehavior(ImGuiID id, ImGuiTreeNodeFlags flags, const char* label, const char* label_end = NULL); IMGUI_API bool TreeNodeBehaviorIsOpen(ImGuiID id, ImGuiTreeNodeFlags flags = 0); // Consume previous SetNextTreeNodeOpened() data, if any. May return true when logging IMGUI_API void TreePushRawID(ImGuiID id); @@ -765,8 +1132,22 @@ namespace ImGui IMGUI_API int ParseFormatPrecision(const char* fmt, int default_value); IMGUI_API float RoundScalar(float value, int decimal_precision); + // Shade functions + IMGUI_API void ShadeVertsLinearColorGradientKeepAlpha(ImDrawVert* vert_start, ImDrawVert* vert_end, ImVec2 gradient_p0, ImVec2 gradient_p1, ImU32 col0, ImU32 col1); + IMGUI_API void ShadeVertsLinearAlphaGradientForLeftToRightText(ImDrawVert* vert_start, ImDrawVert* vert_end, float gradient_p0_x, float gradient_p1_x); + IMGUI_API void ShadeVertsLinearUV(ImDrawVert* vert_start, ImDrawVert* vert_end, const ImVec2& a, const ImVec2& b, const ImVec2& uv_a, const ImVec2& uv_b, bool clamp); + } // namespace ImGui +// ImFontAtlas internals +IMGUI_API bool ImFontAtlasBuildWithStbTruetype(ImFontAtlas* atlas); +IMGUI_API void ImFontAtlasBuildRegisterDefaultCustomRects(ImFontAtlas* atlas); +IMGUI_API void ImFontAtlasBuildSetupFont(ImFontAtlas* atlas, ImFont* font, ImFontConfig* font_config, float ascent, float descent); +IMGUI_API void ImFontAtlasBuildPackCustomRects(ImFontAtlas* atlas, void* spc); +IMGUI_API void ImFontAtlasBuildFinish(ImFontAtlas* atlas); +IMGUI_API void ImFontAtlasBuildMultiplyCalcLookupTable(unsigned char out_table[256], float in_multiply_factor); +IMGUI_API void ImFontAtlasBuildMultiplyRectAlpha8(const unsigned char table[256], unsigned char* pixels, int x, int y, int w, int h, int stride); + #ifdef __clang__ #pragma clang diagnostic pop #endif diff --git a/examples/ThirdPartyLibs/imgui/stb_rect_pack.h b/examples/ThirdPartyLibs/imgui/stb_rect_pack.h index c75527da1..2b07dcc82 100644 --- a/examples/ThirdPartyLibs/imgui/stb_rect_pack.h +++ b/examples/ThirdPartyLibs/imgui/stb_rect_pack.h @@ -1,4 +1,4 @@ -// stb_rect_pack.h - v0.10 - public domain - rectangle packing +// stb_rect_pack.h - v0.11 - public domain - rectangle packing // Sean Barrett 2014 // // Useful for e.g. packing rectangular textures into an atlas. @@ -27,11 +27,14 @@ // Sean Barrett // Minor features // Martins Mozeiko +// github:IntellectualKitty +// // Bugfixes / warning fixes // Jeremy Jaussaud // // Version history: // +// 0.11 (2017-03-03) return packing success/fail result // 0.10 (2016-10-25) remove cast-away-const to avoid warnings // 0.09 (2016-08-27) fix compiler warnings // 0.08 (2015-09-13) really fix bug with empty rects (w=0 or h=0) @@ -43,9 +46,7 @@ // // LICENSE // -// This software is dual-licensed to the public domain and under the following -// license: you are granted a perpetual, irrevocable license to copy, modify, -// publish, and distribute this file as you see fit. +// See end of file for license information. ////////////////////////////////////////////////////////////////////////////// // @@ -77,7 +78,7 @@ typedef int stbrp_coord; typedef unsigned short stbrp_coord; #endif -STBRP_DEF void stbrp_pack_rects (stbrp_context *context, stbrp_rect *rects, int num_rects); +STBRP_DEF int stbrp_pack_rects (stbrp_context *context, stbrp_rect *rects, int num_rects); // Assign packed locations to rectangles. The rectangles are of type // 'stbrp_rect' defined below, stored in the array 'rects', and there // are 'num_rects' many of them. @@ -98,6 +99,9 @@ STBRP_DEF void stbrp_pack_rects (stbrp_context *context, stbrp_rect *rects, int // arrays will probably produce worse packing results than calling it // a single time with the full rectangle array, but the option is // available. +// +// The function returns 1 if all of the rectangles were successfully +// packed and 0 otherwise. struct stbrp_rect { @@ -202,8 +206,10 @@ struct stbrp_context #ifdef _MSC_VER #define STBRP__NOTUSED(v) (void)(v) +#define STBRP__CDECL __cdecl #else #define STBRP__NOTUSED(v) (void)sizeof(v) +#define STBRP__CDECL #endif enum @@ -488,17 +494,14 @@ static stbrp__findresult stbrp__skyline_pack_rectangle(stbrp_context *context, i STBRP_ASSERT(cur->next == NULL); { - stbrp_node *L1 = NULL, *L2 = NULL; int count=0; cur = context->active_head; while (cur) { - L1 = cur; cur = cur->next; ++count; } cur = context->free_head; while (cur) { - L2 = cur; cur = cur->next; ++count; } @@ -509,7 +512,7 @@ static stbrp__findresult stbrp__skyline_pack_rectangle(stbrp_context *context, i return res; } -static int rect_height_compare(const void *a, const void *b) +static int STBRP__CDECL rect_height_compare(const void *a, const void *b) { const stbrp_rect *p = (const stbrp_rect *) a; const stbrp_rect *q = (const stbrp_rect *) b; @@ -520,18 +523,7 @@ static int rect_height_compare(const void *a, const void *b) return (p->w > q->w) ? -1 : (p->w < q->w); } -static int rect_width_compare(const void *a, const void *b) -{ - const stbrp_rect *p = (const stbrp_rect *) a; - const stbrp_rect *q = (const stbrp_rect *) b; - if (p->w > q->w) - return -1; - if (p->w < q->w) - return 1; - return (p->h > q->h) ? -1 : (p->h < q->h); -} - -static int rect_original_order(const void *a, const void *b) +static int STBRP__CDECL rect_original_order(const void *a, const void *b) { const stbrp_rect *p = (const stbrp_rect *) a; const stbrp_rect *q = (const stbrp_rect *) b; @@ -544,9 +536,9 @@ static int rect_original_order(const void *a, const void *b) #define STBRP__MAXVAL 0xffff #endif -STBRP_DEF void stbrp_pack_rects(stbrp_context *context, stbrp_rect *rects, int num_rects) +STBRP_DEF int stbrp_pack_rects(stbrp_context *context, stbrp_rect *rects, int num_rects) { - int i; + int i, all_rects_packed = 1; // we use the 'was_packed' field internally to allow sorting/unsorting for (i=0; i < num_rects; ++i) { @@ -576,8 +568,56 @@ STBRP_DEF void stbrp_pack_rects(stbrp_context *context, stbrp_rect *rects, int n // unsort STBRP_SORT(rects, num_rects, sizeof(rects[0]), rect_original_order); - // set was_packed flags - for (i=0; i < num_rects; ++i) + // set was_packed flags and all_rects_packed status + for (i=0; i < num_rects; ++i) { rects[i].was_packed = !(rects[i].x == STBRP__MAXVAL && rects[i].y == STBRP__MAXVAL); + if (!rects[i].was_packed) + all_rects_packed = 0; + } + + // return the all_rects_packed status + return all_rects_packed; } #endif + +/* +------------------------------------------------------------------------------ +This software is available under 2 licenses -- choose whichever you prefer. +------------------------------------------------------------------------------ +ALTERNATIVE A - MIT License +Copyright (c) 2017 Sean Barrett +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in +the Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies +of the Software, and to permit persons to whom the Software is furnished to do +so, subject to the following conditions: +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +------------------------------------------------------------------------------ +ALTERNATIVE B - Public Domain (www.unlicense.org) +This is free and unencumbered software released into the public domain. +Anyone is free to copy, modify, publish, use, compile, sell, or distribute this +software, either in source code form or as a compiled binary, for any purpose, +commercial or non-commercial, and by any means. +In jurisdictions that recognize copyright laws, the author or authors of this +software dedicate any and all copyright interest in the software to the public +domain. We make this dedication for the benefit of the public at large and to +the detriment of our heirs and successors. We intend this dedication to be an +overt act of relinquishment in perpetuity of all present and future rights to +this software under copyright law. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN +ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +------------------------------------------------------------------------------ +*/ diff --git a/examples/ThirdPartyLibs/imgui/stb_truetype.h b/examples/ThirdPartyLibs/imgui/stb_truetype.h index 92b9a8754..f65deb503 100644 --- a/examples/ThirdPartyLibs/imgui/stb_truetype.h +++ b/examples/ThirdPartyLibs/imgui/stb_truetype.h @@ -1,4 +1,4 @@ -// stb_truetype.h - v1.14 - public domain +// stb_truetype.h - v1.19 - public domain // authored from 2009-2016 by Sean Barrett / RAD Game Tools // // This library processes TrueType files: @@ -6,6 +6,7 @@ // extract glyph metrics // extract glyph shapes // render glyphs to one-channel bitmaps with antialiasing (box filter) +// render glyphs to one-channel SDF bitmaps (signed-distance field/function) // // Todo: // non-MS cmaps @@ -21,39 +22,40 @@ // Mikko Mononen: compound shape support, more cmap formats // Tor Andersson: kerning, subpixel rendering // Dougall Johnson: OpenType / Type 2 font handling +// Daniel Ribeiro Maciel: basic GPOS-based kerning // // Misc other: // Ryan Gordon // Simon Glass // github:IntellectualKitty +// Imanol Celaya +// Daniel Ribeiro Maciel // // Bug/warning reports/fixes: -// "Zer" on mollyrocket (with fix) -// Cass Everitt -// stoiko (Haemimont Games) -// Brian Hook -// Walter van Niftrik -// David Gow -// David Given -// Ivan-Assen Ivanov -// Anthony Pesch -// Johan Duparc -// Hou Qiming -// Fabian "ryg" Giesen -// Martins Mozeiko -// Cap Petschulat -// Omar Cornut -// github:aloucks -// Peter LaValle -// Sergey Popov -// Giumo X. Clanjor -// Higor Euripedes -// Thomas Fields -// Derek Vinyard -// +// "Zer" on mollyrocket Fabian "ryg" Giesen +// Cass Everitt Martins Mozeiko +// stoiko (Haemimont Games) Cap Petschulat +// Brian Hook Omar Cornut +// Walter van Niftrik github:aloucks +// David Gow Peter LaValle +// David Given Sergey Popov +// Ivan-Assen Ivanov Giumo X. Clanjor +// Anthony Pesch Higor Euripedes +// Johan Duparc Thomas Fields +// Hou Qiming Derek Vinyard +// Rob Loach Cort Stratton +// Kenney Phillis Jr. github:oyvindjam +// Brian Costabile github:vassvik +// // VERSION HISTORY // -// 1.13 (2017-01-02) support OpenType fonts, certain Apple fonts, num-fonts-in-TTC function +// 1.19 (2018-02-11) GPOS kerning, STBTT_fmod +// 1.18 (2018-01-29) add missing function +// 1.17 (2017-07-23) make more arguments const; doc fix +// 1.16 (2017-07-12) SDF support +// 1.15 (2017-03-03) make more arguments const +// 1.14 (2017-01-16) num-fonts-in-TTC function +// 1.13 (2017-01-02) support OpenType fonts, certain Apple fonts // 1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual // 1.11 (2016-04-02) fix unused-variable warning // 1.10 (2016-04-02) user-defined fabs(); rare memory leak; remove duplicate typedef @@ -69,9 +71,7 @@ // // LICENSE // -// This software is dual-licensed to the public domain and under the following -// license: you are granted a perpetual, irrevocable license to copy, modify, -// publish, and distribute this file as you see fit. +// See end of file for license information. // // USAGE // @@ -91,7 +91,7 @@ // Improved 3D API (more shippable): // #include "stb_rect_pack.h" -- optional, but you really want it // stbtt_PackBegin() -// stbtt_PackSetOversample() -- for improved quality on small fonts +// stbtt_PackSetOversampling() -- for improved quality on small fonts // stbtt_PackFontRanges() -- pack and renders // stbtt_PackEnd() // stbtt_GetPackedQuad() @@ -109,6 +109,7 @@ // Character advance/positioning // stbtt_GetCodepointHMetrics() // stbtt_GetFontVMetrics() +// stbtt_GetFontVMetricsOS2() // stbtt_GetCodepointKernAdvance() // // Starting with version 1.06, the rasterizer was replaced with a new, @@ -164,7 +165,7 @@ // measurement for describing font size, defined as 72 points per inch. // stb_truetype provides a point API for compatibility. However, true // "per inch" conventions don't make much sense on computer displays -// since they different monitors have different number of pixels per +// since different monitors have different number of pixels per // inch. For example, Windows traditionally uses a convention that // there are 96 pixels per inch, thus making 'inch' measurements have // nothing to do with inches, and thus effectively defining a point to @@ -174,6 +175,39 @@ // for non-commercial fonts, thus making fonts scaled in points // according to the TrueType spec incoherently sized in practice. // +// DETAILED USAGE: +// +// Scale: +// Select how high you want the font to be, in points or pixels. +// Call ScaleForPixelHeight or ScaleForMappingEmToPixels to compute +// a scale factor SF that will be used by all other functions. +// +// Baseline: +// You need to select a y-coordinate that is the baseline of where +// your text will appear. Call GetFontBoundingBox to get the baseline-relative +// bounding box for all characters. SF*-y0 will be the distance in pixels +// that the worst-case character could extend above the baseline, so if +// you want the top edge of characters to appear at the top of the +// screen where y=0, then you would set the baseline to SF*-y0. +// +// Current point: +// Set the current point where the first character will appear. The +// first character could extend left of the current point; this is font +// dependent. You can either choose a current point that is the leftmost +// point and hope, or add some padding, or check the bounding box or +// left-side-bearing of the first character to be displayed and set +// the current point based on that. +// +// Displaying a character: +// Compute the bounding box of the character. It will contain signed values +// relative to . I.e. if it returns x0,y0,x1,y1, +// then the character should be displayed in the rectangle from +// to #define STBTT_ifloor(x) ((int) floor(x)) @@ -406,6 +441,18 @@ int main(int arg, char **argv) #ifndef STBTT_sqrt #include #define STBTT_sqrt(x) sqrt(x) + #define STBTT_pow(x,y) pow(x,y) + #endif + + #ifndef STBTT_fmod + #include + #define STBTT_fmod(x,y) fmod(x,y) + #endif + + #ifndef STBTT_cos + #include + #define STBTT_cos(x) cos(x) + #define STBTT_acos(x) acos(x) #endif #ifndef STBTT_fabs @@ -431,7 +478,7 @@ int main(int arg, char **argv) #endif #ifndef STBTT_memcpy - #include + #include #define STBTT_memcpy memcpy #define STBTT_memset memset #endif @@ -494,7 +541,7 @@ typedef struct float x1,y1,s1,t1; // bottom-right } stbtt_aligned_quad; -STBTT_DEF void stbtt_GetBakedQuad(stbtt_bakedchar *chardata, int pw, int ph, // same data as above +STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph, // same data as above int char_index, // character to display float *xpos, float *ypos, // pointers to current position in screen pixel space stbtt_aligned_quad *q, // output: quad to draw @@ -547,7 +594,7 @@ STBTT_DEF void stbtt_PackEnd (stbtt_pack_context *spc); #define STBTT_POINT_SIZE(x) (-(x)) -STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, float font_size, +STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size, int first_unicode_char_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range); // Creates character bitmaps from the font_index'th font found in fontdata (use // font_index=0 if you don't know what that is). It creates num_chars_in_range @@ -572,7 +619,7 @@ typedef struct unsigned char h_oversample, v_oversample; // don't set these, they're used internally } stbtt_pack_range; -STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges); +STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges); // Creates character bitmaps from multiple ranges of characters stored in // ranges. This will usually create a better-packed bitmap than multiple // calls to stbtt_PackFontRange. Note that you can call this multiple @@ -594,7 +641,7 @@ STBTT_DEF void stbtt_PackSetOversampling(stbtt_pack_context *spc, unsigned int h // To use with PackFontRangesGather etc., you must set it before calls // call to PackFontRangesGatherRects. -STBTT_DEF void stbtt_GetPackedQuad(stbtt_packedchar *chardata, int pw, int ph, // same data as above +STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, // same data as above int char_index, // character to display float *xpos, float *ypos, // pointers to current position in screen pixel space stbtt_aligned_quad *q, // output: quad to draw @@ -657,7 +704,7 @@ struct stbtt_fontinfo int numGlyphs; // number of glyphs, needed for range checking - int loca,head,glyf,hhea,hmtx,kern; // table locations as offset from start of .ttf + int loca,head,glyf,hhea,hmtx,kern,gpos; // table locations as offset from start of .ttf int index_map; // a cmap mapping for our chosen character encoding int indexToLocFormat; // format needed to map from glyph index to glyph @@ -714,6 +761,12 @@ STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, in // these are expressed in unscaled coordinates, so you must multiply by // the scale factor for a given size +STBTT_DEF int stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap); +// analogous to GetFontVMetrics, but returns the "typographic" values from the OS/2 +// table (specific to MS/Windows TTF files). +// +// Returns 1 on success (table present), 0 on failure. + STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1); // the bounding box around all possible characters @@ -808,6 +861,10 @@ STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, uns // same as stbtt_MakeCodepointBitmap, but you can specify a subpixel // shift for the character +STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint); +// same as stbtt_MakeCodepointBitmapSubpixel, but prefiltering +// is performed (see stbtt_PackSetOversampling) + STBTT_DEF void stbtt_GetCodepointBitmapBox(const stbtt_fontinfo *font, int codepoint, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1); // get the bbox of the bitmap centered around the glyph origin; so the // bitmap width is ix1-ix0, height is iy1-iy0, and location to place @@ -825,6 +882,7 @@ STBTT_DEF unsigned char *stbtt_GetGlyphBitmap(const stbtt_fontinfo *info, float STBTT_DEF unsigned char *stbtt_GetGlyphBitmapSubpixel(const stbtt_fontinfo *info, float scale_x, float scale_y, float shift_x, float shift_y, int glyph, int *width, int *height, int *xoff, int *yoff); STBTT_DEF void stbtt_MakeGlyphBitmap(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, int glyph); STBTT_DEF void stbtt_MakeGlyphBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int glyph); +STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int glyph); STBTT_DEF void stbtt_GetGlyphBitmapBox(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y, int *ix0, int *iy0, int *ix1, int *iy1); STBTT_DEF void stbtt_GetGlyphBitmapBoxSubpixel(const stbtt_fontinfo *font, int glyph, float scale_x, float scale_y,float shift_x, float shift_y, int *ix0, int *iy0, int *ix1, int *iy1); @@ -847,6 +905,64 @@ STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, // 1-channel bitmap int invert, // if non-zero, vertically flip shape void *userdata); // context for to STBTT_MALLOC +////////////////////////////////////////////////////////////////////////////// +// +// Signed Distance Function (or Field) rendering + +STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata); +// frees the SDF bitmap allocated below + +STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff); +STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff); +// These functions compute a discretized SDF field for a single character, suitable for storing +// in a single-channel texture, sampling with bilinear filtering, and testing against +// larger than some threshhold to produce scalable fonts. +// info -- the font +// scale -- controls the size of the resulting SDF bitmap, same as it would be creating a regular bitmap +// glyph/codepoint -- the character to generate the SDF for +// padding -- extra "pixels" around the character which are filled with the distance to the character (not 0), +// which allows effects like bit outlines +// onedge_value -- value 0-255 to test the SDF against to reconstruct the character (i.e. the isocontour of the character) +// pixel_dist_scale -- what value the SDF should increase by when moving one SDF "pixel" away from the edge (on the 0..255 scale) +// if positive, > onedge_value is inside; if negative, < onedge_value is inside +// width,height -- output height & width of the SDF bitmap (including padding) +// xoff,yoff -- output origin of the character +// return value -- a 2D array of bytes 0..255, width*height in size +// +// pixel_dist_scale & onedge_value are a scale & bias that allows you to make +// optimal use of the limited 0..255 for your application, trading off precision +// and special effects. SDF values outside the range 0..255 are clamped to 0..255. +// +// Example: +// scale = stbtt_ScaleForPixelHeight(22) +// padding = 5 +// onedge_value = 180 +// pixel_dist_scale = 180/5.0 = 36.0 +// +// This will create an SDF bitmap in which the character is about 22 pixels +// high but the whole bitmap is about 22+5+5=32 pixels high. To produce a filled +// shape, sample the SDF at each pixel and fill the pixel if the SDF value +// is greater than or equal to 180/255. (You'll actually want to antialias, +// which is beyond the scope of this example.) Additionally, you can compute +// offset outlines (e.g. to stroke the character border inside & outside, +// or only outside). For example, to fill outside the character up to 3 SDF +// pixels, you would compare against (180-36.0*3)/255 = 72/255. The above +// choice of variables maps a range from 5 pixels outside the shape to +// 2 pixels inside the shape to 0..255; this is intended primarily for apply +// outside effects only (the interior range is needed to allow proper +// antialiasing of the font at *smaller* sizes) +// +// The function computes the SDF analytically at each SDF pixel, not by e.g. +// building a higher-res bitmap and approximating it. In theory the quality +// should be as high as possible for an SDF of this size & representation, but +// unclear if this is true in practice (perhaps building a higher-res bitmap +// and computing from that can allow drop-out prevention). +// +// The algorithm has not been optimized at all, so expect it to be slow +// if computing lots of characters or very large sizes. + + + ////////////////////////////////////////////////////////////////////////////// // // Finding the right font... @@ -1231,6 +1347,7 @@ static int stbtt_InitFont_internal(stbtt_fontinfo *info, unsigned char *data, in info->hhea = stbtt__find_table(data, fontstart, "hhea"); // required info->hmtx = stbtt__find_table(data, fontstart, "hmtx"); // required info->kern = stbtt__find_table(data, fontstart, "kern"); // not required + info->gpos = stbtt__find_table(data, fontstart, "GPOS"); // not required if (!cmap || !info->head || !info->hhea || !info->hmtx) return 0; @@ -2084,7 +2201,7 @@ static int stbtt__run_charstring(const stbtt_fontinfo *info, int glyph_index, st // push immediate if (b0 == 255) { - f = (float)stbtt__buf_get32(&b) / 0x10000; + f = (float)(stbtt_int32)stbtt__buf_get32(&b) / 0x10000; } else { stbtt__buf_skip(&b, -1); f = (float)(stbtt_int16)stbtt__cff_int(&b); @@ -2122,12 +2239,10 @@ static int stbtt__GetGlyphInfoT2(const stbtt_fontinfo *info, int glyph_index, in { stbtt__csctx c = STBTT__CSCTX_INIT(1); int r = stbtt__run_charstring(info, glyph_index, &c); - if (x0) { - *x0 = r ? c.min_x : 0; - *y0 = r ? c.min_y : 0; - *x1 = r ? c.max_x : 0; - *y1 = r ? c.max_y : 0; - } + if (x0) *x0 = r ? c.min_x : 0; + if (y0) *y0 = r ? c.min_y : 0; + if (x1) *x1 = r ? c.max_x : 0; + if (y1) *y1 = r ? c.max_y : 0; return r ? c.num_vertices : 0; } @@ -2151,7 +2266,7 @@ STBTT_DEF void stbtt_GetGlyphHMetrics(const stbtt_fontinfo *info, int glyph_inde } } -STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2) +static int stbtt__GetGlyphKernInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2) { stbtt_uint8 *data = info->data + info->kern; stbtt_uint32 needle, straw; @@ -2181,9 +2296,261 @@ STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int glyph1, return 0; } +static stbtt_int32 stbtt__GetCoverageIndex(stbtt_uint8 *coverageTable, int glyph) +{ + stbtt_uint16 coverageFormat = ttUSHORT(coverageTable); + switch(coverageFormat) { + case 1: { + stbtt_uint16 glyphCount = ttUSHORT(coverageTable + 2); + + // Binary search. + stbtt_int32 l=0, r=glyphCount-1, m; + int straw, needle=glyph; + while (l <= r) { + stbtt_uint8 *glyphArray = coverageTable + 4; + stbtt_uint16 glyphID; + m = (l + r) >> 1; + glyphID = ttUSHORT(glyphArray + 2 * m); + straw = glyphID; + if (needle < straw) + r = m - 1; + else if (needle > straw) + l = m + 1; + else { + return m; + } + } + } break; + + case 2: { + stbtt_uint16 rangeCount = ttUSHORT(coverageTable + 2); + stbtt_uint8 *rangeArray = coverageTable + 4; + + // Binary search. + stbtt_int32 l=0, r=rangeCount-1, m; + int strawStart, strawEnd, needle=glyph; + while (l <= r) { + stbtt_uint8 *rangeRecord; + m = (l + r) >> 1; + rangeRecord = rangeArray + 6 * m; + strawStart = ttUSHORT(rangeRecord); + strawEnd = ttUSHORT(rangeRecord + 2); + if (needle < strawStart) + r = m - 1; + else if (needle > strawEnd) + l = m + 1; + else { + stbtt_uint16 startCoverageIndex = ttUSHORT(rangeRecord + 4); + return startCoverageIndex + glyph - strawStart; + } + } + } break; + + default: { + // There are no other cases. + STBTT_assert(0); + } break; + } + + return -1; +} + +static stbtt_int32 stbtt__GetGlyphClass(stbtt_uint8 *classDefTable, int glyph) +{ + stbtt_uint16 classDefFormat = ttUSHORT(classDefTable); + switch(classDefFormat) + { + case 1: { + stbtt_uint16 startGlyphID = ttUSHORT(classDefTable + 2); + stbtt_uint16 glyphCount = ttUSHORT(classDefTable + 4); + stbtt_uint8 *classDef1ValueArray = classDefTable + 6; + + if (glyph >= startGlyphID && glyph < startGlyphID + glyphCount) + return (stbtt_int32)ttUSHORT(classDef1ValueArray + 2 * (glyph - startGlyphID)); + + classDefTable = classDef1ValueArray + 2 * glyphCount; + } break; + + case 2: { + stbtt_uint16 classRangeCount = ttUSHORT(classDefTable + 2); + stbtt_uint8 *classRangeRecords = classDefTable + 4; + + // Binary search. + stbtt_int32 l=0, r=classRangeCount-1, m; + int strawStart, strawEnd, needle=glyph; + while (l <= r) { + stbtt_uint8 *classRangeRecord; + m = (l + r) >> 1; + classRangeRecord = classRangeRecords + 6 * m; + strawStart = ttUSHORT(classRangeRecord); + strawEnd = ttUSHORT(classRangeRecord + 2); + if (needle < strawStart) + r = m - 1; + else if (needle > strawEnd) + l = m + 1; + else + return (stbtt_int32)ttUSHORT(classRangeRecord + 4); + } + + classDefTable = classRangeRecords + 6 * classRangeCount; + } break; + + default: { + // There are no other cases. + STBTT_assert(0); + } break; + } + + return -1; +} + +// Define to STBTT_assert(x) if you want to break on unimplemented formats. +#define STBTT_GPOS_TODO_assert(x) + +static stbtt_int32 stbtt__GetGlyphGPOSInfoAdvance(const stbtt_fontinfo *info, int glyph1, int glyph2) +{ + stbtt_uint16 lookupListOffset; + stbtt_uint8 *lookupList; + stbtt_uint16 lookupCount; + stbtt_uint8 *data; + stbtt_int32 i; + + if (!info->gpos) return 0; + + data = info->data + info->gpos; + + if (ttUSHORT(data+0) != 1) return 0; // Major version 1 + if (ttUSHORT(data+2) != 0) return 0; // Minor version 0 + + lookupListOffset = ttUSHORT(data+8); + lookupList = data + lookupListOffset; + lookupCount = ttUSHORT(lookupList); + + for (i=0; i> 1; + pairValue = pairValueArray + (2 + valueRecordPairSizeInBytes) * m; + secondGlyph = ttUSHORT(pairValue); + straw = secondGlyph; + if (needle < straw) + r = m - 1; + else if (needle > straw) + l = m + 1; + else { + stbtt_int16 xAdvance = ttSHORT(pairValue + 2); + return xAdvance; + } + } + } break; + + case 2: { + stbtt_uint16 valueFormat1 = ttUSHORT(table + 4); + stbtt_uint16 valueFormat2 = ttUSHORT(table + 6); + + stbtt_uint16 classDef1Offset = ttUSHORT(table + 8); + stbtt_uint16 classDef2Offset = ttUSHORT(table + 10); + int glyph1class = stbtt__GetGlyphClass(table + classDef1Offset, glyph1); + int glyph2class = stbtt__GetGlyphClass(table + classDef2Offset, glyph2); + + stbtt_uint16 class1Count = ttUSHORT(table + 12); + stbtt_uint16 class2Count = ttUSHORT(table + 14); + STBTT_assert(glyph1class < class1Count); + STBTT_assert(glyph2class < class2Count); + + // TODO: Support more formats. + STBTT_GPOS_TODO_assert(valueFormat1 == 4); + if (valueFormat1 != 4) return 0; + STBTT_GPOS_TODO_assert(valueFormat2 == 0); + if (valueFormat2 != 0) return 0; + + if (glyph1class >= 0 && glyph1class < class1Count && glyph2class >= 0 && glyph2class < class2Count) { + stbtt_uint8 *class1Records = table + 16; + stbtt_uint8 *class2Records = class1Records + 2 * (glyph1class * class2Count); + stbtt_int16 xAdvance = ttSHORT(class2Records + 2 * glyph2class); + return xAdvance; + } + } break; + + default: { + // There are no other cases. + STBTT_assert(0); + break; + }; + } + } + break; + }; + + default: + // TODO: Implement other stuff. + break; + } + } + + return 0; +} + +STBTT_DEF int stbtt_GetGlyphKernAdvance(const stbtt_fontinfo *info, int g1, int g2) +{ + int xAdvance = 0; + + if (info->gpos) + xAdvance += stbtt__GetGlyphGPOSInfoAdvance(info, g1, g2); + + if (info->kern) + xAdvance += stbtt__GetGlyphKernInfoAdvance(info, g1, g2); + + return xAdvance; +} + STBTT_DEF int stbtt_GetCodepointKernAdvance(const stbtt_fontinfo *info, int ch1, int ch2) { - if (!info->kern) // if no kerning table, don't waste time looking up both codepoint->glyphs + if (!info->kern && !info->gpos) // if no kerning table, don't waste time looking up both codepoint->glyphs return 0; return stbtt_GetGlyphKernAdvance(info, stbtt_FindGlyphIndex(info,ch1), stbtt_FindGlyphIndex(info,ch2)); } @@ -2200,6 +2567,17 @@ STBTT_DEF void stbtt_GetFontVMetrics(const stbtt_fontinfo *info, int *ascent, in if (lineGap) *lineGap = ttSHORT(info->data+info->hhea + 8); } +STBTT_DEF int stbtt_GetFontVMetricsOS2(const stbtt_fontinfo *info, int *typoAscent, int *typoDescent, int *typoLineGap) +{ + int tab = stbtt__find_table(info->data, info->fontstart, "OS/2"); + if (!tab) + return 0; + if (typoAscent ) *typoAscent = ttSHORT(info->data+tab + 68); + if (typoDescent) *typoDescent = ttSHORT(info->data+tab + 70); + if (typoLineGap) *typoLineGap = ttSHORT(info->data+tab + 72); + return 1; +} + STBTT_DEF void stbtt_GetFontBoundingBox(const stbtt_fontinfo *info, int *x0, int *y0, int *x1, int *y1) { *x0 = ttSHORT(info->data + info->head + 36); @@ -2296,7 +2674,7 @@ static void *stbtt__hheap_alloc(stbtt__hheap *hh, size_t size, void *userdata) hh->num_remaining_in_head_chunk = count; } --hh->num_remaining_in_head_chunk; - return (char *) (hh->head) + size * hh->num_remaining_in_head_chunk; + return (char *) (hh->head) + sizeof(stbtt__hheap_chunk) + size * hh->num_remaining_in_head_chunk; } } @@ -2692,19 +3070,18 @@ static void stbtt__fill_active_edges_new(float *scanline, float *scanline_fill, // from the other y segment, and it might ignored as an empty segment. to avoid // that, we need to explicitly produce segments based on x positions. - // rename variables to clear pairs + // rename variables to clearly-defined pairs float y0 = y_top; float x1 = (float) (x); float x2 = (float) (x+1); float x3 = xb; float y3 = y_bottom; - float y1,y2; // x = e->x + e->dx * (y-y_top) // (y-y_top) = (x - e->x) / e->dx // y = (x - e->x) / e->dx + y_top - y1 = (x - x0) / dx + y_top; - y2 = (x+1 - x0) / dx + y_top; + float y1 = (x - x0) / dx + y_top; + float y2 = (x+1 - x0) / dx + y_top; if (x0 < x1 && x3 > x2) { // three segments descending down-right stbtt__handle_clipped_edge(scanline,x,e, x0,y0, x1,y1); @@ -3131,8 +3508,9 @@ error: STBTT_DEF void stbtt_Rasterize(stbtt__bitmap *result, float flatness_in_pixels, stbtt_vertex *vertices, int num_verts, float scale_x, float scale_y, float shift_x, float shift_y, int x_off, int y_off, int invert, void *userdata) { - float scale = scale_x > scale_y ? scale_y : scale_x; - int winding_count, *winding_lengths; + float scale = scale_x > scale_y ? scale_y : scale_x; + int winding_count = 0; + int *winding_lengths = NULL; stbtt__point *windings = stbtt_FlattenCurves(vertices, num_verts, flatness_in_pixels / scale, &winding_lengths, &winding_count, userdata); if (windings) { stbtt__rasterize(result, windings, winding_lengths, winding_count, scale_x, scale_y, shift_x, shift_y, x_off, y_off, invert, userdata); @@ -3220,6 +3598,11 @@ STBTT_DEF unsigned char *stbtt_GetCodepointBitmapSubpixel(const stbtt_fontinfo * return stbtt_GetGlyphBitmapSubpixel(info, scale_x, scale_y,shift_x,shift_y, stbtt_FindGlyphIndex(info,codepoint), width,height,xoff,yoff); } +STBTT_DEF void stbtt_MakeCodepointBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int oversample_x, int oversample_y, float *sub_x, float *sub_y, int codepoint) +{ + stbtt_MakeGlyphBitmapSubpixelPrefilter(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, oversample_x, oversample_y, sub_x, sub_y, stbtt_FindGlyphIndex(info,codepoint)); +} + STBTT_DEF void stbtt_MakeCodepointBitmapSubpixel(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int codepoint) { stbtt_MakeGlyphBitmapSubpixel(info, output, out_w, out_h, out_stride, scale_x, scale_y, shift_x, shift_y, stbtt_FindGlyphIndex(info,codepoint)); @@ -3287,11 +3670,11 @@ static int stbtt_BakeFontBitmap_internal(unsigned char *data, int offset, // fo return bottom_y; } -STBTT_DEF void stbtt_GetBakedQuad(stbtt_bakedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int opengl_fillrule) +STBTT_DEF void stbtt_GetBakedQuad(const stbtt_bakedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int opengl_fillrule) { float d3d_bias = opengl_fillrule ? 0 : -0.5f; float ipw = 1.0f / pw, iph = 1.0f / ph; - stbtt_bakedchar *b = chardata + char_index; + const stbtt_bakedchar *b = chardata + char_index; int round_x = STBTT_ifloor((*xpos + b->xoff) + 0.5f); int round_y = STBTT_ifloor((*ypos + b->yoff) + 0.5f); @@ -3599,6 +3982,29 @@ STBTT_DEF int stbtt_PackFontRangesGatherRects(stbtt_pack_context *spc, const stb return k; } +STBTT_DEF void stbtt_MakeGlyphBitmapSubpixelPrefilter(const stbtt_fontinfo *info, unsigned char *output, int out_w, int out_h, int out_stride, float scale_x, float scale_y, float shift_x, float shift_y, int prefilter_x, int prefilter_y, float *sub_x, float *sub_y, int glyph) +{ + stbtt_MakeGlyphBitmapSubpixel(info, + output, + out_w - (prefilter_x - 1), + out_h - (prefilter_y - 1), + out_stride, + scale_x, + scale_y, + shift_x, + shift_y, + glyph); + + if (prefilter_x > 1) + stbtt__h_prefilter(output, out_w, out_h, out_stride, prefilter_x); + + if (prefilter_y > 1) + stbtt__v_prefilter(output, out_w, out_h, out_stride, prefilter_y); + + *sub_x = stbtt__oversample_shift(prefilter_x); + *sub_y = stbtt__oversample_shift(prefilter_y); +} + // rects array must be big enough to accommodate all characters in the given ranges STBTT_DEF int stbtt_PackFontRangesRenderIntoRects(stbtt_pack_context *spc, const stbtt_fontinfo *info, stbtt_pack_range *ranges, int num_ranges, stbrp_rect *rects) { @@ -3687,7 +4093,7 @@ STBTT_DEF void stbtt_PackFontRangesPackRects(stbtt_pack_context *spc, stbrp_rect stbrp_pack_rects((stbrp_context *) spc->pack_info, rects, num_rects); } -STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges) +STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, stbtt_pack_range *ranges, int num_ranges) { stbtt_fontinfo info; int i,j,n, return_value = 1; @@ -3723,7 +4129,7 @@ STBTT_DEF int stbtt_PackFontRanges(stbtt_pack_context *spc, unsigned char *fontd return return_value; } -STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, unsigned char *fontdata, int font_index, float font_size, +STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, const unsigned char *fontdata, int font_index, float font_size, int first_unicode_codepoint_in_range, int num_chars_in_range, stbtt_packedchar *chardata_for_range) { stbtt_pack_range range; @@ -3735,10 +4141,10 @@ STBTT_DEF int stbtt_PackFontRange(stbtt_pack_context *spc, unsigned char *fontda return stbtt_PackFontRanges(spc, fontdata, font_index, &range, 1); } -STBTT_DEF void stbtt_GetPackedQuad(stbtt_packedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int align_to_integer) +STBTT_DEF void stbtt_GetPackedQuad(const stbtt_packedchar *chardata, int pw, int ph, int char_index, float *xpos, float *ypos, stbtt_aligned_quad *q, int align_to_integer) { float ipw = 1.0f / pw, iph = 1.0f / ph; - stbtt_packedchar *b = chardata + char_index; + const stbtt_packedchar *b = chardata + char_index; if (align_to_integer) { float x = (float) STBTT_ifloor((*xpos + b->xoff) + 0.5f); @@ -3762,6 +4168,387 @@ STBTT_DEF void stbtt_GetPackedQuad(stbtt_packedchar *chardata, int pw, int ph, i *xpos += b->xadvance; } +////////////////////////////////////////////////////////////////////////////// +// +// sdf computation +// + +#define STBTT_min(a,b) ((a) < (b) ? (a) : (b)) +#define STBTT_max(a,b) ((a) < (b) ? (b) : (a)) + +static int stbtt__ray_intersect_bezier(float orig[2], float ray[2], float q0[2], float q1[2], float q2[2], float hits[2][2]) +{ + float q0perp = q0[1]*ray[0] - q0[0]*ray[1]; + float q1perp = q1[1]*ray[0] - q1[0]*ray[1]; + float q2perp = q2[1]*ray[0] - q2[0]*ray[1]; + float roperp = orig[1]*ray[0] - orig[0]*ray[1]; + + float a = q0perp - 2*q1perp + q2perp; + float b = q1perp - q0perp; + float c = q0perp - roperp; + + float s0 = 0., s1 = 0.; + int num_s = 0; + + if (a != 0.0) { + float discr = b*b - a*c; + if (discr > 0.0) { + float rcpna = -1 / a; + float d = (float) STBTT_sqrt(discr); + s0 = (b+d) * rcpna; + s1 = (b-d) * rcpna; + if (s0 >= 0.0 && s0 <= 1.0) + num_s = 1; + if (d > 0.0 && s1 >= 0.0 && s1 <= 1.0) { + if (num_s == 0) s0 = s1; + ++num_s; + } + } + } else { + // 2*b*s + c = 0 + // s = -c / (2*b) + s0 = c / (-2 * b); + if (s0 >= 0.0 && s0 <= 1.0) + num_s = 1; + } + + if (num_s == 0) + return 0; + else { + float rcp_len2 = 1 / (ray[0]*ray[0] + ray[1]*ray[1]); + float rayn_x = ray[0] * rcp_len2, rayn_y = ray[1] * rcp_len2; + + float q0d = q0[0]*rayn_x + q0[1]*rayn_y; + float q1d = q1[0]*rayn_x + q1[1]*rayn_y; + float q2d = q2[0]*rayn_x + q2[1]*rayn_y; + float rod = orig[0]*rayn_x + orig[1]*rayn_y; + + float q10d = q1d - q0d; + float q20d = q2d - q0d; + float q0rd = q0d - rod; + + hits[0][0] = q0rd + s0*(2.0f - 2.0f*s0)*q10d + s0*s0*q20d; + hits[0][1] = a*s0+b; + + if (num_s > 1) { + hits[1][0] = q0rd + s1*(2.0f - 2.0f*s1)*q10d + s1*s1*q20d; + hits[1][1] = a*s1+b; + return 2; + } else { + return 1; + } + } +} + +static int equal(float *a, float *b) +{ + return (a[0] == b[0] && a[1] == b[1]); +} + +static int stbtt__compute_crossings_x(float x, float y, int nverts, stbtt_vertex *verts) +{ + int i; + float orig[2], ray[2] = { 1, 0 }; + float y_frac; + int winding = 0; + + orig[0] = x; + orig[1] = y; + + // make sure y never passes through a vertex of the shape + y_frac = (float) STBTT_fmod(y, 1.0f); + if (y_frac < 0.01f) + y += 0.01f; + else if (y_frac > 0.99f) + y -= 0.01f; + orig[1] = y; + + // test a ray from (-infinity,y) to (x,y) + for (i=0; i < nverts; ++i) { + if (verts[i].type == STBTT_vline) { + int x0 = (int) verts[i-1].x, y0 = (int) verts[i-1].y; + int x1 = (int) verts[i ].x, y1 = (int) verts[i ].y; + if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) { + float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0; + if (x_inter < x) + winding += (y0 < y1) ? 1 : -1; + } + } + if (verts[i].type == STBTT_vcurve) { + int x0 = (int) verts[i-1].x , y0 = (int) verts[i-1].y ; + int x1 = (int) verts[i ].cx, y1 = (int) verts[i ].cy; + int x2 = (int) verts[i ].x , y2 = (int) verts[i ].y ; + int ax = STBTT_min(x0,STBTT_min(x1,x2)), ay = STBTT_min(y0,STBTT_min(y1,y2)); + int by = STBTT_max(y0,STBTT_max(y1,y2)); + if (y > ay && y < by && x > ax) { + float q0[2],q1[2],q2[2]; + float hits[2][2]; + q0[0] = (float)x0; + q0[1] = (float)y0; + q1[0] = (float)x1; + q1[1] = (float)y1; + q2[0] = (float)x2; + q2[1] = (float)y2; + if (equal(q0,q1) || equal(q1,q2)) { + x0 = (int)verts[i-1].x; + y0 = (int)verts[i-1].y; + x1 = (int)verts[i ].x; + y1 = (int)verts[i ].y; + if (y > STBTT_min(y0,y1) && y < STBTT_max(y0,y1) && x > STBTT_min(x0,x1)) { + float x_inter = (y - y0) / (y1 - y0) * (x1-x0) + x0; + if (x_inter < x) + winding += (y0 < y1) ? 1 : -1; + } + } else { + int num_hits = stbtt__ray_intersect_bezier(orig, ray, q0, q1, q2, hits); + if (num_hits >= 1) + if (hits[0][0] < 0) + winding += (hits[0][1] < 0 ? -1 : 1); + if (num_hits >= 2) + if (hits[1][0] < 0) + winding += (hits[1][1] < 0 ? -1 : 1); + } + } + } + } + return winding; +} + +static float stbtt__cuberoot( float x ) +{ + if (x<0) + return -(float) STBTT_pow(-x,1.0f/3.0f); + else + return (float) STBTT_pow( x,1.0f/3.0f); +} + +// x^3 + c*x^2 + b*x + a = 0 +static int stbtt__solve_cubic(float a, float b, float c, float* r) +{ + float s = -a / 3; + float p = b - a*a / 3; + float q = a * (2*a*a - 9*b) / 27 + c; + float p3 = p*p*p; + float d = q*q + 4*p3 / 27; + if (d >= 0) { + float z = (float) STBTT_sqrt(d); + float u = (-q + z) / 2; + float v = (-q - z) / 2; + u = stbtt__cuberoot(u); + v = stbtt__cuberoot(v); + r[0] = s + u + v; + return 1; + } else { + float u = (float) STBTT_sqrt(-p/3); + float v = (float) STBTT_acos(-STBTT_sqrt(-27/p3) * q / 2) / 3; // p3 must be negative, since d is negative + float m = (float) STBTT_cos(v); + float n = (float) STBTT_cos(v-3.141592/2)*1.732050808f; + r[0] = s + u * 2 * m; + r[1] = s - u * (m + n); + r[2] = s - u * (m - n); + + //STBTT_assert( STBTT_fabs(((r[0]+a)*r[0]+b)*r[0]+c) < 0.05f); // these asserts may not be safe at all scales, though they're in bezier t parameter units so maybe? + //STBTT_assert( STBTT_fabs(((r[1]+a)*r[1]+b)*r[1]+c) < 0.05f); + //STBTT_assert( STBTT_fabs(((r[2]+a)*r[2]+b)*r[2]+c) < 0.05f); + return 3; + } +} + +STBTT_DEF unsigned char * stbtt_GetGlyphSDF(const stbtt_fontinfo *info, float scale, int glyph, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff) +{ + float scale_x = scale, scale_y = scale; + int ix0,iy0,ix1,iy1; + int w,h; + unsigned char *data; + + // if one scale is 0, use same scale for both + if (scale_x == 0) scale_x = scale_y; + if (scale_y == 0) { + if (scale_x == 0) return NULL; // if both scales are 0, return NULL + scale_y = scale_x; + } + + stbtt_GetGlyphBitmapBoxSubpixel(info, glyph, scale, scale, 0.0f,0.0f, &ix0,&iy0,&ix1,&iy1); + + // if empty, return NULL + if (ix0 == ix1 || iy0 == iy1) + return NULL; + + ix0 -= padding; + iy0 -= padding; + ix1 += padding; + iy1 += padding; + + w = (ix1 - ix0); + h = (iy1 - iy0); + + if (width ) *width = w; + if (height) *height = h; + if (xoff ) *xoff = ix0; + if (yoff ) *yoff = iy0; + + // invert for y-downwards bitmaps + scale_y = -scale_y; + + { + int x,y,i,j; + float *precompute; + stbtt_vertex *verts; + int num_verts = stbtt_GetGlyphShape(info, glyph, &verts); + data = (unsigned char *) STBTT_malloc(w * h, info->userdata); + precompute = (float *) STBTT_malloc(num_verts * sizeof(float), info->userdata); + + for (i=0,j=num_verts-1; i < num_verts; j=i++) { + if (verts[i].type == STBTT_vline) { + float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y; + float x1 = verts[j].x*scale_x, y1 = verts[j].y*scale_y; + float dist = (float) STBTT_sqrt((x1-x0)*(x1-x0) + (y1-y0)*(y1-y0)); + precompute[i] = (dist == 0) ? 0.0f : 1.0f / dist; + } else if (verts[i].type == STBTT_vcurve) { + float x2 = verts[j].x *scale_x, y2 = verts[j].y *scale_y; + float x1 = verts[i].cx*scale_x, y1 = verts[i].cy*scale_y; + float x0 = verts[i].x *scale_x, y0 = verts[i].y *scale_y; + float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2; + float len2 = bx*bx + by*by; + if (len2 != 0.0f) + precompute[i] = 1.0f / (bx*bx + by*by); + else + precompute[i] = 0.0f; + } else + precompute[i] = 0.0f; + } + + for (y=iy0; y < iy1; ++y) { + for (x=ix0; x < ix1; ++x) { + float val; + float min_dist = 999999.0f; + float sx = (float) x + 0.5f; + float sy = (float) y + 0.5f; + float x_gspace = (sx / scale_x); + float y_gspace = (sy / scale_y); + + int winding = stbtt__compute_crossings_x(x_gspace, y_gspace, num_verts, verts); // @OPTIMIZE: this could just be a rasterization, but needs to be line vs. non-tesselated curves so a new path + + for (i=0; i < num_verts; ++i) { + float x0 = verts[i].x*scale_x, y0 = verts[i].y*scale_y; + + // check against every point here rather than inside line/curve primitives -- @TODO: wrong if multiple 'moves' in a row produce a garbage point, and given culling, probably more efficient to do within line/curve + float dist2 = (x0-sx)*(x0-sx) + (y0-sy)*(y0-sy); + if (dist2 < min_dist*min_dist) + min_dist = (float) STBTT_sqrt(dist2); + + if (verts[i].type == STBTT_vline) { + float x1 = verts[i-1].x*scale_x, y1 = verts[i-1].y*scale_y; + + // coarse culling against bbox + //if (sx > STBTT_min(x0,x1)-min_dist && sx < STBTT_max(x0,x1)+min_dist && + // sy > STBTT_min(y0,y1)-min_dist && sy < STBTT_max(y0,y1)+min_dist) + float dist = (float) STBTT_fabs((x1-x0)*(y0-sy) - (y1-y0)*(x0-sx)) * precompute[i]; + STBTT_assert(i != 0); + if (dist < min_dist) { + // check position along line + // x' = x0 + t*(x1-x0), y' = y0 + t*(y1-y0) + // minimize (x'-sx)*(x'-sx)+(y'-sy)*(y'-sy) + float dx = x1-x0, dy = y1-y0; + float px = x0-sx, py = y0-sy; + // minimize (px+t*dx)^2 + (py+t*dy)^2 = px*px + 2*px*dx*t + t^2*dx*dx + py*py + 2*py*dy*t + t^2*dy*dy + // derivative: 2*px*dx + 2*py*dy + (2*dx*dx+2*dy*dy)*t, set to 0 and solve + float t = -(px*dx + py*dy) / (dx*dx + dy*dy); + if (t >= 0.0f && t <= 1.0f) + min_dist = dist; + } + } else if (verts[i].type == STBTT_vcurve) { + float x2 = verts[i-1].x *scale_x, y2 = verts[i-1].y *scale_y; + float x1 = verts[i ].cx*scale_x, y1 = verts[i ].cy*scale_y; + float box_x0 = STBTT_min(STBTT_min(x0,x1),x2); + float box_y0 = STBTT_min(STBTT_min(y0,y1),y2); + float box_x1 = STBTT_max(STBTT_max(x0,x1),x2); + float box_y1 = STBTT_max(STBTT_max(y0,y1),y2); + // coarse culling against bbox to avoid computing cubic unnecessarily + if (sx > box_x0-min_dist && sx < box_x1+min_dist && sy > box_y0-min_dist && sy < box_y1+min_dist) { + int num=0; + float ax = x1-x0, ay = y1-y0; + float bx = x0 - 2*x1 + x2, by = y0 - 2*y1 + y2; + float mx = x0 - sx, my = y0 - sy; + float res[3],px,py,t,it; + float a_inv = precompute[i]; + if (a_inv == 0.0) { // if a_inv is 0, it's 2nd degree so use quadratic formula + float a = 3*(ax*bx + ay*by); + float b = 2*(ax*ax + ay*ay) + (mx*bx+my*by); + float c = mx*ax+my*ay; + if (a == 0.0) { // if a is 0, it's linear + if (b != 0.0) { + res[num++] = -c/b; + } + } else { + float discriminant = b*b - 4*a*c; + if (discriminant < 0) + num = 0; + else { + float root = (float) STBTT_sqrt(discriminant); + res[0] = (-b - root)/(2*a); + res[1] = (-b + root)/(2*a); + num = 2; // don't bother distinguishing 1-solution case, as code below will still work + } + } + } else { + float b = 3*(ax*bx + ay*by) * a_inv; // could precompute this as it doesn't depend on sample point + float c = (2*(ax*ax + ay*ay) + (mx*bx+my*by)) * a_inv; + float d = (mx*ax+my*ay) * a_inv; + num = stbtt__solve_cubic(b, c, d, res); + } + if (num >= 1 && res[0] >= 0.0f && res[0] <= 1.0f) { + t = res[0], it = 1.0f - t; + px = it*it*x0 + 2*t*it*x1 + t*t*x2; + py = it*it*y0 + 2*t*it*y1 + t*t*y2; + dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); + if (dist2 < min_dist * min_dist) + min_dist = (float) STBTT_sqrt(dist2); + } + if (num >= 2 && res[1] >= 0.0f && res[1] <= 1.0f) { + t = res[1], it = 1.0f - t; + px = it*it*x0 + 2*t*it*x1 + t*t*x2; + py = it*it*y0 + 2*t*it*y1 + t*t*y2; + dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); + if (dist2 < min_dist * min_dist) + min_dist = (float) STBTT_sqrt(dist2); + } + if (num >= 3 && res[2] >= 0.0f && res[2] <= 1.0f) { + t = res[2], it = 1.0f - t; + px = it*it*x0 + 2*t*it*x1 + t*t*x2; + py = it*it*y0 + 2*t*it*y1 + t*t*y2; + dist2 = (px-sx)*(px-sx) + (py-sy)*(py-sy); + if (dist2 < min_dist * min_dist) + min_dist = (float) STBTT_sqrt(dist2); + } + } + } + } + if (winding == 0) + min_dist = -min_dist; // if outside the shape, value is negative + val = onedge_value + pixel_dist_scale * min_dist; + if (val < 0) + val = 0; + else if (val > 255) + val = 255; + data[(y-iy0)*w+(x-ix0)] = (unsigned char) val; + } + } + STBTT_free(precompute, info->userdata); + STBTT_free(verts, info->userdata); + } + return data; +} + +STBTT_DEF unsigned char * stbtt_GetCodepointSDF(const stbtt_fontinfo *info, float scale, int codepoint, int padding, unsigned char onedge_value, float pixel_dist_scale, int *width, int *height, int *xoff, int *yoff) +{ + return stbtt_GetGlyphSDF(info, scale, stbtt_FindGlyphIndex(info, codepoint), padding, onedge_value, pixel_dist_scale, width, height, xoff, yoff); +} + +STBTT_DEF void stbtt_FreeSDF(unsigned char *bitmap, void *userdata) +{ + STBTT_free(bitmap, userdata); +} ////////////////////////////////////////////////////////////////////////////// // @@ -3969,6 +4756,13 @@ STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const // FULL VERSION HISTORY // +// 1.19 (2018-02-11) OpenType GPOS kerning (horizontal only), STBTT_fmod +// 1.18 (2018-01-29) add missing function +// 1.17 (2017-07-23) make more arguments const; doc fix +// 1.16 (2017-07-12) SDF support +// 1.15 (2017-03-03) make more arguments const +// 1.14 (2017-01-16) num-fonts-in-TTC function +// 1.13 (2017-01-02) support OpenType fonts, certain Apple fonts // 1.12 (2016-10-25) suppress warnings about casting away const with -Wcast-qual // 1.11 (2016-04-02) fix unused-variable warning // 1.10 (2016-04-02) allow user-defined fabs() replacement @@ -4016,3 +4810,45 @@ STBTT_DEF int stbtt_CompareUTF8toUTF16_bigendian(const char *s1, int len1, const // 0.2 (2009-03-11) Fix unsigned/signed char warnings // 0.1 (2009-03-09) First public release // + +/* +------------------------------------------------------------------------------ +This software is available under 2 licenses -- choose whichever you prefer. +------------------------------------------------------------------------------ +ALTERNATIVE A - MIT License +Copyright (c) 2017 Sean Barrett +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in +the Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies +of the Software, and to permit persons to whom the Software is furnished to do +so, subject to the following conditions: +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +------------------------------------------------------------------------------ +ALTERNATIVE B - Public Domain (www.unlicense.org) +This is free and unencumbered software released into the public domain. +Anyone is free to copy, modify, publish, use, compile, sell, or distribute this +software, either in source code form or as a compiled binary, for any purpose, +commercial or non-commercial, and by any means. +In jurisdictions that recognize copyright laws, the author or authors of this +software dedicate any and all copyright interest in the software to the public +domain. We make this dedication for the benefit of the public at large and to +the detriment of our heirs and successors. We intend this dedication to be an +overt act of relinquishment in perpetuity of all present and future rights to +this software under copyright law. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN +ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +------------------------------------------------------------------------------ +*/ From 283d646e57ecc4870e7c0580fe011060b8367269 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 4 Mar 2018 12:33:31 -0800 Subject: [PATCH 3/3] add random_urfs individually --- .../gym/pybullet_data/random_urdfs/.DS_Store | Bin 0 -> 6148 bytes .../pybullet_data/random_urdfs/000/000.mtl | 10 + .../pybullet_data/random_urdfs/000/000.obj | 726 +++ .../pybullet_data/random_urdfs/000/000.urdf | 31 + .../pybullet_data/random_urdfs/001/001.mtl | 10 + .../pybullet_data/random_urdfs/001/001.obj | 486 ++ .../pybullet_data/random_urdfs/001/001.urdf | 31 + .../pybullet_data/random_urdfs/002/002.mtl | 10 + .../pybullet_data/random_urdfs/002/002.obj | 540 ++ 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.../pybullet_data/random_urdfs/731/731.mtl | 10 + .../pybullet_data/random_urdfs/731/731.obj | 444 ++ .../pybullet_data/random_urdfs/731/731.urdf | 31 + .../pybullet_data/random_urdfs/732/732.mtl | 10 + .../pybullet_data/random_urdfs/732/732.obj | 1383 +++++ .../pybullet_data/random_urdfs/732/732.urdf | 31 + .../pybullet_data/random_urdfs/733/733.mtl | 10 + .../pybullet_data/random_urdfs/733/733.obj | 558 ++ .../pybullet_data/random_urdfs/733/733.urdf | 31 + .../pybullet_data/random_urdfs/734/734.mtl | 10 + .../pybullet_data/random_urdfs/734/734.obj | 609 +++ .../pybullet_data/random_urdfs/734/734.urdf | 31 + .../pybullet_data/random_urdfs/735/735.mtl | 10 + .../pybullet_data/random_urdfs/735/735.obj | 384 ++ .../pybullet_data/random_urdfs/735/735.urdf | 31 + .../pybullet_data/random_urdfs/736/736.mtl | 10 + .../pybullet_data/random_urdfs/736/736.obj | 837 +++ .../pybullet_data/random_urdfs/736/736.urdf | 31 + .../pybullet_data/random_urdfs/737/737.mtl | 10 + 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.../pybullet_data/random_urdfs/775/775.obj | 756 +++ .../pybullet_data/random_urdfs/775/775.urdf | 31 + .../pybullet_data/random_urdfs/776/776.mtl | 10 + .../pybullet_data/random_urdfs/776/776.obj | 600 +++ .../pybullet_data/random_urdfs/776/776.urdf | 31 + .../pybullet_data/random_urdfs/777/777.mtl | 10 + .../pybullet_data/random_urdfs/777/777.obj | 3735 ++++++++++++++ .../pybullet_data/random_urdfs/777/777.urdf | 31 + .../pybullet_data/random_urdfs/778/778.mtl | 10 + .../pybullet_data/random_urdfs/778/778.obj | 306 ++ .../pybullet_data/random_urdfs/778/778.urdf | 31 + .../pybullet_data/random_urdfs/779/779.mtl | 10 + .../pybullet_data/random_urdfs/779/779.obj | 603 +++ .../pybullet_data/random_urdfs/779/779.urdf | 31 + .../pybullet_data/random_urdfs/780/780.mtl | 10 + .../pybullet_data/random_urdfs/780/780.obj | 885 ++++ .../pybullet_data/random_urdfs/780/780.urdf | 31 + .../pybullet_data/random_urdfs/781/781.mtl | 10 + .../pybullet_data/random_urdfs/781/781.obj | 435 ++ 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+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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf new file mode 100644 index 000000000..76e656ab8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj new file mode 100644 index 000000000..3e1d619ad --- /dev/null +++ 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 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf new file mode 100644 index 000000000..ca392970e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj new file mode 100644 index 000000000..cebb95a5e --- /dev/null +++ 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 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+v 2.975162 0.616481 0.260685 +v 2.855240 -0.384408 0.300777 +v 1.333878 -0.304307 -0.860231 +v 3.015332 -0.104108 -0.820140 +v 1.854519 -0.424300 0.260685 +v 1.093642 -0.184209 0.300777 +v 3.015332 0.135982 0.300777 +v 3.015332 0.416176 -0.579943 +v 2.975162 0.616481 -0.139760 +v 3.015332 -0.424300 -0.539852 +v 2.374573 0.336181 -0.780048 +v 1.854519 -0.384408 0.300777 +v 1.494362 -0.464509 -0.860231 +f 178 192 195 +f 175 176 177 +f 177 176 179 +f 177 179 180 +f 177 180 183 +f 182 180 184 +f 175 177 185 +f 182 178 186 +f 179 176 187 +f 184 179 187 +f 180 179 188 +f 182 174 189 +f 180 182 189 +f 183 180 189 +f 174 183 189 +f 174 182 190 +f 186 181 190 +f 182 186 190 +f 181 177 191 +f 177 183 191 +f 183 174 191 +f 174 190 191 +f 190 181 191 +f 178 182 192 +f 182 184 192 +f 187 176 192 +f 184 187 192 +f 177 181 193 +f 185 177 193 +f 181 186 193 +f 186 185 193 +f 179 184 194 +f 184 180 194 +f 188 179 194 +f 180 188 194 +f 176 175 195 +f 175 185 195 +f 185 186 195 +f 186 178 195 +f 192 176 195 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf new file mode 100644 index 000000000..4e98412f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj new file mode 100644 index 000000000..8a039f0d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj @@ -0,0 +1,420 @@ +o convex_0 +v 3.618518 -0.270520 0.624223 +v 1.604550 -1.897218 0.585536 +v 1.682034 -1.897218 0.585536 +v 2.185575 -0.967191 -1.079936 +v 1.604550 0.271996 1.050209 +v 3.502392 -1.819504 1.128015 +v 3.502392 -1.780859 -0.924757 +v 3.424909 0.155636 -1.002131 +v 1.604550 0.116991 -1.002347 +v 1.604550 -1.819716 -1.079936 +v 3.463749 0.233139 1.089112 +v 1.604550 -1.897218 1.011738 +v 3.192460 -1.819504 -0.963660 +v 3.541232 -0.231875 -0.653518 +v 3.463749 0.194281 -0.537458 +v 1.604550 0.155636 -0.963444 +v 3.579875 -1.161053 0.895462 +v 2.379184 0.233139 1.089112 +v 3.502392 -1.471062 -0.963660 +v 1.604550 -0.580317 1.050209 +v 3.618518 -0.386667 0.314514 +v 3.463749 0.233139 0.314514 +v 1.991966 -1.819716 -1.079936 +v 1.643391 -1.858361 -0.653734 +v 3.463749 -0.270520 -1.002131 +v 3.424909 -1.819504 -0.692421 +v 3.037691 0.194281 -0.614831 +v 1.875840 -1.897218 0.701596 +v 3.502392 -1.161053 1.128015 +v 1.604550 -1.044693 -1.079936 +v 2.340541 0.271996 1.011738 +v 3.541232 -1.664712 1.050425 +v 3.502392 0.155636 1.050425 +v 2.030806 -1.858361 1.050209 +v 3.618518 -0.657819 0.701813 +v 1.604550 0.271996 0.934149 +v 2.960208 -0.309165 -1.041033 +v 3.463749 0.155636 -0.963660 +v 3.424909 -1.819504 1.128015 +v 3.502392 -1.819504 0.043274 +v 3.579875 -0.309165 -0.227532 +v 3.386266 -1.780859 -0.963660 +f 23 19 42 +f 2 5 9 +f 2 9 10 +f 2 3 12 +f 5 2 12 +f 9 5 16 +f 8 9 16 +f 11 5 18 +f 5 12 20 +f 18 5 20 +f 10 4 23 +f 3 2 24 +f 2 10 24 +f 13 3 24 +f 10 23 24 +f 23 13 24 +f 19 23 25 +f 13 7 26 +f 15 8 27 +f 8 16 27 +f 22 15 27 +f 12 3 28 +f 6 12 28 +f 3 13 28 +f 13 26 28 +f 11 18 29 +f 9 4 30 +f 4 10 30 +f 10 9 30 +f 5 11 31 +f 11 22 31 +f 22 27 31 +f 29 6 32 +f 29 32 33 +f 1 15 33 +f 22 11 33 +f 15 22 33 +f 11 29 33 +f 32 17 33 +f 20 12 34 +f 21 1 35 +f 7 21 35 +f 32 7 35 +f 17 32 35 +f 1 33 35 +f 33 17 35 +f 16 5 36 +f 27 16 36 +f 5 31 36 +f 31 27 36 +f 9 8 37 +f 4 9 37 +f 23 4 37 +f 8 25 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+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 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-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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf new file mode 100644 index 000000000..94d125a7c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj new file mode 100644 index 000000000..d2bf8db67 --- /dev/null +++ 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 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file mode 100644 index 000000000..04e84c682 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj new file mode 100644 index 000000000..ff62cd4ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj @@ -0,0 +1,138 @@ +o convex_0 +v -1.109323 -1.239192 0.517674 +v -1.109323 -3.103187 -0.937661 +v 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244 255 +f 244 246 255 +f 250 237 255 +f 246 250 255 +f 235 242 256 +f 245 235 256 +f 242 251 256 +f 251 245 256 +f 235 234 257 +f 242 235 257 +f 234 243 257 +f 247 242 257 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf new file mode 100644 index 000000000..76a0dd8df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj new file mode 100644 index 000000000..6ab9d51a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj @@ -0,0 +1,525 @@ +o convex_0 +v 1.066805 -2.655170 0.063326 +v -1.110794 -2.781513 -0.946315 +v -0.290140 -2.781513 -0.977776 +v -0.984506 1.731065 -1.072779 +v -0.984506 1.731065 0.946710 +v 0.940517 1.731065 -0.977983 +v -1.110794 -2.781513 0.978584 +v 1.003661 1.731507 1.041713 +v 1.098377 -2.623363 0.946917 +v 1.003661 -2.749707 -0.977983 +v -1.110794 1.731065 0.441889 +v 0.972089 1.478820 -0.977983 +v 0.561654 -2.781513 0.473350 +v 1.098377 -1.802573 0.978584 +v -1.016078 1.415207 -1.072779 +v 1.035233 1.068425 1.041713 +v 0.593226 1.731065 1.041713 +v -1.110794 -2.054818 -0.977776 +v 1.035233 0.500322 1.041713 +v -1.110794 1.509744 0.631274 +v 1.098377 -2.212968 0.978584 +v -0.858219 1.731065 -1.072779 +v 1.098377 -2.655170 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139 +f 127 130 139 +f 122 116 140 +f 116 132 140 +f 132 122 140 +f 118 123 141 +f 128 118 141 +f 123 131 141 +o convex_5 +v -1.078950 2.047177 -0.472900 +v 1.098164 2.835860 0.473393 +v 1.003525 3.246330 0.883612 +v 0.782702 3.404165 -1.009623 +v -0.921219 3.404165 0.946972 +v 1.003525 1.731507 1.041688 +v 0.940433 1.731507 -0.977835 +v -0.952766 3.340965 -1.104339 +v -0.984312 1.731507 0.946972 +v -0.984312 1.731507 -1.072551 +v 0.971979 3.309366 1.104832 +v 1.098164 2.867624 -0.599188 +v -1.078950 2.835860 0.504965 +v 1.098164 1.794706 -0.441328 +v 0.940433 3.404165 -0.977835 +v -1.078950 1.731507 0.694180 +v 0.971979 3.372565 0.157890 +v -0.668850 3.309366 -1.104339 +v 1.098164 1.794706 0.473393 +v 1.003525 1.858070 1.073044 +v -1.078950 2.741389 -0.441328 +v -0.952766 3.372565 -0.599188 +v -0.731942 3.372565 0.978544 +v -0.984312 2.678025 -1.104339 +v 0.782702 3.340965 1.073044 +v 0.403934 3.404165 -1.009407 +v 0.908886 3.277602 1.104832 +v 0.751155 3.404165 -0.378184 +v -1.015858 1.731507 -0.946479 +v 0.971979 3.340965 -0.946479 +v -0.826581 1.731507 -1.072551 +v -0.605757 3.404165 0.852040 +v -1.078950 1.858070 -0.472900 +v -0.952766 3.214730 0.915184 +v -0.921219 3.404165 0.662825 +v 1.003525 2.489246 1.073044 +v -0.574211 3.372565 -1.072551 +v 0.940433 1.889342 1.073044 +v -0.921219 2.678025 -1.104339 +v -0.952766 3.372565 -0.094253 +f 163 154 181 +f 148 147 150 +f 148 150 151 +f 143 144 152 +f 144 143 153 +f 147 148 155 +f 153 143 155 +f 148 153 155 +f 145 146 156 +f 148 145 156 +f 151 150 157 +f 154 142 157 +f 152 144 158 +f 144 153 158 +f 145 148 159 +f 149 145 159 +f 155 143 160 +f 147 155 160 +f 150 147 161 +f 160 143 161 +f 147 160 161 +f 142 154 162 +f 154 149 162 +f 149 154 163 +f 146 150 164 +f 152 146 164 +f 149 159 165 +f 162 149 165 +f 146 152 166 +f 152 158 166 +f 146 145 167 +f 161 152 168 +f 164 150 168 +f 152 164 168 +f 156 146 169 +f 158 156 169 +f 166 158 169 +f 151 157 170 +f 142 162 170 +f 165 151 170 +f 162 165 170 +f 153 148 171 +f 148 156 171 +f 158 153 171 +f 156 158 171 +f 148 151 172 +f 151 165 172 +f 146 166 173 +f 169 146 173 +f 166 169 173 +f 157 142 174 +f 170 157 174 +f 142 170 174 +f 150 146 175 +f 146 154 175 +f 157 150 175 +f 154 157 175 +f 163 146 176 +f 146 167 176 +f 167 163 176 +f 143 152 177 +f 161 143 177 +f 152 161 177 +f 145 149 178 +f 149 163 178 +f 167 145 178 +f 163 167 178 +f 150 161 179 +f 168 150 179 +f 161 168 179 +f 159 148 180 +f 165 159 180 +f 148 172 180 +f 172 165 180 +f 154 146 181 +f 146 163 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf new file mode 100644 index 000000000..4ee8f6898 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj new file mode 100644 index 000000000..13f1845ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj @@ -0,0 +1,516 @@ +o convex_0 +v 1.079527 -0.322250 -0.340763 +v -1.102832 -0.517922 -0.764157 +v -1.102832 -0.517922 -0.731540 +v 0.883849 -3.708951 0.994234 +v -0.907155 0.621606 0.994234 +v -1.037678 -3.676630 -1.024675 +v -1.037678 -3.839108 0.994444 +v 1.079527 -3.677067 -0.927033 +v 0.916533 0.622043 -1.057503 +v 1.079527 0.622043 1.027061 +v -1.102832 0.621606 -1.057503 +v 1.079527 -3.677067 0.994444 +v -0.646750 -1.071744 1.059468 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj new file mode 100644 index 000000000..af7076267 --- /dev/null +++ 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 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-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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf new file mode 100644 index 000000000..cdaf2127f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj new file mode 100644 index 000000000..d6b262ea8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj @@ -0,0 +1,291 @@ +o convex_0 +v 0.990579 -3.172153 -0.054372 +v -0.958693 -3.076150 1.095901 +v -1.022698 -3.076150 1.095901 +v 0.862775 -0.455713 -1.045352 +v -0.990695 -4.034770 -0.949356 +v -1.022698 -0.456063 1.063833 +v 0.990579 -0.456063 0.999906 +v -0.958693 -0.456063 -0.981215 +v 0.926574 -3.971003 1.031974 +v 0.926574 -3.971003 -0.981215 +v -0.990695 -3.938768 1.095901 +v 1.054584 -1.414683 -1.013283 +v -0.926690 -2.181649 -1.013283 +v -1.054701 -2.405187 0.616341 +v 1.022582 -0.456063 -1.045352 +v 0.990579 -2.308834 0.999696 +v -0.415473 -3.971003 1.095901 +v 1.054584 -2.181649 -0.789642 +v -1.054701 -0.616183 1.031765 +v -0.575074 -0.456063 1.063833 +v 0.543161 -3.906884 1.063833 +v 0.319349 -4.002886 -0.981215 +v 0.958576 -3.843116 -0.981215 +v -0.990695 -4.034770 -0.565582 +v 1.022582 -0.871605 -1.045352 +v -1.022698 -3.363456 -0.310082 +v -0.383471 -4.002886 -0.981215 +v -1.022698 -3.427224 1.095901 +v 1.054584 -1.893993 -0.597860 +v -0.543277 -4.034770 -0.917287 +v -0.926690 -1.670455 -1.013283 +v -1.054701 -2.405187 1.063833 +v 0.958576 -3.235570 1.031974 +v -0.990695 -3.971003 0.903910 +v 1.054584 -2.181649 -1.013283 +v -0.958693 -3.619228 -0.981215 +v 1.022582 -2.021879 0.328563 +v 0.958576 -3.587344 0.680269 +v 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68 50 96 +f 65 53 97 +f 79 49 97 +f 53 79 97 +f 96 65 97 +f 49 96 97 +f 72 56 98 +f 61 72 98 +f 56 88 98 +f 88 61 98 +f 66 55 99 +f 55 67 99 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf new file mode 100644 index 000000000..41e9cb23d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj new file mode 100644 index 000000000..97ed42c8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj @@ -0,0 +1,453 @@ +o convex_0 +v 0.224135 -1.838820 -1.006133 +v 0.135891 -2.368196 -2.947328 +v -0.069989 -2.338759 -2.947328 +v 0.106498 -1.691775 -2.976695 +v -0.275870 -2.368196 -1.006133 +v -0.246477 -1.662270 -3.006063 +v 0.341836 -2.221082 -1.182926 +v -0.246477 -1.809453 -1.065260 +v 0.282985 -1.721212 -2.947328 +v -0.305327 -2.279886 -2.976695 +v 0.224135 -2.368196 -2.947328 +v 0.165285 -1.780016 -1.123995 +v 0.341836 -2.132841 -1.006133 +v -0.305327 -2.103405 -2.476664 +v 0.282985 -1.721212 -2.564962 +v 0.282985 -1.927061 -2.947328 +v -0.275870 -1.780016 -3.006063 +v -0.275870 -2.162278 -1.006133 +v 0.282985 -2.309323 -2.153229 +v -0.305327 -2.309323 -2.711996 +v -0.128776 -2.338759 -1.006133 +v -0.158233 -1.809453 -1.006133 +v 0.224135 -1.809453 -1.035892 +v -0.305327 -2.309323 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a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf new file mode 100644 index 000000000..bd97ccb74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj new file mode 100644 index 000000000..7b70685af --- /dev/null +++ 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+f 178 173 180 +f 169 180 181 +f 171 170 182 +f 174 169 183 +f 179 174 183 +f 169 181 183 +f 181 176 183 +f 170 178 184 +f 178 175 184 +f 182 170 184 +f 175 182 184 +f 172 176 185 +f 180 172 185 +f 176 181 185 +f 181 180 185 +f 175 174 186 +f 174 179 186 +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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf new file mode 100644 index 000000000..070611bd9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj new file mode 100644 index 000000000..d45ebea87 --- /dev/null +++ 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 +v 1.093191 -0.526041 0.925094 +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 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-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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf new file mode 100644 index 000000000..059760007 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj new file mode 100644 index 000000000..09f619ca6 --- /dev/null +++ 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 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj new file mode 100644 index 000000000..c14238ba6 --- /dev/null +++ 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 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+ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj new file mode 100644 index 000000000..b4ad48827 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj @@ -0,0 +1,189 @@ +o convex_0 +v 1.084530 -1.692584 0.704344 +v -1.086686 1.637745 0.614828 +v -1.086686 1.637745 0.674366 +v 1.114480 2.976781 -0.961030 +v -1.027003 -3.060690 -0.961239 +v -1.056736 2.947105 -1.020777 +v 0.935861 3.005851 1.061360 +v -0.967535 -3.060690 1.091129 +v 1.025063 -2.941382 -1.050336 +v -1.086686 2.916824 1.091129 +v 1.054797 -3.031014 1.031591 +v -0.372643 3.096089 0.317350 +v 0.519588 1.579000 1.091129 +v -0.045571 -3.090365 0.198485 +v -0.997269 -2.882636 1.091129 +v 0.222034 -0.680586 -1.050546 +v 0.965595 2.679419 1.061360 +v 0.459904 3.096089 0.020291 +v 1.084530 -2.763328 0.942075 +v 1.114480 1.519648 -0.425821 +v 1.054797 1.965388 -0.990799 +v 0.846660 -2.971057 -1.050336 +v -1.086686 2.947105 0.109178 +v 0.430171 3.005851 1.091129 +v -0.789132 -3.090971 -0.633993 +v 1.054797 -1.543600 -1.020777 +v -0.818866 -3.090971 0.882747 +v -1.056736 0.983671 -0.991008 +v -0.699930 -3.031014 1.091129 +v 1.054797 3.006457 -0.901492 +v -0.967535 2.976781 -0.931471 +v 0.906127 3.036132 1.001822 +v 0.995329 -0.205170 1.061360 +v -0.759398 2.917430 -1.020777 +v 1.025063 -1.930595 -1.050336 +v 1.114480 2.976781 -0.782627 +v -1.027003 -3.060690 -0.663761 +v 1.114480 2.144047 -0.931471 +v -1.056736 2.382058 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diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj new file mode 100644 index 000000000..bf298492d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj @@ -0,0 +1,900 @@ +o convex_0 +v 0.928369 -1.924785 0.662544 +v -1.003441 -3.124199 -0.010217 +v -0.915595 -3.124199 -0.303006 +v -1.003441 -0.578392 -0.303006 +v 0.752677 -0.578392 -0.859126 +v -0.798467 -0.578392 0.896814 +v 0.723395 -3.826515 0.106424 +v -0.008054 -3.797396 0.808839 +v -0.037336 -3.124199 -0.976163 +v 0.811241 -0.578392 0.867555 +v -0.769185 -0.578392 -0.829867 +v -0.739903 -3.914564 -0.010217 +v 0.752677 -3.065615 -0.712633 +v -0.739903 -3.094734 0.779778 +v 0.108673 -3.065615 1.014049 +v 1.045497 -0.578392 -0.332265 +v -0.037336 -3.885099 -0.712831 +v -0.769185 -3.153665 -0.712831 +v 0.986933 -3.065962 -0.010217 +v 0.752677 -3.094734 0.779778 +v -0.974159 -0.783263 0.691803 +v -0.095900 -0.578392 -1.005620 +v -0.008054 -4.119435 0.106424 +v 0.108673 -0.578392 1.014049 +v 0.986933 -0.578392 0.604026 +v -0.125182 -2.889863 1.014049 +v -0.857031 -1.924785 0.838296 +v 0.547904 -3.651109 -0.507820 +v -0.534929 -3.680575 0.604026 +v 0.050310 -3.855980 0.779580 +v 0.899087 -1.719915 0.808839 +v -0.593493 -3.680575 -0.537079 +v 0.108673 -0.841847 -1.005620 +v 0.664831 -3.065615 -0.771349 +v 0.577186 -3.592872 0.633285 +v -1.003441 -3.094734 0.077165 +v 0.986933 -3.065962 0.077165 +v 0.781959 -1.163886 -0.829867 +v 0.723395 -3.826515 0.018646 +v -0.739903 -3.885446 0.106424 +v -0.066618 -0.578392 1.014049 +v 0.021028 -3.065615 -0.976163 +v 0.021028 -4.119435 -0.010415 +v -0.798467 -3.124199 -0.683572 +v 1.016215 -0.812381 0.369953 +v -0.974159 -0.578392 0.691803 +v -0.652057 -3.124199 -0.771349 +v 0.840523 -0.812381 0.867555 +v -0.037336 -2.100538 -1.005620 +v -0.037336 -3.855980 0.779580 +v -0.066618 -3.094734 1.014049 +v -0.857031 -1.573628 0.867358 +v -0.769185 -0.783263 -0.829867 +v 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf new file mode 100644 index 000000000..161704c88 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj new file mode 100644 index 000000000..6bba99696 --- /dev/null +++ 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 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf new file mode 100644 index 000000000..c22d5610f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj new file mode 100644 index 000000000..6d7f62979 --- /dev/null +++ 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 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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 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-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 +v -1.435647 0.175423 -1.067302 +v -1.477249 0.175423 1.007057 +v 0.555722 1.710566 1.007057 +v -1.477249 1.710566 -1.025759 +v -1.394046 1.710566 1.007057 +v 0.638713 0.175423 -0.984215 +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 +v -1.477249 1.710566 0.923971 +v 0.597112 0.258522 0.757798 +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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf new file mode 100644 index 000000000..6c4a3e8de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj new file mode 100644 index 000000000..7505caf98 --- /dev/null +++ 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 +v 0.222028 1.177869 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+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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj new file mode 100644 index 000000000..ba3b618ea --- /dev/null +++ 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 +v 0.308392 0.444989 1.079058 +v 1.077501 3.007888 0.419846 +v -0.240579 0.811062 -1.044724 +v -1.046060 3.117671 0.529402 +v 0.967537 0.408265 1.005466 +v 1.004121 3.007888 -0.971340 +v 1.077501 0.261758 -0.458688 +v -1.009476 3.520077 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf new file mode 100644 index 000000000..d206051fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj new file mode 100644 index 000000000..69b35fd5f --- /dev/null +++ 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 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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 +f 39 56 67 +f 56 57 67 +f 57 44 67 +f 49 40 68 +f 53 49 68 +f 50 53 68 +f 40 62 69 +f 62 51 69 +f 51 48 70 +f 68 40 70 +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 +f 52 41 72 +f 49 63 72 +f 66 52 72 +f 44 50 73 +f 48 51 73 +f 67 44 73 +f 51 67 73 +f 68 48 73 +f 50 68 73 +f 43 55 74 +f 42 58 74 +f 58 43 74 +f 59 42 74 +f 55 66 74 +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 +v 1.077117 -0.559896 -1.012483 +v 1.006189 1.716297 0.943502 +v 1.077117 0.400401 0.907964 +v 1.006189 1.716297 -0.976744 +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 +v -1.091923 0.293676 0.979039 +v 1.077117 0.222601 -1.012483 +v -0.949855 0.720128 1.050317 +v -0.771897 -0.488598 1.014577 +v 0.187968 1.040524 1.014577 +f 99 81 100 +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 +f 81 88 95 +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 +v -1.092136 2.925413 0.481241 +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 +v -2.656713 1.787539 0.587965 +v -1.448052 2.925413 0.445703 +v -2.585682 2.818699 -0.478945 +v -3.047857 2.711985 -0.194421 +v -1.092136 1.787539 0.232254 +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 +f 102 103 112 +f 108 106 112 +f 108 112 114 +f 104 102 115 +f 106 107 115 +f 107 104 115 +f 102 112 115 +f 101 110 116 +f 110 106 116 +f 113 101 116 +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 +f 105 109 121 +f 113 105 121 +f 101 113 121 +f 106 105 122 +f 105 113 122 +f 116 106 122 +f 113 116 122 +f 115 112 123 +f 112 120 123 +f 120 115 123 +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 +v 1.006230 1.716457 0.943335 +v 0.934956 3.245342 -0.976744 +v -1.056396 1.716624 1.049937 +v -1.056396 3.352101 -0.976538 +v 1.006230 1.716457 -0.976744 +v 0.970490 3.280928 0.943335 +v -1.020862 3.423275 1.085882 +v -1.056396 1.716624 -0.976538 +v -1.092136 3.067576 0.659061 +v 1.006230 2.818637 -0.478854 +v -0.274028 1.787630 1.049937 +v -1.092136 1.858803 -0.549923 +v 0.757080 3.280928 -0.870141 +v -0.914259 3.423275 0.659061 +v 0.863888 3.316515 0.872472 +v -1.092136 3.174336 -0.336512 +v -1.092136 1.787630 0.445651 +v -0.629575 2.747631 1.085882 +v 0.970490 3.138749 -0.976744 +v 1.006230 2.747631 0.552048 +v -0.807451 3.352101 -0.976538 +v 0.401533 1.752043 -1.012483 +v -1.020862 2.178748 1.085882 +v -0.700643 3.423275 1.085882 +v 0.650477 3.316515 0.978869 +v 0.970490 3.280928 0.125432 +v -1.056396 3.387688 -0.300773 +v 0.188122 1.716457 1.014608 +v 1.006230 2.356514 0.943540 +v 0.934956 3.280928 -0.443320 +v -0.736383 3.423275 0.908006 +v 1.006230 2.178748 -0.976744 +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 +f 139 142 147 +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 +f 129 151 152 +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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf new file mode 100644 index 000000000..81ca36337 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj new file mode 100644 index 000000000..1fb6526e8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.986851 0.288942 0.072628 +v -1.034183 -0.375593 -0.003734 +v -1.034183 -0.375593 0.021786 +v -0.675913 3.051976 -0.080492 +v 0.014515 -2.192186 -0.950352 +v -0.036327 -2.294698 0.993726 +v 0.756577 2.641931 -0.822356 +v 0.654101 2.923241 0.635456 +v -0.752671 2.258110 0.686694 +v -0.727151 2.309366 -0.694558 +v 0.628581 -3.036712 -0.361807 +v -0.599154 -3.011084 -0.515323 +v -0.624675 -2.907977 0.635456 +v 0.654101 -2.294101 0.763452 +v -0.189843 3.000720 -0.873594 +v 0.014515 1.874885 0.942686 +v 0.705339 -2.320325 -0.694360 +v -0.727151 -1.552088 -0.719880 +v -0.829429 -0.068059 0.763452 +v 0.858855 3.000720 0.098346 +v 0.756577 0.032664 0.788972 +v -0.982945 2.258706 0.021786 +v 0.500584 -3.036712 0.609936 +v 0.910093 -2.320325 0.047108 +v -0.957425 -2.294698 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4 39 51 +f 17 11 52 +f 11 31 52 +f 31 17 52 +f 7 32 53 +f 32 41 53 +f 42 7 53 +f 41 42 53 +f 2 18 54 +f 25 2 54 +f 12 36 54 +f 36 25 54 +f 18 38 54 +f 38 12 54 +f 9 19 55 +f 19 29 55 +f 30 9 55 +f 29 50 55 +f 50 30 55 +f 29 19 56 +f 25 29 56 +f 20 7 57 +f 7 44 57 +f 44 20 57 +f 5 31 58 +f 38 18 58 +f 31 38 58 +f 47 5 58 +f 18 47 58 +f 12 11 59 +f 11 23 59 +f 36 12 59 +f 23 40 59 +f 18 2 60 +f 10 35 60 +f 35 18 60 +f 2 48 60 +f 60 48 61 +f 39 10 61 +f 48 22 61 +f 22 51 61 +f 51 39 61 +f 10 60 61 +f 19 22 62 +f 3 25 62 +f 48 3 62 +f 22 48 62 +f 56 19 62 +f 25 56 62 +f 29 13 63 +f 13 36 63 +f 50 29 63 +f 40 50 63 +f 36 59 63 +f 59 40 63 +f 7 20 64 +f 20 28 64 +f 32 7 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf new file mode 100644 index 000000000..3b04ac2d3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj new file mode 100644 index 000000000..52ab794b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj @@ -0,0 +1,987 @@ +o convex_0 +v -0.255511 1.498524 -0.842384 +v 0.260926 4.218771 1.052024 +v 0.226709 4.218771 1.052024 +v 0.260926 4.977114 -0.739005 +v 1.225367 1.188184 -0.084540 +v -0.565453 1.188184 0.741886 +v -0.772346 4.322616 -0.015553 +v 1.018872 4.184554 -0.773397 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj new file mode 100644 index 000000000..f2192a963 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj @@ -0,0 +1,1155 @@ +o convex_0 +v 1.422686 -1.983058 0.639369 +v 1.249295 -2.086733 -0.573846 +v 1.249295 -2.190743 -0.539170 +v 3.017123 -1.948351 -0.019135 +v 1.249295 -1.428412 -0.123166 +v 1.249295 -2.572188 0.084539 +v 2.774341 -1.567130 -0.019135 +v 2.774341 -2.329349 0.049862 +v 2.774341 -1.913756 -0.400462 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b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf new file mode 100644 index 000000000..7223c1a29 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj new file mode 100644 index 000000000..4c625ac2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj @@ -0,0 +1,1014 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj new file mode 100644 index 000000000..10b731d1e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj @@ -0,0 +1,864 @@ +o convex_0 +v -0.009663 -1.945879 2.947598 +v -0.038573 -2.668490 1.271582 +v 0.366058 -2.466220 1.271415 +v 0.048047 -1.107773 1.271582 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj new file mode 100644 index 000000000..efe4a5d05 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj @@ -0,0 +1,729 @@ +o convex_0 +v 0.059251 0.385848 1.058400 +v -0.134367 -2.230036 -0.459243 +v -0.005288 -2.230036 -0.459243 +v 0.026880 -0.422014 -2.944974 +v 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1.737338 +v 1.318801 -1.228832 2.189318 +v 1.318801 -0.841357 1.930940 +v 1.415967 -0.938365 1.511312 +v 2.707268 -1.293435 1.995498 +v 2.352110 -1.002898 1.995498 +v 1.609629 -1.454836 1.575870 +v 1.480465 -1.487172 2.092408 +v 1.545131 -0.841357 1.769617 +v 2.707268 -1.293435 1.640501 +v 1.512798 -1.551705 1.866382 +v 2.707268 -1.390304 1.898661 +v 2.836432 -1.164369 1.995498 +v 1.448300 -0.906029 2.092408 +v 2.610438 -1.067500 1.640501 +v 2.739601 -1.002898 1.834103 +v 1.383634 -1.164369 1.446609 +f 235 231 248 +f 223 224 226 +f 223 226 227 +f 228 225 231 +f 226 224 232 +f 227 226 233 +f 229 222 233 +f 233 222 234 +f 227 233 234 +f 223 227 235 +f 227 228 235 +f 229 233 236 +f 232 224 238 +f 230 232 238 +f 233 226 239 +f 236 233 239 +f 228 227 240 +f 227 234 240 +f 224 223 241 +f 225 230 241 +f 223 231 241 +f 231 225 241 +f 238 224 241 +f 230 238 241 +f 226 232 242 +f 232 230 242 +f 230 225 243 +f 225 236 243 +f 239 226 243 +f 236 239 243 +f 226 242 243 +f 242 230 243 +f 236 225 244 +f 229 236 244 +f 237 229 244 +f 222 229 245 +f 234 222 245 +f 229 237 245 +f 228 231 246 +f 235 228 246 +f 231 235 246 +f 225 228 247 +f 228 240 247 +f 240 234 247 +f 244 225 247 +f 237 244 247 +f 234 245 247 +f 245 237 247 +f 231 223 248 +f 223 235 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf new file mode 100644 index 000000000..98adb2cee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj new file mode 100644 index 000000000..fb0c3a19d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj @@ -0,0 +1,393 @@ +o convex_0 +v -1.034459 -3.607691 -1.068868 +v 1.083659 -3.363071 0.682332 +v 1.083659 -3.566856 0.682332 +v 1.042814 -1.693130 -1.435774 +v -0.912132 -1.693130 0.723027 +v -0.993614 -1.693130 -1.354168 +v 1.042814 -3.566856 -1.313257 +v -0.993614 -3.689166 0.763938 +v 1.042814 -1.693130 0.723027 +v -1.034459 -3.566856 -1.313257 +v 1.042814 -3.607495 -1.272561 +v -1.034459 -2.141340 -1.354168 +v -0.952977 -1.693130 0.560030 +v -0.545567 -3.689166 0.274946 +v 1.001970 -2.100700 -1.435774 +v -1.034459 -3.566856 0.030557 +v -0.993614 -3.159482 0.763938 +v 0.391166 -3.607495 0.723027 +v -1.034459 -2.670828 -1.354168 +v 0.309684 -3.607495 -1.313257 +v 0.635404 -3.607495 0.641421 +v 1.083659 -3.566856 0.274946 +v 0.757731 -1.693130 -1.435774 +v -0.790013 -3.689166 0.763938 +v -0.993614 -1.693130 -0.539396 +v 1.042814 -3.607495 -0.824480 +v -0.912132 -3.689166 0.315641 +v -0.627049 -3.689166 0.723027 +v -0.952977 -1.856080 0.723027 +f 25 16 29 +f 5 4 6 +f 3 2 9 +f 2 4 9 +f 4 5 9 +f 10 1 12 +f 5 6 13 +f 4 7 15 +f 1 8 16 +f 12 1 16 +f 9 5 17 +f 16 8 17 +f 3 9 18 +f 10 12 19 +f 15 10 19 +f 1 10 20 +f 7 11 20 +f 11 14 20 +f 15 7 20 +f 10 15 20 +f 2 3 22 +f 4 2 22 +f 7 4 22 +f 11 7 22 +f 3 11 22 +f 6 4 23 +f 12 6 23 +f 4 15 23 +f 19 12 23 +f 15 19 23 +f 8 14 24 +f 9 17 24 +f 17 8 24 +f 3 18 24 +f 18 9 24 +f 6 12 25 +f 13 6 25 +f 12 16 25 +f 11 3 26 +f 14 11 26 +f 3 21 26 +f 8 1 27 +f 14 8 27 +f 1 20 27 +f 20 14 27 +f 21 3 28 +f 24 14 28 +f 3 24 28 +f 14 26 28 +f 26 21 28 +f 5 13 29 +f 16 17 29 +f 17 5 29 +f 13 25 29 +o convex_1 +v 0.228187 2.502617 4.225683 +v -0.545712 0.221880 -1.434849 +v -0.097476 0.221880 -1.434849 +v -1.075310 2.461535 -3.308933 +v 1.042872 2.339404 -3.391074 +v 1.002085 0.221880 4.510384 +v -1.034523 0.221880 4.673868 +v 1.042872 0.384647 -3.349605 +v -1.034523 2.339404 4.592525 +v 1.042872 2.502617 4.756009 +v -0.952949 0.466141 -3.308933 +v -1.075310 0.221880 -1.353506 +v 1.083659 0.221880 -1.394975 +v -1.075310 2.502617 2.147443 +v 1.083659 2.461535 -1.190819 +v 0.961298 0.221880 4.714540 +v 1.083659 0.425506 2.106771 +v 1.083659 2.461535 4.022325 +v -1.034523 0.466141 4.714540 +v -0.423350 0.425506 -3.349605 +v 1.083659 1.972790 -2.983560 +v -1.034523 2.502617 0.642593 +v 1.042872 1.565539 4.756009 +v 1.042872 2.461535 -1.598333 +v 0.757574 2.502617 4.756009 +v -1.034523 2.502617 2.799784 +v -0.993736 0.425506 -3.024232 +v 0.798361 2.380040 -3.349605 +v -0.912161 2.380040 4.592525 +v 1.083659 0.425506 -2.738733 +v -0.708649 0.832756 -3.349605 +v 1.042872 0.221880 3.573342 +v -1.075310 2.094920 -3.308933 +v -0.504924 2.380040 -3.349605 +v -1.075310 0.262516 -0.661291 +v 1.042872 1.199371 4.673070 +v -0.749436 2.339404 4.632399 +v 1.042872 2.502617 4.348495 +v -0.871586 2.461535 -3.267464 +v -0.627074 0.221880 4.714540 +v 0.716998 0.384647 -3.349605 +v -0.708649 0.425506 -3.308933 +v 1.083659 0.221880 1.862742 +v -1.075310 0.384647 -1.678879 +v -1.075310 1.728305 1.414557 +v 0.920511 2.217051 -3.391074 +v 0.961298 1.443185 4.756009 +v 0.594637 2.054284 4.756009 +v 1.042872 2.380040 -3.105575 +v -0.993736 0.751261 -3.308933 +f 62 60 79 +f 31 32 35 +f 31 35 36 +f 32 31 37 +f 31 36 41 +f 35 32 42 +f 32 37 42 +f 30 39 43 +f 33 41 43 +f 36 35 45 +f 42 44 46 +f 46 44 47 +f 44 39 47 +f 38 43 48 +f 43 36 48 +f 37 34 50 +f 34 44 50 +f 44 42 50 +f 43 39 51 +f 33 43 51 +f 47 39 52 +f 39 30 54 +f 52 39 54 +f 30 43 55 +f 43 38 55 +f 34 33 57 +f 54 30 58 +f 30 55 58 +f 55 38 58 +f 42 37 59 +f 37 50 59 +f 50 42 59 +f 49 40 60 +f 35 42 61 +f 41 33 62 +f 33 60 62 +f 33 34 63 +f 60 33 63 +f 41 36 64 +f 43 41 64 +f 45 35 65 +f 46 47 65 +f 52 45 65 +f 47 52 65 +f 35 61 65 +f 61 46 65 +f 38 48 66 +f 48 54 66 +f 54 58 66 +f 58 38 66 +f 39 44 67 +f 51 39 67 +f 44 53 67 +f 53 51 67 +f 33 51 68 +f 51 53 68 +f 57 33 68 +f 53 57 68 +f 36 45 69 +f 48 36 69 +f 37 31 70 +f 31 41 70 +f 49 70 71 +f 40 49 71 +f 56 40 71 +f 41 56 71 +f 70 41 71 +f 42 46 72 +f 61 42 72 +f 46 61 72 +f 56 41 73 +f 41 62 73 +f 62 56 73 +f 36 43 74 +f 64 36 74 +f 43 64 74 +f 34 37 75 +f 49 60 75 +f 63 34 75 +f 60 63 75 +f 37 70 75 +f 70 49 75 +f 45 52 76 +f 52 54 76 +f 69 45 76 +f 48 69 76 +f 54 48 77 +f 48 76 77 +f 76 54 77 +f 44 34 78 +f 53 44 78 +f 34 57 78 +f 57 53 78 +f 40 56 79 +f 60 40 79 +f 56 62 79 +o convex_2 +v -0.301337 -0.348981 -3.065171 +v 0.309686 -0.837631 -1.802409 +v 0.309686 -0.919158 -1.802409 +v -0.382816 -0.267455 -1.476510 +v -0.301337 -0.878330 -1.476510 +v 0.228208 -0.919158 -3.472545 +v 0.187468 -0.348981 -3.472545 +v 0.228208 -0.389681 -1.476510 +v -0.179119 -0.796868 -3.309595 +v 0.309686 -0.796868 -3.472545 +v -0.301337 -0.430444 -3.309595 +v 0.268947 -0.878330 -1.476510 +v -0.179119 -0.267455 -1.476510 +v -0.342076 -0.267455 -1.965358 +v 0.187468 -0.348981 -1.476510 +v -0.016229 -0.348981 -3.431710 +v 0.309686 -0.919158 -3.472545 +v -0.260530 -0.837631 -2.332288 +v -0.342076 -0.633942 -1.517345 +v -0.301337 -0.471144 -3.268760 +f 84 98 99 +f 82 84 85 +f 83 84 87 +f 81 82 89 +f 85 86 89 +f 87 81 89 +f 86 87 89 +f 83 80 90 +f 85 88 90 +f 82 81 91 +f 84 82 91 +f 81 87 91 +f 87 84 91 +f 83 87 92 +f 80 83 93 +f 83 92 93 +f 92 86 93 +f 87 86 94 +f 86 92 94 +f 92 87 94 +f 86 85 95 +f 90 80 95 +f 85 90 95 +f 80 93 95 +f 93 86 95 +f 82 85 96 +f 89 82 96 +f 85 89 96 +f 85 84 97 +f 88 85 97 +f 84 83 98 +f 83 90 99 +f 90 88 99 +f 97 84 99 +f 88 97 99 +f 98 83 99 +o convex_3 +v -0.341993 -0.634085 -1.476510 +v 1.083659 -1.489230 4.756009 +v 1.083659 -1.570753 4.756009 +v -1.034531 0.221434 4.674259 +v 1.083659 0.221434 -1.394150 +v -0.993743 -1.693130 -1.353885 +v 1.042872 -1.693130 -1.435635 +v -0.952956 -1.652275 4.469884 +v 0.961297 0.221434 4.715134 +v -1.075318 0.221434 -1.353885 +v -0.993743 -1.611608 4.591899 +v 1.042872 -1.693130 0.723418 +v 1.083659 0.221434 1.822162 +v 1.083659 -1.122659 -1.435635 +v -0.138268 -1.693130 2.311441 +v -1.075318 -0.145324 -1.353885 +v -1.034531 -0.226660 4.674259 +v 1.042872 0.221434 3.615170 +v 1.042872 -1.611608 -1.476510 +v -1.034531 -1.204182 -1.353885 +v -0.179055 -0.267515 -1.476510 +v -0.301205 0.221434 4.715134 +v 0.309547 -1.611608 4.673649 +v -0.545718 0.221434 -1.435024 +v -0.912380 -1.693130 0.724028 +v 1.002085 0.099056 4.715134 +v 0.961297 -1.570753 4.756009 +v -0.301205 -0.878279 -1.476510 +v 0.187396 -0.349037 -1.476510 +v 1.042872 -1.122659 4.756009 +v 1.042872 -0.389705 -1.435635 +v -1.075318 0.180579 -0.783465 +v -0.993743 -1.652275 3.900074 +v -0.382780 -0.267515 -1.476510 +v -0.993743 -0.349037 4.674259 +v -0.179055 0.221434 -1.435024 +f 128 120 135 +f 101 102 104 +f 104 103 108 +f 103 104 109 +f 106 102 111 +f 105 106 111 +f 101 104 112 +f 104 108 112 +f 104 102 113 +f 102 106 113 +f 105 111 114 +f 115 110 116 +f 101 112 117 +f 112 108 117 +f 106 105 118 +f 104 113 118 +f 113 106 118 +f 110 115 119 +f 118 100 120 +f 108 103 121 +f 103 116 121 +f 110 107 122 +f 111 102 122 +f 107 114 122 +f 114 111 122 +f 109 104 123 +f 105 114 124 +f 114 107 124 +f 101 117 125 +f 117 108 125 +f 102 101 126 +f 121 116 126 +f 122 102 126 +f 110 122 126 +f 105 100 127 +f 100 118 127 +f 118 105 127 +f 118 120 128 +f 108 121 129 +f 101 125 129 +f 125 108 129 +f 126 101 129 +f 121 126 129 +f 104 118 130 +f 128 104 130 +f 118 128 130 +f 103 109 131 +f 109 115 131 +f 115 116 131 +f 116 103 131 +f 107 110 132 +f 119 105 132 +f 110 119 132 +f 105 124 132 +f 124 107 132 +f 100 105 133 +f 115 109 133 +f 105 119 133 +f 119 115 133 +f 120 100 133 +f 109 123 133 +f 123 120 133 +f 116 110 134 +f 110 126 134 +f 126 116 134 +f 123 104 135 +f 120 123 135 +f 104 128 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf new file mode 100644 index 000000000..d4489e2b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj new file mode 100644 index 000000000..3e60812d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj @@ -0,0 +1,786 @@ +o convex_0 +v 2.684837 -2.348429 0.504092 +v 1.028392 -2.629690 -0.558372 +v 1.028392 -2.317264 -0.558372 +v 4.122021 -2.379595 -0.339473 +v 1.028392 -1.785908 0.222828 +v 1.028392 -2.817124 0.347897 +v 3.840751 -1.911011 -0.402064 +v 3.996974 -2.785848 0.035282 +v 4.153197 -2.004728 0.097759 +v 1.028392 -1.785908 -0.464429 +v 1.028392 -1.848459 0.535331 +v 1.059910 -2.879565 -0.433190 +v 3.965798 -2.410871 0.379023 +v 1.059910 -2.754683 0.472853 +v 4.528338 -2.410871 -0.058209 +v 3.309729 -1.879735 0.191590 +v 3.372082 -2.723297 -0.308234 +v 2.684837 -2.754683 0.379023 +v 1.622451 -2.910951 0.035395 +v 2.559790 -2.567139 -0.495781 +v 1.028392 -2.410760 0.597922 +v 2.747532 -2.004728 0.441614 +v 4.059327 -2.442036 -0.370712 +v 3.184682 -2.036003 -0.464542 +v 2.716356 -2.879675 0.035282 +v 2.434743 -2.817124 -0.370712 +v 3.559824 -1.879735 -0.120800 +v 4.215892 -1.973452 -0.026970 +v 1.153439 -1.817294 -0.495781 +v 1.028392 -2.910951 0.097873 +v 3.996974 -2.785848 -0.026970 +v 3.622176 -2.692131 0.285306 +v 4.465986 -2.410871 0.066521 +v 2.184991 -2.254713 -0.526906 +v 3.778056 -2.129720 0.316545 +v 2.278520 -2.410760 0.535331 +v 1.122263 -2.754683 -0.526906 +v 1.372357 -1.785908 -0.151926 +v 3.903103 -2.442036 -0.402064 +v 1.278486 -2.317264 0.597922 +v 2.434743 -1.848459 0.316659 +v 1.028392 -2.910951 -0.245643 +v 4.122021 -2.410871 0.316545 +v 2.372391 -2.879565 -0.120687 +v 1.216134 -1.785908 -0.464429 +v 1.747498 -1.911011 0.504092 +v 4.340940 -2.098555 0.035282 +v 3.653352 -1.942286 -0.433303 +v 2.559790 -2.848400 0.160351 +v 4.465986 -2.317264 -0.089448 +v 3.965798 -2.286098 0.347784 +v 3.747223 -2.723297 -0.214517 +v 3.403258 -1.879735 0.160351 +v 2.653661 -2.504587 -0.495781 +v 1.278486 -2.036003 -0.526906 +v 2.497095 -2.723407 0.410375 +v 1.341181 -2.473422 -0.558372 +v 2.716356 -2.410871 0.504092 +f 36 56 58 +f 3 2 5 +f 5 2 6 +f 3 5 10 +f 5 6 11 +f 14 6 18 +f 11 6 21 +f 6 14 21 +f 1 13 22 +f 7 4 23 +f 4 15 23 +f 7 27 28 +f 3 10 29 +f 6 2 30 +f 19 25 30 +f 15 8 31 +f 23 15 31 +f 8 25 31 +f 18 8 32 +f 13 18 32 +f 8 15 33 +f 9 16 35 +f 16 22 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b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj new file mode 100644 index 000000000..669f1d2c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj @@ -0,0 +1,729 @@ +o convex_0 +v -1.495735 3.911468 -1.040790 +v 0.526751 3.024888 1.052693 +v -1.353608 3.946916 1.123669 +v -1.602225 2.102297 0.591241 +v 0.455688 2.102297 -1.040790 +v 0.491115 3.982364 -0.934008 +v -1.602225 2.102297 -0.934220 +v 0.526751 2.102109 1.052693 +v 0.455688 3.982364 0.981504 +v -1.566589 2.244090 0.981716 +v -1.495735 4.018188 -0.259839 +v 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135 147 +f 142 145 147 +f 147 139 148 +f 141 136 149 +f 137 141 149 +f 142 137 149 +f 136 142 149 +f 134 143 150 +f 147 135 151 +f 139 147 151 +f 133 132 152 +f 132 143 152 +f 143 134 152 +f 143 140 153 +f 140 148 153 +f 150 143 153 +f 148 150 153 +f 145 133 154 +f 134 145 154 +f 133 152 154 +f 152 134 154 +f 145 134 155 +f 135 145 155 +f 134 150 155 +f 151 135 155 +f 146 131 156 +f 140 146 156 +f 131 147 156 +f 148 140 156 +f 147 148 156 +f 136 138 157 +f 142 136 157 +f 138 142 157 +f 148 139 158 +f 150 148 158 +f 139 151 158 +f 155 150 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf new file mode 100644 index 000000000..58de355df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj new file mode 100644 index 000000000..7c8ac7f2a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj @@ -0,0 +1,420 @@ +o convex_0 +v -0.950727 -4.072556 -1.079419 +v 1.080165 -2.696913 1.082496 +v 0.523045 -2.696913 1.082496 +v 1.014511 -4.269123 1.016755 +v 1.014511 -2.696913 -0.981023 +v -1.016173 -2.696913 1.049626 +v 1.047234 -4.269123 -1.046763 +v -1.049104 -4.236253 0.984100 +v -1.016173 -2.696913 -0.981023 +v -0.918005 -4.367570 -1.112289 +v 0.850689 -4.301829 0.853049 +v 1.047234 -3.875988 1.049411 +v -1.049104 -4.269123 0.754653 +v 0.949066 -4.301993 -1.046763 +v -0.524915 -4.367570 -0.686265 +v -1.016173 -3.122917 1.049626 +v -1.016173 -2.893480 -1.013678 +v 1.014511 -3.090047 -1.013678 +v -1.049104 -3.450638 1.016755 +v 1.047234 -3.450475 -1.013678 +v 1.080165 -3.090047 1.082496 +v 1.080165 -2.696913 0.558291 +v 0.130164 -4.269123 1.016755 +v -0.754183 -4.269123 -1.112289 +v -1.049104 -4.269123 0.558291 +v 0.981789 -4.006979 1.049411 +v 1.047234 -4.269123 -0.194931 +v -0.950727 -4.367570 -0.817102 +v -1.016173 -3.057340 -1.013678 +v 1.080165 -3.221201 1.016755 +v 1.047234 -4.105426 -1.046763 +v -0.524915 -4.367570 -1.079419 +v -0.950727 -3.319484 -1.046548 +f 18 24 33 +f 3 2 5 +f 3 5 6 +f 6 5 9 +f 10 7 14 +f 4 11 14 +f 14 11 15 +f 3 6 16 +f 9 5 17 +f 10 1 17 +f 17 5 18 +f 6 9 19 +f 13 8 19 +f 16 6 19 +f 8 16 19 +f 18 5 20 +f 2 3 21 +f 3 16 21 +f 5 2 22 +f 20 5 22 +f 2 21 22 +f 11 4 23 +f 8 13 23 +f 13 11 23 +f 16 8 23 +f 7 10 24 +f 9 17 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81 +f 66 73 81 +f 73 72 81 +f 74 66 81 +f 69 67 82 +f 72 69 82 +f 67 76 82 +f 76 72 82 +f 69 72 83 +f 72 73 83 +f 75 69 83 +f 66 74 84 +f 78 66 84 +f 71 78 84 +f 81 71 84 +f 74 81 84 +f 71 72 85 +f 76 71 85 +f 72 76 85 +f 70 75 86 +f 77 70 86 +f 73 80 86 +f 80 77 86 +f 83 73 86 +o convex_3 +v 1.112923 3.068274 0.132316 +v -1.016176 2.315059 -1.112289 +v -1.016176 2.577241 -1.112289 +v -1.114412 2.642751 1.049738 +v -1.048921 3.789168 -1.079274 +v 1.014466 2.315059 -0.948486 +v 1.047211 3.789168 0.918526 +v 1.079957 2.315059 1.049738 +v 1.014466 3.625105 -0.948486 +v -1.114412 3.690615 0.984132 +v -1.114412 2.315059 1.049738 +v -1.147378 2.511732 -0.326078 +v 0.817995 3.658005 -0.981077 +v 1.112923 2.380713 -0.325866 +v -0.524999 3.723514 0.984132 +v -1.147378 3.035952 -0.293275 +v 1.047211 3.756124 0.296118 +v -0.852450 3.789168 -1.079274 +v -1.048921 3.789168 -0.719078 +v 1.079957 3.232193 0.984132 +v 1.112923 2.970443 -0.358669 +v -1.147378 2.446222 0.328921 +v 0.719539 3.789168 0.918526 +v -1.048921 3.395966 1.016935 +v 0.752284 2.315059 -0.981077 +v -1.081666 3.756124 -0.653472 +v -0.917941 2.413612 -1.112289 +v 1.014466 3.658005 -0.882880 +v 1.079957 3.592495 0.558118 +v 1.079957 2.380713 1.049738 +v 1.112923 2.446222 0.296118 +v 0.752284 3.756124 0.951329 +v 0.883486 3.789168 0.525527 +v -1.048921 3.133784 -1.079274 +v -0.361052 3.723514 0.984132 +v -0.623234 3.789168 -0.915683 +v -1.147378 2.872034 0.328921 +v 1.079957 2.315059 -0.522472 +f 100 94 124 +f 89 88 91 +f 88 92 94 +f 94 90 97 +f 88 94 97 +f 95 92 99 +f 91 98 102 +f 89 91 104 +f 91 93 104 +f 93 91 105 +f 96 101 105 +f 92 95 107 +f 100 92 107 +f 87 100 107 +f 88 97 108 +f 97 90 108 +f 98 88 108 +f 102 98 108 +f 101 93 109 +f 93 105 109 +f 105 101 109 +f 96 90 110 +f 101 96 110 +f 92 88 111 +f 99 92 111 +f 102 96 112 +f 91 102 112 +f 105 91 112 +f 96 105 112 +f 88 89 113 +f 104 99 113 +f 89 104 113 +f 111 88 113 +f 99 111 113 +f 95 99 114 +f 99 104 114 +f 107 95 114 +f 107 114 115 +f 103 93 115 +f 106 87 115 +f 93 106 115 +f 87 107 115 +f 114 103 115 +f 90 94 116 +f 110 90 116 +f 94 100 117 +f 100 87 117 +f 87 106 117 +f 116 94 117 +f 106 116 117 +f 106 93 118 +f 93 103 119 +f 104 93 119 +f 103 114 119 +f 91 88 120 +f 88 98 120 +f 98 91 120 +f 93 101 121 +f 101 110 121 +f 116 106 121 +f 110 116 121 +f 118 93 121 +f 106 118 121 +f 114 104 122 +f 104 119 122 +f 119 114 122 +f 90 96 123 +f 96 102 123 +f 108 90 123 +f 102 108 123 +f 94 92 124 +f 92 100 124 +o convex_4 +v 2.586955 3.035734 -0.063976 +v 1.112923 2.904686 -0.358791 +v 1.112923 2.577219 -0.260498 +v 1.112923 3.035734 0.197947 +v 3.111160 2.413333 0.296240 +v 3.111160 2.511725 -0.227734 +v 1.112923 2.446171 0.296240 +v 3.078300 2.937342 0.296240 +v 3.078300 3.035734 -0.260498 +v 1.112923 2.446171 -0.129505 +v 1.112923 3.002896 -0.293262 +v 2.881723 2.970180 -0.293262 +v 3.111160 2.413333 0.165183 +v 1.440746 2.413333 0.263476 +v 2.554095 2.937342 0.296240 +v 1.112923 3.035734 -0.096740 +v 1.112923 2.478887 -0.227734 +v 1.408082 2.970180 -0.358791 +v 1.702849 3.035734 0.197947 +v 1.112923 2.544381 0.296240 +v 3.111160 2.708267 -0.194969 +f 133 132 145 +f 126 127 128 +f 127 126 130 +f 128 127 131 +f 131 129 132 +f 128 125 133 +f 125 132 133 +f 131 127 134 +f 126 128 135 +f 133 130 136 +f 130 129 137 +f 134 130 137 +f 134 137 138 +f 129 131 138 +f 131 134 138 +f 137 129 138 +f 132 128 139 +f 131 132 139 +f 128 133 140 +f 135 128 140 +f 133 135 140 +f 127 130 141 +f 134 127 141 +f 130 134 141 +f 130 126 142 +f 126 135 142 +f 135 133 142 +f 136 130 142 +f 133 136 142 +f 125 128 143 +f 132 125 143 +f 128 132 143 +f 128 131 144 +f 139 128 144 +f 131 139 144 +f 129 130 145 +f 132 129 145 +f 130 133 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf new file mode 100644 index 000000000..d1bbb7bb1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj new file mode 100644 index 000000000..38b2dd671 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj @@ -0,0 +1,471 @@ +o convex_0 +v 0.486542 -4.047078 0.602560 +v -0.622916 -2.845655 -0.476073 +v -0.622916 -2.845655 -0.414423 +v -0.499499 -4.756126 0.078538 +v 0.548191 -4.725145 -0.476073 +v 0.455717 -2.752906 -0.476073 +v -0.437849 -2.752906 0.540910 +v -0.468674 -4.725145 -0.599372 +v 0.517367 -2.752906 0.540793 +v -0.499499 -4.756126 0.510086 +v 0.548191 -4.725145 0.602560 +v -0.622916 -2.752906 -0.506898 +v 0.579016 -4.416897 -0.352656 +v 0.239826 -4.756126 0.602560 +v -0.314668 -4.386111 -0.599372 +v -0.283843 -3.030565 0.571735 +v -0.468674 -2.938208 0.540910 +v -0.499499 -4.540039 -0.599372 +v -0.530324 -3.091940 -0.537722 +v -0.376200 -4.756126 0.540910 +v 0.486542 -2.999583 -0.445248 +v 0.548191 -4.108649 0.602560 +v -0.530324 -4.386111 0.325137 +v 0.579016 -4.725145 -0.445248 +v 0.517367 -2.752906 0.355844 +v -0.283843 -4.725145 -0.599372 +v -0.006655 -4.756126 0.078538 +v 0.147469 -3.923935 0.602560 +v 0.579016 -4.725145 -0.106175 +v 0.548191 -4.262773 -0.476073 +v -0.468674 -2.752906 0.510086 +v -0.468674 -4.047274 0.540910 +v -0.499499 -4.201005 0.510086 +v -0.222193 -2.752906 -0.506898 +v 0.548191 -3.492937 0.140188 +f 29 13 35 +f 6 7 9 +f 2 3 12 +f 7 6 12 +f 10 4 14 +f 11 1 14 +f 1 9 16 +f 9 7 16 +f 16 7 17 +f 4 2 18 +f 8 4 18 +f 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index 000000000..5846089b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj new file mode 100644 index 000000000..91e32c69b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj @@ -0,0 +1,669 @@ +o convex_0 +v 0.220164 -2.637290 0.894548 +v -0.028028 -1.364241 -0.999784 +v -0.028028 -1.240177 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000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj new file mode 100644 index 000000000..fc2a8fff2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj @@ -0,0 +1,669 @@ +o convex_0 +v 0.236168 -0.010111 -3.485518 +v 0.586128 0.562366 -1.545111 +v 0.586128 -0.328117 -1.545111 +v -0.558807 -0.423693 -1.545111 +v -0.526972 0.689655 -3.421889 +v -0.558807 0.689655 -1.545111 +v -0.526972 -0.423693 -3.421889 +v 0.522570 0.657833 -3.453608 +v 0.586128 -0.360049 -3.485518 +v 0.331673 0.657724 -1.577020 +v -0.240682 -0.423693 -1.895167 +v 0.045271 0.689655 -2.340381 +v -0.558807 -0.423693 -2.467830 +v 0.554405 -0.360049 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+1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj new file mode 100644 index 000000000..b095e0c7e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj @@ -0,0 +1,567 @@ +o convex_0 +v -2.299066 -2.092845 -0.075847 +v -1.100581 -1.461914 -0.170461 +v -1.100581 -1.461914 -0.328304 +v -2.961501 -1.556618 -0.012749 +v -1.100581 -2.124368 0.302612 +v -2.992956 -1.619664 0.334193 +v 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128 +f 124 115 128 +f 119 124 128 +f 119 123 130 +f 123 113 131 +f 113 129 131 +f 129 120 131 +f 120 117 132 +f 117 125 132 +f 131 120 132 +f 125 131 132 +f 125 118 133 +f 118 130 133 +f 130 123 133 +f 123 131 133 +f 131 125 133 +f 126 120 134 +f 120 129 134 +f 134 129 135 +f 121 126 135 +f 119 128 135 +f 128 121 135 +f 129 119 135 +f 126 134 135 +f 114 118 136 +f 122 114 136 +f 127 122 136 +f 113 123 137 +f 123 119 137 +f 129 113 137 +f 119 129 137 +f 118 124 138 +f 130 118 138 +f 125 117 139 +f 118 125 139 +f 117 127 139 +f 136 118 139 +f 127 136 139 +f 124 119 140 +f 119 130 140 +f 138 124 140 +o convex_5 +v 0.634452 -0.042205 1.091332 +v -1.037110 -0.326187 -1.022348 +v -1.037110 0.809503 -1.022348 +v 1.076366 -0.357741 -0.990692 +v -1.005575 -0.420848 1.059676 +v 0.950014 0.809503 1.059676 +v -1.037110 0.809503 1.059676 +v 1.076366 0.809503 -0.959037 +v 0.950014 -0.420848 1.059676 +v -1.100393 -0.420848 -0.044130 +v 1.044618 -0.420848 -0.990692 +v -1.100393 0.809503 0.838915 +v 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2.826105 +v -0.216965 -0.326206 1.091332 +v 0.476889 0.683168 1.091332 +v 0.571586 0.746395 2.952366 +v 0.571586 -0.294646 1.911736 +v 0.540020 -0.231418 2.763267 +f 177 182 196 +f 170 171 174 +f 169 173 174 +f 171 170 177 +f 170 174 178 +f 169 172 181 +f 174 171 182 +f 174 173 183 +f 178 174 183 +f 176 178 183 +f 172 169 184 +f 180 172 184 +f 178 176 186 +f 183 173 186 +f 173 185 186 +f 179 175 187 +f 187 180 188 +f 177 170 188 +f 180 177 188 +f 172 180 189 +f 181 172 189 +f 187 175 189 +f 180 187 189 +f 173 169 190 +f 169 181 190 +f 185 173 190 +f 181 189 190 +f 190 189 191 +f 175 179 191 +f 179 185 191 +f 189 175 191 +f 185 190 191 +f 169 174 192 +f 174 182 192 +f 184 169 192 +f 176 183 193 +f 186 176 193 +f 183 186 193 +f 170 178 194 +f 185 179 194 +f 178 186 194 +f 186 185 194 +f 179 187 194 +f 187 188 194 +f 188 170 194 +f 177 180 195 +f 182 177 195 +f 180 184 195 +f 192 182 195 +f 184 192 195 +f 171 177 196 +f 182 171 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf new file mode 100644 index 000000000..549020b8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj new file mode 100644 index 000000000..154591744 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj new file mode 100644 index 000000000..5ed2a1412 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj @@ -0,0 +1,369 @@ +o convex_0 +v 1.420999 2.376823 0.127662 +v -2.600949 -2.003147 -0.051525 +v -2.600949 -2.003147 0.020025 +v 1.241130 -2.721360 -0.087404 +v -1.630913 2.053657 -1.057169 +v -1.595358 1.981776 1.025462 +v 0.810282 -2.398194 0.953705 +v 0.846256 -2.290670 -1.021083 +v 1.671978 0.796636 -0.877360 +v 1.671978 0.007136 0.989583 +v -2.349551 2.736227 -0.015646 +v -1.595358 -2.793241 -0.733638 +v -1.523410 -2.793241 0.774103 +v 0.379434 2.843156 -0.769724 +v 0.486936 2.808107 0.809982 +v -2.349551 -2.038790 -0.769724 +v -2.313578 -2.003147 0.774103 +v -2.349551 2.053657 -0.841689 +v 1.672397 -0.243555 -1.021083 +v -2.349551 2.017420 0.702138 +v -1.559384 -2.039384 0.989376 +v -1.595358 -1.751862 -1.020876 +v 0.522910 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b/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj new file mode 100644 index 000000000..ba7eb4897 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj @@ -0,0 +1,456 @@ +o convex_0 +v 0.176457 -2.998005 -2.880739 +v 0.613264 -1.956965 -1.235170 +v 0.613264 -1.990496 -1.235170 +v -0.562293 -2.964250 -1.100636 +v -0.494977 -1.856259 -3.082145 +v -0.528578 -1.990496 -1.100636 +v 0.478747 -2.998005 -1.100636 +v 0.512347 -2.024139 -3.115877 +v -0.461492 -2.930718 -3.082145 +v 0.613264 -2.998005 -3.115877 +v 0.579663 -1.856259 -1.100636 +v -0.528578 -1.923322 -1.806049 +v -0.293489 -1.856259 -3.082145 +v 0.579663 -1.889790 -1.772515 +v -0.562293 -2.930718 -1.470308 +v -0.058401 -2.964250 -3.115877 +v 0.613264 -2.930718 -2.678939 +v 0.613264 -2.796369 -3.115877 +v -0.360690 -2.964250 -3.082145 +v -0.494977 -1.856259 -2.645404 +v -0.494977 -2.427076 -3.082145 +v 0.478747 -1.990496 -3.115877 +v 0.445261 -1.856259 -1.100636 +v 0.210173 -2.998005 -1.100636 +v -0.562293 -2.561202 -1.134369 +v -0.528578 -1.923322 -2.276128 +v 0.546063 -2.494027 -1.100636 +v 0.546063 -2.158489 -2.981343 +v 0.579663 -1.856259 -1.335774 +f 2 14 29 +f 6 4 7 +f 2 3 10 +f 7 1 10 +f 3 2 11 +f 6 7 11 +f 5 11 13 +f 9 4 15 +f 8 10 16 +f 10 3 17 +f 7 10 17 +f 10 8 18 +f 2 10 18 +f 14 2 18 +f 1 4 19 +f 4 9 19 +f 10 1 19 +f 9 16 19 +f 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1.083486 4.055122 1.082363 +v -0.965272 2.846245 1.116128 +v -0.998823 2.678282 -1.033284 +v 1.016170 3.014415 -0.966182 +v 1.083486 4.390841 -0.932417 +v 1.083486 4.592356 0.578454 +v 1.016170 2.812901 -0.462273 +f 88 70 94 +f 65 64 66 +f 67 68 70 +f 68 67 71 +f 63 69 72 +f 65 66 73 +f 68 71 74 +f 66 64 76 +f 73 66 77 +f 72 69 78 +f 69 75 78 +f 70 68 79 +f 64 65 80 +f 71 67 81 +f 66 76 81 +f 76 71 81 +f 67 77 81 +f 77 66 81 +f 73 72 82 +f 78 73 82 +f 72 73 83 +f 67 70 84 +f 77 67 84 +f 65 75 85 +f 80 65 85 +f 74 80 85 +f 65 73 86 +f 75 65 86 +f 73 78 86 +f 78 75 86 +f 75 69 87 +f 85 75 87 +f 63 72 88 +f 84 70 88 +f 72 84 88 +f 73 77 89 +f 72 83 89 +f 83 73 89 +f 84 72 89 +f 77 84 89 +f 74 71 90 +f 76 64 90 +f 71 76 90 +f 64 80 90 +f 80 74 90 +f 68 74 91 +f 79 68 91 +f 74 85 91 +f 87 69 91 +f 85 87 91 +f 69 63 92 +f 63 79 92 +f 91 69 92 +f 79 91 92 +f 72 78 93 +f 82 72 93 +f 78 82 93 +f 79 63 94 +f 70 79 94 +f 63 88 94 +o convex_3 +v -0.730144 -2.494431 -1.100636 +v 1.049899 -1.822619 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-1.066872 +v 1.016137 -2.359898 -1.066872 +v 0.680386 -1.856295 -1.100636 +v -0.394186 -3.535143 -0.966218 +v -1.066103 -1.822619 -0.966218 +f 98 123 131 +f 97 96 99 +f 96 97 102 +f 96 100 103 +f 96 103 105 +f 99 106 107 +f 104 99 107 +f 106 105 107 +f 103 101 109 +f 99 96 110 +f 96 105 110 +f 105 106 110 +f 106 99 110 +f 95 108 111 +f 102 97 112 +f 103 100 113 +f 108 95 113 +f 104 107 114 +f 107 105 114 +f 99 104 116 +f 109 101 116 +f 101 115 116 +f 115 99 116 +f 112 99 117 +f 99 115 117 +f 96 102 118 +f 113 95 119 +f 103 95 120 +f 101 103 120 +f 95 111 120 +f 108 102 121 +f 111 108 121 +f 102 112 121 +f 104 98 122 +f 98 109 122 +f 116 104 122 +f 109 116 122 +f 105 103 123 +f 98 105 123 +f 100 96 124 +f 96 118 124 +f 118 100 124 +f 97 99 125 +f 112 97 125 +f 99 112 125 +f 98 104 126 +f 105 98 126 +f 104 114 126 +f 114 105 126 +f 95 103 127 +f 103 113 127 +f 119 95 127 +f 113 119 127 +f 102 108 128 +f 100 118 128 +f 118 102 128 +f 113 100 129 +f 108 113 129 +f 128 108 129 +f 100 128 129 +f 115 101 130 +f 112 117 130 +f 117 115 130 +f 101 120 130 +f 120 111 130 +f 111 121 130 +f 121 112 130 +f 109 98 131 +f 103 109 131 +f 123 103 131 +o convex_4 +v 0.445274 -2.024110 3.097781 +v -0.562293 -3.031592 1.082541 +v -0.562293 -2.393643 1.082541 +v 0.512502 -3.031592 1.082738 +v -0.427839 -2.997959 3.030514 +v 0.512502 -1.923210 1.082738 +v -0.528627 -1.956843 2.896178 +v 0.445274 -2.930692 2.963248 +v -0.528627 -1.923210 1.082541 +v 0.478835 -1.990477 2.761842 +v -0.293489 -1.956843 2.996979 +v 0.210137 -2.964326 3.030514 +v -0.562293 -3.031592 1.418677 +v 0.512502 -1.923210 1.553013 +v 0.512502 -2.997959 1.586548 +v 0.445274 -2.796267 3.063852 +v 0.142909 -2.259218 3.097781 +v -0.461400 -2.997959 2.828911 +v -0.125474 -2.997959 3.030514 +v -0.528627 -1.923210 1.586351 +v 0.378047 -1.990477 3.097781 +v -0.494961 -1.990477 2.963248 +v 0.512502 -3.031592 1.183342 +v -0.092018 -1.956843 2.996979 +v 0.445274 -2.427060 3.097781 +v -0.427839 -2.796267 3.030514 +f 148 153 157 +f 133 134 140 +f 135 133 140 +f 137 135 140 +f 134 133 144 +f 133 135 144 +f 138 134 144 +f 135 137 145 +f 137 140 145 +f 135 145 146 +f 145 141 146 +f 143 139 147 +f 139 146 147 +f 146 141 147 +f 136 138 149 +f 144 136 149 +f 138 144 149 +f 136 144 150 +f 147 136 150 +f 143 147 150 +f 134 138 151 +f 140 134 151 +f 138 142 151 +f 145 140 151 +f 132 141 152 +f 141 145 152 +f 148 132 152 +f 142 148 152 +f 138 136 153 +f 142 138 153 +f 148 142 153 +f 139 143 154 +f 144 135 154 +f 135 146 154 +f 146 139 154 +f 143 150 154 +f 150 144 154 +f 151 142 155 +f 145 151 155 +f 152 145 155 +f 142 152 155 +f 141 132 156 +f 136 147 156 +f 147 141 156 +f 132 148 156 +f 148 136 156 +f 136 148 157 +f 153 136 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf new file mode 100644 index 000000000..57d9eb845 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj new file mode 100644 index 000000000..0261a519c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj @@ -0,0 +1,486 @@ +o convex_0 +v 1.314594 0.907916 0.302124 +v 2.893760 0.480196 -0.356110 +v 2.893760 0.513118 -0.356110 +v 3.222745 0.480196 0.302124 +v 3.255814 1.105380 0.170361 +v 1.314594 1.072459 -0.257336 +v 1.314594 0.447211 -0.290196 +v 3.222745 1.039537 -0.290196 +v 1.314594 0.611882 0.236211 +v 3.222745 0.480196 -0.356110 +v 2.038513 1.039537 0.269200 +v 3.222745 1.039537 0.236211 +v 1.314594 0.973695 0.302124 +v 2.992398 0.480196 0.302124 +v 1.742218 0.447211 -0.323185 +v 1.314594 1.072459 -0.125702 +v 1.314594 0.447211 -0.224411 +v 3.124106 0.644739 0.302124 +v 3.255814 0.677660 0.269200 +v 3.255814 1.006616 -0.224411 +v 3.124106 0.842074 -0.323185 +v 2.005633 1.072459 -0.257336 +v 1.347474 0.743503 -0.290196 +f 15 7 23 +f 1 6 7 +f 1 7 9 +f 2 3 10 +f 5 11 12 +f 12 11 13 +f 1 4 13 +f 6 1 13 +f 4 1 14 +f 1 9 14 +f 3 2 15 +f 2 10 15 +f 10 4 15 +f 5 6 16 +f 11 5 16 +f 13 11 16 +f 6 13 16 +f 9 7 17 +f 4 14 17 +f 14 9 17 +f 15 4 17 +f 7 15 17 +f 4 12 18 +f 12 13 18 +f 13 4 18 +f 4 10 19 +f 12 4 19 +f 5 12 19 +f 8 5 20 +f 10 8 20 +f 19 10 20 +f 5 19 20 +f 3 6 21 +f 6 8 21 +f 10 3 21 +f 8 10 21 +f 6 5 22 +f 5 8 22 +f 8 6 22 +f 6 3 23 +f 7 6 23 +f 3 15 23 +o convex_1 +v 1.314214 -4.324986 -0.948340 +v -0.857958 0.480006 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'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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj new file mode 100644 index 000000000..f597f61b8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj @@ -0,0 +1,519 @@ +o convex_0 +v -0.007841 -1.715905 1.100987 +v -3.511762 -1.847304 -1.045413 +v -3.555780 -1.891104 -0.388214 +v 0.255148 -1.934925 -0.957800 +v 0.255148 -1.715905 -0.957800 +v -3.555780 -1.715905 0.925552 +v -2.986155 -1.891104 0.969253 +v -3.511762 -1.715905 -1.045413 +v 0.255148 -1.803526 1.100777 +v -2.153913 -1.934925 -1.045413 +v -3.555780 -1.891104 0.925552 +v 0.255148 -1.934925 -0.782365 +v -1.322418 -1.715905 -1.045413 +v 0.255148 -1.715905 1.100777 +v -1.759615 -1.934925 -0.651052 +v -3.292417 -1.891104 -1.045413 +v -3.336435 -1.715905 0.969253 +f 11 7 17 +f 1 5 6 +f 2 3 8 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102 100 110 +f 104 102 110 +f 105 103 111 +f 109 101 111 +f 100 98 113 +f 99 104 114 +f 107 96 115 +f 98 100 116 +f 106 97 117 +f 96 101 118 +f 115 96 118 +f 101 115 118 +f 101 99 119 +f 99 114 119 +f 115 101 119 +f 107 115 119 +f 97 104 120 +f 98 107 121 +f 113 98 121 +f 110 100 122 +f 104 110 122 +f 100 114 122 +f 114 104 122 +f 105 96 123 +f 108 103 124 +f 107 98 125 +f 98 112 125 +f 101 105 126 +f 111 101 126 +f 105 111 126 +f 109 111 127 +f 100 94 128 +f 116 100 128 +f 124 116 128 +f 117 97 129 +f 101 117 129 +f 97 120 129 +f 95 107 130 +f 112 95 130 +f 107 125 130 +f 125 112 130 +f 101 102 131 +f 109 108 132 +f 94 109 132 +f 108 124 132 +f 128 94 132 +f 124 128 132 +f 100 113 133 +f 114 100 133 +f 107 119 133 +f 119 114 133 +f 121 107 133 +f 113 121 133 +f 96 95 134 +f 95 112 134 +f 112 98 134 +f 98 116 134 +f 123 96 134 +f 123 134 135 +f 103 105 135 +f 105 123 135 +f 116 124 135 +f 124 103 135 +f 134 116 135 +f 103 108 136 +f 108 109 136 +f 111 103 136 +f 109 127 136 +f 127 111 136 +f 104 99 137 +f 120 104 137 +f 120 137 138 +f 99 101 138 +f 101 129 138 +f 129 120 138 +f 137 99 138 +f 117 101 139 +f 101 131 139 +f 131 117 139 +f 102 97 140 +f 97 106 140 +f 106 117 140 +f 131 102 140 +o convex_4 +v 0.430283 0.299220 0.969540 +v -1.584382 1.393970 -1.089217 +v -1.584382 2.095049 -1.089217 +v -1.672205 0.825074 1.013378 +v 0.342671 2.095049 0.969540 +v 0.430283 0.255279 -1.001540 +v 0.474195 2.095049 -1.089217 +v -1.628084 0.255279 -1.045173 +v -1.584382 2.095049 0.925290 +v -1.672205 0.255279 1.013378 +v 0.254638 0.255279 1.013378 +v -0.533453 1.043700 -1.089217 +v 0.386372 2.095049 0.837613 +v -1.628294 1.788361 0.969540 +v -0.445841 1.350209 1.013378 +v 0.430283 0.606088 -1.045173 +v -1.672205 0.299220 0.181067 +v 0.474195 1.963586 -0.782348 +v -1.628294 2.007347 0.881863 +v -0.358439 0.255279 -1.045173 +v -0.708048 2.095049 0.969540 +v -1.628084 0.781133 -1.045173 +v 0.386372 1.437911 -1.089217 +v 0.430283 0.255279 0.969540 +f 146 158 164 +f 142 143 147 +f 143 145 147 +f 143 142 148 +f 145 143 149 +f 148 146 150 +f 141 145 151 +f 144 150 151 +f 150 146 151 +f 142 147 152 +f 148 142 152 +f 145 141 153 +f 147 145 153 +f 151 145 155 +f 144 151 155 +f 154 144 155 +f 147 146 156 +f 144 143 157 +f 150 144 157 +f 148 150 157 +f 146 147 158 +f 153 141 158 +f 147 153 158 +f 143 144 159 +f 149 143 159 +f 144 154 159 +f 154 149 159 +f 146 148 160 +f 148 152 160 +f 156 146 160 +f 145 149 161 +f 149 154 161 +f 155 145 161 +f 154 155 161 +f 143 148 162 +f 157 143 162 +f 148 157 162 +f 152 147 163 +f 147 156 163 +f 160 152 163 +f 156 160 163 +f 141 151 164 +f 151 146 164 +f 158 141 164 +o convex_5 +v 1.131256 0.255279 -0.388352 +v 1.481551 1.043700 0.356317 +v 1.394157 1.043700 0.356317 +v 1.656759 2.095049 -0.388352 +v 1.131316 2.095049 0.137203 +v 1.700696 0.255279 -0.344543 +v 1.744393 2.095049 0.312509 +v 1.218889 0.255279 0.356317 +v 1.131316 2.095049 -0.344471 +v 1.613062 0.342981 0.268701 +v 1.175133 2.051108 0.268628 +v 1.131256 0.255279 -0.037885 +v 1.656879 0.255279 0.093467 +v 1.175073 0.474445 0.312509 +v 1.700696 1.262686 -0.344543 +f 171 170 179 +f 165 168 170 +f 167 166 171 +f 168 169 171 +f 166 167 172 +f 165 170 172 +f 168 165 173 +f 165 169 173 +f 169 168 173 +f 171 166 174 +f 166 172 174 +f 167 171 175 +f 171 169 175 +f 172 167 175 +f 169 165 176 +f 165 172 176 +f 170 171 177 +f 172 170 177 +f 171 174 177 +f 174 172 177 +f 175 169 178 +f 172 175 178 +f 169 176 178 +f 176 172 178 +f 170 168 179 +f 168 171 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf new file mode 100644 index 000000000..4ee787355 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj new file mode 100644 index 000000000..6d23b25f5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj @@ -0,0 +1,3027 @@ +o convex_0 +v 0.967968 -4.079010 -1.996421 +v -1.092420 -4.056136 -2.568751 +v -1.092420 -4.033240 -2.568751 +v -1.092420 -4.056136 -2.019391 +v 0.967968 -4.101906 -2.522925 +v -1.069428 -4.033240 -2.019391 +v 0.944976 -4.101906 -1.996421 +v 0.967968 -4.079010 -2.522925 +f 3 6 8 +f 3 2 4 +f 2 3 5 +f 3 4 6 +f 4 1 6 +f 4 2 7 +f 1 4 7 +f 5 1 7 +f 2 5 7 +f 1 5 8 +f 5 3 8 +f 6 1 8 +o convex_1 +v -0.657373 1.987737 0.865329 +v -0.062295 2.285290 1.345894 +v -0.062295 2.239470 1.345894 +v -0.062295 2.010603 0.407365 +v -0.680225 1.987737 1.345894 +v -0.474202 2.216574 1.322927 +v -0.062295 1.987737 0.521925 +v -0.565822 2.010603 0.659268 +v -0.771915 2.010603 1.208458 +v -0.062295 2.193679 1.254301 +v -0.085217 2.285290 1.322927 +f 16 14 19 +f 10 11 12 +f 11 10 13 +f 13 10 14 +f 12 11 15 +f 13 9 15 +f 12 15 16 +f 15 9 16 +f 9 13 17 +f 13 14 17 +f 14 16 17 +f 16 9 17 +f 11 13 18 +f 15 11 18 +f 13 15 18 +f 10 12 19 +f 14 10 19 +f 12 16 19 +o convex_2 +v 0.006499 1.987710 0.384471 +v 0.716143 2.010610 1.345986 +v 0.716143 1.987710 1.345986 +v -0.062226 2.239452 1.345986 +v 0.487189 2.216583 1.323021 +v 0.578771 2.010610 0.705133 +v 0.006499 2.308152 1.323021 +v -0.062226 1.987710 0.521884 +v -0.039292 2.010610 0.384471 +v 0.647419 1.987710 1.345986 +v -0.062226 2.216583 1.323021 +v -0.062226 2.308152 1.345986 +v 0.578771 1.987710 0.705133 +f 25 22 32 +f 22 21 23 +f 24 21 25 +f 21 22 25 +f 24 25 26 +f 20 22 27 +f 25 20 28 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+ + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj new file mode 100644 index 000000000..99047d323 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.026350 -2.542834 -0.954502 +v 0.077036 0.611141 1.010831 +v 0.051039 0.611141 1.010831 +v -0.233122 2.965022 -0.850818 +v 1.007910 1.800871 0.002142 +v -0.983021 -1.973548 0.002142 +v 0.594166 -2.930686 0.570985 +v -0.569277 2.938253 0.570985 +v 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28 60 +f 38 59 60 +f 8 24 61 +f 24 11 61 +f 37 8 61 +f 11 37 61 +f 19 12 62 +f 12 45 62 +f 53 36 62 +f 45 53 62 +f 56 19 62 +f 36 56 62 +f 12 4 63 +f 4 41 63 +f 41 12 63 +f 17 32 64 +f 33 17 64 +f 32 44 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf new file mode 100644 index 000000000..5b2a0dd0e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj new file mode 100644 index 000000000..7244c4609 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj @@ -0,0 +1,498 @@ +o convex_0 +v 0.010340 -2.734601 0.570791 +v -0.593205 -4.616159 -0.565254 +v -0.344603 -4.616159 -0.565254 +v 0.258824 -4.687263 0.606343 +v 0.471742 -2.734601 -0.458714 +v -0.557521 -2.770153 0.393263 +v -0.451062 -4.580608 0.606343 +v 0.471742 -4.616159 -0.423162 +v 0.613884 -2.734793 0.606343 +v -0.451062 -2.734601 -0.494150 +v 0.471742 -4.545056 0.606343 +v -0.522074 -2.734601 0.499803 +v 0.471742 -3.267302 -0.494150 +v -0.557521 -4.012356 -0.565254 +v 0.436295 -2.734601 -0.494150 +v -0.557521 -4.616159 -0.139208 +v -0.451062 -4.047907 0.606343 +v 0.436295 -4.687263 0.322274 +v -0.486627 -4.225666 0.570791 +v 0.613884 -2.770153 0.535240 +v -0.344603 -4.651711 -0.316622 +v 0.471742 -4.261217 -0.458714 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf new file mode 100644 index 000000000..89f89450b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj new file mode 100644 index 000000000..0080769e7 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj new file mode 100644 index 000000000..1247a8637 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj @@ -0,0 +1,510 @@ +o convex_0 +v -3.142473 -0.233730 0.090980 +v -4.932707 -0.155835 -0.337251 +v -4.932707 0.038796 -0.337251 +v -4.971769 0.194479 0.324596 +v 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1.011781 -2.166841 +v 1.179204 1.011987 -2.517219 +v -0.767101 -0.661778 -3.062315 +v 1.179204 0.116363 -2.984390 +v -0.883837 -0.389367 -1.116086 +v 1.218258 -0.194523 -1.116086 +v 1.218258 0.973100 -1.777976 +v 0.556258 -0.973282 -3.023258 +v -0.961945 0.700484 -2.828730 +v 1.218258 -0.428253 -2.945523 +v -0.922891 0.622505 -2.984390 +v 0.945520 1.011987 -2.945523 +v -0.844996 -1.012168 -3.062315 +v -0.922891 0.661391 -1.116086 +v -0.299945 -0.934189 -3.062315 +v 0.712048 -0.895509 -3.023258 +f 134 123 135 +f 108 107 110 +f 107 108 111 +f 110 107 111 +f 110 111 114 +f 110 109 115 +f 112 106 116 +f 114 111 116 +f 111 108 117 +f 109 114 119 +f 115 109 119 +f 116 106 119 +f 114 116 119 +f 106 118 119 +f 111 117 120 +f 108 110 121 +f 118 112 122 +f 122 113 123 +f 112 116 124 +f 116 111 124 +f 109 110 125 +f 114 109 125 +f 110 114 125 +f 110 115 126 +f 121 110 126 +f 115 119 127 +f 119 118 127 +f 117 112 128 +f 120 117 128 +f 112 124 128 +f 124 120 128 +f 113 121 129 +f 115 123 129 +f 123 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-1.038001 +v 1.179208 -3.114713 0.908518 +v -0.260971 -3.035835 -1.076842 +v -0.805980 2.957698 1.025254 +v 1.179208 -1.050635 1.064308 +v -0.805980 -3.114713 0.558098 +v -0.260971 3.035974 -1.076842 +v 1.179208 3.036576 0.441362 +v 1.257190 1.361470 1.064308 +v 0.205838 -3.114713 1.025254 +v -0.961945 3.035974 -0.687367 +v 0.789947 -3.074973 -1.115896 +v -0.805980 -3.035835 -0.959893 +v 1.101443 2.802351 -1.038001 +v 0.789947 3.035974 1.025254 +v -0.922845 1.089310 -1.115896 +v -0.845080 -2.647466 0.752729 +v 0.478451 -3.074973 -1.076842 +v 0.011425 2.997438 -1.076842 +v 1.179208 -3.114713 0.713888 +v 1.218091 -3.075575 -0.959893 +f 152 157 176 +f 137 138 140 +f 140 138 142 +f 138 144 148 +f 147 136 149 +f 137 140 150 +f 147 139 151 +f 139 150 151 +f 149 143 152 +f 147 149 152 +f 146 137 153 +f 137 150 153 +f 150 139 153 +f 142 138 154 +f 138 148 154 +f 148 149 154 +f 136 147 155 +f 139 147 156 +f 147 152 156 +f 143 144 157 +f 152 143 157 +f 146 153 158 +f 142 154 159 +f 143 149 160 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/dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj new file mode 100644 index 000000000..df2b184da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.157707 -1.081956 0.495722 +v -1.305792 -1.081956 -0.306816 +v -1.305792 -1.081956 -0.057632 +v 0.604235 3.291848 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-1.441950 0.302043 +v 1.877518 -1.967657 0.191292 +v 1.296388 -1.275838 -0.140749 +f 187 180 190 +f 167 166 168 +f 166 167 171 +f 166 171 173 +f 171 167 174 +f 168 170 175 +f 173 171 176 +f 173 170 177 +f 171 172 178 +f 176 171 178 +f 168 175 179 +f 175 170 180 +f 168 179 181 +f 179 172 181 +f 169 170 182 +f 170 173 182 +f 176 169 182 +f 173 176 182 +f 166 173 183 +f 173 177 183 +f 165 175 184 +f 178 165 184 +f 176 178 184 +f 168 166 185 +f 170 168 185 +f 177 170 185 +f 166 183 185 +f 183 177 185 +f 172 171 186 +f 171 174 186 +f 181 172 186 +f 175 180 187 +f 184 175 187 +f 176 184 187 +f 175 165 188 +f 165 178 188 +f 178 172 188 +f 172 179 188 +f 179 175 188 +f 167 168 189 +f 174 167 189 +f 168 181 189 +f 186 174 189 +f 181 186 189 +f 170 169 190 +f 169 176 190 +f 180 170 190 +f 176 187 190 +o convex_4 +v 2.154501 -1.995472 -0.002414 +v 2.071587 -1.497190 0.108256 +v 2.071587 -1.497190 0.052897 +v 3.040289 -1.746331 0.052897 +v 2.016044 -1.746331 -0.223899 +v 2.016044 -1.801690 0.274382 +v 2.707931 -1.746331 -0.168491 +v 2.818717 -1.773986 0.218974 +v 2.016044 -1.524894 0.274382 +v 2.763374 -1.580253 0.080601 +v 2.735702 -1.940015 -0.030118 +v 2.016044 -1.940015 -0.168491 +v 2.016044 -1.940015 0.191319 +v 2.016044 -1.552647 -0.113132 +v 2.735702 -1.940015 0.052897 +v 2.625016 -1.607957 0.218974 +v 2.707931 -1.607957 -0.030118 +v 2.707931 -1.801690 -0.168491 +v 2.680359 -1.773986 0.246678 +v 3.012517 -1.801690 -0.002414 +v 2.514431 -1.912409 0.163615 +v 2.126930 -1.580253 -0.140836 +v 2.514431 -1.912409 -0.140836 +v 2.016044 -1.995472 -0.057773 +v 2.984746 -1.746331 -0.030118 +v 2.984746 -1.829297 0.052897 +f 201 210 216 +f 192 193 199 +f 195 196 199 +f 193 192 200 +f 192 199 200 +f 196 195 202 +f 196 202 203 +f 199 193 204 +f 195 199 204 +f 191 201 205 +f 203 191 205 +f 198 194 206 +f 194 200 206 +f 200 199 206 +f 193 200 207 +f 204 193 207 +f 195 197 208 +f 202 195 208 +f 199 196 209 +f 196 203 209 +f 198 206 209 +f 206 199 209 +f 201 208 210 +f 205 198 211 +f 203 205 211 +f 209 203 211 +f 198 209 211 +f 197 195 212 +f 195 204 212 +f 207 197 212 +f 204 207 212 +f 208 201 213 +f 202 208 213 +f 201 191 214 +f 191 203 214 +f 203 202 214 +f 213 201 214 +f 202 213 214 +f 200 194 215 +f 197 207 215 +f 207 200 215 +f 208 197 215 +f 194 210 215 +f 210 208 215 +f 194 198 216 +f 198 205 216 +f 205 201 216 +f 210 194 216 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf new file mode 100644 index 000000000..489421131 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj new file mode 100644 index 000000000..de84a54db --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj @@ -0,0 +1,705 @@ +o convex_0 +v 0.582046 4.814738 -0.107402 +v -0.556305 4.327181 0.250310 +v -0.556305 4.327181 0.315296 +v 0.516945 2.896091 0.575586 +v -0.491089 2.896091 -0.497664 +v 0.451844 2.896091 -0.530215 +v -0.458653 4.880075 -0.595316 +v -0.263465 4.912644 0.543035 +v -0.458653 2.896091 0.445384 +v 0.614597 4.847505 0.445384 +v 0.549496 4.847505 -0.432563 +v -0.556305 4.912644 0.543035 +v 0.549496 2.961428 0.510370 +v -0.100827 4.131763 -0.595316 +v -0.523640 2.896091 -0.465114 +v -0.523640 4.327181 0.543035 +v 0.321757 3.123881 -0.562765 +v -0.491089 3.123881 -0.530215 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@@ -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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj new file mode 100644 index 000000000..64bcb611b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj @@ -0,0 +1,651 @@ +o convex_0 +v -1.605557 -2.620143 0.491361 +v -1.087840 -1.779039 -1.060965 +v -1.087840 -1.585428 -1.060965 +v 2.792104 -1.682337 0.750013 +v -1.314488 -0.647622 0.846931 +v 1.401766 -0.647417 -0.802107 +v 1.983904 -2.425915 -0.737290 +v -2.737622 -0.873947 -0.058250 +v -1.993258 -2.523029 -0.737495 +v -2.737622 -1.682337 0.814625 +v 1.401766 -2.458218 0.814625 +v 1.336759 -0.647417 0.879236 +v 2.792104 -0.938552 -0.025944 +v -1.314488 -0.647622 -0.899230 +v -2.769833 -1.714639 -0.769596 +v -1.993258 -1.714433 1.040971 +v 2.016115 -2.652240 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+d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj new file mode 100644 index 000000000..868b3fa5c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj @@ -0,0 +1,405 @@ +o convex_0 +v -0.229797 3.557768 -0.293734 +v -1.105836 -0.915681 0.331837 +v -0.542466 -0.916119 -1.075907 +v 1.084154 -0.916119 1.051535 +v -1.074526 3.400989 1.020090 +v 1.021533 3.369896 -0.919306 +v 1.115464 3.557768 0.988853 +v -1.043215 3.526237 -0.950543 +v 1.084154 -0.916119 -1.044462 +v -1.105836 -0.915681 1.020090 +v -0.980595 -0.915681 -1.075907 +v -1.043215 3.275741 -0.981780 +v -1.074526 2.963060 -0.762913 +v 1.084154 -0.540375 -1.044462 +v -0.480063 3.463613 1.020090 +v -1.105836 0.867568 0.738541 +v 0.270735 3.432520 -0.950543 +v -1.011905 -0.196163 -1.044462 +v -1.074526 3.495144 -0.074451 +v 1.115464 3.557768 0.863697 +v 1.115464 2.618847 0.957408 +v -0.010841 3.463613 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+v -2.927481 -0.431645 0.291507 +v -2.645635 -0.431645 0.432471 +v -1.130356 -0.995494 0.009648 +v -2.152261 -0.537441 -0.166643 +v -2.997990 -0.607905 0.432471 +v -2.786654 -1.101290 0.080165 +f 166 163 169 +f 153 152 156 +f 151 156 157 +f 156 151 158 +f 152 153 159 +f 155 152 159 +f 153 156 159 +f 151 157 160 +f 158 151 160 +f 152 155 161 +f 152 161 162 +f 161 154 162 +f 161 155 163 +f 158 161 163 +f 162 154 164 +f 154 158 165 +f 160 157 165 +f 158 160 165 +f 164 154 165 +f 157 164 165 +f 156 158 166 +f 159 156 166 +f 158 163 166 +f 156 152 167 +f 157 156 167 +f 152 162 167 +f 164 157 167 +f 162 164 167 +f 158 154 168 +f 154 161 168 +f 161 158 168 +f 155 159 169 +f 163 155 169 +f 159 166 169 +o convex_7 +v 1.089962 -0.643019 0.467581 +v -1.094929 -0.924905 -0.871342 +v -1.094929 -0.043956 -0.871342 +v -0.953878 -1.136427 1.101829 +v 0.984119 -1.136427 -0.836129 +v 0.984119 -0.043956 1.172256 +v 0.984119 -0.043956 -0.800712 +v -0.953878 -0.043956 1.066616 +v 1.019327 -1.136427 1.207673 +v -1.059721 -1.136427 -0.871342 +v -1.130355 -0.995377 0.502795 +v 1.089962 -1.136427 -0.377947 +v 1.089962 -0.326057 -0.272104 +v -0.002810 -0.079353 -0.871342 +v -0.848252 -0.043956 1.101829 +v -1.130355 -0.572761 0.361737 +v 1.054753 -0.043956 0.678862 +v -1.094929 -0.043956 -0.201677 +v 0.279294 -1.136427 -0.871342 +v 0.984119 -0.185114 -0.836129 +v 0.525972 -0.079353 1.172256 +v -1.130355 -0.396528 -0.236890 +v 1.019327 -0.185114 1.172256 +v -1.094929 -1.136427 -0.095833 +v 1.089962 -1.030666 0.326524 +v 1.054753 -0.114642 -0.448374 +v -1.130355 -0.960195 -0.060620 +v -0.953878 -0.537472 1.101829 +f 190 184 197 +f 172 175 176 +f 175 172 177 +f 173 174 178 +f 171 172 179 +f 174 173 179 +f 178 174 181 +f 170 181 182 +f 172 176 183 +f 179 172 183 +f 175 177 184 +f 180 177 185 +f 176 175 186 +f 170 182 186 +f 177 172 187 +f 185 177 187 +f 174 179 188 +f 179 183 188 +f 188 183 189 +f 181 174 189 +f 183 176 189 +f 174 188 189 +f 178 175 190 +f 175 184 190 +f 172 171 191 +f 180 185 191 +f 187 172 191 +f 185 187 191 +f 178 170 192 +f 175 178 192 +f 186 175 192 +f 170 186 192 +f 179 173 193 +f 173 180 193 +f 170 178 194 +f 181 170 194 +f 178 181 194 +f 182 181 195 +f 176 186 195 +f 186 182 195 +f 181 189 195 +f 189 176 195 +f 171 179 196 +f 191 171 196 +f 180 191 196 +f 179 193 196 +f 193 180 196 +f 173 178 197 +f 177 180 197 +f 180 173 197 +f 184 177 197 +f 178 190 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf new file mode 100644 index 000000000..f195f421a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj new file mode 100644 index 000000000..cd8bc4c3f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj @@ -0,0 +1,270 @@ +o convex_0 +v -2.612843 -1.303079 1.097592 +v 0.813399 -3.145075 -1.113435 +v 0.813399 -3.108048 -1.113435 +v 3.024708 -1.044953 1.023790 +v -1.139235 -0.971537 -1.039633 +v -3.055344 -3.034420 1.060367 +v 2.987583 -3.108048 0.949988 +v 3.024708 -1.008351 -0.929039 +v -3.055344 -2.997605 -1.039633 +v -3.092468 -1.155608 -1.002624 +v 2.950459 -3.034420 -0.965831 +v -3.018219 -1.118794 1.097592 +v -0.807509 -0.971537 1.023574 +v 1.218776 -0.971537 -1.076210 +v -1.323661 -3.145075 -0.597471 +v -0.991934 -3.071234 1.060583 +v 0.997824 -0.971537 1.060583 +v 3.024708 -2.555619 -0.929039 +v 2.140304 -1.081980 1.060583 +v 2.987583 -2.923976 0.986781 +v 1.255301 -3.145075 -1.113435 +v -2.981693 -2.408149 1.097592 +v -3.018219 -3.034420 -1.039633 +v 1.034350 -2.297493 -1.113435 +v -1.618262 -1.008351 -1.039633 +v -1.102111 -3.108048 0.544619 +v 2.950459 -1.008351 0.913196 +v 2.066654 -0.971537 -0.855237 +v 1.845104 -3.145075 -0.265471 +v -3.092468 -1.855720 -0.228678 +v -3.055344 -2.444751 -1.039633 +v 3.024708 -1.745064 1.023790 +v 2.766632 -1.229450 -0.965831 +v -1.323661 -3.145075 -0.929039 +v -2.981693 -1.118794 -0.855237 +v -3.055344 -1.155608 0.544619 +v 1.808578 -3.108048 0.949988 +v -0.954810 -0.971537 0.986781 +v 2.987583 -3.108048 0.581628 +v -1.102111 -3.145075 -0.413075 +v -3.092468 -1.966376 -1.002624 +v -1.765563 -3.071234 1.060583 +v 1.255301 -2.850135 -1.113435 +v 0.666098 -0.971537 -1.076210 +v 2.987583 -3.034420 -0.892246 +v -1.765563 -1.045165 -1.039633 +v -3.055344 -2.555407 1.060367 +v -2.576317 -1.081980 0.655214 +v -3.092468 -1.155608 -0.449867 +v 3.024708 -2.003191 0.913196 +v -2.502666 -3.071447 0.544619 +v 2.950459 -2.702877 -0.965831 +v 1.845104 -0.971537 -0.228678 +v 3.024708 -1.008351 0.692006 +f 8 28 54 +f 3 2 9 +f 5 13 14 +f 13 12 17 +f 14 13 17 +f 8 4 18 +f 11 8 18 +f 12 1 19 +f 4 17 19 +f 17 12 19 +f 16 7 20 +f 2 3 21 +f 15 2 21 +f 1 12 22 +f 12 6 22 +f 19 1 22 +f 16 19 22 +f 9 2 23 +f 6 9 23 +f 21 3 24 +f 17 4 27 +f 8 14 28 +f 14 17 28 +f 15 21 29 +f 3 9 31 +f 9 10 31 +f 24 3 31 +f 18 4 32 +f 4 19 32 +f 19 16 32 +f 20 7 32 +f 16 20 32 +f 14 8 33 +f 2 15 34 +f 23 2 34 +f 10 12 35 +f 25 10 35 +f 7 16 37 +f 29 7 37 +f 13 5 38 +f 12 13 38 +f 18 7 39 +f 21 11 39 +f 7 29 39 +f 29 21 39 +f 15 29 40 +f 37 26 40 +f 29 37 40 +f 9 6 41 +f 10 9 41 +f 6 30 41 +f 30 10 41 +f 22 6 42 +f 16 22 42 +f 37 16 42 +f 26 37 42 +f 40 26 42 +f 11 21 43 +f 24 14 43 +f 21 24 43 +f 14 33 43 +f 5 14 44 +f 14 24 44 +f 25 5 44 +f 11 18 45 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b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj new file mode 100644 index 000000000..458cafa7f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj @@ -0,0 +1,651 @@ +o convex_0 +v 0.394504 -2.170246 -1.001745 +v 1.006152 -1.270632 1.120714 +v 1.006152 -1.270632 0.760843 +v -1.044727 -1.270871 1.048655 +v 1.042312 -3.609484 1.120714 +v -1.044727 -3.717505 -1.038091 +v -1.044727 -1.270871 -1.038091 +v -1.044727 -3.609484 1.012732 +v 0.934242 -3.681098 -0.893973 +v 0.934242 -1.270632 -0.858050 +v -0.325009 -1.342725 1.120503 +v 0.322594 -1.270871 -1.037668 +v -0.864746 -3.609484 1.048655 +v -0.972612 -3.717505 -0.642085 +v 1.042312 -3.501224 0.832902 +v 0.430460 -3.609484 1.120503 +v -1.044727 -3.645411 0.796766 +v 0.934242 -1.342725 -0.893973 +v 0.970197 -3.645411 -0.534102 +v 0.970197 -1.270632 -0.282213 +v -0.432875 -3.717505 -1.001745 +v 0.826376 -3.213328 -0.929897 +v 1.042312 -2.601849 1.084579 +v -1.044727 -2.745797 1.048655 +v 0.934242 -3.681098 -0.713932 +v -0.900702 -3.681338 -1.038091 +v -0.360760 -3.717505 -0.893762 +f 9 25 27 +f 6 4 7 +f 4 6 8 +f 2 3 10 +f 4 2 10 +f 7 4 10 +f 2 4 11 +f 5 2 11 +f 7 10 12 +f 5 11 16 +f 11 13 16 +f 8 6 17 +f 13 8 17 +f 6 14 17 +f 14 5 17 +f 5 16 17 +f 16 13 17 +f 12 10 18 +f 5 9 19 +f 15 5 19 +f 9 18 19 +f 10 3 20 +f 18 10 20 +f 15 19 20 +f 19 18 20 +f 14 6 21 +f 1 12 22 +f 18 9 22 +f 12 18 22 +f 9 21 22 +f 3 2 23 +f 2 5 23 +f 5 15 23 +f 20 3 23 +f 15 20 23 +f 4 8 24 +f 11 4 24 +f 8 13 24 +f 13 11 24 +f 9 5 25 +f 6 7 26 +f 12 1 26 +f 7 12 26 +f 21 6 26 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1.065365 +v 0.251344 0.043346 -1.050983 +v -1.092336 -0.561357 0.729318 +v 0.990518 -0.326093 -0.950086 +v -0.353162 0.110565 1.065572 +v 1.057638 0.110565 0.763089 +f 132 133 144 +f 128 131 132 +f 129 127 133 +f 128 132 134 +f 127 129 135 +f 128 129 136 +f 131 128 136 +f 133 131 136 +f 130 134 137 +f 134 132 137 +f 129 128 138 +f 135 129 138 +f 130 135 138 +f 132 127 139 +f 127 135 139 +f 137 132 139 +f 129 133 140 +f 136 129 140 +f 133 136 140 +f 128 134 141 +f 134 130 141 +f 138 128 141 +f 130 138 141 +f 132 131 142 +f 133 132 142 +f 131 133 142 +f 135 130 143 +f 130 137 143 +f 139 135 143 +f 137 139 143 +f 127 132 144 +f 133 127 144 +o convex_6 +v -0.286010 0.076969 2.006507 +v 0.318701 0.009724 1.636923 +v 0.318701 -0.023839 1.636923 +v 0.251469 -0.124647 3.047549 +v -0.218778 -0.460517 1.065766 +v -0.319625 -0.527761 2.980229 +v 0.217853 -0.527761 1.065766 +v -0.319625 0.043346 1.065766 +v 0.285085 -0.460517 2.913102 +v -0.218778 0.076969 2.946666 +v 0.318701 0.009724 1.065766 +v 0.217853 0.009724 3.047549 +v -0.319625 -0.527761 2.442829 +v -0.050824 0.076969 2.980229 +v -0.084440 -0.527761 2.946666 +v -0.319625 0.076969 1.401787 +v 0.318701 -0.124647 1.065766 +v -0.319625 -0.359768 2.946666 +v -0.319625 -0.091025 1.065766 +v 0.285085 0.009724 2.476392 +v 0.049899 0.043346 1.065766 +v 0.083515 -0.527761 1.065766 +v 0.150684 -0.494139 2.946666 +f 159 151 167 +f 151 149 152 +f 147 146 153 +f 146 147 155 +f 151 152 155 +f 150 148 156 +f 154 150 156 +f 151 150 157 +f 150 152 157 +f 145 154 158 +f 146 155 158 +f 154 156 158 +f 150 151 159 +f 152 150 160 +f 145 158 160 +f 147 153 161 +f 153 151 161 +f 155 147 161 +f 151 155 161 +f 154 145 162 +f 150 154 162 +f 145 160 162 +f 160 150 162 +f 152 149 163 +f 149 157 163 +f 157 152 163 +f 153 146 164 +f 148 153 164 +f 156 148 164 +f 146 158 164 +f 158 156 164 +f 155 152 165 +f 158 155 165 +f 152 160 165 +f 160 158 165 +f 149 151 166 +f 157 149 166 +f 151 157 166 +f 148 150 167 +f 153 148 167 +f 151 153 167 +f 150 159 167 +o convex_7 +v 1.091411 -2.375768 0.225488 +v -1.058563 -2.879305 -1.017387 +v -1.058563 -1.938936 -1.017387 +v -1.025003 -3.114501 1.099168 +v 0.990518 -3.181621 -0.983616 +v -1.058563 -1.938936 1.031835 +v 1.024078 -3.349697 0.964501 +v 0.956958 -1.938936 -0.949846 +v 1.057638 -1.938936 0.998271 +v -1.025003 -3.349697 -1.017387 +v -0.991443 -3.282439 1.099168 +v 0.520037 -3.349697 -0.445983 +v -1.092336 -2.476448 0.326385 +v -0.588296 -3.349697 0.561535 +v 1.091411 -2.039754 -0.177270 +v 0.352238 -3.248879 -1.017387 +v -0.621856 -3.282439 1.099168 +v 1.091411 -2.543706 -0.277960 +v 0.990518 -2.610826 -0.983616 +v 1.057638 -2.644386 0.998271 +v -0.991443 -2.812186 1.099168 +v -1.092336 -1.972635 -0.244397 +v -0.487616 -1.938936 -1.017387 +v 1.024078 -3.282439 -0.042810 +v -1.025003 -3.315999 0.292822 +v 0.990518 -3.215319 -0.916283 +v -1.092336 -2.543706 -0.177270 +v -0.991443 -2.274950 1.065398 +v -1.092336 -1.938936 0.326385 +f 189 180 196 +f 170 173 175 +f 175 173 176 +f 169 170 177 +f 174 177 179 +f 171 173 180 +f 177 174 181 +f 174 178 181 +f 175 176 182 +f 176 168 182 +f 177 170 183 +f 179 177 183 +f 178 174 184 +f 171 178 184 +f 168 174 185 +f 182 168 185 +f 182 185 186 +f 175 182 186 +f 172 183 186 +f 185 172 186 +f 174 168 187 +f 168 176 187 +f 176 184 187 +f 184 174 187 +f 173 171 188 +f 171 184 188 +f 184 176 188 +f 170 169 189 +f 170 175 190 +f 183 170 190 +f 175 186 190 +f 186 183 190 +f 174 179 191 +f 185 174 191 +f 178 171 192 +f 171 180 192 +f 177 181 192 +f 181 178 192 +f 183 172 193 +f 179 183 193 +f 172 185 193 +f 191 179 193 +f 185 191 193 +f 169 177 194 +f 189 169 194 +f 180 189 194 +f 192 180 194 +f 177 192 194 +f 176 173 195 +f 173 188 195 +f 188 176 195 +f 173 170 196 +f 180 173 196 +f 170 189 196 +o convex_8 +v 1.091411 -1.266728 0.729430 +v -1.092336 -0.863890 -1.050779 +v -1.092336 -0.561492 -1.050779 +v -1.058563 -1.736975 1.031772 +v 0.956958 -1.938663 -0.950066 +v 1.091411 -0.561492 1.031976 +v 0.956958 -0.561492 -0.950066 +v -1.058563 -0.561492 0.998133 +v -1.058563 -1.938663 -1.017140 +v 1.091411 -1.938663 0.998133 +v -1.058563 -1.938663 1.031772 +v 0.419571 -0.595197 -1.017344 +v -1.092336 -1.434712 0.998133 +v 1.091411 -1.804249 1.031976 +v -0.487616 -1.938663 -1.017140 +v -1.092336 -0.561492 0.762865 +v -1.092336 -1.535421 -1.017140 +v 0.654491 -0.561492 1.031976 +v -0.722536 -0.561492 -1.050779 +f 208 211 215 +f 197 201 203 +f 199 202 203 +f 202 197 203 +f 202 199 204 +f 205 201 206 +f 201 197 206 +f 197 202 206 +f 205 206 207 +f 203 201 208 +f 199 198 209 +f 200 204 209 +f 207 200 209 +f 206 202 210 +f 207 206 210 +f 205 198 211 +f 201 205 211 +f 208 201 211 +f 204 199 212 +f 199 209 212 +f 209 204 212 +f 198 205 213 +f 205 207 213 +f 209 198 213 +f 207 209 213 +f 204 200 214 +f 202 204 214 +f 200 207 214 +f 210 202 214 +f 207 210 214 +f 198 199 215 +f 199 203 215 +f 203 208 215 +f 211 198 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf new file mode 100644 index 000000000..a7c355ad3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj new file mode 100644 index 000000000..d4ae855d5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.572344 2.366593 -0.115974 +v -1.064481 -1.264187 0.037285 +v -1.064481 -1.264187 0.062731 +v 0.777025 -3.489420 -0.013609 +v 0.009628 -0.447084 1.009078 +v -0.066947 -1.264187 -0.959956 +v -0.629458 2.392430 -0.090334 +v -0.808682 -3.437746 0.037285 +v 0.725701 1.138677 0.702176 +v 0.700244 1.138677 -0.653053 +v -0.731901 1.114132 0.778901 +v -0.015829 -3.463583 0.778709 +v -0.757358 1.164515 -0.678693 +v -0.015829 -3.438392 -0.755225 +v -0.808682 -1.238350 0.804541 +v -0.808682 -1.187321 -0.729779 +v 0.802481 -1.212512 0.727815 +v 0.981499 0.627746 -0.013609 +v 0.751363 -1.212512 -0.729779 +v -0.015829 2.265182 0.599811 +v -0.015829 2.162478 -0.678693 +v -0.041285 -4.205758 -0.013801 +v -0.987700 1.165161 0.114010 +v 1.032823 -1.263541 -0.013609 +v 0.035290 1.114132 0.957799 +v -0.015829 1.190352 -0.883230 +v -0.501764 2.392430 -0.499602 +v 0.009628 -1.392081 1.009078 +v 0.393326 2.392430 0.395273 +v 0.572344 -2.900977 0.574364 +v -0.476102 2.392430 0.369827 +v -0.629458 -2.849302 -0.525241 +v 0.572344 -2.900977 -0.550688 +v -0.604002 -2.875140 0.600003 +v 0.470107 2.392430 -0.448516 +v 0.956043 1.165161 0.011838 +v -0.936581 1.139323 -0.192699 +v 0.572344 1.932527 0.523278 +v 0.725701 -1.212512 0.778901 +v 0.777025 -3.489420 0.037285 +v -0.808682 -3.437746 -0.013609 +v 0.112071 -1.161484 -0.934509 +v -0.578340 1.983556 0.548725 +v -0.118066 1.114132 -0.883230 +v -0.834138 -1.135647 -0.704139 +v -0.629458 1.957718 -0.576328 +v -0.834138 1.829824 0.037285 +v 0.674582 1.113486 -0.678693 +v -0.194847 -1.213158 0.983632 +v -0.041285 -4.205758 0.037092 +v 0.777025 1.855661 -0.039248 +v 0.009628 1.778795 0.778709 +v 1.032823 -1.263541 0.037285 +v 0.777025 1.037266 0.625450 +v -1.064481 -1.161484 -0.013609 +v -0.808682 1.164515 -0.601967 +v 0.009628 -3.438392 -0.755225 +v -0.041285 -3.463583 0.778709 +v 0.802481 -1.212512 -0.627606 +v -1.013156 0.908726 0.088371 +v 0.572344 1.906044 -0.550688 +v -0.066947 -0.804930 -0.959956 +v 0.572344 2.393076 0.011838 +v 0.035290 2.393076 -0.601967 +f 63 35 64 +f 3 2 8 +f 3 8 15 +f 6 14 16 +f 11 5 25 +f 20 29 31 +f 16 14 32 +f 19 4 33 +f 15 8 34 +f 18 10 36 +f 29 20 38 +f 9 36 38 +f 17 9 39 +f 25 5 39 +f 9 25 39 +f 5 28 39 +f 28 12 39 +f 12 30 39 +f 30 17 39 +f 22 4 40 +f 4 24 40 +f 30 12 40 +f 17 30 40 +f 8 2 41 +f 22 8 41 +f 14 22 41 +f 32 14 41 +f 20 31 43 +f 21 26 44 +f 13 16 45 +f 16 32 45 +f 32 41 45 +f 27 21 46 +f 7 27 46 +f 44 13 46 +f 21 44 46 +f 23 11 47 +f 31 7 47 +f 37 23 47 +f 11 43 47 +f 43 31 47 +f 7 46 47 +f 46 37 47 +f 10 19 48 +f 19 42 48 +f 42 26 48 +f 5 11 49 +f 11 15 49 +f 28 5 49 +f 8 22 50 +f 22 40 50 +f 40 12 50 +f 35 1 51 +f 38 36 51 +f 25 9 52 +f 11 25 52 +f 9 38 52 +f 38 20 52 +f 43 11 52 +f 20 43 52 +f 24 18 53 +f 18 36 53 +f 40 24 53 +f 17 40 53 +f 9 17 54 +f 36 9 54 +f 17 53 54 +f 53 36 54 +f 2 3 55 +f 41 2 55 +f 45 41 55 +f 45 55 56 +f 13 45 56 +f 46 13 56 +f 37 46 56 +f 55 37 56 +f 14 6 57 +f 4 22 57 +f 22 14 57 +f 33 4 57 +f 19 33 57 +f 6 42 57 +f 42 19 57 +f 12 28 58 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0.344192 +v -0.425018 3.902324 0.369749 +v 0.009723 3.979268 -0.550848 +v -0.578415 3.595572 -0.013934 +v -0.015844 3.723584 0.497643 +v -0.476151 2.393076 -0.499735 +v -0.501717 2.393076 0.293078 +v -0.348320 5.001321 -0.320616 +v 0.291066 5.001661 -0.320616 +v -0.117993 5.308414 0.369749 +v 0.495596 3.876790 -0.116051 +v 0.265500 4.950253 0.267522 +v -0.348320 5.027196 0.267411 +v 0.035289 2.546963 -0.602072 +v -0.425018 5.333948 -0.064828 +v -0.066861 3.749118 0.497643 +v 0.367765 5.385357 -0.064828 +v 0.035289 2.495894 0.523310 +v -0.066861 3.902324 -0.550848 +v -0.015844 5.871190 0.011733 +v -0.552849 3.927859 -0.090384 +v -0.603982 2.623566 0.011623 +v 0.393331 2.598031 0.395306 +v -0.117993 5.308414 -0.397397 +v 0.572294 2.495553 -0.064828 +v -0.015844 5.436085 0.344192 +v -0.425018 5.359823 0.037290 +v -0.450584 2.393076 0.395306 +v -0.015844 5.845315 -0.064938 +v 0.418897 3.953393 -0.397287 +v 0.367765 5.385357 0.011623 +v 0.495596 4.055530 -0.013934 +v 0.239819 3.902324 0.395416 +v 0.393331 3.927859 -0.422954 +v -0.066861 5.845315 0.037290 +v -0.373886 3.877130 0.395306 +v -0.476151 2.521428 -0.499735 +v 0.035289 5.359482 -0.397397 +v -0.041295 5.359482 -0.422954 +v -0.476151 4.976127 -0.039381 +v -0.066861 5.282879 0.395416 +v -0.552849 4.055530 -0.013934 +v -0.066861 2.905124 0.523310 +v -0.066861 5.768713 -0.116051 +v 0.214252 5.052730 0.293078 +v -0.041295 2.700509 -0.602072 +v -0.578415 3.595572 -0.064828 +v -0.476151 3.160808 -0.474068 +f 127 78 128 +f 66 67 69 +f 69 67 77 +f 74 69 80 +f 69 77 80 +f 77 70 80 +f 77 67 86 +f 66 69 87 +f 72 82 93 +f 82 90 93 +f 70 77 94 +f 79 70 94 +f 83 79 94 +f 88 78 95 +f 85 73 96 +f 69 74 98 +f 76 82 102 +f 82 84 102 +f 66 87 102 +f 87 76 102 +f 80 65 103 +f 74 80 103 +f 65 81 103 +f 98 74 103 +f 85 98 103 +f 78 88 104 +f 88 95 104 +f 80 70 105 +f 72 93 107 +f 93 90 107 +f 68 95 107 +f 95 72 107 +f 69 76 108 +f 87 69 108 +f 76 87 108 +f 75 97 109 +f 68 100 109 +f 100 75 109 +f 70 79 110 +f 89 97 110 +f 97 91 110 +f 105 70 110 +f 91 105 110 +f 81 65 111 +f 92 81 111 +f 75 100 111 +f 100 106 111 +f 65 80 112 +f 97 75 112 +f 91 97 112 +f 80 105 112 +f 105 91 112 +f 111 65 112 +f 75 111 112 +f 81 73 113 +f 73 85 113 +f 103 81 113 +f 85 103 113 +f 83 71 114 +f 79 83 114 +f 110 79 114 +f 89 110 114 +f 100 68 115 +f 90 106 115 +f 106 100 115 +f 68 107 115 +f 107 90 115 +f 82 76 116 +f 86 67 117 +f 77 86 117 +f 97 89 118 +f 71 109 118 +f 109 97 118 +f 114 71 118 +f 89 114 118 +f 71 83 119 +f 99 78 119 +f 83 99 119 +f 78 104 119 +f 109 71 119 +f 72 95 120 +f 95 78 120 +f 78 101 120 +f 90 82 121 +f 96 73 121 +f 106 90 121 +f 73 106 121 +f 82 116 121 +f 116 96 121 +f 82 72 122 +f 84 82 122 +f 72 120 122 +f 120 101 122 +f 76 69 123 +f 85 96 123 +f 69 98 123 +f 98 85 123 +f 116 76 123 +f 96 116 123 +f 95 68 124 +f 104 95 124 +f 68 109 124 +f 119 104 124 +f 109 119 124 +f 73 81 125 +f 81 92 125 +f 106 73 125 +f 92 111 125 +f 111 106 125 +f 94 77 126 +f 83 94 126 +f 99 83 126 +f 77 117 126 +f 117 99 126 +f 67 66 127 +f 101 78 127 +f 66 102 127 +f 102 84 127 +f 84 122 127 +f 122 101 127 +f 78 99 128 +f 117 67 128 +f 99 117 128 +f 67 127 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf new file mode 100644 index 000000000..a29c88965 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj new file mode 100644 index 000000000..ceaa5314c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj @@ -0,0 +1,582 @@ +o convex_0 +v 0.834921 -2.920813 0.327954 +v 2.386543 -3.013958 -0.354910 +v 2.386543 -2.982946 -0.354910 +v 2.914444 -3.417437 0.265857 +v 0.586525 -3.355304 -0.261664 +v 2.914444 -2.889802 0.172745 +v 0.586525 -2.858681 -0.261664 +v 2.945311 -3.417437 -0.199635 +v 0.586525 -3.293226 0.203760 +v 3.069509 -2.858790 -0.354910 +v 0.586525 -2.982946 0.327954 +v 2.448763 -3.417437 0.265857 +v 0.586525 -3.324238 -0.292746 +v 0.586525 -2.858681 -0.106523 +v 2.262345 -2.889802 0.234842 +v 2.231478 -3.417437 -0.199635 +v 0.741833 -3.324238 0.203760 +v 2.914444 -3.324238 0.265857 +v 0.959118 -2.858681 -0.292746 +v 3.007532 -2.982946 -0.354910 +v 3.069509 -2.951880 -0.261731 +v 0.586525 -2.889802 0.172678 +v 1.518130 -2.858790 -0.106523 +v 0.586525 -3.355304 -0.168553 +v 2.417653 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160 163 169 +f 158 168 169 +f 168 160 169 +f 159 158 170 +f 162 159 170 +f 163 162 170 +f 158 169 170 +f 165 166 171 +f 163 164 172 +f 166 157 172 +f 167 163 172 +f 157 167 172 +f 161 162 173 +f 162 165 173 +f 163 160 174 +f 164 163 174 +f 172 164 175 +f 166 172 175 +f 161 160 176 +f 162 161 176 +f 168 159 176 +f 161 171 177 +f 171 166 177 +f 166 175 177 +f 157 166 178 +f 166 165 178 +f 167 157 178 +f 165 167 178 +f 159 162 179 +f 176 159 179 +f 162 176 179 +f 160 161 180 +f 174 160 180 +f 164 174 180 +f 175 164 180 +f 165 171 181 +f 173 165 181 +f 171 173 181 +f 161 177 182 +f 177 175 182 +f 180 161 182 +f 175 180 182 +f 169 163 183 +f 163 170 183 +f 170 169 183 +f 160 168 184 +f 176 160 184 +f 168 176 184 +f 171 161 185 +f 161 173 185 +o convex_6 +v -1.058650 -2.734683 -0.230720 +v -0.531039 -3.355231 0.359056 +v -0.593123 -3.355231 0.359056 +v -0.531039 -3.448479 -0.354910 +v -0.531039 -2.455135 -0.354910 +v -1.058650 -3.417364 -0.323810 +v -1.058650 -2.858754 0.265827 +v -1.027608 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+ + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj new file mode 100644 index 000000000..c81940a85 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj @@ -0,0 +1,444 @@ +o convex_0 +v -1.476946 -2.228846 0.589274 +v -1.317173 -1.654010 -0.592891 +v -1.317173 -1.590140 -0.592891 +v -3.106181 -2.388638 -0.496982 +v -2.946408 -1.462283 0.429426 +v -1.029542 -2.516379 -0.528952 +v -2.946408 -2.644236 0.493246 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185 +f 176 136 185 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf new file mode 100644 index 000000000..912606bbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj new file mode 100644 index 000000000..154e1ba18 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj @@ -0,0 +1,552 @@ +o convex_0 +v -0.944472 -4.209185 0.063224 +v 1.026324 -1.606007 1.067518 +v 1.026324 -1.606007 0.695311 +v -1.093454 -1.606007 0.992991 +v -1.093454 -1.606007 -1.052111 +v 0.988975 -4.283621 -1.126638 +v 0.988975 -4.171966 1.029932 +v 0.914691 -1.606007 -0.977798 +v -1.018963 -4.209185 1.067518 +v -1.018963 -4.171966 -1.014740 +v -1.093454 -2.981770 -1.052111 +v -1.093454 -1.866534 1.067518 +v -1.056105 -3.948657 0.844151 +v 0.988975 -4.209185 0.992776 +v -0.312232 -1.606007 -1.051896 +v 0.468368 -4.283621 -0.568649 +v -1.056105 -3.911701 -1.052111 +v 0.951833 -1.606007 -0.791802 +v 1.026324 -2.089581 1.067518 +v 0.988975 -3.651173 -1.089052 +v -0.461214 -4.246140 0.472373 +v -1.093454 -2.312891 1.067518 +v -0.907330 -1.606007 1.067518 +v 0.059393 -4.246403 -1.089267 +v -1.093454 -3.018988 -0.159500 +v 0.988975 -4.283621 -0.643176 +v 0.988975 -4.209185 -1.126638 +v 0.914691 -4.283621 -1.126638 +f 5 27 28 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+v 0.505444 -0.192479 -1.089267 +v -1.056090 -0.378545 0.992776 +v -1.130701 -0.155399 -1.126638 +v 1.100702 1.741004 1.067304 +v -3.064476 0.699881 1.067518 +v -1.018988 1.889546 0.955620 +v -3.026966 -0.229781 -0.494121 +v -2.841050 -0.267083 1.067518 +v -2.803948 1.852244 -1.052111 +v -2.989864 -0.192479 -0.940427 +v 1.063193 1.889546 -0.977583 +v -3.064476 1.629321 1.030147 +v -3.064476 1.815164 0.620998 +v -1.725552 1.815164 -1.089052 +v -2.989864 1.889768 -0.494121 +v -3.026966 1.777862 -0.531278 +v -3.064476 -0.155399 0.509529 +v -2.989864 1.257411 -1.014740 +v 0.505444 -0.043715 -1.089267 +v 0.580055 -0.378545 -1.051896 +v -1.018988 -0.229781 -1.126638 +f 117 95 118 +f 86 87 94 +f 92 88 95 +f 88 92 97 +f 90 97 98 +f 95 88 99 +f 90 91 101 +f 88 97 101 +f 97 90 101 +f 89 93 102 +f 101 91 102 +f 89 91 103 +f 85 95 105 +f 99 88 105 +f 95 99 105 +f 88 101 105 +f 102 93 105 +f 101 102 105 +f 93 104 105 +f 104 85 105 +f 94 87 106 +f 87 96 106 +f 95 85 107 +f 85 104 107 +f 87 86 108 +f 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1.778051 -0.791853 +v 1.584277 0.365037 -1.014911 +v 3.071564 1.778051 0.620987 +v 3.071564 0.662717 1.067518 +v 1.100702 1.777837 0.769762 +v 1.695735 -0.341577 -0.233896 +v 3.071564 0.253783 0.992820 +v 2.885604 -0.118210 -0.977769 +v 2.290768 -0.304206 1.030169 +v 2.960106 -0.304206 0.620987 +v 2.067655 -0.266835 1.067518 +v 2.811298 1.629211 -1.052260 +v 1.100702 -0.341577 -0.605729 +v 2.774146 1.852579 -0.828994 +v 1.435470 -0.303991 -0.977561 +f 124 142 147 +f 120 121 126 +f 122 123 127 +f 123 122 128 +f 128 122 129 +f 124 130 132 +f 132 130 133 +f 126 121 133 +f 130 126 133 +f 128 129 134 +f 120 126 135 +f 127 120 137 +f 122 127 137 +f 120 135 137 +f 121 120 139 +f 125 132 139 +f 132 133 139 +f 133 121 139 +f 120 136 139 +f 136 125 139 +f 130 124 140 +f 126 130 140 +f 125 131 141 +f 138 125 141 +f 124 132 142 +f 132 125 142 +f 138 119 142 +f 125 138 142 +f 120 127 143 +f 127 123 143 +f 123 131 143 +f 131 125 143 +f 136 120 143 +f 125 136 143 +f 129 126 144 +f 134 129 144 +f 126 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-1.606006 1.067121 +v -0.163687 -0.378767 1.067121 +v -0.460937 -0.378767 -1.089449 +v 0.319775 -1.494406 1.104707 +v -1.056083 -0.825046 1.029965 +v 0.951862 -0.825046 -0.977550 +f 184 181 191 +f 168 171 172 +f 168 167 173 +f 171 168 173 +f 167 168 174 +f 169 170 174 +f 170 169 175 +f 173 167 176 +f 167 174 176 +f 168 172 178 +f 174 168 178 +f 174 170 179 +f 173 176 179 +f 171 166 180 +f 166 175 180 +f 171 173 181 +f 180 177 182 +f 169 174 183 +f 178 169 183 +f 174 178 183 +f 175 166 184 +f 170 175 184 +f 166 181 184 +f 166 171 185 +f 181 166 185 +f 171 181 185 +f 172 171 186 +f 171 182 186 +f 182 177 186 +f 175 169 187 +f 169 177 187 +f 180 175 187 +f 177 180 187 +f 176 174 188 +f 174 179 188 +f 179 176 188 +f 171 180 189 +f 182 171 189 +f 180 182 189 +f 177 169 190 +f 178 172 190 +f 169 178 190 +f 172 186 190 +f 186 177 190 +f 179 170 191 +f 173 179 191 +f 181 173 191 +f 170 184 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf new file mode 100644 index 000000000..d497da12a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj new file mode 100644 index 000000000..1926939f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj @@ -0,0 +1,672 @@ +o convex_0 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-0.238877 3.905684 -1.861130 +v 0.210136 1.660770 -1.385738 +v 0.104439 3.932445 -1.861130 +v 0.157287 -1.165147 -1.755509 +v -0.080389 4.143556 -1.517847 +v -0.027597 0.763993 -1.385738 +v 0.025251 -1.085459 -1.544336 +v 0.262984 1.424087 -1.887619 +v 0.025251 2.241771 -2.072505 +v -0.291725 1.660770 -1.993239 +v -0.001201 0.816325 -2.072505 +v 0.183683 3.113571 -1.517847 +v -0.238877 -0.345678 -1.544336 +v -0.238877 -1.111625 -1.781864 +v -0.318178 2.796607 -1.623535 +v 0.236531 3.325277 -1.702800 +v 0.157287 4.197077 -1.729155 +v -0.318178 3.007718 -1.808353 +v 0.183683 -0.742330 -1.702800 +v -0.212481 3.985371 -1.570691 +v -0.053993 -1.190718 -1.940462 +v -0.265273 4.249409 -1.729155 +v -0.027597 4.197077 -1.887619 +v -0.291725 -0.186899 -1.781864 +v -0.265273 1.397921 -2.072505 +v -0.318178 2.162679 -1.808353 +v 0.104439 3.932445 -1.544336 +v -0.027597 -0.979607 -1.517847 +v 0.104439 -0.926680 -1.570691 +v 0.130891 -1.006367 -1.834775 +v -0.027597 4.540207 -1.729155 +v -0.001201 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193 +f 138 169 193 +f 169 144 193 +f 151 143 194 +f 138 167 194 +f 167 151 194 +f 192 138 194 +f 143 192 194 +f 142 147 195 +f 169 152 195 +f 147 169 195 +f 174 142 195 +o convex_4 +v 0.236474 1.502916 -1.332868 +v -0.265246 1.185970 -1.385714 +v -0.238869 1.027568 -1.385714 +v -0.238869 1.185970 -1.148011 +v -0.053978 2.321657 -1.385714 +v 0.236474 1.238865 -1.148011 +v -0.212441 1.766966 -1.148011 +v 0.157242 1.027568 -1.385714 +v 0.183669 1.714071 -1.148011 +v -0.265246 1.819720 -1.385714 +v -0.027551 0.869166 -1.359280 +v 0.183669 1.846167 -1.385714 +v -0.001222 1.899063 -1.148011 +v -0.265246 1.634870 -1.148011 +v -0.027551 2.321657 -1.359280 +v -0.001222 1.133217 -1.148011 +v 0.236474 1.608422 -1.148011 +v -0.238869 1.846167 -1.253680 +v 0.210096 1.291618 -1.385714 +f 203 207 214 +f 197 198 199 +f 198 197 200 +f 199 201 202 +f 198 200 203 +f 202 201 204 +f 200 197 205 +f 199 198 206 +f 198 203 206 +f 203 201 206 +f 203 200 207 +f 202 204 208 +f 197 199 209 +f 199 202 209 +f 205 197 209 +f 200 202 210 +f 207 200 210 +f 202 208 210 +f 208 204 210 +f 201 199 211 +f 199 206 211 +f 206 201 211 +f 201 196 212 +f 204 201 212 +f 196 207 212 +f 207 210 212 +f 210 204 212 +f 202 200 213 +f 200 205 213 +f 209 202 213 +f 205 209 213 +f 196 201 214 +f 201 203 214 +f 207 196 214 +o convex_5 +v 0.262989 1.608523 -1.121553 +v -0.265345 1.423632 -1.147988 +v -0.238918 1.212366 -1.147988 +v -0.238918 1.265292 -0.989518 +v 0.210135 1.027475 -0.989518 +v -0.053980 1.793326 -0.989518 +v 0.236562 1.238741 -1.147988 +v -0.053980 1.872716 -1.147988 +v 0.236562 1.714112 -0.989518 +v -0.238918 1.714112 -0.989518 +v 0.025198 0.974549 -1.015922 +v 0.262989 1.159527 -0.989518 +v -0.265345 1.634899 -1.147988 +v -0.186064 1.106689 -0.989518 +v 0.210135 1.687737 -1.147988 +v -0.001178 1.159527 -1.147988 +f 221 225 230 +f 216 217 218 +f 218 219 220 +f 217 216 221 +f 221 216 222 +f 220 219 223 +f 222 220 223 +f 216 218 224 +f 218 220 224 +f 220 222 224 +f 221 219 225 +f 221 215 226 +f 219 221 226 +f 215 223 226 +f 223 219 226 +f 222 216 227 +f 216 224 227 +f 224 222 227 +f 218 217 228 +f 219 218 228 +f 217 225 228 +f 225 219 228 +f 215 221 229 +f 221 222 229 +f 223 215 229 +f 222 223 229 +f 217 221 230 +f 225 217 230 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf new file mode 100644 index 000000000..94dbaf311 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj new file mode 100644 index 000000000..592c26b54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj @@ -0,0 +1,606 @@ +o convex_0 +v 1.022209 3.371440 1.041861 +v -0.864377 3.228844 -1.022642 +v -0.900025 1.591484 -0.986888 +v -1.078054 1.947590 1.077615 +v 0.950911 1.413431 -0.986679 +v 0.986560 1.413431 1.077615 +v 1.093507 3.335599 -1.022642 +v -0.935458 3.335599 1.113368 +v -1.113703 1.413431 1.042070 +v -1.006756 3.264493 -0.986888 +v -1.042405 1.413431 -0.915799 +v 0.132282 1.413431 -1.022642 +v -0.828728 1.413431 1.113368 +v 1.093507 2.908387 -1.022642 +v -0.401588 3.335599 1.113368 +v 1.057858 3.371440 0.401226 +v -0.971107 3.264493 1.113368 +v 0.737234 3.335599 -1.022642 +v 0.986560 1.555835 -0.986679 +v -1.042405 2.161100 -0.951344 +v 0.630503 3.371440 1.077615 +v 1.093507 3.299950 -0.346043 +v -1.006756 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+f 148 145 155 +f 146 140 156 +f 137 146 157 +f 151 137 157 +f 140 145 158 +f 145 148 158 +f 148 150 158 +f 156 140 158 +f 150 156 158 +f 141 147 159 +f 147 143 159 +f 143 151 159 +f 157 141 159 +f 151 157 159 +f 150 141 160 +f 146 156 160 +f 156 150 160 +f 157 146 160 +f 141 157 160 +f 142 144 161 +f 153 142 161 +f 144 153 161 +f 142 137 162 +f 137 151 162 +f 151 143 162 +f 152 142 162 +o convex_5 +v -1.042349 -1.256857 0.223009 +v 1.057907 -2.395553 1.077719 +v 0.986609 -2.075145 1.077719 +v 0.986609 -0.865164 -0.986679 +v -1.078103 -2.715961 -0.951246 +v 0.950855 -2.680320 -1.022544 +v -1.006805 -2.751788 1.077719 +v 0.488151 -0.865164 1.113368 +v -0.971052 -0.865164 -0.986895 +v -1.006805 -0.865164 1.006421 +v 1.057907 -2.751788 1.077719 +v 1.057907 -0.936448 0.970772 +v -0.579645 -1.185573 -1.093842 +v 0.488151 -2.253170 -1.093842 +v -0.615189 -1.185573 1.113368 +v -0.579645 -2.288812 -1.093842 +v 1.057907 -2.715961 0.543417 +v 0.559240 -1.221215 -1.093842 +v -1.042349 -2.751788 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205 +f 168 192 205 +f 165 164 206 +f 164 174 206 +f 185 170 206 +f 174 185 206 +f 193 165 206 +f 170 193 206 +f 187 171 207 +f 175 187 207 +f 171 197 207 +f 197 175 207 +f 166 174 208 +f 179 166 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf new file mode 100644 index 000000000..d54d8df0d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj new file mode 100644 index 000000000..f998cac74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj @@ -0,0 +1,603 @@ +o convex_0 +v -1.115502 -0.787059 -1.676904 +v 1.089844 -2.351968 -0.147886 +v 1.089844 -2.422907 -0.147886 +v -1.079884 -2.102832 1.488861 +v 0.947368 -0.431301 1.488861 +v 1.054225 -2.458589 -3.135311 +v 0.947368 -0.431301 -3.099552 +v -1.044265 -2.494271 -3.135311 +v -1.008646 -0.324468 1.488861 +v -1.008646 -0.466771 -3.135311 +v 1.018606 -2.458589 1.488861 +v -1.044265 -2.422907 1.488861 +v 0.982987 -0.324468 -1.214306 +v -1.115502 -0.324468 -1.570081 +v 1.054225 -2.494271 1.167939 +v 0.947368 -0.324468 0.919439 +v 1.089844 -1.853695 -1.321129 +v 1.054225 -1.925059 1.488861 +v 0.449352 -2.494271 -3.135311 +v -1.044265 -2.494271 -1.783275 +v 0.982987 -0.573817 -3.099552 +v -1.115502 -0.324468 -0.752613 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj new file mode 100644 index 000000000..6fe94925a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj @@ -0,0 +1,342 @@ +o convex_0 +v -1.035309 -1.641115 -0.342600 +v 0.996072 -0.421630 1.060457 +v 0.996072 -0.421630 -0.970554 +v 1.033124 -4.410826 -0.712118 +v -0.998257 -4.299538 0.949787 +v -0.924355 -4.262833 -1.044540 +v -1.035309 -0.421630 1.023567 +v 0.922170 -4.225736 0.986677 +v -0.998257 -0.421630 -1.044540 +v 1.033124 -2.859038 -1.007650 +v 1.033124 -4.410826 -0.933870 +v -1.035309 -4.336634 0.912691 +v -0.998257 -2.748140 1.023567 +v 0.405264 -1.640725 -1.044334 +v -0.998257 -2.896134 -1.044540 +v 1.033124 -2.379913 0.321833 +v 1.033124 -0.939023 -1.007650 +v 0.959020 -4.262833 0.838705 +v -0.037942 -1.308812 1.060251 +v -1.035309 -4.299538 0.284736 +v 0.996072 -2.969546 0.949581 +v -0.148896 -4.336634 -1.007650 +v -0.001093 -0.421630 -1.044334 +v 1.033124 -1.012824 0.321833 +v 0.885118 -4.262833 0.986677 +v -0.628952 -4.262833 -1.044334 +v -0.961407 -4.262833 -0.933664 +v -1.035309 -0.421630 -0.047274 +v -0.185745 -3.117539 1.023567 +v 0.774367 -4.410826 -0.933664 +v -0.001093 -0.421630 1.060251 +v 0.663616 -4.373730 -0.970760 +v -0.998257 -4.299538 -0.269026 +v 0.996072 -0.606329 1.060457 +v 0.885118 -0.421630 -1.007650 +v -0.924355 -4.336634 0.912691 +v 0.959020 -4.041037 0.986677 +v 0.626767 -4.262833 0.986677 +v -1.035309 -3.486938 0.986471 +v -1.035309 -4.336634 0.801815 +f 33 30 40 +f 2 3 7 +f 7 3 9 +f 10 4 11 +f 7 1 12 +f 6 9 14 +f 1 9 15 +f 9 6 15 +f 4 10 16 +f 16 10 17 +f 3 2 17 +f 10 14 17 +f 7 13 19 +f 12 1 20 +f 1 15 20 +f 4 16 21 +f 9 3 23 +f 14 9 23 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a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf new file mode 100644 index 000000000..6b236116a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj new file mode 100644 index 000000000..5f5d1ab43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj @@ -0,0 +1,438 @@ +o convex_0 +v 0.415363 -4.039993 -1.010144 +v 0.117183 -0.331816 1.109047 +v -0.048086 -0.331816 1.109047 +v -0.710467 0.529408 -1.076383 +v -1.107896 -4.172561 1.109047 +v 1.077527 -2.549769 1.109047 +v 1.077527 0.529408 -0.977134 +v -1.041440 -4.039993 -1.109610 +v -1.074668 0.529408 1.075819 +v 1.011289 0.528945 1.042591 +v 1.011289 -4.039993 -0.612715 +v 0.945051 -4.072903 1.042591 +v -1.074668 0.529408 -1.076383 +v 1.110755 -2.417665 -0.977134 +v -0.048086 -4.205934 -0.380989 +v 1.011289 -4.039993 -0.943689 +v 1.077527 -1.424338 1.109047 +v -1.107896 -4.172561 0.545913 +v -0.809716 -4.039993 -1.109610 +v -1.107896 -2.814440 1.109047 +v 1.110755 -2.185441 0.413436 +v -1.074668 -2.516859 -1.076383 +v 1.077527 0.529408 -0.215285 +v 0.547622 -4.106277 1.075819 +v 1.110755 -0.960815 -0.977134 +v 0.978061 -4.072903 0.876887 +v -1.074668 -0.596950 1.109047 +v -1.008430 -4.073367 -1.076383 +v 1.044299 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+f 117 118 126 +f 112 120 126 +f 120 117 126 +f 114 113 127 +f 113 116 127 +f 116 118 127 +f 118 114 127 +f 120 115 128 +f 117 120 128 +f 115 124 128 +f 128 124 129 +f 119 117 129 +f 125 119 129 +f 124 125 129 +f 117 128 129 +f 114 119 130 +f 122 114 130 +o convex_4 +v 0.316009 0.827489 2.201643 +v -0.180699 0.595760 1.076133 +v -0.213816 0.794420 1.076133 +v -0.180699 0.761289 2.996192 +v -0.081346 1.224747 1.076133 +v -0.180699 1.191616 2.996192 +v 0.316009 0.661960 1.076133 +v 0.216656 1.092286 3.128817 +v 0.282836 0.695090 2.830812 +v 0.216656 1.158486 1.076133 +v -0.213816 1.224747 1.076133 +v -0.180699 0.695090 2.896923 +v -0.048229 0.595760 1.506765 +v -0.213816 1.158486 2.300911 +v 0.349126 0.761289 1.076133 +v 0.282836 0.728159 2.996192 +v 0.216656 1.125355 2.632074 +v 0.249774 1.059156 2.963236 +v -0.180699 1.158486 3.095661 +v 0.316009 0.695090 2.565761 +v -0.180699 0.595760 1.506765 +f 132 143 151 +f 132 133 135 +f 132 135 137 +f 137 135 140 +f 135 133 141 +f 136 135 141 +f 139 142 143 +f 132 137 143 +f 141 133 144 +f 136 141 144 +f 133 142 144 +f 142 134 144 +f 137 140 145 +f 138 134 146 +f 134 142 146 +f 142 139 146 +f 135 136 147 +f 136 138 147 +f 140 135 147 +f 131 145 148 +f 145 140 148 +f 138 146 148 +f 147 138 148 +f 140 147 148 +f 134 138 149 +f 138 136 149 +f 144 134 149 +f 136 144 149 +f 139 143 150 +f 143 137 150 +f 137 145 150 +f 145 131 150 +f 146 139 150 +f 131 148 150 +f 148 146 150 +f 133 132 151 +f 142 133 151 +f 143 142 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf new file mode 100644 index 000000000..aac18c895 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj new file mode 100644 index 000000000..cbcae26d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj @@ -0,0 +1,489 @@ +o convex_0 +v 1.061312 0.915569 0.630355 +v -1.110721 -0.783930 0.189610 +v -1.110721 -0.783930 0.315689 +v -1.079230 3.528224 0.819367 +v 0.966838 3.622258 -1.100733 +v -1.016248 -0.783930 -1.069054 +v 1.061312 -0.783930 -1.069054 +v -0.890283 3.527793 -1.006121 +v 0.935347 -0.783930 0.976700 +v 0.966838 3.622258 1.008167 +v -1.016248 -0.783930 1.071313 +v -1.079230 3.528224 1.008167 +v 1.092803 -0.783930 0.441556 +v -0.953265 3.527793 -0.785642 +v 1.092803 -0.060133 -0.061910 +v 0.966838 0.790048 1.008167 +v -0.953265 3.559713 0.819155 +v 0.998330 2.929518 -1.100733 +v 0.777891 3.622258 -1.100733 +v -1.016248 -0.437560 -1.069054 +v -1.047739 -0.783930 1.039634 +v 1.061312 0.317725 -1.069054 +v -1.079230 -0.626489 -0.345109 +v 0.998330 2.961006 0.913767 +v -0.670060 3.559713 -0.911721 +v 0.998330 3.086959 -0.943187 +v 0.714908 3.622258 1.008167 +v -0.984756 -0.532024 1.071313 +v 0.809382 2.520172 -1.100733 +v 0.620435 3.622258 -0.880254 +v -0.953265 2.741020 -1.006121 +v 0.966838 -0.595001 0.976700 +v -1.079230 2.362731 1.008167 +v 1.092803 -0.060133 0.378622 +v 1.092803 -0.783930 -0.093377 +v -1.110721 -0.437560 0.378410 +v -0.921774 3.559713 1.008167 +v -1.047739 -0.752441 -0.785642 +f 31 20 38 +f 3 2 6 +f 3 6 7 +f 3 7 9 +f 3 9 11 +f 9 7 13 +f 11 9 16 +f 4 12 17 +f 14 4 17 +f 10 5 19 +f 5 18 19 +f 19 6 20 +f 8 19 20 +f 3 11 21 +f 7 18 22 +f 2 4 23 +f 16 1 24 +f 10 16 24 +f 8 14 25 +f 14 17 25 +f 19 8 25 +f 5 10 26 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3.075745 -1.697163 -0.250700 +v 1.785568 -1.665709 -0.250700 +v 2.729418 -1.099193 0.284306 +v 1.974491 -1.445394 0.315819 +v 2.572014 -1.099193 -0.313726 +v 2.918341 -1.571211 0.221345 +v 2.446129 -1.728685 -0.187804 +v 3.075745 -1.602800 -0.345239 +f 56 47 59 +f 44 39 45 +f 40 41 47 +f 45 39 48 +f 44 45 49 +f 40 47 49 +f 47 44 49 +f 48 43 50 +f 45 48 50 +f 51 46 52 +f 42 41 52 +f 46 43 52 +f 41 51 52 +f 44 42 53 +f 39 44 53 +f 48 39 53 +f 41 40 54 +f 40 49 54 +f 49 45 54 +f 50 41 54 +f 45 50 54 +f 41 50 55 +f 50 43 55 +f 51 41 55 +f 43 51 55 +f 44 47 56 +f 43 46 57 +f 51 43 57 +f 46 51 57 +f 43 48 58 +f 42 52 58 +f 52 43 58 +f 53 42 58 +f 48 53 58 +f 41 42 59 +f 42 44 59 +f 47 41 59 +f 44 56 59 +o convex_2 +v -2.243713 -1.476845 0.315819 +v -3.093699 -1.728664 -0.345239 +v -3.093699 -1.728664 -0.219317 +v -2.999170 -1.067736 -0.156356 +v -1.110916 -1.634199 -0.282278 +v -1.110916 -1.067736 0.252858 +v -1.142555 -1.728664 0.315819 +v -1.110916 -1.067736 -0.250700 +v -2.999170 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+v -0.543966 -1.823125 3.085964 +v -0.543966 -0.847319 1.071510 +v 0.526110 -0.910366 1.071313 +v -0.575580 -0.878899 2.991503 +v -0.481089 -1.885944 1.071510 +v 0.589104 -1.854592 1.071313 +v 0.463116 -2.012039 2.771027 +v -0.543966 -1.193679 1.071510 +v 0.620601 -1.193679 2.267364 +v -0.071746 -0.847319 1.764096 +v -0.449592 -1.854478 3.085964 +v -0.543966 -0.878899 3.022661 +v 0.589104 -1.476765 1.071313 +v -0.292107 -1.917525 1.260433 +v -0.575580 -0.910366 2.393181 +v 0.620601 -1.948992 2.235811 +v -0.543966 -1.823125 2.802382 +v 0.589104 -0.878899 2.361825 +v -0.229230 -1.571164 3.085964 +v 0.557607 -0.910366 1.480908 +v 0.589104 -2.012039 2.802382 +v -0.481089 -1.885944 1.449356 +v -0.543966 -0.847319 1.701187 +f 96 94 107 +f 81 89 90 +f 86 87 92 +f 87 90 92 +f 90 89 92 +f 82 84 93 +f 83 82 94 +f 87 86 94 +f 91 84 95 +f 88 85 96 +f 83 94 96 +f 90 87 97 +f 89 81 98 +f 85 88 99 +f 88 86 99 +f 86 92 99 +f 93 84 100 +f 90 97 100 +f 97 93 100 +f 89 85 101 +f 92 89 101 +f 85 99 101 +f 99 92 101 +f 94 82 102 +f 87 94 102 +f 82 83 103 +f 84 82 103 +f 95 84 103 +f 85 95 103 +f 83 96 103 +f 96 85 103 +f 82 93 104 +f 97 87 104 +f 93 97 104 +f 102 82 104 +f 87 102 104 +f 81 90 105 +f 84 91 105 +f 98 81 105 +f 91 98 105 +f 90 100 105 +f 100 84 105 +f 85 89 106 +f 95 85 106 +f 91 95 106 +f 89 98 106 +f 98 91 106 +f 86 88 107 +f 94 86 107 +f 88 96 107 +o convex_4 +v 0.463160 -0.815840 -1.919462 +v 0.494627 -2.011922 -1.258328 +v 0.557560 -2.011922 -1.258328 +v -0.197752 -1.885944 -3.052426 +v -0.512532 -0.941934 -1.100924 +v 0.557560 -0.815840 -2.989197 +v -0.575580 -0.910440 -2.989197 +v -0.543999 -1.980427 -1.100924 +v 0.589141 -1.854450 -3.052426 +v 0.526093 -0.847451 -1.100924 +v -0.449485 -1.885944 -2.989197 +v 0.557560 -2.011922 -1.100924 +v 0.589141 -0.847451 -2.957678 +v -0.575580 -0.910440 -2.454139 +v -0.575580 -1.130783 -2.989197 +v 0.305713 -0.815840 -2.989197 +v 0.463160 -1.571235 -3.052426 +v 0.305713 -0.847451 -1.100924 +v -0.512532 -1.948933 -1.856424 +v 0.589141 -1.885944 -2.391101 +v -0.386552 -1.885944 -3.052426 +v -0.543999 -1.665601 -1.100924 +v 0.589141 -1.067794 -3.020716 +f 116 124 130 +f 110 109 111 +f 110 111 116 +f 113 108 117 +f 112 115 117 +f 109 110 119 +f 115 109 119 +f 117 115 119 +f 117 119 120 +f 113 117 120 +f 115 121 122 +f 121 114 122 +f 108 113 123 +f 121 108 123 +f 114 121 123 +f 116 111 124 +f 117 108 125 +f 112 117 125 +f 108 121 125 +f 121 112 125 +f 109 115 126 +f 115 122 126 +f 122 118 126 +f 110 116 127 +f 119 110 127 +f 120 119 127 +f 116 120 127 +f 111 109 128 +f 122 114 128 +f 118 122 128 +f 124 111 128 +f 114 124 128 +f 109 126 128 +f 126 118 128 +f 115 112 129 +f 112 121 129 +f 121 115 129 +f 113 120 130 +f 120 116 130 +f 123 113 130 +f 114 123 130 +f 124 114 130 +o convex_5 +v 0.557630 -1.162117 1.071313 +v -1.047714 -2.421135 -1.100733 +v -1.047714 -2.358091 -1.100733 +v 1.124249 -2.484179 -1.037587 +v 1.061242 -0.784530 -1.069054 +v -1.110721 -0.784530 0.315689 +v -1.016211 -2.452488 1.071313 +v 0.935228 -2.515702 0.945234 +v -1.016211 -0.784530 -1.069054 +v 0.966731 -0.784530 0.945234 +v -1.016211 -0.784530 1.071313 +v 1.155752 -1.288036 0.315689 +v -1.047714 -2.452488 -0.439297 +v 0.557630 -1.917460 -1.100733 +v 1.155752 -1.760019 0.315689 +v -1.110721 -1.634270 -0.250497 +v 0.589134 -1.854416 1.071313 +v -0.292075 -0.910279 -1.100733 +v 1.155752 -1.130934 -0.250710 +v 1.092745 -0.784361 0.441556 +v 0.526127 -2.515702 0.567635 +v -1.110721 -1.728497 0.284223 +v -0.890197 -2.452488 -0.974441 +v 0.526127 -0.910279 1.071313 +v -1.110721 -1.067720 -0.250497 +v -1.047714 -1.099242 1.008167 +v 0.872221 -2.515702 0.976700 +v 1.092745 -1.004846 -1.069054 +v 0.998235 -2.515702 0.473022 +v -0.480874 -2.484179 1.039634 +v 0.494623 -0.847405 -1.100733 +v 0.935228 -0.784530 0.976700 +v -0.544103 -2.452488 1.071313 +v 0.966731 -2.421135 0.913767 +v 0.683422 -2.452657 -1.069054 +v 0.935228 -2.137945 0.976700 +v -1.047714 -1.760019 -1.069054 +v 0.966731 -2.484179 -1.037375 +v -0.512378 -0.941801 -1.100733 +f 139 148 169 +f 137 131 141 +f 132 133 144 +f 142 140 145 +f 133 132 146 +f 131 137 147 +f 144 133 148 +f 145 134 149 +f 142 145 149 +f 135 139 150 +f 139 136 150 +f 136 141 150 +f 140 142 150 +f 149 135 150 +f 142 149 150 +f 132 143 152 +f 143 137 152 +f 146 132 152 +f 136 146 152 +f 143 132 153 +f 151 143 153 +f 141 131 154 +f 136 139 155 +f 133 146 155 +f 146 136 155 +f 137 141 156 +f 141 136 156 +f 136 152 156 +f 152 137 156 +f 151 138 157 +f 134 144 158 +f 149 134 158 +f 135 149 158 +f 134 145 159 +f 138 151 159 +f 137 143 160 +f 143 151 160 +f 151 157 160 +f 139 135 161 +f 148 139 161 +f 144 148 161 +f 158 144 161 +f 135 158 161 +f 131 147 162 +f 150 141 162 +f 140 150 162 +f 154 131 162 +f 141 154 162 +f 147 137 163 +f 157 147 163 +f 137 160 163 +f 160 157 163 +f 145 140 164 +f 159 145 164 +f 138 159 164 +f 134 132 165 +f 132 144 165 +f 144 134 165 +f 157 138 166 +f 147 157 166 +f 140 162 166 +f 162 147 166 +f 138 164 166 +f 164 140 166 +f 139 133 167 +f 133 155 167 +f 155 139 167 +f 132 134 168 +f 153 132 168 +f 151 153 168 +f 134 159 168 +f 159 151 168 +f 133 139 169 +f 148 133 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf new file mode 100644 index 000000000..0b82f4e01 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.obj 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b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj new file mode 100644 index 000000000..2cc368227 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj @@ -0,0 +1,387 @@ +o convex_0 +v -1.010468 -2.731733 -0.313624 +v 1.047295 -1.161041 1.856520 +v 1.047295 -0.075900 1.818920 +v 1.047295 -3.929347 -0.276024 +v -1.047855 -4.041819 1.856307 +v -1.122841 -0.075900 -0.313624 +v -1.010468 -0.075900 1.743934 +v 0.972309 -0.075900 -0.163863 +v 1.047295 -4.041819 1.856520 +v -0.935694 -4.079440 -0.313624 +v 0.523455 -0.075900 -0.313624 +v -1.047855 -1.161041 1.781533 +v -0.112546 -4.041819 -0.313624 +v 1.009696 -0.936880 -0.201250 +v -1.010468 -0.787179 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92 +f 90 87 93 +f 91 92 94 +f 86 91 95 +f 91 94 95 +f 92 89 97 +f 94 92 97 +f 90 93 98 +f 89 95 99 +f 95 94 99 +f 94 97 99 +f 87 92 101 +f 92 91 101 +f 93 87 102 +f 89 88 103 +f 88 90 103 +f 90 100 103 +f 101 91 104 +f 96 101 104 +f 91 102 104 +f 102 96 104 +f 95 89 105 +f 86 95 106 +f 98 86 106 +f 90 98 106 +f 100 90 106 +f 95 105 106 +f 105 100 106 +f 97 89 107 +f 89 99 107 +f 99 97 107 +f 96 87 108 +f 87 101 108 +f 101 96 108 +f 87 96 109 +f 102 87 109 +f 96 102 109 +f 91 86 110 +f 86 98 110 +f 98 93 110 +f 93 102 110 +f 102 91 110 +f 89 103 111 +f 103 100 111 +f 105 89 111 +o convex_3 +v -0.599013 1.458025 1.931550 +v 0.598307 0.522966 3.128417 +v 0.598307 0.485502 3.128417 +v -0.524005 1.270925 3.764460 +v 0.560686 1.532843 3.727135 +v 0.598307 1.570307 1.856520 +v -0.449231 0.485502 1.856520 +v -0.486618 0.485502 3.689620 +v 0.598307 0.560320 1.856520 +v 0.560686 0.447928 3.801975 +v -0.524005 1.532843 3.764460 +v -0.599013 1.570307 1.856520 +v -0.262062 1.570307 3.427776 +v 0.261473 0.447928 3.801975 +v 0.560686 0.447928 3.352936 +v -0.037623 1.158753 3.801975 +v -0.112397 0.485502 1.856520 +v 0.598307 1.570307 2.305749 +v -0.486618 0.485502 2.978737 +v 0.560686 0.859592 3.801975 +v 0.074421 0.447928 3.689620 +v 0.598307 0.522966 2.193585 +f 126 128 133 +f 113 114 117 +f 115 112 119 +f 117 114 120 +f 118 117 120 +f 114 113 121 +f 112 115 122 +f 118 112 123 +f 117 118 123 +f 112 122 123 +f 123 122 124 +f 122 116 124 +f 117 123 124 +f 115 119 125 +f 114 121 126 +f 121 125 126 +f 122 115 127 +f 116 122 127 +f 115 125 127 +f 125 121 127 +f 118 120 128 +f 126 118 128 +f 116 113 129 +f 113 117 129 +f 124 116 129 +f 117 124 129 +f 112 118 130 +f 119 112 130 +f 113 116 131 +f 121 113 131 +f 116 127 131 +f 127 121 131 +f 125 119 132 +f 118 126 132 +f 126 125 132 +f 130 118 132 +f 119 130 132 +f 120 114 133 +f 114 126 133 +f 128 120 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf new file mode 100644 index 000000000..7ce98d65e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj new file mode 100644 index 000000000..40f574ce1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj @@ -0,0 +1,384 @@ +o convex_0 +v -0.052858 0.307655 -2.216843 +v 0.123811 -0.310903 -1.392130 +v 0.271106 -0.310903 -1.392130 +v 0.123811 -0.193095 -3.100879 +v 0.359591 0.219365 -1.126823 +v -0.200213 -0.222547 -1.126823 +v -0.259143 -0.193095 -3.041943 +v -0.200213 0.366625 -3.071314 +v -0.200213 0.189847 -1.126823 +v 0.241671 0.219365 -2.865136 +v 0.271106 -0.193095 -3.041943 +v 0.271106 -0.310903 -1.126823 +v -0.229647 0.130877 -1.333388 +v -0.229647 -0.222547 -2.983007 +v 0.359591 0.101491 -1.421501 +v 0.182802 0.248817 -2.983007 +v -0.229647 -0.193095 -1.303630 +v -0.200213 0.219365 -1.274259 +v -0.141283 0.366625 -2.983007 +v 0.241671 -0.134125 -3.100879 +v 0.241671 -0.222547 -2.865136 +v -0.229647 0.189847 -3.041943 +v 0.359591 0.219365 -1.333388 +v -0.229647 -0.222547 -1.598309 +v 0.359591 0.072039 -1.126823 +v 0.271106 -0.134125 -3.041943 +f 23 15 26 +f 4 7 8 +f 6 5 9 +f 2 3 12 +f 5 6 12 +f 6 2 12 +f 3 2 14 +f 7 4 14 +f 6 9 17 +f 13 7 17 +f 9 13 17 +f 5 1 18 +f 9 5 18 +f 8 13 18 +f 13 9 18 +f 1 5 19 +f 16 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-0.200216 -0.222763 -1.126823 +v 1.066716 -0.634883 -1.038271 +v 0.271287 -0.457918 1.112405 +v -0.141185 -3.110003 0.287161 +v 1.066716 -0.045797 0.964891 +v 1.037200 2.988414 -0.124694 +v 0.271287 -0.310346 -1.126823 +v 0.447884 -3.079410 -0.331169 +v 1.007685 3.018409 -1.126604 +v 0.212380 3.017809 -1.067861 +v 1.066716 1.132374 0.905929 +v -0.200216 -0.222763 1.112405 +v 1.066716 -2.962432 0.935520 +v 0.830964 2.104786 0.994481 +v 0.978294 -2.667289 0.994481 +v 0.536306 2.988414 0.964891 +v 0.978294 3.018409 -0.301579 +v -0.200216 0.189357 -1.126823 +v 1.037200 1.721460 -1.097232 +v 0.182865 0.218751 1.112405 +v 1.066716 -1.724872 -1.038271 +v -0.170700 2.987814 -1.038271 +v 0.772058 -2.962432 -1.008899 +v -0.200216 -2.962432 0.935520 +v 0.271287 -0.017003 1.112405 +v -0.200216 3.018409 0.022162 +v 0.506915 3.017809 0.464046 +v 0.035536 -2.933038 0.994262 +v 0.978294 -1.931232 0.994481 +v 0.948778 -2.991827 -0.802424 +v -0.200216 -3.110003 0.198828 +v 0.948778 2.635083 0.964891 +v 1.037200 1.396923 -1.097232 +v -0.200216 0.189357 1.112405 +v 0.065051 3.017809 -1.038271 +f 123 90 132 +f 89 88 95 +f 93 87 95 +f 87 93 96 +f 95 87 97 +f 96 93 98 +f 91 92 99 +f 88 89 100 +f 91 99 102 +f 87 96 105 +f 90 95 106 +f 102 99 108 +f 94 102 108 +f 103 94 108 +f 99 103 108 +f 95 97 109 +f 100 89 109 +f 97 100 109 +f 92 91 110 +f 101 105 110 +f 91 102 112 +f 94 103 114 +f 106 95 114 +f 103 106 114 +f 98 93 115 +f 104 98 115 +f 90 106 115 +f 106 104 115 +f 107 90 115 +f 103 99 116 +f 106 103 116 +f 95 88 117 +f 88 100 117 +f 113 95 117 +f 99 92 118 +f 92 104 118 +f 116 99 118 +f 115 93 119 +f 107 115 119 +f 96 98 120 +f 104 92 120 +f 98 104 120 +f 92 105 120 +f 105 96 120 +f 97 87 121 +f 101 110 121 +f 100 112 122 +f 117 100 122 +f 111 117 122 +f 93 95 123 +f 95 90 123 +f 95 113 124 +f 113 94 124 +f 94 114 124 +f 114 95 124 +f 100 97 125 +f 110 91 125 +f 91 112 125 +f 112 100 125 +f 97 121 125 +f 121 110 125 +f 102 111 126 +f 112 102 126 +f 111 122 126 +f 122 112 126 +f 105 92 127 +f 92 110 127 +f 110 105 127 +f 87 105 128 +f 105 101 128 +f 121 87 128 +f 101 121 128 +f 102 94 129 +f 111 102 129 +f 94 113 129 +f 117 111 129 +f 113 117 129 +f 104 106 130 +f 106 116 130 +f 118 104 130 +f 116 118 130 +f 89 95 131 +f 109 89 131 +f 95 109 131 +f 90 107 132 +f 119 93 132 +f 107 119 132 +f 93 123 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf new file mode 100644 index 000000000..633bde15b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj new file mode 100644 index 000000000..b4b31e972 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.250114 -4.164227 -0.843272 +v 0.012716 2.478842 1.084500 +v -0.016756 2.478842 1.084500 +v 0.042391 5.178916 -0.457965 +v -1.025291 -4.253078 0.016814 +v 0.695032 -4.282695 0.728261 +v 0.991780 2.509446 0.046088 +v -0.847242 2.597310 -0.754625 +v -0.758218 3.220252 0.787634 +v -0.787893 -4.282695 0.787634 +v 0.784056 -1.345686 -0.754418 +v 0.695032 3.280473 0.787634 +v -0.016756 3.250856 -0.962224 +v -0.787893 -3.421831 -0.784105 +v 0.932430 -4.253078 0.016814 +v -1.054966 2.657531 0.046088 +v -0.016756 5.266779 0.431808 +v 0.695032 3.162005 -0.695251 +v 0.457837 5.266779 -0.042559 +v -0.016756 -3.866084 1.025127 +v -0.016756 -3.035824 -1.021598 +v -0.372649 5.237163 -0.012872 +v -0.609844 -4.549247 -0.546818 +v 0.784056 0.225984 0.787841 +v 0.576333 -4.549247 -0.546818 +v 0.042391 -4.548260 0.817527 +v 1.021454 -2.443486 0.046088 +v 0.754382 -3.689370 -0.724732 +v -0.787893 3.249869 -0.724732 +v -0.075902 3.250856 1.025127 +v -0.787893 2.568680 0.817321 +v -0.995616 3.250856 -0.012872 +v 0.724707 -3.451448 0.787634 +v -0.105577 -4.252091 -0.902851 +v -0.817568 -3.659753 0.787841 +v 0.932430 3.249869 0.046088 +v -0.224276 2.539063 -0.962018 +v -0.669194 -4.549247 0.639202 +v -0.342975 -3.540298 0.965754 +v 0.754382 2.627914 0.817321 +v 0.072065 -1.789940 -1.021598 +v -1.025291 -3.689370 -0.072246 +v -0.787893 -4.252091 -0.695045 +v 0.695032 -4.519630 0.342748 +v 0.012716 5.504702 -0.042559 +v 0.843406 -2.354635 -0.635878 +v -1.025291 -3.541286 0.135148 +v 0.339138 5.119682 0.313062 +v -0.016756 2.509446 -0.991911 +v -1.054966 2.539063 -0.042559 +v 0.991780 -3.629149 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100644 index 000000000..05a758bd6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj new file mode 100644 index 000000000..2af514745 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj @@ -0,0 +1,516 @@ +o convex_0 +v 1.032253 -1.046981 -0.402918 +v -1.081038 -3.714206 0.739833 +v -1.081038 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a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf new file mode 100644 index 000000000..e25ca19fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj new file mode 100644 index 000000000..ea3465872 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj @@ -0,0 +1,453 @@ +o convex_0 +v -0.091325 -3.719372 0.406900 +v 0.946410 0.737467 1.048113 +v 0.274900 0.737467 1.048113 +v 0.946410 0.737467 -1.058201 +v -0.946047 0.737467 -0.966452 +v 0.976978 -3.688834 -1.058201 +v -1.007183 -3.657859 1.048113 +v -0.946047 -3.688834 -0.935938 +v 0.976978 -3.597219 0.986878 +v -0.946047 0.737467 1.017393 +v 1.007546 0.737031 -1.058201 +v -0.610193 0.371008 -1.027481 +v -1.007183 -2.436766 0.620500 +v 0.976978 -3.352477 1.017393 +v 0.579988 -3.658296 -1.058201 +v -0.976615 0.187779 1.017393 +v -0.091325 -3.627757 1.048113 +v -0.976615 -0.636318 1.048113 +v 0.061120 -1.002777 -1.058201 +v -0.579625 -3.719372 -0.508531 +v 0.915842 -3.627321 0.956364 +v -0.976615 -3.688834 -0.264210 +v -0.976615 -0.026425 -0.172667 +v -0.610193 0.737467 -1.027481 +v 0.976978 -2.711610 1.017393 +v 0.976978 -3.688834 -0.600280 +v 0.366406 -3.719372 -0.600280 +v -0.793404 -3.688834 0.834307 +v -1.007183 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1.927987 -1.088727 +v -0.457616 0.890239 -2.584369 +v 0.458017 1.958519 -2.828529 +f 104 116 126 +f 94 95 103 +f 99 93 105 +f 96 99 107 +f 100 103 109 +f 105 93 109 +f 99 105 111 +f 105 109 111 +f 110 97 111 +f 107 99 112 +f 110 96 112 +f 97 110 112 +f 111 97 112 +f 99 111 112 +f 96 94 113 +f 94 103 113 +f 95 94 114 +f 103 108 115 +f 108 104 115 +f 113 103 115 +f 106 113 115 +f 103 100 116 +f 108 103 116 +f 104 108 116 +f 96 107 117 +f 112 96 117 +f 107 112 117 +f 102 96 118 +f 96 110 118 +f 110 102 118 +f 111 109 119 +f 110 111 119 +f 104 101 120 +f 98 106 120 +f 115 104 120 +f 106 115 120 +f 103 95 121 +f 109 103 121 +f 95 119 121 +f 119 109 121 +f 102 110 122 +f 95 114 122 +f 114 102 122 +f 119 95 122 +f 110 119 122 +f 99 96 123 +f 106 98 123 +f 96 113 123 +f 113 106 123 +f 93 99 124 +f 101 93 124 +f 98 120 124 +f 120 101 124 +f 99 123 124 +f 123 98 124 +f 94 96 125 +f 96 102 125 +f 114 94 125 +f 102 114 125 +f 93 101 126 +f 101 104 126 +f 100 109 126 +f 109 93 126 +f 116 100 126 +o convex_4 +v -0.946077 2.446641 -0.477962 +v 1.007552 2.385810 -0.722269 +v 1.007552 2.294302 -0.722269 +v 0.946358 0.737641 1.048113 +v -0.823879 0.737467 -0.997113 +v -0.946077 2.324631 1.017575 +v -0.946077 0.737467 1.017575 +v 0.946358 2.416312 1.048113 +v 1.007552 0.737641 -1.058189 +v -0.915480 2.477144 -0.997113 +v 0.824352 2.416312 -1.058189 +v -0.946077 0.737467 -0.966574 +v -0.274469 2.507993 0.254328 +v -0.640870 1.958430 -1.088727 +v 0.335945 2.507993 -0.264195 +v -0.549270 0.859650 -1.088727 +v -0.579676 1.866749 1.048113 +v 1.007552 2.385810 -1.058189 +v 0.427354 2.172120 -1.088727 +v -0.518673 0.859650 1.048113 +v 0.427354 0.829148 -1.088727 +v 0.213747 2.507993 0.284866 +v -0.946077 2.385810 -0.966574 +v 0.976955 2.324631 0.345734 +v 0.244344 2.385810 1.048113 +v 0.976955 0.737641 0.071099 +v -0.701873 2.477144 -0.997113 +v 0.946358 2.416312 0.406810 +v -0.243872 2.507993 -0.203118 +v -0.640870 2.019434 -1.088727 +f 145 140 156 +f 131 130 133 +f 132 127 133 +f 128 129 135 +f 133 127 138 +f 131 133 138 +f 127 132 139 +f 136 127 139 +f 138 136 140 +f 135 131 142 +f 131 138 142 +f 138 140 142 +f 132 133 143 +f 130 134 143 +f 134 128 144 +f 128 135 144 +f 142 140 145 +f 144 135 145 +f 137 144 145 +f 133 130 146 +f 130 143 146 +f 143 133 146 +f 135 142 147 +f 145 135 147 +f 142 145 147 +f 139 134 148 +f 134 141 148 +f 141 139 148 +f 127 136 149 +f 138 127 149 +f 136 138 149 +f 129 128 150 +f 128 134 150 +f 134 130 150 +f 139 132 151 +f 134 139 151 +f 132 143 151 +f 143 134 151 +f 130 131 152 +f 135 129 152 +f 131 135 152 +f 129 150 152 +f 150 130 152 +f 137 136 153 +f 141 137 153 +f 136 141 153 +f 141 134 154 +f 137 141 154 +f 134 144 154 +f 144 137 154 +f 136 139 155 +f 141 136 155 +f 139 141 155 +f 136 137 156 +f 140 136 156 +f 137 145 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf new file mode 100644 index 000000000..0e1f9519e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj new file mode 100644 index 000000000..745277b7c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj @@ -0,0 +1,1083 @@ +o convex_0 +v 0.302359 -1.707544 -1.114260 +v -0.446464 -1.957225 -1.363683 +v -0.339447 -2.883952 -1.399428 +v -0.054241 -1.707544 -1.684729 +v 0.123949 -3.204775 -1.363683 +v -0.232504 -1.707544 -1.042968 +v -0.125414 -3.240517 -1.149873 +v -0.196734 -3.169204 -1.542079 +v 0.231039 -1.850170 -1.542079 +v -0.410694 -1.707544 -1.577692 +v 0.266589 -1.743286 -1.042968 +v -0.375144 -1.743286 -1.114260 +v -0.018617 -3.133462 -1.542079 +v -0.303751 -3.204775 -1.292523 +v -0.054241 -3.454456 -1.363683 +v 0.017079 -3.133462 -1.149873 +v -0.018617 -1.778857 -1.007222 +v 0.302359 -1.707544 -1.363683 +v -0.161184 -1.778857 -1.684729 +v -0.446464 -1.707544 -1.256844 +v -0.303751 -2.313790 -1.114260 +v -0.089864 -3.062149 -1.114260 +v -0.375144 -2.099851 -1.577692 +v 0.123949 -3.169204 -1.292523 +v -0.303751 -3.204775 -1.399428 +v 0.302359 -1.885912 -1.221298 +v -0.089864 -3.026578 -1.577692 +f 8 19 27 +f 1 4 6 +f 6 4 10 +f 1 6 11 +f 4 9 13 +f 9 5 13 +f 13 5 15 +f 8 13 15 +f 7 14 15 +f 7 15 16 +f 11 6 17 +f 4 1 18 +f 9 4 18 +f 5 9 18 +f 10 4 19 +f 10 2 20 +f 6 10 20 +f 12 6 20 +f 2 14 20 +f 14 12 20 +f 6 12 21 +f 14 7 21 +f 12 14 21 +f 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157 +f 140 133 158 +f 133 147 158 +f 147 138 158 +f 138 154 158 +f 154 140 158 +f 138 141 159 +f 143 138 159 +f 141 145 159 +f 145 143 159 +f 145 137 160 +f 138 153 160 +f 153 145 160 +f 137 154 160 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf new file mode 100644 index 000000000..d4fff1974 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj new file mode 100644 index 000000000..c9aad9d90 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj @@ -0,0 +1,396 @@ +o convex_0 +v -1.018000 0.775415 -0.393313 +v -0.496885 0.898114 1.691196 +v -0.588708 0.898114 1.691196 +v 0.514454 -3.485529 1.537875 +v 0.974425 0.898114 -0.362648 +v -1.110037 -3.546878 -0.362429 +v 1.035783 -3.515986 -0.362648 +v 1.066462 0.898114 1.629868 +v -0.925963 -3.454637 1.598984 +v 1.005104 -3.485529 1.506992 +v -0.925963 0.898114 1.629649 +v 0.575812 0.898114 -0.546415 +v -1.110037 0.898114 -0.331984 +v -1.110037 -3.546878 -0.147999 +v -0.251666 0.407320 -0.515970 +v 1.066249 0.223272 1.629868 +v -0.864605 -2.994735 1.629649 +v 1.035783 -3.515986 0.863263 +v 1.005104 -3.270589 -0.393313 +v 1.035783 -2.197630 -0.362648 +v -0.956642 0.438212 1.414999 +v -0.956642 -3.454637 1.476328 +v 0.637170 0.683174 -0.546415 +v 1.066462 0.898114 1.415218 +v 1.035783 -3.178348 1.506992 +v 0.116054 -3.546878 -0.362429 +v -0.220987 0.898114 -0.515970 +v 1.005104 -0.267087 -0.362648 +v 1.066249 -0.358893 1.568320 +v -0.558242 0.499561 1.691196 +v -0.496885 -3.454637 1.598984 +v -0.956642 -2.841145 -0.393313 +v -1.079358 -3.546878 -0.025342 +v -0.987321 0.898114 1.077912 +v -0.925963 -2.504376 1.629649 +v 0.116054 -3.485529 1.537875 +v 1.005104 -2.044475 -0.393313 +v -0.833927 0.775415 1.660313 +v -1.110037 0.898114 -0.362429 +v -1.110037 -3.209240 -0.147999 +v 0.943746 0.621825 -0.393094 +v -1.110037 0.560475 -0.301320 +v -0.619387 -1.217782 -0.454641 +v -0.619387 -2.933386 -0.393313 +v 1.035783 -3.485529 1.231014 +v -0.987321 -3.485529 1.108576 +f 33 36 46 +f 3 2 5 +f 5 2 8 +f 3 5 11 +f 11 5 12 +f 11 12 13 +f 13 6 14 +f 8 2 16 +f 4 10 16 +f 10 4 18 +f 7 19 20 +f 11 21 22 +f 12 5 23 +f 15 12 23 +f 5 8 24 +f 7 20 24 +f 16 10 25 +f 14 6 26 +f 7 18 26 +f 19 7 26 +f 6 19 26 +f 13 12 27 +f 15 1 27 +f 12 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80 85 106 +f 96 80 106 +f 85 97 106 +f 106 97 107 +f 87 83 107 +f 83 91 107 +f 91 96 107 +f 97 87 107 +f 96 106 107 +f 76 88 108 +f 103 76 108 +f 88 103 108 +f 95 77 109 +f 77 101 109 +f 101 95 109 +f 87 79 110 +f 83 87 110 +f 79 89 110 +f 89 93 110 +f 100 83 110 +o convex_3 +v -0.312959 1.603127 3.591531 +v 0.054795 1.143355 1.691391 +v 0.208040 1.143355 1.691391 +v 0.177379 1.787049 1.691391 +v 0.177379 1.143355 3.683778 +v 0.300024 1.787049 3.530293 +v -0.282297 1.204725 1.936734 +v -0.159653 1.725742 1.691391 +v -0.312959 1.296717 3.683778 +v -0.251636 1.695057 3.315569 +v -0.251636 1.388647 1.691391 +v 0.085456 1.143355 3.683778 +v 0.177379 1.787049 3.499479 +v 0.238702 1.296717 2.028591 +v -0.220975 1.695057 1.997972 +v -0.190314 1.174103 1.691391 +v 0.208040 1.725742 1.814062 +v 0.085456 1.787049 1.967353 +v 0.300024 1.725742 3.346383 +v -0.312959 1.266032 3.284950 +v -0.190314 1.358024 3.683778 +v 0.208040 1.143355 2.427225 +v -0.220975 1.695057 3.560912 +v -0.282297 1.358024 2.090024 +v 0.238702 1.419332 3.622150 +v -0.282297 1.664435 3.009183 +f 125 134 136 +f 113 112 114 +f 112 113 115 +f 114 112 118 +f 118 112 121 +f 112 115 122 +f 115 119 122 +f 116 114 123 +f 120 118 125 +f 118 121 125 +f 121 112 126 +f 117 121 126 +f 112 122 126 +f 122 117 126 +f 113 114 127 +f 114 116 127 +f 124 113 127 +f 114 118 128 +f 118 120 128 +f 123 114 128 +f 120 123 128 +f 127 116 129 +f 124 127 129 +f 111 117 130 +f 119 111 130 +f 117 122 130 +f 122 119 130 +f 119 115 131 +f 111 119 131 +f 115 113 132 +f 113 124 132 +f 124 129 132 +f 120 111 133 +f 116 123 133 +f 123 120 133 +f 131 116 133 +f 111 131 133 +f 117 111 134 +f 121 117 134 +f 125 121 134 +f 129 116 135 +f 131 115 135 +f 116 131 135 +f 115 132 135 +f 132 129 135 +f 111 120 136 +f 120 125 136 +f 134 111 136 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf new file mode 100644 index 000000000..ed610cf32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj new file mode 100644 index 000000000..49b6e48a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj @@ -0,0 +1,1161 @@ +o convex_0 +v -2.240654 -1.801514 0.210329 +v -2.953384 -1.658918 -0.003404 +v -2.953384 -1.658918 0.067761 +v -2.561379 -4.117714 -0.003404 +v -2.276258 -1.658918 -0.217255 +v -2.561379 -3.511439 0.281672 +v -2.525775 -3.760982 -0.252897 +v -2.311934 -3.760982 0.032120 +v -2.775073 -1.623514 0.281672 +v -2.775073 -1.623514 -0.217255 +v -2.739470 -3.760982 -0.003404 +v -2.347538 -1.623514 0.281672 +v -2.739470 -2.905653 -0.217255 +v -2.739470 -3.012599 0.245971 +v -2.204978 -1.623514 -0.145971 +v -2.454568 -3.760982 0.245971 +v -2.596982 -2.549896 -0.288539 +v -2.383288 -3.511439 -0.181613 +v -2.454568 -2.621194 0.317314 +v -2.311934 -2.905653 0.245971 +v -2.204978 -2.051056 0.067761 +v -2.596982 -3.725332 0.245971 +v -2.418892 -1.623514 -0.252897 +v -2.846427 -1.872812 0.245971 +v -2.596982 -2.763789 0.317314 +v -2.703793 -3.476035 -0.181613 +v -2.490172 -4.117714 -0.039046 +v -2.525775 -2.835087 -0.288539 +v -2.561379 -2.015407 0.317314 +v -2.311934 -3.760982 -0.003404 +v -2.204978 -1.623514 0.139045 +v -2.739470 -3.760982 0.032120 +v -2.561379 -3.760982 -0.252897 +f 17 28 33 +f 2 3 9 +f 2 9 10 +f 3 2 11 +f 10 9 12 +f 2 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj new file mode 100644 index 000000000..7c14ad4e2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj @@ -0,0 +1,456 @@ +o convex_0 +v 1.045467 -3.498802 0.785462 +v -1.091269 -2.888751 0.887109 +v -1.091269 -2.888751 0.955089 +v 1.079349 1.824882 -0.977921 +v -1.023288 -4.550222 -1.079783 +v -0.955524 1.824882 1.022638 +v -1.023288 1.824882 -1.113666 +v 1.113447 -4.652954 -1.079783 +v 0.943820 1.757662 1.090834 +v -0.955524 -4.618076 0.988756 +v 0.943820 -4.585100 0.955089 +v 1.079349 -2.719433 1.022853 +v -1.091269 1.825516 -0.706648 +v 1.045467 -2.345919 -1.113881 +v -1.023288 -3.838072 -1.113881 +v 0.977702 1.824882 0.955089 +v 0.367176 1.350538 1.090834 +v 0.977702 0.129166 1.090834 +v -0.548506 -4.652954 0.547856 +v -1.091269 -1.870941 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3.080535 1.893523 0.412387 +v 2.809229 2.910745 0.582053 +v 2.978869 2.809046 0.548075 +v 2.843118 1.859548 -0.197871 +v 1.079528 2.639396 -0.503338 +v 2.843118 1.859548 -0.571182 +v 2.164754 2.978583 0.514209 +f 60 69 85 +f 58 57 59 +f 55 56 61 +f 56 55 62 +f 58 59 62 +f 61 56 63 +f 57 58 64 +f 64 54 65 +f 65 60 66 +f 64 65 66 +f 56 62 67 +f 63 59 69 +f 54 64 70 +f 64 58 70 +f 58 68 70 +f 68 58 71 +f 57 64 72 +f 64 66 72 +f 61 63 73 +f 60 65 74 +f 63 69 74 +f 59 57 75 +f 60 59 75 +f 68 61 76 +f 61 73 76 +f 62 59 77 +f 59 63 77 +f 67 62 77 +f 67 77 78 +f 63 56 78 +f 56 67 78 +f 77 63 78 +f 73 63 79 +f 74 65 79 +f 63 74 79 +f 65 76 79 +f 76 73 79 +f 66 60 80 +f 57 72 80 +f 72 66 80 +f 75 57 80 +f 60 75 80 +f 69 60 81 +f 60 74 81 +f 74 69 81 +f 65 54 82 +f 54 70 82 +f 70 68 82 +f 76 65 82 +f 68 76 82 +f 58 62 83 +f 62 55 83 +f 71 58 83 +f 71 83 84 +f 55 61 84 +f 61 68 84 +f 68 71 84 +f 83 55 84 +f 59 60 85 +f 69 59 85 +o convex_2 +v -2.244467 1.927438 0.582007 +v -1.091464 3.080508 -0.401559 +v -1.091464 3.046566 0.005585 +v -3.058387 2.978562 0.548042 +v -3.024498 1.995322 -0.435305 +v -1.091464 1.859554 -0.401559 +v -1.091464 2.978682 0.615972 +v -2.922832 2.978562 -0.469270 +v -1.091464 1.893496 0.514186 +v -3.092471 1.961380 0.615972 +v -1.091464 2.707266 -0.503345 +v -1.193131 3.080508 -0.503345 +v -2.753191 3.012504 0.412400 +v -1.769828 1.893496 -0.435305 +v -2.990609 2.978562 -0.333629 +v -2.787080 2.978562 0.582007 +v -1.091464 2.707266 0.615972 +v -1.735743 2.673324 -0.503345 +v -3.092471 1.961380 0.344579 +v -3.058387 2.978562 0.310614 +v -3.092471 2.232677 0.615972 +v -2.888943 1.961380 -0.435305 +v -1.125353 1.961380 0.548042 +v -1.227019 1.859554 -0.299663 +v -2.549467 2.232677 -0.469270 +v -1.091464 1.893496 -0.435305 +v -2.753191 1.961380 0.615972 +v -2.515578 3.012504 -0.469270 +v -1.634077 2.978562 0.615972 +v -1.091464 3.012624 0.412400 +v -3.024498 2.164912 -0.435305 +v -1.905383 3.012504 -0.503345 +v -3.092471 2.537676 0.548042 +v -2.549467 1.927438 0.344579 +f 99 109 119 +f 87 88 91 +f 91 88 92 +f 91 92 94 +f 87 91 96 +f 87 96 97 +f 88 87 98 +f 87 97 98 +f 98 89 101 +f 94 92 102 +f 92 95 102 +f 97 96 103 +f 89 98 105 +f 98 100 105 +f 95 92 106 +f 101 89 106 +f 104 95 106 +f 104 90 107 +f 86 94 108 +f 94 102 108 +f 94 86 109 +f 91 94 109 +f 99 91 109 +f 90 93 110 +f 93 103 110 +f 107 90 110 +f 99 107 110 +f 96 91 111 +f 91 99 111 +f 103 96 111 +f 99 110 111 +f 110 103 111 +f 95 86 112 +f 102 95 112 +f 86 108 112 +f 108 102 112 +f 97 93 113 +f 98 97 113 +f 93 100 113 +f 100 98 113 +f 92 98 114 +f 98 101 114 +f 106 92 114 +f 101 106 114 +f 92 88 115 +f 88 98 115 +f 98 92 115 +f 93 90 116 +f 100 93 116 +f 90 104 116 +f 105 100 116 +f 93 97 117 +f 103 93 117 +f 97 103 117 +f 89 105 118 +f 104 106 118 +f 106 89 118 +f 116 104 118 +f 105 116 118 +f 86 95 119 +f 95 104 119 +f 107 99 119 +f 104 107 119 +f 109 86 119 +o convex_3 +v 0.977733 2.368481 1.056706 +v -1.057270 2.266645 -1.113672 +v -1.057270 3.453614 -1.113672 +v 1.079515 1.825516 -0.978130 +v -0.955488 1.825835 1.022714 +v 1.011518 3.385564 0.988722 +v 1.079515 3.419668 -0.978130 +v -0.955488 3.453614 0.954943 +v 0.943734 1.825835 1.056706 +v -1.023272 1.825835 -1.113672 +v -1.091268 1.995402 0.547891 +v 1.079515 1.995242 0.513899 +v -1.091268 2.978699 0.615874 +v 1.045516 3.419668 0.717425 +v 0.197687 3.453614 -1.045689 +v -1.091268 1.825835 -0.706833 +v -0.751924 1.825835 -1.113672 +v 0.841953 3.419509 -1.011909 +v 0.095905 2.063133 1.056706 +v -0.311010 3.453614 0.954943 +v -0.751924 3.453614 -1.113672 +v -1.091268 3.080216 -0.503307 +v 1.079515 3.012485 0.446128 +v 1.045516 3.385564 0.954943 +v 0.502821 3.419509 0.988935 +v 0.977733 1.893566 1.056706 +v 0.740170 1.961297 -1.011909 +v -0.616356 3.080216 0.988722 +v -0.989486 3.453614 0.649654 +v -1.091268 1.893566 0.513899 +v 1.079515 3.419668 -0.028483 +v -1.091268 2.707137 -0.774604 +v 0.977733 1.825835 0.988935 +v -1.057270 3.453614 -0.842375 +v -0.107446 1.825835 1.056706 +v -0.955488 1.927352 1.022714 +v 0.875738 3.419509 0.988935 +f 139 144 156 +f 121 122 129 +f 123 126 131 +f 130 124 132 +f 122 127 134 +f 123 124 135 +f 121 129 135 +f 129 123 135 +f 130 132 135 +f 129 122 136 +f 123 129 136 +f 126 123 137 +f 134 126 137 +f 128 120 138 +f 134 127 139 +f 133 134 139 +f 122 134 140 +f 136 122 140 +f 134 137 140 +f 137 136 140 +f 135 132 141 +f 131 126 142 +f 125 120 143 +f 131 142 143 +f 139 127 144 +f 120 128 145 +f 143 120 145 +f 131 143 145 +f 123 136 146 +f 137 123 146 +f 136 137 146 +f 138 120 147 +f 120 144 147 +f 144 127 147 +f 127 122 148 +f 132 127 148 +f 124 130 149 +f 135 124 149 +f 130 135 149 +f 126 134 150 +f 134 133 150 +f 142 126 150 +f 133 143 150 +f 143 142 150 +f 122 121 151 +f 121 135 151 +f 141 122 151 +f 135 141 151 +f 128 123 152 +f 123 131 152 +f 145 128 152 +f 131 145 152 +f 122 141 153 +f 141 132 153 +f 148 122 153 +f 132 148 153 +f 124 123 154 +f 123 128 154 +f 128 138 154 +f 154 138 155 +f 132 124 155 +f 127 132 155 +f 147 127 155 +f 138 147 155 +f 124 154 155 +f 120 125 156 +f 133 139 156 +f 125 143 156 +f 143 133 156 +f 144 120 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf new file mode 100644 index 000000000..e6f7fce8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj new file mode 100644 index 000000000..a31ef56fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj @@ -0,0 +1,387 @@ +o convex_0 +v 0.486676 0.882478 0.815304 +v -1.678519 -3.602670 -1.040389 +v -0.286577 -3.571498 -1.071479 +v 0.424764 -3.571498 1.031901 +v -1.554694 0.882039 0.969928 +v 0.486676 0.882478 -1.009506 +v -1.678519 0.882039 -1.009300 +v -1.523738 -3.478863 0.969928 +v 0.486676 -3.540766 -1.071273 +v 0.455720 0.882478 0.969722 +v -1.647563 0.727500 0.660474 +v 0.548589 0.758232 0.505850 +v -0.193926 -1.808347 1.031901 +v -1.678519 -3.602670 -0.823792 +v -1.338218 -3.478863 1.000605 +v 0.486676 -2.612214 -1.071273 +v 0.424764 0.015830 1.000811 +v 0.517632 -0.942577 -0.607401 +v 0.455720 -3.571498 0.134629 +v -0.410402 -3.540766 1.031901 +v -0.997917 -3.602670 -1.040183 +v -1.554694 -2.612653 0.908161 +v -0.812398 0.046562 1.000605 +v 0.455720 -2.674118 0.938838 +v 0.269982 -3.571498 -1.071479 +v 0.424764 -1.839079 1.031901 +v 0.548589 0.882478 0.443877 +v -1.647563 0.882039 0.660474 +v -1.678519 -3.138613 -1.040389 +v -1.554694 -3.602670 -0.669168 +v -1.554694 -1.283265 0.969928 +v -1.678519 0.882039 -0.885765 +v -1.647563 0.479886 0.629590 +v 0.084462 -3.571498 1.000811 +v 0.486676 -0.788037 -1.040389 +v -1.585650 0.882039 0.908161 +v -1.338218 -3.261981 1.000605 +v 0.486676 -3.509595 -0.978416 +v 0.455720 -3.571498 -0.514544 +v 0.455720 -0.788037 0.969722 +f 24 12 40 +f 1 6 10 +f 6 7 10 +f 7 2 14 +f 3 7 16 +f 12 9 18 +f 9 16 18 +f 4 13 20 +f 15 8 20 +f 14 2 21 +f 19 4 21 +f 14 8 22 +f 10 5 23 +f 17 10 23 +f 13 17 23 +f 4 19 24 +f 2 3 25 +f 3 16 25 +f 16 9 25 +f 21 2 25 +f 4 10 26 +f 13 4 26 +f 10 17 26 +f 17 13 26 +f 6 1 27 +f 1 12 27 +f 18 6 27 +f 12 18 27 +f 14 11 28 +f 3 2 29 +f 7 3 29 +f 2 7 29 +f 8 14 30 +f 20 8 30 +f 14 21 30 +f 21 4 30 +f 8 15 31 +f 15 5 31 +f 22 8 31 +f 11 22 31 +f 10 7 32 +f 7 14 32 +f 28 10 32 +f 14 28 32 +f 11 14 33 +f 22 11 33 +f 14 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88 +f 79 86 88 +f 86 82 88 +f 80 78 89 +f 74 82 90 +f 82 77 90 +f 87 74 90 +f 77 87 90 +f 80 89 91 +f 77 80 92 +f 87 77 92 +f 84 87 92 +f 91 84 92 +f 80 91 92 +f 75 74 93 +f 83 75 93 +f 76 83 93 +f 84 76 93 +f 74 87 93 +f 87 84 93 +f 81 84 94 +f 84 91 94 +f 76 81 95 +f 81 79 95 +f 83 76 95 +f 79 88 95 +f 88 83 95 +f 78 79 96 +f 89 78 96 +f 79 78 97 +f 78 82 97 +f 86 79 97 +f 82 86 97 +f 79 85 98 +f 73 89 98 +f 96 79 98 +f 89 96 98 +f 85 81 99 +f 89 73 99 +f 91 89 99 +f 81 94 99 +f 94 91 99 +f 73 98 99 +o convex_3 +v -0.997869 2.583741 -0.359872 +v -1.678459 0.882478 -1.009615 +v -1.678459 0.882478 -0.885790 +v 0.517657 0.882478 -0.421882 +v -1.554637 0.882478 0.970037 +v 0.455746 2.429036 0.939032 +v 0.486701 2.552767 -0.978610 +v -1.585593 2.429036 0.939032 +v 0.455746 0.882478 0.970037 +v -1.678459 2.490818 -1.009615 +v 0.486701 0.882478 -1.009615 +v -1.678459 1.191890 0.289483 +v 0.517657 2.026701 0.475124 +v -1.400075 1.933944 0.970037 +v 0.517657 0.882478 0.660571 +v -1.647503 0.882478 0.660571 +v -1.678459 1.748264 0.289483 +v -1.183602 2.583741 -0.483697 +v 0.455746 2.459844 0.722580 +v 0.455746 1.871995 0.970037 +v 0.517657 1.934111 -0.545513 +v -1.523682 2.459844 0.753391 +v -1.678459 2.459844 -0.576518 +v 0.486701 2.552767 -0.854785 +v -1.307209 2.490818 -1.009615 +v 0.486701 1.068325 -1.009615 +v -1.152647 2.583741 -0.329061 +v -1.678459 2.490818 -0.762159 +v -0.750441 2.583741 -0.483697 +v 0.517657 1.501301 0.660571 +v 0.084496 2.552767 -0.947605 +v -1.585593 1.439352 0.939032 +v 0.486701 2.521626 -0.390877 +v -1.647503 1.315621 0.660571 +f 107 116 133 +f 102 101 103 +f 102 103 104 +f 104 103 108 +f 101 102 109 +f 103 101 110 +f 101 109 110 +f 109 102 111 +f 107 104 113 +f 105 107 113 +f 104 108 113 +f 108 103 114 +f 103 112 114 +f 102 104 115 +f 111 102 115 +f 111 115 116 +f 109 111 116 +f 105 113 119 +f 113 108 119 +f 108 114 119 +f 103 110 120 +f 112 103 120 +f 106 112 120 +f 107 105 121 +f 105 118 121 +f 116 107 122 +f 109 116 122 +f 112 106 123 +f 109 106 124 +f 110 109 124 +f 110 124 125 +f 120 110 125 +f 106 120 125 +f 124 106 125 +f 100 117 126 +f 118 100 126 +f 117 121 126 +f 121 118 126 +f 117 109 127 +f 107 121 127 +f 121 117 127 +f 122 107 127 +f 109 122 127 +f 117 100 128 +f 106 117 128 +f 100 118 128 +f 123 106 128 +f 118 123 128 +f 112 105 129 +f 114 112 129 +f 105 119 129 +f 119 114 129 +f 106 109 130 +f 117 106 130 +f 109 117 130 +f 104 107 131 +f 115 104 131 +f 107 115 131 +f 105 112 132 +f 118 105 132 +f 112 123 132 +f 123 118 132 +f 115 107 133 +f 116 115 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf new file mode 100644 index 000000000..c6ae34dbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj new file mode 100644 index 000000000..2133d60a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj @@ -0,0 +1,720 @@ +o convex_0 +v 2.030988 -4.335922 -0.251670 +v 2.466876 -2.446580 0.329580 +v 2.466876 -2.446580 0.111434 +v 1.849246 -2.446580 0.220507 +v 2.212539 -4.335922 0.256865 +v 1.922033 -2.446580 -0.288095 +v 2.430514 -4.445081 -0.324453 +v 2.394217 -2.446580 -0.288095 +v 2.503173 -4.299732 0.184217 +v 1.958330 -4.263346 -0.360811 +v 2.030988 -4.335922 0.256865 +v 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+v -1.857080 0.787735 -0.578829 +v -1.312020 0.060897 0.620271 +v -1.384721 0.060897 0.620271 +v -1.312020 3.766942 0.438575 +v -2.329438 3.729830 0.438575 +v -1.348470 3.729830 -0.542326 +v -2.292988 -0.266397 0.583885 +v -2.292988 3.293964 -0.542326 +v -1.348470 -0.266397 -0.578829 +v -2.292988 -0.266397 -0.542326 +v -1.312020 -0.266397 0.620271 +v -2.256737 3.693902 -0.469671 +v -1.312020 3.620863 -0.287975 +v -2.292988 0.351475 0.583885 +v -2.147586 -0.266397 -0.578829 +v -1.348470 3.293964 0.474844 +v -1.893430 3.766942 0.365803 +v -1.348470 1.296245 -0.578829 +v -2.292988 3.039709 0.474844 +v -2.292988 3.657580 -0.505939 +v -2.329438 3.330681 0.402189 +v -1.857080 -0.229680 0.620271 +v -1.312020 3.766942 -0.033623 +v -1.711777 3.729830 -0.469671 +v -1.312020 -0.157036 0.511230 +v -2.256737 3.439647 -0.542326 +v -2.292988 3.729830 0.038797 +f 50 38 53 +f 35 33 36 +f 28 29 37 +f 30 28 37 +f 33 35 37 +f 30 37 39 +f 31 33 40 +f 27 35 41 +f 35 36 41 +f 36 34 41 +f 29 28 42 +f 28 30 42 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222 +f 217 220 223 +f 220 217 224 +f 215 216 227 +f 222 215 227 +f 216 223 227 +f 222 226 228 +f 220 224 230 +f 214 221 231 +f 230 214 231 +f 221 214 232 +f 218 221 232 +f 214 230 233 +f 230 224 233 +f 232 214 233 +f 224 232 233 +f 226 222 235 +f 222 227 235 +f 217 222 236 +f 225 217 236 +f 218 225 236 +f 223 220 237 +f 227 223 237 +f 226 235 237 +f 235 227 237 +f 222 228 238 +f 236 222 238 +f 218 236 238 +f 220 230 239 +f 230 231 239 +f 224 217 240 +f 217 225 240 +f 229 224 240 +f 225 229 240 +f 228 219 241 +f 231 221 241 +f 224 229 242 +f 229 225 242 +f 232 224 242 +f 216 215 243 +f 215 217 243 +f 223 216 243 +f 217 223 243 +f 219 228 244 +f 228 226 244 +f 237 220 244 +f 226 237 244 +f 239 219 244 +f 220 239 244 +f 219 239 245 +f 239 231 245 +f 241 219 245 +f 231 241 245 +f 221 218 246 +f 218 234 246 +f 234 228 246 +f 228 241 246 +f 241 221 246 +f 234 218 247 +f 228 234 247 +f 238 228 247 +f 218 238 247 +f 225 218 248 +f 218 232 248 +f 242 225 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf new file mode 100644 index 000000000..8cd236df7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj new file mode 100644 index 000000000..7fb655dad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj @@ -0,0 +1,249 @@ +o convex_0 +v -0.905477 -0.215710 0.973366 +v -1.111738 -4.953572 -1.086791 +v -1.111738 -4.953572 -0.880713 +v 1.085904 -5.057066 1.007815 +v 1.085904 1.089399 -1.018303 +v 0.982992 -4.987870 -0.915162 +v 1.085904 1.089399 0.938917 +v -0.940000 1.089399 -0.915162 +v -1.042912 -4.953572 0.973161 +v -1.008608 1.089399 0.904674 +v -1.111738 -0.696476 0.973161 +v -1.077216 -1.005153 -1.018098 +v 1.120426 -1.691704 0.973366 +v 1.085904 -5.057066 0.561212 +v 0.467776 -4.987870 -0.983649 +v -0.562219 -4.987870 1.007610 +v -1.111738 -0.970855 -0.228238 +v -1.042912 -4.987870 -1.052342 +v 1.085904 -3.683363 1.007815 +v 1.017296 -0.490691 -1.018303 +v -0.974304 0.848715 -0.949611 +v -0.836869 -4.953572 -1.086996 +v -1.111738 -4.163527 -1.086791 +v -1.111738 -1.863793 0.973161 +v 0.227429 0.196462 0.973161 +v -0.871173 1.020804 0.939122 +v 0.982992 -4.678591 -0.949406 +v 0.879861 1.090001 -1.018303 +v 0.639515 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-0.949295 +v 0.982918 4.729618 1.007815 +v 1.086082 1.845674 0.561178 +v 0.502109 1.983281 -1.018313 +v 1.017306 1.914864 0.973306 +v -1.043066 4.970043 -0.090927 +v 0.673841 5.039233 -1.018313 +v -0.871334 1.124785 -0.949295 +v -1.008678 4.077146 -0.983804 +v -1.008678 1.159187 0.870373 +v -1.043066 4.214366 0.973306 +v -1.043066 5.004831 0.389624 +v 1.051694 3.699500 -0.502856 +v 0.639453 4.901240 1.007815 +v -0.733781 1.090384 0.938796 +v 0.364973 5.004445 -1.018313 +v 0.948529 5.039233 -0.296793 +v -0.974290 1.090384 -0.365613 +v -0.974290 3.562280 -0.983804 +v 0.845573 1.090770 -1.018313 +v 1.086082 1.502431 0.938995 +v -0.562257 4.970043 -0.983804 +v 1.051694 3.562280 -1.018313 +v 0.982918 5.004445 0.664309 +v 1.051694 3.665098 -0.262482 +v -1.043066 4.867225 -0.056418 +f 69 48 85 +f 48 49 56 +f 47 54 58 +f 57 58 63 +f 54 61 64 +f 48 56 65 +f 50 57 66 +f 57 63 66 +f 55 60 67 +f 65 51 68 +f 49 48 69 +f 59 49 69 +f 53 59 69 +f 68 60 69 +f 56 49 70 +f 49 59 70 +f 65 56 71 +f 51 65 71 +f 56 66 71 +f 57 50 72 +f 62 47 72 +f 52 56 73 +f 61 52 73 +f 64 61 73 +f 56 70 73 +f 70 59 73 +f 53 55 74 +f 58 54 74 +f 55 58 74 +f 59 53 74 +f 54 64 74 +f 73 59 74 +f 64 73 74 +f 51 66 75 +f 66 63 75 +f 63 68 75 +f 68 51 75 +f 52 50 76 +f 56 52 76 +f 50 66 76 +f 66 56 76 +f 55 53 77 +f 60 55 77 +f 53 69 77 +f 69 60 77 +f 67 60 78 +f 68 63 78 +f 60 68 78 +f 58 55 79 +f 63 58 79 +f 55 67 79 +f 67 78 79 +f 78 63 79 +f 54 47 80 +f 61 54 80 +f 47 62 80 +f 62 61 80 +f 66 51 81 +f 51 71 81 +f 71 66 81 +f 47 58 82 +f 58 57 82 +f 72 47 82 +f 57 72 82 +f 50 52 83 +f 61 50 83 +f 52 61 83 +f 50 61 84 +f 61 62 84 +f 72 50 84 +f 62 72 84 +f 48 65 85 +f 65 68 85 +f 68 69 85 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf new file mode 100644 index 000000000..4ab71947b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj new file mode 100644 index 000000000..a2ef65ecd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.412072 -1.189757 -0.116214 +v -0.714384 -2.500679 0.592251 +v -0.714384 -2.500679 0.663077 +v 1.376478 -3.776612 1.017813 +v -0.608020 -3.776345 -0.966734 +v 1.341093 -3.776612 -1.002147 +v -0.714384 -1.118975 -1.002147 +v -0.430676 -1.118975 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215 +f 199 190 215 +f 182 206 215 +f 206 199 215 +f 208 187 216 +f 194 208 216 +f 187 210 216 +f 210 194 216 +f 199 207 217 +f 207 186 217 +f 186 209 217 +f 209 199 217 +f 189 181 218 +f 195 189 218 +f 191 195 218 +f 204 191 218 +f 181 211 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf new file mode 100644 index 000000000..b107824ed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj new file mode 100644 index 000000000..0939a635f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.064312 -3.846384 -0.881500 +v 0.020865 -1.258620 1.051926 +v -0.007394 -1.258620 1.051926 +v 0.020865 3.774325 -0.767863 +v 1.044588 -3.192550 -0.000064 +v -0.945941 -3.760519 0.084913 +v -0.007394 3.717607 0.767534 +v -0.974400 3.006267 -0.056983 +v 0.902293 3.006267 0.426223 +v 0.760199 2.863684 -0.739404 +v 0.760199 -3.732160 0.767334 +v -0.746928 -3.078326 0.824252 +v -0.718469 3.033839 -0.767863 +v -0.718469 3.005479 0.738874 +v 0.760199 -3.789666 -0.710945 +v -0.718469 -3.163403 -0.739404 +v 0.049123 -0.974241 -0.995538 +v 0.788658 2.750248 0.767334 +v -0.064312 -3.988179 0.795993 +v 1.016129 3.034626 -0.000064 +v -0.007394 2.977908 0.995008 +v -0.690010 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b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj new file mode 100644 index 000000000..82788df02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.161014 2.733177 1.815877 +v -0.036272 0.563120 -1.063535 +v 0.038506 0.563120 -1.063535 +v 1.797046 2.658407 -2.972197 +v 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+v -1.607807 -0.971015 -0.578241 +v -1.645137 0.563120 0.544239 +v -0.260889 0.188747 0.544239 +v -0.672659 0.525578 -0.540618 +v -1.383257 -0.971015 0.544239 +v -0.672659 -0.971015 -0.465958 +v -1.719987 0.226289 0.581627 +v -0.635329 0.563120 -0.390946 +v -0.260889 -0.260111 -0.578123 +v -2.169087 -0.596792 -0.465958 +v -0.522959 0.039177 0.619133 +v -1.645137 -0.821146 -0.578241 +v -1.682657 0.563120 0.431956 +v -1.719987 -0.971015 0.357178 +v -0.597809 -0.971015 0.469344 +v -2.206607 0.113962 -0.278663 +v -2.131757 -0.708819 0.581627 +v -2.131757 -0.896080 -0.428335 +v -2.206607 -0.185326 -0.465958 +f 115 99 118 +f 94 96 97 +f 91 90 101 +f 91 92 102 +f 96 91 102 +f 97 96 102 +f 99 90 103 +f 104 100 105 +f 100 94 105 +f 92 91 106 +f 91 101 106 +f 101 98 106 +f 90 91 107 +f 91 96 107 +f 103 90 107 +f 96 103 107 +f 96 94 108 +f 94 100 108 +f 100 96 108 +f 100 95 109 +f 92 93 110 +f 102 92 110 +f 97 102 110 +f 93 104 110 +f 104 97 110 +f 96 100 111 +f 103 96 111 +f 99 103 111 +f 100 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+v -0.148546 -3.440598 0.095092 +v -0.110967 -0.597316 1.030364 +v -0.148546 0.563120 0.506542 +v 0.599729 -3.402975 -1.102092 +v 1.348003 0.450251 1.105566 +v -0.223263 -3.402975 -0.802364 +v 0.525011 -3.440598 0.319618 +v 1.983981 0.338166 0.581528 +v -0.073608 0.300934 -1.064491 +v 1.946623 -3.402975 0.207247 +v -0.110967 0.563120 1.030364 +v 1.871905 0.563120 0.993195 +v 1.759609 0.563120 -0.989504 +v -0.110967 -1.793807 -1.102092 +v -0.185904 0.488266 -0.054232 +v -0.073608 -3.440598 -0.054232 +v 1.909264 -2.953850 1.105566 +v 1.983981 -1.719344 -1.027106 +v 1.983981 -3.402975 -0.877566 +f 148 145 157 +f 121 120 124 +f 119 122 128 +f 125 126 128 +f 128 126 129 +f 120 121 130 +f 124 120 130 +f 129 123 131 +f 130 121 133 +f 128 122 134 +f 126 125 135 +f 131 123 136 +f 122 119 137 +f 124 130 138 +f 127 121 139 +f 136 127 139 +f 123 126 140 +f 121 127 140 +f 133 121 140 +f 136 123 140 +f 127 136 140 +f 126 135 141 +f 132 122 142 +f 124 138 142 +f 126 123 143 +f 129 126 143 +f 123 129 143 +f 121 124 144 +f 139 121 144 +f 124 139 144 +f 131 136 145 +f 136 139 145 +f 137 119 146 +f 131 137 146 +f 135 125 147 +f 130 135 147 +f 138 130 147 +f 137 131 148 +f 131 145 148 +f 140 126 149 +f 133 140 149 +f 126 141 149 +f 141 133 149 +f 119 128 150 +f 128 129 150 +f 146 119 150 +f 125 128 151 +f 128 134 151 +f 134 125 151 +f 125 132 152 +f 132 142 152 +f 142 138 152 +f 147 125 152 +f 138 147 152 +f 130 133 153 +f 135 130 153 +f 133 141 153 +f 141 135 153 +f 139 124 154 +f 142 122 154 +f 124 142 154 +f 122 145 154 +f 145 139 154 +f 129 131 155 +f 131 146 155 +f 150 129 155 +f 146 150 155 +f 122 132 156 +f 132 125 156 +f 134 122 156 +f 125 134 156 +f 122 137 157 +f 145 122 157 +f 137 148 157 +o convex_4 +v 3.068955 -0.858585 0.581554 +v 3.592890 0.263777 -0.241450 +v 3.592890 0.263777 -0.278809 +v 1.984201 0.263777 0.057864 +v 1.984201 -0.858585 -0.503405 +v 3.854761 -0.746420 -0.465935 +v 3.967352 0.076599 0.506726 +v 1.984201 -0.933597 0.581554 +v 1.984201 0.263777 0.506726 +v 1.984201 0.188765 -0.465935 +v 3.892421 -0.746420 0.619133 +v 3.929886 0.226271 -0.465935 +v 3.817295 -0.783808 -0.428466 +v 2.208800 -0.933597 0.394428 +v 3.967352 0.113988 0.469256 +v 2.583262 -0.409570 -0.503405 +v 2.321197 0.263777 0.506726 +v 2.208800 0.226271 -0.465935 +v 3.967352 -0.073073 0.319599 +v 3.480882 -0.821314 0.619133 +v 2.246266 -0.858585 -0.503405 +v 3.892421 -0.559359 -0.428466 +v 1.984201 -0.297639 -0.503405 +v 3.892421 -0.671525 0.619133 +v 1.984201 -0.783808 0.581554 +v 3.854761 -0.783808 0.619133 +f 177 170 183 +f 159 160 161 +f 161 162 165 +f 159 161 166 +f 161 165 166 +f 162 161 167 +f 160 159 169 +f 165 162 171 +f 158 165 171 +f 170 158 171 +f 169 159 172 +f 169 163 173 +f 159 166 174 +f 172 159 174 +f 164 172 174 +f 161 160 175 +f 167 161 175 +f 160 169 175 +f 164 168 176 +f 172 164 176 +f 169 172 176 +f 165 158 177 +f 158 170 177 +f 163 170 178 +f 171 162 178 +f 170 171 178 +f 162 173 178 +f 173 163 178 +f 168 163 179 +f 163 169 179 +f 176 168 179 +f 169 176 179 +f 162 167 180 +f 173 162 180 +f 169 173 180 +f 167 175 180 +f 175 169 180 +f 168 164 181 +f 174 166 181 +f 164 174 181 +f 177 168 181 +f 177 181 182 +f 166 165 182 +f 165 177 182 +f 181 166 182 +f 163 168 183 +f 170 163 183 +f 168 177 183 +o convex_5 +v -0.672626 0.675407 0.581715 +v -1.084128 0.563120 -0.503405 +v -1.458160 0.563120 -0.465910 +v -1.009299 0.825020 -0.316249 +v -1.682756 0.563120 0.506832 +v -1.420801 0.825020 0.282181 +v -0.560218 0.563120 0.394560 +v -1.607817 0.712759 -0.428521 +v -0.672626 0.712759 -0.503405 +v -0.560218 0.787591 0.544220 +v -0.672626 0.563120 -0.503405 +v -1.645177 0.637978 0.506832 +v -0.560218 0.563120 0.581715 +v -0.822173 0.825020 -0.316249 +v -1.607817 0.563120 -0.391133 +v -1.345973 0.825020 -0.241472 +f 191 189 199 +f 186 185 188 +f 188 185 190 +f 185 186 191 +f 185 191 192 +f 191 187 192 +f 190 192 193 +f 190 185 194 +f 185 192 194 +f 192 190 194 +f 188 184 195 +f 191 188 195 +f 189 191 195 +f 184 193 195 +f 193 189 195 +f 184 188 196 +f 188 190 196 +f 193 184 196 +f 190 193 196 +f 187 189 197 +f 192 187 197 +f 189 193 197 +f 193 192 197 +f 186 188 198 +f 191 186 198 +f 188 191 198 +f 189 187 199 +f 187 191 199 +o convex_6 +v -0.784788 2.695942 -0.054353 +v -1.420768 0.825046 0.244899 +v -1.420768 0.825046 0.282313 +v -1.420768 2.695942 0.132656 +v -1.345940 0.825046 -0.241424 +v -0.897031 0.900131 0.319728 +v -0.822202 0.825046 -0.316253 +v -1.158868 2.620857 -0.278838 +v -0.784788 2.658216 0.319728 +v -0.784788 2.695942 -0.316253 +v -1.383354 2.620857 -0.166596 +v -1.383354 2.658216 0.244899 +v -1.271111 0.825046 0.319728 +v -1.046688 1.311633 -0.316253 +v -1.345940 2.583681 -0.241424 +v -0.784788 1.685958 -0.316253 +v -0.822202 0.825046 -0.204010 +v -1.121454 2.695942 0.282313 +v -0.897031 0.825046 0.282313 +f 212 216 218 +f 201 202 203 +f 202 201 204 +f 202 204 206 +f 203 200 209 +f 200 208 209 +f 209 207 210 +f 201 203 210 +f 204 201 210 +f 203 209 210 +f 203 202 211 +f 202 206 212 +f 205 208 212 +f 211 202 212 +f 206 204 213 +f 209 206 213 +f 207 209 213 +f 210 207 214 +f 204 210 214 +f 213 204 214 +f 207 213 214 +f 206 209 215 +f 209 208 215 +f 208 205 216 +f 212 206 216 +f 206 215 216 +f 215 208 216 +f 200 203 217 +f 208 200 217 +f 203 211 217 +f 212 208 217 +f 211 212 217 +f 205 212 218 +f 216 205 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf new file mode 100644 index 000000000..f57b80018 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj new file mode 100644 index 000000000..a41006c06 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj @@ -0,0 +1,666 @@ +o convex_0 +v -1.007749 -0.488458 -1.461275 +v -0.237675 -0.341697 0.739545 +v -0.420844 -0.341697 0.739545 +v 0.972728 -4.339461 0.629461 +v 0.936134 -0.342088 -1.387813 +v -0.971155 -4.302673 -1.314352 +v -1.007749 -4.229097 0.592623 +v 0.936134 -4.265885 -1.351190 +v 1.009522 -0.342088 0.629461 +v -1.044544 -0.341697 0.592623 +v -1.044544 -0.341697 -1.461275 +v 0.972728 -4.302673 -0.690686 +v 1.009522 -3.862000 0.629461 +v -0.934361 -3.715630 0.629246 +v 0.752563 -3.238951 -1.387598 +v -1.007749 -4.265885 -0.030828 +v -1.044544 -2.102435 0.592623 +v 1.009522 -0.342088 0.336047 +v -0.420844 -0.855164 0.739545 +v 0.239248 -4.265885 -1.351190 +v 0.422618 -0.415273 -1.424436 +v 0.642581 -4.339461 0.629461 +v 0.972728 -1.919278 -0.800986 +v -1.007749 -4.229097 -0.397488 +v -1.007749 -0.341697 0.629246 +v -1.007749 -3.018614 -1.350975 +v 0.972728 -4.339461 0.152502 +v -0.274269 -4.302673 -1.314352 +v 0.936134 -2.285593 -1.387598 +v -0.971155 -4.302673 -0.874016 +v 0.972728 -0.524855 -0.764147 +v 0.972728 -3.568478 -0.800986 +f 29 5 32 +f 3 2 10 +f 2 5 11 +f 1 6 11 +f 10 2 11 +f 2 4 13 +f 9 2 13 +f 10 11 17 +f 16 7 17 +f 5 2 18 +f 2 9 18 +f 9 13 18 +f 2 3 19 +f 4 2 19 +f 6 1 20 +f 8 6 20 +f 1 15 20 +f 15 8 20 +f 1 11 21 +f 11 5 21 +f 15 1 21 +f 14 7 22 +f 7 16 22 +f 4 19 22 +f 19 14 22 +f 6 16 24 +f 17 11 24 +f 16 17 24 +f 3 10 25 +f 7 14 25 +f 10 17 25 +f 17 7 25 +f 19 3 25 +f 14 19 25 +f 11 6 26 +f 6 24 26 +f 24 11 26 +f 12 13 27 +f 13 4 27 +f 4 22 27 +f 22 6 27 +f 6 8 28 +f 8 12 28 +f 27 6 28 +f 12 27 28 +f 8 15 29 +f 21 5 29 +f 15 21 29 +f 16 6 30 +f 6 22 30 +f 22 16 30 +f 5 18 31 +f 23 5 31 +f 18 23 31 +f 12 8 32 +f 13 12 32 +f 18 13 32 +f 5 23 32 +f 23 18 32 +f 8 29 32 +o convex_1 +v 0.019110 -1.038397 1.069779 +v 0.495998 -0.341306 2.206758 +v 0.495998 -0.341306 1.766479 +v 0.495998 -2.358724 2.206758 +v -0.530976 -0.341306 2.096577 +v -0.567732 -2.321993 1.143233 +v 0.422590 -2.248532 1.069779 +v -0.530976 -2.358724 2.096577 +v -0.530976 -0.341306 1.143233 +v 0.422590 -0.341306 1.069779 +v 0.202473 -0.341306 2.206758 +v 0.495998 -2.358724 1.876549 +v -0.567732 -2.358724 2.023234 +v -0.567732 -1.185320 1.143233 +v -0.457569 -0.341306 1.106506 +v -0.347510 -2.358724 2.133193 +v 0.459242 -1.258386 1.253192 +v -0.420917 -0.341306 2.133193 +v 0.312532 -2.358724 2.206758 +v 0.349183 -2.285065 1.143233 +v 0.239228 -2.248532 1.069779 +v -0.567732 -2.358724 1.656410 +f 45 38 54 +f 35 34 36 +f 34 35 37 +f 37 35 41 +f 39 33 42 +f 41 35 42 +f 36 34 43 +f 34 37 43 +f 35 36 44 +f 36 40 44 +f 44 40 45 +f 40 37 45 +f 38 45 46 +f 37 41 46 +f 45 37 46 +f 33 38 47 +f 42 33 47 +f 41 42 47 +f 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67 +f 60 64 67 +f 64 65 67 +f 65 56 67 +f 63 64 68 +f 66 61 68 +f 64 66 68 +f 60 58 69 +f 64 60 69 +f 58 66 69 +f 66 64 69 +f 58 57 70 +f 59 58 70 +f 57 59 70 +f 58 59 71 +f 61 58 71 +f 61 71 72 +f 68 61 72 +f 71 59 72 +f 59 62 73 +f 55 72 73 +f 72 59 73 +f 65 63 74 +f 62 65 74 +f 63 68 74 +f 72 55 74 +f 68 72 74 +f 73 62 74 +o convex_3 +v 0.495948 3.730059 1.583307 +v -0.567732 1.822833 2.023213 +v -0.494270 1.822833 1.143079 +v -0.567732 3.840251 2.023213 +v 0.495948 1.822833 2.206758 +v 0.422594 1.822833 1.106348 +v -0.457648 3.693526 1.143079 +v 0.532678 3.656796 2.206758 +v 0.459217 3.766593 1.106348 +v -0.384294 2.409733 2.170027 +v -0.567732 3.840251 2.096674 +v 0.495948 1.822833 1.656553 +v -0.420917 2.079947 1.106348 +v -0.567732 1.822833 2.096674 +v 0.385863 3.693526 2.206758 +v 0.275887 3.803521 1.253163 +v 0.532678 1.933025 2.170027 +v -0.347564 1.822833 2.170027 +v 0.459217 1.822833 1.179809 +v -0.494270 2.593188 1.143079 +v 0.055827 3.730059 1.106348 +v -0.384294 3.840251 2.096674 +v 0.312510 1.822833 2.206758 +f 84 92 97 +f 77 76 78 +f 76 77 79 +f 79 77 80 +f 78 76 85 +f 79 80 86 +f 80 77 87 +f 83 80 87 +f 76 79 88 +f 84 85 88 +f 85 76 88 +f 82 75 89 +f 79 82 89 +f 85 84 89 +f 81 78 90 +f 75 83 90 +f 89 75 90 +f 75 82 91 +f 82 79 91 +f 79 86 91 +f 86 75 91 +f 88 79 92 +f 84 88 92 +f 83 75 93 +f 80 83 93 +f 86 80 93 +f 75 86 93 +f 77 78 94 +f 78 81 94 +f 87 77 94 +f 81 87 94 +f 87 81 95 +f 83 87 95 +f 81 90 95 +f 90 83 95 +f 78 85 96 +f 85 89 96 +f 89 90 96 +f 90 78 96 +f 79 89 97 +f 89 84 97 +f 92 79 97 +o convex_4 +v 0.202541 0.979110 -1.571595 +v 0.019182 0.429110 -3.405174 +v 0.275909 0.429110 -3.405174 +v 0.349277 1.015751 -3.405174 +v -0.200921 1.015751 -3.184919 +v -0.200921 0.502456 -1.461274 +v 0.312593 0.465751 -1.461274 +v -0.200921 1.089162 -1.461274 +v -0.274289 0.502456 -3.442012 +v -0.200921 0.979110 -3.405174 +v -0.237605 0.979110 -1.755011 +v 0.312593 0.429110 -2.121650 +v 0.165857 1.015751 -1.461274 +v -0.127553 0.465751 -1.571595 +v -0.237605 0.502456 -1.681723 +v 0.202541 1.052457 -2.818281 +v 0.312593 0.575803 -1.461274 +v -0.274289 0.649149 -3.295047 +v 0.349277 0.869059 -3.368529 +v 0.349277 1.015751 -3.221564 +v -0.200921 0.465751 -3.442012 +f 111 112 118 +f 103 104 105 +f 102 101 107 +f 101 106 107 +f 105 102 108 +f 99 100 109 +f 105 104 110 +f 104 103 111 +f 99 109 111 +f 109 104 111 +f 103 105 112 +f 105 108 112 +f 111 103 112 +f 101 102 113 +f 102 105 113 +f 105 110 113 +f 98 110 114 +f 110 104 114 +f 102 107 115 +f 107 106 115 +f 108 102 115 +f 112 108 115 +f 106 112 115 +f 100 101 116 +f 109 100 116 +f 104 109 116 +f 110 98 117 +f 101 113 117 +f 113 110 117 +f 98 114 117 +f 114 104 117 +f 116 101 117 +f 104 116 117 +f 100 99 118 +f 101 100 118 +f 106 101 118 +f 99 111 118 +f 112 106 118 +o convex_5 +v 0.312503 0.502417 2.463477 +v -0.200907 1.052482 2.646868 +v -0.200907 1.052482 2.500118 +v -0.310969 0.429071 2.206758 +v 0.202440 0.942430 2.206758 +v -0.200907 0.429071 2.646868 +v 0.239149 0.905725 2.683602 +v 0.275858 0.465776 2.206758 +v -0.237551 0.979071 2.206758 +v -0.310969 1.052482 2.646868 +v 0.349277 0.539122 2.610227 +v -0.274260 0.392430 2.536852 +f 124 128 130 +f 121 120 123 +f 123 120 125 +f 122 123 126 +f 123 122 127 +f 121 123 127 +f 120 121 128 +f 125 120 128 +f 124 125 128 +f 121 127 128 +f 127 122 128 +f 124 119 129 +f 123 125 129 +f 125 124 129 +f 119 126 129 +f 126 123 129 +f 119 124 130 +f 126 119 130 +f 122 126 130 +f 128 122 130 +o convex_6 +v 0.092276 1.015730 0.739545 +v -1.154311 -0.304234 -1.461275 +v -1.154311 -0.267798 -1.461275 +v -3.098584 1.822833 0.739545 +v 1.009522 1.676029 -1.424436 +v 1.009522 -0.341306 0.629461 +v -2.988402 -0.231150 0.592623 +v -3.098584 1.676029 -1.314352 +v 1.009522 1.712677 0.592623 +v 1.009522 -0.341306 -1.387813 +v -2.951809 -0.194290 -1.350975 +v 0.532602 1.822833 -0.837608 +v -0.421238 -0.341306 0.739545 +v -1.484456 1.785973 -1.314352 +v -1.044531 -0.341306 -1.461275 +v 0.605789 1.822833 0.225963 +v -0.201275 1.089026 -1.461275 +v -0.824569 1.785973 0.702707 +v 0.312640 0.466009 -1.461275 +v -2.988402 -0.231150 -0.470733 +v -3.098584 1.822833 0.335832 +v -3.098584 1.602522 0.739545 +v -1.044531 -0.341306 0.592623 +v -3.098584 1.382422 -1.314352 +v 0.275645 0.575954 0.739545 +v -0.384644 1.785973 -1.351190 +v -3.024996 0.209262 0.629246 +v -2.988402 -0.084346 -1.350975 +v -0.568013 1.822833 -0.837608 +v -2.805033 1.712466 -1.314352 +v -2.328114 1.822833 0.739545 +v -2.731444 -0.231150 -1.350975 +v 1.009522 0.722757 0.629461 +v 0.422420 -0.341306 -1.424436 +v -2.988402 0.355854 -1.350975 +v 1.009522 0.905786 -1.424436 +v -0.201275 -0.304234 0.739545 +v 0.935933 1.712677 -1.241106 +v 0.825751 1.676029 -1.424436 +v 0.825751 1.712677 -1.387813 +f 142 168 170 +f 136 135 139 +f 135 136 140 +f 131 134 143 +f 140 136 143 +f 132 133 145 +f 141 132 145 +f 140 143 145 +f 142 134 146 +f 133 138 147 +f 145 133 147 +f 131 139 148 +f 139 146 148 +f 147 135 149 +f 145 147 149 +f 145 137 150 +f 138 134 151 +f 134 142 151 +f 134 138 152 +f 143 134 152 +f 143 137 153 +f 137 145 153 +f 145 143 153 +f 152 138 154 +f 139 131 155 +f 131 143 155 +f 137 143 157 +f 150 137 157 +f 143 152 157 +f 154 150 157 +f 152 154 157 +f 133 132 158 +f 132 141 158 +f 141 150 158 +f 154 138 158 +f 150 154 158 +f 151 142 159 +f 144 151 159 +f 142 156 159 +f 156 144 159 +f 138 151 160 +f 151 144 160 +f 144 156 160 +f 134 131 161 +f 146 134 161 +f 131 148 161 +f 148 146 161 +f 141 145 162 +f 150 141 162 +f 145 150 162 +f 136 139 163 +f 139 155 163 +f 155 136 163 +f 140 145 164 +f 149 140 164 +f 145 149 164 +f 138 133 165 +f 133 158 165 +f 158 138 165 +f 135 140 166 +f 149 135 166 +f 140 149 166 +f 143 136 167 +f 136 155 167 +f 155 143 167 +f 139 135 168 +f 146 139 168 +f 142 146 168 +f 147 138 169 +f 135 147 169 +f 156 135 169 +f 138 160 169 +f 160 156 169 +f 135 156 170 +f 156 142 170 +f 168 135 170 +o convex_7 +v 3.026832 1.676029 -1.387756 +v 2.953363 -0.194502 0.665980 +v 2.769998 -0.194502 0.665980 +v 1.339710 -0.341094 -1.387756 +v 1.009817 1.712466 0.592508 +v 3.100301 1.822621 0.592712 +v 1.009817 1.675818 -1.424389 +v 1.009817 -0.304446 0.629346 +v 2.953363 -0.267798 -1.350918 +v 1.009817 -0.341094 -1.387756 +v 2.953363 -0.341306 0.665980 +v 3.100301 1.822621 0.152495 +v 3.063464 0.905786 0.629346 +v 2.586633 1.822833 0.555874 +v 3.026832 1.199182 -1.387756 +v 3.026832 1.712677 -1.314284 +v 2.953363 -0.304234 -0.984172 +v 1.009817 0.722334 0.629346 +v 2.990200 -0.194502 0.592712 +v 1.046244 0.942222 -1.424389 +v 3.100301 1.455930 0.555874 +v 2.293167 -0.341306 0.629346 +v 1.853173 0.979082 0.629346 +v 1.706440 1.675818 -1.424389 +v 1.009817 -0.341094 -0.727327 +v 2.953363 -0.341306 0.262600 +v 1.596544 -0.304446 -1.387756 +v 3.100301 1.749326 -0.030878 +v 1.449811 1.749114 0.556079 +f 184 177 199 +f 175 177 178 +f 178 177 180 +f 172 173 181 +f 173 178 181 +f 172 181 183 +f 175 176 184 +f 176 182 184 +f 182 177 184 +f 177 182 186 +f 174 179 187 +f 175 178 188 +f 178 173 188 +f 183 181 189 +f 187 179 189 +f 174 180 190 +f 180 177 190 +f 182 176 191 +f 176 183 191 +f 183 189 191 +f 189 179 191 +f 181 178 192 +f 173 172 193 +f 176 175 193 +f 172 183 193 +f 183 176 193 +f 175 188 193 +f 188 173 193 +f 171 185 194 +f 186 171 194 +f 177 186 194 +f 190 177 194 +f 185 190 194 +f 178 180 195 +f 180 192 195 +f 192 178 195 +f 180 174 196 +f 174 187 196 +f 189 181 196 +f 187 189 196 +f 192 180 196 +f 181 192 196 +f 179 174 197 +f 185 179 197 +f 174 190 197 +f 190 185 197 +f 185 171 198 +f 179 185 198 +f 171 186 198 +f 186 182 198 +f 182 191 198 +f 191 179 198 +f 177 175 199 +f 175 184 199 +o convex_8 +v -0.274232 0.539072 0.739545 +v 0.202469 1.052547 1.032927 +v 0.312596 1.015816 1.069668 +v -0.347650 0.539072 1.069668 +v -0.347650 1.052547 0.739545 +v 0.275823 0.575749 0.739545 +v 0.239178 0.502342 1.069668 +v -0.347650 1.015816 1.069668 +v 0.202469 0.979139 0.739545 +f 202 205 208 +f 200 203 204 +f 200 204 205 +f 200 205 206 +f 202 203 206 +f 203 200 206 +f 205 202 206 +f 202 201 207 +f 203 202 207 +f 204 203 207 +f 201 204 207 +f 201 202 208 +f 204 201 208 +f 205 204 208 +o convex_9 +v -0.347510 0.502658 1.069779 +v 0.459242 1.822833 2.206758 +v 0.312532 1.822833 2.206758 +v 0.495998 -0.341306 2.206758 +v -0.530976 -0.341306 2.096577 +v 0.422590 -0.341306 1.069779 +v -0.494324 1.822833 1.143233 +v 0.422590 1.822833 1.106506 +v -0.567732 1.822833 2.096577 +v -0.530976 -0.341306 1.143233 +v -0.347510 0.502658 2.206758 +v 0.495998 1.822833 1.656521 +v 0.459242 -0.047486 1.216576 +v -0.274206 1.676029 2.206758 +v -0.567732 0.649461 2.096577 +v 0.495998 -0.341306 1.766479 +v -0.237555 1.015730 1.069779 +v 0.495998 1.822833 2.206647 +v -0.530976 0.686109 1.143233 +v 0.459242 1.822833 1.179849 +v -0.420917 1.822833 1.106506 +v 0.165821 -0.341306 2.206758 +v 0.312532 1.015730 1.069779 +v -0.457569 -0.341306 1.106506 +f 227 229 232 +f 210 211 212 +f 212 213 214 +f 211 210 215 +f 215 210 216 +f 211 215 217 +f 214 213 218 +f 212 211 219 +f 216 210 220 +f 211 217 222 +f 219 211 222 +f 217 219 222 +f 217 218 223 +f 218 213 223 +f 213 219 223 +f 219 217 223 +f 212 214 224 +f 220 212 224 +f 221 220 224 +f 214 221 224 +f 214 209 225 +f 210 212 226 +f 220 210 226 +f 212 220 226 +f 217 215 227 +f 218 217 227 +f 214 216 228 +f 216 220 228 +f 220 221 228 +f 221 214 228 +f 215 216 229 +f 225 209 229 +f 216 225 229 +f 227 215 229 +f 213 212 230 +f 212 219 230 +f 219 213 230 +f 216 214 231 +f 214 225 231 +f 225 216 231 +f 209 214 232 +f 214 218 232 +f 218 227 232 +f 229 209 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf new file mode 100644 index 000000000..c88293937 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj new file mode 100644 index 000000000..42c9dcfb5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj @@ -0,0 +1,486 @@ +o convex_0 +v 1.262746 0.252033 0.021302 +v -1.289501 0.252033 -0.010502 +v -1.289501 0.252033 0.021302 +v -0.077084 3.793401 0.627467 +v -0.013378 3.314678 -0.999364 +v -0.109062 0.252033 1.042178 +v 0.018350 0.252033 -1.063391 +v 0.847781 3.569812 -0.807911 +v 0.752096 3.282786 0.723089 +v -0.747124 3.282440 -0.712079 +v -0.651190 3.314332 0.754893 +v 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148 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf new file mode 100644 index 000000000..6226cf26c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj new file mode 100644 index 000000000..3be17d548 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj @@ -0,0 +1,4197 @@ +o convex_0 +v 1.328513 -0.990690 -0.879642 +v 1.606977 -1.013877 0.884284 +v 1.560566 -1.013877 0.884284 +v 1.606977 -1.338790 -0.020837 +v 1.073150 -1.199542 0.930599 +v 1.606977 -0.944273 -0.902979 +v 1.142818 -1.037065 0.837789 +v 1.282050 -1.037065 -0.902979 +v 1.444487 -0.944273 -0.183478 +v 1.212382 -1.199542 0.048636 +v 1.606977 -1.060293 0.884284 +v 1.583667 -1.013836 -0.902979 +v 1.096355 -1.060293 0.930599 +v 1.606977 -0.921045 -0.601033 +v 1.282050 -0.990690 -0.693843 +f 14 1 15 +f 2 4 6 +f 1 6 8 +f 3 2 9 +f 7 3 9 +f 4 5 10 +f 8 4 10 +f 5 8 10 +f 4 2 11 +f 5 4 11 +f 6 4 12 +f 4 8 12 +f 8 6 12 +f 2 3 13 +f 3 7 13 +f 8 5 13 +f 11 2 13 +f 5 11 13 +f 6 1 14 +f 2 6 14 +f 9 2 14 +f 9 14 15 +f 1 8 15 +f 7 9 15 +f 13 7 15 +f 8 13 15 +o convex_1 +v -1.039339 -0.874649 -0.717528 +v -0.760880 -1.199509 -0.833508 +v -0.737625 -1.199509 -0.833508 +v -1.062626 -0.781686 -2.203046 +v -0.737625 -0.781686 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b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf new file mode 100644 index 000000000..a1a0d4112 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj new file mode 100644 index 000000000..0e52b31b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj @@ -0,0 +1,891 @@ +o convex_0 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+v -0.784266 1.407324 1.037387 +f 676 672 677 +f 672 671 673 +f 673 671 674 +f 672 673 675 +f 674 670 675 +f 673 674 675 +f 671 672 676 +f 670 674 676 +f 674 671 676 +f 675 670 677 +f 672 675 677 +f 670 676 677 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf new file mode 100644 index 000000000..0663c92ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj new file mode 100644 index 000000000..c8dcff528 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj @@ -0,0 +1,489 @@ +o convex_0 +v 3.039957 0.296061 -0.779909 +v -1.904951 -0.206199 -1.089217 +v -1.904951 0.720977 -1.089217 +v -3.025987 1.609384 0.958208 +v 2.769198 -0.244775 0.997105 +v 2.962173 1.686729 -1.050528 +v 2.962173 1.570808 0.958416 +v -3.025987 -0.244968 0.919726 +v -2.986798 1.648153 -1.050320 +v 3.039957 -0.244775 -0.973149 +v -2.948204 -0.244968 -1.089009 +v -0.978078 1.725498 1.035795 +v -1.596192 -0.244968 1.035795 +v -0.939483 1.725498 -1.050320 +v 0.953452 1.725498 0.958208 +v 2.962173 -0.244775 0.765176 +v 1.880326 0.566480 1.035795 +v -0.978078 -0.244968 -1.089217 +v 3.000768 1.068354 -1.050528 +v 1.764541 1.725498 -0.973149 +v 2.884983 1.493463 0.997105 +v 2.962173 1.609384 0.881037 +v 1.841731 -0.244968 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-2.408485 1.962048 +v -1.055345 -0.863320 3.082933 +v -1.016739 -2.369909 0.571165 +v -0.746280 -0.476788 -3.059683 +v -0.089543 -2.292564 -2.982111 +f 109 114 123 +f 92 91 94 +f 91 95 96 +f 93 96 99 +f 96 95 99 +f 91 92 103 +f 95 91 103 +f 101 90 106 +f 106 102 107 +f 94 93 107 +f 98 106 107 +f 105 100 109 +f 93 99 110 +f 99 95 110 +f 95 101 110 +f 102 100 111 +f 100 105 111 +f 93 94 112 +f 94 91 112 +f 96 93 112 +f 91 96 112 +f 92 94 113 +f 103 92 113 +f 97 103 113 +f 90 101 114 +f 101 95 114 +f 95 108 114 +f 109 90 114 +f 106 98 115 +f 101 106 115 +f 100 102 116 +f 102 106 116 +f 90 109 116 +f 109 100 116 +f 105 97 117 +f 104 111 117 +f 111 105 117 +f 113 94 117 +f 97 113 117 +f 107 102 118 +f 94 107 118 +f 102 111 119 +f 111 104 119 +f 117 94 119 +f 104 117 119 +f 118 102 119 +f 94 118 119 +f 107 93 120 +f 98 107 120 +f 93 110 120 +f 110 101 120 +f 115 98 120 +f 101 115 120 +f 106 90 121 +f 90 116 121 +f 116 106 121 +f 95 103 122 +f 103 97 122 +f 108 95 122 +f 97 108 122 +f 97 105 123 +f 108 97 123 +f 105 109 123 +f 114 108 123 +o convex_4 +v 1.069082 -0.283624 -2.441116 +v -1.132795 -0.476769 -3.059683 +v -1.132795 -0.360901 -3.059683 +v -1.093750 -0.476769 -1.089217 +v 1.108127 -0.476769 -2.943569 +v 0.953483 -0.476769 -1.089217 +v -1.093750 -0.399492 -1.089217 +v 0.953483 -0.360901 -1.244100 +v 0.373949 -0.283624 -2.982145 +v -0.630254 -0.360901 -1.398597 +v 1.108127 -0.283624 -2.943569 +v -1.132795 -0.360901 -2.402540 +v 0.953483 -0.399492 -1.089217 +v 0.567200 -0.283624 -2.480078 +v -0.746073 -0.476769 -3.059683 +f 132 134 138 +f 127 125 128 +f 128 124 129 +f 127 128 129 +f 127 129 130 +f 130 131 133 +f 124 128 134 +f 132 124 134 +f 126 125 135 +f 125 127 135 +f 127 130 135 +f 132 126 135 +f 130 133 135 +f 129 124 136 +f 130 129 136 +f 131 130 136 +f 124 131 136 +f 131 124 137 +f 124 132 137 +f 133 131 137 +f 132 135 137 +f 135 133 137 +f 125 126 138 +f 128 125 138 +f 126 132 138 +f 134 128 138 +o convex_5 +v 2.769062 -0.244968 0.997128 +v -2.948306 -0.438144 -1.089217 +v -2.986549 -0.438144 -0.316395 +v -2.948306 -0.244968 -1.089217 +v 3.078593 -0.322257 -0.973156 +v 1.030189 -0.476788 1.074432 +v -3.025987 -0.244968 0.919825 +v 0.953702 -0.476788 -1.089217 +v -3.025987 -0.438144 0.919825 +v 3.078593 -0.244968 -0.973156 +v -0.939339 -0.476788 1.074432 +v 2.923828 -0.322257 0.958371 +v -1.094105 -0.476788 -1.089217 +v 0.953702 -0.244968 1.074432 +v 2.730221 -0.360878 -0.895853 +v -1.596048 -0.244968 1.035674 +v -0.978180 -0.244968 -1.089217 +v 2.962071 -0.244968 0.765218 +v -2.832381 -0.438144 0.958371 +v 0.953702 -0.399499 -1.089217 +f 155 148 158 +f 140 141 142 +f 142 141 145 +f 139 142 145 +f 140 142 146 +f 145 141 147 +f 142 139 148 +f 143 146 148 +f 146 144 149 +f 139 144 150 +f 141 140 151 +f 140 146 151 +f 147 141 151 +f 146 149 151 +f 149 147 151 +f 144 139 152 +f 139 145 152 +f 149 144 152 +f 146 143 153 +f 144 146 153 +f 143 150 153 +f 150 144 153 +f 152 145 154 +f 149 152 154 +f 146 142 155 +f 142 148 155 +f 148 139 156 +f 143 148 156 +f 150 143 156 +f 139 150 156 +f 145 147 157 +f 147 149 157 +f 154 145 157 +f 149 154 157 +f 148 146 158 +f 146 155 158 +o convex_6 +v 0.992051 -0.283612 2.465292 +v -0.939521 -0.476788 1.074431 +v -0.978120 -0.476788 1.151969 +v 1.030854 -0.476788 3.044898 +v -1.055521 -0.360878 3.044898 +v 1.030854 -0.244968 1.074431 +v 1.030854 -0.476788 1.074431 +v -1.055521 -0.476788 3.044898 +v -0.939521 -0.399499 1.074431 +v 1.030854 -0.322257 3.044898 +v -0.514526 -0.322257 3.044898 +v -1.016718 -0.360878 2.040376 +f 163 169 170 +f 161 160 162 +f 162 160 165 +f 160 164 165 +f 164 162 165 +f 161 162 166 +f 162 163 166 +f 160 161 167 +f 164 160 167 +f 163 162 168 +f 162 164 168 +f 164 159 168 +f 159 164 169 +f 168 159 169 +f 163 168 169 +f 161 166 170 +f 166 163 170 +f 167 161 170 +f 164 167 170 +f 169 164 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf new file mode 100644 index 000000000..a94ad195f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj new file mode 100644 index 000000000..f6b0ba11d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj @@ -0,0 +1,621 @@ +o convex_0 +v -0.777032 -0.106356 1.085489 +v -1.089529 -2.838803 -0.593002 +v -1.050441 -2.838803 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-0.475821 +v -1.089529 0.088933 -0.475821 +v -0.113632 1.454889 1.046454 +v 1.096344 1.025497 -0.475821 +v -1.050374 -0.106204 -0.866060 +v -1.011218 1.454889 -0.163549 +v 0.510934 1.415770 -1.022398 +v -1.011218 0.635376 -0.983314 +v 0.979091 0.245103 1.046454 +f 181 189 195 +f 172 171 174 +f 174 171 176 +f 175 173 177 +f 173 175 178 +f 176 171 178 +f 172 174 179 +f 177 170 179 +f 174 177 179 +f 177 173 180 +f 175 177 181 +f 179 170 182 +f 172 179 182 +f 184 182 185 +f 170 177 185 +f 182 170 185 +f 178 175 186 +f 175 181 186 +f 174 183 186 +f 186 183 187 +f 174 176 187 +f 176 178 187 +f 183 174 187 +f 182 184 188 +f 177 174 189 +f 181 177 189 +f 178 186 190 +f 186 187 190 +f 187 178 190 +f 172 182 191 +f 184 180 191 +f 182 188 191 +f 188 184 191 +f 177 180 192 +f 180 184 192 +f 184 185 192 +f 185 177 192 +f 178 171 193 +f 173 178 193 +f 171 172 194 +f 180 173 194 +f 172 191 194 +f 191 180 194 +f 193 171 194 +f 173 193 194 +f 174 186 195 +f 186 181 195 +f 189 174 195 +o convex_7 +v 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+f 201 207 213 +f 208 201 213 +f 207 208 213 +f 197 205 214 +f 205 202 214 +f 209 197 214 +f 202 209 214 +f 199 197 215 +f 202 199 215 +f 197 209 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf new file mode 100644 index 000000000..f34f6cb87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj new file mode 100644 index 000000000..ceb0447bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj @@ -0,0 +1,267 @@ +o convex_0 +v 0.538488 -3.640928 0.479024 +v -0.560964 -5.930908 -0.528807 +v -0.377686 -5.930908 -0.528807 +v -0.102823 -1.961427 -0.498225 +v -0.469271 -1.961427 0.448441 +v -0.438707 -5.838812 0.417859 +v 0.477359 -5.869511 -0.406577 +v 0.507924 -1.961039 -0.467643 +v 0.538488 -5.777802 0.479024 +v 0.507924 -1.961039 0.479024 +v -0.499836 -1.961427 -0.498127 +v 0.355102 -5.869511 -0.467643 +v 0.324646 -2.510898 -0.498225 +v 0.294081 -5.777802 0.479024 +v -0.560964 -5.655396 -0.406577 +v 0.538488 -5.777802 0.234563 +v 0.049783 -1.961427 0.479024 +v -0.560964 -5.075226 -0.528807 +v -0.469271 -5.838812 0.295629 +v -0.255537 -5.625085 0.448441 +v 0.477359 -4.708782 -0.467643 +v -0.469271 -4.434047 -0.528807 +v 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38 46 +f 42 37 49 +f 40 47 49 +f 48 53 56 +f 43 52 58 +f 42 49 59 +f 50 42 59 +f 58 52 59 +f 44 54 60 +f 44 40 61 +f 40 49 61 +f 54 44 61 +f 54 61 62 +f 60 54 62 +f 46 39 64 +f 60 41 65 +f 40 46 67 +f 47 40 67 +f 58 47 67 +f 42 56 69 +f 56 53 69 +f 43 58 70 +f 63 43 70 +f 58 67 70 +f 57 44 71 +f 44 60 71 +f 60 65 71 +f 45 46 72 +f 51 45 72 +f 46 66 72 +f 45 51 73 +f 56 45 73 +f 46 55 74 +f 55 63 74 +f 67 46 74 +f 63 70 74 +f 70 67 74 +f 37 42 75 +f 42 69 75 +f 69 53 75 +f 39 45 76 +f 45 42 76 +f 42 50 76 +f 42 45 77 +f 56 42 77 +f 45 56 77 +f 49 37 78 +f 61 49 78 +f 62 61 78 +f 37 62 78 +f 50 59 79 +f 59 52 79 +f 41 60 80 +f 62 41 80 +f 60 62 80 +f 40 44 81 +f 46 40 81 +f 62 37 82 +f 41 62 82 +f 37 68 82 +f 68 53 82 +f 53 48 83 +f 48 56 83 +f 65 41 83 +f 56 73 83 +f 73 65 83 +f 41 82 83 +f 82 53 83 +f 55 46 84 +f 63 55 84 +f 46 64 84 +f 64 63 84 +f 49 47 85 +f 47 58 85 +f 59 49 85 +f 58 59 85 +f 44 57 86 +f 57 51 86 +f 51 72 86 +f 81 44 86 +f 46 81 86 +f 51 57 87 +f 57 71 87 +f 71 65 87 +f 73 51 87 +f 65 73 87 +f 68 37 88 +f 53 68 88 +f 37 75 88 +f 75 53 88 +f 64 39 89 +f 39 76 89 +f 76 50 89 +f 50 79 89 +f 79 64 89 +f 52 43 90 +f 43 63 90 +f 63 64 90 +f 79 52 90 +f 64 79 90 +f 66 46 91 +f 72 66 91 +f 46 86 91 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf new file mode 100644 index 000000000..f2405172c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj new file mode 100644 index 000000000..d288fcc9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj @@ -0,0 +1,498 @@ +o convex_0 +v -1.407679 0.021014 0.507274 +v -2.979640 -0.607853 -0.624764 +v -2.979640 -0.576352 -0.624764 +v -1.124582 -0.324659 -0.498883 +v -3.105483 0.398397 -0.498773 +v -3.011052 -0.670750 0.475804 +v -1.124582 -0.670750 0.444223 +v -1.124582 0.398397 -0.436054 +v -2.979640 0.335500 0.475804 +v -1.124582 0.366896 0.507163 +v -1.124582 -0.670750 -0.498883 +v -3.105483 -0.544956 0.255624 +v -2.979640 -0.670750 -0.593294 +v -1.187600 0.398397 0.224154 +v -2.319405 -0.450558 0.507274 +v -2.853992 0.335500 0.507274 +v -3.105483 0.366896 -0.530353 +v -1.124582 -0.324659 0.507163 +v -1.250425 0.241102 -0.467413 +v -3.042464 0.366896 0.098384 +v -3.073877 -0.544956 -0.153044 +v -1.596539 -0.670750 0.475804 +v -2.130932 0.366896 0.475804 +v -1.313249 -0.670750 -0.530353 +v -3.011052 0.241102 0.475804 +v -2.853992 -0.607853 -0.624764 +v -3.105483 -0.387660 0.255624 +v -3.011052 0.366896 -0.530353 +v -3.105483 0.272603 -0.530353 +f 13 21 29 +f 7 4 8 +f 7 8 10 +f 4 7 11 +f 7 6 11 +f 11 6 13 +f 6 12 13 +f 8 5 14 +f 10 8 14 +f 1 10 16 +f 15 1 16 +f 6 15 16 +f 3 2 17 +f 12 5 17 +f 10 1 18 +f 7 10 18 +f 1 15 18 +f 8 4 19 +f 13 12 21 +f 6 7 22 +f 15 6 22 +f 7 18 22 +f 18 15 22 +f 14 5 23 +f 10 14 23 +f 9 16 23 +f 16 10 23 +f 5 20 23 +f 20 9 23 +f 4 11 24 +f 11 13 24 +f 12 6 25 +f 6 16 25 +f 16 9 25 +f 9 20 25 +f 2 3 26 +f 13 2 26 +f 19 4 26 +f 4 24 26 +f 24 13 26 +f 5 12 27 +f 20 5 27 +f 12 25 27 +f 25 20 27 +f 5 8 28 +f 3 17 28 +f 17 5 28 +f 8 19 28 +f 26 3 28 +f 19 26 28 +f 2 13 29 +f 17 2 29 +f 12 17 29 +f 21 12 29 +o convex_1 +v -1.124583 1.970623 0.255655 +v -3.011042 1.970623 -0.341690 +v -2.665082 1.499002 -0.278808 +v -3.042527 1.530521 0.255655 +v -1.124583 1.561979 -0.341690 +v -1.124583 1.467544 0.318536 +v -3.074013 2.096454 0.224182 +v -1.124583 2.033538 -0.310217 +v -3.074013 1.499002 -0.247335 +v -3.011042 2.033538 -0.310217 +v -3.074013 1.939226 0.255655 +v -1.753720 2.033538 0.255655 +v -1.502218 1.530521 -0.341690 +v -1.124583 2.002019 -0.341690 +v -1.627969 1.561979 0.318536 +v -2.696568 2.096454 0.129891 +v -3.074013 1.499002 -0.058689 +v -2.728054 1.530521 0.287063 +v -1.124583 1.467544 0.224182 +v -1.124583 1.624771 0.318536 +v -1.407761 1.467544 0.318536 +v -1.219230 2.002019 0.255655 +v -1.124583 2.033538 -0.215926 +v -3.074013 2.096454 0.129891 +f 45 39 53 +f 34 30 35 +f 30 34 37 +f 31 32 38 +f 31 38 39 +f 36 38 40 +f 36 40 41 +f 32 31 42 +f 31 34 42 +f 34 31 43 +f 37 34 43 +f 31 39 43 +f 39 37 43 +f 37 39 45 +f 36 41 45 +f 33 40 46 +f 40 38 46 +f 40 33 47 +f 44 40 47 +f 34 35 48 +f 38 32 48 +f 32 42 48 +f 42 34 48 +f 35 30 49 +f 41 40 49 +f 44 35 49 +f 40 44 49 +f 35 44 50 +f 33 46 50 +f 46 38 50 +f 47 33 50 +f 44 47 50 +f 48 35 50 +f 38 48 50 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-0.764969 -0.467472 +v 3.026091 -0.764969 -0.593318 +v 3.026091 -0.104851 0.570165 +v 1.108048 0.272498 -0.436038 +v 3.089114 -0.230670 0.350019 +v 1.108048 -0.764969 0.412885 +v 2.931847 0.241043 0.570165 +v 1.548436 -0.513439 0.570165 +v 2.994676 -0.733622 0.507185 +v 3.057506 -0.419075 -0.593318 +v 1.108048 0.303953 0.444318 +v 1.611459 0.303953 0.570165 +v 2.931847 -0.796532 0.004140 +v 3.057506 0.272606 -0.090160 +v 2.491459 -0.796424 0.475752 +v 1.139657 -0.702060 -0.498905 +v 2.805994 0.272606 -0.530338 +v 3.057506 -0.576241 0.067006 +v 3.089114 0.115224 0.412885 +v 3.057506 -0.576241 -0.593318 +v 1.894385 -0.733515 0.538618 +v 2.963261 -0.419075 -0.593318 +v 2.994676 -0.796532 0.444318 +f 143 130 148 +f 126 122 129 +f 122 126 131 +f 128 118 132 +f 125 128 132 +f 125 122 133 +f 128 125 133 +f 130 128 134 +f 127 119 135 +f 122 125 136 +f 121 129 136 +f 129 122 136 +f 125 132 137 +f 124 136 137 +f 136 125 137 +f 120 119 138 +f 126 120 138 +f 119 127 138 +f 118 124 139 +f 132 118 139 +f 124 137 139 +f 137 132 139 +f 122 131 140 +f 131 126 140 +f 126 138 140 +f 138 123 140 +f 119 120 141 +f 121 119 141 +f 120 126 141 +f 129 121 141 +f 126 129 141 +f 124 135 142 +f 121 136 142 +f 136 124 142 +f 124 118 144 +f 118 128 144 +f 130 124 144 +f 128 130 144 +f 124 130 145 +f 135 124 145 +f 127 135 145 +f 143 127 145 +f 130 143 145 +f 133 122 146 +f 128 133 146 +f 134 128 146 +f 123 134 146 +f 122 140 146 +f 140 123 146 +f 119 121 147 +f 135 119 147 +f 121 142 147 +f 142 135 147 +f 134 123 148 +f 130 134 148 +f 138 127 148 +f 123 138 148 +f 127 143 148 +o convex_4 +v 1.485689 1.499100 -0.215923 +v 2.239987 2.159345 -0.247381 +v 2.962963 2.127789 -0.215923 +v 1.108048 2.002037 0.255698 +v 3.088843 1.467544 0.287156 +v 3.057324 1.593431 -0.341754 +v 1.108048 1.530453 0.255698 +v 1.108048 1.687693 -0.341754 +v 2.994679 2.002037 0.192782 +v 1.108048 2.159345 -0.215923 +v 3.120560 2.127789 -0.341754 +v 1.108048 1.530453 -0.341754 +v 1.233928 2.159345 -0.121611 +v 1.328290 1.561942 0.287156 +v 3.088843 1.561942 0.287156 +v 2.711596 2.127789 -0.341754 +v 1.579854 2.002037 0.255698 +v 2.868799 1.467544 0.161324 +v 3.088843 2.033458 0.067012 +v 1.642892 1.530453 -0.341754 +v 2.837279 1.467544 0.287156 +v 3.088843 1.530453 -0.058696 +v 1.894259 2.159345 -0.278777 +f 159 164 171 +f 155 152 156 +f 156 152 158 +f 150 151 159 +f 154 156 159 +f 149 155 160 +f 156 154 160 +f 155 156 160 +f 151 150 161 +f 157 151 161 +f 150 158 161 +f 158 152 161 +f 152 155 162 +f 153 159 163 +f 152 162 163 +f 162 153 163 +f 159 156 164 +f 157 161 165 +f 161 152 165 +f 152 163 165 +f 163 157 165 +f 151 157 167 +f 159 151 167 +f 157 163 167 +f 163 159 167 +f 149 160 168 +f 160 154 168 +f 154 166 168 +f 166 149 168 +f 155 149 169 +f 153 162 169 +f 162 155 169 +f 166 153 169 +f 149 166 169 +f 159 153 170 +f 154 159 170 +f 153 166 170 +f 166 154 170 +f 158 150 171 +f 156 158 171 +f 150 159 171 +f 164 156 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf new file mode 100644 index 000000000..536819fea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj new file mode 100644 index 000000000..32b506f68 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj @@ -0,0 +1,315 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf new file mode 100644 index 000000000..712a43b3d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj new file mode 100644 index 000000000..4f8c0398e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj @@ -0,0 +1,243 @@ +o convex_0 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100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj new file mode 100644 index 000000000..781fbffa5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj @@ -0,0 +1,2883 @@ +o convex_0 +v -1.479478 1.520377 1.532338 +v 0.226636 1.777242 1.422276 +v 0.226636 1.777242 1.403922 +v 1.657644 1.410350 1.513984 +v 0.025291 1.263512 1.403922 +v 1.107768 1.722128 1.532338 +v 0.062171 1.263512 1.532338 +v -0.598678 1.556986 1.403922 +v -0.947210 1.685368 1.532338 +v 1.914807 1.520377 1.513984 +v 0.648595 1.520377 1.403922 +v -0.414943 1.703773 1.403922 +v -0.029863 1.777242 1.513984 +v 1.914807 1.502123 1.532338 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+ + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj new file mode 100644 index 000000000..dda2a0698 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj @@ -0,0 +1,684 @@ +o convex_0 +v -2.283163 -1.039970 -0.539511 +v -0.000200 -1.074510 1.362439 +v -0.000200 -1.143792 1.362439 +v -0.415223 -0.971298 -2.787914 +v -0.934170 -0.002565 2.365854 +v -1.521952 -1.939624 2.331091 +v -0.795829 -2.043446 -2.372525 +v -1.902557 -0.071847 -2.303588 +v -0.000200 0.032178 -1.127537 +v -1.971616 -0.210209 2.157865 +v -0.000200 -2.043446 -0.089359 +v -1.902557 -1.835802 -2.303588 +v -1.037870 -1.766520 2.850179 +v -2.248521 -1.628159 1.292913 +v -0.000200 0.032178 1.189213 +v -0.415223 -1.040174 2.711127 +v -1.936975 -1.005634 2.711127 +v -1.072511 -0.244748 -2.857440 +v -2.283163 -0.452392 1.189213 +v -1.936975 -1.040174 -2.718977 +v -1.971616 -1.973960 0.116862 +v -0.795829 -2.043446 2.296328 +v -0.000200 -1.835802 -1.058011 +v -1.107152 -1.766520 -2.891614 +v -1.141570 -0.244748 2.815416 +v -0.000200 -1.904678 1.016576 +v -1.971616 -0.037308 0.289499 +v -2.213880 -0.348570 -1.403874 +v -2.213880 -1.593416 -1.473400 +v -0.934170 0.032178 -2.096188 +v -1.902557 -1.870342 2.296328 +v -0.484282 -0.313827 2.400028 +v -1.210629 -0.971298 -3.030666 +v -1.141570 -0.936555 2.988642 +v -0.311524 -1.801059 -2.096188 +v -2.248521 -0.210209 -0.262585 +v -0.345941 -1.801059 2.088928 +v -0.173182 -1.074510 -2.096188 +v 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-1.005350 -0.401529 +v 2.110406 -0.936365 -0.574511 +v 2.110406 -0.313868 -0.436059 +v 2.145082 -1.593727 0.048135 +v 2.179590 -0.625266 0.567082 +v 2.871431 -1.420745 0.428629 +v 2.836922 -1.005350 0.567082 +v 2.629370 -1.386030 -0.401529 +v 2.802247 -1.005350 -0.539870 +v 3.424572 -0.625266 -0.228547 +v 2.836922 -1.524445 0.013494 +v 3.320879 -0.625266 0.359458 +v 3.562940 -1.040065 0.463270 +v 3.286203 -1.282330 -0.297718 +v 2.110406 -0.936365 0.567082 +v 3.528430 -0.936365 -0.401529 +v 3.355387 -1.316896 0.359458 +v 2.214265 -1.074781 -0.574511 +v 3.562940 -0.555983 -0.020924 +v 2.179590 -0.313868 -0.436059 +v 2.767738 -0.901799 -0.539870 +v 3.805333 -0.936365 0.013494 +v 2.145082 -0.140886 0.463270 +v 2.836922 -0.936365 0.567082 +v 2.110406 -0.071604 -0.020924 +v 2.110406 -1.593727 -0.020924 +v 3.770492 -1.005350 -0.055565 +v 3.562940 -1.386030 0.082664 +v 3.493756 -1.386030 -0.020924 +v 2.767738 -1.386030 0.463270 +v 2.767738 -1.524445 0.117306 +v 3.390062 -0.694399 -0.332247 +f 220 217 233 +f 192 196 200 +f 194 193 201 +f 192 200 203 +f 203 200 204 +f 196 205 207 +f 202 209 210 +f 192 209 212 +f 198 201 213 +f 195 198 214 +f 198 208 214 +f 209 202 215 +f 200 196 216 +f 206 200 216 +f 196 208 216 +f 208 206 216 +f 202 210 217 +f 214 207 218 +f 192 203 219 +f 209 192 219 +f 210 209 219 +f 194 201 220 +f 203 204 221 +f 211 197 221 +f 194 220 221 +f 220 211 221 +f 197 217 222 +f 217 210 222 +f 219 203 222 +f 210 219 222 +f 203 221 222 +f 221 197 222 +f 198 195 223 +f 201 198 223 +f 220 201 223 +f 217 220 223 +f 193 200 224 +f 201 193 224 +f 200 206 224 +f 198 213 224 +f 213 201 224 +f 206 208 225 +f 208 198 225 +f 198 224 225 +f 224 206 225 +f 193 194 226 +f 200 193 226 +f 204 200 226 +f 194 221 226 +f 221 204 226 +f 196 192 227 +f 205 196 227 +f 192 212 227 +f 212 205 227 +f 195 199 228 +f 199 202 228 +f 202 217 228 +f 223 195 228 +f 217 223 228 +f 199 195 229 +f 212 199 229 +f 195 214 229 +f 218 207 229 +f 214 218 229 +f 202 199 230 +f 199 212 230 +f 212 209 230 +f 215 202 230 +f 209 215 230 +f 196 207 231 +f 208 196 231 +f 207 214 231 +f 214 208 231 +f 207 205 232 +f 205 212 232 +f 212 229 232 +f 229 207 232 +f 197 211 233 +f 217 197 233 +f 211 220 233 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf new file mode 100644 index 000000000..9120e9940 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj new file mode 100644 index 000000000..c0ae512e3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj @@ -0,0 +1,336 @@ +o convex_0 +v -0.377673 -2.906622 1.053277 +v -1.036327 -3.526524 -1.039111 +v -1.036327 -3.526524 -0.535062 +v -1.036327 -1.550767 -0.418932 +v 1.133557 -3.371790 -1.039111 +v 1.017162 -1.550767 0.936737 +v 1.017162 -1.550767 -1.000196 +v 1.094688 -3.410474 0.975652 +v -0.958801 -1.550767 1.014362 +v -0.958801 -3.487841 1.053277 +v -1.036327 -1.550767 -0.961486 +v 1.133557 -3.449157 -1.039111 +v 0.978293 -3.449157 0.975652 +v 1.055819 -1.783448 0.820607 +v -0.106437 -2.480910 -1.039111 +v -0.997458 -3.526524 0.472013 +v 0.823453 -1.667204 0.975652 +v -0.532513 -3.526524 -0.922776 +v 1.094688 -2.829255 0.975652 +v -0.183963 -3.487841 1.053277 +v -0.958801 -2.248423 1.053277 +v -0.997458 -3.410474 0.626853 +v 1.055819 -2.325983 -1.039111 +v 0.087272 -1.550767 -1.000196 +v -1.036327 -3.139109 -1.039111 +v -0.377673 -1.550767 1.014362 +v 0.629743 -3.332913 1.014362 +v 0.397165 -3.488034 -1.039111 +v 1.094688 -3.449157 0.433098 +v 1.055819 -1.822325 0.316968 +v 1.055819 -2.248423 0.975652 +v -0.919931 -3.526524 0.433303 +f 20 16 32 +f 2 3 4 +f 4 6 7 +f 6 4 9 +f 2 4 11 +f 4 7 11 +f 2 5 12 +f 5 8 12 +f 7 6 14 +f 5 2 15 +f 3 2 16 +f 16 2 18 +f 8 5 19 +f 5 14 19 +f 14 6 19 +f 1 10 20 +f 13 8 20 +f 10 16 20 +f 10 1 21 +f 4 3 22 +f 9 4 22 +f 3 16 22 +f 16 10 22 +f 10 21 22 +f 21 9 22 +f 7 5 23 +f 5 15 23 +f 23 15 24 +f 11 7 24 +f 15 11 24 +f 7 23 24 +f 2 11 25 +f 15 2 25 +f 11 15 25 +f 6 9 26 +f 1 17 26 +f 17 6 26 +f 21 1 26 +f 9 21 26 +f 8 19 27 +f 1 20 27 +f 20 8 27 +f 2 12 28 +f 18 2 28 +f 18 28 29 +f 12 8 29 +f 8 13 29 +f 13 18 29 +f 28 12 29 +f 5 7 30 +f 14 5 30 +f 7 14 30 +f 17 1 31 +f 6 17 31 +f 19 6 31 +f 1 27 31 +f 27 19 31 +f 18 13 32 +f 16 18 32 +f 13 20 32 +o convex_1 +v 1.946944 -1.550766 0.975614 +v -2.004584 0.076487 -1.077859 +v -2.004584 0.192891 -1.077859 +v -3.089846 -0.969434 1.014529 +v 3.032206 0.192720 1.014529 +v 2.954302 -1.511852 -1.038944 +v -3.050894 -1.395619 -0.961524 +v 2.993254 0.192720 -1.000234 +v -3.011942 0.192891 0.975410 +v -3.089846 -1.550766 1.014529 +v 2.954302 -1.511852 1.014529 +v -3.011942 0.192891 -1.000234 +v -1.268691 -1.550766 -0.961524 +v -2.973589 -1.318131 -1.000234 +v 2.954302 -0.349698 -1.038944 +v 3.032206 -0.582163 0.936904 +v 1.016891 -1.550766 -1.000234 +v -3.089846 -1.472937 -0.264130 +v -1.888327 -0.310954 -1.077859 +v -0.260734 0.192891 1.014529 +v -0.648456 0.192891 -1.077859 +v -3.050894 -0.194722 -1.000234 +v -3.050894 0.115232 0.975410 +v 1.676078 -1.472937 -1.038944 +v 2.993254 -1.395619 1.014529 +v 3.032206 0.153976 0.123175 +v -3.089846 -1.550766 0.665525 +v -3.089846 -1.395619 -0.574014 +v -2.779428 -1.434363 -0.961524 +v -2.663172 0.037573 -1.038944 +v 0.164742 -1.550766 -1.000234 +v -0.997226 -0.233466 -1.077859 +v -3.050894 -1.085666 -1.000234 +f 54 62 65 +f 37 36 42 +f 33 38 43 +f 42 33 43 +f 37 42 43 +f 41 35 44 +f 33 42 45 +f 40 38 47 +f 38 33 49 +f 33 45 49 +f 42 36 50 +f 34 35 51 +f 36 37 52 +f 37 40 52 +f 41 36 52 +f 35 41 52 +f 47 38 53 +f 40 47 53 +f 51 35 53 +f 35 52 53 +f 52 40 53 +f 36 41 55 +f 41 44 55 +f 54 36 55 +f 44 54 55 +f 46 51 56 +f 51 38 56 +f 37 43 57 +f 43 38 57 +f 48 37 57 +f 38 48 57 +f 40 37 58 +f 38 40 58 +f 37 48 58 +f 48 38 58 +f 45 42 59 +f 42 50 59 +f 50 45 59 +f 50 36 60 +f 39 50 60 +f 36 54 60 +f 39 46 61 +f 46 45 61 +f 50 39 61 +f 45 50 61 +f 35 34 62 +f 44 35 62 +f 54 44 62 +f 45 46 63 +f 38 49 63 +f 49 45 63 +f 46 56 63 +f 56 38 63 +f 38 51 64 +f 53 38 64 +f 51 53 64 +f 46 39 65 +f 34 51 65 +f 51 46 65 +f 39 60 65 +f 60 54 65 +f 62 34 65 +o convex_2 +v -2.779354 0.503049 -1.038952 +v 1.404171 2.634010 1.091835 +v 1.404171 2.634010 0.859530 +v 3.031796 0.192891 1.014400 +v 2.915537 2.556351 -1.000234 +v -2.934566 2.634010 1.091835 +v -3.012471 0.192891 0.975463 +v 2.992844 0.192891 -1.000234 +v -2.934566 2.594822 -0.922579 +v 3.109702 2.517642 1.053118 +v -3.012471 0.192891 -1.000234 +v 0.242181 2.634010 -1.038952 +v -1.423798 0.503049 -1.116607 +v 0.978088 2.556351 1.130773 +v -2.973518 2.169013 1.091835 +v 2.140677 2.595061 -1.038952 +v -0.222256 0.192891 1.014400 +v -1.036069 0.192891 -1.116607 +v -1.307539 2.634010 -1.000014 +v -2.973518 2.130064 -0.961297 +v 3.109702 1.587646 1.053118 +v -0.532080 0.968046 -1.116387 +v -3.012471 1.277965 0.936965 +v 3.109702 2.246193 0.704440 +v 2.954490 2.556351 -0.845144 +v 1.017040 0.774258 1.053118 +v 3.070749 0.231840 0.936745 +v -3.012471 1.045466 -1.000234 +v 2.992844 0.929336 -1.000234 +v 1.172252 2.634010 -1.038952 +v -2.973518 2.440221 1.014400 +v 2.295889 2.517642 -1.038952 +v -2.004494 2.634010 -0.961517 +v 0.474698 2.052404 -1.077670 +v -1.075022 0.812968 -1.116607 +v -2.547435 2.556351 -0.961297 +v 2.489454 2.556351 1.091835 +v 1.133299 2.634010 1.130773 +v -2.702048 0.192891 -1.038952 +v 3.070749 0.503287 0.627004 +v -3.012471 0.812968 1.014400 +v 3.031796 1.006995 -0.535183 +v 2.954490 2.556351 -0.574121 +v -2.779354 0.619179 -1.038952 +v 2.954490 2.168773 -1.000234 +v 3.109702 2.478693 0.781875 +v -1.075022 2.130064 -1.038952 +v 1.094347 2.556351 1.130773 +v -0.764598 0.464339 -1.116387 +v -1.345893 0.192891 -1.116607 +f 83 104 115 +f 67 68 71 +f 69 72 73 +f 73 72 76 +f 71 68 77 +f 79 71 80 +f 72 69 82 +f 73 76 83 +f 71 77 84 +f 76 72 88 +f 75 86 89 +f 68 67 90 +f 81 68 90 +f 70 81 90 +f 79 80 91 +f 82 69 91 +f 80 82 91 +f 69 73 92 +f 86 69 92 +f 66 76 93 +f 76 88 93 +f 77 68 95 +f 68 81 95 +f 71 74 96 +f 80 71 96 +f 74 85 96 +f 88 80 96 +f 85 93 96 +f 93 88 96 +f 81 70 97 +f 73 87 97 +f 94 73 97 +f 74 71 98 +f 71 84 98 +f 77 95 99 +f 95 81 99 +f 81 97 99 +f 97 87 99 +f 83 78 100 +f 87 83 100 +f 77 99 100 +f 99 87 100 +f 78 85 101 +f 85 74 101 +f 74 98 101 +f 98 84 101 +f 100 78 101 +f 75 67 102 +f 86 75 102 +f 67 71 103 +f 71 79 103 +f 102 67 103 +f 76 66 104 +f 66 78 104 +f 83 76 104 +f 89 86 105 +f 92 73 105 +f 86 92 105 +f 72 82 106 +f 82 80 106 +f 88 72 106 +f 80 88 106 +f 73 94 107 +f 94 89 107 +f 105 73 107 +f 89 105 107 +f 67 75 108 +f 90 67 108 +f 75 90 108 +f 78 66 109 +f 85 78 109 +f 66 93 109 +f 93 85 109 +f 70 90 110 +f 97 70 110 +f 94 97 110 +f 75 89 111 +f 90 75 111 +f 89 94 111 +f 110 90 111 +f 94 110 111 +f 84 77 112 +f 77 100 112 +f 101 84 112 +f 100 101 112 +f 69 86 113 +f 91 69 113 +f 79 91 113 +f 86 102 113 +f 102 103 113 +f 103 79 113 +f 73 83 114 +f 87 73 114 +f 83 87 114 +f 78 83 115 +f 104 78 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf new file mode 100644 index 000000000..a3a3fbb2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj new file mode 100644 index 000000000..a685e9635 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj @@ -0,0 +1,378 @@ +o convex_0 +v -0.501085 -5.621277 -0.124299 +v 0.577998 -1.665454 0.630898 +v 0.470067 -1.665454 0.630898 +v -0.501085 -1.665454 -0.484121 +v 0.613938 -3.607877 -0.520138 +v 0.506007 -5.549511 0.594764 +v -0.465032 -1.665454 0.594764 +v 0.254206 -5.657160 -0.484121 +v 0.577998 -1.665454 -0.484121 +v -0.393154 -5.693832 0.486946 +v -0.537024 -5.585394 -0.556038 +v 0.470067 -5.693832 -0.448104 +v -0.537024 -3.643760 0.091223 +v -0.501085 -4.074752 0.450929 +v 0.541946 -5.297540 0.450929 +v -0.537024 -1.989191 -0.412203 +v 0.613938 -3.104330 -0.520138 +v -0.501085 -2.349206 0.558864 +v -0.465032 -2.025469 0.594764 +v -0.429093 -5.693832 0.450929 +v -0.537024 -5.153613 -0.556038 +v 0.506007 -5.585394 -0.124415 +v 0.613938 -3.679643 -0.412203 +v -0.393154 -5.585394 -0.556038 +v 0.506007 -5.621277 0.235175 +v -0.501085 -1.701732 0.379011 +v 0.541946 -2.960403 -0.520138 +v 0.470067 -5.549511 0.594764 +v 0.290258 -5.693832 -0.448104 +v -0.537024 -5.585394 -0.448104 +v -0.537024 -2.780592 -0.016480 +v -0.285223 -5.693832 0.486946 +v -0.429093 -5.693832 0.307093 +v 0.541946 -4.793993 -0.484121 +v 0.470067 -5.693832 -0.268251 +f 25 32 35 +f 3 2 4 +f 2 3 6 +f 3 4 7 +f 4 2 9 +f 2 6 15 +f 11 13 16 +f 9 2 17 +f 13 14 18 +f 3 7 19 +f 7 18 19 +f 18 10 19 +f 12 10 20 +f 14 1 20 +f 10 18 20 +f 18 14 20 +f 16 4 21 +f 11 16 21 +f 15 22 23 +f 2 15 23 +f 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1.098368 +v 1.117583 -1.665060 0.882161 +v 0.973501 0.385276 -3.001698 +v -1.040589 -1.520939 3.040600 +v 0.541911 -1.628976 -3.110105 +v 1.045542 0.528967 -0.088047 +v -1.076609 -0.981400 -3.073767 +v -0.572977 0.492883 3.076332 +v 1.081563 -1.557023 2.824393 +v 1.117583 -1.269212 0.918498 +v -1.040589 0.529181 1.025693 +v -0.464916 0.421145 -3.073767 +v 0.577931 -1.665060 -0.484124 +v -1.076609 -0.010573 -1.490669 +v -1.112629 -0.046657 3.076332 +v 1.081563 -0.010573 0.954230 +v 1.009522 -1.305295 -3.110105 +v 0.865658 0.421145 3.004869 +v 1.009522 0.528967 -1.059466 +v 1.045542 -0.981185 3.076332 +v -1.112629 0.493098 2.608791 +v 1.009522 0.349192 -1.851015 +v 0.074299 -1.521154 3.076938 +v -1.040589 0.457014 -1.742608 +v 0.038279 -1.593107 -3.110105 +v 1.045542 0.421145 1.925649 +v -1.076609 -1.556808 2.428921 +v -0.500936 -1.665060 -0.447787 +v 1.117583 -1.593107 0.594490 +v -1.112629 -1.556808 0.774360 +v -1.004568 0.241155 -3.073767 +v 1.009522 -1.665060 0.954230 +v 1.009522 -1.089222 -3.073767 +v -1.076609 -1.592892 1.925649 +v 1.045542 -0.442075 3.004263 +v 0.434068 0.421145 3.040600 +v -1.076609 -0.585766 3.076332 +v -1.004568 -1.557023 3.004263 +v 0.937699 -1.557023 2.896462 +v 0.865658 0.457228 -3.001698 +v 1.081563 -1.413118 2.752324 +v -1.076609 -1.053353 3.040600 +v -0.393093 0.457228 3.076938 +v -1.004568 0.421145 -2.606226 +v 0.901679 0.493098 -2.858166 +v -1.076609 -1.628976 -2.714027 +f 83 50 95 +f 37 38 51 +f 44 51 54 +f 48 47 55 +f 38 37 58 +f 51 38 58 +f 37 51 59 +f 48 39 60 +f 47 48 60 +f 39 57 60 +f 57 47 60 +f 51 49 62 +f 41 54 62 +f 54 51 62 +f 36 56 63 +f 39 50 64 +f 55 47 65 +f 37 59 65 +f 59 55 65 +f 44 54 66 +f 45 61 66 +f 61 52 66 +f 43 47 67 +f 47 57 67 +f 55 40 68 +f 48 55 68 +f 46 58 69 +f 39 48 70 +f 50 39 70 +f 63 56 70 +f 52 40 71 +f 40 55 71 +f 55 59 71 +f 46 69 72 +f 36 63 73 +f 70 48 73 +f 63 70 73 +f 54 41 74 +f 41 56 74 +f 45 66 74 +f 66 54 74 +f 47 43 75 +f 65 47 75 +f 42 53 76 +f 64 50 76 +f 41 62 77 +f 62 49 77 +f 51 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1.009480 0.529181 -0.987805 +v -1.076630 4.449991 -0.987805 +v 0.937603 4.341542 1.098523 +v -1.040484 0.529181 1.026228 +v -1.004545 4.486011 1.062376 +v 1.045627 4.449991 -0.915715 +v 1.045627 3.946091 -0.951658 +v 1.045627 1.069101 0.990490 +v -1.076630 4.449991 -0.340014 +v -0.465048 0.529181 -0.987805 +v 0.937603 3.730356 1.098523 +v 1.045627 4.449991 -0.520138 +v 0.290289 4.413583 1.098523 +v -1.040484 4.486011 0.702537 +v 1.045627 0.529181 -0.016527 +v 1.009480 2.076513 -0.987805 +v -1.004545 4.486011 -0.340014 +v -0.536925 4.449991 -0.987805 +v 0.973542 4.377563 0.702537 +v -0.716827 0.529181 1.026228 +v 1.045627 2.363902 -0.951658 +v -1.076630 2.184574 -0.987805 +v -0.177330 4.377950 1.098523 +v -0.716827 4.486011 1.062171 +v 1.045627 1.212796 0.990490 +v 0.721763 4.449991 -0.951658 +v 0.937603 4.377563 0.918604 +v 0.973542 3.586274 1.062171 +v -1.040484 0.925019 1.026228 +f 114 109 129 +f 100 98 101 +f 97 98 104 +f 98 100 104 +f 104 99 105 +f 106 100 107 +f 100 106 108 +f 102 97 109 +f 97 104 109 +f 101 98 110 +f 102 101 110 +f 108 103 111 +f 108 106 112 +f 111 103 113 +f 102 109 114 +f 100 101 115 +f 107 100 115 +f 101 102 116 +f 107 101 116 +f 114 105 117 +f 102 114 117 +f 116 102 118 +f 102 117 118 +f 104 100 120 +f 100 108 120 +f 111 104 120 +f 108 111 120 +f 101 107 121 +f 115 101 121 +f 107 115 121 +f 98 97 122 +f 97 102 122 +f 110 98 122 +f 102 110 122 +f 99 104 123 +f 105 99 123 +f 104 111 123 +f 113 105 123 +f 111 113 123 +f 96 112 124 +f 112 106 124 +f 113 96 124 +f 105 113 124 +f 106 117 124 +f 117 105 124 +f 103 108 125 +f 108 112 125 +f 112 119 125 +f 106 107 126 +f 107 116 126 +f 117 106 126 +f 116 118 126 +f 118 117 126 +f 112 96 127 +f 96 113 127 +f 113 103 127 +f 103 119 127 +f 119 112 127 +f 119 103 128 +f 103 125 128 +f 125 119 128 +f 104 105 129 +f 109 104 129 +f 105 114 129 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf new file mode 100644 index 000000000..d2b98ec82 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj new file mode 100644 index 000000000..097993f9e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj @@ -0,0 +1,705 @@ +o convex_0 +v -2.135741 0.016994 -2.991732 +v -0.974209 0.713903 -2.925385 +v -1.007523 0.713903 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+f 80 89 91 +f 89 85 91 +f 85 84 92 +f 85 82 93 +f 84 85 93 +f 83 84 94 +f 86 88 94 +f 81 85 95 +f 89 81 95 +f 85 89 95 +f 87 80 96 +f 80 91 96 +f 82 81 97 +f 81 88 97 +f 88 86 97 +f 93 82 97 +f 86 93 97 +f 84 83 98 +f 83 90 98 +f 92 84 98 +f 84 93 99 +f 93 86 99 +f 86 94 99 +f 94 84 99 +f 91 85 100 +f 87 96 100 +f 96 91 100 +f 88 83 101 +f 83 94 101 +f 94 88 101 +f 83 80 102 +f 80 87 102 +f 90 83 102 +f 87 90 102 +f 90 87 103 +f 85 92 103 +f 98 90 103 +f 92 98 103 +f 100 85 103 +o convex_4 +v -0.044879 -1.442978 -1.100308 +v -0.542636 3.136486 1.123196 +v 0.685107 3.136486 1.056596 +v 1.282329 -1.476414 1.056813 +v 1.382011 3.136486 -1.067008 +v -0.708700 3.202901 -0.967325 +v -0.609018 -1.476414 1.089896 +v 1.481475 -1.476414 -0.967542 +v 1.415093 3.169464 0.990213 +v -0.575936 -1.476414 -1.067008 +v 1.514775 -0.248415 0.558832 +v -0.708700 -0.381246 0.525531 +v -0.642318 3.136486 1.123196 +v 1.514775 0.747818 -0.535944 +v -0.708700 -0.580034 -0.502644 +v 1.448393 -1.476414 0.757981 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+f 184 190 195 +f 190 186 195 +f 183 184 196 +f 194 183 196 +f 184 194 196 +f 185 181 197 +f 181 189 197 +f 189 187 197 +f 182 185 198 +f 187 182 198 +f 185 197 198 +o convex_7 +v 0.054508 -1.509647 1.023545 +v -0.443184 -2.206520 -1.100308 +v -0.310457 -2.206520 -1.100308 +v -0.210946 -1.476414 -1.100308 +v -0.609059 -1.476414 1.090010 +v 0.054508 -2.206520 1.090010 +v -0.609059 -2.206520 1.090010 +v 0.054508 -2.206520 -1.067076 +v -0.642275 -1.476414 -0.768416 +v 0.054508 -1.476414 -1.033844 +v -0.609059 -2.173217 -0.934362 +v -0.575911 -1.476414 -1.067076 +v 0.021292 -1.476414 1.090010 +v -0.575911 -2.206520 -1.067076 +v -0.642275 -1.642361 -0.734969 +f 207 209 213 +f 201 200 202 +f 200 201 204 +f 200 204 205 +f 204 203 205 +f 201 202 206 +f 204 201 206 +f 199 204 206 +f 203 202 207 +f 202 203 208 +f 206 202 208 +f 199 206 208 +f 209 207 210 +f 202 200 210 +f 207 202 210 +f 203 204 211 +f 204 199 211 +f 199 208 211 +f 208 203 211 +f 200 205 212 +f 205 209 212 +f 209 210 212 +f 210 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3.080983 +v 0.054641 -1.542879 1.985110 +f 233 243 244 +f 216 215 223 +f 222 218 223 +f 221 215 224 +f 222 214 224 +f 215 216 225 +f 218 222 226 +f 215 221 227 +f 223 215 227 +f 214 222 228 +f 222 223 228 +f 228 223 229 +f 223 227 229 +f 220 228 229 +f 224 215 230 +f 217 224 230 +f 221 224 231 +f 224 214 231 +f 223 218 232 +f 218 226 232 +f 229 227 233 +f 221 231 234 +f 217 222 235 +f 224 217 235 +f 222 224 235 +f 215 225 236 +f 230 215 236 +f 225 230 236 +f 227 219 237 +f 233 227 237 +f 231 214 238 +f 234 231 238 +f 219 227 239 +f 227 221 239 +f 221 234 239 +f 216 223 240 +f 225 216 240 +f 230 225 240 +f 223 232 240 +f 232 230 240 +f 222 217 241 +f 226 222 241 +f 217 230 241 +f 232 226 241 +f 230 232 241 +f 214 228 242 +f 228 220 242 +f 238 214 242 +f 220 238 242 +f 237 219 243 +f 233 237 243 +f 238 220 243 +f 234 238 243 +f 219 239 243 +f 239 234 243 +f 220 229 244 +f 229 233 244 +f 243 220 244 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf new file mode 100644 index 000000000..264be969b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj new file mode 100644 index 000000000..d6a2b272f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj @@ -0,0 +1,402 @@ +o convex_0 +v -1.074814 0.924125 -0.611256 +v -1.074814 -3.472410 -0.828083 +v -1.074814 -3.472410 -0.735128 +v 1.092726 -0.840512 0.038401 +v -0.919929 -3.503399 1.029376 +v 1.030772 -3.441421 -0.983078 +v 1.092726 0.924561 1.029582 +v 1.061749 0.924561 -0.983078 +v 1.061536 -3.534389 0.936421 +v -1.043837 0.924125 0.998254 +v -1.043837 0.924125 -1.075827 +v -1.074814 -3.441421 -0.982872 +v 1.092726 -0.314569 1.029582 +v 1.092726 0.862146 -0.890122 +v -0.950693 -3.038562 1.029376 +v -1.074814 0.862146 0.626844 +v 0.751979 -0.407537 -1.013788 +v 1.061536 -3.503399 0.069524 +v -0.021809 -3.534389 0.998460 +v -1.012860 0.397309 -1.075827 +v 0.473398 0.924125 1.029376 +v 1.092726 -1.459423 0.998254 +v -1.074814 -0.964906 -1.044911 +v 0.751979 0.924125 -1.013788 +v 1.061536 -3.534389 0.595722 +v -0.455274 -3.534389 0.967337 +v 1.061749 -1.614369 -0.983078 +v 1.061536 -2.914605 0.967543 +v 1.030772 -3.472410 -0.580340 +v -0.981883 -3.503399 0.471850 +v -1.043837 -2.326684 -1.013994 +v -0.765044 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0.473403 2.101228 -1.106998 +v 0.566197 1.110357 -1.106998 +v -0.548285 1.079440 -3.026484 +v 0.535345 1.141479 -3.088753 +v -0.486343 2.008273 -1.106998 +v -0.579375 1.048421 -1.106998 +v -0.579375 1.048421 -2.314363 +v 0.597168 1.141479 -1.106998 +v 0.349519 2.039293 -2.995834 +v -0.579375 2.101228 -2.748115 +v 0.349519 1.110357 -3.088753 +v 0.163693 2.101228 -1.138036 +v 0.597168 1.296268 -1.106998 +v 0.597168 1.141479 -1.726394 +v -0.424520 2.101228 -3.088753 +v -0.362578 1.048421 -1.323874 +v -0.579375 1.420139 -3.057716 +v 0.566197 1.451056 -3.057716 +v 0.442432 2.101228 -1.385949 +v -0.145781 1.079440 -3.057716 +v 0.566197 1.327184 -3.057716 +v 0.628258 2.008273 -2.964797 +v -0.517314 2.039293 -1.571593 +v 0.535345 2.070106 -1.788275 +v 0.504374 2.039190 -2.748115 +v -0.362578 2.101228 -3.057716 +f 102 86 103 +f 78 76 79 +f 73 77 81 +f 76 78 82 +f 76 77 83 +f 79 76 83 +f 83 77 84 +f 75 74 85 +f 78 79 85 +f 77 76 87 +f 78 77 87 +f 81 79 88 +f 73 81 88 +f 82 78 89 +f 78 87 89 +f 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1.091512 +v -1.074756 0.924561 -0.611171 +v -0.455443 2.627632 -0.487430 +v 1.092731 2.534610 1.091297 +v 0.473419 2.101174 -1.106998 +v 1.092731 1.048591 -0.983042 +v 0.504395 1.110439 1.091512 +v -1.074756 0.955569 0.657879 +v -1.074756 2.596625 -0.053796 +v -0.826946 2.596625 0.998544 +v -0.672277 2.627632 -1.106998 +v 1.092731 0.986576 1.060523 +v -0.981827 2.627632 -0.053796 +v -1.043780 1.760760 -1.106998 +v 0.937850 2.565618 -0.983042 +v 0.349514 2.565451 1.060523 +v -0.455443 2.627632 -1.076009 +v 0.751993 0.924561 -1.014031 +v 1.092731 0.924561 -0.921063 +v -1.074756 1.946304 0.967555 +v 0.566136 1.110439 -1.106998 +f 135 113 138 +f 105 106 109 +f 109 110 112 +f 112 110 113 +f 105 109 115 +f 106 105 116 +f 110 109 116 +f 104 111 117 +f 107 110 118 +f 116 105 118 +f 110 116 118 +f 113 110 119 +f 105 115 121 +f 115 114 121 +f 118 105 121 +f 108 115 122 +f 117 111 122 +f 115 117 122 +f 115 109 123 +f 112 117 123 +f 117 115 123 +f 106 116 124 +f 107 119 125 +f 119 110 125 +f 107 111 126 +f 119 107 126 +f 111 119 126 +f 107 118 127 +f 111 120 128 +f 108 122 128 +f 122 111 128 +f 109 106 129 +f 116 109 129 +f 106 124 129 +f 124 116 129 +f 111 107 130 +f 120 111 130 +f 114 120 130 +f 107 127 130 +f 127 114 130 +f 111 104 131 +f 104 113 131 +f 119 111 131 +f 113 119 131 +f 115 108 132 +f 114 115 132 +f 120 114 132 +f 121 114 133 +f 118 121 133 +f 127 118 133 +f 114 127 133 +f 128 120 134 +f 108 128 134 +f 132 108 134 +f 120 132 134 +f 112 113 135 +f 109 112 136 +f 123 109 136 +f 112 123 136 +f 110 107 137 +f 107 125 137 +f 125 110 137 +f 113 104 138 +f 104 117 138 +f 117 112 138 +f 112 135 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf new file mode 100644 index 000000000..5b3cfbdbc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj new file mode 100644 index 000000000..8e2319974 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj @@ -0,0 +1,918 @@ +o convex_0 +v -0.705285 0.030740 -1.060560 +v 0.021523 0.030740 1.315261 +v -0.062211 0.030740 1.315261 +v 0.049303 -4.050292 -0.025956 +v 0.888019 0.030740 -0.808867 +v -0.928904 -1.031567 0.756215 +v 0.720355 -2.820190 0.728140 +v -0.677309 -2.931654 -0.892847 +v -0.677309 -2.875722 0.728140 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b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf new file mode 100644 index 000000000..c010e185b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj new file mode 100644 index 000000000..98bc4c166 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj @@ -0,0 +1,591 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj new file mode 100644 index 000000000..799567275 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj @@ -0,0 +1,582 @@ +o convex_0 +v 2.478563 0.992031 -1.029474 +v 3.410646 0.454416 1.085032 +v 3.338933 0.454416 1.085032 +v 3.338933 2.174699 0.977381 +v 1.403444 2.031093 0.977381 +v 1.403444 0.024452 0.475507 +v 1.403444 2.103003 -0.957778 +v 3.410646 -0.011717 -1.029688 +v 3.410646 2.031307 -1.101384 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf new file mode 100644 index 000000000..96316cba3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj new file mode 100644 index 000000000..b207fcd93 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj @@ -0,0 +1,516 @@ +o convex_0 +v -0.848915 1.650870 -1.002274 +v 1.055933 1.474506 1.114119 +v 1.020607 1.474506 1.114119 +v 0.949953 3.273579 1.078792 +v -1.095987 2.144729 1.007925 +v 0.949953 3.132252 -1.037815 +v -1.025334 3.167485 -0.861181 +v 0.949953 1.262711 -1.073141 +v -1.060660 1.262711 1.007925 +v -1.131313 3.273579 0.972812 +v -1.060660 1.262711 -0.966947 +v 1.055933 1.262711 1.114119 +v -0.848915 3.132252 -0.966947 +v 0.879515 2.991318 -1.073141 +v 1.055933 1.615636 0.584860 +v -0.990007 3.273579 1.007925 +v 0.985280 1.262711 -1.002488 +v 0.808861 3.273579 0.867046 +v 0.985280 3.026551 0.902373 +v -0.990007 3.167485 -0.931834 +v 0.632443 1.262711 -1.073141 +v -1.095987 3.273579 0.761066 +v -1.060660 1.650870 -0.966947 +v -0.566732 1.298141 1.043251 +v -0.954681 1.262711 -1.002274 +v 0.949953 3.167485 -0.649435 +v 0.985280 2.673822 -0.543669 +v -0.637385 3.167485 -0.931834 +v 0.773535 3.202718 1.078792 +v 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109 +o convex_3 +v -1.096228 -1.489003 -0.085329 +v -3.000861 -1.771289 -0.261738 +v -3.036049 -2.018120 -0.226457 +v -2.930290 -1.630176 0.337994 +v -1.096228 -2.088677 0.267431 +v -1.096228 -2.018120 -0.261738 +v -3.071431 -2.088677 0.196867 +v -1.096228 -1.594897 0.337994 +v -2.965479 -1.524341 -0.261738 +v -1.096228 -1.489003 -0.191116 +v -2.471678 -1.489003 -0.261738 +v -1.660600 -2.088677 0.055740 +v -2.930290 -1.736011 0.337994 +v -1.131610 -1.559619 0.302712 +v -2.965479 -1.524341 -0.085329 +v -1.166799 -2.018120 0.302712 +v -3.071431 -2.088677 0.055740 +v -3.071431 -1.947564 0.126303 +v -1.695982 -2.088677 0.267431 +v -1.096228 -1.912285 -0.261738 +v -1.096228 -1.736011 0.337994 +v -2.436490 -1.489003 -0.191116 +v -3.071431 -1.982842 -0.191116 +v -1.096228 -2.088677 0.091021 +f 114 121 133 +f 112 111 115 +f 110 114 115 +f 114 110 117 +f 115 111 118 +f 110 115 119 +f 115 118 120 +f 110 119 120 +f 114 116 121 +f 113 116 122 +f 117 113 122 +f 117 110 123 +f 113 117 123 +f 120 118 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137 152 +f 134 151 152 +f 152 144 154 +f 140 138 155 +f 148 140 155 +f 141 148 155 +f 148 141 156 +f 136 135 157 +f 145 146 158 +f 146 138 158 +f 150 149 159 +f 140 144 160 +f 144 147 160 +f 153 140 160 +f 144 140 161 +f 140 148 161 +f 154 144 161 +f 148 154 161 +f 140 153 162 +f 153 147 162 +f 157 140 162 +f 147 142 163 +f 139 162 163 +f 162 147 163 +f 149 145 164 +f 156 141 165 +f 150 159 165 +f 138 140 166 +f 140 157 166 +f 142 137 167 +f 139 142 167 +f 145 139 167 +f 137 151 167 +f 151 143 167 +f 155 138 168 +f 141 155 168 +f 165 141 168 +f 150 165 168 +f 143 134 169 +f 134 156 169 +f 159 143 169 +f 156 165 169 +f 165 159 169 +f 134 152 170 +f 154 148 170 +f 152 154 170 +f 156 134 170 +f 148 156 170 +f 138 146 171 +f 146 150 171 +f 168 138 171 +f 150 168 171 +f 143 159 172 +f 159 149 172 +f 164 145 172 +f 149 164 172 +f 145 167 172 +f 167 143 172 +f 135 136 173 +f 136 145 173 +f 157 135 173 +f 145 158 173 +f 166 157 173 +f 166 173 174 +f 158 138 174 +f 138 166 174 +f 173 158 174 +f 147 153 175 +f 160 147 175 +f 153 160 175 +f 139 136 176 +f 136 157 176 +f 162 139 176 +f 157 162 176 +f 142 139 177 +f 139 163 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf new file mode 100644 index 000000000..9f0eb55d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.obj 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b/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj new file mode 100644 index 000000000..34542cf92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj @@ -0,0 +1,474 @@ +o convex_0 +v -0.757087 -3.002161 -0.838739 +v 0.286711 0.324299 1.346676 +v 1.102239 3.064162 1.281319 +v -0.985358 2.933203 1.183394 +v 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-0.708244 +v 0.319230 -3.067338 -0.773383 +v -0.267813 -3.002161 1.346676 +v -1.018091 -1.827761 -0.838739 +v -1.083341 -2.121059 1.281319 +v -0.691837 2.966396 1.183394 +v 0.645484 2.998984 1.281319 +v -0.985358 2.248238 1.215963 +v 0.319230 -0.196517 1.346676 +v -0.691837 -3.002161 -0.838739 +v 0.710735 -3.099927 -0.544962 +v -1.018091 -2.969572 1.313889 +v -0.365583 -0.196517 -0.871526 +f 16 10 48 +f 3 6 12 +f 6 9 12 +f 11 5 13 +f 7 10 16 +f 7 2 17 +f 3 12 18 +f 12 9 19 +f 6 3 20 +f 19 9 21 +f 2 3 22 +f 17 2 22 +f 3 18 22 +f 2 7 23 +f 10 7 24 +f 7 17 24 +f 5 11 25 +f 5 18 26 +f 19 5 26 +f 15 4 27 +f 13 5 28 +f 5 19 28 +f 21 13 28 +f 19 21 28 +f 9 6 29 +f 21 9 29 +f 16 1 31 +f 7 16 31 +f 5 8 32 +f 18 5 32 +f 8 22 32 +f 22 18 32 +f 18 12 33 +f 12 19 33 +f 26 18 33 +f 19 26 33 +f 6 20 34 +f 20 23 34 +f 29 6 34 +f 8 14 35 +f 14 10 35 +f 10 15 35 +f 22 8 35 +f 15 27 35 +f 27 22 35 +f 8 5 36 +f 14 8 36 +f 11 14 36 +f 5 25 36 +f 25 11 36 +f 13 21 37 +f 21 29 37 +f 2 23 38 +f 23 20 38 +f 11 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0.226721 2.618809 +v 1.003975 0.259354 1.933958 +v 0.938798 -0.295158 2.031804 +v -2.289895 0.357255 2.064396 +v -0.234998 -0.262524 2.618809 +v 0.286421 -0.262524 1.901226 +v -0.039466 0.291988 1.901226 +v 1.786707 -0.295158 2.292609 +v -2.974861 -0.099421 2.488301 +v 1.982843 0.259354 2.455709 +v 3.026284 0.128885 2.553555 +v -2.942272 0.226721 2.455709 +v -2.518016 0.194151 2.520893 +v -3.105819 0.357255 1.966550 +v 3.026284 0.226721 2.390455 +v 2.928518 -0.262460 2.227496 +v 2.243552 0.194088 2.586147 +v 0.482556 0.226721 1.901226 +v 0.253832 -0.295158 1.999212 +v 2.993695 -0.131991 2.488301 +v -2.420250 0.357255 1.933958 +f 116 106 123 +f 94 92 96 +f 91 90 98 +f 93 95 100 +f 91 98 102 +f 96 89 103 +f 99 93 104 +f 96 92 105 +f 101 103 106 +f 94 96 107 +f 96 103 107 +f 98 90 108 +f 93 105 108 +f 108 90 109 +f 96 105 110 +f 105 93 110 +f 101 94 111 +f 97 101 111 +f 94 107 111 +f 103 95 112 +f 106 103 112 +f 101 97 114 +f 103 101 114 +f 103 114 115 +f 107 103 115 +f 97 111 115 +f 111 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-1.795329 -2.306811 +v 0.319255 -0.197105 -2.339339 +v -0.594032 -2.937428 -1.458783 +v -0.594032 3.031416 -1.328326 +v 0.515056 1.791916 -1.230512 +v -0.006967 -2.936834 -1.165226 +v 0.188834 -2.936834 -2.306695 +v -0.430865 3.130006 -2.274053 +v 0.482311 -2.088723 -2.306695 +v 0.482311 1.009136 -2.306695 +v 0.547689 -2.186719 -1.230512 +v 0.090933 3.064082 -2.339339 +v -0.594032 -0.555235 -1.197869 +v 0.090933 3.031416 -1.165226 +v -0.496132 1.563853 -2.306811 +v 0.515056 1.857247 -1.165112 +v -0.300332 -0.653231 -1.165226 +f 129 142 153 +f 124 127 129 +f 127 124 130 +f 127 125 133 +f 127 130 135 +f 124 128 137 +f 136 124 137 +f 136 132 138 +f 128 124 139 +f 124 129 139 +f 137 128 140 +f 129 127 142 +f 130 124 143 +f 124 136 143 +f 136 138 143 +f 125 126 144 +f 126 132 144 +f 134 140 144 +f 135 130 145 +f 138 132 145 +f 130 143 145 +f 143 138 145 +f 132 126 146 +f 135 145 146 +f 145 132 146 +f 127 135 147 +f 126 141 147 +f 146 126 147 +f 135 146 147 +f 136 131 148 +f 132 136 148 +f 144 132 148 +f 131 144 148 +f 133 128 149 +f 129 133 149 +f 128 139 149 +f 139 129 149 +f 133 125 150 +f 128 133 150 +f 140 128 150 +f 125 144 150 +f 144 140 150 +f 131 136 151 +f 136 137 151 +f 140 134 151 +f 137 140 151 +f 144 131 151 +f 134 144 151 +f 126 125 152 +f 125 127 152 +f 141 126 152 +f 127 147 152 +f 147 141 152 +f 127 133 153 +f 133 129 153 +f 142 127 153 +o convex_6 +v 0.156226 -0.229878 -1.165083 +v -0.202569 0.324634 -1.099826 +v -0.202569 0.324634 -1.165083 +v -0.333067 -0.262518 -1.132440 +v 0.221445 0.259354 -0.871555 +v -0.333067 -0.229878 -0.871555 +v -0.300428 0.291994 -0.871555 +v 0.221445 -0.197238 -0.871555 +v 0.221445 0.259354 -1.165083 +v 0.286724 -0.197238 -1.165083 +v -0.235148 -0.295158 -1.165083 +v -0.300428 0.226715 -1.165083 +f 164 157 165 +f 156 155 158 +f 155 156 160 +f 158 155 160 +f 159 158 160 +f 157 159 160 +f 158 159 161 +f 154 156 162 +f 156 158 162 +f 161 154 163 +f 158 161 163 +f 154 162 163 +f 162 158 163 +f 156 154 164 +f 159 157 164 +f 154 161 164 +f 161 159 164 +f 160 156 165 +f 157 160 165 +f 156 164 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf new file mode 100644 index 000000000..80316cf4a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj new file mode 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a/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf new file mode 100644 index 000000000..b6ad0b81c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj new file mode 100644 index 000000000..88cc8302d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj @@ -0,0 +1,459 @@ +o convex_0 +v -1.081955 -2.738488 0.444427 +v 0.948050 -3.060906 1.089193 +v 0.948050 -2.416528 1.056804 +v 0.948050 -3.834251 -1.102067 +v 1.044856 0.515414 -1.037505 +v -0.985150 0.514956 -1.005116 +v -1.017418 0.514956 1.024631 +v -1.017418 -4.124198 -1.102067 +v -0.985150 -4.156668 0.960068 +v 0.915781 0.514956 1.056804 +v 0.948050 -4.156668 1.089193 +v 0.335780 0.514956 -1.102067 +v 0.915781 -4.027701 -1.102067 +v -1.081955 -2.448541 1.024631 +v 1.012587 -2.932396 -0.199695 +v 0.303720 -3.576317 1.089193 +v 1.012587 0.321963 -0.103173 +v -1.049687 -3.866264 -0.844032 +v 1.044856 -1.096217 -1.069679 +v 0.980319 -3.898734 0.831372 +v -0.211745 -4.156668 -0.264043 +v -1.081955 -1.579614 0.992457 +v 0.948050 0.514956 0.895720 +v 0.690318 -4.059714 -1.102067 +v -1.017418 -3.608787 -1.102067 +v 1.044856 0.515414 -0.779684 +v 1.012587 -2.641992 -1.069679 +v 0.948050 -4.156668 0.766810 +v 0.690318 -0.677302 -1.102067 +v -1.081955 -2.674462 0.380079 +v -0.534014 -2.641992 1.056804 +v -0.534014 -4.124198 -1.101853 +v 0.625781 -4.156668 1.089193 +v -0.985150 -4.156668 0.057911 +v 0.948050 -4.092185 -0.328391 +v 0.786915 0.514956 1.056804 +v -1.017418 -4.124198 -0.070570 +v 0.980319 -2.802972 -1.102067 +v 1.044856 -1.096217 -1.005331 +v -0.856283 -3.705284 0.992457 +v 0.464646 0.418003 -1.102067 +v -1.049687 -0.484309 0.992457 +v 0.303720 -3.511833 1.089193 +v 0.980319 -3.834251 0.541163 +f 20 35 44 +f 5 6 7 +f 2 3 10 +f 6 5 12 +f 4 8 12 +f 8 4 13 +f 11 2 16 +f 3 2 20 +f 2 11 20 +f 11 9 21 +f 14 7 22 +f 1 14 22 +f 10 3 23 +f 3 20 23 +f 20 17 23 +f 8 13 24 +f 6 12 25 +f 12 8 25 +f 18 6 25 +f 8 18 25 +f 5 7 26 +f 19 5 26 +f 17 20 26 +f 10 23 26 +f 23 17 26 +f 19 15 27 +f 20 11 28 +f 11 21 28 +f 4 12 29 +f 5 19 29 +f 18 1 30 +f 6 18 30 +f 1 22 30 +f 22 6 30 +f 7 14 31 +f 14 16 31 +f 21 8 32 +f 8 24 32 +f 9 11 33 +f 11 16 33 +f 9 8 34 +f 8 21 34 +f 21 9 34 +f 13 4 35 +f 24 13 35 +f 20 28 35 +f 28 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-0.630713 3.834452 -1.101853 +v -0.952906 3.479908 -1.101853 +v 0.980256 3.576303 -0.972942 +v -0.759711 3.608603 1.056804 +v 0.980256 3.834452 1.024631 +v -0.469616 3.866752 1.024631 +v 0.948157 1.288800 0.863546 +v 0.625762 2.352684 -1.069679 +v 0.980256 3.866752 0.025737 +v 0.335868 1.675644 1.089193 +v -1.017506 1.514648 -1.005116 +v 0.980256 3.222264 1.024631 +v -0.985206 1.707944 1.024631 +v 0.174570 1.288800 -1.102067 +v 0.400267 1.643344 -1.102067 +v 0.883557 3.834452 -0.973157 +v 1.044856 2.030188 -0.682948 +v 0.593664 2.352684 1.089193 +v 1.044856 2.159136 -1.005331 +v -0.952906 3.383008 -1.101853 +v 0.883557 1.288800 -1.037505 +v -0.952906 3.254312 1.024631 +v -0.018424 2.481128 1.089193 +v 0.980256 3.834452 -0.360565 +v -1.017506 1.997888 -1.005116 +v 0.690362 2.030188 -1.069679 +f 81 83 88 +f 49 50 51 +f 50 49 54 +f 54 49 56 +f 53 48 60 +f 50 54 61 +f 54 58 61 +f 48 59 63 +f 60 48 64 +f 46 47 66 +f 58 55 67 +f 66 47 67 +f 66 67 68 +f 48 53 68 +f 59 48 68 +f 55 59 68 +f 53 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1.224240 -1.102458 +v 0.239208 1.256506 -3.099980 +v 0.303694 0.579973 -3.035254 +v -0.308569 1.063122 -2.938653 +v 0.206964 1.192044 -1.102458 +v 0.303694 0.579973 -2.519789 +v 0.303694 0.837749 -1.102458 +v 0.142538 1.256506 -3.067519 +v 0.271451 1.127583 -3.099980 +v 0.239208 1.256506 -2.422993 +v -0.211839 1.127583 -2.970723 +v -0.211839 0.579973 -1.617922 +v -0.115109 0.612169 -1.102458 +v 0.142538 0.547638 -3.002988 +v -0.308569 0.998730 -2.938653 +v -0.276266 0.612169 -1.456791 +v -0.308569 1.224240 -1.263394 +v -0.082926 1.224240 -1.102458 +v 0.110294 1.159779 -3.099980 +v -0.308569 1.095387 -1.102458 +f 94 108 113 +f 92 93 94 +f 94 93 98 +f 96 93 99 +f 93 96 100 +f 89 98 100 +f 98 93 100 +f 96 90 102 +f 100 96 102 +f 100 102 103 +f 98 89 103 +f 89 100 103 +f 95 101 103 +f 101 94 103 +f 102 95 103 +f 90 97 104 +f 92 90 105 +f 105 99 106 +f 93 92 106 +f 99 93 106 +f 92 105 106 +f 90 96 107 +f 96 99 107 +f 105 90 107 +f 99 105 107 +f 90 91 108 +f 97 90 108 +f 94 97 108 +f 91 90 109 +f 90 92 109 +f 108 91 109 +f 92 108 109 +f 97 94 110 +f 94 101 110 +f 104 97 110 +f 101 104 110 +f 94 98 111 +f 98 103 111 +f 103 94 111 +f 101 95 112 +f 102 90 112 +f 95 102 112 +f 90 104 112 +f 104 101 112 +f 92 94 113 +f 108 92 113 +o convex_3 +v -0.276247 0.612229 -1.102067 +v 1.044777 1.288724 -0.682982 +v 1.044777 1.095321 -0.682982 +v -1.017506 0.515489 1.024634 +v -0.985006 1.288724 -1.005274 +v 0.915783 1.288724 1.056968 +v 0.915783 0.515489 1.056968 +v -0.985006 1.288724 1.024634 +v 1.044777 0.515489 -1.037609 +v -0.985006 0.515489 -1.005274 +v 0.915783 1.288724 -1.037609 +v 0.303720 1.288724 -1.102067 +v 0.948082 0.515489 0.895506 +v -0.211851 0.805481 1.056968 +v 0.432511 0.515489 -1.102067 +v -0.308546 1.224231 -1.102067 +v 1.044777 1.288724 -1.005274 +v 0.948082 1.288724 0.863382 +v 1.012478 0.515489 -0.135193 +v -0.179552 1.095321 1.056968 +v -1.017506 0.612229 0.959964 +f 123 117 134 +f 115 118 119 +f 119 118 121 +f 115 116 122 +f 120 117 122 +f 122 117 123 +f 118 115 124 +f 124 122 125 +f 118 124 125 +f 119 120 126 +f 120 122 126 +f 117 120 127 +f 120 119 127 +f 121 117 127 +f 123 114 128 +f 122 123 128 +f 125 122 128 +f 114 125 128 +f 114 123 129 +f 123 118 129 +f 125 114 129 +f 118 125 129 +f 115 122 130 +f 124 115 130 +f 122 124 130 +f 115 119 131 +f 126 115 131 +f 119 126 131 +f 116 115 132 +f 122 116 132 +f 115 126 132 +f 126 122 132 +f 119 121 133 +f 127 119 133 +f 121 127 133 +f 117 121 134 +f 121 118 134 +f 118 123 134 +o convex_4 +v 0.110272 1.192054 1.862714 +v 0.142553 0.579863 2.764657 +v 0.174727 0.579863 2.764657 +v -0.211896 0.644394 1.057161 +v -0.179669 1.224288 3.022465 +v 0.271464 0.708861 1.057161 +v -0.179669 1.095352 1.057161 +v -0.179669 0.612160 2.990143 +v 0.174727 1.095352 2.990143 +v 0.335919 1.127586 1.057161 +v 0.174727 0.579863 2.990143 +v 0.207009 0.612160 2.796787 +v 0.271464 1.127586 2.023940 +v -0.211896 0.869968 1.701681 +v 0.207009 1.159820 1.057161 +v 0.335919 1.063118 1.153935 +v 0.207009 1.095352 2.861239 +v -0.115213 1.224288 2.958013 +v -0.179669 1.127586 1.347291 +v 0.303691 1.159820 1.282839 +v 0.239182 0.644394 1.830585 +v 0.142553 1.127586 2.990143 +v -0.147441 0.644394 1.057161 +v -0.179669 1.224288 2.893561 +f 149 153 158 +f 137 136 138 +f 140 138 141 +f 138 136 142 +f 140 141 144 +f 136 137 145 +f 142 136 145 +f 139 142 145 +f 143 139 145 +f 145 137 146 +f 141 138 148 +f 138 142 148 +f 142 139 148 +f 144 141 149 +f 140 144 150 +f 144 147 150 +f 147 146 150 +f 143 145 151 +f 145 146 151 +f 146 147 151 +f 141 148 153 +f 149 141 153 +f 147 144 154 +f 149 135 154 +f 144 149 154 +f 135 152 154 +f 146 137 155 +f 140 150 155 +f 150 146 155 +f 139 143 156 +f 143 151 156 +f 151 147 156 +f 152 139 156 +f 147 154 156 +f 154 152 156 +f 137 138 157 +f 138 140 157 +f 155 137 157 +f 140 155 157 +f 148 139 158 +f 135 149 158 +f 152 135 158 +f 139 152 158 +f 153 148 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf new file mode 100644 index 000000000..76fe2fe2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj new file mode 100644 index 000000000..f6dd8db04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj @@ -0,0 +1,924 @@ +o convex_0 +v -1.027993 -2.165298 -0.119264 +v 1.090578 -1.940639 0.137026 +v 1.090578 -2.133327 0.137026 +v -0.064724 -1.459177 1.324820 +v -0.032788 -1.426861 -1.275245 +v 0.095372 -3.192337 0.008754 +v 0.095372 -2.999648 -0.761645 +v 0.865780 -1.427033 -0.889663 +v -0.867483 -1.427033 -0.954054 +v -0.097075 -2.903218 0.810966 +v -0.899419 -1.427033 0.907425 +v 0.930067 -1.427033 1.003630 +v 0.801493 -2.999475 0.137026 +v -0.771052 -2.935361 -0.023315 +v 0.833637 -2.742846 -0.568982 +v 0.769557 -2.293527 0.875357 +v -0.835132 -2.197442 0.778898 +v -0.738909 -2.261556 -0.793459 +v 1.058434 -2.550157 0.361503 +v -1.027993 -1.427033 -0.215723 +v 1.058434 -1.427033 -0.055128 +v 0.063436 -1.587406 -1.242922 +v -0.642686 -2.774816 0.554167 +v -0.482175 -2.806960 -0.600796 +v -1.027993 -2.197442 0.104704 +v 0.544760 -2.806960 0.618303 +v -0.771052 -2.935361 0.104704 +v -0.064724 -3.192337 0.072635 +v 0.705270 -3.063763 0.104704 +v 0.031292 -2.999648 -0.761645 +v -0.000644 -2.903218 0.810966 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj new file mode 100644 index 000000000..7479c1475 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj @@ -0,0 +1,378 @@ +o convex_0 +v 1.022073 0.163449 0.992082 +v -1.104316 -3.390543 -0.951827 +v -1.104316 -3.390543 -0.738912 +v -1.104316 0.953462 0.323704 +v 1.052474 0.953462 -0.951631 +v 1.082876 -3.420944 0.961666 +v -0.982710 -3.420944 0.961666 +v 0.961270 -3.390543 -0.951631 +v -1.013111 0.953462 -0.982048 +v -1.073914 0.953462 0.961862 +v 0.991672 0.953462 1.022303 +v -0.830703 -2.995322 0.992279 +v 1.052474 0.953462 0.749143 +v 0.991672 -3.420944 -0.647859 +v 0.049869 0.953462 1.022303 +v -0.253717 0.315457 -0.982048 +v 1.082876 -1.204196 0.779363 +v 0.991672 0.254654 1.022303 +v -1.104316 0.923061 0.627673 +v -1.104316 -2.752537 -0.951827 +v -0.800301 0.953462 0.992279 +v 1.082876 -3.420944 0.840196 +v -0.982710 -3.420944 0.141597 +v 1.052474 -1.932122 0.992082 +v -1.043513 0.102646 -0.951827 +v 0.900467 -3.420944 -0.921215 +v 0.049869 -0.261746 1.022303 +v -1.013111 0.102646 -0.982048 +v 1.052474 0.740651 -0.951631 +v 0.991672 -2.478922 -0.951631 +v -0.253717 0.953462 -0.982048 +v -1.073914 0.649446 0.961862 +v -1.104316 -3.056125 -0.617638 +v 1.052474 -3.420944 0.323900 +v 1.082876 -2.964920 0.961666 +v -0.830703 -0.049363 0.992279 +v -0.770114 -2.995322 0.992279 +f 18 27 37 +f 2 3 4 +f 3 2 7 +f 4 5 9 +f 5 4 10 +f 5 10 11 +f 7 6 12 +f 11 1 13 +f 5 11 13 +f 6 7 14 +f 11 10 15 +f 5 13 17 +f 11 15 18 +f 4 3 19 +f 10 4 19 +f 2 4 20 +f 9 2 20 +f 15 10 21 +f 6 14 22 +f 17 6 22 +f 7 2 23 +f 14 7 23 +f 1 11 24 +f 11 18 24 +f 4 9 25 +f 20 4 25 +f 9 20 25 +f 2 8 26 +f 8 14 26 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1.105471 0.475785 +v -3.109092 1.105471 -0.344143 +v -2.471119 2.138126 -0.496199 +v -1.286621 2.107796 0.445353 +v -2.319230 1.135801 0.536647 +v -1.104316 1.652010 -0.496199 +v -2.926785 1.135801 0.536647 +v -1.134732 1.227029 0.506216 +v -3.109092 1.652010 -0.435336 +v -2.896369 1.834348 0.506216 +v -1.104316 2.138126 0.141646 +v -3.078675 1.105471 -0.161959 +v -2.015845 1.014242 -0.465767 +v -1.772705 2.138126 -0.496199 +f 64 47 67 +f 40 39 41 +f 45 41 46 +f 41 45 47 +f 39 40 48 +f 49 38 50 +f 41 39 53 +f 39 48 53 +f 52 41 53 +f 43 52 53 +f 45 46 54 +f 49 50 54 +f 50 45 54 +f 48 40 56 +f 44 48 56 +f 51 44 56 +f 47 51 56 +f 41 52 57 +f 54 46 58 +f 49 54 58 +f 47 45 59 +f 44 51 59 +f 51 47 59 +f 58 42 60 +f 49 58 60 +f 46 41 61 +f 41 57 61 +f 57 52 61 +f 58 46 61 +f 48 44 62 +f 43 53 62 +f 53 48 62 +f 55 43 62 +f 44 55 62 +f 43 42 63 +f 52 43 63 +f 42 58 63 +f 61 52 63 +f 58 61 63 +f 40 41 64 +f 41 47 64 +f 42 43 65 +f 38 49 65 +f 50 38 65 +f 43 55 65 +f 60 42 65 +f 49 60 65 +f 45 50 66 +f 55 44 66 +f 44 59 66 +f 59 45 66 +f 50 65 66 +f 65 55 66 +f 56 40 67 +f 47 56 67 +f 40 64 67 +o convex_2 +v 0.505685 2.563246 1.022588 +v -1.013111 0.953463 -0.982244 +v -1.104316 0.953463 -0.465646 +v 1.052486 0.953463 0.749247 +v 1.082888 2.502577 -0.921280 +v -1.104316 2.623916 0.961625 +v -0.982709 2.532830 -0.951563 +v -1.073914 0.953463 0.961625 +v 1.052486 0.953463 -0.951762 +v 0.961281 2.532993 1.053070 +v 0.991683 0.953463 1.022588 +v -0.283900 2.502577 -0.982244 +v 1.082888 2.077237 0.536472 +v -1.104316 2.107653 -0.496127 +v -0.800514 0.953463 0.992306 +v -1.043512 2.623916 0.506189 +v 1.082888 1.044712 -0.465646 +v -0.618318 2.623916 0.992306 +v 1.022084 2.502577 -0.951762 +v -1.104316 0.953463 0.627519 +v 0.049875 0.953463 1.022588 +v -0.982709 2.502577 -0.982244 +v -0.253713 0.953463 -0.982244 +v -0.800514 2.623916 0.992306 +v 1.082888 1.135961 0.597236 +v -1.104316 2.623916 0.749048 +v 0.991683 1.561301 1.022588 +v -1.013111 1.530885 -0.982244 +v -1.104316 2.016567 0.961625 +v 0.961281 2.532993 0.627519 +v -0.618318 2.623916 0.931342 +f 97 72 98 +f 70 69 71 +f 70 71 75 +f 71 69 76 +f 75 71 78 +f 72 77 80 +f 69 70 81 +f 70 73 81 +f 75 78 82 +f 71 76 84 +f 76 72 84 +f 72 80 84 +f 77 68 85 +f 83 73 85 +f 72 76 86 +f 79 74 86 +f 76 79 86 +f 83 72 86 +f 74 83 86 +f 73 70 87 +f 70 75 87 +f 78 77 88 +f 82 78 88 +f 79 69 89 +f 74 79 89 +f 81 74 89 +f 76 69 90 +f 69 79 90 +f 79 76 90 +f 73 82 91 +f 77 85 91 +f 85 73 91 +f 88 77 91 +f 82 88 91 +f 71 84 92 +f 84 80 92 +f 81 73 93 +f 74 81 93 +f 73 83 93 +f 83 74 93 +f 77 78 94 +f 78 71 94 +f 80 77 94 +f 71 92 94 +f 92 80 94 +f 69 81 95 +f 89 69 95 +f 81 89 95 +f 82 73 96 +f 75 82 96 +f 73 87 96 +f 87 75 96 +f 68 77 97 +f 77 72 97 +f 72 83 98 +f 85 68 98 +f 83 85 98 +f 68 97 98 +o convex_3 +v 2.206623 1.075090 0.536498 +v 2.601690 1.591299 -0.556955 +v 2.601690 1.986157 -0.556955 +v 1.083081 1.743247 -0.556841 +v 1.083081 2.077326 0.536498 +v 2.996562 2.107820 0.415029 +v 1.083081 1.044596 -0.465655 +v 2.996562 1.075090 -0.526559 +v 1.083081 1.135765 0.597403 +v 3.057253 1.044596 0.475820 +v 1.083081 2.077326 -0.556841 +v 2.966218 1.986157 -0.556955 +v 2.358542 2.107820 0.475707 +v 1.720908 2.107820 -0.222602 +v 1.083081 1.044596 -0.101133 +v 3.057253 1.044596 0.202372 +v 2.996562 2.107820 0.202372 +v 1.113426 1.925482 0.566894 +v 1.386919 1.044596 -0.496050 +v 1.143771 1.105479 0.597403 +v 2.449771 1.044596 0.506216 +v 2.966218 1.955871 0.445424 +v 2.905334 1.378883 -0.556955 +v 2.358542 1.075090 -0.526446 +v 1.265345 1.166259 0.597403 +v 2.540999 2.016651 -0.556841 +v 3.057253 1.196545 0.475820 +v 2.996562 1.044596 -0.070737 +v 1.994207 2.107820 0.475707 +v 1.933517 1.044596 -0.496050 +v 2.996562 1.409168 -0.526559 +v 3.057253 1.287818 0.415029 +f 104 125 130 +f 101 100 102 +f 103 102 105 +f 103 105 107 +f 101 102 109 +f 102 103 109 +f 100 101 110 +f 101 109 110 +f 109 103 112 +f 111 104 112 +f 107 105 113 +f 105 108 113 +f 108 105 114 +f 112 104 115 +f 103 107 116 +f 111 103 116 +f 105 102 117 +f 114 105 117 +f 107 113 118 +f 108 99 119 +f 113 108 119 +f 99 118 119 +f 118 113 119 +f 104 111 120 +f 111 116 120 +f 102 100 121 +f 100 110 121 +f 110 106 121 +f 117 102 122 +f 106 117 122 +f 102 121 122 +f 121 106 122 +f 116 107 123 +f 118 99 123 +f 107 118 123 +f 120 116 123 +f 110 109 124 +f 109 112 124 +f 115 110 124 +f 112 115 124 +f 99 108 125 +f 108 114 125 +f 104 120 125 +f 123 99 125 +f 120 123 125 +f 106 114 126 +f 114 117 126 +f 103 111 127 +f 112 103 127 +f 111 112 127 +f 117 106 128 +f 106 126 128 +f 126 117 128 +f 106 110 129 +f 114 106 129 +f 110 114 129 +f 114 110 130 +f 110 115 130 +f 115 104 130 +f 125 114 130 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf new file mode 100644 index 000000000..dd18a2d97 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj new file mode 100644 index 000000000..66ac57129 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj @@ -0,0 +1,915 @@ +o convex_0 +v -0.611511 0.256896 1.752706 +v 1.415307 0.291870 -0.098823 +v 1.415307 0.256896 -0.098823 +v -0.331893 0.256896 -0.902667 +v -0.681207 0.571421 -0.343327 +v 1.240441 0.571421 1.543036 +v 1.345194 0.571421 -0.413327 +v 0.960822 0.256896 2.102044 +v -0.471702 0.571421 1.717539 +v 0.366737 0.291870 -1.112005 +v 0.052479 0.291870 2.276548 +v -0.681207 0.256896 -0.448162 +v 1.170537 0.256896 -0.797832 +v -0.716473 0.571421 1.263366 +v -0.226931 0.571421 -0.622997 +v 1.275289 0.256896 1.612705 +v 0.891126 0.571421 1.787872 +v 1.380251 0.571421 0.739192 +v -0.716473 0.256896 1.368201 +v 0.925974 0.571421 -0.588163 +v -0.192083 0.256896 2.241714 +v 0.925974 0.291870 -0.972336 +v 0.541394 0.291870 2.276548 +v -0.716473 0.256896 -0.063989 +v 1.415307 0.361758 -0.378493 +v -0.681207 0.536446 1.543036 +v -0.261988 0.571421 1.787540 +v 0.017422 0.256896 -1.077170 +v 1.380251 0.256896 0.774026 +v 0.297041 0.571421 -0.657831 +v -0.506550 0.291870 1.962375 +v 1.415307 0.536446 -0.238824 +v -0.716473 0.571421 0.006012 +v 0.332098 0.326814 2.241714 +v 0.960822 0.291870 2.102044 +v -0.331893 0.291870 -0.902667 +v -0.192083 0.291870 2.241714 +v 0.017422 0.291870 -1.077170 +v 1.275289 0.571421 1.507870 +f 35 16 39 +f 3 1 4 +f 5 6 7 +f 1 3 8 +f 6 5 9 +f 4 1 12 +f 3 4 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a/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf new file mode 100644 index 000000000..ebdf18b2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj new file mode 100644 index 000000000..1202ec8b4 --- /dev/null +++ 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-0.472878 +v 3.032112 -1.106646 0.450864 +v 1.113596 -1.142143 -0.508355 +v 1.113596 -0.041060 0.450864 +v 2.961027 -1.177752 -0.579516 +v 1.469216 -1.177752 0.237589 +v 3.032112 -1.142143 0.344227 +v 2.818857 -0.076557 -0.508355 +v 1.895531 -0.041060 0.095474 +v 3.067557 -0.964546 0.308646 +v 1.717916 -0.076557 0.486445 +v 2.996472 -0.538356 0.486445 +v 1.113596 -0.289652 -0.579516 +v 2.996472 -0.112055 0.450864 +v 1.398131 -0.076557 -0.579516 +v 2.037701 -1.177752 -0.543936 +v 2.925387 -1.177752 -0.153069 +v 2.712327 -1.142143 0.450864 +f 133 144 145 +f 124 125 128 +f 126 127 130 +f 127 126 131 +f 123 127 132 +f 126 130 133 +f 123 132 133 +f 128 132 135 +f 124 128 136 +f 131 124 136 +f 127 131 136 +f 128 135 136 +f 132 128 137 +f 129 134 137 +f 134 132 137 +f 125 124 138 +f 124 131 138 +f 131 126 138 +f 125 138 139 +f 138 126 139 +f 127 123 140 +f 123 130 140 +f 130 127 140 +f 128 125 141 +f 137 128 141 +f 129 137 141 +f 139 129 141 +f 125 139 141 +f 132 127 142 +f 135 132 142 +f 127 136 142 +f 136 135 142 +f 130 123 143 +f 123 133 143 +f 133 130 143 +f 133 132 144 +f 132 134 144 +f 144 134 145 +f 126 133 145 +f 134 129 145 +f 139 126 145 +f 129 139 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf new file mode 100644 index 000000000..b2f36cd6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj new file mode 100644 index 000000000..500bfc369 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj @@ -0,0 +1,609 @@ +o convex_0 +v -0.391588 0.264028 -1.025977 +v 0.963215 2.452881 1.128060 +v 0.928422 2.452881 1.128060 +v 0.441958 4.571976 -1.095631 +v -1.086597 4.711055 1.058406 +v -0.947427 0.229368 1.058406 +v 0.998008 0.229368 -1.060804 +v -1.051805 4.537315 -1.060804 +v 0.998008 4.537315 0.919534 +v 1.032800 0.228929 1.023579 +v -1.086597 0.229368 -0.504881 +v 0.963215 4.571537 -1.095631 +v -1.017012 0.229368 -0.991368 +v 1.067593 3.112301 0.502484 +v -0.183044 0.229368 1.128060 +v 1.067593 0.681266 1.058406 +v -1.086597 4.606636 -0.504881 +v 0.928422 1.653943 -1.095631 +v -1.051805 0.229368 0.363394 +v 1.067593 2.973222 1.093015 +v 0.998008 4.397798 -0.887105 +v 1.067593 0.368447 0.259131 +v -1.051805 3.703279 -1.060804 +v -0.808467 4.711055 0.780445 +v -0.044084 3.529100 -1.095631 +v 0.859048 4.571537 0.919317 +v -0.878052 4.711055 1.058406 +v -1.086597 0.229368 -0.122657 +v 0.650714 4.606636 -0.748016 +v -1.086597 4.224497 1.023579 +v 0.998008 4.363576 0.954144 +v 0.511544 0.229368 1.093233 +v -0.113669 4.571976 -1.095631 +v -1.086597 0.715487 -0.608926 +v 1.067593 2.625743 1.127842 +v 0.581129 0.229368 -1.060804 +v 1.067593 0.819906 0.224522 +v 0.998008 1.480204 -1.060804 +v -0.634715 0.229368 1.093233 +v 1.067593 0.228929 0.676182 +v 1.067593 2.383561 1.127842 +v -1.086597 4.571976 -0.643753 +v 1.032800 0.298688 1.058406 +v -1.086597 4.711055 0.780445 +v -1.017012 3.494440 -1.060804 +v 0.025080 0.264028 1.128060 +v -1.017012 4.571976 -0.956324 +v 0.963215 4.571537 0.154869 +v 0.998008 4.537315 0.293958 +v -0.947427 1.479765 -1.025977 +v 1.067593 3.146961 1.058406 +f 14 49 51 +f 2 3 15 +f 3 5 15 +f 11 5 17 +f 4 12 18 +f 12 7 18 +f 10 6 19 +f 16 14 20 +f 14 16 22 +f 4 18 25 +f 26 24 27 +f 24 5 27 +f 9 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-1.016961 -3.488804 -0.678634 +v -0.739057 -3.384361 0.954290 +v -0.808479 -3.488804 -1.025960 +v 0.372557 -3.314853 1.023498 +v 1.032712 0.159057 -1.060885 +v -0.356806 0.228929 -1.025960 +v 1.102348 -2.828302 -0.539361 +v 1.067423 -3.349425 0.641461 +v -0.217961 0.193993 1.127846 +v -0.773768 -1.404675 1.127846 +v 1.067423 -1.196153 -1.025960 +v 1.067423 -2.341751 1.023712 +v -1.051672 -3.210774 -1.025960 +v -0.912827 -1.196153 1.127846 +v -1.016961 -2.827938 1.023498 +v -1.051672 0.228929 0.398054 +v 0.233712 -3.453868 -0.991249 +v 1.067423 -3.418932 -0.435228 +v -1.086597 -0.049101 0.467691 +v -1.086597 -3.280282 0.954290 +v -0.912827 -0.292558 1.093134 +f 147 142 154 +f 113 110 115 +f 110 113 117 +f 113 115 118 +f 115 110 120 +f 111 112 121 +f 113 111 121 +f 113 121 122 +f 116 110 124 +f 110 117 124 +f 123 114 126 +f 120 116 127 +f 123 120 127 +f 112 111 128 +f 111 113 128 +f 113 118 128 +f 120 123 129 +f 120 110 130 +f 118 115 131 +f 112 131 132 +f 131 115 132 +f 121 116 133 +f 121 112 134 +f 134 125 135 +f 116 121 135 +f 121 134 135 +f 112 132 136 +f 132 126 136 +f 134 112 136 +f 125 134 136 +f 116 119 137 +f 133 116 137 +f 115 120 138 +f 120 129 138 +f 126 132 138 +f 132 115 138 +f 118 131 139 +f 114 123 140 +f 127 114 140 +f 123 127 140 +f 127 116 141 +f 116 135 141 +f 124 117 142 +f 119 116 143 +f 116 124 143 +f 124 119 143 +f 123 126 144 +f 129 123 144 +f 126 138 144 +f 138 129 144 +f 110 116 145 +f 116 120 145 +f 130 110 145 +f 120 130 145 +f 112 128 146 +f 128 118 146 +f 131 112 146 +f 118 139 146 +f 139 131 146 +f 121 119 147 +f 119 124 147 +f 124 142 147 +f 119 121 148 +f 121 133 148 +f 137 119 148 +f 133 137 148 +f 117 113 149 +f 113 122 149 +f 122 117 149 +f 114 125 150 +f 126 114 150 +f 125 136 150 +f 136 126 150 +f 125 114 151 +f 114 127 151 +f 135 125 151 +f 127 141 151 +f 141 135 151 +f 117 122 152 +f 122 121 152 +f 147 117 153 +f 121 147 153 +f 117 152 153 +f 152 121 153 +f 142 117 154 +f 117 147 154 +o convex_4 +v 1.623653 -2.967613 0.294159 +v 2.978512 -1.786291 -0.226995 +v 3.047941 -1.855808 0.467806 +v 1.102538 -1.855927 0.467806 +v 1.102538 -2.828578 -0.539708 +v 3.082656 -2.863217 -0.539708 +v 3.117370 -3.002252 0.502599 +v 1.137253 -1.960084 -0.470122 +v 1.102538 -2.967613 0.502599 +v 2.978512 -1.786291 -0.470122 +v 3.047941 -1.890686 0.537392 +v 1.102538 -2.550507 -0.539708 +v 1.102538 -1.890567 0.502599 +v 3.082656 -2.654784 -0.539708 +v 2.700400 -1.786291 -0.470122 +v 1.102538 -1.925326 -0.296475 +v 2.908885 -2.898095 -0.365955 +v 3.013029 -2.064480 -0.504915 +v 3.082656 -2.133878 0.467806 +v 3.117370 -3.002252 0.398326 +v 1.206880 -2.863336 -0.400642 +v 2.978512 -2.133759 0.537392 +v 3.047941 -1.855808 0.189886 +v 1.102538 -1.855927 0.328846 +v 1.102538 -2.967613 0.363639 +v 3.117370 -2.898095 0.085613 +v 2.769829 -1.890567 0.537392 +v 2.492112 -1.786291 -0.226995 +v 1.276309 -1.925326 -0.470122 +v 2.283429 -2.863336 -0.539708 +f 155 175 184 +f 158 159 163 +f 156 157 164 +f 159 158 166 +f 160 159 166 +f 158 163 167 +f 160 166 168 +f 156 164 169 +f 166 158 170 +f 162 166 170 +f 168 166 172 +f 169 164 172 +f 166 169 172 +f 157 165 173 +f 165 161 173 +f 161 163 174 +f 155 171 174 +f 171 160 174 +f 163 161 176 +f 161 165 176 +f 164 157 177 +f 172 164 177 +f 168 172 177 +f 157 173 177 +f 173 168 177 +f 170 158 178 +f 163 159 179 +f 155 174 179 +f 174 163 179 +f 159 175 179 +f 175 155 179 +f 160 168 180 +f 173 161 180 +f 168 173 180 +f 161 174 180 +f 174 160 180 +f 157 158 181 +f 165 157 181 +f 158 167 181 +f 167 163 181 +f 163 176 181 +f 176 165 181 +f 157 156 182 +f 158 157 182 +f 156 169 182 +f 178 158 182 +f 169 178 182 +f 166 162 183 +f 169 166 183 +f 162 170 183 +f 178 169 183 +f 170 178 183 +f 159 160 184 +f 171 155 184 +f 160 171 184 +f 175 159 184 +o convex_5 +v 2.526827 -0.952393 -0.574453 +v 1.276312 0.228929 0.572137 +v 1.276312 0.228929 0.502552 +v 3.082656 0.055135 -0.539660 +v 3.047744 -0.952393 0.502552 +v 1.102542 -0.917634 -0.470187 +v 1.102542 -0.917634 0.537344 +v 1.102542 0.089894 -0.435394 +v 2.978512 0.089894 0.537344 +v 3.117568 -0.987033 -0.574453 +v 1.102542 0.228929 0.572137 +v 2.769830 0.055135 -0.574453 +v 3.117568 0.020376 -0.470075 +v 1.380456 -0.709082 -0.504868 +v 1.867052 -0.917634 0.537344 +v 1.623656 -0.952393 -0.504868 +v 3.117568 -0.987033 -0.400602 +v 3.013227 0.055135 0.502552 +v 1.137257 -0.188176 0.572137 +v 1.102542 -0.361970 -0.470187 +v 3.117568 0.020376 -0.574453 +v 3.047744 -0.570166 0.502552 +v 2.596059 -0.952393 0.502552 +v 3.082656 -0.917634 0.189866 +v 1.206686 0.228929 0.467871 +f 196 192 209 +f 190 191 192 +f 187 186 193 +f 188 187 193 +f 186 187 195 +f 192 191 195 +f 194 185 196 +f 188 193 197 +f 185 190 198 +f 196 185 198 +f 191 189 199 +f 189 193 199 +f 190 185 200 +f 191 190 200 +f 185 194 200 +f 200 194 201 +f 194 197 201 +f 191 200 201 +f 197 193 202 +f 193 186 203 +f 186 195 203 +f 195 191 203 +f 191 199 203 +f 199 193 203 +f 190 192 204 +f 192 196 204 +f 198 190 204 +f 196 198 204 +f 196 188 205 +f 194 196 205 +f 188 197 205 +f 197 194 205 +f 193 189 206 +f 202 193 206 +f 197 202 206 +f 189 191 207 +f 201 189 207 +f 191 201 207 +f 189 201 208 +f 201 197 208 +f 206 189 208 +f 197 206 208 +f 187 188 209 +f 195 187 209 +f 192 195 209 +f 188 196 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf new file mode 100644 index 000000000..c64ff7f6c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj new file mode 100644 index 000000000..a42b0c3b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj @@ -0,0 +1,687 @@ +o convex_0 +v -0.611405 0.497328 -1.664365 +v -0.511381 2.665766 0.538556 +v -0.578064 2.665766 0.538556 +v -0.544722 3.934520 -1.597518 +v 1.057154 -0.437819 -1.296924 +v 1.090708 4.034777 0.505132 +v -1.078822 -0.437819 0.538340 +v 0.990471 -0.437819 0.505132 +v 1.023812 3.967793 -1.463825 +v -0.978586 3.834263 0.471709 +v -1.045269 -0.437819 -1.563879 +v -1.045269 3.901247 -1.597303 +v 1.023812 -0.437819 -1.564095 +v 0.756868 -0.437819 0.538340 +v 1.057154 -0.437819 -0.229534 +v 1.023812 0.597147 -1.564095 +v 1.057154 4.001066 -1.130239 +v -0.878349 3.867536 0.505132 +v -0.344461 -0.437819 -1.664365 +v -1.078822 1.264797 -0.629320 +v 0.790210 4.034777 0.271385 +v -1.011927 3.734006 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147 156 +f 148 139 157 +f 142 148 157 +f 139 150 157 +f 150 142 157 +f 143 144 158 +f 144 147 158 +f 151 143 158 +f 147 151 158 +f 141 140 159 +f 140 150 159 +f 150 146 159 +f 156 141 159 +o convex_7 +v 0.623304 1.831680 0.939132 +v -0.578054 1.498035 1.840268 +v -0.578054 1.498035 1.873584 +v 0.556614 -0.471197 1.005871 +v 0.489924 1.931773 2.007169 +v -0.544650 1.998744 0.939132 +v -0.544650 -0.471197 1.873584 +v 0.456520 -0.471197 2.007169 +v -0.444557 -0.471197 0.972556 +v -0.477960 1.865044 1.907007 +v 0.623304 1.998744 0.905709 +v 0.489924 -0.471197 1.907007 +v 0.289502 -0.471197 2.007169 +v -0.544650 1.498035 0.939132 +v 0.422999 1.464670 0.905709 +v -0.344463 1.931773 0.905709 +v 0.289502 1.931773 2.007169 +v -0.578054 1.898409 1.706683 +v 0.590018 1.998744 1.239619 +v -0.544650 -0.471197 1.740106 +v -0.444557 -0.471197 1.907007 +v 0.556614 -0.471197 1.172772 +v -0.010779 -0.437591 0.972556 +v 0.523210 1.965138 1.773422 +v -0.110755 0.330035 0.939132 +v 0.556614 0.029512 0.972556 +f 182 174 185 +f 162 161 166 +f 166 163 167 +f 163 166 168 +f 160 163 170 +f 167 163 171 +f 164 167 171 +f 167 164 172 +f 166 167 172 +f 165 170 175 +f 173 165 175 +f 168 173 175 +f 170 174 175 +f 172 164 176 +f 169 172 176 +f 161 162 177 +f 162 169 177 +f 173 161 177 +f 165 173 177 +f 176 165 177 +f 169 176 177 +f 160 170 178 +f 170 165 178 +f 171 160 178 +f 166 161 179 +f 168 166 179 +f 161 173 179 +f 173 168 179 +f 162 166 180 +f 169 162 180 +f 166 172 180 +f 172 169 180 +f 163 160 181 +f 160 171 181 +f 171 163 181 +f 163 168 182 +f 164 171 183 +f 176 164 183 +f 165 176 183 +f 178 165 183 +f 171 178 183 +f 168 175 184 +f 175 174 184 +f 182 168 184 +f 174 182 184 +f 170 163 185 +f 174 170 185 +f 163 182 185 +o convex_8 +v -1.612877 -1.372392 -0.796486 +v -1.112213 -0.738218 -0.295884 +v -1.112213 -0.738218 -0.396027 +v -3.081151 -0.771615 -0.696343 +v -3.114868 -1.272138 -0.329265 +v -1.112213 -1.305535 -0.329265 +v -1.112213 -0.838471 -0.863303 +v -2.947653 -1.305535 -0.863303 +v -3.081151 -0.871806 -0.295884 +v -1.112213 -1.372392 -0.829867 +v -3.081151 -0.771615 -0.763160 +v -1.112213 -1.205406 -0.295884 +v -1.312753 -1.372392 -0.629637 +v -2.980978 -1.205406 -0.863303 +v -2.980978 -1.205406 -0.295884 +v -2.146670 -0.805074 -0.829867 +v -1.112213 -1.105276 -0.863303 +v -1.513097 -0.805074 -0.829867 +v -2.847481 -0.838471 -0.295884 +f 189 194 204 +f 187 188 189 +f 188 187 191 +f 188 191 192 +f 186 190 193 +f 189 190 194 +f 192 191 195 +f 186 193 195 +f 189 188 196 +f 190 189 196 +f 191 187 197 +f 187 194 197 +f 190 186 198 +f 191 190 198 +f 186 195 198 +f 195 191 198 +f 192 193 199 +f 193 190 199 +f 190 196 199 +f 190 191 200 +f 194 190 200 +f 191 197 200 +f 197 194 200 +f 192 199 201 +f 199 196 201 +f 193 192 202 +f 192 195 202 +f 195 193 202 +f 188 192 203 +f 196 188 203 +f 192 201 203 +f 201 196 203 +f 187 189 204 +f 194 187 204 +o convex_9 +v -1.112213 -0.838429 -0.862966 +v 1.090708 -0.871728 -0.195973 +v 1.090708 -1.038734 -0.195973 +v 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209 234 239 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf new file mode 100644 index 000000000..d294c56e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj new file mode 100644 index 000000000..8f5498341 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj @@ -0,0 +1,513 @@ +o convex_0 +v -2.875961 -0.606283 -0.169571 +v -2.750574 0.585068 -0.357790 +v -2.750574 0.585068 -0.451782 +v -1.308719 -0.606283 -0.357790 +v -1.308719 0.490959 0.457241 +v -3.189523 -0.480804 0.582720 +v -1.308719 -0.574797 0.582720 +v -3.252121 0.490959 0.519980 +v -1.308719 0.490959 -0.577261 +v -3.220727 -0.512174 -0.451782 +v -3.220727 0.585068 -0.608631 +v -1.308719 -0.606283 -0.545775 +v -3.220727 -0.606283 -0.420412 +v -1.371317 0.522328 0.394501 +v -1.308719 -0.386695 0.582720 +v -3.252121 0.553698 0.018181 +v -3.220727 0.459589 -0.608631 +v -3.220727 -0.512174 0.425871 +v -2.249216 0.553698 -0.608631 +v -3.252121 -0.198709 -0.106948 +v -3.220727 -0.292585 0.582720 +v -1.496704 0.522328 -0.577261 +v -1.496704 -0.606283 -0.545775 +v -2.938749 0.490959 0.519980 +v -3.252121 0.522328 0.394501 +v -1.308719 0.334110 0.488494 +v -1.308719 0.114638 -0.577261 +v -1.465310 -0.574797 0.582720 +v 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96 109 +o convex_3 +v 2.014710 -2.643899 0.269170 +v 1.419037 -1.076577 0.269170 +v 1.419037 -1.076577 0.300539 +v 2.077415 -0.637634 -0.169599 +v 1.450422 -2.988616 -0.263766 +v 1.544513 -0.637634 -0.232396 +v 1.951940 -0.669121 0.331909 +v 1.575834 -3.020336 0.300539 +v 1.983325 -2.988616 -0.200968 +v 1.419037 -0.637634 0.175119 +v 2.045966 -2.894857 0.206488 +v 2.014710 -0.700374 -0.200968 +v 1.638540 -0.637634 0.331909 +v 1.575834 -2.392941 -0.263766 +v 2.014710 -3.020336 0.237800 +v 1.450422 -2.988616 -0.138287 +v 1.763822 -1.828985 0.331909 +v 1.450422 -2.487167 -0.263766 +v 1.544513 -2.926110 0.300539 +v 2.077415 -0.857106 -0.075548 +v 1.419037 -0.637634 0.300539 +v 1.732630 -3.020336 -0.106917 +v 2.077415 -0.888592 -0.169599 +v 1.669925 -0.637634 -0.232396 +v 1.951940 -1.233310 0.331909 +v 2.045966 -2.643899 0.206488 +v 1.575834 -2.988616 -0.263766 +v 1.450422 -0.637634 0.049698 +f 115 127 137 +f 112 111 114 +f 111 112 119 +f 114 111 119 +f 113 115 119 +f 116 113 122 +f 113 119 122 +f 110 117 124 +f 120 110 124 +f 118 120 124 +f 112 114 125 +f 114 117 125 +f 117 110 126 +f 116 122 126 +f 114 119 127 +f 123 114 127 +f 115 123 127 +f 122 112 128 +f 112 125 128 +f 125 117 128 +f 117 126 128 +f 126 122 128 +f 113 116 129 +f 119 112 130 +f 112 122 130 +f 122 119 130 +f 117 114 131 +f 124 117 131 +f 118 124 131 +f 120 118 132 +f 121 113 132 +f 118 121 132 +f 113 129 132 +f 129 120 132 +f 115 113 133 +f 113 121 133 +f 123 115 133 +f 121 123 133 +f 110 116 134 +f 126 110 134 +f 116 126 134 +f 116 110 135 +f 110 120 135 +f 129 116 135 +f 120 129 135 +f 121 118 136 +f 114 123 136 +f 123 121 136 +f 131 114 136 +f 118 131 136 +f 119 115 137 +f 127 119 137 +o convex_4 +v 1.638502 -0.637634 0.331854 +v 2.077229 0.585068 -0.106911 +v 2.077229 0.585068 -0.295056 +v 0.823497 0.585068 -0.608631 +v 0.823497 0.553710 0.614071 +v 0.823497 -0.606277 -0.577273 +v 2.829783 -0.480727 -0.483201 +v 2.767136 0.522233 0.582714 +v 2.767136 -0.512085 0.488522 +v 0.823497 -0.512204 0.551356 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156 +f 142 145 156 +f 139 152 156 +f 152 142 156 +f 145 153 156 +f 149 143 157 +f 150 149 157 +f 146 155 158 +f 147 143 159 +f 141 154 160 +f 154 150 160 +f 149 138 162 +f 138 159 162 +f 145 142 163 +f 161 145 163 +f 151 161 163 +f 144 150 164 +f 154 148 164 +f 150 154 164 +f 144 164 165 +f 164 153 165 +f 138 149 166 +f 149 158 166 +f 159 138 166 +f 158 159 166 +f 141 142 167 +f 152 141 167 +f 142 152 167 +f 159 143 168 +f 143 162 168 +f 162 159 168 +f 140 156 169 +f 156 153 169 +f 153 164 169 +f 164 148 169 +f 143 141 170 +f 157 143 170 +f 150 157 170 +f 141 160 170 +f 160 150 170 +f 143 149 171 +f 149 162 171 +f 162 143 171 +f 149 144 172 +f 153 146 172 +f 146 158 172 +f 158 149 172 +f 144 165 172 +f 165 153 172 +f 151 147 173 +f 158 155 173 +f 147 159 173 +f 159 158 173 +f 161 151 173 +f 161 173 174 +f 153 145 174 +f 146 153 174 +f 155 146 174 +f 145 161 174 +f 173 155 174 +f 142 147 175 +f 147 151 175 +f 163 142 175 +f 151 163 175 +f 141 140 176 +f 154 141 176 +f 148 154 176 +f 140 169 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf new file mode 100644 index 000000000..859d15be9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj new file mode 100644 index 000000000..728660c5a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj @@ -0,0 +1,606 @@ +o convex_0 +v 0.301081 3.326871 -1.662163 +v -0.355072 2.968947 -1.513173 +v -0.355072 2.968947 -1.483331 +v 0.301081 -1.266249 -1.930688 +v 0.181817 -1.266249 -1.393860 +v -0.265557 -1.086590 -1.870948 +v -0.235674 3.326871 -1.900790 +v -0.325189 -1.266249 -1.393860 +v 0.241449 3.326871 -1.364017 +v -0.355072 3.476354 -1.364017 +v 0.301081 3.326871 -1.841106 +v 0.241449 1.119444 -1.364017 +v -0.295306 0.792624 -1.900790 +v 0.330965 1.090197 -1.781476 +v 0.002787 3.356582 -1.900790 +v 0.301081 -1.266249 -1.811319 +v -0.086594 -1.266249 -1.900790 +v 0.062419 -0.281147 -1.930688 +v 0.181817 0.315393 -1.364017 +v -0.295306 1.686272 -1.900790 +v -0.325189 -1.266249 -1.453544 +v 0.330965 2.551138 -1.841106 +v 0.271265 3.326871 -1.453544 +v 0.211633 -1.086590 -1.423702 +v -0.265557 3.476354 -1.483331 +v 0.301081 -0.907861 -1.930688 +v -0.355072 3.416468 -1.483331 +v 0.181817 3.356582 -1.870948 +v -0.235674 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b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj new file mode 100644 index 000000000..e76a7785e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj @@ -0,0 +1,1716 @@ +o convex_0 +v -0.259001 0.214074 -2.119193 +v -0.214160 0.214074 -0.008195 +v -0.218238 0.214074 -0.008195 +v -0.222320 0.226303 -1.984716 +v -0.254919 0.226303 -1.674916 +v -0.214160 0.218150 -2.143701 +v -0.238612 0.209997 -0.146862 +v -0.250845 0.209997 -2.148099 +v -0.214160 0.209997 -0.130524 +v -0.242694 0.222226 -0.615647 +v -0.259001 0.226303 -2.143701 +v -0.214160 0.218150 -0.118374 +v -0.238612 0.218150 -0.155031 +f 3 12 13 +f 5 1 7 +f 7 1 8 +f 7 8 9 +f 2 3 9 +f 6 2 9 +f 3 7 9 +f 8 6 9 +f 4 5 10 +f 1 5 11 +f 5 4 11 +f 4 6 11 +f 6 8 11 +f 8 1 11 +f 3 2 12 +f 2 6 12 +f 6 4 12 +f 4 10 12 +f 12 10 13 +f 7 3 13 +f 5 7 13 +f 10 5 13 +o convex_1 +v 0.311669 0.112163 1.826397 +v 0.169036 -0.299554 1.761175 +v 0.169036 -0.299554 1.826397 +v 0.181269 -0.299554 1.761175 +v 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603 609 +f 601 604 610 +f 606 601 610 +f 603 602 611 +f 607 603 611 +f 609 604 612 +f 606 609 612 +f 608 606 613 +f 606 610 613 +f 605 611 613 +f 611 608 613 +f 605 607 614 +f 607 611 614 +f 611 605 614 +f 610 604 615 +f 605 613 615 +f 613 610 615 +f 606 608 616 +f 602 609 616 +f 609 606 616 +f 611 602 616 +f 608 611 616 +f 604 601 617 +f 601 606 617 +f 612 604 617 +f 606 612 617 +f 603 607 618 +f 607 605 618 +f 609 603 618 +f 604 609 618 +f 615 604 618 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf new file mode 100644 index 000000000..2919b24a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj new file mode 100644 index 000000000..38dbd4e89 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj @@ -0,0 +1,73 @@ +# Blender v2.69 (sub 0) OBJ File: '' +# www.blender.org +mtllib 168.mtl +o 168_Cube.721 +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +usemtl None +s off +f 1 2 3 4 +f 4 13 14 9 +f 1 4 9 6 +f 9 7 5 6 +f 3 7 10 11 +f 2 5 7 3 +f 1 6 5 2 +f 11 10 14 13 +f 14 10 18 20 +f 22 17 19 21 +f 11 13 19 +f 11 19 17 +f 20 16 9 14 +f 13 8 19 +f 13 4 8 +f 9 16 15 7 +f 8 3 12 +f 8 4 3 +f 7 15 18 10 +f 3 17 12 +f 3 11 17 +f 24 22 21 23 +f 18 15 16 20 +f 26 27 23 25 +f 35 33 19 +f 19 13 35 +f 28 29 30 +f 19 13 33 +f 32 31 19 +f 19 13 32 +f 28 31 32 +f 34 33 35 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf new file mode 100644 index 000000000..7b6d11a34 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj new file mode 100644 index 000000000..31ccbe53d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj @@ -0,0 +1,654 @@ +o convex_0 +v 1.492054 -2.596297 0.171719 +v 2.027707 -2.964468 0.339273 +v 1.994205 -2.964468 0.339273 +v 1.893762 -3.600375 -0.263481 +v 2.094710 -0.955525 -0.363986 +v 1.458552 -0.955525 0.104739 +v 2.094710 -0.955525 0.272224 +v 1.559057 -3.600375 -0.196363 +v 1.525555 -3.634202 0.272155 +v 1.592559 -0.955525 -0.196501 +v 1.458552 -0.955525 0.205175 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj new file mode 100644 index 000000000..8f8d4d6f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj @@ -0,0 +1,363 @@ +o convex_0 +v 0.979030 4.266160 0.721132 +v -1.076978 2.026834 -0.783830 +v -1.076978 2.026834 -0.747144 +v 1.089012 0.410805 0.978144 +v 1.089012 4.302594 -1.077527 +v -1.003657 4.413071 0.978356 +v 1.052351 0.410805 -0.930573 +v -1.040318 0.410805 0.978356 +v -1.076978 4.376245 -1.114425 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj new file mode 100644 index 000000000..a92f3c3d7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj @@ -0,0 +1,411 @@ +o convex_0 +v -0.748406 -0.967986 3.030155 +v -1.035478 -3.100355 -3.039182 +v -1.076551 -3.018156 -1.685659 +v 1.056174 -3.059129 2.210039 +v 1.056174 -0.516524 -2.998571 +v -1.035478 -0.516524 -2.874917 +v 1.138321 -3.059382 -2.956747 +v -1.076551 -3.059129 3.153202 +v 1.056174 -0.926760 3.071373 +v -1.076551 -0.516524 1.143223 +v 1.056174 -0.516524 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+v -0.994417 -0.516524 -2.916139 +v 0.686862 -0.393392 -3.039789 +v 1.056058 0.508665 1.061333 +v -0.256025 -0.270397 1.184983 +v -1.117412 0.467712 -0.947667 +v -1.117412 0.878060 -0.620139 +v 0.604936 0.878060 -2.998021 +v -1.076555 -0.475435 -0.988608 +v 0.317878 0.467712 -3.039789 +v -0.748216 0.878060 -2.916139 +v -0.297094 0.221585 1.184983 +v -1.117412 0.549754 -1.398430 +v -0.461370 -0.516524 -2.957493 +v 1.056058 -0.352439 -2.998434 +f 108 113 120 +f 91 94 95 +f 94 93 97 +f 92 91 98 +f 96 92 98 +f 95 96 98 +f 91 92 99 +f 93 94 99 +f 94 91 99 +f 96 95 100 +f 100 97 101 +f 96 100 101 +f 100 95 102 +f 97 100 104 +f 100 102 104 +f 94 97 107 +f 90 103 107 +f 104 90 107 +f 97 104 107 +f 91 95 109 +f 98 91 109 +f 95 98 109 +f 99 92 110 +f 93 99 110 +f 96 101 112 +f 93 106 112 +f 106 96 112 +f 111 93 112 +f 101 111 112 +f 102 95 113 +f 97 93 114 +f 105 97 114 +f 93 111 114 +f 108 103 115 +f 102 113 115 +f 113 108 115 +f 103 90 116 +f 104 102 116 +f 90 104 116 +f 115 103 116 +f 102 115 116 +f 92 96 117 +f 106 93 117 +f 96 106 117 +f 110 92 117 +f 93 110 117 +f 101 97 118 +f 97 105 118 +f 111 101 118 +f 105 114 118 +f 114 111 118 +f 94 107 119 +f 107 103 119 +f 108 94 119 +f 103 108 119 +f 95 94 120 +f 94 108 120 +f 113 95 120 +o convex_3 +v -0.256207 0.344837 2.907424 +v 0.235891 -0.352455 2.087514 +v 0.317977 -0.352455 2.087514 +v 0.153864 0.344837 1.185179 +v -0.256207 -0.270413 1.185179 +v -0.256207 -0.352455 3.112598 +v 0.317977 0.180684 3.030568 +v -0.297281 0.221773 1.185179 +v 0.276904 -0.311434 1.185179 +v 0.317977 -0.352455 3.153515 +v -0.174181 0.344837 3.194629 +v 0.276904 0.262726 1.554415 +v -0.297281 0.262726 2.292295 +v -0.297281 -0.106328 1.185179 +v -0.256207 0.180684 3.194629 +v 0.194878 0.344837 1.390354 +v -0.256207 -0.352455 2.620416 +v 0.235891 0.303747 1.185179 +v 0.276904 0.221773 2.948538 +v 0.071778 -0.311434 1.226293 +v 0.317977 -0.188371 3.153515 +f 131 130 141 +f 122 123 126 +f 121 124 128 +f 124 125 128 +f 123 122 129 +f 125 124 129 +f 126 123 130 +f 123 127 130 +f 124 121 131 +f 127 123 132 +f 123 129 132 +f 121 128 133 +f 133 128 134 +f 128 125 134 +f 126 133 134 +f 126 130 135 +f 130 131 135 +f 131 121 135 +f 121 133 135 +f 133 126 135 +f 124 131 136 +f 127 132 136 +f 122 126 137 +f 134 125 137 +f 126 134 137 +f 129 124 138 +f 132 129 138 +f 124 136 138 +f 136 132 138 +f 131 127 139 +f 127 136 139 +f 136 131 139 +f 129 122 140 +f 125 129 140 +f 122 137 140 +f 137 125 140 +f 130 127 141 +f 127 131 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf new file mode 100644 index 000000000..12a43fe76 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj new file mode 100644 index 000000000..2209013ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj @@ -0,0 +1,714 @@ +o convex_0 +v 0.489975 0.083982 -1.353119 +v 0.046634 -0.996615 -1.353119 +v 0.074303 -0.996615 -1.353119 +v 0.018966 -0.248386 -3.043391 +v -0.452043 0.333440 -1.270142 +v -0.368930 -0.858043 -1.270142 +v 0.406862 -0.137645 -2.766164 +v 0.462307 -0.830212 -1.269968 +v -0.341262 -0.276071 -2.765990 +v 0.074303 0.139498 -2.821540 +v 0.351526 0.416495 -1.269968 +v 0.046634 -0.580899 -2.793765 +v -0.535264 -0.248386 -1.325518 +v -0.119483 0.499843 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-0.798389 +v -0.923191 -0.192961 -0.770688 +v -0.923191 -0.331213 0.780588 +v 0.018991 2.716185 -0.742986 +v -0.535109 -0.330627 -1.269811 +v 0.933439 -0.248028 -0.742986 +v -0.729247 -2.354025 -0.022502 +v 0.794769 -2.409677 -0.022502 +v 0.600825 -0.192961 1.279711 +v -0.036284 2.688066 0.780837 +v 0.268403 2.051287 -1.269811 +v -0.424366 -0.802207 1.279711 +v 0.462348 -0.829740 -1.269811 +v 0.018991 -3.157174 0.115755 +v -0.368899 2.078820 1.251760 +v 0.295944 1.884916 1.279711 +v -0.978659 0.028476 -0.022502 +v 0.988907 0.028476 0.143457 +v -0.313431 1.940568 -1.269811 +v 0.018991 -2.880085 0.780837 +v 0.628559 -2.382143 0.780837 +v -0.673779 -2.464743 -0.050203 +v 0.767035 -2.492862 0.060353 +v -0.923191 0.139194 0.780588 +v 0.988907 -0.469465 0.032651 +v -0.036284 -0.996111 1.279711 +v -0.230229 2.688651 -0.161008 +v 0.711760 2.190125 0.836240 +v -0.618311 -2.243306 -0.798389 +v 0.074266 -3.184707 0.032651 +v -0.701513 -2.298373 0.448172 +v 0.074266 -1.383919 -1.186208 +v 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232 +f 219 213 233 +f 223 215 235 +f 216 223 235 +f 226 212 235 +f 215 226 235 +f 212 234 235 +f 234 216 235 +f 209 219 236 +f 227 209 236 +f 233 216 236 +f 219 233 236 +f 216 234 236 +f 215 222 237 +f 226 215 237 +f 222 226 237 +f 218 228 238 +f 219 209 239 +f 224 219 239 +f 209 227 239 +f 228 224 239 +f 227 238 239 +f 238 228 239 +f 212 220 240 +f 231 218 240 +f 220 231 240 +f 234 212 240 +f 227 236 240 +f 236 234 240 +f 238 227 240 +f 218 238 240 +f 217 222 241 +f 222 215 241 +f 225 217 241 +f 213 225 242 +f 229 216 242 +f 230 229 242 +f 225 230 242 +f 233 213 242 +f 216 233 242 +f 215 223 243 +f 223 230 243 +f 230 225 243 +f 241 215 243 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf new file mode 100644 index 000000000..9116e5d32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj new file mode 100644 index 000000000..af77f208e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj @@ -0,0 +1,543 @@ +o convex_0 +v 2.959592 -1.935557 -1.045686 +v 1.166103 -2.405187 1.046990 +v 2.874122 -1.892921 1.004178 +v 1.123270 -0.441186 -1.002874 +v 3.002228 -0.483823 0.961366 +v 1.166103 -2.576361 -0.960062 +v 1.123270 -0.526668 0.918758 +v 3.130531 -0.483823 -0.960062 +v 3.045061 -2.405396 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-1.130458 +v 1.123270 -0.398482 3.096959 +v 1.080508 -0.398269 3.096959 +v 1.037746 -0.398269 -3.095049 +v -1.140237 -0.483764 0.960822 +v 0.909682 -2.490866 3.053314 +v -1.097475 -2.448012 -3.095655 +v -1.011950 -2.405371 2.926019 +v 1.037746 -2.448012 -3.052011 +v -1.097475 -0.398269 -2.967147 +v -1.011950 -0.398269 2.968451 +v 1.123270 -2.576361 1.046898 +v -1.140237 -2.533507 0.534080 +v 1.123270 -0.441123 -1.002557 +v 1.123270 -2.576361 -0.916481 +v 0.397202 -2.490866 3.053314 +v -1.140237 -2.533507 -0.959519 +v -0.883886 -0.441123 3.011489 +v 0.994984 -1.978324 3.096959 +v -1.140237 -0.483764 -1.087420 +v -0.883886 -2.490866 -2.838640 +v -1.140237 -2.490653 1.003860 +v -1.097475 -0.569259 -3.009579 +v 0.482505 -2.576361 1.003860 +v 0.994984 -2.576361 -1.258359 +v 1.037746 -1.380926 -3.095049 +v -0.969410 -2.533507 1.003860 +v 0.567807 -0.398269 -3.095049 +v 0.909682 -2.533507 2.626572 +v -1.011950 -1.935470 2.968451 +v 0.525267 -0.611899 3.096959 +v 1.123270 -0.697394 3.096959 +v -0.072515 -2.576361 -0.959519 +v -1.097475 -2.106246 -3.095655 +v -0.200580 -2.448012 -3.095049 +v 0.952444 -2.448012 3.053314 +v -1.054713 -2.533507 -1.557806 +v 0.909682 -2.106246 3.096959 +v -0.841124 -2.405371 2.968451 +v -1.054713 -2.490653 1.643973 +f 124 113 137 +f 100 99 101 +f 100 101 107 +f 100 107 108 +f 107 102 108 +f 101 99 111 +f 99 109 111 +f 111 109 112 +f 109 98 112 +f 110 102 114 +f 100 108 115 +f 99 100 116 +f 102 107 117 +f 104 114 117 +f 114 102 117 +f 108 102 119 +f 102 110 119 +f 110 105 119 +f 117 107 120 +f 98 109 121 +f 112 98 122 +f 106 112 122 +f 118 106 122 +f 98 118 122 +f 104 101 123 +f 101 111 123 +f 111 112 123 +f 112 106 123 +f 110 121 124 +f 107 101 125 +f 120 107 125 +f 109 103 126 +f 103 113 126 +f 121 109 126 +f 113 124 126 +f 124 121 126 +f 115 108 127 +f 113 115 127 +f 108 119 127 +f 119 105 127 +f 100 115 128 +f 116 100 128 +f 109 99 129 +f 99 116 129 +f 110 114 130 +f 118 98 130 +f 98 121 130 +f 121 110 130 +f 101 104 131 +f 104 117 131 +f 117 120 131 +f 125 101 131 +f 120 125 131 +f 118 104 132 +f 106 118 132 +f 104 123 132 +f 123 106 132 +f 103 109 133 +f 109 129 133 +f 129 116 133 +f 114 104 134 +f 104 118 134 +f 130 114 134 +f 118 130 134 +f 113 103 135 +f 115 113 135 +f 128 115 135 +f 116 128 135 +f 103 133 135 +f 133 116 135 +f 105 113 136 +f 127 105 136 +f 113 127 136 +f 105 110 137 +f 113 105 137 +f 110 124 137 +o convex_4 +v -0.413997 3.658960 0.705295 +v 0.055265 3.530657 -1.045686 +v 0.055265 3.573490 -1.045686 +v 1.080563 3.658960 1.004282 +v -0.969180 1.651699 0.918800 +v 1.080563 1.651699 -1.002945 +v -0.926539 1.651699 -1.002945 +v 1.037709 1.651699 1.004282 +v -1.012034 3.573490 -1.002945 +v 1.080563 3.616127 -1.045686 +v -1.097529 3.487824 1.004282 +v -0.584987 3.658960 -0.618275 +v -1.012034 1.737169 0.961541 +v 1.080563 2.335064 -1.045686 +v -0.969180 1.865472 -0.746499 +v 1.080563 2.121488 1.004282 +v -1.097529 3.274248 0.790577 +v -0.670268 3.658960 0.406308 +v -1.054675 2.591473 1.004282 +v 0.568020 3.658960 -0.575534 +v -1.012034 3.274248 -1.002945 +v 0.311536 1.651699 1.004282 +v -0.926539 3.616127 -0.447511 +v -0.969180 3.530657 1.004282 +v 1.080563 1.651699 0.150062 +v -1.054675 3.530657 0.876059 +v -0.969180 1.651699 -0.362029 +f 154 152 164 +f 143 142 144 +f 142 143 145 +f 140 139 146 +f 139 140 147 +f 141 143 147 +f 140 146 147 +f 145 141 148 +f 138 141 149 +f 147 146 149 +f 144 139 151 +f 143 144 151 +f 139 147 151 +f 147 143 151 +f 143 141 153 +f 141 145 153 +f 148 146 154 +f 138 149 155 +f 145 148 156 +f 148 154 156 +f 154 150 156 +f 141 147 157 +f 149 141 157 +f 147 149 157 +f 139 144 158 +f 146 139 158 +f 144 152 158 +f 154 146 158 +f 152 154 158 +f 142 145 159 +f 150 142 159 +f 145 156 159 +f 156 150 159 +f 149 146 160 +f 155 149 160 +f 141 138 161 +f 148 141 161 +f 138 155 161 +f 145 143 162 +f 143 153 162 +f 153 145 162 +f 146 148 163 +f 160 146 163 +f 155 160 163 +f 161 155 163 +f 148 161 163 +f 144 142 164 +f 142 150 164 +f 152 144 164 +f 150 154 164 +o convex_5 +v -0.328674 4.342417 0.577206 +v -0.627745 4.598621 -0.533123 +v -0.627745 4.598621 -0.490457 +v 0.568071 5.495060 -0.533123 +v 0.568071 3.659144 -0.575902 +v 0.439780 5.538098 0.491648 +v -0.627745 5.538098 -0.362347 +v 0.525346 3.659144 0.491648 +v -0.585020 3.659144 0.577206 +v -0.499571 5.452390 0.534314 +v -0.585020 3.659144 -0.575902 +v -0.328674 5.538098 -0.490457 +v 0.568071 4.513281 0.021872 +v -0.585020 4.171736 -0.575902 +v 0.568071 4.683777 -0.575902 +v -0.157893 3.659144 0.577206 +v -0.542296 5.495060 0.320759 +v 0.183551 5.495060 -0.533123 +v 0.568071 5.495060 -0.319568 +v -0.627745 5.538098 -0.447678 +v 0.482505 5.538098 -0.020681 +v 0.525346 4.000872 0.491648 +v 0.140826 5.538098 0.491648 +f 181 174 187 +f 166 167 171 +f 167 166 173 +f 171 167 173 +f 169 172 173 +f 165 170 174 +f 173 165 174 +f 173 166 175 +f 169 173 175 +f 171 170 176 +f 169 168 177 +f 172 169 177 +f 175 166 178 +f 169 175 178 +f 166 176 178 +f 168 169 179 +f 169 178 179 +f 170 165 180 +f 165 173 180 +f 173 172 180 +f 171 173 181 +f 173 174 181 +f 176 168 182 +f 178 176 182 +f 168 179 182 +f 179 178 182 +f 177 168 183 +f 166 171 184 +f 176 166 184 +f 171 176 184 +f 168 176 185 +f 176 170 185 +f 183 168 185 +f 170 183 185 +f 172 177 186 +f 170 180 186 +f 180 172 186 +f 183 170 186 +f 177 183 186 +f 170 171 187 +f 174 170 187 +f 171 181 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf new file mode 100644 index 000000000..88f380340 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj new file mode 100644 index 000000000..5d766f6d5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj @@ -0,0 +1,858 @@ +o convex_0 +v 1.265521 -0.746355 0.265638 +v 1.293724 0.322012 0.096913 +v 1.293724 0.322012 0.040672 +v 2.980550 -0.212408 0.040672 +v 1.265521 -0.352640 -0.352875 +v 1.265521 -0.099867 0.378121 +v 2.783463 -0.240455 -0.212271 +v 1.293724 -0.886942 0.012623 +v 2.727392 -0.156079 0.237517 +v 1.265521 0.181307 -0.268441 +v 2.755595 0.040720 -0.043476 +v 1.321760 0.237637 0.321879 +v 1.265521 -0.746355 -0.240321 +v 2.727392 -0.408970 0.068793 +v 1.293724 -0.493227 0.350000 +v 2.643118 -0.408970 -0.071596 +v 2.699356 -0.128032 -0.212271 +v 2.755595 0.040720 0.012623 +v 1.321760 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+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj new file mode 100644 index 000000000..ac952d866 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj @@ -0,0 +1,816 @@ +o convex_0 +v 0.326049 -0.318505 -1.521346 +v -0.338292 -2.809783 -2.052767 +v 0.060274 -2.809783 -2.052767 +v -0.304997 -0.318505 -2.086010 +v -0.238602 -2.743209 -1.521346 +v 0.292819 -0.318505 -2.086010 +v 0.292819 -2.776374 -1.621017 +v -0.205307 -0.318505 -1.488103 +v 0.226359 -2.776374 -2.019465 +v -0.338292 -2.444236 -2.086010 +v -0.271832 -2.776374 -1.554648 +v -0.304997 -0.318505 -1.919912 +v 0.326049 -2.178184 -1.654201 +v 0.259589 -1.016190 -2.086010 +v -0.006121 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000000000..61a9612e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj new file mode 100644 index 000000000..a63267290 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj @@ -0,0 +1,333 @@ +o convex_0 +v 0.108015 0.917497 0.905928 +v -2.071512 -5.103759 0.240830 +v -2.034410 -5.104349 0.240830 +v -1.738888 0.917497 -1.088946 +v -0.002860 -5.030077 -0.940867 +v -2.071295 0.917497 1.053797 +v 0.145118 -5.030077 1.016672 +v 0.034243 0.917497 -0.940867 +v -2.071512 -5.067213 -1.051821 +v -2.034410 -5.104349 0.942842 +v -2.071295 0.917497 -1.088946 +v 0.108015 0.917497 1.016672 +v -2.034410 -4.660491 -1.088946 +v -0.002860 0.695274 -0.977782 +v -0.593903 -5.067213 1.016672 +v 0.034243 -1.890654 -0.940867 +v 0.071129 0.917497 -0.386933 +v -1.332491 0.879772 1.053797 +v -2.071512 0.251416 1.053797 +v 0.145118 -5.030077 0.942842 +v -2.071512 -2.923964 0.979757 +v -0.409257 -4.808444 -0.977992 +v -0.335268 -5.067213 0.942842 +v 0.034243 -5.030077 -0.571508 +v -1.443366 -5.104349 0.905928 +v -1.517355 -5.030077 -1.051821 +v -2.071512 -5.103759 0.573274 +v -1.369377 -5.067213 0.979757 +v -1.369377 -3.293551 -1.051821 +v 0.145118 -4.586809 0.979757 +v -0.002860 0.917497 -0.977782 +f 8 14 31 +f 1 4 6 +f 4 1 8 +f 3 2 9 +f 5 3 9 +f 2 3 10 +f 6 4 11 +f 1 6 12 +f 11 4 13 +f 9 11 13 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-3.992281 2.025874 0.240975 +v -3.179611 2.284358 -0.239187 +v -2.071708 2.321301 -0.091433 +v -2.071708 1.730384 -0.017531 +v -2.071708 2.025874 -0.239187 +v -2.071708 2.210470 0.277926 +f 43 39 51 +f 34 37 38 +f 37 34 39 +f 40 36 42 +f 41 40 42 +f 32 41 42 +f 35 41 43 +f 41 39 43 +f 32 37 44 +f 41 32 44 +f 39 41 44 +f 40 33 45 +f 36 40 45 +f 35 33 46 +f 33 40 46 +f 40 41 46 +f 41 35 46 +f 38 32 47 +f 36 38 47 +f 32 42 47 +f 42 36 47 +f 33 34 48 +f 34 38 48 +f 38 36 48 +f 45 33 48 +f 36 45 48 +f 37 39 49 +f 44 37 49 +f 39 44 49 +f 37 32 50 +f 32 38 50 +f 38 37 50 +f 34 33 51 +f 33 35 51 +f 39 34 51 +f 35 43 51 +o convex_2 +v 0.034243 0.917497 -0.941077 +v -1.332491 3.097184 -0.977992 +v -1.332491 3.097184 -1.014697 +v -2.071512 0.917497 -1.088946 +v -2.071512 0.917497 1.053797 +v 0.145118 3.023148 0.979757 +v -1.886649 2.986023 0.942842 +v 0.108015 0.917497 1.016672 +v 0.145118 3.023148 -1.014906 +v -1.997524 3.097184 -1.014697 +v 0.145118 1.139392 -0.977992 +v -2.071512 2.320980 0.277745 +v -2.071512 1.545630 -1.088946 +v 0.145118 1.656577 1.016672 +v -1.923535 3.023148 0.758058 +v -2.034410 1.250126 1.053797 +v -1.738888 0.917497 -1.088946 +v -1.997524 3.097184 -0.682253 +v -0.076849 3.060059 -1.014697 +v -2.034410 2.542661 -1.051821 +v -1.221616 1.065569 1.053797 +v 0.145118 0.991533 -0.423848 +v -1.997524 1.915169 1.016672 +v -1.628230 3.023148 0.942842 +v 0.145118 1.065356 1.016672 +v 0.145118 2.764555 -1.014906 +v -2.071512 2.284069 -0.239064 +v -1.923535 3.097184 -0.608423 +v -1.923535 2.875503 0.942842 +v -2.071512 1.102267 1.053797 +v -1.923535 2.542661 0.979757 +v -1.960638 2.616910 -1.051821 +v -0.002860 0.917497 -0.977992 +v 0.145118 0.991533 -0.940867 +v -0.039746 3.022935 0.979757 +f 82 74 86 +f 55 52 56 +f 56 52 59 +f 53 54 61 +f 60 57 62 +f 55 56 63 +f 55 63 64 +f 62 57 65 +f 52 55 68 +f 64 60 68 +f 55 64 68 +f 53 61 69 +f 61 63 69 +f 63 66 69 +f 54 53 70 +f 53 57 70 +f 57 60 70 +f 56 59 72 +f 65 57 72 +f 67 56 72 +f 57 67 72 +f 62 65 73 +f 66 58 75 +f 72 59 76 +f 65 72 76 +f 59 73 76 +f 73 65 76 +f 60 62 77 +f 62 68 77 +f 68 60 77 +f 63 61 78 +f 64 63 78 +f 61 71 78 +f 71 64 78 +f 57 53 79 +f 53 69 79 +f 69 66 79 +f 75 57 79 +f 66 75 79 +f 58 66 80 +f 66 63 80 +f 74 80 81 +f 63 56 81 +f 56 67 81 +f 67 74 81 +f 80 63 81 +f 58 80 82 +f 80 74 82 +f 61 54 83 +f 60 64 83 +f 54 70 83 +f 70 60 83 +f 71 61 83 +f 64 71 83 +f 52 68 84 +f 68 62 84 +f 59 52 85 +f 73 59 85 +f 62 73 85 +f 52 84 85 +f 84 62 85 +f 67 57 86 +f 74 67 86 +f 57 75 86 +f 75 58 86 +f 58 82 86 +o convex_3 +v 2.768134 0.954647 0.425737 +v 2.435387 3.060240 0.979660 +v 4.097951 3.060034 1.016654 +v 3.691390 2.949343 -0.977865 +v 0.145212 3.023137 -1.015058 +v 4.097951 0.991750 -0.940870 +v 0.145212 1.065544 1.016853 +v 0.145212 0.991750 -0.941069 +v 4.134662 0.954647 1.016654 +v 0.145212 3.023137 0.979660 +v 4.097951 2.912446 -0.977865 +v 0.219026 1.139338 -0.978064 +v 4.097951 3.060034 0.573317 +v 4.134662 0.954647 -0.164981 +v 4.060849 2.099686 -0.977865 +v 0.921231 3.023137 -1.015058 +v 0.182314 0.991750 -0.386948 +v 2.804846 3.060034 1.016654 +v 1.438317 3.060240 0.942665 +v 4.134662 1.767614 0.942665 +v 0.145212 1.693614 1.016853 +v 1.142672 1.028647 1.016654 +v 0.219026 2.764447 -1.015058 +v 1.179774 3.023137 -0.977865 +v 3.728492 0.954647 1.016654 +v 4.134662 1.028647 -0.312959 +v 4.097951 2.949343 -0.830285 +v 2.620116 0.954647 0.277759 +v 0.182314 1.028441 0.425538 +f 111 108 115 +f 93 91 94 +f 91 93 96 +f 92 94 98 +f 94 91 98 +f 88 89 99 +f 94 92 100 +f 95 87 100 +f 97 92 101 +f 92 98 101 +f 90 97 102 +f 91 99 102 +f 97 101 102 +f 93 94 103 +f 89 88 104 +f 96 104 105 +f 91 96 105 +f 88 99 105 +f 99 91 105 +f 104 88 105 +f 89 95 106 +f 99 89 106 +f 95 100 106 +f 95 89 107 +f 93 95 107 +f 96 93 107 +f 89 104 107 +f 104 96 107 +f 98 91 109 +f 101 98 109 +f 102 101 109 +f 91 102 109 +f 90 102 110 +f 102 99 110 +f 87 95 111 +f 95 93 111 +f 93 108 111 +f 92 97 112 +f 100 92 112 +f 97 106 112 +f 106 100 112 +f 97 90 113 +f 99 106 113 +f 106 97 113 +f 90 110 113 +f 110 99 113 +f 100 87 114 +f 94 100 114 +f 87 103 114 +f 103 94 114 +f 103 87 115 +f 93 103 115 +f 108 93 115 +f 87 111 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf new file mode 100644 index 000000000..a726550ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj new file mode 100644 index 000000000..ba316c763 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj @@ -0,0 +1,867 @@ +o convex_0 +v -0.128531 -0.777601 -1.259843 +v -0.036613 -1.573692 -1.321221 +v 0.024606 -1.573692 -1.321221 +v -0.005973 -1.144902 -3.066860 +v 0.330880 -0.930699 -1.259843 +v -0.281668 -1.359297 -1.259843 +v 0.177683 -1.359297 -2.484921 +v 0.269601 -0.624503 -1.290621 +v -0.189750 -1.206199 -2.791102 +v -0.036613 -0.961396 -2.852303 +v 0.208323 -1.144902 -2.760502 +v 0.238962 -1.451194 -1.259843 +v -0.036613 -1.389897 -2.760502 +v 0.055186 -0.593807 -1.259843 +v -0.220389 -0.900099 -1.382422 +v -0.220389 -1.512395 -1.382422 +v 0.055186 -1.389897 -2.791102 +v 0.024606 -0.961396 -2.852303 +v -0.159110 -1.022596 -2.576722 +v 0.330880 -1.053197 -1.290621 +v -0.281668 -1.236799 -1.443623 +v 0.208323 -1.206199 -2.729901 +v 0.177683 -1.144902 -2.883080 +v -0.189750 -1.542995 -1.259843 +v -0.189750 -0.838898 -1.413022 +v 0.208323 -1.420498 -1.903160 +v 0.177683 -0.593807 -1.290621 +v 0.269601 -1.359297 -1.290621 +v -0.005973 -1.236799 -3.036082 +v -0.128531 -1.359297 -2.576722 +v -0.189750 -1.144902 -2.729901 +v 0.147104 -0.991996 -2.637923 +v -0.220389 -0.900099 -1.259843 +f 25 15 33 +f 5 1 6 +f 4 9 10 +f 8 5 11 +f 5 6 12 +f 1 5 14 +f 5 8 14 +f 6 9 16 +f 3 2 17 +f 2 13 17 +f 4 10 18 +f 11 5 20 +f 5 12 20 +f 9 6 21 +f 7 17 22 +f 11 20 22 +f 8 11 23 +f 4 18 23 +f 11 22 23 +f 22 17 23 +f 2 3 24 +f 3 12 24 +f 12 6 24 +f 13 2 24 +f 6 16 24 +f 16 13 24 +f 1 14 25 +f 14 10 25 +f 10 19 25 +f 19 15 25 +f 12 3 26 +f 3 17 26 +f 17 7 26 +f 7 22 26 +f 14 8 27 +f 10 14 27 +f 18 10 27 +f 8 18 27 +f 20 12 28 +f 22 20 28 +f 12 26 28 +f 26 22 28 +f 9 4 29 +f 13 9 29 +f 17 13 29 +f 4 23 29 +f 23 17 29 +f 9 13 30 +f 16 9 30 +f 13 16 30 +f 10 9 31 +f 19 10 31 +f 15 19 31 +f 9 21 31 +f 21 15 31 +f 18 8 32 +f 8 23 32 +f 23 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1108 +f 1105 1106 1108 +f 1103 1104 1109 +f 1104 1105 1109 +f 1105 1103 1109 +f 1104 1102 1110 +f 1107 1104 1110 +f 1105 1101 1111 +f 1106 1105 1111 +f 1101 1107 1111 +f 1107 1106 1111 +f 1102 1106 1112 +f 1106 1107 1112 +f 1110 1102 1112 +o convex_82 +v -0.011433 0.166053 2.592398 +v -0.168235 -0.014507 2.715995 +v -0.163477 -0.014507 2.715995 +v -0.011433 -0.009753 2.981990 +v -0.168235 -0.000244 2.734987 +v -0.077985 0.090001 2.597203 +v -0.011433 0.018756 2.872694 +v -0.168235 0.052019 2.592398 +v -0.016206 0.166053 2.611466 +v -0.020949 -0.009753 2.977223 +v -0.011433 -0.014507 2.958232 +v -0.163477 0.042528 2.592398 +v -0.011433 0.156527 2.597203 +f 1119 1118 1125 +f 1113 1116 1119 +f 1115 1118 1119 +f 1114 1117 1120 +f 1116 1113 1121 +f 1113 1120 1121 +f 1120 1117 1121 +f 1117 1114 1122 +f 1116 1121 1122 +f 1121 1117 1122 +f 1114 1115 1123 +f 1115 1119 1123 +f 1119 1116 1123 +f 1122 1114 1123 +f 1116 1122 1123 +f 1115 1114 1124 +f 1118 1115 1124 +f 1113 1118 1124 +f 1114 1120 1124 +f 1120 1113 1124 +f 1118 1113 1125 +f 1113 1119 1125 +o convex_83 +v 0.121614 0.180308 -1.736451 +v 0.107360 0.037774 -2.506052 +v 0.107360 0.042532 -2.506052 +v 0.145366 0.037774 -2.135327 +v 0.107360 0.175536 -1.707941 +v 0.145366 0.180308 -1.679430 +v 0.140611 0.037774 -2.049795 +v 0.145366 0.175536 -1.584335 +v 0.112112 0.128030 -2.140108 +v 0.116863 0.042532 -2.472670 +v 0.107360 0.066292 -2.258842 +v 0.107360 0.132773 -2.111598 +f 1134 1128 1137 +f 1128 1127 1130 +f 1127 1129 1132 +f 1132 1129 1133 +f 1126 1130 1133 +f 1131 1126 1133 +f 1129 1131 1133 +f 1130 1132 1133 +f 1126 1131 1134 +f 1134 1131 1135 +f 1127 1128 1135 +f 1129 1127 1135 +f 1131 1129 1135 +f 1128 1134 1135 +f 1130 1127 1136 +f 1132 1130 1136 +f 1127 1132 1136 +f 1130 1126 1137 +f 1128 1130 1137 +f 1126 1134 1137 +o convex_84 +v 0.245153 0.099528 1.656280 +v 0.254652 0.037760 0.938847 +v 0.235649 0.142276 1.010180 +v 0.264159 0.066280 0.948391 +v 0.245153 0.047270 1.661088 +v 0.226146 0.132787 1.656280 +v 0.245153 0.147047 1.076706 +v 0.259400 0.037760 1.532772 +v 0.235649 0.147047 1.632526 +v 0.245153 0.147047 0.938847 +v 0.264159 0.037760 1.038671 +v 0.226146 0.147047 1.661088 +f 1147 1140 1149 +f 1139 1142 1143 +f 1140 1139 1143 +f 1138 1141 1144 +f 1141 1138 1145 +f 1138 1142 1145 +f 1142 1139 1145 +f 1138 1144 1146 +f 1146 1144 1147 +f 1139 1140 1147 +f 1141 1139 1147 +f 1144 1141 1147 +f 1139 1141 1148 +f 1145 1139 1148 +f 1141 1145 1148 +f 1142 1138 1149 +f 1143 1142 1149 +f 1140 1143 1149 +f 1138 1146 1149 +f 1146 1147 1149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf new file mode 100644 index 000000000..d9e3c35c9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj new file mode 100644 index 000000000..c3e14bd9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.361457 -0.002688 -3.493538 +v 0.340955 -0.224503 -3.234838 +v 0.340955 -0.261443 -3.234838 +v -0.324397 -0.446317 -1.719372 +v 0.229983 0.145188 -1.719372 +v -0.287475 0.108190 -1.719372 +v -0.250485 -0.372379 -3.678380 +v 0.193061 -0.409319 -1.719372 +v 0.156070 0.034252 -3.567592 +v 0.340955 -0.372379 -3.715309 +v -0.324397 0.108190 -3.567592 +v -0.065600 0.145188 -2.680704 +v 0.340955 -0.261443 -3.715309 +v -0.361457 0.108190 -3.160980 +v 0.193061 0.034252 -3.530663 +v -0.324397 -0.446317 -1.941534 +v 0.229983 -0.409319 -2.052321 +v -0.102590 0.145188 -1.719372 +v -0.287475 -0.261443 -3.678380 +v 0.229983 0.145188 -1.867480 +v 0.229983 -0.039686 -1.719372 +v -0.176572 -0.446317 -1.793621 +v -0.324397 -0.298441 -1.719372 +f 6 14 23 +f 3 2 5 +f 4 5 6 +f 5 4 8 +f 2 3 10 +f 2 10 13 +f 11 9 13 +f 1 4 14 +f 11 1 14 +f 12 11 14 +f 9 11 15 +f 11 12 15 +f 13 9 15 +f 4 1 16 +f 7 10 16 +f 10 3 17 +f 6 5 18 +f 5 12 18 +f 14 6 18 +f 12 14 18 +f 10 7 19 +f 1 11 19 +f 13 10 19 +f 11 13 19 +f 16 1 19 +f 7 16 19 +f 5 2 20 +f 12 5 20 +f 2 13 20 +f 15 12 20 +f 13 15 20 +f 3 5 21 +f 5 8 21 +f 17 3 21 +f 8 17 21 +f 8 4 22 +f 4 16 22 +f 16 10 22 +f 10 17 22 +f 17 8 22 +f 4 6 23 +f 14 4 23 +o convex_1 +v -0.583271 1.956508 -2.459118 +v 0.562769 1.513212 -3.345969 +v 0.562769 1.476196 -3.345969 +v 0.525749 1.956508 -1.719372 +v 0.414802 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+v 0.932435 -2.405676 2.346998 +v -1.026899 -2.405676 2.309870 +v 0.932435 -2.405676 -1.682244 +v -1.026899 2.880897 2.420842 +v 1.043200 2.843638 -1.571271 +v -0.989771 -2.405676 -1.571271 +v -0.989771 2.806897 -1.608400 +v 1.043200 2.880379 2.457970 +v 1.080328 2.880379 0.055359 +v -1.026899 2.880897 0.387863 +v 0.525675 2.288900 -1.719372 +v 0.969356 -2.183160 -1.682244 +v 0.969356 -1.961161 1.939825 +v 0.229888 1.956160 2.495099 +v -0.324353 -0.445463 -1.719372 +v -1.026899 -2.072419 2.346586 +v 0.636647 -1.887679 2.384126 +v 1.080328 2.658898 0.424992 +v 1.043200 1.660162 -1.607987 +v -1.026899 -2.331159 1.533477 +v 0.267016 -2.405676 -1.682244 +v -0.693984 2.769638 2.457970 +v -0.583218 2.326158 -1.719372 +v -1.026899 2.695639 0.166331 +v 0.008357 2.843638 -1.570859 +v 0.969356 -1.406940 2.383714 +v 0.969356 -2.183160 0.535551 +v 0.192966 -0.408722 -1.719372 +v 0.303938 -0.704203 2.420842 +v -1.026899 1.734679 2.420842 +v -0.361275 1.438681 2.457970 +v 0.969356 -1.074201 -1.682244 +v 0.636647 2.141418 2.495099 +v 1.080328 2.806379 -0.092329 +v 0.192966 -2.405676 2.346998 +v 1.043200 2.806379 2.457970 +v 0.156044 2.474158 2.495099 +v -0.250509 2.880897 2.457970 +v 1.006278 1.882678 2.457970 +v -0.620140 -2.405676 -1.607987 +v -0.583218 1.845420 -1.719372 +v 0.969356 -1.739679 2.162182 +f 118 108 124 +f 83 84 85 +f 85 84 88 +f 84 86 92 +f 89 87 93 +f 83 85 94 +f 81 82 96 +f 88 80 97 +f 80 93 97 +f 86 84 98 +f 91 90 100 +f 93 87 101 +f 88 84 102 +f 84 92 102 +f 85 88 103 +f 97 85 103 +f 93 80 105 +f 89 93 105 +f 89 88 106 +f 92 89 106 +f 88 102 106 +f 102 92 106 +f 87 89 107 +f 91 87 107 +f 89 92 107 +f 92 91 107 +f 99 83 108 +f 83 94 109 +f 95 83 109 +f 94 100 109 +f 100 95 109 +f 94 85 110 +f 93 94 110 +f 85 97 110 +f 97 93 110 +f 96 98 111 +f 99 96 111 +f 98 99 111 +f 86 98 112 +f 104 86 112 +f 104 112 113 +f 98 96 113 +f 96 104 113 +f 112 98 113 +f 94 93 114 +f 93 101 114 +f 101 94 114 +f 81 96 115 +f 96 99 115 +f 108 81 115 +f 99 108 115 +f 87 91 116 +f 91 100 116 +f 100 94 116 +f 101 87 116 +f 94 101 116 +f 84 83 117 +f 98 84 117 +f 99 98 117 +f 83 99 117 +f 90 81 118 +f 100 90 118 +f 96 82 119 +f 104 96 119 +f 104 119 120 +f 82 81 120 +f 81 90 120 +f 90 91 120 +f 92 86 120 +f 91 92 120 +f 86 104 120 +f 119 82 120 +f 81 108 121 +f 118 81 121 +f 108 118 121 +f 88 97 122 +f 103 88 122 +f 97 103 122 +f 80 88 123 +f 88 89 123 +f 105 80 123 +f 89 105 123 +f 83 95 124 +f 95 100 124 +f 108 83 124 +f 100 118 124 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf new file mode 100644 index 000000000..65e1cffd1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj new file mode 100644 index 000000000..bd1548c4e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj @@ -0,0 +1,597 @@ +o convex_0 +v -2.542614 -0.249432 -0.508495 +v -1.304878 0.564941 0.566673 +v -1.304878 0.141272 0.566673 +v -3.292221 -0.477695 0.566673 +v -3.161872 0.564941 -0.345621 +v -1.304878 -0.444947 -0.541135 +v -1.304878 0.532193 -0.475964 +v -3.292221 0.532193 0.436221 +v -1.304878 -0.542867 0.533924 +v -3.259342 -0.444947 -0.475964 +v -2.933663 0.564941 -0.443324 +v -1.695732 -0.542867 0.273238 +v -1.337368 0.401958 -0.508495 +v -3.031522 -0.477695 -0.345621 +v -1.989115 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134 154 +f 144 125 154 +f 130 144 154 +f 148 130 154 +f 134 148 154 +f 127 128 155 +f 135 127 155 +f 142 135 155 +f 128 148 155 +f 148 142 155 +f 142 134 156 +f 135 142 156 +f 146 129 156 +f 134 146 156 +f 129 151 156 +o convex_6 +v 0.031135 1.053495 -1.095039 +v 0.845762 -2.530143 1.087994 +v 0.813134 -2.530143 1.087994 +v 0.584955 2.976053 0.989912 +v -1.239429 -2.921192 0.990125 +v 0.813134 -2.953876 -1.062131 +v -1.239429 2.942784 -0.964476 +v -1.174175 -2.921192 -0.964476 +v -1.206802 2.942784 0.957431 +v 0.780507 2.975469 -0.996957 +v 0.845762 2.975469 0.990125 +v 0.845762 -2.986561 1.087994 +v -0.718026 0.597077 1.087781 +v -1.304683 -0.672955 -0.573428 +v -0.783280 -0.770425 -1.095039 +v -1.304683 0.564392 0.566383 +v 0.845762 0.563809 -0.443292 +v -1.239429 2.976053 0.924951 +v 0.259104 0.564392 1.087781 +v -1.206802 2.877415 -0.996957 +v 0.650209 -1.324313 -1.095039 +v 0.813134 2.975469 -0.866821 +v -0.652982 -0.574901 1.087781 +v 0.747880 2.649790 -1.029651 +v -0.164417 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164 182 +f 168 161 182 +f 164 181 182 +f 157 171 183 +f 176 157 183 +f 171 176 183 +f 170 172 184 +f 161 172 185 +f 172 170 185 +f 168 162 186 +f 173 168 186 +f 177 157 187 +f 157 180 187 +f 160 166 188 +f 166 163 188 +f 174 160 188 +f 160 167 189 +f 167 173 189 +f 178 160 189 +f 173 178 189 +f 177 162 190 +f 171 177 190 +f 164 176 191 +f 176 171 191 +f 181 164 191 +f 171 181 191 +f 163 176 192 +f 176 164 192 +f 173 162 193 +f 162 177 193 +f 180 166 193 +f 177 187 193 +f 187 180 193 +f 169 165 194 +f 161 169 194 +f 172 161 194 +f 165 174 194 +f 174 172 194 +f 172 174 195 +f 170 184 195 +f 184 172 195 +f 188 163 195 +f 174 188 195 +f 192 170 195 +f 163 192 195 +f 161 168 196 +f 168 179 196 +f 179 161 196 +f 164 161 197 +f 162 173 198 +f 186 162 198 +f 173 186 198 +f 161 185 199 +f 185 170 199 +f 197 161 199 +f 170 197 199 +f 162 168 200 +f 168 182 200 +f 182 181 200 +f 181 171 201 +f 190 162 201 +f 171 190 201 +f 162 200 201 +f 200 181 201 +f 158 167 202 +f 175 158 202 +f 167 175 202 +f 166 178 203 +f 178 173 203 +f 173 193 203 +f 193 166 203 +f 163 166 204 +f 176 163 204 +f 157 176 204 +f 166 180 204 +f 180 157 204 +f 192 164 205 +f 170 192 205 +f 164 197 205 +f 197 170 205 +f 167 160 206 +f 165 169 206 +f 169 167 206 +f 160 174 206 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf new file mode 100644 index 000000000..a990da95e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj new file mode 100644 index 000000000..61611ea8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj @@ -0,0 +1,903 @@ +o convex_0 +v -0.812532 -2.233878 -1.489784 +v 1.252255 -0.729037 0.083768 +v 1.252255 -0.764152 0.083768 +v -0.742440 -1.429126 2.813758 +v -1.022583 -0.729208 -1.384920 +v 0.762061 -2.198762 1.974257 +v 0.762061 -1.569076 -2.749915 +v 0.062493 -0.729208 2.779194 +v 0.762061 -2.198762 -2.084407 +v -0.112512 -2.443717 2.009407 +v -0.042646 -0.729208 -2.715351 +v -0.742440 -1.604020 -2.749329 +v 0.797107 -1.429126 2.708894 +v 0.027447 -2.478832 -2.084992 +v -0.812532 -2.163818 2.043971 +v -0.812532 -0.729208 1.974257 +v -1.022583 -1.569076 2.043971 +v 0.027447 -2.233878 2.744044 +v -1.057630 -1.569076 -1.699513 +v 0.797107 -0.729208 -2.015278 +v -0.042646 -2.233878 -2.785065 +v 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj new file mode 100644 index 000000000..1bdf362bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj @@ -0,0 +1,342 @@ +o convex_0 +v 1.041668 1.405790 -0.640561 +v -1.097998 -3.319658 -0.997274 +v -0.711571 -3.319658 -0.997274 +v 0.774290 -3.319658 1.082887 +v -1.038365 1.435580 0.993657 +v -1.008657 1.435580 -1.056970 +v 1.011959 -3.229822 -0.997483 +v 1.071376 1.435580 0.993447 +v -1.097998 -3.200498 0.993657 +v 1.071376 -3.319658 1.082887 +v 0.893125 1.435580 -0.967740 +v 1.101300 0.989661 -0.284058 +v -1.068074 0.692225 0.934170 +v 1.071376 1.316420 1.023191 +v -1.038365 1.316420 -1.056970 +v 0.447280 -1.655138 -1.027226 +v 1.101300 -0.734439 0.369462 +v -0.503395 1.375535 -1.056970 +v 0.982250 0.959871 -0.967740 +v 1.071376 -3.319658 0.696431 +v -1.097998 -2.665673 -0.997274 +v -1.068074 -1.952108 -1.027226 +v 1.041668 -2.427352 1.082887 +v 1.101300 1.435580 -0.135550 +v -1.097998 -3.319658 -0.729791 +v 1.011959 -3.260078 -0.759535 +v -1.097998 -3.229822 0.725965 +v -1.097998 -2.754578 0.993657 +v 0.982250 -1.803623 -0.997483 +v 1.071376 -3.229822 0.518179 +v -0.533104 -3.200498 1.023400 +v 0.982250 1.435580 -0.937996 +v 0.744581 -3.229822 1.082887 +v -0.919531 1.108355 -1.056970 +v -1.068074 0.692225 0.993657 +v 1.101300 1.435580 -0.284058 +v 1.011959 -2.843948 -0.997483 +v 1.101300 -0.615279 0.399205 +v 0.744581 -3.260078 -0.997483 +v 1.011959 1.286630 -0.819022 +v 1.041668 -2.041478 -0.700048 +f 12 30 41 +f 2 3 4 +f 6 5 8 +f 4 3 10 +f 6 8 11 +f 8 5 14 +f 5 6 15 +f 13 5 15 +f 6 11 18 +f 15 6 18 +f 18 11 19 +f 10 3 20 +f 17 10 20 +f 2 9 21 +f 15 2 21 +f 13 15 21 +f 3 2 22 +f 2 15 22 +f 16 7 22 +f 4 10 23 +f 14 5 23 +f 10 14 23 +f 11 8 24 +f 17 12 24 +f 2 4 25 +f 9 2 25 +f 20 3 26 +f 7 20 26 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-2.791796 1.495123 -0.195016 +v -1.038758 1.495123 -0.284212 +v -1.514250 2.059630 -0.224707 +v -1.038758 1.613963 -0.313964 +v -1.781802 1.524817 -0.313964 +v -2.672973 1.554575 0.280409 +v -1.960036 2.000178 0.250718 +v -1.038758 1.524817 0.310161 +v -3.059147 1.643721 -0.284212 +v -2.999736 2.029872 0.161522 +v -1.336016 1.465301 0.310161 +f 62 46 65 +f 48 45 49 +f 48 49 51 +f 44 48 52 +f 49 45 53 +f 43 44 54 +f 50 46 54 +f 44 52 54 +f 52 50 54 +f 53 43 54 +f 42 50 55 +f 50 47 55 +f 51 42 56 +f 48 51 56 +f 42 55 56 +f 55 47 56 +f 44 43 57 +f 43 53 57 +f 53 45 57 +f 48 44 58 +f 45 48 58 +f 44 57 58 +f 57 45 58 +f 52 48 59 +f 56 47 59 +f 48 56 59 +f 46 50 60 +f 53 46 61 +f 49 53 61 +f 51 49 62 +f 61 46 62 +f 49 61 62 +f 47 50 63 +f 50 52 63 +f 52 59 63 +f 59 47 63 +f 46 53 64 +f 54 46 64 +f 53 54 64 +f 50 42 65 +f 42 51 65 +f 46 60 65 +f 60 50 65 +f 51 62 65 +o convex_2 +v 1.101300 2.475688 0.696440 +v -1.008814 1.435581 -1.056970 +v -1.008814 2.683709 -1.056970 +v -1.038557 1.435581 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0.131802 +v 3.033107 2.000201 -0.343684 +v 2.795310 1.554529 0.280441 +v 1.101300 2.000201 0.042667 +v 2.824937 2.059706 -0.343684 +v 2.943836 2.059706 -0.194984 +f 108 105 118 +f 95 96 99 +f 98 99 101 +f 99 96 101 +f 101 96 102 +f 98 101 103 +f 99 98 105 +f 101 102 107 +f 97 98 109 +f 98 103 109 +f 106 97 109 +f 97 95 110 +f 98 97 110 +f 100 98 110 +f 96 95 111 +f 95 97 111 +f 102 96 111 +f 97 106 111 +f 107 102 112 +f 106 107 112 +f 102 111 112 +f 111 106 112 +f 94 101 113 +f 101 107 113 +f 107 106 113 +f 109 94 113 +f 106 109 113 +f 95 100 114 +f 110 95 114 +f 100 110 114 +f 101 94 115 +f 103 101 115 +f 94 109 115 +f 109 103 115 +f 95 99 116 +f 104 95 116 +f 99 105 116 +f 100 95 117 +f 95 104 117 +f 108 100 117 +f 105 108 117 +f 104 116 117 +f 116 105 117 +f 98 100 118 +f 105 98 118 +f 100 108 118 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf new file mode 100644 index 000000000..d243c4be3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj new file mode 100644 index 000000000..4868fd830 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj @@ -0,0 +1,483 @@ +o convex_0 +v 1.289937 -0.219287 0.144093 +v -1.295720 -0.379190 0.048434 +v -1.295720 -0.379190 0.080320 +v 0.779006 -3.730558 0.112207 +v 0.172501 -1.496428 -1.036712 +v -0.785046 -3.283801 0.750540 +v -0.688958 -3.347277 -0.749533 +v 0.172501 -0.219287 1.037921 +v -0.976452 -0.219287 -0.813305 +v 1.034472 -0.219287 -0.877281 +v 0.683431 -3.283454 0.750540 +v 0.779006 -3.251543 -0.749533 +v -1.008225 -0.219287 0.910174 +v -0.114481 -3.315712 0.973946 +v -0.785046 -3.762816 -0.078907 +v 1.002699 -0.219287 0.846401 +v 0.076925 -3.698300 -0.813102 +v -0.114481 -3.762816 0.782426 +v 0.013123 -3.251890 -1.004622 +v 0.970669 -3.283454 -0.047224 +v -0.976452 -3.283801 -0.047224 +v 1.321966 -0.251545 -0.110997 +v -0.082452 -0.219287 -1.004622 +v -0.018650 -2.358030 1.037921 +v -0.561353 -3.762816 -0.621785 +v 0.651402 -3.698647 -0.589696 +v -0.625156 -3.762816 0.591109 +v 0.555827 -3.730558 0.622995 +v -1.263691 -0.219287 -0.110997 +v -0.050679 -1.687895 -1.036712 +v -0.242342 -0.219287 1.038125 +v -0.720987 -3.251890 -0.749533 +v 0.108698 -3.219632 -1.004622 +v 0.970669 -3.251543 0.048231 +v 0.843065 -0.283456 0.910174 +v 1.034472 -0.251545 0.814515 +v 0.044896 -3.251890 0.973946 +v -0.976452 -3.251890 0.080320 +v 0.811036 -0.347279 -0.940850 +v 1.034472 -0.379190 -0.877281 +v -0.753016 -0.443012 0.973946 +v -1.008225 -0.283456 -0.781419 +v -1.295720 -0.251545 0.144093 +v 0.747233 -3.219979 -0.781419 +v -0.178284 -3.187721 0.973946 +v 0.811036 -3.219979 -0.685557 +v 1.321966 -0.283456 0.048231 +v -0.593383 -3.124245 -0.813305 +v 0.204530 -0.219287 -1.004622 +v -0.753016 -0.474923 -0.877078 +v 0.300361 -3.730558 -0.717444 +v 0.108698 -3.762816 0.750540 +v -0.242342 -1.432953 1.038125 +v 0.140728 -1.496428 1.037921 +v -0.753016 -3.156157 0.782629 +v 0.874838 -3.251543 0.303727 +v -0.976452 -3.219632 -0.078907 +v -0.816819 -3.219632 0.686767 +v 0.906867 -3.251543 -0.334403 +v -0.785046 -3.762816 0.048434 +v -0.369947 -3.762816 -0.653671 +v -0.082452 -3.124245 1.005832 +v 0.811036 -3.698647 -0.015338 +v -1.008225 -0.251545 0.910174 +f 43 58 64 +f 8 1 9 +f 9 1 10 +f 8 9 13 +f 1 8 16 +f 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145 +f 128 118 146 +f 130 106 146 +f 104 112 147 +f 139 104 147 +f 112 139 147 +f 104 117 148 +f 138 104 148 +f 113 110 149 +f 110 123 149 +f 123 113 149 +f 112 121 150 +f 108 122 150 +f 139 112 150 +f 122 139 150 +f 141 108 150 +f 121 141 150 +f 124 108 151 +f 116 125 151 +f 108 141 151 +f 141 116 151 +f 143 124 151 +f 125 143 151 +f 129 128 152 +f 106 132 152 +f 132 129 152 +f 146 106 152 +f 128 146 152 +f 127 107 153 +f 131 118 153 +f 133 131 153 +f 125 109 154 +f 109 131 154 +f 131 125 154 +f 101 125 155 +f 114 136 155 +f 136 124 155 +f 143 101 155 +f 124 143 155 +f 114 126 156 +f 140 114 156 +f 126 140 156 +f 111 126 157 +f 127 111 157 +f 107 127 157 +f 126 133 157 +f 153 107 157 +f 133 153 157 +f 111 105 158 +f 105 120 158 +f 126 111 158 +f 120 140 158 +f 140 126 158 +f 119 111 159 +f 115 119 159 +f 111 127 159 +f 135 115 159 +f 127 135 159 +f 118 135 160 +f 135 127 160 +f 153 118 160 +f 127 153 160 +f 117 105 161 +f 119 110 161 +f 105 119 161 +f 148 117 161 +f 109 116 162 +f 118 109 162 +f 116 130 162 +f 146 118 162 +f 130 146 162 +f 134 104 163 +f 110 134 163 +f 104 138 163 +f 138 148 163 +f 161 110 163 +f 148 161 163 +f 126 114 164 +f 125 133 164 +f 133 126 164 +f 155 125 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf new file mode 100644 index 000000000..2e4f4cc7f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj new file mode 100644 index 000000000..a375cfd52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj @@ -0,0 +1,219 @@ +o convex_0 +v 0.074470 -2.841206 0.330243 +v -0.373895 -4.754230 -0.177919 +v 0.134238 -4.754230 -0.207830 +v -0.284207 -4.724268 0.360154 +v -0.343974 -2.841206 -0.177919 +v 0.343533 -2.841206 -0.177919 +v 0.373453 -4.664533 0.240564 +v -0.224367 -2.841206 0.360154 +v -0.343974 -4.335709 0.360154 +v 0.253846 -2.871355 0.270420 +v 0.283766 -4.754230 -0.177919 +v 0.283766 -4.694307 0.270420 +v -0.343974 -4.754230 0.270420 +v -0.343974 -2.841206 -0.088240 +v 0.343533 -2.901316 -0.058329 +v 0.283766 -4.425405 -0.207830 +v -0.104832 -3.110482 0.360154 +v -0.373895 -4.724268 0.031350 +v 0.223925 -2.841206 0.300331 +v 0.373453 -4.455179 0.150829 +v 0.373453 -4.514915 0.240564 +v 0.343533 -3.110482 -0.177919 +v 0.313613 -4.455179 0.270420 +v 0.134238 -4.335709 -0.207830 +v -0.254287 -3.140444 0.360154 +v -0.343974 -4.724268 0.360154 +f 9 18 26 +f 5 1 6 +f 1 5 8 +f 4 8 9 +f 2 3 11 +f 11 7 12 +f 12 4 13 +f 2 11 13 +f 11 12 13 +f 8 5 14 +f 6 10 15 +f 11 3 16 +f 1 8 17 +f 8 4 17 +f 5 2 18 +f 2 13 18 +f 14 5 18 +f 9 14 18 +f 6 1 19 +f 10 6 19 +f 7 11 20 +f 6 15 20 +f 20 15 21 +f 15 10 21 +f 10 19 21 +f 7 20 21 +f 16 6 22 +f 11 16 22 +f 6 20 22 +f 20 11 22 +f 12 7 23 +f 4 12 23 +f 1 17 23 +f 17 4 23 +f 19 1 23 +f 21 19 23 +f 7 21 23 +f 3 2 24 +f 2 5 24 +f 5 6 24 +f 16 3 24 +f 6 16 24 +f 9 8 25 +f 8 14 25 +f 14 9 25 +f 4 9 26 +f 13 4 26 +f 18 13 26 +o convex_1 +v 1.061011 0.029173 0.001427 +v 0.672239 -1.644606 1.107502 +v 0.582523 -1.644606 1.107502 +v -0.911933 3.376730 1.047521 +v -1.031555 -2.780950 -1.044667 +v 1.031105 3.376730 -1.044667 +v -1.001650 3.376730 -1.104648 +v 1.060806 -2.691478 -1.014785 +v -1.001650 -2.691478 1.077403 +v 1.061011 3.286650 0.927992 +v 1.001200 -2.690870 1.107502 +v -1.001650 2.957981 1.077403 +v 0.223862 -2.841206 0.300249 +v 1.060806 -0.807717 -1.044667 +v -1.031555 -1.465664 -1.074549 +v -0.553272 -2.841206 0.599072 +v -0.343933 3.316474 -1.104648 +v 1.061011 2.957981 0.957875 +v -0.642784 -2.691478 1.107502 +v 1.060806 -2.691478 -0.357159 +v 0.343484 -2.841206 -0.177650 +v -1.031555 -2.751126 -0.237631 +v 0.164051 -2.751126 -1.044667 +v 0.881578 3.376121 -1.074549 +v -1.031555 -0.001260 -1.044667 +v -0.044878 3.345689 1.017639 +v -1.001650 3.376730 1.047521 +v -1.001650 -2.810773 -0.955020 +v -0.971744 1.732166 -1.104648 +v 1.031105 -2.690870 0.569189 +v 1.061011 0.148467 -1.044667 +v -0.792311 2.928157 1.077187 +v 1.031105 3.376730 -0.715746 +v 1.031105 -0.269673 1.047521 +v 1.061011 3.167356 0.599072 +v 0.732050 3.315865 0.957875 +v -0.642784 3.376730 1.047305 +v -0.672689 -2.841206 0.120739 +v 0.253767 -2.691478 -1.044667 +v -0.941839 -2.720694 1.017639 +v 0.941389 -2.242297 1.107502 +v 1.031105 -0.628166 1.047521 +v 0.761956 -2.720694 -1.014785 +v -0.343933 -2.841206 -0.177866 +v -0.463351 -2.780950 -1.044667 +v 1.031105 3.316474 0.599072 +v 1.001200 3.107099 0.957875 +v -1.031555 -2.780950 -0.476688 +v 1.061011 0.058996 0.300249 +f 44 68 75 +f 30 32 33 +f 28 29 37 +f 29 28 38 +f 39 37 42 +f 27 36 44 +f 37 29 45 +f 29 38 45 +f 38 35 45 +f 34 27 46 +f 37 39 47 +f 39 42 47 +f 34 46 47 +f 35 38 48 +f 41 31 48 +f 33 32 50 +f 43 33 50 +f 40 43 50 +f 33 41 51 +f 41 48 51 +f 30 33 53 +f 38 30 53 +f 48 38 53 +f 33 51 53 +f 51 48 53 +f 41 33 55 +f 33 43 55 +f 43 40 55 +f 37 47 56 +f 47 46 56 +f 27 34 57 +f 36 27 57 +f 34 40 57 +f 50 32 57 +f 40 50 57 +f 38 28 58 +f 32 30 59 +f 36 32 59 +f 32 36 61 +f 36 57 61 +f 57 32 61 +f 62 59 63 +f 30 38 63 +f 38 58 63 +f 58 52 63 +f 59 30 63 +f 52 62 63 +f 47 42 64 +f 40 34 65 +f 34 49 65 +f 49 41 65 +f 41 55 65 +f 55 40 65 +f 42 37 66 +f 37 45 66 +f 45 35 66 +f 64 42 66 +f 28 37 67 +f 58 28 67 +f 37 60 67 +f 60 44 67 +f 37 56 68 +f 60 37 68 +f 44 60 68 +f 34 47 69 +f 49 34 69 +f 47 49 69 +f 54 47 70 +f 47 64 70 +f 64 54 70 +f 31 41 71 +f 41 49 71 +f 49 47 71 +f 47 54 71 +f 54 31 71 +f 36 59 72 +f 62 36 72 +f 59 62 72 +f 44 36 73 +f 52 58 73 +f 36 62 73 +f 62 52 73 +f 58 67 73 +f 67 44 73 +f 35 48 74 +f 48 31 74 +f 31 54 74 +f 54 64 74 +f 66 35 74 +f 64 66 74 +f 27 44 75 +f 46 27 75 +f 56 46 75 +f 68 56 75 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf new file mode 100644 index 000000000..60246198d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj new file mode 100644 index 000000000..493086bee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.058832 3.197163 -1.015524 +v 0.002657 -2.426059 1.104123 +v -0.025627 -2.426059 1.104123 +v 0.002657 -3.697680 -0.761150 +v -0.986697 3.112128 0.030398 +v 0.991618 3.112128 -0.026245 +v 0.002657 3.733896 0.934194 +v 0.963334 -2.933927 -0.139323 +v -0.930129 -2.990877 -0.167541 +v -0.760424 -3.019742 0.849748 +v 0.737257 -2.962792 0.821323 +v 0.793629 -2.425278 -0.789367 +v -0.647484 3.790066 -0.704299 +v 0.737257 3.790066 -0.732725 +v -0.732140 3.733896 0.764888 +v -0.732140 -2.990877 -0.732725 +v 0.680689 3.310283 0.708245 +v 0.030744 -3.726546 0.821323 +v -0.025627 -2.962792 -1.015524 +v -0.732140 -3.725765 0.002180 +v 0.567553 4.017086 0.171279 +v 0.737257 -3.697680 0.001973 +v -0.732140 3.055958 -0.732725 +v 0.002657 3.027093 1.019055 +v -0.986697 -3.019742 0.114844 +v -0.760424 3.112128 0.821323 +v 0.793629 3.253333 -0.789367 +v 1.019902 -1.888545 -0.026245 +v 0.030744 -3.952785 0.001973 +v -0.534348 3.988221 0.566949 +v 0.002657 4.017086 -0.647864 +v 0.765541 -2.962792 -0.789367 +v 0.737257 -1.578050 0.821323 +v -0.930129 3.733896 0.030398 +v 0.906765 3.790066 -0.026245 +v -0.053911 -2.991657 1.104123 +v 0.058832 3.761981 -0.958674 +v 0.595837 3.818151 0.623592 +v -0.788708 2.999008 0.793106 +v 0.765541 -1.804290 -0.817585 +v -0.110480 2.998228 1.019262 +v -0.647484 3.988221 0.002180 +v 0.058832 -2.962792 -1.015524 +v 0.313192 3.055958 -0.958881 +v 0.991618 -2.934707 0.058408 +v 1.019902 -1.493016 0.030191 +v -0.562632 -3.556476 0.623384 +v -0.958413 -1.691170 0.256140 +v -0.082195 3.083263 -0.987099 +v 0.878481 3.055178 -0.534993 +v -0.986697 3.027093 0.114844 +v 0.708973 3.084043 0.708245 +v 0.539465 4.017086 -0.506568 +v -0.025627 3.988221 0.679820 +v 0.567553 -3.527611 0.595167 +v 0.567553 -3.527611 -0.534993 +v -0.562632 -3.527611 -0.534993 +v -0.816992 -2.029749 0.736670 +v 0.850197 -1.832375 -0.647864 +v -0.704053 2.999008 0.849541 +v 0.624121 3.027093 0.764888 +v -0.704053 -1.238691 0.877759 +v 0.991618 3.055958 -0.111105 +v -0.534348 3.055178 -0.817585 +f 13 49 64 +f 4 16 19 +f 9 16 20 +f 9 5 23 +f 16 9 23 +f 3 2 24 +f 17 7 24 +f 5 9 25 +f 9 20 25 +f 20 10 25 +f 20 4 29 +f 18 20 29 +f 4 22 29 +f 22 18 29 +f 15 7 30 +f 30 21 31 +f 12 8 32 +f 8 22 32 +f 2 11 33 +f 24 2 33 +f 23 5 34 +f 13 23 34 +f 15 30 34 +f 17 6 35 +f 2 3 36 +f 11 2 36 +f 10 18 36 +f 18 11 36 +f 14 27 37 +f 13 31 37 +f 7 17 38 +f 17 35 38 +f 35 21 38 +f 10 26 39 +f 26 15 39 +f 27 12 40 +f 12 32 40 +f 7 15 41 +f 3 24 41 +f 24 7 41 +f 36 3 41 +f 30 31 42 +f 31 13 42 +f 13 34 42 +f 34 30 42 +f 19 1 43 +f 4 19 43 +f 32 4 43 +f 40 32 43 +f 40 43 44 +f 1 37 44 +f 37 27 44 +f 27 40 44 +f 43 1 44 +f 22 8 45 +f 11 22 45 +f 8 28 45 +f 45 28 46 +f 33 11 46 +f 6 33 46 +f 11 45 46 +f 18 10 47 +f 10 20 47 +f 20 18 47 +f 1 19 49 +f 37 1 49 +f 13 37 49 +f 5 25 51 +f 34 5 51 +f 15 34 51 +f 39 15 51 +f 25 48 51 +f 48 39 51 +f 6 17 52 +f 33 6 52 +f 31 21 53 +f 35 14 53 +f 21 35 53 +f 14 37 53 +f 37 31 53 +f 30 7 54 +f 21 30 54 +f 7 38 54 +f 38 21 54 +f 11 18 55 +f 22 11 55 +f 18 22 55 +f 22 4 56 +f 4 32 56 +f 32 22 56 +f 16 4 57 +f 4 20 57 +f 20 16 57 +f 25 10 58 +f 10 39 58 +f 48 25 58 +f 39 48 58 +f 8 12 59 +f 12 27 59 +f 28 8 59 +f 27 50 59 +f 50 28 59 +f 15 26 60 +f 41 15 60 +f 36 41 60 +f 17 24 61 +f 24 33 61 +f 52 17 61 +f 33 52 61 +f 26 10 62 +f 10 36 62 +f 60 26 62 +f 36 60 62 +f 27 14 63 +f 35 6 63 +f 14 35 63 +f 46 28 63 +f 6 46 63 +f 50 27 63 +f 28 50 63 +f 19 16 64 +f 23 13 64 +f 16 23 64 +f 49 19 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf new file mode 100644 index 000000000..104e48fdf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj new file mode 100644 index 000000000..f1f1b09b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj @@ -0,0 +1,594 @@ +o convex_0 +v 1.062008 -3.531168 1.047471 +v -1.098418 -4.925017 -0.729580 +v 0.225520 -4.994605 -1.043128 +v -0.959147 -2.659926 -0.973428 +v -0.993964 -4.994605 0.942816 +v -1.063600 -2.659926 0.942816 +v 0.992373 -2.660158 -1.078083 +v 1.062008 -4.889991 0.803415 +v 1.096826 -5.029399 -1.043128 +v 1.096826 -2.694952 1.047471 +v -1.028782 -4.820171 -1.008382 +v 1.062008 -4.715557 1.012517 +v 0.539096 -2.659926 1.047471 +v -1.098418 -2.799334 0.942816 +v -1.098418 -4.436973 -0.973428 +v 1.096826 -4.506561 -1.078083 +v 0.469460 -2.659926 -1.078083 +v 1.096826 -4.959579 0.001963 +v -1.028782 -4.994605 0.664014 +v -0.959147 -2.729514 0.977771 +v -0.993964 -2.659926 -0.834027 +v -0.645571 -4.994605 0.942816 +v -0.540903 -4.576381 0.977771 +v 0.330189 -3.600756 -1.078083 +v 1.062008 -2.660158 0.246019 +v 0.853101 -4.889991 0.977771 +v 1.062008 -4.959579 -1.078083 +v -1.098418 -4.925017 -0.450778 +v -1.063600 -2.659926 0.315512 +v -1.098418 -4.889991 -0.973428 +v 1.096826 -5.029399 -0.834027 +v 0.783251 -5.029399 -1.043128 +v -1.098418 -3.043356 0.908070 +v 1.096826 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85 84 94 +f 85 94 95 +f 71 80 95 +f 80 76 95 +f 76 85 95 +f 94 71 95 +f 84 77 96 +f 89 84 96 +f 77 91 96 +f 91 89 96 +f 72 73 97 +f 82 72 97 +f 79 82 97 +f 73 86 97 +o convex_3 +v -0.610589 1.522714 2.859627 +v 0.609113 2.637684 2.964319 +v 0.121041 2.637684 2.964319 +v 0.574251 2.672596 1.082531 +v 0.539269 1.487803 1.082722 +v -0.540984 2.567976 1.082722 +v 0.539269 1.522714 3.034050 +v -0.540984 1.487803 1.082722 +v -0.436278 2.602888 2.929358 +v -0.610589 1.557510 2.964319 +v -0.575727 1.487803 2.685394 +v 0.155904 2.672479 1.431187 +v 0.574132 1.662129 3.034050 +v 0.295353 1.801544 3.034050 +v 0.609113 2.498269 2.720546 +v -0.436278 2.602888 1.082722 +v 0.574251 2.672596 2.302159 +v 0.539269 1.487803 1.744882 +v -0.227224 2.637684 2.511162 +v -0.296948 2.428562 2.964319 +v -0.471260 2.602888 2.406660 +v -0.575727 1.487803 1.744882 +v 0.539389 2.428562 2.999280 +f 117 111 120 +f 101 102 105 +f 103 101 105 +f 103 98 107 +f 98 104 107 +f 104 98 108 +f 105 102 108 +f 107 104 111 +f 104 110 111 +f 101 99 112 +f 102 101 112 +f 99 110 112 +f 110 102 112 +f 101 103 113 +f 109 101 113 +f 100 99 114 +f 99 101 114 +f 101 109 114 +f 104 108 115 +f 108 102 115 +f 102 110 115 +f 110 104 115 +f 106 100 116 +f 109 113 116 +f 100 114 116 +f 114 109 116 +f 100 106 117 +f 106 107 117 +f 107 111 117 +f 103 107 118 +f 107 106 118 +f 113 103 118 +f 106 116 118 +f 116 113 118 +f 98 103 119 +f 103 105 119 +f 108 98 119 +f 105 108 119 +f 99 100 120 +f 110 99 120 +f 111 110 120 +f 100 117 120 +o convex_4 +v -2.318343 2.602950 0.280892 +v -1.935298 1.592379 -0.590363 +v -1.935298 1.627313 -0.590363 +v -1.133485 2.393783 0.559752 +v -3.085195 1.487687 0.455165 +v -2.980312 2.533191 -0.555464 +v -1.133485 2.533191 -0.485777 +v -1.133485 1.627313 0.455165 +v -2.980312 2.602950 0.524852 +v -3.050043 1.487687 -0.520451 +v -1.133485 1.627313 -0.590363 +v -1.203216 2.533191 0.559752 +v -2.736539 1.487687 -0.555464 +v -3.085195 1.662028 0.489840 +v -2.736539 2.602950 0.559752 +v -2.178880 2.533191 -0.555464 +v -2.283381 1.522620 0.455165 +v -2.980312 2.602950 0.106618 +v -1.133485 1.871195 -0.590363 +v -3.015464 2.498257 0.524852 +v -3.085195 1.522620 -0.067543 +v -1.412410 1.592379 0.455165 +v -2.632038 1.627313 0.489840 +v -3.015464 1.696962 -0.555464 +v -2.876001 2.568016 -0.346290 +v -1.377831 2.533191 -0.520451 +v -2.736539 1.487687 0.455165 +v -1.133485 2.533191 0.385366 +f 132 124 148 +f 127 124 128 +f 122 123 131 +f 127 128 131 +f 125 130 133 +f 122 131 133 +f 121 129 135 +f 132 121 135 +f 124 132 135 +f 134 124 135 +f 121 127 138 +f 129 121 138 +f 123 126 139 +f 131 123 139 +f 127 131 139 +f 126 136 139 +f 135 129 140 +f 134 135 140 +f 129 138 140 +f 138 126 140 +f 126 130 141 +f 130 125 141 +f 125 134 141 +f 140 126 141 +f 134 140 141 +f 131 128 142 +f 133 131 142 +f 137 133 142 +f 137 142 143 +f 128 124 143 +f 124 134 143 +f 134 125 143 +f 142 128 143 +f 123 122 144 +f 126 123 144 +f 130 126 144 +f 122 133 144 +f 133 130 144 +f 136 126 145 +f 138 127 145 +f 126 138 145 +f 127 139 146 +f 139 136 146 +f 136 145 146 +f 145 127 146 +f 125 133 147 +f 133 137 147 +f 137 143 147 +f 143 125 147 +f 127 121 148 +f 124 127 148 +f 121 132 148 +o convex_5 +v 1.062107 1.975837 0.768645 +v -0.749868 2.184939 -1.078291 +v -1.098551 2.637743 -1.043391 +v -1.063617 1.452999 0.942932 +v -0.924318 3.090714 0.977832 +v 1.062107 3.160414 -1.008491 +v 1.027173 1.453166 -0.938692 +v 1.027173 3.160414 1.012520 +v -1.028902 1.452999 -0.973592 +v 0.957524 1.453166 1.082320 +v -1.133485 3.125647 -1.043391 +v -0.540920 2.567875 1.082531 +v 0.469542 1.627334 -1.078291 +v -1.133485 2.498341 0.559670 +v -1.133485 1.662268 -0.590329 +v 1.097041 1.487932 0.559670 +v -0.540920 1.487765 1.082531 +v -1.028902 3.055947 0.977832 +v 1.097041 2.742210 0.663946 +v 1.097041 1.557633 -0.590118 +v 0.469542 2.567875 -1.078291 +v -0.261885 1.453166 -1.078291 +v 0.574125 2.672509 1.082531 +v 0.608841 3.160414 0.977832 +v -1.133485 1.627334 0.455182 +v 1.097041 2.533108 -0.590118 +v 1.062107 2.776977 -1.008491 +v -1.098551 3.125647 -0.659917 +v 0.748358 3.160414 -1.008491 +v 0.051427 3.125480 -1.043391 +v -1.063617 3.090714 0.524770 +v -0.436336 2.637743 -1.078291 +v 1.097041 2.846678 0.071708 +v -0.540920 1.627334 -1.078291 +v 0.852941 2.916378 -1.043391 +f 169 178 183 +f 151 150 157 +f 155 152 157 +f 152 155 158 +f 149 156 158 +f 150 151 159 +f 156 153 160 +f 162 159 163 +f 151 157 163 +f 157 152 163 +f 159 151 163 +f 149 158 164 +f 158 155 164 +f 152 158 165 +f 165 160 166 +f 160 153 166 +f 162 152 166 +f 152 165 166 +f 156 149 167 +f 149 164 167 +f 167 164 168 +f 164 155 168 +f 161 150 169 +f 155 157 170 +f 150 161 170 +f 161 155 170 +f 158 156 171 +f 156 160 171 +f 165 158 171 +f 160 165 171 +f 153 156 172 +f 156 154 172 +f 152 162 173 +f 162 163 173 +f 163 152 173 +f 167 168 174 +f 168 154 174 +f 155 161 175 +f 154 168 175 +f 168 155 175 +f 153 172 176 +f 172 159 176 +f 154 159 177 +f 172 154 177 +f 159 172 177 +f 159 154 178 +f 159 162 179 +f 166 153 179 +f 162 166 179 +f 153 176 179 +f 176 159 179 +f 150 159 180 +f 169 150 180 +f 159 178 180 +f 178 169 180 +f 154 156 181 +f 156 167 181 +f 174 154 181 +f 167 174 181 +f 157 150 182 +f 150 170 182 +f 170 157 182 +f 161 169 183 +f 154 175 183 +f 175 161 183 +f 178 154 183 +o convex_6 +v 2.769772 1.975720 0.594488 +v 1.097041 1.557486 -0.590247 +v 1.689682 1.522586 -0.137158 +v 2.943861 1.522586 -0.590247 +v 2.944045 2.637802 -0.590247 +v 1.097041 2.637802 0.594488 +v 1.097041 1.557486 0.524790 +v 1.097041 2.533215 -0.590247 +v 2.979047 1.487687 0.594488 +v 2.944045 2.602902 0.489884 +v 1.863955 2.602902 -0.590247 +v 2.177316 1.592273 0.594488 +v 2.979047 1.487687 0.071701 +v 2.944045 2.637802 0.036911 +v 1.968408 1.522586 -0.590247 +v 2.909227 2.533215 0.524790 +v 1.097041 2.254355 0.594488 +v 2.979047 1.836234 0.594488 +v 1.620046 2.602902 0.594488 +v 2.491045 2.637802 -0.590247 +v 2.734954 1.487687 0.594488 +v 1.271499 2.568002 -0.590247 +f 194 191 205 +f 187 185 188 +f 185 186 190 +f 189 185 190 +f 188 185 191 +f 185 189 191 +f 184 189 192 +f 188 191 194 +f 192 189 195 +f 187 188 196 +f 188 189 197 +f 189 193 197 +f 186 185 198 +f 185 187 198 +f 196 186 198 +f 187 196 198 +f 189 190 200 +f 195 189 200 +f 190 195 200 +f 184 192 201 +f 196 188 201 +f 192 196 201 +f 188 197 201 +f 197 193 201 +f 199 184 201 +f 193 199 201 +f 189 184 202 +f 193 189 202 +f 184 199 202 +f 199 193 202 +f 189 188 203 +f 188 194 203 +f 194 189 203 +f 190 186 204 +f 195 190 204 +f 192 195 204 +f 186 196 204 +f 196 192 204 +f 191 189 205 +f 189 194 205 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf new file mode 100644 index 000000000..b437237e2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj new file mode 100644 index 000000000..fe9dfc81e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj @@ -0,0 +1,423 @@ +o convex_0 +v -3.157228 -2.128280 0.274671 +v -3.887480 -1.705551 -0.378642 +v -3.887480 -1.628680 -0.378642 +v -1.927555 -1.859294 -0.224861 +v -1.927555 -1.551809 0.236209 +v -3.810405 -1.628680 0.197815 +v -3.849138 -2.166716 -0.263323 +v -1.927555 -2.128280 0.313133 +v -1.927555 -2.128280 -0.224861 +v -3.926017 -2.205152 0.236209 +v -1.927555 -1.667116 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b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj new file mode 100644 index 000000000..ce7fee8bf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj @@ -0,0 +1,384 @@ +o convex_0 +v 1.097880 -0.732690 0.691282 +v -1.097255 -2.031426 -0.977852 +v -0.911605 -2.030776 -1.008782 +v -1.004430 3.965144 -1.070853 +v -0.942547 3.996377 1.031506 +v 1.005056 4.058841 -0.915993 +v -0.973488 -1.938380 1.031506 +v 1.097880 -2.031426 -1.070853 +v 1.005056 4.058841 1.031294 +v 1.097880 -2.093240 1.093365 +v -0.447911 -2.588399 0.505705 +v 0.541361 -2.588399 -0.545051 +v -0.602404 -2.588399 -0.483192 +v 0.510420 -2.588399 0.536846 +v 1.035997 3.254613 -0.947134 +v -0.973488 3.501868 0.876647 +v -1.097255 -1.443872 -0.730628 +v 1.035997 -0.763922 -1.070853 +v 0.417595 -2.031426 -1.070853 +v -0.664287 3.842168 -1.070853 +v -0.416969 -1.968962 1.062436 +v -1.004430 -1.939031 0.814788 +v 0.881289 4.058841 -0.946923 +v -1.004430 2.667058 -1.070853 +v -0.386028 -2.587749 0.567564 +v 1.035997 2.821267 1.031506 +v 1.035997 1.646809 1.062436 +v 0.664913 4.058841 -0.946923 +v -0.973488 3.996377 0.196621 +v -0.386028 4.026958 1.031294 +v 1.035997 3.409472 -0.668769 +v -0.973488 1.801668 1.031506 +v -1.097255 -2.031426 -0.699699 +v -1.097255 -1.475104 -1.008782 +v -0.571677 -2.588399 -0.514121 +v 1.097880 -0.856317 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-3.268582 -0.576174 +v 0.108512 -3.237586 -3.080380 +v -0.324320 -2.773952 -2.956796 +v -0.293330 -3.237586 -1.813263 +v -0.324320 -2.928497 -0.576174 +v 0.139441 -2.712069 -2.925527 +v 0.263038 -2.712069 -1.565597 +v 0.294028 -3.206699 -1.905332 +v 0.170310 -3.144816 -3.111401 +f 97 93 109 +f 89 88 90 +f 90 88 95 +f 87 91 97 +f 96 90 98 +f 88 89 99 +f 90 95 100 +f 95 91 100 +f 98 90 100 +f 89 90 101 +f 99 89 101 +f 92 99 101 +f 92 93 102 +f 99 92 102 +f 93 99 102 +f 87 92 103 +f 92 96 103 +f 96 98 103 +f 96 92 104 +f 94 96 104 +f 101 94 104 +f 92 101 104 +f 90 96 105 +f 96 94 105 +f 101 90 105 +f 94 101 105 +f 91 87 106 +f 100 91 106 +f 98 100 106 +f 87 103 106 +f 103 98 106 +f 95 88 107 +f 91 95 107 +f 97 91 107 +f 97 107 108 +f 93 97 108 +f 88 99 108 +f 99 93 108 +f 107 88 108 +f 92 87 109 +f 93 92 109 +f 87 97 109 +o convex_3 +v 0.232157 -2.743113 2.824304 +v -0.107789 -3.330417 0.599177 +v 0.201221 -3.330417 0.599177 +v -0.200596 -2.650234 0.630061 +v -0.293402 -3.237538 3.009853 +v 0.294028 -2.681260 0.599177 +v -0.169718 -2.650234 3.102996 +v 0.232157 -3.175751 3.071621 +v -0.231531 -3.299391 0.599177 +v 0.232157 -3.299391 1.433783 +v -0.293402 -3.083072 2.917201 +v -0.231531 -2.835793 0.599177 +v 0.232157 -2.773940 3.040738 +v -0.293402 -3.268564 2.113479 +v -0.200596 -2.650234 2.731651 +v -0.107789 -2.650234 3.102996 +v 0.170343 -3.330417 1.000915 +v 0.232157 -3.268564 0.599177 +v -0.262467 -3.299391 1.031800 +v 0.294028 -2.743113 0.660945 +v 0.077594 -3.206711 3.009853 +v 0.263093 -2.681260 1.155581 +v -0.200596 -2.681260 3.102996 +f 117 125 132 +f 112 111 115 +f 115 111 118 +f 113 115 121 +f 115 118 121 +f 120 113 121 +f 115 110 122 +f 111 114 123 +f 114 120 123 +f 120 121 123 +f 116 113 124 +f 113 120 124 +f 115 113 125 +f 113 116 125 +f 122 110 125 +f 117 122 125 +f 111 112 126 +f 114 111 126 +f 112 119 126 +f 119 114 126 +f 112 115 127 +f 119 112 127 +f 118 111 128 +f 121 118 128 +f 111 123 128 +f 123 121 128 +f 117 119 129 +f 115 122 129 +f 122 117 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a/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj new file mode 100644 index 000000000..52e802afe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj @@ -0,0 +1,900 @@ +o convex_0 +v 1.823972 -0.732469 -0.994756 +v 2.411390 -0.072111 0.987515 +v 2.448016 0.038044 0.950751 +v 3.365768 -0.989685 -0.003917 +v 1.750545 -1.724141 -0.003917 +v 1.750545 1.176210 -0.076851 +v 3.182112 0.331599 -0.517619 +v 1.750545 -1.283240 0.803895 +v 3.292341 -0.219172 0.803895 +v 1.750545 0.478377 -0.921228 +v 3.328967 -0.365382 -0.774372 +v 1.750545 0.662062 0.803895 +v 3.328967 0.515000 0.032847 +v 1.750545 -1.393394 -0.811333 +v 2.631672 -1.062932 0.767131 +v 2.558244 0.551624 0.767131 +v 3.549425 -0.145642 0.032847 +v 2.595046 -0.255796 -1.031717 +v 2.595046 0.478377 -0.811333 +v 2.521619 -1.099555 -0.774372 +v 3.292341 -1.099555 0.069610 +v 1.787346 -0.292135 0.987515 +v 2.558244 -0.402290 0.987515 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164 +f 157 156 165 +f 162 164 166 +f 156 162 167 +f 162 166 167 +f 166 163 167 +f 165 156 169 +f 159 165 169 +f 156 167 169 +f 165 159 170 +f 163 165 170 +f 167 163 170 +f 160 155 171 +f 163 166 171 +f 157 165 172 +f 165 163 172 +f 168 157 172 +f 163 171 172 +f 159 169 173 +f 169 167 173 +f 170 159 173 +f 167 170 173 +f 166 164 174 +f 160 171 174 +f 171 166 174 +f 161 157 175 +f 157 168 175 +f 171 155 175 +f 168 172 175 +f 172 171 175 +f 155 160 176 +f 164 161 176 +f 160 174 176 +f 174 164 176 +f 175 155 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf new file mode 100644 index 000000000..ef16b30c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj new file mode 100644 index 000000000..fa4a9f97b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj @@ -0,0 +1,528 @@ +o convex_0 +v 0.521849 0.517330 -1.310106 +v 0.027036 -0.829702 -1.365326 +v 0.109327 -0.829702 -1.365326 +v -0.055374 0.049989 -3.014408 +v -0.467659 0.627312 -1.310273 +v -0.412719 -0.609738 -1.310273 +v 0.384381 -0.032251 -2.767004 +v -0.412719 -0.032415 -2.767004 +v -0.027904 0.407348 -2.767004 +v 0.521849 -0.609574 -1.310106 +v 0.027036 -0.389774 -2.767004 +v 0.027036 0.847275 -1.337800 +v -0.577775 -0.032415 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+f 87 81 117 +f 110 87 117 +f 67 111 117 +f 111 110 117 +f 81 112 117 +f 112 67 117 +f 99 75 118 +f 79 99 118 +f 113 79 118 +f 63 113 118 +f 75 114 118 +f 114 63 118 +f 65 73 119 +f 73 108 119 +f 108 84 119 +f 109 65 119 +o convex_2 +v 0.521736 0.049825 2.318651 +v -0.000480 -0.829702 1.274419 +v -0.330264 -0.664729 1.274419 +v 0.356844 0.737129 1.274249 +v -0.385228 0.022411 2.730919 +v -0.467732 0.627312 1.274419 +v 0.054484 0.434761 2.785843 +v 0.054484 -0.417188 2.758381 +v 0.494312 -0.609574 1.274249 +v -0.577660 -0.032415 1.384266 +v 0.439348 0.049825 2.785843 +v 0.604240 0.104980 1.274249 +v -0.027904 0.847275 1.356804 +v -0.000480 -0.004838 3.006047 +v 0.466772 0.682138 1.301711 +v -0.302840 0.352357 2.511054 +v -0.275184 -0.334783 2.511054 +v 0.356844 -0.334619 2.511054 +v -0.412768 -0.609738 1.329342 +v 0.356844 0.352193 2.538516 +v -0.522696 -0.004838 1.989107 +v 0.576816 -0.004674 2.016569 +v 0.219376 -0.774711 1.301881 +v -0.467732 0.599734 1.439190 +v -0.055444 0.434761 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+v -0.357688 0.077402 2.730919 +v -0.495272 0.544743 1.301881 +v -0.412768 0.434761 2.044031 +f 143 154 179 +f 121 122 128 +f 128 123 131 +f 120 130 141 +f 121 128 142 +f 143 135 144 +f 125 123 145 +f 123 128 145 +f 133 124 146 +f 138 136 146 +f 124 140 146 +f 146 136 147 +f 142 128 148 +f 141 130 149 +f 128 131 150 +f 141 128 150 +f 133 127 151 +f 148 137 152 +f 142 148 152 +f 137 149 152 +f 151 127 152 +f 130 120 153 +f 139 130 153 +f 134 139 153 +f 121 142 156 +f 142 152 156 +f 126 130 157 +f 130 139 157 +f 139 134 157 +f 155 126 157 +f 120 141 158 +f 153 120 158 +f 134 153 158 +f 140 124 160 +f 129 140 160 +f 145 129 160 +f 124 154 160 +f 154 143 160 +f 125 143 161 +f 143 144 161 +f 123 125 162 +f 155 123 162 +f 132 155 162 +f 125 161 162 +f 161 132 162 +f 122 121 163 +f 121 156 163 +f 149 130 164 +f 130 151 164 +f 152 149 164 +f 151 152 164 +f 127 133 165 +f 133 146 165 +f 146 147 165 +f 140 129 166 +f 138 146 166 +f 146 140 166 +f 128 122 167 +f 145 128 167 +f 129 145 167 +f 166 129 167 +f 138 166 167 +f 152 127 168 +f 156 152 168 +f 147 163 168 +f 163 156 168 +f 127 165 168 +f 165 147 168 +f 134 123 169 +f 123 155 169 +f 157 134 169 +f 155 157 169 +f 128 141 170 +f 148 128 170 +f 141 149 170 +f 136 138 171 +f 147 136 171 +f 122 163 171 +f 163 147 171 +f 167 122 171 +f 138 167 171 +f 131 123 172 +f 123 134 172 +f 134 158 172 +f 130 126 173 +f 151 130 173 +f 133 151 173 +f 159 133 173 +f 126 159 173 +f 126 155 174 +f 155 132 174 +f 159 126 174 +f 144 159 174 +f 132 161 174 +f 161 144 174 +f 150 131 175 +f 141 150 175 +f 158 141 175 +f 131 172 175 +f 172 158 175 +f 137 148 176 +f 149 137 176 +f 148 170 176 +f 170 149 176 +f 124 133 177 +f 135 124 177 +f 144 135 177 +f 133 159 177 +f 159 144 177 +f 143 125 178 +f 125 145 178 +f 145 160 178 +f 160 143 178 +f 124 135 179 +f 135 143 179 +f 154 124 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf new file mode 100644 index 000000000..03b7ea449 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj new file mode 100644 index 000000000..d5fdb60cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj @@ -0,0 +1,519 @@ +o convex_0 +v 0.248687 2.308976 0.976410 +v -1.702304 -1.508878 -0.508127 +v -1.702304 -1.508878 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100 94 112 +f 103 100 112 +f 94 105 112 +f 105 103 112 +f 99 101 113 +f 101 108 113 +f 108 99 113 +f 105 99 114 +f 103 105 114 +f 99 108 114 +f 108 103 114 +f 96 104 115 +f 106 96 115 +o convex_4 +v 0.418540 -3.205386 3.054484 +v 0.291336 -3.714749 -3.053485 +v 0.291336 -3.120744 -3.053485 +v 0.927495 -3.714749 -3.053485 +v 0.927566 -1.593952 -2.968577 +v 0.206486 -1.508878 0.975443 +v 0.927566 -1.678810 3.012030 +v 0.927495 -3.587354 3.012030 +v 0.206486 -3.671996 1.018494 +v 0.376115 -1.593736 -2.883072 +v 0.248911 -1.678594 2.969576 +v 0.206486 -1.508878 -1.016299 +v 0.418540 -3.587354 3.054484 +v 0.206486 -3.714749 -1.101207 +v 0.460964 -3.714749 1.017896 +v 0.418540 -1.508878 0.975443 +v 0.927495 -3.671996 1.781467 +v 0.927566 -1.593952 -0.423142 +v 0.927566 -2.484635 3.055082 +v 0.291336 -2.230061 3.012628 +v 0.418540 -3.629891 2.714854 +v 0.927495 -3.714749 -1.101805 +v 0.376115 -1.933167 -2.967979 +v 0.376115 -1.508878 -1.016299 +v 0.927495 -3.417423 3.054484 +v 0.376115 -3.247707 3.012628 +v 0.333690 -3.714749 0.975443 +f 130 136 142 +f 117 118 119 +f 119 118 120 +f 122 121 126 +f 121 124 126 +f 124 121 127 +f 125 118 127 +f 120 125 127 +f 118 117 129 +f 117 119 129 +f 127 118 129 +f 124 127 129 +f 129 119 130 +f 121 122 131 +f 127 121 131 +f 122 120 133 +f 131 122 133 +f 120 131 133 +f 119 120 134 +f 120 122 134 +f 116 128 134 +f 123 132 134 +f 122 126 135 +f 126 124 135 +f 128 116 135 +f 134 122 135 +f 116 134 135 +f 123 128 136 +f 128 124 136 +f 132 123 136 +f 130 132 136 +f 130 119 137 +f 132 130 137 +f 119 134 137 +f 134 132 137 +f 120 118 138 +f 118 125 138 +f 125 120 138 +f 120 127 139 +f 131 120 139 +f 127 131 139 +f 128 123 140 +f 134 128 140 +f 123 134 140 +f 124 128 141 +f 135 124 141 +f 128 135 141 +f 124 129 142 +f 129 130 142 +f 136 124 142 +o convex_5 +v 1.945569 -2.060554 3.097503 +v 1.139740 -3.714749 -3.053468 +v 0.927566 -3.714537 -3.053468 +v 2.454571 -1.551718 -3.095905 +v 2.454571 -3.587275 2.927147 +v 0.927566 -1.678768 3.012022 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145 148 149 +f 148 145 150 +f 149 148 154 +f 152 151 155 +f 151 152 156 +f 155 146 157 +f 152 155 157 +f 154 148 158 +f 145 144 162 +f 150 145 162 +f 144 160 162 +f 160 153 162 +f 156 147 163 +f 153 160 163 +f 150 147 164 +f 161 150 164 +f 154 158 165 +f 158 157 165 +f 146 159 165 +f 152 143 166 +f 147 156 166 +f 156 152 166 +f 143 161 166 +f 164 147 166 +f 161 164 166 +f 155 151 167 +f 148 150 168 +f 161 143 168 +f 150 161 168 +f 147 150 169 +f 150 162 169 +f 162 153 169 +f 163 147 170 +f 153 163 170 +f 147 169 170 +f 169 153 170 +f 160 144 171 +f 167 151 171 +f 167 171 172 +f 144 145 172 +f 146 167 172 +f 171 144 172 +f 149 154 173 +f 159 149 173 +f 154 165 173 +f 165 159 173 +f 145 149 174 +f 149 159 174 +f 174 159 175 +f 159 146 175 +f 172 145 175 +f 146 172 175 +f 145 174 175 +f 157 146 176 +f 146 165 176 +f 165 157 176 +f 143 152 177 +f 152 157 177 +f 158 148 177 +f 157 158 177 +f 168 143 177 +f 148 168 177 +f 151 156 178 +f 156 163 178 +f 163 160 178 +f 160 171 178 +f 171 151 178 +f 146 155 179 +f 167 146 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf new file mode 100644 index 000000000..c3eb50651 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj new file mode 100644 index 000000000..126b26294 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj @@ -0,0 +1,417 @@ +o convex_0 +v -0.944086 1.955358 -3.524092 +v 1.008961 1.955358 -1.610128 +v 1.008961 -0.192994 -1.610128 +v 1.126231 -0.075942 -3.563289 +v -1.061356 -0.115177 -1.610128 +v -0.944086 -0.271465 -3.563481 +v -0.944086 1.916122 -1.610128 +v 0.969943 1.798852 -3.407075 +v -1.100592 1.955358 -3.563481 +v 1.047978 -0.154195 -1.688331 +v -0.983322 1.916122 -1.688331 +v 0.891691 1.798852 -3.446272 +v -0.983322 -0.115177 -3.563481 +v 1.047978 -0.114959 -3.524092 +v -0.436425 1.955358 -1.610128 +v 1.047978 1.525513 -1.961754 +v 0.305777 -0.192994 -1.610128 +v 1.008961 1.916122 -2.235560 +v 1.126231 0.041328 -3.563289 +v 0.305777 -0.232011 -2.235560 +v -1.100592 1.759835 -3.563481 +v -1.100592 1.955358 -3.407075 +v -0.866052 1.916122 -3.563481 +v 1.008961 1.525513 -3.446272 +v -1.022339 -0.193212 -2.469978 +v 1.086995 0.197615 -3.563481 +v 1.126231 0.041328 -3.368069 +v -1.061356 0.041328 -1.610128 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj new file mode 100644 index 000000000..fc8a87e79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj @@ -0,0 +1,636 @@ +o convex_0 +v 2.446160 -1.260083 0.331950 +v 2.688627 -1.779512 -0.326238 +v 2.688627 -1.744847 -0.326238 +v 1.095790 -1.606308 -0.256915 +v 2.931093 -1.225418 -0.256915 +v 2.931093 -1.779512 0.193302 +v 1.095790 -1.190753 0.297288 +v 1.095790 -1.744847 0.193302 +v 1.095790 -1.260083 -0.187655 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-1.457044 -1.179114 +v 0.632324 -1.457044 -1.216517 +v 0.632324 -2.431077 -2.115454 +v 3.030170 -2.393637 -1.103966 +v 3.067838 -1.569364 -2.152972 +v 0.632324 -2.506075 -1.179114 +v 2.992741 -2.356080 -2.227892 +v 2.805357 -1.419486 -2.152972 +v 0.632324 -1.494484 -2.265410 +v 0.669992 -2.506075 -1.516315 +v 1.269572 -2.431077 -1.141597 +v 2.580544 -1.419486 -1.366359 +v 1.044760 -1.344605 -2.265410 +v 1.157285 -2.431077 -2.152972 +v 3.030170 -2.393637 -1.516315 +v 2.992741 -2.168643 -2.227892 +v 2.955074 -2.318639 -1.104193 +v 0.632324 -1.981442 -1.179114 +v 2.468019 -1.457044 -1.179114 +v 2.543115 -2.393637 -2.227892 +v 3.067838 -1.756801 -2.152972 +f 199 191 205 +f 181 182 186 +f 183 185 188 +f 186 187 190 +f 180 188 190 +f 182 181 192 +f 185 183 192 +f 183 189 192 +f 186 182 193 +f 187 186 193 +f 191 184 193 +f 184 180 194 +f 180 190 194 +f 190 187 194 +f 190 188 195 +f 181 186 196 +f 192 181 196 +f 185 192 196 +f 182 192 197 +f 192 189 197 +f 193 182 197 +f 191 193 197 +f 187 193 198 +f 184 194 198 +f 194 187 198 +f 180 184 199 +f 188 180 199 +f 184 191 199 +f 189 191 200 +f 197 189 200 +f 191 197 200 +f 188 185 201 +f 195 188 201 +f 195 201 202 +f 186 190 202 +f 190 195 202 +f 201 186 202 +f 196 186 203 +f 185 196 203 +f 201 185 203 +f 186 201 203 +f 193 184 204 +f 184 198 204 +f 198 193 204 +f 183 188 205 +f 189 183 205 +f 191 189 205 +f 188 199 205 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf new file mode 100644 index 000000000..c6b4c0dd9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj new file mode 100644 index 000000000..b25e7ea8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj @@ -0,0 +1,387 @@ +o convex_0 +v -0.220458 0.882648 -1.071668 +v -0.081120 3.877727 1.053523 +v 0.058008 3.913181 1.053312 +v 0.963816 -0.023737 1.018636 +v -1.021815 -0.023352 1.053523 +v 0.998704 3.878113 -1.001893 +v -0.952040 3.877727 -1.071668 +v 1.033591 -0.023737 -1.106556 +v -1.056703 -0.023352 -1.001893 +v 1.103366 3.913181 1.018636 +v -1.021815 3.877727 1.053523 +v -1.056703 1.126586 -1.001893 +v -1.056703 -0.023352 0.565518 +v 1.033591 3.913181 -0.444535 +v -0.986928 3.459988 -1.071668 +v 1.033591 0.534275 -1.106556 +v 1.103366 3.425305 1.018636 +v -0.150683 -0.023352 1.053523 +v 1.103366 3.913181 0.704857 +v 0.650251 -0.023737 -1.106556 +v -0.534024 3.773678 -1.071668 +v -1.021815 3.877727 0.565518 +v -1.056703 1.300772 0.460855 +v 0.929140 3.913181 -0.897441 +v 1.033591 -0.023737 -0.897441 +v 0.197558 1.544710 -1.106556 +v 0.998704 0.673779 1.018636 +v 0.963816 3.076547 -1.036780 +v 1.033591 1.161269 -1.071457 +v -0.011344 3.913181 0.983536 +v -0.952040 3.215665 -1.071668 +v -0.986928 3.877727 -0.618551 +v 0.336686 3.878113 -1.036569 +f 28 21 33 +f 2 3 11 +f 5 2 11 +f 5 11 13 +f 12 9 13 +f 3 10 14 +f 9 12 15 +f 10 3 17 +f 3 2 18 +f 4 3 18 +f 5 4 18 +f 2 5 18 +f 14 10 19 +f 8 16 19 +f 17 8 19 +f 10 17 19 +f 4 5 20 +f 8 4 20 +f 9 1 20 +f 5 13 20 +f 13 9 20 +f 16 8 20 +f 15 12 22 +f 13 11 23 +f 12 13 23 +f 11 22 23 +f 22 12 23 +f 3 14 24 +f 14 6 24 +f 4 8 25 +f 8 17 25 +f 15 7 26 +f 16 20 26 +f 7 21 26 +f 21 16 26 +f 3 4 27 +f 17 3 27 +f 4 25 27 +f 25 17 27 +f 6 16 28 +f 16 21 28 +f 6 14 29 +f 16 6 29 +f 14 19 29 +f 19 16 29 +f 11 3 30 +f 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-2.183817 0.321559 +v -0.708531 -2.148717 1.088363 +v -3.042459 -2.079154 -0.827679 +v 1.033696 -0.441967 -1.106556 +v -2.937755 -0.023737 -0.270140 +v -3.077361 -0.650871 0.112509 +v -0.290527 -2.183817 -0.304946 +v 1.033696 -1.382245 0.983731 +v -3.112262 -1.173130 -0.479191 +v -0.150921 -0.023737 1.053342 +v -1.126130 -2.079154 -1.071535 +v 1.033696 -1.765587 -1.036729 +v -2.972657 -0.197965 0.879098 +v -2.972657 -0.128401 -0.862485 +v -3.077361 -2.183817 0.809486 +v -1.718642 -0.685970 1.088363 +v -3.112262 -0.860197 -0.096111 +v -3.007558 -1.173130 -1.001923 +v -2.310748 -0.058837 1.018537 +v 1.033696 -0.302628 1.018537 +v 0.894091 -2.114041 -0.897291 +v -3.077361 -2.114041 -0.096111 +v -3.077361 -0.860197 0.356580 +v -3.042459 -2.009589 -1.036729 +f 68 93 99 +f 58 57 61 +f 55 56 64 +f 57 58 64 +f 56 59 64 +f 64 59 66 +f 54 63 67 +f 63 65 67 +f 54 67 70 +f 57 64 72 +f 64 66 72 +f 59 56 73 +f 56 55 74 +f 63 54 75 +f 65 61 76 +f 61 67 76 +f 67 65 76 +f 67 61 77 +f 57 70 77 +f 70 67 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-0.128599 -1.071535 +v 1.033697 -0.058578 1.018537 +v 2.984611 -2.114137 0.948710 +v 1.033697 -0.093588 -1.106556 +v 3.089037 -2.079126 -1.036729 +v 3.089037 -1.521574 0.461213 +v 2.566500 -0.511501 1.088363 +v 2.009355 -2.114137 0.948925 +v 3.054229 -0.616331 -1.071535 +v 1.033697 -0.442083 -1.106556 +v 1.695671 -2.079126 -1.036729 +v 1.033697 -0.058578 -0.792873 +v 2.148591 -0.058578 0.600436 +v 3.054229 -1.312517 -1.071535 +v 3.089037 -1.242898 0.251948 +v 1.800300 -0.093588 -1.106556 +v 1.242752 -1.730631 0.983731 +v 3.089037 -2.114137 -0.549017 +v 1.591244 -0.058578 1.053342 +v 2.984611 -0.964625 1.053342 +v 3.089037 -1.382337 -1.036729 +v 3.019420 -0.093588 0.356365 +v 1.033697 -0.372465 1.018537 +v 1.033697 -1.765440 -1.036729 +v 2.496882 -1.800249 0.983731 +v 3.019420 -0.372465 1.088363 +v 2.288028 -0.128397 1.088363 +v 3.089037 -1.591192 0.461213 +v 2.148591 -0.058578 1.053342 +f 117 123 133 +f 102 103 106 +f 102 106 108 +f 102 101 112 +f 103 102 112 +f 101 107 112 +f 102 108 114 +f 101 102 115 +f 109 101 115 +f 100 105 116 +f 106 100 116 +f 108 106 116 +f 100 106 117 +f 113 109 118 +f 109 115 118 +f 115 114 118 +f 104 110 119 +f 110 109 119 +f 113 104 119 +f 105 113 120 +f 114 108 120 +f 116 105 120 +f 108 116 120 +f 113 118 120 +f 118 114 120 +f 107 101 122 +f 101 109 122 +f 109 110 122 +f 117 106 123 +f 109 113 125 +f 119 109 125 +f 113 119 125 +f 105 100 126 +f 104 113 126 +f 113 105 126 +f 117 104 126 +f 100 117 126 +f 106 103 127 +f 103 121 127 +f 123 106 127 +f 102 114 128 +f 115 102 128 +f 114 115 128 +f 112 107 129 +f 103 112 129 +f 121 103 129 +f 111 121 129 +f 107 124 129 +f 124 111 129 +f 110 104 130 +f 104 111 130 +f 124 107 130 +f 111 124 130 +f 111 104 131 +f 121 111 131 +f 104 123 131 +f 127 121 131 +f 123 127 131 +f 107 122 132 +f 122 110 132 +f 110 130 132 +f 130 107 132 +f 104 117 133 +f 123 104 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf new file mode 100644 index 000000000..ef0b8bce0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj new file mode 100644 index 000000000..b1f94e760 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj @@ -0,0 +1,609 @@ +o convex_0 +v -1.107507 0.291558 -0.415406 +v 1.093225 0.469175 1.004074 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf new file mode 100644 index 000000000..9aad7c8b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj new file mode 100644 index 000000000..0080a7d2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj @@ -0,0 +1,1095 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf new file mode 100644 index 000000000..4494bd732 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj new file mode 100644 index 000000000..d363964b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj @@ -0,0 +1,561 @@ +o convex_0 +v -0.243817 -2.153163 1.167245 +v 0.346605 -1.531721 3.000185 +v 0.253344 -1.624934 3.031137 +v -0.337009 -1.469557 2.720455 +v 0.315472 -1.469557 1.104759 +v 0.191216 -2.153163 3.000185 +v -0.337009 -2.059816 3.093428 +v -0.274881 -1.531721 1.104759 +v 0.253344 -1.966603 1.104759 +v -0.368143 -2.153163 1.104759 +v -0.212754 -1.469557 3.000185 +v 0.346605 -1.656050 2.347677 +v 0.004763 -2.153163 3.000185 +v 0.346605 -1.469557 1.509072 +v 0.222280 -2.028767 1.353537 +v -0.337009 -1.500673 3.000185 +v -0.368143 -1.966603 1.415829 +v 0.315472 -1.780311 3.000185 +v 0.191216 -2.153163 2.689310 +v -0.274881 -2.090932 3.093428 +v 0.191216 -1.469557 1.104759 +v 0.315472 -1.656050 1.167245 +v -0.119492 -1.469557 3.000185 +v -0.305945 -1.656050 1.104759 +v 0.160083 -2.153163 3.031137 +v -0.181620 -1.966603 3.093428 +v -0.305945 -1.469557 2.409774 +v -0.368143 -2.153163 1.291440 +f 13 20 28 +f 8 5 9 +f 9 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109 +f 100 98 109 +f 89 83 110 +f 83 93 110 +f 95 89 110 +o convex_4 +v 0.035661 -2.712263 -1.039438 +v 0.595028 0.954064 1.104758 +v 0.968081 0.954438 1.073442 +v -0.647845 0.954438 -1.070322 +v -1.113949 -2.867911 1.104758 +v 1.061345 -2.774373 -1.070538 +v 0.905906 -2.742944 1.011241 +v -1.051773 0.923010 1.073442 +v 1.030257 0.954438 -0.977237 +v -0.927422 -2.774373 -0.946137 +v -0.958510 0.954438 -1.008121 +v 0.563940 0.736307 -1.101638 +v -0.305879 -1.717764 -1.101638 +v 0.253275 -1.966202 1.104758 +v -1.113949 -2.867911 0.918156 +v 0.936994 -2.463451 1.011241 +v -0.523494 -0.475575 -1.101638 +v -0.958510 -0.972076 -0.977021 +v -0.430230 0.705627 1.104758 +v -1.020685 0.954438 1.073442 +v -0.740895 -2.867911 0.731554 +v -0.927422 -2.712263 -0.977237 +v 0.968081 -0.475575 1.042342 +v 0.439802 -2.277123 -1.101638 +v 0.750467 -2.774373 1.011241 +v -1.113949 -2.121849 1.042342 +v 1.030257 0.954438 -0.666449 +v 1.061345 -2.121849 -1.070538 +v -0.958510 -2.805427 -0.604033 +v -0.492406 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141 +f 138 122 141 +f 133 126 142 +f 124 115 143 +f 117 124 143 +f 115 131 143 +f 135 117 143 +f 131 135 143 +f 118 115 144 +f 115 129 144 +f 129 118 144 +f 132 123 145 +f 123 134 145 +f 125 128 146 +f 132 120 146 +f 128 132 146 +f 120 139 146 +f 139 125 146 +f 139 116 147 +f 131 139 147 +f 125 121 148 +f 128 125 148 +f 127 132 148 +f 132 128 148 +f 137 113 149 +f 138 137 149 +f 116 138 149 +f 134 116 150 +f 116 139 150 +f 111 145 150 +f 145 134 150 +f 135 131 151 +f 131 147 151 +f 147 142 151 +f 114 119 152 +f 119 141 152 +f 141 122 152 +f 113 112 153 +f 112 124 153 +f 124 117 153 +f 117 126 153 +f 126 133 153 +f 149 113 153 +f 118 121 154 +f 136 118 154 +f 121 136 154 +f 133 142 155 +f 147 116 155 +f 142 147 155 +f 116 149 155 +f 153 133 155 +f 149 153 155 +f 126 117 156 +f 117 135 156 +f 142 126 156 +f 135 151 156 +f 151 142 156 +f 120 132 157 +f 139 120 157 +f 145 111 157 +f 132 145 157 +f 111 150 157 +f 150 139 157 +f 116 134 158 +f 134 122 158 +f 138 116 158 +f 122 138 158 +f 122 114 159 +f 114 152 159 +f 152 122 159 +f 121 114 160 +f 114 140 160 +f 140 127 160 +f 148 121 160 +o convex_5 +v -0.212659 0.954664 -1.070353 +v 0.999159 3.191717 1.104554 +v 0.253317 3.222552 0.203382 +v -1.020739 0.954664 1.073472 +v 0.968041 0.954439 1.073472 +v 1.030278 3.191717 -0.946023 +v -0.989620 3.253613 -1.039270 +v -0.989620 3.191492 1.042390 +v 1.030278 0.954439 -0.977106 +v -0.958502 0.954664 -1.008188 +v -1.020739 2.135199 1.073472 +v 0.470745 0.954439 1.104342 +v 1.030278 3.160656 0.358793 +v 0.999159 1.514208 1.073472 +v -0.989620 3.222552 0.918061 +v -0.989620 1.700573 -1.008188 +v 0.688375 3.222777 -0.946023 +v 0.968041 0.985724 -1.008188 +v -0.647717 0.954664 -1.070353 +v 0.657256 3.191717 1.104342 +v -1.020739 0.954664 0.731567 +v -0.834228 3.253613 -1.039270 +v 0.905803 2.508154 -0.977106 +v 1.030278 0.954439 -0.666496 +v -0.647717 3.253613 -0.728448 +v -0.585480 3.191492 1.073472 +v -1.020739 2.414746 1.011308 +v -0.647717 1.762695 -1.070353 +v 0.439827 1.047846 -1.039270 +v 0.999159 2.663233 1.104554 +v -0.989620 2.632172 -1.039270 +v 0.595220 0.954439 1.104342 +v -0.989620 3.253613 -0.542167 +f 187 175 193 +f 169 165 172 +f 170 169 172 +f 171 164 172 +f 166 162 173 +f 169 166 173 +f 162 163 175 +f 163 162 177 +f 162 166 177 +f 169 161 178 +f 166 169 178 +f 161 169 179 +f 169 170 179 +f 172 162 180 +f 171 172 180 +f 162 175 180 +f 164 171 181 +f 172 164 181 +f 170 172 181 +f 176 170 181 +f 177 166 182 +f 166 178 183 +f 182 166 183 +f 165 169 184 +f 169 173 184 +f 173 174 184 +f 174 165 184 +f 175 163 185 +f 163 177 185 +f 182 167 185 +f 177 182 185 +f 168 171 186 +f 175 168 186 +f 171 180 186 +f 180 175 186 +f 171 168 187 +f 168 175 187 +f 181 171 187 +f 167 181 187 +f 161 179 188 +f 179 167 188 +f 167 182 188 +f 178 161 189 +f 183 178 189 +f 182 183 189 +f 161 188 189 +f 188 182 189 +f 162 172 190 +f 173 162 190 +f 174 173 190 +f 165 174 190 +f 170 176 191 +f 167 179 191 +f 179 170 191 +f 181 167 191 +f 176 181 191 +f 172 165 192 +f 190 172 192 +f 165 190 192 +f 175 185 193 +f 185 167 193 +f 167 187 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf new file mode 100644 index 000000000..e8b2c0254 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj new file mode 100644 index 000000000..566e6441f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj @@ -0,0 +1,702 @@ +o convex_0 +v 1.028821 1.070645 0.027282 +v -0.980200 0.689155 -0.023258 +v -0.980200 0.689155 0.002110 +v 0.672680 -2.565066 -0.074192 +v 0.011724 -0.479719 0.993445 +v 0.011724 3.256824 -0.760909 +v 0.011724 3.256824 0.764736 +v -0.471455 -2.565066 -0.455701 +v 0.723613 -1.293435 -0.684607 +v -0.674993 -1.522714 0.688434 +v 0.723613 -1.293435 0.764736 +v -0.700361 -1.242698 -0.709975 +v -0.725730 3.282513 0.027282 +v 0.799915 3.181039 0.002110 +v -0.725730 1.121381 0.739367 +v 0.774350 1.120739 0.790104 +v -0.089946 -2.565066 0.586567 +v 0.774350 1.019266 -0.760712 +v 0.011724 -0.987729 -0.938881 +v -0.725730 1.095692 -0.735344 +v 0.062264 3.995398 -0.023258 +v -0.700361 -2.565066 0.103584 +v -0.013644 1.044955 -0.989814 +v 0.952322 -1.344813 0.027282 +v 0.469339 -2.565066 -0.480873 +v 0.062264 1.044955 1.019206 +v -0.929267 -1.344171 0.027282 +v -0.013644 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238 +f 209 211 239 +f 211 229 239 +f 229 220 239 +f 236 209 239 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf new file mode 100644 index 000000000..f60bc9818 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj new file mode 100644 index 000000000..87009d1eb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj @@ -0,0 +1,576 @@ +o convex_0 +v -0.263119 -1.422676 -3.387263 +v 0.356333 -1.944144 -3.061186 +v 0.323612 -1.911582 -2.083539 +v -0.361001 -1.944144 -3.354558 +v -0.361001 -1.520481 -1.594131 +v 0.356333 -1.455237 -3.582910 +v 0.225800 -1.455237 -1.627031 +v -0.263119 -2.009388 -1.594131 +v 0.356333 -2.042071 -3.452479 +v 0.291102 -1.911582 -1.594131 +v -0.361001 -1.878960 -3.452479 +v 0.030176 -1.422676 -3.550205 +v 0.193220 -2.042071 -3.452479 +v -0.002334 -1.455237 -1.594131 +v 0.356333 -2.042071 -3.093697 +v 0.323612 -1.716093 -2.181265 +v -0.361001 -1.618287 -1.594131 +v 0.258381 -1.553043 -3.582910 +v -0.165307 -2.009388 -1.594131 +v -0.034915 -1.422676 -2.637383 +v 0.356333 -1.455237 -3.354558 +v -0.263119 -1.455237 -3.484989 +v -0.263119 -1.878960 -3.484989 +v -0.328351 -1.487859 -1.855187 +v 0.291102 -1.944144 -1.789972 +v -0.361001 -1.520481 -1.855187 +v -0.263119 -2.009388 -1.887892 +v 0.291102 -1.781155 -1.594131 +f 16 7 28 +f 6 2 9 +f 5 8 10 +f 4 5 11 +f 4 11 13 +f 5 10 14 +f 2 3 15 +f 9 2 15 +f 3 10 15 +f 8 13 15 +f 13 9 15 +f 3 2 16 +f 5 4 17 +f 4 8 17 +f 8 5 17 +f 6 9 18 +f 12 6 18 +f 9 13 18 +f 10 8 19 +f 8 15 19 +f 12 1 20 +f 1 14 20 +f 14 7 20 +f 2 6 21 +f 6 12 21 +f 16 2 21 +f 7 16 21 +f 12 20 21 +f 20 7 21 +f 11 1 22 +f 1 12 22 +f 22 12 23 +f 13 11 23 +f 12 18 23 +f 18 13 23 +f 11 22 23 +f 1 5 24 +f 14 1 24 +f 5 14 24 +f 15 10 25 +f 10 19 25 +f 19 15 25 +f 5 1 26 +f 1 11 26 +f 11 5 26 +f 8 4 27 +f 4 13 27 +f 13 8 27 +f 10 3 28 +f 7 14 28 +f 14 10 28 +f 3 16 28 +o convex_1 +v -0.491349 -3.900447 1.438337 +v -0.393505 -2.042339 2.057755 +v 0.454100 -2.042339 1.992453 +v -0.524032 -2.042339 1.014509 +v 0.519364 -4.682879 0.981858 +v 0.356256 -4.780717 1.959802 +v 0.486681 -2.107743 1.014509 +v -0.458769 -4.715313 2.024998 +v -0.458769 -4.617476 1.014509 +v -0.524032 -2.042339 1.699017 +v 0.454100 -4.715313 1.764213 +v -0.458769 -3.639637 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0.193271 3.664207 -1.072433 +f 124 126 137 +f 116 118 119 +f 118 115 120 +f 118 120 121 +f 113 114 121 +f 119 118 121 +f 114 119 121 +f 120 115 124 +f 122 112 124 +f 116 119 125 +f 122 116 125 +f 124 115 126 +f 114 113 128 +f 119 114 128 +f 117 119 128 +f 123 117 128 +f 123 128 129 +f 121 120 129 +f 113 121 129 +f 120 123 129 +f 128 113 129 +f 123 120 130 +f 120 124 130 +f 124 112 130 +f 119 117 131 +f 115 118 132 +f 118 116 132 +f 126 115 132 +f 116 126 132 +f 112 122 133 +f 127 112 133 +f 122 127 133 +f 117 123 134 +f 112 127 134 +f 127 117 134 +f 130 112 134 +f 123 130 134 +f 122 125 135 +f 127 122 135 +f 117 127 135 +f 131 117 135 +f 125 131 135 +f 125 119 136 +f 119 131 136 +f 131 125 136 +f 116 122 137 +f 122 124 137 +f 126 116 137 +o convex_4 +v -0.491381 -2.042007 1.894532 +v 0.486758 -1.390076 1.829231 +v 0.454107 -1.390076 1.992287 +v -0.524032 -1.390076 1.014544 +v 0.258499 -1.976776 0.590479 +v 0.160645 -2.042007 2.579408 +v -0.295773 -1.455244 2.546757 +v 0.356253 -1.487859 0.590479 +v 0.486758 -2.042007 1.046997 +v -0.524032 -2.042007 1.014544 +v -0.263122 -1.683490 0.590479 +v 0.454107 -2.042007 1.992287 +v 0.258499 -1.422628 2.514106 +v -0.524032 -1.390076 1.698825 +v 0.486758 -1.390076 1.046997 +v -0.197821 -1.878992 2.612058 +v -0.230571 -1.455244 0.590479 +v -0.263122 -1.944160 0.590479 +v -0.458731 -1.390076 2.057390 +v -0.458731 -2.042007 2.057390 +v 0.258499 -1.553091 2.546757 +v 0.486758 -2.042007 1.764127 +v -0.524032 -2.042007 1.698825 +v -0.328226 -1.390076 2.220447 +v 0.323701 -1.390076 0.949242 +v 0.193296 -2.009391 2.579408 +v -0.230571 -1.716042 2.612058 +v 0.062792 -2.042007 2.579408 +f 153 157 165 +f 140 139 141 +f 142 145 146 +f 143 138 146 +f 142 146 147 +f 146 138 147 +f 145 142 148 +f 147 141 148 +f 139 140 149 +f 143 146 149 +f 140 141 151 +f 141 147 151 +f 141 139 152 +f 146 145 152 +f 139 146 152 +f 148 141 154 +f 145 148 154 +f 142 147 155 +f 148 142 155 +f 147 148 155 +f 140 151 156 +f 151 138 156 +f 138 143 157 +f 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+v 0.454107 -1.259307 2.025123 +v -0.426096 -0.607198 2.090249 +v -0.589244 0.142344 1.047115 +v -0.002372 -0.541877 0.949258 +v 0.454107 1.152895 1.047115 +v -0.589244 0.859500 1.275335 +v 0.421456 0.011977 2.090249 +v -0.556593 -1.096005 1.014384 +v 0.323714 -1.389949 0.949258 +v 0.486758 0.305097 2.057630 +v -0.458746 -0.607198 2.057630 +v 0.454107 -1.389949 1.992392 +v 0.486758 0.435739 1.047115 +v 0.356260 1.381517 2.057630 +v 0.486758 1.381517 1.177590 +f 183 175 198 +f 167 168 169 +f 169 170 173 +f 168 167 175 +f 169 168 176 +f 174 175 177 +f 176 168 178 +f 173 170 179 +f 175 174 181 +f 176 178 182 +f 171 178 183 +f 178 175 183 +f 170 169 185 +f 169 176 185 +f 176 170 185 +f 178 171 186 +f 166 173 187 +f 180 166 187 +f 171 180 187 +f 180 171 188 +f 172 181 188 +f 183 172 188 +f 171 183 188 +f 182 178 189 +f 178 186 189 +f 186 179 189 +f 167 169 190 +f 175 167 190 +f 169 184 190 +f 173 179 191 +f 186 171 191 +f 179 186 191 +f 187 173 191 +f 171 187 191 +f 173 166 192 +f 169 173 192 +f 174 169 192 +f 166 180 192 +f 180 174 192 +f 177 175 193 +f 184 177 193 +f 175 190 193 +f 190 184 193 +f 170 176 194 +f 179 170 194 +f 176 182 194 +f 182 189 194 +f 189 179 194 +f 169 174 195 +f 174 177 195 +f 184 169 195 +f 177 184 195 +f 174 180 196 +f 181 174 196 +f 180 188 196 +f 188 181 196 +f 168 175 197 +f 178 168 197 +f 175 178 197 +f 181 172 198 +f 175 181 198 +f 172 183 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf new file mode 100644 index 000000000..cb0f02f73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj new file mode 100644 index 000000000..0dfe19d43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj @@ -0,0 +1,858 @@ +o convex_0 +v -2.576159 -1.954032 0.596547 +v 1.047251 -0.142256 0.920181 +v 1.047251 -0.142256 -0.082632 +v 2.762332 -2.115897 0.046451 +v -2.026461 -1.403914 -0.988685 +v -2.770585 -0.595256 0.046451 +v 0.076295 -0.142256 -1.021007 +v 2.729927 -1.339168 -0.762017 +v -2.058865 -2.180421 -0.729695 +v 2.115421 -2.115897 0.790892 +v -0.925887 -0.142256 0.984826 +v 2.729927 -0.595256 0.111095 +v -1.994056 -1.371541 1.049676 +v 2.018207 -2.051151 -0.794546 +v -2.026461 -2.407031 0.078979 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/dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj new file mode 100644 index 000000000..c084eb189 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj @@ -0,0 +1,576 @@ +o convex_0 +v -0.013157 1.603251 -1.616396 +v 0.466210 0.484751 -2.670876 +v 0.498160 0.484751 -2.670876 +v -0.428624 1.571416 -3.278424 +v -0.588490 0.548884 -1.328723 +v -0.492524 0.516818 -3.150590 +v 0.594126 1.571416 -3.150590 +v 0.562060 0.484751 -1.328723 +v -0.588490 1.667383 -1.328723 +v 0.434260 1.475565 -1.328723 +v 0.466210 0.516818 -3.310431 +v -0.460458 1.315580 -3.278424 +v 0.466210 1.507515 -1.488563 +v 0.210494 0.484751 -1.328723 +v -0.588490 0.676570 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4.064335 -0.753232 +f 106 108 115 +f 87 89 90 +f 90 89 92 +f 87 85 93 +f 85 86 94 +f 94 90 96 +f 90 92 97 +f 93 85 98 +f 89 87 99 +f 87 93 99 +f 93 89 99 +f 89 93 100 +f 96 90 102 +f 97 84 102 +f 90 97 102 +f 100 93 103 +f 85 87 104 +f 87 90 104 +f 88 95 105 +f 101 88 105 +f 97 92 106 +f 101 91 106 +f 86 85 107 +f 94 86 107 +f 90 94 107 +f 85 104 107 +f 104 90 107 +f 92 89 108 +f 89 100 108 +f 106 92 108 +f 91 101 109 +f 91 96 110 +f 84 97 110 +f 102 84 110 +f 96 102 110 +f 106 91 110 +f 97 106 110 +f 93 98 111 +f 98 95 111 +f 95 103 111 +f 103 93 111 +f 85 94 112 +f 98 85 112 +f 95 98 112 +f 94 105 112 +f 105 95 112 +f 95 88 113 +f 88 100 113 +f 103 95 113 +f 100 103 113 +f 96 91 114 +f 94 96 114 +f 105 94 114 +f 101 105 114 +f 91 109 114 +f 109 101 114 +f 100 88 115 +f 88 101 115 +f 101 106 115 +f 108 100 115 +o convex_3 +v 0.338438 -0.953372 1.835617 +v -0.364749 -1.880481 1.995332 +v -0.332742 -1.912451 1.963400 +v -0.236859 0.452788 1.547950 +v -0.300804 0.452788 1.995332 +v 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123 116 136 +f 116 124 136 +f 124 123 136 +f 119 127 137 +f 127 125 137 +f 125 133 137 +f 133 119 137 +f 120 126 138 +f 126 122 138 +f 128 120 138 +f 122 128 138 +f 120 119 139 +f 117 130 139 +f 130 120 139 +f 119 131 139 +f 131 117 139 +f 117 118 140 +f 122 126 140 +f 130 117 140 +f 126 130 140 +f 118 135 140 +f 135 122 140 +f 123 120 141 +f 122 123 141 +f 120 128 141 +o convex_4 +v -0.045137 0.836504 2.858064 +v 0.466252 0.452904 0.813003 +v 0.242423 0.484967 0.813207 +v 0.274399 1.603242 1.164590 +v -0.556527 1.603242 0.813207 +v 0.466252 1.475568 2.794213 +v -0.524442 0.484967 2.889990 +v 0.562179 0.516799 2.826342 +v -0.460491 1.475452 2.762288 +v -0.556527 0.612757 0.813207 +v 0.466252 1.475568 0.813003 +v -0.332698 1.635305 2.122965 +v 0.562179 0.644588 0.813003 +v -0.236772 0.452904 1.548103 +v 0.434277 0.452904 2.251074 +v 0.210448 1.635305 1.963337 +v 0.562179 0.740546 2.794213 +v 0.562179 0.452904 0.813003 +v -0.204906 1.635305 1.068814 +v -0.236772 0.452904 2.570532 +v 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149 169 +f 148 161 169 +f 161 156 169 +f 142 163 169 +f 163 148 169 +f 154 152 170 +f 152 165 170 +f 146 164 171 +f 164 163 171 +f 166 146 171 +f 163 166 171 +f 155 148 172 +f 167 155 172 +f 148 167 172 +f 152 146 173 +f 160 145 173 +f 146 160 173 +f 162 152 173 +f 145 162 173 +f 158 154 174 +f 165 158 174 +f 154 170 174 +o convex_5 +v -0.332786 2.274978 1.899433 +v 0.178619 4.032256 2.123284 +v 0.210586 4.064294 1.611982 +v 0.210586 1.635902 1.963363 +v -0.268854 1.635902 1.452060 +v -0.268854 4.064294 1.516055 +v -0.332786 1.635902 2.123284 +v 0.178619 1.635902 1.484058 +v -0.236834 3.968421 2.059355 +v -0.204921 3.904345 1.484058 +v 0.210586 3.744636 2.123284 +v 0.114634 4.096573 1.548053 +v 0.210586 1.635902 1.579985 +v -0.268854 3.361142 2.091287 +v -0.268854 4.064294 1.675911 +v -0.268854 1.635902 2.123284 +v 0.178619 2.019396 1.484058 +v -0.077057 1.731776 1.452060 +v 0.050702 4.000218 2.123284 +v 0.210586 1.891484 1.995360 +v -0.332786 1.987358 2.123284 +v -0.268854 3.936383 1.484058 +v -0.332786 1.635902 1.899433 +v 0.210586 4.064294 1.579985 +f 187 191 198 +f 179 178 181 +f 178 179 182 +f 177 176 185 +f 178 177 185 +f 176 181 185 +f 176 177 186 +f 177 178 187 +f 178 182 187 +f 188 183 189 +f 180 175 189 +f 183 176 189 +f 176 186 189 +f 186 180 189 +f 181 178 190 +f 185 181 190 +f 184 186 191 +f 187 182 191 +f 182 179 192 +f 191 182 192 +f 184 191 192 +f 181 176 193 +f 176 183 193 +f 183 188 193 +f 178 185 194 +f 190 178 194 +f 185 190 194 +f 175 181 195 +f 188 189 195 +f 189 175 195 +f 181 193 195 +f 193 188 195 +f 179 175 196 +f 175 180 196 +f 180 186 196 +f 186 184 196 +f 192 179 196 +f 184 192 196 +f 175 179 197 +f 181 175 197 +f 179 181 197 +f 186 177 198 +f 177 187 198 +f 191 186 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf new file mode 100644 index 000000000..0aaba5a54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj new file mode 100644 index 000000000..9a9daddb3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj @@ -0,0 +1,1062 @@ +o convex_0 +v -1.758578 0.220321 -1.070244 +v -1.525854 0.320270 0.989903 +v -1.559126 0.320270 0.989903 +v -1.525854 -1.274547 -0.007300 +v -3.353121 -0.044839 0.025974 +v -1.525854 1.350337 -0.073242 +v 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360 +f 339 320 360 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf new file mode 100644 index 000000000..87d8f156e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj new file mode 100644 index 000000000..7501a2a03 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj @@ -0,0 +1,351 @@ +o convex_0 +v 1.075453 0.006799 0.008927 +v -1.090915 -3.977295 0.742634 +v -1.056001 -3.907098 0.218438 +v 1.040540 -3.941806 -0.934292 +v -1.021087 0.006799 -1.039047 +v 1.110367 0.006799 1.057318 +v -0.986174 0.006799 1.022469 +v 0.935799 -3.977295 0.987411 +v -0.951260 -3.837290 -1.074314 +v 1.005626 0.006799 -1.004407 +v -1.090915 -3.977295 1.022469 +v -0.496952 -3.837290 -1.074314 +v 0.097010 -1.845633 1.057527 +v -0.951260 -1.321882 -1.074314 +v -1.090915 -3.347468 1.022469 +v 0.970712 -3.977295 0.603029 +v 1.040540 -2.753910 -0.969141 +v 1.075453 -2.579196 -0.235225 +v -1.021087 -0.901867 -1.039047 +v -1.021087 0.006799 -0.235434 +v 1.075453 -0.936966 1.057318 +v 0.027183 0.006799 1.057527 +v 1.040540 0.006799 -0.829536 +v -0.357082 -3.977295 1.022469 +v -0.042644 0.006799 -1.039256 +v 1.005626 -1.006773 -1.004407 +v 0.970712 -2.893135 1.022260 +v -0.986174 -3.837290 -0.759629 +v 1.040540 -3.837290 -0.549909 +v 0.271794 -3.907098 -1.004198 +v -1.021087 -0.936966 1.022469 +v 1.110367 -0.343018 0.882656 +v 1.040540 -1.216586 -0.969141 +v 0.761015 -3.907098 -0.969349 +v 0.970712 -3.487863 0.987411 +v -0.986174 -2.648614 -1.074314 +v 1.075453 -2.473900 -0.270283 +v 1.110367 0.006799 0.847598 +v 0.900885 -3.941806 -0.934292 +v 0.900885 -3.977295 0.498065 +f 39 4 40 +f 1 5 6 +f 6 5 7 +f 5 1 10 +f 2 8 11 +f 12 9 14 +f 5 2 15 +f 2 11 15 +f 8 2 16 +f 3 2 19 +f 2 5 19 +f 7 5 20 +f 5 15 20 +f 6 13 21 +f 6 7 22 +f 13 6 22 +f 11 13 22 +f 15 11 22 +f 10 1 23 +f 11 8 24 +f 13 11 24 +f 5 10 25 +f 10 12 25 +f 14 5 25 +f 12 14 25 +f 12 10 26 +f 10 17 26 +f 17 12 26 +f 21 13 27 +f 8 21 27 +f 24 8 27 +f 13 24 27 +f 2 3 28 +f 9 2 28 +f 16 4 29 +f 4 18 29 +f 2 9 30 +f 9 12 30 +f 7 20 31 +f 20 15 31 +f 22 7 31 +f 15 22 31 +f 6 21 32 +f 29 18 32 +f 17 10 33 +f 23 1 33 +f 10 23 33 +f 17 4 34 +f 12 17 34 +f 4 30 34 +f 30 12 34 +f 8 16 35 +f 21 8 35 +f 16 29 35 +f 32 21 35 +f 29 32 35 +f 5 14 36 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+v -1.021247 1.334448 -0.968723 +v -0.951341 0.216543 -3.101309 +v -1.021247 0.042049 -0.199733 +v 1.075525 1.719124 3.013678 +v 0.201800 0.111671 3.049403 +v 1.110582 0.006799 0.882303 +v 0.830957 2.173424 3.014283 +v -0.496846 2.208235 -3.030465 +v -0.566752 2.243484 1.476303 +v 1.075525 2.173424 2.245293 +v -0.951341 1.684094 2.978559 +v 1.005619 2.103363 -2.995951 +v -0.986190 2.243484 0.881698 +v -0.951341 2.173424 2.699421 +v -0.951341 0.391257 3.013678 +v -0.846377 0.601001 -3.101309 +v 0.970561 0.636031 -3.066190 +v 0.761051 0.286385 3.084522 +v 1.110582 0.915836 1.791165 +v -0.986190 2.103363 2.105422 +v 0.935712 0.111671 -3.101309 +v -0.846377 0.076860 2.873806 +v 0.656087 0.042049 -3.101309 +v -0.986190 0.705873 1.686413 +v 1.005619 0.006799 -1.003237 +v -0.881435 0.006799 1.336431 +v -0.986190 0.042049 -2.226961 +v 0.970770 1.369478 3.049403 +v -0.916284 0.426506 3.049403 +v 1.110582 0.041830 1.162046 +v -0.986190 1.369478 -3.065584 +v 0.970561 0.111671 2.664907 +v 0.970561 0.076860 -2.541823 +v -0.322184 1.404290 -3.065584 +f 86 81 99 +f 42 52 54 +f 43 42 56 +f 49 45 58 +f 45 53 58 +f 52 42 59 +f 53 45 61 +f 43 46 63 +f 46 43 66 +f 43 56 66 +f 62 53 66 +f 56 62 66 +f 47 51 67 +f 42 54 68 +f 56 42 68 +f 54 57 68 +f 41 49 69 +f 49 64 69 +f 50 48 70 +f 41 52 71 +f 52 59 71 +f 60 55 71 +f 59 60 71 +f 46 61 73 +f 63 46 73 +f 49 58 74 +f 58 53 74 +f 72 49 74 +f 53 72 74 +f 45 49 75 +f 55 45 75 +f 72 44 76 +f 65 72 76 +f 45 55 77 +f 55 60 77 +f 61 45 77 +f 73 61 77 +f 61 46 78 +f 53 61 78 +f 46 66 78 +f 66 53 78 +f 62 44 79 +f 53 62 79 +f 72 53 79 +f 44 72 79 +f 57 48 80 +f 47 67 81 +f 67 63 81 +f 60 59 82 +f 77 60 82 +f 48 50 83 +f 50 64 83 +f 49 41 84 +f 41 71 84 +f 71 55 84 +f 75 49 84 +f 55 75 84 +f 44 62 85 +f 62 56 85 +f 56 68 85 +f 76 44 85 +f 80 76 85 +f 73 77 86 +f 47 81 86 +f 82 47 86 +f 77 82 86 +f 48 57 87 +f 70 48 87 +f 52 70 87 +f 47 42 88 +f 51 47 88 +f 68 57 89 +f 57 80 89 +f 85 68 89 +f 80 85 89 +f 42 47 90 +f 59 42 90 +f 47 59 90 +f 54 52 91 +f 57 54 91 +f 52 87 91 +f 87 57 91 +f 42 43 92 +f 67 51 92 +f 88 42 92 +f 51 88 92 +f 64 49 93 +f 49 72 93 +f 72 65 93 +f 83 64 93 +f 65 83 93 +f 65 76 94 +f 80 48 94 +f 76 80 94 +f 48 83 94 +f 83 65 94 +f 52 41 95 +f 64 52 95 +f 41 69 95 +f 69 64 95 +f 43 63 96 +f 63 67 96 +f 92 43 96 +f 67 92 96 +f 64 50 97 +f 52 64 97 +f 50 70 97 +f 70 52 97 +f 59 47 98 +f 47 82 98 +f 82 59 98 +f 63 73 99 +f 81 63 99 +f 73 86 99 +o convex_2 +v 0.341722 3.152353 -0.270478 +v -0.322294 3.920687 0.113823 +v -0.322294 3.920687 0.183712 +v -0.287325 2.243484 0.113823 +v 0.341722 2.243484 0.323614 +v 0.341722 4.165447 0.183712 +v -0.287325 4.095462 -0.235502 +v -0.287325 2.243484 -0.270478 +v 0.341722 2.243484 -0.305453 +v 0.341722 4.095462 -0.200588 +v -0.252356 2.243484 0.288577 +v -0.322294 4.165447 0.183712 +v 0.166943 2.418448 0.323614 +v -0.287325 3.501339 -0.270478 +v 0.341722 3.920687 0.218688 +v 0.166943 4.095462 -0.235502 +v -0.217388 3.850889 0.218688 +v -0.252356 2.628216 0.288577 +v 0.341722 4.165447 0.043933 +v -0.322294 4.130455 -0.025833 +v 0.097071 2.278665 -0.305453 +f 113 108 120 +f 102 101 103 +f 104 100 105 +f 103 101 107 +f 104 103 107 +f 100 104 108 +f 104 107 108 +f 105 100 109 +f 102 103 110 +f 103 104 110 +f 101 102 111 +f 102 110 111 +f 110 104 112 +f 100 108 113 +f 104 105 114 +f 105 111 114 +f 112 104 114 +f 109 100 115 +f 100 113 115 +f 113 106 115 +f 114 111 116 +f 112 114 116 +f 111 110 117 +f 110 112 117 +f 116 111 117 +f 112 116 117 +f 105 109 118 +f 111 105 118 +f 115 106 118 +f 109 115 118 +f 107 101 119 +f 101 111 119 +f 106 113 119 +f 113 107 119 +f 111 118 119 +f 118 106 119 +f 108 107 120 +f 107 113 120 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf new file mode 100644 index 000000000..fb94efc43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj new file mode 100644 index 000000000..d72565edc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj @@ -0,0 +1,483 @@ +o convex_0 +v 0.872943 -1.860407 -1.091083 +v 1.040662 2.668688 1.122947 +v 0.973616 2.668688 1.122947 +v 0.872943 4.614371 -1.057704 +v -1.039221 -1.558425 0.317530 +v -0.938548 4.648137 -0.923324 +v -1.005593 4.579967 1.021945 +v 0.973616 -1.860407 0.988566 +v -1.072849 -1.826641 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123 125 141 +f 134 131 141 +f 139 123 141 +f 131 139 141 +f 118 129 142 +f 129 136 142 +f 129 121 143 +f 122 129 143 +f 121 133 143 +f 140 122 143 +f 121 119 144 +f 119 128 144 +f 128 124 144 +f 133 121 144 +f 129 131 145 +f 134 126 145 +f 131 134 145 +f 136 129 145 +f 126 136 145 +f 126 134 146 +f 136 126 146 +f 142 136 146 +f 124 133 147 +f 144 124 147 +f 133 144 147 +f 138 118 148 +f 125 138 148 +f 127 120 149 +f 120 137 149 +f 138 127 149 +f 137 138 149 +f 141 125 150 +f 134 141 150 +f 118 142 150 +f 146 134 150 +f 142 146 150 +f 148 118 150 +f 125 148 150 +f 125 123 151 +f 123 130 151 +f 130 128 151 +f 132 125 151 +f 128 135 151 +f 133 124 152 +f 124 140 152 +f 143 133 152 +f 140 143 152 +f 127 132 153 +f 135 127 153 +f 132 151 153 +o convex_5 +v -0.134409 -4.116660 -3.057860 +v 0.335635 -4.188916 -0.599455 +v 0.335635 -4.478196 -0.599455 +v -0.351539 -4.514324 -0.599455 +v 0.190949 -4.514324 -2.985569 +v -0.206786 -3.935892 -0.707893 +v 0.227070 -3.935892 -3.094250 +v -0.351539 -3.863445 -3.057860 +v -0.351539 -4.514324 -2.949423 +v 0.299447 -4.008212 -0.599455 +v -0.351539 -4.369684 -0.599455 +v 0.335635 -4.478196 -0.960914 +v 0.190949 -3.935892 -2.262408 +v -0.134409 -3.935892 -0.671747 +v -0.170597 -3.972020 -0.599455 +v -0.279095 -3.863445 -2.949423 +f 159 167 169 +f 156 155 157 +f 156 157 158 +f 158 154 160 +f 160 154 161 +f 157 161 162 +f 154 158 162 +f 158 157 162 +f 161 154 162 +f 157 155 163 +f 155 160 163 +f 159 161 164 +f 161 157 164 +f 157 163 164 +f 155 156 165 +f 156 158 165 +f 160 155 165 +f 158 160 165 +f 163 160 166 +f 163 166 167 +f 159 164 168 +f 164 163 168 +f 163 167 168 +f 167 159 168 +f 161 159 169 +f 160 161 169 +f 166 160 169 +f 167 166 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf new file mode 100644 index 000000000..98af71c6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj new file mode 100644 index 000000000..7ad50c6fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.066831 3.567564 -1.050251 +v 0.038855 3.284574 1.029871 +v 0.003626 3.284574 1.029871 +v 0.109312 -0.945078 -1.050251 +v -1.018807 -0.945078 0.112997 +v 1.026059 -0.873295 0.042546 +v 0.920173 5.083281 -0.450811 +v 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-1.473822 0.042570 +v -0.102060 -1.720575 1.346895 +v 0.074084 -1.755973 -1.543556 +v -1.018807 -0.945236 -0.027880 +v -0.031602 -0.945236 -1.049837 +v -0.137489 -0.945236 1.029443 +v -0.912920 -1.755973 1.099894 +v 0.814487 -1.755973 1.029726 +v 0.884944 -1.755973 -1.085487 +v -0.842463 -1.755973 -1.014753 +v 0.814487 -0.945236 -0.838485 +v 0.708600 -0.945236 0.782725 +v -0.736577 -0.945236 -0.768035 +v -0.771805 -0.945236 0.853176 +v -1.018807 -1.755973 -0.168781 +v 1.026059 -1.755973 -0.063247 +v 0.003626 -1.720575 -1.543556 +v 1.026059 -0.980476 -0.168498 +v -1.018807 -0.980476 0.183471 +v 0.074084 -1.050954 1.064810 +v -1.018807 -1.755973 0.359739 +v -0.807034 -1.509061 -0.979386 +v 0.144541 -0.945236 -1.049837 +v -0.031602 -1.755973 1.346895 +v 0.743829 -1.720575 1.064810 +v 0.920173 -1.720575 -0.979386 +v 0.074084 -1.720575 -1.543556 +v 0.849715 -1.156750 -0.908936 +v -0.842463 -1.191989 0.923626 +v 0.779058 -1.050954 0.747641 +v 0.884944 -1.755973 0.782725 +v -0.948149 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149 162 +f 134 143 163 +f 143 147 163 +f 147 152 163 +f 163 152 164 +f 129 134 164 +f 145 129 164 +f 140 145 164 +f 152 140 164 +f 134 163 164 +f 132 154 165 +f 155 150 165 +f 154 155 165 +f 136 132 166 +f 142 136 166 +f 150 142 166 +f 132 165 166 +f 165 150 166 +f 143 135 167 +f 135 147 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf new file mode 100644 index 000000000..afa100f8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj new file mode 100644 index 000000000..89902eaa1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj @@ -0,0 +1,387 @@ +o convex_0 +v -0.891271 -2.934478 -0.969531 +v 0.756219 0.939960 1.044182 +v -0.891271 0.939960 1.044182 +v -0.616759 -3.484356 1.013645 +v 1.000415 0.939960 -1.122213 +v 1.061464 -3.392346 -1.091677 +v -0.982845 0.939960 -1.030604 +v 0.939366 -3.514880 0.860963 +v -1.074418 -3.453395 1.013645 +v 1.000415 0.939960 1.013645 +v -0.952320 -3.453395 -0.938994 +v -0.982845 0.939960 1.013645 +v -0.524976 0.237895 -1.091677 +v 0.878317 -3.087537 0.952572 +v -1.013369 0.939960 -0.999855 +v -1.013369 -0.982651 -0.969531 +v 1.061464 -3.422871 -0.786312 +v -0.860746 -1.988653 1.044182 +v 1.061464 -2.293898 -1.061140 +v -1.074418 -2.782291 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3.027493 +v -0.464026 1.001003 1.044382 +v 0.481701 0.940080 1.044182 +v 0.451182 2.129764 2.996675 +v -0.403105 2.129883 3.057909 +v 0.603775 1.153671 2.722121 +v -0.219994 1.031585 3.027292 +v -0.586217 2.099422 1.868043 +v 0.481701 1.306219 1.044182 +v -0.555582 1.916292 1.074799 +v 0.603775 1.275757 3.027493 +v -0.281031 2.129883 1.044382 +v 0.542621 1.001123 1.807209 +v -0.586217 1.001003 2.844390 +v 0.451182 1.916173 1.044182 +v -0.586217 1.885711 3.088326 +v -0.403105 2.099422 3.088326 +v 0.451182 2.129764 1.959895 +v -0.494661 1.001003 1.379970 +v 0.359626 2.160465 1.441004 +v 0.237552 2.160465 1.044382 +v 0.481701 0.940080 1.135833 +v 0.268071 2.129883 3.027292 +v 0.603775 1.092747 2.783156 +v -0.586217 1.062047 3.027292 +v 0.512103 1.001123 1.258102 +f 131 120 133 +f 103 102 106 +f 104 102 107 +f 102 103 109 +f 107 102 109 +f 102 104 110 +f 106 105 115 +f 112 107 115 +f 105 112 115 +f 110 104 116 +f 107 109 117 +f 115 107 117 +f 101 111 118 +f 108 113 118 +f 104 107 119 +f 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+ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj new file mode 100644 index 000000000..88a9885ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj @@ -0,0 +1,1020 @@ +o convex_0 +v -1.661726 -0.727517 -0.249292 +v -2.084461 -0.812259 -0.023749 +v -2.084461 -0.812259 0.032575 +v -1.746088 1.640227 0.004413 +v -1.436221 -0.812259 0.258119 +v -1.661726 1.273651 -0.221081 +v -1.295310 -0.812259 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj new file mode 100644 index 000000000..b15f33312 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj @@ -0,0 +1,477 @@ +o convex_0 +v -3.418724 0.104614 -1.007388 +v -3.454773 1.693952 1.051680 +v -1.539803 1.404925 1.015578 +v -1.539803 1.982980 -1.043901 +v -1.540001 -0.040213 0.581938 +v -3.491020 2.091704 -0.971286 +v -3.454773 0.068512 1.051680 +v -1.540001 0.104614 -0.935183 +v -1.539803 2.019290 0.979270 +v -3.527070 2.091704 1.015578 +v -3.563317 0.032409 -0.971286 +v -1.540001 0.068512 1.015373 +v -2.407165 -0.040213 -0.176417 +v -3.527070 0.465846 0.581938 +v -2.298621 0.068512 1.051475 +v -3.165784 2.091704 -0.971286 +v -3.382476 -0.003693 -0.863184 +v -3.527070 1.766157 -0.646159 +v -2.009632 1.441027 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b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj new file mode 100644 index 000000000..9ef670803 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj @@ -0,0 +1,564 @@ +o convex_0 +v 0.091706 -5.304797 -0.084438 +v -0.222564 -4.990711 0.544315 +v 0.123158 -3.418925 0.418551 +v -0.222564 -3.387322 -0.052965 +v 0.311806 -5.273582 0.418551 +v 0.186000 -3.387322 -0.052965 +v -0.222564 -5.273582 -0.115912 +v -0.316981 -3.387322 0.449960 +v -0.254016 -5.368002 0.544315 +v 0.280355 -5.304797 0.041325 +v 0.248903 -4.016463 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166 +f 131 130 167 +f 140 131 167 +f 143 140 167 +f 130 153 167 +o convex_5 +v 0.437490 2.145825 3.247718 +v 0.186000 1.108505 1.298860 +v 0.468954 1.108505 1.298860 +v 0.343209 2.271761 1.298860 +v -0.599935 2.271761 3.247718 +v -0.474079 1.234441 3.247718 +v -0.442615 2.145825 1.298860 +v 0.468954 1.265754 3.184950 +v -0.442615 1.171587 1.298860 +v 0.531882 2.271761 1.644942 +v 0.531882 1.988690 1.298860 +v -0.599935 2.114398 2.964976 +v -0.474079 1.297181 1.362009 +v 0.468954 1.108505 1.581983 +v -0.379687 2.271761 3.247718 +v -0.568360 2.271761 2.839059 +v 0.468954 1.454430 3.216429 +v 0.468954 1.234441 2.996264 +v 0.531882 2.271761 1.298860 +v 0.468954 2.177366 2.870538 +v -0.474079 2.177366 1.613462 +v -0.065491 1.234441 3.216429 +v -0.474079 1.234441 2.116560 +v 0.437490 1.768701 3.247718 +v -0.442615 1.203014 2.587605 +v -0.568360 1.862868 3.247718 +v 0.468954 1.705847 3.216429 +f 177 187 194 +f 170 169 171 +f 168 172 173 +f 171 169 174 +f 174 169 176 +f 171 172 177 +f 177 175 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diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj new file mode 100644 index 000000000..1222f66d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj @@ -0,0 +1,423 @@ +o convex_0 +v 0.677960 -3.505897 -0.321928 +v 0.647730 0.921609 1.012080 +v -0.625725 0.921609 1.012080 +v 1.011688 0.921609 -1.080359 +v -0.989683 -2.989730 -1.050022 +v -0.959453 -3.414885 0.981743 +v -1.020112 0.921609 -1.050022 +v 0.951028 -3.353777 1.012080 +v 0.951028 -3.384114 -1.110696 +v 0.981259 0.921609 0.951198 +v -0.929023 0.921609 0.951198 +v -0.959453 -3.414885 -1.050022 +v 1.011688 -0.322219 -0.079437 +v 0.920599 -3.475126 0.830057 +v -0.686385 -3.475559 0.708708 +v -1.020112 0.921609 -0.655637 +v 0.981259 -2.656020 -1.080151 +v -0.716814 -3.384114 -1.080359 +v -0.959453 -1.261807 0.981743 +v 0.981259 -2.504767 0.678371 +v 0.526411 -3.505897 -0.655637 +v -1.020112 -0.807615 -1.019477 +v 0.435322 0.860501 -1.080359 +v 1.011688 0.921609 0.223520 +v -0.656154 -0.231207 1.012080 +v 0.981259 -0.928097 0.981743 +v 1.011688 -0.413230 -1.080359 +v 0.951028 -3.444789 0.981743 +v -0.625725 -3.475559 0.132508 +v -0.898594 -3.444789 0.951198 +v 0.920599 -2.989730 -1.110696 +v 0.587070 -3.475126 0.920861 +v 0.162453 0.041395 -1.080359 +v 0.647730 -3.505897 -0.109567 +v 0.890369 -3.414885 -1.019684 +v 0.405091 -3.505897 -0.594963 +v -0.868364 0.648140 0.981535 +v 0.981259 -1.322048 0.981743 +v 0.951028 -3.414885 -0.716104 +v 0.829510 -3.232862 1.012080 +v 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0.951358 +v 0.981179 0.921609 0.951358 +v -0.928979 0.921609 0.951358 +v 1.041806 2.498383 -1.080136 +v -0.504591 2.650155 0.253750 +v 0.587104 2.043404 1.042406 +v -0.534904 2.043574 -1.110696 +v 0.344391 2.650155 0.435845 +v -0.656158 2.134434 1.042406 +v 1.041806 2.528670 -1.049998 +v 0.283764 1.073381 -1.110696 +v 0.556790 0.982351 1.042406 +v -1.050438 2.346780 -0.776856 +v -0.565217 2.650155 0.526681 +v 1.011492 0.921609 0.253750 +v 1.011492 2.528670 0.648078 +v -1.050438 1.376757 -0.989089 +v 0.556790 2.195177 -1.110696 +v -0.443759 1.073381 -1.110696 +v 0.950865 2.498383 0.951358 +v 1.041806 1.831058 -1.080136 +v -0.959292 2.498383 0.617729 +v -0.625844 2.498383 -1.049998 +v 0.617417 2.619699 0.132564 +v -1.019919 0.921609 -0.625110 +v -0.595531 0.921609 1.012057 +v -0.838039 0.921609 0.981708 +v -0.868352 2.407523 0.981708 +v 0.465645 1.103668 -1.110696 +v 0.101679 2.619699 0.678427 +v 1.041806 1.831058 -0.807205 +v -0.170938 2.134434 1.042406 +v -1.050438 2.498383 -0.776856 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-0.170892 1.315990 3.104532 +v -0.474204 0.951934 3.043774 +v -0.413519 0.951934 3.043774 +v 0.556764 2.013195 1.042406 +v -0.565232 1.982866 1.042406 +v 0.556764 0.982262 1.042406 +v 0.556764 2.073967 3.043774 +v -0.474204 2.134508 2.952739 +v 0.587106 1.043035 3.074052 +v -0.534776 1.073363 1.072886 +v -0.443749 2.134508 2.710112 +v -0.474204 0.951934 3.104532 +v 0.314137 0.982378 1.042406 +v 0.587106 1.012707 2.528243 +v -0.504434 2.104180 2.710112 +v 0.556764 2.043523 1.436826 +v -0.170892 2.013195 1.042406 +v -0.534776 1.043035 1.618695 +v 0.587106 1.406859 3.074052 +v 0.374822 1.922325 3.074052 +v 0.587106 1.043035 1.982635 +v -0.534776 1.103692 1.042406 +v -0.231577 2.134508 2.922461 +v 0.556764 0.982262 1.709731 +v -0.019405 0.982378 3.104532 +v -0.534776 2.043523 1.557938 +v 0.556764 2.073967 2.679632 +v -0.474204 1.103692 3.104532 +v -0.565232 1.800896 1.072886 +v 0.010937 2.104180 3.013496 +f 143 135 145 +f 118 117 121 +f 120 119 121 +f 117 118 127 +f 121 117 128 +f 120 121 128 +f 117 125 128 +f 119 120 132 +f 131 119 132 +f 126 131 132 +f 125 117 133 +f 117 127 133 +f 127 130 133 +f 124 129 134 +f 119 131 134 +f 134 122 135 +f 121 119 136 +f 129 121 136 +f 119 134 136 +f 134 129 136 +f 120 128 137 +f 128 125 137 +f 126 123 138 +f 131 126 138 +f 118 121 139 +f 121 129 139 +f 139 129 140 +f 127 118 140 +f 116 127 140 +f 129 124 140 +f 124 134 140 +f 135 116 140 +f 134 135 140 +f 118 139 140 +f 123 126 141 +f 120 130 141 +f 130 123 141 +f 132 120 141 +f 126 132 141 +f 122 134 142 +f 134 131 142 +f 138 122 142 +f 131 138 142 +f 127 116 143 +f 123 130 143 +f 130 127 143 +f 116 135 143 +f 130 120 144 +f 125 133 144 +f 133 130 144 +f 120 137 144 +f 137 125 144 +f 135 122 145 +f 122 138 145 +f 138 123 145 +f 123 143 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf new file mode 100644 index 000000000..6a7d48ab4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj new file mode 100644 index 000000000..4f7f11a4d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj @@ -0,0 +1,393 @@ +o convex_0 +v -2.122216 0.538934 -3.415981 +v 2.962394 1.694586 -2.524775 +v 3.127668 1.694473 -2.524775 +v -2.155028 0.571966 -2.458732 +v -3.079834 1.628523 -3.415981 +v 2.928975 0.638142 -3.515101 +v -3.046415 1.661555 -2.392578 +v 2.928975 0.704092 -2.458732 +v 3.061437 1.694473 -3.383014 +v -3.046415 0.538934 -3.415981 +v -2.947372 0.538934 -2.491699 +v 2.599034 0.604997 -3.515101 +v -1.428916 1.694586 -2.689830 +v 2.928975 0.671174 -2.557742 +v 2.995206 1.100358 -2.458732 +v -3.046415 1.430221 -2.392578 +v -0.767819 1.661442 -3.416091 +v -2.122216 0.571966 -3.449167 +v 2.665265 0.770155 -3.515101 +v 1.014347 1.694586 -2.458732 +v -2.221259 1.661555 -2.392578 +v -2.650243 0.538934 -2.491699 +v 1.872922 0.638142 -3.515101 +v 2.995206 1.298321 -3.449167 +v 1.443330 1.694586 -3.383124 +v -3.013603 1.661555 -2.887961 +v 2.599034 0.671174 -2.458732 +v 3.061437 1.265289 -2.887961 +v -3.079834 1.595379 -2.821917 +v -3.046415 0.538934 -3.217960 +v 3.094249 1.562460 -2.491699 +v 2.928975 0.638142 -3.052795 +v -2.947372 0.604997 -2.458732 +v -3.079834 1.001263 -3.415981 +v 0.023917 1.661442 -3.416091 +v -1.329873 0.571966 -2.458732 +f 32 14 36 +f 2 3 9 +f 10 1 11 +f 1 10 12 +f 3 8 14 +f 12 10 18 +f 6 12 19 +f 5 17 19 +f 3 2 20 +f 2 13 20 +f 13 7 20 +f 15 20 21 +f 8 15 21 +f 16 8 21 +f 7 16 21 +f 20 7 21 +f 11 1 22 +f 4 11 22 +f 1 12 22 +f 18 5 23 +f 12 18 23 +f 19 12 23 +f 5 19 23 +f 9 6 24 +f 6 19 24 +f 2 9 25 +f 13 2 25 +f 25 17 26 +f 5 7 26 +f 7 13 26 +f 17 5 26 +f 13 25 26 +f 14 8 27 +f 8 16 27 +f 9 3 28 +f 6 9 28 +f 3 14 28 +f 7 5 29 +f 16 7 29 +f 16 29 30 +f 10 11 30 +f 11 16 30 +f 8 3 31 +f 15 8 31 +f 3 20 31 +f 20 15 31 +f 12 6 32 +f 22 12 32 +f 6 28 32 +f 28 14 32 +f 11 4 33 +f 4 16 33 +f 16 11 33 +f 5 18 34 +f 18 10 34 +f 29 5 34 +f 30 29 34 +f 10 30 34 +f 19 17 35 +f 9 24 35 +f 24 19 35 +f 25 9 35 +f 17 25 35 +f 16 4 36 +f 4 22 36 +f 14 27 36 +f 27 16 36 +f 22 32 36 +o convex_1 +v -0.504229 1.430434 -0.048255 +v -0.141062 0.571953 -1.996088 +v 0.056787 0.571953 -1.996088 +v 0.486081 1.727605 -1.897194 +v 0.453018 0.704079 -0.048255 +v -0.537400 1.562447 -1.864035 +v -0.537400 0.671048 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2.130861 +v -1.098707 -0.782309 0.017792 +v -1.065643 2.123628 0.612214 +v 1.080507 -3.719936 1.173289 +v 0.618043 2.189400 0.017792 +v 0.981316 -3.191964 0.017792 +v 1.047443 1.628543 0.050923 +v 0.519065 -3.852078 0.579516 +v 0.453151 0.703546 -0.048255 +v 0.981316 2.057258 0.017792 +v 0.519065 -3.785708 2.163993 +v -0.471138 1.627945 -0.048255 +v 1.080507 -2.299854 0.050923 +v 0.948252 1.991486 2.031683 +v 0.816211 2.222884 1.503307 +v 1.014380 2.189400 0.678478 +v 1.047443 -3.290622 2.163993 +v -0.438287 1.694315 2.163993 +v -0.438287 -3.852078 0.017792 +v -0.966452 2.156514 1.569571 +v 1.080507 -3.819192 0.810355 +v -0.702370 -3.885562 2.031683 +v 0.618043 2.222287 1.998767 +v 0.420087 1.627945 2.163993 +v -1.032579 0.736432 1.998767 +f 87 80 109 +f 74 67 75 +f 68 72 79 +f 74 75 80 +f 76 80 81 +f 72 68 81 +f 80 75 81 +f 75 67 84 +f 81 75 84 +f 74 80 86 +f 70 82 86 +f 82 74 86 +f 76 70 87 +f 70 86 87 +f 86 80 87 +f 78 85 88 +f 71 83 90 +f 74 82 93 +f 82 77 93 +f 77 90 93 +f 90 83 93 +f 89 73 94 +f 77 89 94 +f 71 90 94 +f 90 77 94 +f 73 91 94 +f 72 81 95 +f 84 72 95 +f 81 84 95 +f 82 70 96 +f 77 82 96 +f 70 89 96 +f 89 77 96 +f 88 71 97 +f 78 88 97 +f 91 78 97 +f 71 94 97 +f 94 91 97 +f 85 69 98 +f 69 73 99 +f 73 89 99 +f 73 69 100 +f 69 85 100 +f 85 78 100 +f 91 73 100 +f 78 91 100 +f 79 72 101 +f 72 88 101 +f 88 85 101 +f 98 79 101 +f 85 98 101 +f 68 69 102 +f 76 81 102 +f 81 68 102 +f 67 74 103 +f 83 71 103 +f 71 92 103 +f 92 67 103 +f 74 93 103 +f 93 83 103 +f 70 76 104 +f 89 70 104 +f 99 89 104 +f 71 88 105 +f 88 72 105 +f 92 71 105 +f 92 105 106 +f 84 67 106 +f 72 84 106 +f 67 92 106 +f 105 72 106 +f 69 99 107 +f 102 69 107 +f 76 102 107 +f 104 76 107 +f 99 104 107 +f 69 68 108 +f 68 79 108 +f 98 69 108 +f 79 98 108 +f 80 76 109 +f 76 87 109 +o convex_3 +v -0.537257 1.133476 2.395469 +v 0.618136 0.770129 4.078725 +v 0.585208 1.067300 4.078725 +v 0.585208 0.935287 2.163993 +v -0.438240 1.727592 4.012753 +v 0.486074 1.628497 2.163993 +v -0.471285 0.704066 4.078725 +v -0.372268 0.671035 2.163993 +v 0.486074 1.760624 4.111712 +v -0.438240 1.694561 2.163993 +v 0.618136 0.604972 2.163993 +v -0.570302 0.704066 2.163993 +v 0.618136 0.671035 4.078725 +v 0.386941 0.604972 2.560401 +v -0.471285 1.199087 4.078725 +v -0.438240 1.727592 2.692537 +v 0.519119 1.529403 2.428456 +v -0.207045 1.694561 2.163993 +v 0.585208 0.638116 3.715685 +v -0.570302 0.737098 2.494428 +v -0.471285 1.661416 2.163993 +v -0.504329 0.704066 3.979766 +v 0.552163 1.166282 4.111712 +v 0.354013 1.760624 4.111712 +v 0.519119 1.628497 4.111712 +v -0.438240 1.694561 4.045739 +f 124 133 135 +f 112 111 113 +f 115 113 117 +f 115 117 119 +f 113 111 120 +f 117 113 120 +f 119 117 121 +f 120 111 122 +f 117 120 123 +f 112 113 126 +f 113 115 126 +f 115 118 126 +f 118 115 127 +f 115 119 127 +f 125 118 127 +f 119 125 127 +f 122 116 128 +f 120 122 128 +f 123 120 128 +f 116 123 128 +f 114 110 129 +f 110 121 129 +f 124 114 129 +f 110 114 130 +f 121 110 130 +f 119 121 130 +f 114 125 130 +f 125 119 130 +f 121 117 131 +f 123 116 131 +f 117 123 131 +f 116 124 131 +f 129 121 131 +f 124 129 131 +f 122 111 132 +f 116 122 132 +f 124 116 133 +f 125 114 133 +f 118 125 133 +f 132 118 133 +f 116 132 133 +f 111 112 134 +f 112 126 134 +f 126 118 134 +f 132 111 134 +f 118 132 134 +f 114 124 135 +f 133 114 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf new file mode 100644 index 000000000..2314d2b22 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj new file mode 100644 index 000000000..371258758 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj @@ -0,0 +1,486 @@ +o convex_0 +v 0.817397 -2.057748 -1.102457 +v 1.050021 -1.669793 1.067810 +v -0.849446 -1.669793 1.068026 +v 0.119525 -3.607863 1.106735 +v -0.926790 -3.530272 -1.063532 +v 0.933610 -3.607863 -0.869774 +v -0.965660 -1.669793 -0.947407 +v -0.926790 -3.607863 1.106735 +v 0.933610 -3.607863 1.067810 +v 0.933610 -1.669793 -1.025040 +v 0.933610 -3.413980 -1.025040 +v -0.926790 -1.669793 1.068026 +v 1.050021 -2.212741 0.990610 +v 0.778527 -1.669793 -1.102457 +v 1.050021 -1.708873 0.486535 +v -0.965660 -1.980157 -0.986331 +v -0.965660 -1.708873 0.253852 +v -0.926790 -2.871222 1.106735 +v -0.965660 -2.484025 -0.908698 +v 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-2.942657 -1.630898 1.106731 +v -3.020202 0.306853 0.951651 +v 2.949515 0.307047 -0.986305 +v 2.910447 -1.553303 1.029299 +v -2.942657 0.306853 -0.986305 +v 2.949515 0.307047 1.106947 +v 0.894891 -1.669793 -1.102669 +v 1.088455 -1.669793 1.068015 +v -1.469318 0.151856 1.068015 +v -0.965577 -1.669793 -0.947589 +v -0.422768 0.306853 -1.102453 +v 2.716883 0.307047 -1.025021 +v -2.981133 -1.359412 1.106731 +v -3.058678 -1.630898 -0.133258 +v -0.926509 -1.669793 1.068015 +v 2.949515 -1.049418 1.068015 +v -0.422768 -1.514409 -1.102453 +v -3.020202 0.306853 0.408980 +v -2.670957 0.306853 -1.024805 +v -3.097745 -1.320711 -0.986305 +v -2.399848 -0.933122 1.106731 +v -0.771421 0.306853 1.068015 +v -1.779495 -1.553303 1.106947 +v 2.949515 -0.662022 -0.986305 +v -3.020202 -0.429624 0.990367 +v -3.097745 -1.592004 -0.675929 +v 2.949515 -1.553303 0.951868 +v -3.058678 -1.630898 -0.520850 +v -2.981133 0.035560 -0.986305 +v -1.353298 0.306853 -1.102669 +v 2.561794 0.307047 1.106947 +v -2.283828 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-0.345375 0.384793 1.727229 +v -1.120618 0.501028 1.106947 +v -1.120618 0.501028 1.804987 +v 1.049808 0.539805 1.106947 +v 1.010929 0.539805 2.928912 +v 1.049808 0.384793 1.106947 +v -1.081739 0.539805 2.928912 +v -0.539132 0.345998 1.106947 +v -1.004193 0.462271 2.735052 +v 1.010929 0.501028 2.928912 +v -1.120618 0.539805 1.106947 +v 0.468323 0.345998 1.145826 +v 1.049808 0.384793 1.417266 +v -1.081739 0.501028 2.928912 +f 163 164 168 +f 156 158 160 +f 159 158 161 +f 156 160 162 +f 157 156 163 +f 156 162 163 +f 162 155 163 +f 159 161 164 +f 163 155 164 +f 156 157 165 +f 158 156 165 +f 157 161 165 +f 161 158 165 +f 162 160 166 +f 155 162 166 +f 164 155 166 +f 164 166 167 +f 158 159 167 +f 160 158 167 +f 159 164 167 +f 166 160 167 +f 161 157 168 +f 157 163 168 +f 164 161 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf new file mode 100644 index 000000000..a55a538cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj new file mode 100644 index 000000000..33e29979c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj @@ -0,0 +1,468 @@ +o convex_0 +v 0.856183 1.133243 -1.087670 +v 0.659603 4.048276 1.107341 +v -0.028114 4.048276 1.107341 +v 0.233715 -0.538098 1.074410 +v 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116 118 123 +f 122 119 124 +f 120 122 124 +f 120 116 126 +f 116 123 126 +f 123 118 127 +f 115 125 128 +f 127 118 128 +f 121 127 128 +f 122 115 129 +f 115 128 130 +f 128 118 130 +f 129 115 130 +f 119 117 131 +f 117 120 131 +f 124 119 131 +f 120 124 131 +f 121 120 132 +f 120 126 132 +f 118 119 133 +f 119 129 133 +f 130 118 133 +f 129 130 133 +f 121 123 134 +f 127 121 134 +f 123 127 134 +f 120 121 135 +f 122 120 135 +f 121 125 135 +f 125 122 135 +f 115 122 136 +f 125 115 136 +f 122 125 136 +f 123 121 137 +f 126 123 137 +f 121 132 137 +f 132 126 137 +f 119 122 138 +f 129 119 138 +f 122 129 138 +f 125 121 139 +f 128 125 139 +o convex_4 +v 1.085617 -0.538169 1.041640 +v -1.043695 -1.258903 -1.055073 +v -1.076714 -1.258903 0.451900 +v -1.043695 -0.538169 -1.055073 +v 1.020002 -1.258903 -0.956679 +v -1.043695 -0.538169 1.008911 +v 1.085617 -1.258903 1.041640 +v 1.052809 -0.538169 -0.989408 +v -1.076714 -1.258903 1.041640 +v 0.266488 -1.127751 -1.055073 +v -0.323200 -0.538169 1.074577 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf new file mode 100644 index 000000000..0e93628dc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj new file mode 100644 index 000000000..9fa8b5561 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj @@ -0,0 +1,657 @@ +o convex_0 +v 0.860789 -0.768189 0.829914 +v -0.296996 -3.152002 -0.394967 +v -0.228794 -3.152002 -0.394967 +v 0.043395 -1.313274 -2.745016 +v -0.943885 -0.836558 1.306650 +v 0.826688 -2.743188 2.294343 +v 0.860789 -2.811324 -2.301911 +v -0.807687 -2.743188 -2.336132 +v -0.875889 -2.845159 2.294343 +v 0.009294 -1.347575 2.771079 +v -0.875889 -0.768656 -1.280587 +v 1.031088 -1.619651 -2.199838 +v -1.012087 -1.653952 -2.403985 +v 0.826688 -0.768189 -1.212145 +v 0.962886 -1.721854 2.396416 +v -1.046188 -1.755922 2.430637 +v 0.009294 -2.164036 3.010037 +v 0.077496 -2.130201 -3.017605 +v 0.417888 -3.083633 1.340871 +v -0.943885 -2.879226 -0.088157 +v 0.962886 -2.811324 0.114810 +v -1.046188 -0.768189 0.149031 +v -0.024601 -2.845159 -2.710795 +v 0.009294 -0.768422 1.749755 +v 0.826688 -2.027998 -2.846499 +v 0.520191 -3.083633 -1.348439 +v 0.009294 -2.845159 2.703226 +v -0.501190 -3.152002 1.340871 +v -0.739691 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2.092600 -0.837932 +v -0.024381 2.943882 -0.974337 +v -0.705517 2.092894 -0.769930 +v 0.077510 4.237819 0.966728 +v 0.792673 4.782264 -0.361116 +f 207 194 223 +f 164 160 165 +f 164 165 171 +f 171 165 172 +f 160 164 175 +f 165 160 176 +f 169 173 177 +f 162 161 179 +f 177 173 181 +f 161 162 182 +f 171 172 182 +f 174 163 183 +f 168 174 183 +f 173 169 186 +f 164 171 187 +f 168 183 188 +f 160 175 189 +f 172 165 193 +f 165 180 193 +f 185 172 193 +f 163 174 194 +f 175 164 195 +f 177 181 196 +f 184 167 197 +f 163 178 198 +f 181 163 198 +f 170 181 198 +f 160 189 199 +f 184 197 199 +f 164 187 200 +f 187 177 200 +f 195 164 200 +f 177 196 200 +f 165 176 201 +f 163 181 202 +f 181 173 202 +f 183 163 202 +f 173 186 202 +f 180 165 204 +f 167 192 204 +f 192 180 204 +f 165 201 204 +f 201 167 204 +f 169 177 205 +f 171 182 205 +f 187 171 205 +f 177 187 205 +f 191 169 205 +f 174 168 206 +f 192 174 206 +f 180 192 206 +f 193 180 206 +f 185 193 206 +f 178 163 207 +f 167 184 207 +f 184 178 207 +f 163 194 207 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223 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf new file mode 100644 index 000000000..a6f480b6e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj new file mode 100644 index 000000000..fb5028b99 --- /dev/null +++ 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101 108 133 +f 108 117 133 +f 122 101 133 +f 123 116 133 +f 117 123 133 +f 116 124 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf new file mode 100644 index 000000000..61dc040d9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj new file mode 100644 index 000000000..b1eea1724 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj @@ -0,0 +1,405 @@ +o convex_0 +v -2.566971 0.042230 0.608973 +v -1.262667 -0.880362 -0.600168 +v -1.262667 -0.848602 -0.600168 +v -3.012401 -0.212367 -0.504535 +v -3.108159 -0.848602 0.513340 +v -1.103529 0.137716 0.545297 +v -1.167302 -0.880362 0.481620 +v -1.103529 0.137716 -0.409139 +v -2.917036 -0.912328 -0.440977 +v -3.012401 0.042230 -0.504535 +v -3.108159 0.042230 0.608973 +v -1.103529 -0.753218 -0.600168 +v -1.103529 -0.912328 0.417944 +v -2.726110 0.073990 -0.504535 +v -1.230879 0.105853 -0.472697 +v -2.917036 0.073990 0.608973 +v -2.789686 -0.880362 0.513340 +v -1.612732 -0.912328 -0.568330 +v -3.044386 -0.180504 0.608973 +v -1.485578 0.137716 0.513340 +v -2.980809 -0.912328 -0.218228 +v -3.044386 0.042230 -0.377301 +v -1.103529 -0.880362 -0.600168 +v -3.108159 -0.848602 0.417944 +v 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4.560349 -0.313593 +v -0.085130 4.560349 0.545309 +v 0.455553 3.860326 -0.504660 +v -0.467039 2.651458 -0.568349 +v -0.435194 4.624269 -0.536392 +f 118 134 139 +f 114 115 119 +f 113 112 120 +f 114 113 120 +f 112 113 121 +f 114 119 122 +f 115 114 123 +f 117 118 124 +f 121 113 124 +f 118 121 124 +f 122 111 126 +f 122 126 127 +f 111 122 128 +f 122 119 128 +f 120 112 129 +f 112 121 129 +f 116 123 129 +f 123 120 129 +f 125 116 129 +f 115 116 130 +f 119 115 130 +f 117 124 131 +f 122 127 131 +f 127 117 131 +f 118 126 132 +f 130 118 132 +f 119 130 132 +f 126 111 133 +f 111 128 133 +f 128 119 133 +f 119 132 133 +f 132 126 133 +f 116 125 134 +f 130 116 134 +f 118 130 134 +f 113 114 135 +f 114 122 135 +f 124 113 135 +f 131 124 135 +f 122 131 135 +f 118 117 136 +f 126 118 136 +f 127 126 136 +f 117 127 136 +f 116 115 137 +f 115 123 137 +f 123 116 137 +f 114 120 138 +f 123 114 138 +f 120 123 138 +f 121 118 139 +f 129 121 139 +f 125 129 139 +f 134 125 139 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf new file mode 100644 index 000000000..aede6402b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj new file mode 100644 index 000000000..bb49d2775 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj @@ -0,0 +1,600 @@ +o convex_0 +v 0.825389 1.072003 1.001361 +v -1.058826 -1.800818 0.321669 +v -0.966118 -1.800818 -0.975519 +v 1.103513 -1.800818 0.198089 +v 1.072610 1.072003 -1.006110 +v -0.996809 1.072003 -0.944523 +v -0.935215 1.072003 1.001361 +v 0.856292 -1.800818 0.970365 +v 1.072398 -1.800818 -1.037309 +v -0.935215 -1.800818 0.970365 +v 0.979902 1.072003 0.970365 +v 0.578168 0.732022 1.032357 +v -0.996809 0.886406 0.754200 +v -0.996809 0.114208 -0.975519 +v 1.103513 0.207007 -0.296030 +v 0.979902 -1.800818 0.939571 +v 0.485460 -1.769604 -1.037309 +v 1.041708 -0.132974 -1.037309 +v -0.935215 -0.503043 1.001361 +v -1.058826 -1.337106 0.414456 +v 1.010805 1.072003 0.692410 +v -0.966118 -1.800818 0.908575 +v 1.072610 1.072003 -0.450201 +v 0.392964 1.072003 1.032357 +v -0.966118 1.072003 0.939368 +v -0.409870 -1.800818 -1.006313 +v 0.918097 1.072003 -1.006313 +v -0.996809 -0.379312 -0.975519 +v 0.979902 -0.040175 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-3.283558 -1.068200 +v 0.423966 -3.221765 -1.068200 +v -0.965982 -2.758552 0.908632 +v 1.072622 -2.511380 -1.068200 +v -0.935103 -2.511301 -1.006289 +v 0.948900 -2.511380 0.939686 +v -0.935103 -3.159972 0.692434 +v -0.935103 -3.190790 -1.006289 +v 1.072622 -3.314455 -0.851609 +v -0.965982 -2.511301 0.908632 +v 0.948900 -3.159972 0.939686 +v -1.058826 -2.634966 -0.018069 +v -0.935103 -3.129076 0.939686 +v 1.041535 -2.511380 0.568809 +v 1.072622 -3.314455 -1.068200 +v -0.348204 -3.159972 0.939686 +v -1.058826 -2.511301 0.414326 +v 0.979778 -3.190869 0.723292 +v -0.935103 -2.511301 0.939686 +v 0.856264 -3.314455 -0.882663 +v -0.626110 -3.221687 -0.913521 +v -0.965982 -3.098100 0.877578 +v 1.072622 -3.283558 -0.604751 +v 1.072622 -2.511380 -0.388357 +v -1.058826 -2.511301 -0.079391 +v -0.842468 -3.159972 0.846917 +f 75 71 81 +f 56 57 59 +f 59 57 60 +f 57 56 60 +f 60 56 63 +f 55 61 66 +f 65 58 68 +f 66 61 68 +f 61 55 69 +f 56 59 70 +f 59 64 70 +f 66 68 71 +f 65 60 72 +f 58 65 72 +f 55 66 73 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0.640115 1.072003 1.032346 +v -1.027739 1.226498 -0.944577 +v -0.935103 1.103045 1.032346 +v 1.072622 2.863503 -0.975480 +v -0.996860 2.894545 -0.944577 +v 0.794507 2.739872 1.001443 +v -0.008541 2.894545 -0.882772 +v -0.965982 1.998617 0.939426 +v 0.547480 1.288403 1.063248 +v 0.918021 2.523650 1.001443 +v 1.010657 1.072003 0.692205 +v -1.027739 2.894545 -0.635551 +v 0.516601 2.709008 -1.037285 +v -0.965982 2.801777 0.692205 +v -1.027739 2.863325 -0.944577 +v -0.132055 2.770914 1.032346 +f 88 105 115 +f 87 86 89 +f 87 89 90 +f 91 86 93 +f 88 82 94 +f 84 83 95 +f 86 87 96 +f 92 93 96 +f 93 86 96 +f 83 84 98 +f 86 83 98 +f 89 86 98 +f 91 93 99 +f 93 92 99 +f 90 89 100 +f 87 90 101 +f 90 85 101 +f 96 87 101 +f 92 96 101 +f 82 88 102 +f 88 90 102 +f 90 100 102 +f 83 86 103 +f 86 91 103 +f 95 83 103 +f 88 94 105 +f 97 95 106 +f 95 103 106 +f 103 104 106 +f 104 85 106 +f 85 90 107 +f 90 88 107 +f 94 82 108 +f 100 89 108 +f 82 102 108 +f 102 100 108 +f 89 84 109 +f 84 105 109 +f 105 94 109 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0.485614 1.257470 1.341614 +v 0.454736 2.338485 2.731065 +v 0.454736 1.936824 3.102024 +v 0.176718 1.288376 1.063644 +v -0.564477 1.875012 3.039965 +v 0.547483 2.245767 1.248824 +v -0.533599 2.338370 2.700135 +f 126 136 143 +f 119 121 123 +f 121 119 124 +f 122 119 125 +f 123 120 125 +f 117 118 127 +f 120 117 127 +f 118 121 127 +f 121 124 129 +f 119 123 130 +f 125 119 130 +f 123 125 130 +f 124 119 132 +f 127 121 133 +f 121 129 133 +f 117 120 134 +f 120 123 134 +f 128 117 134 +f 123 131 134 +f 133 129 135 +f 120 122 136 +f 122 125 136 +f 126 116 136 +f 118 117 137 +f 121 118 137 +f 117 128 137 +f 119 122 138 +f 122 124 138 +f 132 119 138 +f 124 132 138 +f 122 120 139 +f 120 127 139 +f 127 133 139 +f 135 122 139 +f 133 135 139 +f 123 121 140 +f 131 123 140 +f 128 134 140 +f 134 131 140 +f 121 137 140 +f 137 128 140 +f 125 120 141 +f 116 126 141 +f 126 125 141 +f 136 116 141 +f 120 136 141 +f 124 122 142 +f 129 124 142 +f 122 135 142 +f 135 129 142 +f 125 126 143 +f 136 125 143 +o convex_5 +v 2.802342 -2.017107 0.321808 +v 2.864208 -2.418569 -0.357651 +v 2.864208 -2.356791 -0.357651 +v 1.134403 -2.449426 -0.264937 +v 1.134403 -1.955329 -0.264937 +v 1.134403 -2.480283 0.321808 +v 2.925886 -1.924471 -0.295864 +v 3.018684 -2.418569 0.167374 +v 1.227202 -1.955329 0.229094 +v 3.049617 -1.831709 0.321808 +v 2.987751 -2.418569 -0.357651 +v 1.659700 -2.480283 0.290881 +v 1.196269 -2.480283 -0.141429 +v 1.134403 -2.356791 0.321808 +v 1.134403 -1.986249 0.229094 +v 2.833275 -1.893551 -0.172289 +v 3.049617 -1.955329 0.136447 +v 2.740664 -1.862693 0.321808 +v 2.956819 -2.387648 0.198234 +f 155 151 162 +f 146 145 147 +f 146 147 148 +f 148 147 149 +f 146 148 150 +f 149 144 153 +f 148 152 153 +f 145 146 154 +f 147 145 154 +f 146 150 154 +f 144 149 155 +f 154 151 155 +f 154 155 156 +f 149 147 156 +f 147 154 156 +f 155 149 156 +f 148 149 157 +f 149 153 157 +f 152 148 158 +f 148 157 158 +f 157 152 158 +f 150 148 159 +f 148 153 159 +f 153 150 159 +f 150 153 160 +f 153 151 160 +f 154 150 160 +f 151 154 160 +f 153 152 161 +f 152 157 161 +f 157 153 161 +f 153 144 162 +f 151 153 162 +f 144 155 162 +o convex_6 +v -1.089955 -2.109815 0.352765 +v -3.097403 -2.449432 -0.357717 +v -3.097403 -2.449432 -0.234134 +v -2.942953 -1.924438 -0.203255 +v -1.089955 -2.048003 -0.265012 +v -1.059025 -2.511244 -0.203255 +v -2.973683 -2.418527 0.352765 +v -1.553304 -1.924438 0.352765 +v -2.942953 -2.017155 0.352765 +v -1.059025 -2.480338 0.260060 +v -1.059025 -1.924438 0.167356 +v -1.059025 -1.986249 -0.234134 +v -1.398855 -2.511244 -0.234134 +v -1.059025 -1.924438 0.352765 +v -2.973683 -2.387678 -0.357717 +v -2.263294 -2.449432 0.321817 +v -1.244405 -2.511244 -0.234134 +v -2.510534 -2.480338 -0.265012 +v -1.924064 -2.449432 0.321817 +v -2.942953 -1.924438 -0.141429 +v -3.097403 -2.356773 -0.295891 +f 182 166 183 +f 169 163 170 +f 165 169 171 +f 169 170 171 +f 166 170 173 +f 172 168 173 +f 167 166 174 +f 168 167 174 +f 166 173 174 +f 173 168 174 +f 168 172 175 +f 170 163 176 +f 163 172 176 +f 173 170 176 +f 172 173 176 +f 164 166 177 +f 166 167 177 +f 175 172 178 +f 167 168 179 +f 175 164 179 +f 168 175 179 +f 164 177 179 +f 177 167 179 +f 165 164 180 +f 169 165 180 +f 164 175 180 +f 178 169 180 +f 175 178 180 +f 163 169 181 +f 172 163 181 +f 169 178 181 +f 178 172 181 +f 170 166 182 +f 171 170 182 +f 171 182 183 +f 164 165 183 +f 166 164 183 +f 165 171 183 +o convex_7 +v 0.794479 -1.800888 0.970576 +v 0.918133 -2.511162 -1.068200 +v 0.918133 -2.449411 -1.068200 +v -1.058611 -1.986280 -0.234010 +v -0.935172 -2.511162 0.939444 +v 0.948832 -2.511162 0.939644 +v 1.072486 -1.800888 -1.037267 +v -0.935172 -2.511162 -1.006135 +v -0.935172 -1.800888 0.970377 +v -0.966086 -1.800888 -0.975202 +v 1.134098 -2.480287 0.321585 +v 0.979745 -1.800888 0.939644 +v -1.058611 -2.511162 0.414184 +v 1.072486 -2.511162 -1.068200 +v 1.134098 -1.955335 -0.079545 +v -1.058611 -1.800888 0.414184 +v 1.041572 -1.955335 -1.068200 +v -1.058611 -2.511162 -0.203077 +v 1.103399 -1.800888 0.198053 +v -0.935172 -2.109781 0.970377 +v 1.134098 -2.356785 -0.264943 +v -0.935172 -2.202338 -1.006135 +v 1.134098 -1.986280 0.228985 +v -0.966086 -2.511162 0.908511 +v -0.410073 -1.800888 -1.006135 +f 200 205 208 +f 188 185 189 +f 186 185 191 +f 185 188 191 +f 184 190 192 +f 192 190 193 +f 184 189 195 +f 190 184 195 +f 189 194 195 +f 191 188 196 +f 185 186 197 +f 189 185 197 +f 194 189 197 +f 192 193 199 +f 193 187 199 +f 187 196 199 +f 197 186 200 +f 190 197 200 +f 193 191 201 +f 187 193 201 +f 196 187 201 +f 191 196 201 +f 190 195 202 +f 198 190 202 +f 188 189 203 +f 189 184 203 +f 184 192 203 +f 197 190 204 +f 194 197 204 +f 198 194 204 +f 190 198 204 +f 186 191 205 +f 191 193 205 +f 200 186 205 +f 195 194 206 +f 194 198 206 +f 202 195 206 +f 198 202 206 +f 196 188 207 +f 192 199 207 +f 199 196 207 +f 188 203 207 +f 203 192 207 +f 193 190 208 +f 190 200 208 +f 205 193 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf new file mode 100644 index 000000000..b94ecc006 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj new file mode 100644 index 000000000..1c61fd2f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj @@ -0,0 +1,747 @@ +o convex_0 +v -1.015144 -0.680487 -0.177722 +v -0.039357 -2.253827 -2.128315 +v -0.007841 -2.253827 -2.128315 +v -0.070874 -0.397296 -2.914375 +v 0.936022 -0.050949 1.050029 +v -0.070874 -2.159345 1.050445 +v -0.857765 0.326723 0.830015 +v 0.967539 -1.277942 -2.222309 +v 0.873193 0.326723 -1.215404 +v 0.778644 -2.033286 1.050029 +v -1.015144 -1.246364 -2.222309 +v -0.794733 -1.970383 1.050445 +v -0.826249 0.326723 -1.120994 +v -0.039357 -1.907227 -2.978008 +v -0.763216 -2.001961 -2.190701 +v 0.747331 -1.970383 -2.190701 +v 0.684298 -1.151883 -2.978008 +v 1.062088 0.326723 -0.208915 +v -0.794733 -1.183460 -2.946399 +v 0.999055 -1.246616 1.050445 +v -0.983627 -1.277942 1.050029 +v -0.983627 0.326723 -0.303325 +v 0.873193 0.326723 0.829599 +v -0.070874 -1.120557 -3.198438 +v -0.007841 0.326723 -1.561437 +v -0.889078 -0.145430 1.050029 +v 0.526920 -0.586006 -2.789187 +v 1.030571 -1.183713 -0.491730 +v -0.605838 -0.617584 -2.757163 +v -0.070874 -2.253827 -0.901396 +v 0.684298 -2.096189 1.050445 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj new file mode 100644 index 000000000..2e54b8e3e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj @@ -0,0 +1,312 @@ +o convex_0 +v 0.396362 -3.551550 -0.038194 +v -0.370974 -3.578147 0.014674 +v -0.370974 -3.578147 0.041072 +v 0.025838 -5.218523 -0.011724 +v 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-0.079775 4.517777 0.384954 +v 0.025928 -2.544815 0.940426 +v 0.951864 -2.465935 0.014640 +v -0.397278 4.491755 -0.090930 +v 0.819587 0.073670 0.781866 +f 44 71 106 +f 53 61 62 +f 52 47 62 +f 61 52 62 +f 45 44 67 +f 44 52 67 +f 52 51 67 +f 49 55 69 +f 53 62 70 +f 62 47 70 +f 47 68 70 +f 68 54 70 +f 69 55 71 +f 63 58 72 +f 66 59 73 +f 48 72 75 +f 72 58 75 +f 76 64 77 +f 63 76 77 +f 54 66 78 +f 70 54 78 +f 50 74 78 +f 74 70 78 +f 55 49 79 +f 43 54 80 +f 54 68 80 +f 56 73 81 +f 73 59 81 +f 44 45 82 +f 71 44 82 +f 69 71 82 +f 45 75 82 +f 68 55 83 +f 55 79 83 +f 80 68 83 +f 64 80 83 +f 61 46 84 +f 51 61 84 +f 65 60 85 +f 43 76 86 +f 76 63 86 +f 58 63 87 +f 77 49 87 +f 63 77 87 +f 46 61 88 +f 61 53 88 +f 51 52 90 +f 61 51 90 +f 52 61 90 +f 53 70 91 +f 74 46 91 +f 70 74 91 +f 46 88 91 +f 88 53 91 +f 77 64 92 +f 49 77 92 +f 79 49 92 +f 83 79 92 +f 64 83 92 +f 65 85 93 +f 54 43 94 +f 66 54 94 +f 59 66 94 +f 43 86 94 +f 86 59 94 +f 66 73 95 +f 78 66 95 +f 50 78 95 +f 45 67 96 +f 85 57 96 +f 73 56 97 +f 46 74 97 +f 74 50 97 +f 89 46 97 +f 56 89 97 +f 50 95 97 +f 95 73 97 +f 60 56 98 +f 81 48 98 +f 56 81 98 +f 57 85 98 +f 85 60 98 +f 75 45 99 +f 48 75 99 +f 45 96 99 +f 96 57 99 +f 98 48 99 +f 57 98 99 +f 72 48 100 +f 63 72 100 +f 48 81 100 +f 81 59 100 +f 59 86 100 +f 86 63 100 +f 76 43 101 +f 64 76 101 +f 43 80 101 +f 80 64 101 +f 67 51 102 +f 51 84 102 +f 84 65 102 +f 65 93 102 +f 93 85 102 +f 96 67 102 +f 85 96 102 +f 49 69 103 +f 75 58 103 +f 69 82 103 +f 82 75 103 +f 58 87 103 +f 87 49 103 +f 68 47 104 +f 55 68 104 +f 47 71 104 +f 71 55 104 +f 56 60 105 +f 60 65 105 +f 84 46 105 +f 65 84 105 +f 46 89 105 +f 89 56 105 +f 47 52 106 +f 52 44 106 +f 71 47 106 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf new file mode 100644 index 000000000..7790f43e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj new file mode 100644 index 000000000..23426a74d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.975624 -3.021526 -0.026583 +v 0.952191 3.020512 1.095558 +v 1.009786 0.286963 -0.889702 +v -0.946826 3.049716 -0.947072 +v -1.033219 2.991917 1.009289 +v 0.923393 -2.905930 1.009289 +v 1.038584 -2.992323 -0.947072 +v -1.004421 -2.935133 -1.090925 +v -0.918029 -3.107311 1.038188 +v 0.952191 3.107513 -0.918387 +v -0.774041 -2.618156 1.066873 +v 0.261455 3.107513 -0.055054 +v 0.952191 -0.115191 1.066873 +v -0.975624 1.293868 -1.004442 +v -0.774041 -2.819537 -1.090925 +v 1.038584 -2.963728 -0.630467 +v 0.491632 2.905524 1.095558 +v 1.009786 0.286963 -0.947072 +v -1.033219 2.128595 1.009289 +v -1.033219 2.962714 0.635099 +v 0.290455 3.077702 -0.947072 +v 0.952191 -2.934525 0.807852 +v -0.946826 -2.790334 1.038188 +v 0.261455 0.632535 1.095558 +v -1.004421 -2.273192 -1.090925 +v 0.865798 -2.963120 -0.975971 +v -0.918029 2.790536 -0.975757 +v 0.060075 -3.021526 1.037974 +v 1.038584 -1.726239 -0.889702 +v 0.980988 2.272786 -0.889702 +v -0.975624 0.402559 1.038188 +v -1.033219 0.718928 0.232225 +v -0.975624 3.049716 -0.630681 +v -0.918029 -3.107311 0.865222 +v 0.002682 3.107513 -0.314075 +v 0.635620 -2.388180 1.038188 +v 0.952191 1.668035 1.095558 +v -0.774041 -3.107920 1.037974 +v -0.630256 2.991917 1.037974 +v -1.004421 -2.905930 -0.860803 +v -1.004421 3.021121 0.491246 +v -0.946826 -2.272584 -1.090925 +v -0.601458 3.078310 -0.745635 +v -0.946826 -3.078716 0.520145 +v -1.033219 0.776118 0.174641 +v 0.060075 -2.963728 -1.033556 +v 0.952191 3.107513 -0.803219 +v 1.038584 -2.992323 -0.889702 +v 0.204062 0.689725 1.095558 +v 0.923393 -1.956215 1.037974 +v 0.952191 -0.661536 1.037974 +v 0.894596 -2.934525 1.009289 +v -0.946826 -3.078716 0.865222 +v 0.750811 3.107513 -0.918387 +v -0.687851 -2.560966 1.066873 +v 0.261455 -2.935133 1.037974 +v 0.980988 0.516939 -0.947072 +v 0.405443 3.107513 -0.141323 +v 0.002682 -2.963728 -1.033556 +v 0.865798 3.020512 1.095558 +v -0.313685 3.078310 -0.947072 +v 1.038584 -1.697036 -0.947072 +v -0.774041 -2.473965 1.066873 +v -0.659054 2.876929 1.037974 +f 31 49 64 +f 19 5 20 +f 9 11 23 +f 2 17 24 +f 15 8 25 +f 14 4 27 +f 25 14 27 +f 3 2 29 +f 2 16 29 +f 16 7 29 +f 2 3 30 +f 18 10 30 +f 5 19 31 +f 23 11 31 +f 19 23 31 +f 19 20 32 +f 23 19 32 +f 4 14 33 +f 20 5 33 +f 14 20 33 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+f 21 27 61 +f 4 43 61 +f 54 10 61 +f 43 54 61 +f 7 26 62 +f 26 18 62 +f 3 29 62 +f 29 7 62 +f 30 3 62 +f 18 30 62 +f 31 11 63 +f 11 49 63 +f 49 31 63 +f 5 31 64 +f 39 5 64 +f 17 39 64 +f 49 17 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf new file mode 100644 index 000000000..c1f79badd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj new file mode 100644 index 000000000..9af0b8dad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj @@ -0,0 +1,600 @@ +o convex_0 +v -0.983824 -2.338834 -1.784196 +v 1.074952 -2.073188 1.535786 +v 1.041665 -1.907394 1.900903 +v 0.809075 -1.011023 -1.219553 +v -0.851093 -0.977739 1.203437 +v -0.751442 -2.837049 2.000373 +v 0.742710 -2.870125 -2.049841 +v -0.120453 -1.376311 -2.713955 +v 0.045356 -1.276668 2.731191 +v 0.775997 -2.870125 2.099844 +v -0.054088 -3.102695 -2.017075 +v -0.817807 -0.977739 -1.153435 +v 0.908727 -0.977739 1.204022 +v 1.008379 -2.073188 -2.049841 +v -1.017110 -2.040113 2.000373 +v 0.078643 -2.903408 2.731191 +v -0.784520 -2.139756 -2.746722 +v 0.775997 -2.172832 -2.746722 +v 0.775997 -2.073396 2.763958 +v -0.718155 -2.040113 2.764543 +v -0.817807 -2.837049 -1.983137 +v -1.017110 -0.977739 -0.024149 +v 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148 157 204 +f 180 148 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf new file mode 100644 index 000000000..fc05354c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj new file mode 100644 index 000000000..e45258431 --- 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0.736767 0.747194 +v -1.048502 -3.634850 0.663933 +v -1.027669 -3.634850 0.663933 +v -0.569730 0.736767 0.643107 +v -0.611396 -3.634850 0.705533 +v -1.006836 0.736767 0.663933 +v -1.048502 -3.634850 0.726368 +v -0.548945 -3.634850 0.663953 +v -0.548945 0.736767 0.684768 +v -1.027669 0.632355 0.747183 +v -0.548945 -1.054072 0.643107 +v -1.006836 -0.970628 0.747183 +v -1.048502 -1.677550 0.663933 +f 573 576 579 +f 568 569 571 +f 567 570 572 +f 568 571 573 +f 571 569 574 +f 571 574 575 +f 570 567 575 +f 567 571 575 +f 567 572 576 +f 569 568 577 +f 568 570 577 +f 574 569 577 +f 575 574 577 +f 570 575 577 +f 571 567 578 +f 573 571 578 +f 567 576 578 +f 576 573 578 +f 570 568 579 +f 572 570 579 +f 568 573 579 +f 576 572 579 +o convex_48 +v 1.553749 1.153018 1.121916 +v 2.948167 1.278015 1.101107 +v 2.948167 0.736837 1.225976 +v 2.948167 0.716013 1.101107 +v 0.596281 0.778483 1.225976 +v 0.596281 1.278015 1.205152 +v 0.700569 0.840953 1.163520 +v 2.719102 1.278015 1.080284 +v 0.721288 1.278015 1.163520 +v 2.781491 1.278015 1.121916 +v 2.906498 0.695190 1.225976 +v 0.596281 0.778483 1.184343 +f 583 590 591 +f 581 582 583 +f 584 582 585 +f 580 583 586 +f 581 583 587 +f 583 580 587 +f 585 581 587 +f 585 587 588 +f 580 586 588 +f 587 580 588 +f 582 581 589 +f 585 582 589 +f 581 585 589 +f 583 582 590 +f 582 584 590 +f 590 584 591 +f 584 585 591 +f 586 583 591 +f 585 588 591 +f 588 586 591 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf new file mode 100644 index 000000000..70d5dcd7b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj new file mode 100644 index 000000000..02a51952d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj @@ -0,0 +1,351 @@ +o convex_0 +v -1.007037 -1.949810 -0.735717 +v 1.035510 0.161840 1.029750 +v 1.070241 -0.149957 0.613913 +v 1.104973 -3.681067 0.960408 +v -1.007037 -3.681067 0.995079 +v 1.070241 -3.819818 -0.978201 +v -0.937574 0.161840 -0.978201 +v 1.104973 0.161840 -1.116884 +v -1.007037 0.161840 0.925738 +v -1.007037 -3.785130 -1.047542 +v -0.522242 -3.819818 0.544782 +v -0.314473 -2.296296 1.029750 +v 1.104973 -2.919112 0.995079 +v 1.104973 -3.750443 0.371639 +v -0.764536 0.127153 0.960408 +v 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2.204414 0.510111 +f 116 99 120 +f 80 81 89 +f 87 82 89 +f 82 84 90 +f 90 84 91 +f 91 79 93 +f 90 88 94 +f 84 82 95 +f 82 87 95 +f 88 90 96 +f 80 89 97 +f 90 91 98 +f 96 90 98 +f 94 88 99 +f 96 83 99 +f 90 94 100 +f 97 90 100 +f 94 97 100 +f 95 87 101 +f 99 83 102 +f 85 99 102 +f 86 83 103 +f 83 98 103 +f 89 82 104 +f 82 90 104 +f 97 89 104 +f 90 97 104 +f 101 87 106 +f 93 101 106 +f 81 80 107 +f 85 81 107 +f 80 97 107 +f 97 94 107 +f 99 85 107 +f 94 99 107 +f 91 93 108 +f 105 86 108 +f 93 105 108 +f 81 85 109 +f 89 81 109 +f 106 92 110 +f 93 106 110 +f 79 91 111 +f 91 84 111 +f 84 95 111 +f 101 79 111 +f 95 101 111 +f 83 86 112 +f 102 83 112 +f 86 102 112 +f 93 79 113 +f 79 101 113 +f 101 93 113 +f 83 96 114 +f 98 83 114 +f 96 98 114 +f 98 91 115 +f 86 103 115 +f 103 98 115 +f 108 86 115 +f 91 108 115 +f 88 96 116 +f 96 99 116 +f 109 85 117 +f 92 109 117 +f 85 110 117 +f 110 92 117 +f 87 89 118 +f 106 87 118 +f 92 106 118 +f 89 109 118 +f 109 92 118 +f 102 86 119 +f 85 102 119 +f 86 105 119 +f 105 93 119 +f 110 85 119 +f 93 110 119 +f 99 88 120 +f 88 116 120 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf new file mode 100644 index 000000000..83de6ea6c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj new file mode 100644 index 000000000..3ec7c51db --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj @@ -0,0 +1,1218 @@ +o convex_0 +v -0.500285 -0.424505 -2.945677 +v -0.591821 -0.571084 -1.255183 +v -0.585722 -0.571084 -1.255183 +v -0.506384 0.277330 -1.261320 +v -0.500285 0.210145 -1.255375 +v -0.500285 -0.516107 -2.988442 +v -0.506384 -0.497753 -3.116548 +v -0.597929 -0.540523 -1.188254 +v -0.585722 -0.546585 -1.163707 +v -0.506384 0.271185 -1.285867 +v -0.500285 0.271185 -1.285867 +f 10 4 11 +f 3 2 6 +f 1 5 6 +f 6 2 7 +f 1 6 7 +f 7 2 8 +f 2 3 9 +f 5 4 9 +f 3 6 9 +f 6 5 9 +f 8 2 9 +f 4 8 9 +f 1 7 10 +f 8 4 10 +f 7 8 10 +f 5 1 11 +f 4 5 11 +f 1 10 11 +o convex_1 +v -0.073056 -0.052317 -3.263256 +v -0.500276 -0.503861 -3.251047 +v -0.500276 -0.503861 -3.220543 +v -0.073056 -0.540566 -3.208333 +v -0.469748 -0.052317 -3.214446 +v -0.372018 -0.381799 -3.263256 +v -0.079203 -0.052317 -3.251041 +v -0.085309 -0.534400 -3.220548 +v -0.475854 -0.095092 -3.226645 +v 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137 +f 114 128 137 +f 129 124 137 +f 128 129 137 +f 125 114 138 +f 114 127 138 +f 131 125 138 +f 127 131 138 +f 134 115 139 +f 119 134 139 +f 115 136 139 +f 136 126 139 +f 126 140 141 +f 119 139 141 +f 139 126 141 +f 140 119 141 +f 114 125 142 +f 125 133 142 +f 133 114 142 +f 111 118 143 +f 118 119 143 +f 130 121 143 +f 130 143 144 +f 117 130 144 +f 140 117 144 +f 119 140 144 +f 143 119 144 +f 126 122 145 +f 130 117 145 +f 122 130 145 +f 117 140 145 +f 140 126 145 +f 133 132 146 +f 123 133 146 +f 118 111 147 +f 121 123 147 +f 132 118 147 +f 111 143 147 +f 143 121 147 +f 123 146 147 +o convex_5 +v -1.188658 -1.156241 1.636151 +v -3.105407 -1.360291 1.024375 +v -3.105407 -1.360291 1.187552 +v -3.023830 -0.748440 1.473043 +v -1.107082 -0.748440 1.106032 +v -1.107082 -1.319445 1.146826 +v -2.901368 -1.360291 1.717808 +v -3.105407 -0.870858 1.024375 +v -1.311120 -0.789286 1.595357 +v -1.107082 -1.360291 1.636151 +v -3.023830 -0.748440 1.595357 +v -2.982944 -1.156241 1.717808 +v -1.107082 -0.830072 1.595357 +v -2.819792 -0.830072 1.024375 +v -2.452796 -1.197087 1.717808 +v -2.901368 -1.360291 1.024375 +v -1.188658 -1.360291 1.269140 +v -1.107082 -0.993276 1.106032 +f 163 161 165 +f 150 149 154 +f 149 150 155 +f 153 152 157 +f 154 149 157 +f 152 151 158 +f 155 150 158 +f 151 155 158 +f 156 152 158 +f 156 158 159 +f 150 154 159 +f 158 150 159 +f 152 156 160 +f 157 152 160 +f 148 157 160 +f 151 152 161 +f 149 155 161 +f 155 151 161 +f 154 157 162 +f 157 148 162 +f 156 159 162 +f 159 154 162 +f 160 156 162 +f 148 160 162 +f 157 149 163 +f 149 161 163 +f 153 157 164 +f 163 153 164 +f 157 163 164 +f 152 153 165 +f 161 152 165 +f 153 163 165 +o convex_6 +v 2.931033 -0.952458 1.758526 +v 2.971851 -1.319390 1.024447 +v 2.971851 -1.278643 1.024447 +v 1.136571 -0.870894 1.065265 +v 1.136571 -1.441772 1.676890 +v 2.971851 -0.748440 1.065265 +v 1.136571 -0.830148 1.595325 +v 3.053488 -1.400954 1.717708 +v 1.136571 -1.482590 1.187648 +v 3.094306 -0.870894 1.758526 +v 3.053488 -1.360208 1.146830 +v 1.707833 -1.197079 1.717708 +v 1.136571 -0.993276 1.065265 +v 1.748651 -0.789330 1.391451 +v 3.053488 -1.237825 1.024447 +f 176 167 180 +f 168 167 169 +f 169 170 172 +f 170 169 174 +f 173 170 174 +f 166 173 175 +f 175 173 176 +f 174 167 176 +f 173 174 176 +f 172 170 177 +f 173 166 177 +f 170 173 177 +f 175 172 177 +f 166 175 177 +f 169 167 178 +f 167 174 178 +f 174 169 178 +f 171 169 179 +f 169 172 179 +f 175 171 179 +f 172 175 179 +f 167 168 180 +f 168 169 180 +f 169 171 180 +f 171 175 180 +f 175 176 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf new file mode 100644 index 000000000..dc4ece940 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj new file mode 100644 index 000000000..8a90e2b4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj @@ -0,0 +1,438 @@ +o convex_0 +v 0.994941 -4.309380 -1.071524 +v 1.105935 -2.828636 0.816265 +v 0.143353 -2.828480 1.001665 +v -0.967221 -2.828480 -0.997535 +v -0.930223 -4.309380 0.927676 +v -1.004219 -4.420490 -0.997535 +v 0.994941 -4.235358 0.964670 +v 0.994941 -2.828636 -0.997535 +v -1.041217 -2.828480 0.964670 +v 1.068937 -2.902657 1.075868 +v 1.031939 -4.272291 -1.108732 +v -0.967221 -4.050226 0.964670 +v 1.068937 -4.124248 -0.960540 +v -1.004219 -4.420490 -0.627162 +v 0.587751 -4.272291 0.964670 +v 1.031939 -4.013137 1.001451 +v 1.031939 -3.458053 -1.071524 +v -1.004219 -3.347099 -0.997535 +v -0.559821 -4.309380 0.964670 +v 0.735744 -4.272291 -1.108732 +v 1.105935 -2.828636 0.372331 +v 1.031939 -4.272291 0.261133 +v -0.708024 -4.420490 -0.923332 +v -1.041217 -3.161967 0.964670 +v -1.041217 -2.828480 0.520309 +v 0.957943 -2.828636 1.075868 +v 0.994941 -2.902657 -1.034316 +v 1.031939 -2.902657 -0.849129 +v -0.893225 -4.346313 0.668500 +v 0.994941 -4.013137 -1.108732 +v -0.967221 -4.346313 0.520309 +v -0.522823 -4.383401 -1.034529 +v 1.068937 -4.087159 -0.701151 +v -1.004219 -4.383401 -0.367987 +v -0.930223 -4.420490 -0.627162 +v 1.068937 -3.420964 1.001451 +f 16 33 36 +f 4 3 8 +f 3 4 9 +f 15 7 16 +f 13 11 17 +f 12 5 19 +f 10 12 19 +f 16 10 19 +f 15 16 19 +f 3 2 21 +f 8 3 21 +f 2 13 21 +f 1 11 22 +f 11 13 22 +f 7 15 22 +f 16 7 22 +f 6 1 23 +f 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+v -1.078295 -2.272728 1.001581 +v 1.068959 -0.977468 -1.034380 +v -1.004139 -1.347812 -1.071342 +v 1.068959 -0.421717 -0.553220 +v 0.587708 -0.458940 -1.071342 +v 1.106145 -2.754034 1.075505 +v 0.180395 -0.421717 1.001581 +v 1.031990 -2.828480 -0.775428 +v 1.106145 -2.013818 1.075505 +v -1.041326 -0.903494 0.964619 +v -0.930201 -2.272728 -1.034380 +v -1.078295 -2.717282 0.927439 +v 0.995021 -0.829283 1.038543 +v 0.995021 -0.570137 1.001581 +v 1.068959 -2.309951 1.112685 +v -0.967170 -0.458940 -1.108522 +v -1.115482 -2.198754 0.927439 +f 59 41 66 +f 42 40 44 +f 43 41 45 +f 44 40 46 +f 43 45 47 +f 44 46 48 +f 39 48 50 +f 48 46 50 +f 43 40 51 +f 38 41 52 +f 44 38 52 +f 43 47 53 +f 41 43 54 +f 51 42 54 +f 43 51 54 +f 46 40 55 +f 49 46 55 +f 40 49 55 +f 47 45 56 +f 40 42 57 +f 42 51 57 +f 51 40 57 +f 40 43 58 +f 37 49 58 +f 49 40 58 +f 53 37 58 +f 43 53 58 +f 45 41 59 +f 39 50 59 +f 50 45 59 +f 42 44 60 +f 44 52 60 +f 39 38 61 +f 38 44 61 +f 48 39 61 +f 44 48 61 +f 49 37 62 +f 47 56 62 +f 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-3.071169 +v 1.106145 1.688785 0.260891 +v 1.068959 -0.125312 3.037910 +v -0.004668 0.800004 3.112359 +v 0.809740 1.725754 -2.996720 +v 1.106145 1.762723 1.260811 +v -1.041326 -0.236436 -0.996879 +v 0.920865 1.244286 3.112359 +v -0.967170 0.800004 -3.071169 +v -0.930201 -0.421717 -3.033642 +v 0.920865 1.799910 -2.959193 +v -1.004357 0.467064 3.037910 +v 0.661646 1.725754 3.112359 +v -1.004357 1.170130 -2.885349 +v -0.560075 1.651599 -3.071169 +v -0.967170 1.614630 2.963460 +v 1.031990 -0.051373 -3.033642 +v 0.735802 -0.310592 3.037304 +v -0.263669 1.799910 3.000988 +v -1.004357 -0.273405 3.074832 +v -1.078295 1.799910 1.038069 +v -1.115482 1.318442 -1.367309 +v 1.031990 1.318442 -2.996720 +v -1.004357 1.762723 2.482264 +f 111 89 114 +f 68 69 78 +f 71 73 78 +f 73 71 79 +f 76 67 79 +f 69 77 80 +f 77 72 80 +f 74 72 81 +f 72 77 81 +f 77 74 81 +f 78 69 82 +f 69 80 82 +f 79 67 83 +f 83 67 85 +f 74 83 85 +f 80 70 88 +f 82 80 88 +f 78 73 90 +f 71 78 92 +f 78 82 92 +f 88 71 92 +f 82 88 92 +f 69 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-1.108312 +v -1.115482 1.874088 -0.960544 +v -1.004357 3.651215 1.038630 +v 1.031990 3.799374 1.038420 +v 1.031990 1.800106 -0.997328 +v -0.930201 3.651215 -1.034323 +v -1.078295 1.799910 1.038630 +v 1.106145 1.800106 0.927437 +v 1.068959 3.614028 -1.108312 +v -1.115482 1.799910 -0.960544 +v -0.782107 3.688010 -0.923550 +v 1.068959 3.761992 0.372099 +v 1.068959 2.244388 -1.034323 +v -0.745138 1.948069 -0.997328 +v 0.735584 3.799374 0.705260 +v 1.068959 3.614028 1.038420 +v -0.967170 3.391887 -1.034323 +v -1.078295 2.244388 1.038630 +v 1.106145 1.911274 0.964431 +v 1.068959 3.651019 -0.923339 +v 0.957834 3.243728 -1.108312 +v 1.106145 1.800106 0.372099 +v 1.106145 2.429538 0.890442 +v -0.634013 1.799910 1.038630 +v -0.967170 3.058578 -1.034323 +v -0.634013 3.688010 1.038630 +v -1.004357 3.651215 0.853448 +v -0.560075 3.651215 -1.071528 +v 1.068959 1.948069 -0.997328 +v -1.115482 1.837097 -0.552974 +v 0.439614 3.651215 -1.071317 +v -0.782107 3.688010 -0.442201 +v 0.772771 3.799374 1.038420 +v 0.476583 1.800106 -0.997328 +f 130 137 150 +f 116 117 125 +f 120 128 131 +f 128 120 132 +f 126 118 133 +f 123 119 134 +f 115 124 135 +f 131 128 136 +f 116 125 137 +f 125 129 137 +f 130 116 137 +f 129 125 138 +f 135 124 138 +f 128 132 139 +f 132 135 139 +f 125 136 139 +f 136 128 139 +f 138 125 139 +f 135 138 139 +f 119 123 140 +f 124 115 140 +f 126 121 140 +f 123 126 140 +f 115 135 140 +f 135 132 140 +f 138 124 140 +f 121 138 140 +f 116 130 141 +f 130 126 141 +f 126 133 141 +f 132 120 142 +f 119 140 142 +f 140 132 142 +f 118 119 143 +f 119 127 143 +f 127 122 143 +f 133 118 143 +f 122 133 143 +f 117 116 144 +f 122 127 144 +f 133 122 144 +f 116 141 144 +f 141 133 144 +f 121 129 145 +f 138 121 145 +f 129 138 145 +f 119 118 146 +f 118 126 146 +f 126 123 146 +f 134 119 146 +f 123 134 146 +f 125 117 147 +f 127 131 147 +f 136 125 147 +f 131 136 147 +f 117 144 147 +f 144 127 147 +f 127 119 148 +f 131 127 148 +f 119 142 148 +f 142 131 148 +f 120 131 149 +f 142 120 149 +f 131 142 149 +f 121 126 150 +f 129 121 150 +f 126 130 150 +f 137 129 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf new file mode 100644 index 000000000..df6d1fe98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj new file mode 100644 index 000000000..aa374a3c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj @@ -0,0 +1,351 @@ +o convex_0 +v 0.328040 5.560790 0.251459 +v -0.323245 7.188886 0.218818 +v -0.323245 7.188886 0.316613 +v -0.258027 3.476966 -0.041543 +v 0.230309 7.449024 -0.334672 +v 0.197732 3.476966 -0.204364 +v -0.258027 5.918916 -0.334672 +v -0.192937 3.476966 0.284036 +v 0.197732 7.449024 0.316613 +v -0.192937 7.351423 -0.269518 +v 0.197732 3.476966 0.186241 +v -0.258027 3.575344 -0.236941 +v 0.197732 5.138114 -0.334672 +v 0.328040 5.301041 0.284036 +v -0.323245 7.416749 0.251459 +v 0.230309 5.268377 -0.302095 +v -0.290604 5.625727 -0.302095 +v 0.262886 6.635559 0.316549 +v -0.290604 4.975188 0.186241 +v -0.258027 5.170777 -0.334672 +v -0.062693 3.476966 0.284036 +v 0.328040 5.365978 0.218882 +v 0.132578 7.449024 -0.334672 +v -0.127783 7.449024 0.316613 +v -0.225514 7.384087 -0.171850 +v 0.262886 6.309706 0.316549 +v 0.230309 7.449024 -0.106697 +v -0.290604 5.365978 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-0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj new file mode 100644 index 000000000..4465b4eea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj @@ -0,0 +1,411 @@ +o convex_0 +v -0.845050 -3.464474 -0.469712 +v -0.754419 0.977941 1.071443 +v -0.965892 0.977941 1.071443 +v -0.724209 0.977941 -1.013913 +v 0.967981 -3.524824 0.920186 +v 0.967981 0.977941 -0.983498 +v 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0.799352 +v -1.086899 2.005413 -0.590466 +v 0.182123 2.549301 1.010765 +v 0.545051 2.670404 -0.348822 +v -1.086899 2.458681 0.950302 +v -0.814805 2.579453 -1.013499 +v 0.998405 0.978106 -0.499979 +v 0.998405 2.005413 0.436574 +v 0.605471 2.639921 0.255393 +v -0.814805 2.609935 1.101459 +v -1.056689 1.612780 1.101459 +v -0.754385 0.977941 1.071228 +v -0.724175 0.977941 -1.013499 +v 0.786731 2.337909 0.950509 +v 0.937780 2.518984 0.829583 +v 0.967990 0.978106 0.859607 +v -1.056689 2.519149 -0.318590 +v 0.484631 2.670404 -0.560442 +f 127 120 141 +f 108 109 116 +f 112 108 116 +f 116 109 119 +f 104 116 119 +f 107 108 120 +f 108 112 120 +f 115 107 120 +f 105 106 121 +f 107 115 121 +f 118 113 122 +f 114 118 122 +f 116 104 125 +f 112 116 125 +f 118 114 126 +f 115 120 127 +f 104 119 128 +f 113 123 128 +f 120 112 129 +f 112 123 129 +f 123 120 129 +f 111 107 130 +f 121 106 130 +f 107 121 130 +f 105 121 131 +f 121 115 131 +f 124 105 131 +f 115 124 131 +f 117 115 132 +f 115 127 132 +f 132 127 133 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a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj new file mode 100644 index 000000000..bce1828c3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj @@ -0,0 +1,453 @@ +o convex_0 +v -0.224935 0.553653 2.116181 +v 0.438544 -0.615876 3.095649 +v 0.501847 -0.615759 3.063943 +v -0.509398 -0.457736 1.357330 +v 0.470253 0.553535 1.357330 +v -0.541107 0.585281 3.222092 +v 0.596744 0.521907 3.285314 +v -0.541107 -0.552620 3.190387 +v 0.470138 -0.489364 1.357330 +v 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145 +f 139 141 145 +f 141 142 145 +f 138 142 147 +f 142 141 147 +f 143 138 147 +f 147 141 148 +f 143 147 148 +f 141 139 150 +f 143 144 150 +f 142 146 151 +f 140 149 151 +f 149 142 151 +f 142 138 152 +f 138 143 152 +f 146 142 152 +f 140 145 153 +f 145 142 153 +f 149 140 153 +f 142 149 153 +f 144 143 154 +f 143 148 154 +f 148 144 154 +f 144 148 155 +f 148 141 155 +f 141 150 155 +f 150 144 155 +f 139 140 156 +f 150 139 156 +f 143 150 156 +f 140 151 156 +f 151 146 156 +f 152 143 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf new file mode 100644 index 000000000..2fad54f3e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj new file mode 100644 index 000000000..8d19ad4de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj @@ -0,0 +1,582 @@ +o convex_0 +v -4.202159 -0.230369 -0.305880 +v -4.832878 0.368600 0.198616 +v -4.832878 0.368600 0.167069 +v -2.909721 0.273954 -0.022086 +v -3.004444 -0.293443 0.293255 +v -4.769729 -0.325014 0.293255 +v -4.801303 0.305526 -0.274334 +v -3.004444 -0.261940 -0.274334 +v -2.909721 0.242451 0.261708 +v -4.864452 -0.198865 -0.337427 +v -2.909721 0.273954 -0.211241 +v -4.864452 0.337029 0.230162 +v -2.909721 -0.261940 -0.242788 +v -4.454370 -0.135791 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226 +f 202 222 226 +f 189 223 226 +f 223 202 226 +f 224 189 226 +f 221 224 226 +f 211 193 227 +f 198 211 227 +f 193 214 227 +f 214 198 227 +f 194 217 228 +f 217 200 228 +f 200 222 228 +f 222 194 228 +f 212 198 229 +f 203 212 229 +f 198 214 229 +f 214 203 229 +f 197 209 230 +f 215 197 230 +f 209 218 230 +o convex_6 +v -0.984545 0.666321 -0.266792 +v -0.924844 0.785527 0.299988 +v -0.924844 1.024174 0.270140 +v -1.193292 0.934691 0.270140 +v -0.954721 0.308311 0.210444 +v -1.193292 0.875009 -0.266792 +v -1.193292 0.457555 -0.028063 +v -0.924844 0.994294 -0.236944 +v -1.193292 1.113735 0.001785 +v -0.924844 0.457555 -0.177192 +v -1.193292 0.517236 0.240292 +v -1.193292 0.547037 -0.236944 +v -0.924844 1.113735 0.001785 +v -0.924844 0.487356 0.299988 +v -0.924844 0.308311 0.061314 +v -1.193292 1.113735 0.061314 +f 243 239 246 +f 232 233 234 +f 234 236 237 +f 233 232 238 +f 231 236 238 +f 238 236 239 +f 236 234 239 +f 238 232 240 +f 231 238 240 +f 237 235 241 +f 234 237 241 +f 236 231 242 +f 237 236 242 +f 231 240 242 +f 233 238 243 +f 238 239 243 +f 232 234 244 +f 240 232 244 +f 234 241 244 +f 241 235 244 +f 235 237 245 +f 237 242 245 +f 242 240 245 +f 240 244 245 +f 244 235 245 +f 234 233 246 +f 239 234 246 +f 233 243 246 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf new file mode 100644 index 000000000..9dee730ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj new file mode 100644 index 000000000..0ea7edefa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj @@ -0,0 +1,180 @@ +o convex_0 +v 1.042039 2.969912 0.421837 +v -1.102241 2.447914 -1.113891 +v -1.102241 2.447914 -1.055602 +v 0.984051 -3.085631 -0.737139 +v -0.986264 -2.999235 1.001112 +v -0.986264 3.027308 1.059401 +v 1.100028 -2.853632 1.030256 +v -0.957162 -2.969631 -0.997738 +v 0.926062 3.027912 -0.968806 +v 1.100028 2.940308 0.943248 +v 0.926062 -3.056631 -0.939874 +v -1.102241 3.085912 -1.113891 +v 1.070925 -2.998631 1.030256 +v -0.638548 -3.086235 0.653717 +v -0.406595 3.085912 0.508419 +v 1.100028 2.940308 0.711580 +v -0.986264 -2.419237 -1.026670 +v 0.781199 2.911308 -0.997951 +v -0.696537 3.027912 1.059401 +v -0.435697 -3.086235 -0.534190 +v -0.986264 1.549521 1.059401 +v -1.102241 3.085912 -0.823934 +v -0.899173 2.621913 -1.113678 +v 1.100028 -1.781239 1.030256 +v 0.056666 -2.998631 1.030256 +v -0.928275 -2.766632 -1.026670 +v 0.954949 -0.303452 -0.939874 +v -0.986264 -2.969631 -0.099575 +v -1.015150 3.056308 0.682436 +v 0.752312 2.940308 0.972392 +v 1.070925 -3.028235 0.711580 +v 0.665222 -3.085631 -0.939874 +v -0.667435 3.085912 -1.084533 +v -0.928275 -2.998631 -0.910730 +v 0.954949 -2.940631 -0.939874 +v 0.954949 2.998912 -0.737139 +v 1.100028 -2.506237 0.972180 +v -0.986264 -1.086450 1.030256 +v -0.870287 3.056912 1.001324 +v 0.984051 -3.085631 -0.563122 +v -0.870287 3.085912 -1.113678 +v -0.348822 -2.998631 -0.997738 +v -1.015150 2.273914 -1.113891 +v -0.609446 3.085912 0.595640 +v -0.377708 -3.086235 0.566496 +v -0.986264 -2.999235 0.189956 +v 0.839187 2.969308 0.885384 +v 1.100028 1.665521 0.972180 +v 0.926062 0.506128 -0.968806 +v -0.812298 -2.998631 -0.997738 +v -0.638548 -3.086235 0.363760 +v 0.926062 3.027912 -0.882011 +v -1.073138 3.085912 -0.447182 +v 0.172643 3.056912 -1.026883 +v 0.781199 3.027912 -0.997951 +v 1.070925 -3.028235 0.566708 +v -0.493470 -3.086235 -0.476327 +v 1.100028 2.824913 0.711580 +v 0.868074 2.969308 0.856452 +v -0.203958 2.998912 1.030256 +v -0.928275 3.056912 1.001324 +f 44 53 61 +f 3 2 5 +f 2 3 12 +f 9 1 16 +f 1 10 16 +f 10 7 16 +f 13 7 21 +f 7 19 21 +f 19 6 21 +f 3 5 22 +f 12 3 22 +f 15 12 22 +f 7 10 24 +f 19 7 24 +f 5 14 25 +f 14 13 25 +f 13 21 25 +f 17 2 26 +f 8 17 26 +f 16 4 27 +f 2 17 28 +f 17 8 28 +f 21 6 29 +f 22 5 29 +f 7 13 31 +f 13 14 31 +f 11 4 32 +f 4 20 32 +f 12 15 33 +f 4 11 35 +f 11 23 35 +f 23 18 35 +f 27 4 35 +f 9 27 35 +f 9 16 36 +f 27 9 36 +f 16 27 36 +f 16 7 37 +f 5 25 38 +f 25 21 38 +f 29 5 38 +f 21 29 38 +f 19 10 39 +f 4 31 40 +f 18 23 41 +f 12 33 41 +f 11 32 42 +f 2 12 43 +f 23 11 43 +f 26 2 43 +f 12 41 43 +f 41 23 43 +f 11 42 43 +f 42 26 43 +f 15 22 44 +f 39 15 44 +f 20 4 45 +f 14 20 45 +f 31 14 45 +f 4 40 45 +f 40 31 45 +f 5 2 46 +f 14 5 46 +f 2 28 46 +f 28 8 46 +f 8 34 46 +f 39 10 47 +f 15 39 47 +f 24 10 48 +f 10 30 48 +f 30 24 48 +f 18 9 49 +f 9 35 49 +f 35 18 49 +f 8 26 50 +f 32 20 50 +f 20 34 50 +f 34 8 50 +f 26 42 50 +f 42 32 50 +f 20 14 51 +f 14 46 51 +f 46 34 51 +f 1 9 52 +f 9 15 52 +f 22 29 53 +f 44 22 53 +f 15 9 54 +f 33 15 54 +f 41 33 54 +f 41 54 55 +f 9 18 55 +f 18 41 55 +f 54 9 55 +f 31 4 56 +f 7 31 56 +f 4 37 56 +f 37 7 56 +f 34 20 57 +f 20 51 57 +f 51 34 57 +f 4 16 58 +f 37 4 58 +f 16 37 58 +f 10 1 59 +f 47 10 59 +f 15 47 59 +f 1 52 59 +f 52 15 59 +f 10 19 60 +f 19 24 60 +f 30 10 60 +f 24 30 60 +f 6 19 61 +f 29 6 61 +f 19 39 61 +f 39 44 61 +f 53 29 61 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf new file mode 100644 index 000000000..5787d7c8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj new file mode 100644 index 000000000..518f6d330 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj @@ -0,0 +1,399 @@ +o convex_0 +v -0.474652 0.588810 2.003991 +v 0.615123 0.664018 3.770345 +v 0.615123 0.588810 3.770345 +v -0.624957 1.603704 3.920754 +v 0.539970 1.603704 1.891135 +v -0.624957 0.551206 3.845450 +v -0.474652 1.565997 1.891135 +v 0.464817 0.551206 1.891135 +v 0.539970 1.565997 3.770345 +v 0.577607 1.415581 1.891135 +v -0.174041 0.551206 1.891135 +v 0.201722 0.551206 3.807898 +v -0.587441 1.603704 3.244015 +v 0.577607 1.565997 2.605426 +v 0.502455 0.664018 3.807898 +v -0.249194 1.603704 3.883003 +v -0.474652 0.964746 1.891135 +v -0.624957 0.551206 3.732793 +v 0.539970 0.551206 2.793386 +v -0.512289 1.453185 2.229504 +v 0.464817 1.565997 3.807898 +v -0.512289 1.490789 3.920754 +v -0.324346 0.551206 3.845450 +v -0.512289 0.551206 2.455017 +v -0.437136 0.588810 1.891135 +v -0.624957 1.603704 3.732793 +v 0.577607 1.565997 1.891135 +f 5 14 27 +f 7 5 8 +f 2 3 10 +f 8 5 10 +f 7 8 11 +f 8 6 11 +f 6 8 12 +f 4 5 13 +f 5 7 13 +f 9 2 14 +f 5 9 14 +f 3 2 15 +f 12 3 15 +f 5 4 16 +f 9 5 16 +f 7 11 17 +f 6 4 18 +f 11 6 18 +f 17 1 18 +f 10 3 19 +f 8 10 19 +f 3 12 19 +f 12 8 19 +f 13 7 20 +f 7 17 20 +f 17 18 20 +f 2 9 21 +f 15 2 21 +f 9 16 21 +f 21 16 22 +f 4 6 22 +f 16 4 22 +f 15 21 22 +f 15 22 23 +f 6 12 23 +f 12 15 23 +f 22 6 23 +f 18 1 24 +f 11 18 24 +f 1 17 25 +f 17 11 25 +f 24 1 25 +f 11 24 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+v 1.288461 2.484221 0.561694 +v 2.090649 2.837137 0.272897 +v 1.288461 3.029826 -0.015789 +v 2.026542 1.938983 0.401190 +v 1.320685 1.874672 0.529593 +v 1.288461 1.778389 0.144495 +v 3.021052 2.388305 -0.112091 +v 2.796168 2.805165 -0.015789 +v 2.796168 2.292022 0.336989 +v 1.769774 2.419909 -0.561391 +v 1.320685 1.778389 -0.336686 +v 2.379132 2.740976 0.304888 +f 404 398 408 +f 368 369 373 +f 369 368 374 +f 377 370 381 +f 369 374 382 +f 377 369 382 +f 373 369 385 +f 381 373 385 +f 368 373 386 +f 376 386 387 +f 366 365 389 +f 379 368 390 +f 378 379 390 +f 371 388 390 +f 375 370 391 +f 367 388 392 +f 381 370 393 +f 393 392 394 +f 387 364 394 +f 372 387 394 +f 392 372 394 +f 380 393 394 +f 373 381 395 +f 393 380 395 +f 381 393 395 +f 380 394 395 +f 370 377 396 +f 382 366 396 +f 377 382 396 +f 366 389 396 +f 389 375 396 +f 391 370 396 +f 375 391 396 +f 374 368 397 +f 378 374 397 +f 368 379 397 +f 379 378 397 +f 374 378 398 +f 398 389 399 +f 365 366 399 +f 366 382 399 +f 382 374 399 +f 389 365 399 +f 374 398 399 +f 372 383 400 +f 376 387 400 +f 387 372 400 +f 368 386 401 +f 386 376 401 +f 390 368 401 +f 371 390 401 +f 400 371 401 +f 376 400 401 +f 386 373 402 +f 387 386 402 +f 364 387 402 +f 370 375 403 +f 375 367 403 +f 367 392 403 +f 393 370 403 +f 392 393 403 +f 367 375 404 +f 388 367 404 +f 384 388 404 +f 375 389 404 +f 389 398 404 +f 383 372 405 +f 388 371 405 +f 372 392 405 +f 392 388 405 +f 371 400 405 +f 400 383 405 +f 369 377 406 +f 377 381 406 +f 385 369 406 +f 381 385 406 +f 394 364 407 +f 373 395 407 +f 395 394 407 +f 364 402 407 +f 402 373 407 +f 388 384 408 +f 378 390 408 +f 390 388 408 +f 398 378 408 +f 384 404 408 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf new file mode 100644 index 000000000..d0318a4d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj new file mode 100644 index 000000000..9dc383a12 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj @@ -0,0 +1,414 @@ +o convex_0 +v -0.823806 -3.871606 -0.799914 +v -0.226889 0.025225 1.095944 +v 0.580580 0.025225 1.060647 +v -0.929081 0.025225 -1.080990 +v 1.107384 -0.395802 -1.116287 +v 0.931783 -3.836262 0.955406 +v -1.069733 -3.942295 1.060647 +v 1.001895 -3.871995 -1.116287 +v -0.964244 0.025225 1.095944 +v 1.072221 0.025614 1.025567 +v -0.964244 -3.696049 -0.975533 +v 1.107384 0.025614 -1.116287 +v -1.069733 -3.134032 0.639249 +v 0.791344 -3.871606 0.990486 +v -0.964244 -0.150332 -0.905372 +v 1.037058 -2.853218 -0.519054 +v -0.472603 -3.942295 -0.413813 +v -0.964244 -2.572403 1.095944 +v -0.262051 -3.942295 0.639249 +v -0.999407 -3.836262 -0.554351 +v -0.929081 -0.431146 -1.080990 +v 0.966732 -3.169376 0.990486 +v -0.999407 -0.746917 1.095944 +v 0.545417 0.025225 -1.116287 +v 0.896620 -3.871995 -1.116287 +v 1.001895 -3.871995 -0.554351 +v 1.072221 -0.360846 0.885029 +v -0.577878 -3.836262 1.060647 +v -0.964244 -3.836262 -0.940452 +v 1.037058 -0.993163 1.025567 +v 1.037058 -3.239677 -1.116287 +v -0.964244 -1.449535 -1.010830 +v -1.069733 -3.028775 1.060647 +v -1.069733 -3.906562 0.604169 +v 1.107384 -0.009731 -0.519054 +v -0.964244 0.025225 -0.343436 +v 0.334866 -3.906562 -0.870291 +v -0.542929 -3.942295 -0.448893 +v 0.053775 -1.870950 1.060647 +v 0.966732 -3.871995 0.182771 +v -0.894131 -3.836262 -0.975533 +v -0.964244 -2.607360 -1.010830 +f 32 21 42 +f 2 3 10 +f 9 2 10 +f 5 8 12 +f 2 9 18 +f 14 7 19 +f 7 17 19 +f 14 6 22 +f 18 9 23 +f 7 18 23 +f 4 12 24 +f 12 8 24 +f 21 4 24 +f 21 24 25 +f 24 8 25 +f 19 8 26 +f 22 26 27 +f 10 22 27 +f 26 16 27 +f 7 14 28 +f 18 7 28 +f 1 7 29 +f 20 11 29 +f 10 3 30 +f 22 10 30 +f 14 22 30 +f 28 14 30 +f 8 5 31 +f 26 8 31 +f 16 26 31 +f 15 4 32 +f 13 15 32 +f 20 13 32 +f 4 21 32 +f 13 7 33 +f 7 23 33 +f 23 13 33 +f 7 13 34 +f 13 20 34 +f 29 7 34 +f 20 29 34 +f 5 12 35 +f 12 10 35 +f 10 27 35 +f 27 16 35 +f 31 5 35 +f 16 31 35 +f 9 10 36 +f 12 4 36 +f 10 12 36 +f 4 15 36 +f 15 13 36 +f 13 23 36 +f 23 9 36 +f 8 19 37 +f 19 17 37 +f 25 8 37 +f 7 1 38 +f 17 7 38 +f 1 37 38 +f 37 17 38 +f 3 2 39 +f 2 18 39 +f 18 28 39 +f 30 3 39 +f 28 30 39 +f 6 14 40 +f 14 19 40 +f 22 6 40 +f 19 26 40 +f 26 22 40 +f 11 25 41 +f 1 29 41 +f 29 11 41 +f 37 1 41 +f 25 37 41 +f 11 20 42 +f 21 25 42 +f 25 11 42 +f 20 32 42 +o convex_1 +v 0.334821 4.239450 -0.097917 +v -0.367437 2.237907 -0.273491 +v -0.262051 2.237907 -0.308620 +v 0.229507 2.237907 0.323419 +v -0.297204 4.239450 0.217965 +v -0.226971 4.204185 -0.378877 +v 0.334821 2.237907 -0.343748 +v -0.332284 2.237907 0.323419 +v 0.229507 4.063708 0.217965 +v 0.369974 4.239450 -0.203303 +v -0.332284 3.923232 0.077519 +v 0.229507 2.589196 0.323419 +v 0.369974 3.923232 -0.133046 +v -0.016200 3.607209 -0.378877 +v 0.334821 2.237907 -0.203303 +v -0.332284 2.518860 0.323419 +v 0.264588 4.098974 0.182836 +v 0.018736 2.237907 -0.343748 +v -0.367437 2.589196 -0.203303 +v 0.334821 2.518860 -0.343748 +v 0.053889 4.239450 -0.308620 +v -0.297204 4.239450 0.007262 +f 63 48 64 +f 44 45 46 +f 45 44 48 +f 46 45 49 +f 44 46 50 +f 47 43 52 +f 50 46 54 +f 51 47 54 +f 49 52 55 +f 54 46 55 +f 46 49 57 +f 55 46 57 +f 49 55 57 +f 47 53 58 +f 50 54 58 +f 54 47 58 +f 43 47 59 +f 47 51 59 +f 52 43 59 +f 51 54 59 +f 55 52 59 +f 54 55 59 +f 45 48 60 +f 49 45 60 +f 48 56 60 +f 56 49 60 +f 48 44 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0.693070 1.095944 +v 1.177614 1.394895 1.095944 +v 1.107164 0.517668 -1.116287 +v -0.823909 2.237907 -1.010830 +v -3.035941 1.745915 0.920109 +v -2.614502 2.097153 0.955190 +v 0.475215 0.025676 -1.116287 +v -1.210123 0.131134 -1.080990 +v -2.684951 2.167530 -1.116287 +v -2.509247 2.202610 -1.045910 +v 1.177614 0.447290 1.060647 +v -3.071166 0.025676 0.814868 +v -3.071166 0.376913 0.920109 +v -3.106390 1.816293 -1.080990 +v 1.177614 2.097153 -0.519271 +v -1.139674 2.062289 1.025567 +v -3.035941 2.097153 0.744707 +f 103 95 107 +f 67 66 72 +f 68 69 72 +f 68 72 74 +f 73 68 76 +f 68 73 77 +f 66 67 78 +f 78 72 79 +f 72 69 79 +f 74 66 81 +f 70 69 82 +f 67 72 83 +f 78 67 83 +f 69 68 84 +f 68 77 84 +f 82 69 84 +f 76 68 85 +f 74 76 85 +f 76 74 86 +f 74 81 86 +f 71 66 87 +f 66 78 87 +f 80 71 87 +f 73 76 88 +f 77 75 89 +f 75 82 89 +f 70 82 90 +f 76 86 91 +f 68 74 92 +f 74 85 92 +f 69 70 93 +f 79 69 93 +f 72 78 94 +f 83 72 94 +f 78 83 94 +f 88 71 95 +f 66 71 96 +f 81 66 96 +f 71 88 96 +f 88 76 96 +f 76 91 96 +f 91 81 96 +f 84 77 97 +f 82 84 97 +f 77 89 98 +f 89 82 98 +f 97 77 98 +f 82 97 98 +f 70 78 99 +f 78 79 99 +f 93 70 99 +f 79 93 99 +f 78 70 100 +f 87 78 100 +f 80 87 100 +f 70 90 100 +f 90 80 100 +f 85 68 101 +f 68 92 101 +f 92 85 101 +f 65 75 102 +f 77 73 102 +f 75 77 102 +f 73 88 103 +f 90 73 103 +f 88 95 103 +f 75 65 104 +f 82 75 104 +f 73 90 104 +f 90 82 104 +f 65 102 104 +f 102 73 104 +f 72 66 105 +f 66 74 105 +f 74 72 105 +f 86 81 106 +f 81 91 106 +f 91 86 106 +f 71 80 107 +f 80 90 107 +f 95 71 107 +f 90 103 107 +o convex_3 +v 1.915083 2.167368 -0.940452 +v 1.880109 0.060791 0.639249 +v 1.915083 0.060791 0.639249 +v 1.177803 2.062093 1.095944 +v 3.003422 2.062093 0.990270 +v 3.108910 0.166492 -0.975533 +v 1.177803 0.096166 -1.116287 +v 2.968259 0.095953 1.095944 +v 2.968448 2.237907 -0.975533 +v 1.177803 0.061004 1.025567 +v 1.177803 2.097256 -1.045910 +v 1.212776 0.061004 -1.080990 +v 2.757662 2.202744 -1.010830 +v 3.038585 0.166492 -1.010830 +v 3.003422 2.167368 -0.027495 +v 2.090707 0.306718 1.095944 +v 3.003422 1.746053 1.025350 +v 1.212776 1.851329 -1.080990 +v 3.073747 0.131116 -0.378732 +v 1.283101 2.097256 0.709627 +v 2.968259 0.587595 1.095944 +v 2.757662 2.237907 -0.765050 +v 3.003422 2.062093 -0.975533 +v 1.177803 1.359900 1.095944 +v 2.968259 0.095953 0.674330 +v 1.493888 0.061004 1.060647 +v 3.108910 0.306931 -0.940452 +v 1.247939 0.201442 -1.116287 +v 3.003422 1.219462 1.025350 +v 2.757662 0.131116 -1.010830 +v 2.230979 0.060791 1.025567 +v 3.003422 2.097043 0.709410 +v 3.108910 0.166492 -0.870291 +v 1.177803 2.097256 -0.203114 +v 2.617201 2.062093 1.025567 +f 112 139 142 +f 111 114 117 +f 114 111 118 +f 108 116 118 +f 110 109 119 +f 109 117 119 +f 117 114 119 +f 118 116 120 +f 115 111 123 +f 114 118 125 +f 118 120 125 +f 111 115 128 +f 115 124 128 +f 116 108 129 +f 111 122 129 +f 122 116 129 +f 127 111 129 +f 120 116 130 +f 113 121 130 +f 121 120 130 +f 116 122 130 +f 111 117 131 +f 123 111 131 +f 126 115 132 +f 115 123 133 +f 131 117 133 +f 123 131 133 +f 113 130 134 +f 130 122 134 +f 121 114 135 +f 120 121 135 +f 114 125 135 +f 125 120 135 +f 124 115 136 +f 115 126 136 +f 119 114 137 +f 121 113 137 +f 114 121 137 +f 113 126 137 +f 132 119 137 +f 126 132 137 +f 109 110 138 +f 117 109 138 +f 110 119 138 +f 132 115 138 +f 119 132 138 +f 115 133 138 +f 133 117 138 +f 122 111 139 +f 112 134 139 +f 134 122 139 +f 112 124 140 +f 126 113 140 +f 134 112 140 +f 113 134 140 +f 124 136 140 +f 136 126 140 +f 108 118 141 +f 118 111 141 +f 111 127 141 +f 129 108 141 +f 127 129 141 +f 124 112 142 +f 111 128 142 +f 128 124 142 +f 139 111 142 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf new file mode 100644 index 000000000..7581be71d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj new file mode 100644 index 000000000..dfe764cd3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj @@ -0,0 +1,846 @@ +o convex_0 +v 0.598980 -2.826696 0.504826 +v 0.000667 -1.440068 -1.039518 +v -0.913386 -1.440068 -0.850210 +v 0.851306 -1.408589 0.851355 +v -0.944960 -1.503200 0.819871 +v -0.756047 -2.952609 -0.030812 +v 0.410067 -2.542864 -1.039518 +v 1.387002 -1.408589 -0.062296 +v -0.062481 -2.952785 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b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj new file mode 100644 index 000000000..3eaa1febe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj @@ -0,0 +1,423 @@ +o convex_0 +v 0.938811 -0.987122 -1.511956 +v -0.240936 1.094977 -1.720429 +v -0.240936 1.094977 -1.928507 +v -1.073984 -1.022145 -2.761018 +v 0.973565 0.921313 -3.073530 +v -0.969722 -0.987122 -1.095405 +v 1.077828 0.886498 -1.095405 +v 1.077828 -1.022145 -3.108407 +v -0.934968 1.094977 -3.004170 +v -0.969722 1.094977 -1.095405 +v 0.973565 -0.952514 -1.095405 +v -1.004476 -1.022145 -3.073333 +v 0.626444 1.060161 -3.073530 +v 1.043074 0.955922 -1.269001 +v 1.077828 -1.022145 -2.483580 +v -1.004476 0.782465 -1.303878 +v 1.043074 -0.050002 -3.108407 +v -1.073984 -0.744242 -3.038653 +v -0.796161 1.094977 -3.038653 +v 0.973565 1.025553 -2.552742 +v 0.071219 -1.022145 -1.928507 +v 1.008319 -0.744242 -1.095405 +v 0.939022 0.227073 -3.108407 +v -0.588057 1.094977 -1.095405 +v 1.077828 -0.501361 -3.073530 +v 0.383586 -1.022145 -3.108407 +v 0.973565 1.025553 -2.969491 +v 0.175271 1.025553 -3.073530 +v -0.136674 -0.987122 -1.095405 +v -1.004476 -1.022145 -2.136389 +v -0.969722 1.094977 -1.859148 +v 0.939022 0.955922 -1.095405 +v -0.969722 0.643617 -3.038653 +v 1.077828 0.643617 -1.164962 +v -0.518549 1.094977 -3.038653 +v -1.073984 -0.778850 -2.691658 +v 0.661198 1.060161 -2.691658 +v 1.077828 0.851889 -1.199838 +f 25 27 38 +f 2 3 9 +f 6 7 10 +f 2 9 10 +f 7 6 11 +f 8 4 12 +f 4 8 15 +f 8 7 15 +f 11 1 15 +f 6 10 16 +f 12 4 18 +f 9 3 19 +f 2 14 20 +f 15 1 21 +f 4 15 21 +f 7 11 22 +f 11 15 22 +f 13 5 23 +f 5 17 23 +f 17 8 23 +f 2 10 24 +f 10 7 24 +f 14 2 24 +f 7 8 25 +f 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101 +f 86 91 101 +f 100 88 101 +f 91 100 101 +f 77 83 102 +f 82 90 102 +f 90 77 102 +f 94 82 102 +f 83 94 102 +f 85 82 103 +f 82 94 103 +f 94 87 103 +f 99 85 103 +f 87 99 103 +f 82 85 104 +f 97 82 104 +f 85 97 104 +f 92 80 105 +f 80 95 105 +f 95 92 105 +f 86 90 106 +f 91 86 106 +f 90 91 106 +f 86 77 107 +f 77 90 107 +o convex_3 +v 0.938964 3.038443 -0.366556 +v -1.073984 -1.022145 0.847846 +v -1.004425 -1.022145 -0.297132 +v 1.112541 -1.022145 0.952293 +v -0.969752 3.038038 1.021717 +v -1.004425 3.073211 -1.095405 +v 0.973636 -0.952609 -1.095405 +v 1.008309 2.933734 0.952293 +v 1.042982 3.003675 -1.025981 +v -0.935079 -0.986973 -1.095405 +v -1.073984 -0.778769 1.021717 +v 1.112541 -0.709233 1.021717 +v 1.077655 0.921633 -1.095405 +v 0.591808 3.107979 0.500726 +v -1.073984 1.372001 0.986694 +v 1.008309 -1.022145 -0.921741 +v 1.008309 1.094260 1.021717 +v -0.969752 -0.813537 -1.095405 +v -1.004425 3.073211 0.188422 +v 0.314211 3.107979 -0.505197 +v -1.039098 -1.022145 1.021717 +v 0.869404 2.933734 0.986694 +v -0.449232 3.073211 -1.095405 +v -1.004425 1.719277 -1.060589 +v -1.073984 1.059897 0.604966 +v -0.483905 3.038038 1.021717 +v 1.008309 3.038443 -0.956557 +v -0.935079 -1.022145 -0.991165 +v 1.112541 -1.022145 0.743814 +v -0.171422 3.107979 -0.401165 +v 1.112541 -0.952205 1.021717 +v 1.042982 3.003675 -0.782893 +v 0.973636 -1.022145 -1.060589 +v -1.004425 2.691166 1.021717 +v 1.077655 0.782965 -1.095405 +v -0.969752 3.073211 0.466118 +v 0.938964 2.968906 0.917270 +v 0.591808 3.107979 -0.262316 +f 134 127 145 +f 109 110 111 +f 113 114 117 +f 112 118 119 +f 114 113 120 +f 116 119 120 +f 109 118 122 +f 111 110 123 +f 112 119 124 +f 119 115 124 +f 110 109 125 +f 117 110 125 +f 113 117 125 +f 113 122 126 +f 109 111 128 +f 118 109 128 +f 119 118 128 +f 124 115 129 +f 120 113 130 +f 116 120 130 +f 113 127 130 +f 125 109 131 +f 113 125 131 +f 109 122 132 +f 122 113 132 +f 131 109 132 +f 113 131 132 +f 121 112 133 +f 112 124 133 +f 124 129 133 +f 121 108 134 +f 116 130 134 +f 130 127 134 +f 110 117 135 +f 123 110 135 +f 119 111 136 +f 120 119 136 +f 111 123 136 +f 113 126 137 +f 127 113 137 +f 121 127 137 +f 111 119 138 +f 128 111 138 +f 119 128 138 +f 115 119 139 +f 119 116 139 +f 134 115 139 +f 116 134 139 +f 117 114 140 +f 114 123 140 +f 135 117 140 +f 123 135 140 +f 118 112 141 +f 122 118 141 +f 112 126 141 +f 126 122 141 +f 114 120 142 +f 123 114 142 +f 120 136 142 +f 136 123 142 +f 112 121 143 +f 126 112 143 +f 121 137 143 +f 137 126 143 +f 108 121 144 +f 129 115 144 +f 121 133 144 +f 133 129 144 +f 134 108 144 +f 115 134 144 +f 127 121 145 +f 121 134 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf new file mode 100644 index 000000000..c07e2299b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj new file mode 100644 index 000000000..bf1b9f764 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj @@ -0,0 +1,432 @@ +o convex_0 +v -0.151870 1.113486 -5.835366 +v 0.121057 0.431035 -6.279042 +v 0.189255 0.431035 -6.279042 +v 0.052792 0.465238 -4.368134 +v 0.257520 1.045214 -4.368134 +v -0.356531 0.567645 -4.368134 +v 0.325719 0.976942 -6.313141 +v -0.322466 0.567645 -6.313141 +v -0.288333 1.045214 -4.368134 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf new file mode 100644 index 000000000..9be989092 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj new file mode 100644 index 000000000..c1dcf5003 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj new file mode 100644 index 000000000..60caef829 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj @@ -0,0 +1,591 @@ +o convex_0 +v 0.358940 -1.555355 -1.044766 +v -0.933950 -1.770790 1.079635 +v -0.964844 -1.770790 1.079635 +v 0.635974 0.445778 1.048651 +v -0.995738 0.445778 -0.983005 +v 0.943901 -1.832565 1.048651 +v 1.005486 0.445778 -0.983005 +v -0.995738 -1.832565 -0.952229 +v -0.964844 0.445778 1.017875 +v 1.067072 -1.832565 -0.952229 +v 0.943901 0.445778 1.048651 +v -0.964844 -1.832565 1.079635 +v -0.133542 -1.832565 -1.044766 +v -0.718502 0.445778 -1.013782 +v -0.995738 0.445778 -0.090075 +v 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190 199 202 +f 199 184 202 +f 182 183 203 +f 183 186 203 +f 192 182 203 +f 186 192 203 +f 186 197 204 +f 197 199 204 +f 201 186 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf new file mode 100644 index 000000000..7719bde9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj new file mode 100644 index 000000000..68a7900e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj @@ -0,0 +1,477 @@ +o convex_0 +v -3.060967 -2.157973 0.082135 +v -1.097964 -1.096019 -0.207391 +v -1.097964 -1.128323 0.532760 +v -1.097964 -2.222360 0.404010 +v -2.996706 -1.128323 0.564787 +v -3.093196 -2.190277 -0.432757 +v -2.964478 -1.160407 -0.432757 +v -1.097964 -2.061391 -0.464784 +v -2.996706 -2.125889 0.597135 +v -1.097964 -1.096019 -0.497132 +v -1.226877 -2.190277 0.500519 +v -1.355596 -1.321486 0.564787 +v -2.996706 -1.128323 0.082135 +v -1.097964 -2.093585 -0.432650 +v -1.355596 -1.353569 -0.497132 +v -3.028739 -2.157973 0.371769 +v -2.481833 -1.900533 0.597135 +v -1.741751 -1.096130 -0.078641 +v -2.288657 -1.128323 -0.464784 +v -3.093196 -2.029197 -0.432757 +v -1.097964 -2.222360 0.468278 +v -3.093196 -2.190277 -0.271766 +v -2.385147 -1.836145 -0.464784 +v -2.932249 -2.190277 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2.892797 -2.061442 -0.561365 +v 1.219482 -2.190179 0.500538 +v 1.348199 -2.190179 0.436125 +f 118 131 136 +f 112 113 114 +f 112 114 116 +f 114 113 119 +f 112 111 122 +f 113 112 122 +f 111 112 123 +f 116 114 123 +f 120 111 123 +f 120 123 124 +f 114 117 124 +f 123 114 124 +f 114 119 126 +f 117 114 127 +f 115 124 127 +f 112 116 128 +f 123 112 128 +f 116 123 128 +f 111 120 129 +f 122 111 129 +f 120 124 129 +f 124 115 129 +f 119 113 130 +f 121 119 130 +f 113 122 130 +f 122 118 130 +f 115 121 131 +f 118 125 131 +f 129 115 131 +f 125 129 131 +f 124 117 132 +f 117 127 132 +f 127 124 132 +f 121 115 133 +f 114 126 133 +f 127 114 133 +f 115 127 133 +f 118 122 134 +f 125 118 134 +f 122 129 134 +f 129 125 134 +f 119 121 135 +f 126 119 135 +f 121 133 135 +f 133 126 135 +f 130 118 136 +f 121 130 136 +f 131 121 136 +o convex_4 +v 1.316182 -0.098211 0.500490 +v 1.412653 0.963777 -0.496949 +v 1.412653 0.963777 -0.561293 +v 3.021529 -0.130294 -0.014374 +v 1.090570 -0.259227 -0.625869 +v 2.957151 0.802761 0.468319 +v 3.053622 0.867168 -0.432723 +v 1.090570 0.899371 0.436030 +v 3.021529 -0.066007 0.564950 +v 2.989436 -0.194820 -0.432723 +v 1.090570 0.963777 -0.561293 +v 1.090570 -0.130414 0.436030 +v 3.021529 0.127092 0.564950 +v 3.021529 -0.098211 0.436030 +v 3.021529 0.802761 0.436030 +v 1.122855 0.030482 -0.625869 +v 2.570882 -0.033924 0.564950 +v 1.734351 0.899371 0.178540 +v 3.053622 0.867168 -0.303919 +v 1.122855 -0.259227 -0.593464 +v 2.731924 -0.162617 -0.464894 +v 1.090570 0.352275 0.468319 +v 2.989436 -0.194820 -0.368262 +v 1.316182 0.899371 0.436030 +v 2.409841 -0.098211 0.532662 +v 3.021529 0.030602 -0.432723 +v 1.122855 0.963777 -0.303919 +v 3.053622 0.673948 -0.207404 +f 162 143 164 +f 139 138 143 +f 138 139 147 +f 141 144 147 +f 144 141 148 +f 142 144 149 +f 142 149 151 +f 139 143 152 +f 147 139 152 +f 141 147 152 +f 137 145 153 +f 149 144 153 +f 145 149 153 +f 154 151 155 +f 143 138 155 +f 138 154 155 +f 141 146 156 +f 148 141 156 +f 146 141 157 +f 152 143 157 +f 141 152 157 +f 148 137 158 +f 144 148 158 +f 137 153 158 +f 153 144 158 +f 146 140 159 +f 140 150 159 +f 156 146 159 +f 150 156 159 +f 144 142 160 +f 142 151 160 +f 151 154 160 +f 145 137 161 +f 137 148 161 +f 150 145 161 +f 148 156 161 +f 156 150 161 +f 140 146 162 +f 157 143 162 +f 146 157 162 +f 138 147 163 +f 147 144 163 +f 154 138 163 +f 144 160 163 +f 160 154 163 +f 149 145 164 +f 150 140 164 +f 145 150 164 +f 151 149 164 +f 155 151 164 +f 143 155 164 +f 140 162 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf new file mode 100644 index 000000000..a1eec95bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj new file mode 100644 index 000000000..eacf9b7e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj @@ -0,0 +1,393 @@ +o convex_0 +v -1.009517 0.281479 0.225017 +v 0.996076 4.060917 1.652068 +v 0.996076 4.060917 0.918832 +v 1.034818 0.204449 0.070617 +v -0.932441 4.022021 -0.585310 +v -1.048258 0.204449 1.458904 +v -1.009517 4.099814 1.536213 +v 0.957538 0.204449 1.458904 +v 0.919001 4.099814 -0.507781 +v -0.970979 0.204449 -0.546546 +v 1.034818 0.204449 -0.507781 +v -1.048258 0.705527 1.497668 +v 0.378861 0.204449 -0.546546 +v 0.494678 4.099814 -0.546546 +v -0.970979 3.944991 -0.083564 +v 0.996076 2.865042 1.613304 +v 0.649033 4.022021 1.652068 +v 0.957538 3.675004 -0.507781 +v 1.034818 2.324687 0.687560 +v 0.957538 0.512951 1.497668 +v -0.893903 2.209141 -0.585310 +v 0.957538 4.099814 0.841741 +v -0.469581 3.906476 -0.585310 +v -1.048258 1.091441 1.382032 +v 1.034818 0.859587 -0.507781 +v -0.970979 1.669930 -0.546546 +v 0.919001 3.636489 1.652068 +v 0.996076 2.286553 1.574758 +v -1.009517 4.099814 1.382032 +v -1.048258 0.281479 1.150322 +v -1.009517 3.597974 1.536213 +v 0.301785 4.099814 -0.546546 +v 0.996076 0.281479 0.918832 +v -0.970979 4.060536 0.263562 +v 0.957538 4.099814 -0.160655 +v 1.034818 2.286172 0.764651 +f 28 33 36 +f 6 4 8 +f 4 6 10 +f 4 10 11 +f 11 10 13 +f 11 13 14 +f 7 9 14 +f 2 7 17 +f 14 9 18 +f 3 2 19 +f 4 11 19 +f 6 8 20 +f 12 6 20 +f 10 5 21 +f 13 10 21 +f 2 3 22 +f 7 2 22 +f 9 7 22 +f 14 13 23 +f 5 14 23 +f 21 5 23 +f 13 21 23 +f 6 12 24 +f 12 7 24 +f 11 14 25 +f 18 3 25 +f 14 18 25 +f 3 19 25 +f 19 11 25 +f 10 1 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-1.300671 -0.353857 +v 0.764675 -2.033688 3.503691 +v -1.048097 0.203690 1.150874 +v -1.086792 -1.879288 2.615956 +v -0.970917 -1.917833 3.464798 +v 0.031785 0.164926 3.503691 +v -1.009613 0.203690 0.225002 +v -1.086792 -0.992089 2.384489 +v 1.073393 -1.917614 -0.314964 +f 50 48 62 +f 41 40 43 +f 37 42 45 +f 42 39 45 +f 40 44 46 +f 45 39 47 +f 38 39 48 +f 39 42 48 +f 43 38 48 +f 41 42 49 +f 42 37 49 +f 42 41 50 +f 41 43 50 +f 43 48 50 +f 46 44 51 +f 40 41 52 +f 37 44 52 +f 44 40 52 +f 39 38 53 +f 47 39 53 +f 45 47 54 +f 38 43 55 +f 43 40 55 +f 53 38 55 +f 44 37 56 +f 37 45 56 +f 51 44 56 +f 54 51 56 +f 46 51 57 +f 53 46 57 +f 47 53 57 +f 40 46 58 +f 46 53 58 +f 55 40 58 +f 53 55 58 +f 41 49 59 +f 49 37 59 +f 52 41 59 +f 37 52 59 +f 45 54 60 +f 56 45 60 +f 54 56 60 +f 54 47 61 +f 51 54 61 +f 57 51 61 +f 47 57 61 +f 48 42 62 +f 42 50 62 +o convex_2 +v -3.054077 -0.876499 -1.935444 +v -2.359779 0.087964 -0.469584 +v -2.938230 0.087964 -0.469584 +v -2.976911 -1.956371 -0.508325 +v -1.087030 -1.995112 -2.436843 +v -1.087030 0.010684 -2.552660 +v -1.087030 -1.879091 -0.469584 +v -3.092759 0.087964 -2.552660 +v -2.938230 -1.879091 -2.552660 +v -1.087030 0.010684 -0.508325 +v -2.822579 -1.995112 -0.662476 +v -1.434179 -1.995112 -2.475380 +v -1.472664 0.049222 -2.552660 +v -3.015396 -1.647865 -0.816831 +v -1.087030 -1.995112 -1.819627 +v -1.241362 0.049222 -0.508325 +v -3.092759 -0.027853 -2.205412 +v -1.087030 -0.452176 -2.552660 +v -1.472664 -1.917833 -0.469584 +v -2.436945 0.087964 -2.552660 +v -2.976911 -1.647865 -2.552660 +v -1.087030 -0.876703 -0.469584 +v -2.976911 -1.956371 -1.241358 +v -1.858298 -1.917833 -0.469584 +v -3.092759 -0.220746 -2.475380 +v -2.706928 -1.879091 -2.552660 +v -2.976911 -0.876499 -0.546863 +v -2.938230 -0.336563 -0.469584 +v -1.588315 -1.995112 -2.359767 +v -2.976911 0.049222 -0.816831 +f 79 89 92 +f 64 65 69 +f 67 68 69 +f 65 64 70 +f 70 68 71 +f 69 68 72 +f 67 73 74 +f 68 70 75 +f 67 69 77 +f 73 67 77 +f 64 72 78 +f 72 68 78 +f 68 75 78 +f 68 67 80 +f 71 68 80 +f 67 74 80 +f 69 65 81 +f 66 73 81 +f 77 69 81 +f 73 77 81 +f 70 64 82 +f 75 70 82 +f 64 78 82 +f 78 75 82 +f 70 71 83 +f 76 63 83 +f 64 69 84 +f 72 64 84 +f 69 72 84 +f 73 66 85 +f 66 76 85 +f 83 71 85 +f 76 83 85 +f 81 65 86 +f 66 81 86 +f 63 76 87 +f 79 70 87 +f 76 79 87 +f 83 63 87 +f 70 83 87 +f 74 71 88 +f 71 80 88 +f 80 74 88 +f 66 65 89 +f 76 66 89 +f 79 76 89 +f 65 66 90 +f 86 65 90 +f 66 86 90 +f 71 74 91 +f 74 73 91 +f 73 85 91 +f 85 71 91 +f 65 70 92 +f 70 79 92 +f 89 65 92 +o convex_3 +v -0.469460 -2.033688 -1.935377 +v 1.034463 0.203690 -0.353857 +v 1.034463 0.203690 -0.508178 +v 3.117894 -1.840523 -0.508393 +v 3.040516 0.126381 -2.475392 +v -1.086834 0.010526 -2.552660 +v -1.048145 -1.879288 -0.353857 +v 2.963139 -1.879288 -2.436650 +v -0.970767 0.203690 -0.353857 +v 3.079205 -0.028019 -0.469867 +v -1.086834 -1.994924 -2.436865 +v 1.073152 -2.033688 -0.353857 +v 0.687910 0.164926 -2.513918 +v 1.266184 -1.879288 -2.513918 +v -1.086834 0.010526 -0.508178 +v 2.269210 0.164926 -2.513918 +v 3.001827 -1.493397 -2.475392 +v 3.079205 0.087835 -1.587993 +v -1.086834 -1.917614 -0.778293 +v 3.079205 -1.879288 -1.279782 +v -1.086834 -0.413691 -2.552660 +v 0.224880 0.087616 -2.552660 +v 1.188806 -2.033688 -0.469867 +v 3.079205 0.049071 -2.050956 +v 3.117894 -0.105110 -0.508393 +v -0.970767 0.203690 -0.546920 +v 3.040516 0.010526 -0.469867 +v 0.764876 -1.917614 -2.513918 +v 2.500520 0.049290 -2.513918 +v 0.841842 -2.033688 -0.353857 +v -1.086834 -1.994924 -1.858109 +v 3.040516 -1.879288 -0.508393 +v 3.117894 -1.840523 -0.817035 +v -0.353805 -1.994924 -2.436865 +v -1.086834 -1.686123 -2.475392 +v -0.778147 0.049290 -2.552660 +v 3.040516 -0.568091 -2.475392 +v 3.040516 0.126381 -2.128008 +v 2.731829 -1.879288 -2.475392 +v -1.086834 -1.879288 -0.469652 +v 1.111840 0.164926 -0.353857 +v -0.739458 -1.917614 -0.353857 +v 3.079205 -0.259510 -0.469867 +f 102 133 135 +f 94 95 101 +f 99 94 101 +f 94 99 104 +f 101 98 107 +f 99 101 107 +f 98 103 107 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+f 122 99 134 +f 111 123 134 +f 123 122 134 +f 96 102 135 +f 104 96 135 +f 133 104 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf new file mode 100644 index 000000000..afa4fd0fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.obj 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1.334417 1.007620 1.112484 +v 1.567551 2.990340 1.112484 +f 174 173 183 +f 161 160 162 +f 159 158 164 +f 160 161 165 +f 161 158 165 +f 164 162 166 +f 157 163 167 +f 166 160 168 +f 159 164 169 +f 157 167 169 +f 167 159 169 +f 160 166 170 +f 166 162 170 +f 164 161 171 +f 162 164 171 +f 168 160 172 +f 160 165 173 +f 158 172 173 +f 172 160 173 +f 165 158 174 +f 158 173 174 +f 158 159 175 +f 159 167 175 +f 172 158 175 +f 167 172 175 +f 162 160 176 +f 160 170 176 +f 170 162 176 +f 163 157 177 +f 157 168 177 +f 168 163 177 +f 167 163 178 +f 163 168 178 +f 172 167 178 +f 168 172 178 +f 161 162 179 +f 171 161 179 +f 162 171 179 +f 158 161 180 +f 164 158 180 +f 164 166 181 +f 168 157 181 +f 166 168 181 +f 169 164 181 +f 157 169 181 +f 161 164 182 +f 180 161 182 +f 164 180 182 +f 173 165 183 +f 165 174 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf new file mode 100644 index 000000000..7c2da8438 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj new file mode 100644 index 000000000..a94ee8904 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj @@ -0,0 +1,495 @@ +o convex_0 +v -1.921317 -0.369407 -0.344675 +v -1.652189 0.019226 0.253680 +v -1.682068 0.019226 0.253680 +v -1.502575 1.126477 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-0.344708 +v 1.369948 1.754725 0.223758 +v 1.369948 1.156455 0.283599 +v 1.369948 1.694869 -0.284866 +v 3.344240 1.694869 0.223758 +v 1.399905 1.664940 0.253648 +v 2.985137 1.724797 -0.254914 +v 2.237554 1.156455 -0.045499 +v 3.134731 1.186383 -0.314756 +v 3.344240 1.575215 0.253648 +v 1.639372 1.455560 -0.344708 +v 1.369948 1.365893 0.283599 +v 1.639372 1.754725 0.044233 +v 3.284325 1.485430 -0.344708 +v 3.254368 1.156455 -0.015609 +v 2.655992 1.694869 -0.344708 +v 3.045052 1.306037 0.283599 +v 3.344240 1.515358 0.193806 +v 1.699093 1.754725 0.223758 +v 2.058196 1.186383 -0.314756 +v 1.369948 1.156455 0.104074 +f 86 81 99 +f 80 75 81 +f 75 80 82 +f 74 83 85 +f 83 79 85 +f 78 81 86 +f 83 84 88 +f 79 75 89 +f 75 82 89 +f 81 78 90 +f 80 81 90 +f 84 80 90 +f 82 80 91 +f 85 82 91 +f 75 79 92 +f 79 77 92 +f 87 75 92 +f 77 87 92 +f 78 86 93 +f 87 77 93 +f 86 87 93 +f 85 79 94 +f 82 85 94 +f 79 89 94 +f 89 82 94 +f 78 88 95 +f 88 84 95 +f 90 78 95 +f 84 90 95 +f 77 79 96 +f 79 83 96 +f 88 78 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-1.442771 2.383149 -0.314788 +v -2.011029 4.597124 0.193774 +v -1.412867 4.566947 0.014249 +v -2.040933 2.802395 -0.045470 +v -1.981124 2.263518 -0.254947 +v -1.412867 2.532957 0.283567 +v -1.472676 4.476954 -0.254947 +f 118 127 131 +f 104 103 106 +f 103 104 109 +f 106 103 111 +f 101 102 113 +f 109 110 113 +f 104 106 114 +f 109 104 116 +f 110 109 116 +f 104 114 116 +f 107 114 117 +f 108 115 118 +f 112 101 119 +f 105 112 119 +f 101 113 119 +f 115 105 119 +f 106 111 120 +f 115 108 120 +f 102 103 121 +f 103 109 121 +f 113 102 121 +f 109 113 121 +f 114 106 122 +f 117 114 122 +f 107 110 123 +f 111 103 124 +f 112 111 124 +f 100 117 125 +f 106 120 125 +f 120 108 125 +f 122 106 125 +f 117 122 125 +f 113 110 126 +f 118 115 126 +f 119 113 126 +f 115 119 126 +f 110 107 127 +f 117 100 127 +f 107 117 127 +f 126 110 127 +f 118 126 127 +f 102 101 128 +f 103 102 128 +f 101 112 128 +f 124 103 128 +f 112 124 128 +f 112 105 129 +f 111 112 129 +f 105 115 129 +f 120 111 129 +f 115 120 129 +f 114 107 130 +f 110 116 130 +f 116 114 130 +f 107 123 130 +f 123 110 130 +f 108 118 131 +f 100 125 131 +f 125 108 131 +f 127 100 131 +o convex_4 +v -2.250580 1.335986 -0.225013 +v -2.041126 1.844401 0.253645 +v -2.041126 1.844401 0.223708 +v -2.788964 1.814532 -0.165139 +v -2.669266 1.126477 0.283582 +v -2.041126 1.216296 0.223708 +v -2.041126 1.724782 -0.254949 +v -2.699209 1.784592 0.253645 +v -2.699209 1.335986 -0.225013 +v -2.041126 1.186427 -0.165139 +v -2.041126 1.814532 0.313519 +v -2.788964 1.814532 -0.254949 +v -2.549568 1.276176 -0.225013 +v -2.729079 1.455675 -0.254949 +v -2.250580 1.485474 0.313519 +v -2.579511 1.784592 0.283582 +v -2.669266 1.156487 0.133953 +v -2.160825 1.754652 -0.254949 +f 138 143 149 +f 133 134 135 +f 134 133 137 +f 134 137 138 +f 133 135 139 +f 135 136 139 +f 137 136 141 +f 138 137 141 +f 132 138 141 +f 137 133 142 +f 135 134 143 +f 132 141 144 +f 136 135 145 +f 138 132 145 +f 140 136 145 +f 135 143 145 +f 143 138 145 +f 144 140 145 +f 132 144 145 +f 136 137 146 +f 137 142 146 +f 146 142 147 +f 133 139 147 +f 139 136 147 +f 142 133 147 +f 136 146 147 +f 136 140 148 +f 141 136 148 +f 140 144 148 +f 144 141 148 +f 134 138 149 +f 143 134 149 +o convex_5 +v -2.041053 1.186427 -0.015507 +v -1.442572 1.844401 0.283582 +v -1.442572 1.844401 -0.314788 +v -0.784563 1.156487 0.193829 +v -0.784563 1.635033 -0.284763 +v -1.502347 1.126477 -0.314788 +v -2.041053 1.814532 0.313413 +v -2.010920 1.844401 -0.254932 +v -0.784563 1.694842 0.343438 +v -1.861361 1.126477 0.223661 +v -0.784563 1.156487 -0.195011 +v -0.784563 1.814532 -0.284763 +v -1.981033 1.126477 -0.195011 +v -2.041053 1.635033 0.313413 +v -2.041053 1.664902 -0.254932 +v -2.041053 1.216296 0.223661 +v -1.651905 1.126477 -0.314788 +v -0.784563 1.635033 0.343438 +v -1.472459 1.126477 0.223661 +v -2.010920 1.844401 0.313413 +v -1.143578 1.455675 -0.314788 +v -0.784563 1.814532 -0.195011 +f 158 161 171 +f 151 152 157 +f 153 154 158 +f 154 153 160 +f 152 151 161 +f 158 154 161 +f 155 159 162 +f 156 150 163 +f 158 156 163 +f 150 156 164 +f 156 157 164 +f 162 150 164 +f 150 162 165 +f 162 159 165 +f 163 150 165 +f 159 163 165 +f 152 155 166 +f 157 152 166 +f 155 162 166 +f 164 157 166 +f 162 164 166 +f 153 158 167 +f 158 163 167 +f 163 159 167 +f 159 155 168 +f 160 153 168 +f 155 160 168 +f 153 167 168 +f 167 159 168 +f 151 157 169 +f 157 156 169 +f 158 151 169 +f 156 158 169 +f 155 152 170 +f 154 160 170 +f 160 155 170 +f 152 161 170 +f 161 154 170 +f 151 158 171 +f 161 151 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf new file mode 100644 index 000000000..dfd28794b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj new file mode 100644 index 000000000..3f76931e9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj @@ -0,0 +1,393 @@ +o convex_0 +v 0.965322 3.732133 0.534775 +v -1.094232 -0.142052 0.953635 +v -1.059274 -0.142052 0.464859 +v -1.024316 3.732522 -1.001045 +v 1.070196 -0.142441 -1.070961 +v 1.000280 -0.142052 0.988381 +v -1.059274 3.837314 0.988593 +v 0.965322 3.802254 -0.966087 +v -0.919654 -0.142052 -1.001045 +v 0.965322 3.697072 0.988381 +v -0.151638 -0.142052 1.093467 +v -0.989358 3.732522 -1.070961 +v 0.371884 0.975209 1.093467 +v -1.094232 0.870028 1.058509 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+v 0.365987 2.807978 1.070602 +v 0.296050 2.353439 3.098470 +v 0.121172 2.143625 1.070602 +v -0.368313 2.318458 2.923592 +v 0.121172 2.842958 1.595434 +v -0.298376 2.143625 1.070602 +v 0.330982 2.388419 1.560300 +v -0.228368 2.842958 2.643907 +v -0.368313 2.283615 3.063336 +v -0.193364 2.772929 3.028400 +v 0.365987 2.842958 1.490428 +v 0.296050 2.178605 1.560300 +v -0.263300 2.143625 1.560300 +v 0.156176 2.248635 3.098470 +v -0.298376 2.353439 1.070602 +v 0.365987 2.772929 2.923592 +f 164 169 178 +f 158 160 162 +f 160 158 163 +f 162 160 165 +f 155 161 166 +f 157 156 167 +f 158 162 167 +f 165 155 168 +f 162 165 168 +f 160 163 169 +f 166 157 170 +f 162 166 170 +f 157 167 170 +f 167 162 170 +f 166 161 171 +f 157 166 171 +f 156 157 172 +f 164 156 172 +f 157 171 172 +f 171 164 172 +f 156 163 173 +f 163 158 173 +f 167 156 173 +f 158 167 173 +f 164 159 174 +f 165 160 174 +f 160 169 174 +f 169 164 174 +f 161 155 175 +f 155 165 175 +f 165 174 175 +f 175 174 176 +f 159 164 176 +f 164 171 176 +f 171 161 176 +f 174 159 176 +f 161 175 176 +f 155 166 177 +f 166 162 177 +f 168 155 177 +f 162 168 177 +f 163 156 178 +f 156 164 178 +f 169 163 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf new file mode 100644 index 000000000..96bb5ead4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj new file mode 100644 index 000000000..927e0aa55 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj @@ -0,0 +1,621 @@ +o convex_0 +v 1.011044 0.832566 0.672317 +v -1.275438 0.961081 0.055869 +v -1.275438 0.961081 0.107173 +v -0.042060 -3.252209 0.030117 +v 0.728314 0.986700 -0.843050 +v -0.864149 -1.941436 0.749373 +v -0.812921 -0.426549 -0.843050 +v 0.831258 -2.121189 0.723822 +v -0.633135 1.038358 0.852181 +v 0.497299 -2.018293 -0.637634 +v 1.216688 1.038358 0.081622 +v -0.787063 -2.609632 -0.098041 +v 0.137483 -0.195138 1.032247 +v -0.838535 1.038358 -0.817499 +v -0.042060 -2.506315 -0.765994 +v 0.754172 -2.532355 -0.123794 +v 0.754172 -0.323653 -0.868802 +v -0.067674 -0.323653 -1.023115 +v -0.042060 -2.506315 0.775125 +v -0.787063 0.189989 0.929438 +v 0.779786 0.986700 0.852181 +v 0.779786 0.010235 0.954989 +v -1.172493 1.038358 0.441149 +v -1.069793 -0.477368 -0.354962 +v 0.985430 -0.605883 -0.354962 +v -0.864149 -2.146808 0.698069 +v -0.607277 -2.018713 -0.586129 +v 0.471441 1.038358 -0.894353 +v 1.216688 1.038358 0.338341 +v -1.198107 1.038358 -0.277906 +v -0.093532 -0.298034 1.032247 +v 0.985430 1.038358 -0.509073 +v -0.119146 1.038358 0.903686 +v -0.504576 1.038358 -0.894554 +v 0.111869 -3.174932 -0.020784 +v 0.779786 -2.481116 0.081420 +v 0.831258 -2.044332 0.749373 +v 0.008924 -2.506315 -0.765994 +v -0.967093 -1.350517 -0.252153 +v 0.034782 -0.092241 -1.023115 +v -0.812921 -0.323653 0.903686 +v 0.008924 -2.172847 0.826630 +v -0.812921 1.038358 0.826429 +v -1.249580 0.986700 0.312789 +v 1.216688 0.909423 0.287037 +v 0.137483 -3.097654 0.132925 +v -1.095407 0.935042 -0.483321 +v 0.008924 -0.041003 1.032247 +v 0.599999 -1.684825 -0.663387 +v 1.088130 0.961081 -0.303658 +v 0.805400 -2.224086 -0.149345 +v -0.042060 -3.123693 -0.149345 +v -0.812921 -2.506735 0.132925 +v 0.008924 -0.323653 -1.023115 +v 0.856872 -1.967475 0.723822 +v 1.088130 1.038358 0.569508 +v -0.761449 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79 +f 65 74 79 +f 72 77 81 +f 69 78 84 +f 78 75 84 +f 66 67 85 +f 74 70 85 +f 75 68 86 +f 68 81 86 +f 84 75 86 +f 81 84 86 +f 67 66 88 +f 88 83 89 +f 83 73 89 +f 70 82 90 +f 85 70 90 +f 70 69 91 +f 77 70 91 +f 81 77 91 +f 69 84 91 +f 84 81 91 +f 69 65 92 +f 65 71 92 +f 78 69 92 +f 71 78 92 +f 70 77 94 +f 77 72 94 +f 82 70 94 +f 72 82 94 +f 75 71 95 +f 71 80 95 +f 80 75 95 +f 72 76 96 +f 82 72 96 +f 76 82 96 +f 79 74 97 +f 74 89 97 +f 73 83 98 +f 88 76 98 +f 83 88 98 +f 76 93 98 +f 93 73 98 +f 85 67 99 +f 74 85 99 +f 67 88 99 +f 88 89 99 +f 89 74 99 +f 73 80 100 +f 87 79 100 +f 80 87 100 +f 89 73 100 +f 79 97 100 +f 97 89 100 +f 76 72 101 +f 81 68 101 +f 72 81 101 +f 68 93 101 +f 93 76 101 +f 71 79 102 +f 80 71 102 +f 79 87 102 +f 87 80 102 +f 68 75 103 +f 80 73 103 +f 75 80 103 +f 93 68 103 +f 73 93 103 +f 66 85 104 +f 90 82 104 +f 85 90 104 +f 82 76 105 +f 88 66 105 +f 76 88 105 +f 66 104 105 +o convex_2 +v -1.327020 1.192526 -0.175213 +v -1.301296 2.117423 0.055884 +v -1.301296 2.065971 0.158653 +v -2.996803 1.783243 0.030192 +v -1.301296 1.089931 0.287113 +v -1.301296 1.834695 -0.329365 +v -2.765281 1.757569 -0.200905 +v -2.585540 1.757569 0.235729 +v -2.791005 1.526706 0.004566 +v -2.713997 1.988948 0.004566 +v -1.301296 1.629094 0.338497 +v -1.378470 2.014519 -0.226597 +v -1.506927 1.988948 0.261421 +v -1.301296 1.064050 0.004566 +v -1.352745 1.295429 -0.252289 +v -2.739722 1.706220 0.210037 +v -2.636823 1.552380 -0.123829 +v -2.559815 1.937496 0.158653 +v -1.327020 1.398230 0.338497 +v -2.508531 1.911719 -0.149521 +v -2.765281 1.526706 0.055884 +v -1.327020 1.064050 0.235729 +v -1.404194 2.117423 0.004566 +v -1.995033 1.988948 0.210037 +v -1.301296 1.937496 0.287113 +v -2.713997 1.809021 0.210037 +v -2.765281 1.731998 -0.200905 +v -1.327020 1.783243 -0.329365 +v -1.327020 1.064050 0.004566 +v -1.301296 2.040297 -0.200905 +v -2.713997 1.988948 0.030192 +v -2.996803 1.731998 -0.021061 +v -1.378470 1.243978 -0.226597 +v -1.301296 1.295429 -0.252289 +v -1.327020 1.089931 0.287113 +v -1.429753 1.603523 0.338497 +v -2.713997 1.963068 -0.046753 +v -1.404194 2.117423 0.055884 +v -2.482807 1.552380 -0.175213 +v -1.455478 1.911719 0.287113 +v -1.352745 1.064050 0.030192 +v -2.945188 1.731998 0.081576 +f 137 126 147 +f 107 108 110 +f 107 110 111 +f 110 108 116 +f 111 112 117 +f 111 110 119 +f 110 116 124 +f 113 121 124 +f 117 112 125 +f 119 110 127 +f 126 114 127 +f 118 108 129 +f 116 108 130 +f 108 118 130 +f 113 118 131 +f 121 113 131 +f 118 129 131 +f 129 123 131 +f 122 114 132 +f 112 111 133 +f 132 112 133 +f 120 132 133 +f 106 119 134 +f 114 122 134 +f 119 127 134 +f 107 111 135 +f 111 117 135 +f 128 107 135 +f 115 128 135 +f 115 109 136 +f 128 115 136 +f 123 129 136 +f 109 131 136 +f 131 123 136 +f 114 126 137 +f 112 132 137 +f 132 114 137 +f 106 134 138 +f 134 122 138 +f 119 106 139 +f 111 119 139 +f 133 111 139 +f 120 133 139 +f 106 138 139 +f 138 120 139 +f 110 124 140 +f 124 121 140 +f 121 126 140 +f 127 110 140 +f 126 127 140 +f 124 116 141 +f 113 124 141 +f 109 115 142 +f 125 112 142 +f 117 125 142 +f 135 117 142 +f 115 135 142 +f 137 109 142 +f 112 137 142 +f 108 107 143 +f 107 128 143 +f 129 108 143 +f 128 136 143 +f 136 129 143 +f 132 120 144 +f 122 132 144 +f 120 138 144 +f 138 122 144 +f 118 113 145 +f 116 130 145 +f 130 118 145 +f 141 116 145 +f 113 141 145 +f 127 114 146 +f 114 134 146 +f 134 127 146 +f 126 121 147 +f 131 109 147 +f 121 131 147 +f 109 137 147 +o convex_3 +v 1.242380 1.346715 0.364043 +v -0.504621 1.038358 -0.894655 +v -0.607196 1.038358 -0.868953 +v -0.144864 2.811108 -0.020960 +v -0.838486 1.038532 0.800802 +v 0.831087 2.220076 -0.766145 +v -1.095420 2.297122 -0.432018 +v 0.805443 2.091666 0.697994 +v 0.805443 1.038358 -0.791671 +v -0.787199 2.065810 0.723872 +v 0.702620 1.038358 0.852206 +v -1.301067 1.038532 0.132900 +v 1.242380 2.168538 -0.046662 +v -0.915666 2.168712 -0.765969 +v 0.754156 2.733715 0.030092 +v -1.301067 2.040128 0.209830 +v -0.812842 2.708033 0.030092 +v -1.301067 1.269670 -0.252279 +v 1.216488 1.038358 0.055794 +v 1.242380 1.834846 -0.380789 +v -0.016646 2.065984 0.800978 +v -0.890022 1.038532 -0.765969 +v -0.093577 1.064388 0.903787 +v -1.301067 1.886210 -0.329209 +v 1.242380 2.014620 0.286937 +v 0.445935 1.141433 -0.894479 +v -1.301067 1.655246 0.338341 +v 1.011090 2.348485 -0.483422 +v 1.088021 1.038358 0.569659 +v -0.119220 2.811108 0.030092 +v 1.242380 1.346715 -0.252103 +v -1.301067 1.064214 0.286937 +v 0.805443 2.143030 -0.791671 +v -1.301067 2.117348 -0.020960 +v 0.728263 2.708033 -0.072364 +v 0.702620 2.091666 0.723696 +v -0.812842 2.682351 -0.072188 +v 0.779800 1.218306 0.826504 +v 0.086177 2.811108 0.030092 +v 0.111821 2.759397 -0.098067 +v -0.787199 1.115578 0.826504 +v -0.812842 2.014446 -0.791671 +v 1.242380 1.038358 0.286937 +v 1.216488 1.449617 0.415447 +v -0.890022 1.218479 -0.791671 +v -1.198243 1.038532 -0.277981 +v 1.242380 2.091492 -0.303683 +v 0.702620 1.038358 -0.843075 +v -0.812842 2.040128 0.723872 +v 1.088021 1.038358 -0.303683 +v 0.034641 1.115752 0.903787 +v 0.779800 1.911892 0.749398 +v -0.042041 2.425705 0.441325 +v -1.121064 1.038532 0.518079 +v 0.959554 2.065984 0.569659 +v -1.301067 1.963083 0.286937 +v -0.812842 2.451213 0.312639 +v 1.036734 2.425531 0.004566 +v -0.658732 2.374341 -0.534826 +v 0.728263 2.245584 -0.740266 +v -0.915666 2.605479 0.030092 +v -1.301067 1.706610 -0.329209 +v 0.805443 1.090070 0.826504 +v -1.301067 2.065810 -0.226401 +f 171 181 211 +f 150 149 156 +f 150 156 158 +f 149 150 161 +f 159 163 165 +f 158 156 166 +f 160 148 167 +f 152 158 170 +f 168 157 170 +f 154 161 171 +f 165 163 171 +f 148 160 172 +f 163 159 174 +f 158 166 176 +f 151 164 177 +f 156 167 178 +f 167 148 178 +f 174 159 179 +f 161 153 180 +f 153 167 180 +f 167 156 180 +f 171 163 181 +f 175 153 182 +f 162 175 182 +f 155 162 183 +f 161 154 184 +f 164 151 184 +f 151 177 186 +f 162 182 186 +f 183 162 186 +f 182 153 187 +f 151 186 187 +f 186 182 187 +f 152 170 188 +f 170 157 188 +f 149 161 189 +f 173 149 189 +f 161 180 189 +f 180 173 189 +f 148 176 190 +f 176 166 190 +f 178 148 190 +f 166 178 190 +f 148 172 191 +f 176 148 191 +f 161 150 192 +f 150 169 192 +f 150 159 193 +f 159 165 193 +f 169 150 193 +f 165 169 193 +f 167 153 194 +f 160 167 194 +f 153 175 194 +f 175 160 194 +f 156 149 195 +f 149 173 195 +f 180 156 195 +f 173 180 195 +f 174 152 196 +f 152 188 196 +f 188 157 196 +f 166 156 197 +f 178 166 197 +f 156 178 197 +f 170 158 198 +f 168 170 198 +f 158 185 198 +f 198 185 199 +f 155 183 199 +f 183 168 199 +f 168 198 199 +f 157 168 200 +f 177 157 200 +f 168 183 200 +f 186 177 200 +f 183 186 200 +f 150 158 201 +f 158 152 201 +f 159 150 201 +f 152 174 201 +f 179 159 201 +f 174 179 201 +f 162 155 202 +f 172 162 202 +f 191 172 202 +f 155 199 202 +f 199 191 202 +f 163 174 203 +f 174 196 203 +f 203 196 204 +f 177 164 204 +f 157 177 204 +f 196 157 204 +f 163 203 204 +f 172 160 205 +f 162 172 205 +f 175 162 205 +f 160 175 205 +f 184 151 206 +f 161 184 206 +f 151 187 206 +f 206 187 207 +f 153 161 207 +f 187 153 207 +f 161 206 207 +f 154 181 208 +f 181 163 208 +f 184 154 208 +f 164 184 208 +f 163 204 208 +f 204 164 208 +f 169 165 209 +f 171 161 209 +f 165 171 209 +f 161 192 209 +f 192 169 209 +f 158 176 210 +f 185 158 210 +f 176 191 210 +f 199 185 210 +f 191 199 210 +f 154 171 211 +f 181 154 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf new file mode 100644 index 000000000..4ae805c8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj new file mode 100644 index 000000000..d063149ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj @@ -0,0 +1,549 @@ +o convex_0 +v 0.682031 -1.052834 -1.092767 +v -0.963224 -0.935469 1.101274 +v -1.002246 -0.935469 1.101274 +v -1.002457 -4.030350 1.101274 +v 1.113172 -3.834354 1.022670 +v -0.963224 -3.951719 -1.014163 +v 1.113172 -0.073240 1.022670 +v -1.041690 -0.073240 -0.975076 +v 1.073939 -3.951719 -1.014163 +v 1.034706 -0.073240 -1.092767 +v -1.002246 -0.073240 1.061972 +v 1.113172 -3.167734 -0.857599 +v -0.297107 -3.990841 1.101274 +v -1.041690 -1.993306 -0.544042 +v -1.041690 -0.622107 0.317596 +v -0.845736 -0.269236 -1.014378 +v 1.113172 -0.622107 -0.152310 +v 1.073939 -3.285487 -1.053465 +v 0.603776 -0.856838 1.061972 +v -1.002457 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94 88 105 +f 88 95 105 +f 100 94 105 +f 95 100 105 +f 90 91 106 +f 96 90 106 +f 91 97 106 +f 98 96 106 +f 97 98 106 +f 95 88 107 +f 91 95 107 +f 97 91 107 +f 93 101 108 +f 104 93 108 +f 101 104 108 +f 88 94 109 +f 94 98 109 +f 98 97 109 +f 107 88 109 +f 97 107 109 +f 96 85 110 +f 85 101 110 +f 101 93 110 +f 93 102 110 +o convex_4 +v -1.198733 -1.209310 -0.230753 +v -1.903765 -0.582571 0.317596 +v -1.747113 -0.817762 0.356730 +v -3.039639 -1.131028 -0.230753 +v -1.041690 -0.621850 -0.230753 +v -1.041690 -1.287799 0.317596 +v -2.961215 -1.131028 0.356730 +v -2.922101 -0.700201 -0.269886 +v -3.000329 -0.582571 0.278394 +v -1.041690 -0.621850 0.317596 +v -1.041690 -1.170169 -0.348222 +v -1.198733 -1.287799 0.200058 +v -2.295298 -0.661060 -0.269886 +v -2.961215 -0.896113 0.356730 +v -2.961215 -0.582571 0.160925 +v -3.000329 -0.974257 -0.269886 +v -2.099336 -1.209310 0.356730 +v -3.000329 -1.131028 0.317596 +f 114 127 128 +f 112 113 120 +f 115 112 120 +f 116 115 120 +f 113 116 120 +f 111 114 121 +f 115 116 121 +f 114 111 122 +f 111 121 122 +f 121 116 122 +f 115 121 123 +f 121 118 123 +f 113 112 124 +f 117 113 124 +f 112 119 124 +f 112 115 125 +f 119 112 125 +f 118 119 125 +f 115 123 125 +f 123 118 125 +f 114 119 126 +f 119 118 126 +f 121 114 126 +f 118 121 126 +f 116 113 127 +f 113 117 127 +f 114 122 127 +f 122 116 127 +f 119 114 128 +f 117 124 128 +f 124 119 128 +f 127 117 128 +o convex_5 +v -0.375703 2.198941 1.219127 +v -1.041690 -0.033842 2.903335 +v -0.963086 -0.033842 2.903335 +v 0.055331 2.199160 3.020869 +v 1.113049 0.162004 1.062095 +v 1.152351 0.122879 2.942449 +v 1.152351 2.042439 1.062095 +v -1.041690 0.122879 1.062095 +v -0.884697 2.198941 3.020869 +v 1.034660 2.199160 3.020869 +v -0.923999 2.198941 1.062095 +v -1.041690 0.083753 3.020869 +v 0.956271 0.083535 2.981563 +v 1.152351 2.081346 1.414889 +v -0.884697 0.083753 1.219127 +v 1.073962 1.767903 3.020869 +v 1.113049 0.122879 1.610843 +v -0.258012 0.005502 3.020869 +v -0.923999 2.198941 2.002560 +v 0.407975 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-2.816511 +v 0.917173 1.493817 -3.090912 +v 0.877871 2.081491 1.062095 +f 165 177 190 +f 156 157 161 +f 155 160 161 +f 161 160 162 +f 155 161 165 +f 158 162 166 +f 162 160 167 +f 161 157 168 +f 157 164 168 +f 165 163 169 +f 162 158 171 +f 160 155 172 +f 168 164 173 +f 163 168 173 +f 169 163 173 +f 156 161 174 +f 161 162 174 +f 170 156 174 +f 159 170 174 +f 173 164 175 +f 163 165 176 +f 165 161 176 +f 161 168 176 +f 168 163 176 +f 165 169 177 +f 169 166 177 +f 172 155 178 +f 167 172 178 +f 155 177 178 +f 157 156 179 +f 156 170 179 +f 175 164 179 +f 171 158 180 +f 158 166 181 +f 166 169 181 +f 164 157 182 +f 157 179 182 +f 179 164 182 +f 159 174 183 +f 174 162 183 +f 170 159 184 +f 179 170 184 +f 180 158 184 +f 171 180 184 +f 169 173 185 +f 173 175 185 +f 181 169 185 +f 175 181 185 +f 166 162 186 +f 162 167 186 +f 177 166 186 +f 167 178 186 +f 178 177 186 +f 167 160 187 +f 160 172 187 +f 172 167 187 +f 162 171 188 +f 159 183 188 +f 183 162 188 +f 184 159 188 +f 171 184 188 +f 175 179 189 +f 158 181 189 +f 181 175 189 +f 184 158 189 +f 179 184 189 +f 155 165 190 +f 177 155 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf new file mode 100644 index 000000000..2c29c0239 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj new file mode 100644 index 000000000..d5c194e34 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj @@ -0,0 +1,576 @@ +o convex_0 +v -1.853310 -0.956335 -0.621744 +v -1.671647 1.006732 1.414360 +v -1.635239 1.006946 1.414157 +v -3.562226 1.079541 -0.658263 +v -3.562226 -1.101739 1.414360 +v -1.635239 -1.065442 1.341323 +v -1.635239 0.934137 -0.549113 +v -3.489409 1.043030 1.341323 +v -3.562226 -1.028930 -0.658263 +v -1.635239 -0.956335 -0.585429 +v -3.525629 1.079541 0.577683 +v -3.380374 1.079541 -0.658263 +v -3.162114 -1.028930 -0.658263 +v -3.162114 1.043030 1.377842 +v -1.962534 0.970435 -0.585429 +v -3.562226 -0.738121 1.414360 +v -1.671647 0.497710 1.414360 +v -3.525629 -1.065228 -0.040087 +v -1.635239 -1.065442 1.195858 +v -3.307558 -1.101739 1.414360 +v -3.234742 1.079541 -0.621744 +v -2.725783 -0.920037 -0.658263 +v -1.635239 1.006946 1.123430 +v -1.635239 0.316221 -0.585226 +v 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287 313 +f 285 303 313 +f 311 285 313 +f 299 311 313 +f 278 297 314 +f 297 282 314 +f 306 278 314 +f 282 306 314 +f 294 286 315 +f 284 294 315 +f 286 295 315 +f 305 284 315 +f 295 305 315 +f 304 277 316 +f 288 304 316 +f 280 290 317 +f 300 280 317 +f 290 309 317 +f 309 300 317 +f 274 295 318 +f 303 274 318 +f 287 303 318 +f 276 275 319 +f 275 292 319 +f 301 276 319 +f 292 301 319 +f 291 285 320 +f 285 300 320 +f 300 291 320 +f 277 302 321 +f 302 288 321 +f 316 277 321 +f 288 316 321 +f 296 287 322 +f 295 296 322 +f 318 295 322 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf new file mode 100644 index 000000000..ae9d01be2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj new file mode 100644 index 000000000..2f63f7710 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj @@ -0,0 +1,447 @@ +o convex_0 +v 1.110642 -1.673301 1.157181 +v -1.040708 -3.042038 -1.033627 +v -1.079998 -1.673301 -0.955139 +v 1.149932 -1.634245 -1.033627 +v 0.954136 -3.628863 1.078907 +v -1.040708 -1.634049 1.078692 +v -1.001636 -3.550554 1.078692 +v 0.993208 -3.472246 -0.955353 +v -1.001636 -3.511498 -1.033627 +v -0.806059 -3.355076 1.117937 +v 0.993208 -3.511498 1.000633 +v 0.915065 -1.634245 1.157181 +v -1.079998 -1.634049 -0.955139 +v -1.040708 -2.963730 1.078692 +v -0.375832 -3.511498 -1.033627 +v 0.915065 -3.628863 0.765812 +v -0.532120 -3.589806 1.039663 +v 0.406476 -1.634245 -1.033627 +v 1.032498 -3.081095 -0.994383 +v 1.149932 -1.712358 -0.837835 +v 0.993208 -3.511498 -0.720532 +v 0.993208 -2.885617 1.117937 +v 1.110642 -2.142761 -1.033627 +v 0.445767 -3.628863 1.039663 +v -0.219327 -1.634049 1.117937 +v -1.001636 -3.550554 0.257140 +v 1.110642 -1.634245 1.157181 +v 1.110642 -1.829723 0.883330 +f 11 20 28 +f 2 4 9 +f 7 5 10 +f 1 5 11 +f 10 1 12 +f 2 3 13 +f 3 6 13 +f 3 2 14 +f 6 3 14 +f 2 7 14 +f 10 6 14 +f 7 10 14 +f 9 4 15 +f 9 15 16 +f 5 7 17 +f 4 2 18 +f 2 13 18 +f 13 4 18 +f 8 15 19 +f 11 19 20 +f 11 5 21 +f 15 8 21 +f 16 15 21 +f 5 16 21 +f 19 11 21 +f 8 19 21 +f 5 1 22 +f 1 10 22 +f 10 5 22 +f 15 4 23 +f 19 15 23 +f 4 20 23 +f 20 19 23 +f 9 16 24 +f 16 5 24 +f 5 17 24 +f 6 10 25 +f 10 12 25 +f 4 13 25 +f 13 6 25 +f 7 2 26 +f 2 9 26 +f 17 7 26 +f 9 24 26 +f 24 17 26 +f 12 1 27 +f 1 20 27 +f 20 4 27 +f 4 25 27 +f 25 12 27 +f 1 11 28 +f 20 1 28 +o convex_1 +v 1.149865 -1.555370 1.157181 +v 2.518605 -1.594422 -1.072749 +v 2.518605 -1.555370 -1.072749 +v -2.996538 0.322029 -0.955097 +v 3.027620 0.322029 1.000457 +v -3.075083 -1.594422 1.117672 +v -3.075083 0.322029 1.039529 +v 3.145132 0.322029 -1.033459 +v -2.957571 -1.516317 -0.916025 +v 3.145132 -1.633666 1.000457 +v 3.105555 -1.633666 -1.072531 +v -1.588223 -1.633666 -0.916025 +v 2.871140 0.322029 1.039747 +v -1.040849 -1.633666 1.078601 +v 0.445403 -1.633666 -1.033459 +v -3.035506 0.243733 -0.642086 +v 3.066587 0.204680 1.000457 +v -2.996538 -1.164269 -0.916025 +v -3.075083 -0.343014 1.078819 +v 2.518605 0.322029 -1.033459 +v -2.996538 -0.303962 -0.955097 +v 1.032353 -1.477073 1.157181 +v 3.145132 -1.633666 0.100714 +v -2.096629 -1.633666 0.061643 +v 3.145132 -1.242374 1.000457 +v 1.110289 -1.633666 1.157181 +v -3.075083 0.322029 0.491869 +v 2.323157 -0.225665 1.078601 +v 3.145132 0.322029 -0.759520 +v -2.096629 -1.516317 -0.955097 +v 3.145132 -0.382067 -1.033459 +v 2.753628 -1.516317 1.039747 +v -3.075083 -1.594422 1.039529 +v -3.075083 -1.438020 1.117672 +v 0.328500 -1.516317 -1.033459 +v -2.996538 -1.555370 -0.133716 +v -2.996538 -1.516317 -0.720448 +v 3.105555 -1.320671 -1.072531 +f 48 36 66 +f 33 32 35 +f 32 33 36 +f 30 31 39 +f 39 38 40 +f 33 35 41 +f 40 38 42 +f 30 39 43 +f 40 37 43 +f 39 40 43 +f 33 41 45 +f 35 34 47 +f 31 32 48 +f 32 36 48 +f 44 32 49 +f 37 46 49 +f 46 44 49 +f 35 47 50 +f 36 38 51 +f 38 39 51 +f 42 34 52 +f 40 42 52 +f 38 36 53 +f 41 38 53 +f 45 41 53 +f 34 42 54 +f 42 38 54 +f 29 50 54 +f 50 34 54 +f 35 32 55 +f 34 35 55 +f 32 44 55 +f 41 35 56 +f 50 29 56 +f 35 50 56 +f 36 33 57 +f 33 45 57 +f 53 36 57 +f 45 53 57 +f 43 37 58 +f 37 49 58 +f 39 36 59 +f 36 51 59 +f 51 39 59 +f 38 41 60 +f 29 54 60 +f 54 38 60 +f 56 29 60 +f 41 56 60 +f 44 46 61 +f 52 34 61 +f 34 55 61 +f 55 44 61 +f 47 34 62 +f 34 50 62 +f 50 47 62 +f 31 30 63 +f 32 31 63 +f 30 43 63 +f 49 32 63 +f 43 58 63 +f 58 49 63 +f 37 40 64 +f 40 52 64 +f 52 61 64 +f 64 61 65 +f 46 37 65 +f 61 46 65 +f 37 64 65 +f 36 39 66 +f 39 31 66 +f 31 48 66 +o convex_2 +v -0.180174 1.730432 -3.067949 +v 1.110803 2.199876 0.218470 +v 1.110803 1.730432 0.218470 +v -1.040754 2.434598 3.151772 +v -1.040754 0.596454 3.073234 +v 0.993285 0.596454 3.112807 +v -1.079998 0.596454 -3.067340 +v 1.032529 0.596454 -2.910873 +v -1.040754 2.512711 -2.949837 +v 0.993285 2.473654 -3.067949 +v 1.071558 2.434598 3.034878 +v 1.071558 2.551959 1.508563 +v -0.962480 2.551959 1.195628 +v 1.110803 0.596454 -1.463704 +v 1.110803 2.395350 -1.345593 +v -1.079998 1.026650 1.703994 +v 0.563102 0.596454 -3.028375 +v -1.079998 1.535150 -3.027766 +v 1.110803 0.596454 -0.407399 +v -1.040754 2.473654 3.034269 +v 1.071558 2.551959 0.530795 +v -0.180174 2.512711 -3.028375 +v 1.071558 1.886850 3.034878 +v -1.079998 0.596454 1.782532 +v -0.493054 1.925906 3.151772 +v 0.993285 1.965154 -3.067949 +v -1.040754 1.026650 3.112199 +v 1.032529 1.026650 3.034269 +v 0.993285 0.596454 -2.988802 +v 0.993285 2.473654 2.721335 +v -0.336507 0.596454 -3.067340 +v 0.328282 2.551959 1.625456 +v -0.062657 0.596454 3.112807 +v -0.962480 2.512711 -2.988802 +v 1.110803 2.473654 -0.211358 +v -0.884207 2.551959 0.843730 +v 0.993285 0.791928 3.112807 +v -0.766904 2.395350 3.151772 +v -0.688630 2.473654 3.034269 +v -0.062657 2.512711 -3.028375 +v 0.523858 2.473654 -3.067949 +f 100 88 107 +f 72 71 73 +f 72 73 74 +f 69 68 77 +f 68 69 80 +f 72 74 80 +f 74 76 81 +f 68 80 81 +f 80 74 81 +f 74 73 83 +f 67 73 84 +f 73 82 84 +f 80 69 85 +f 72 80 85 +f 79 75 86 +f 82 70 86 +f 75 84 86 +f 84 82 86 +f 79 78 87 +f 69 77 89 +f 77 72 89 +f 85 69 89 +f 73 71 90 +f 70 82 90 +f 82 73 90 +f 67 76 92 +f 76 74 92 +f 70 90 93 +f 90 71 93 +f 91 70 93 +f 72 85 94 +f 89 72 94 +f 85 89 94 +f 74 83 95 +f 92 74 95 +f 83 92 95 +f 77 78 96 +f 73 67 97 +f 83 73 97 +f 67 92 97 +f 92 83 97 +f 78 79 98 +f 79 86 98 +f 71 72 99 +f 72 91 99 +f 93 71 99 +f 91 93 99 +f 67 84 100 +f 84 75 100 +f 87 88 100 +f 77 68 101 +f 78 77 101 +f 81 76 101 +f 68 81 101 +f 76 87 101 +f 87 78 101 +f 75 79 102 +f 79 87 102 +f 100 75 102 +f 87 100 102 +f 72 77 103 +f 91 72 103 +f 91 103 104 +f 77 70 104 +f 70 91 104 +f 103 77 104 +f 70 77 105 +f 86 70 105 +f 77 96 105 +f 96 78 105 +f 78 98 105 +f 98 86 105 +f 87 76 106 +f 76 88 106 +f 88 87 106 +f 76 67 107 +f 88 76 107 +f 67 100 107 +o convex_3 +v 1.110810 0.596072 -1.033826 +v -1.079998 0.361342 -3.067750 +v -1.079998 0.361342 -2.833020 +v -1.079998 0.596072 -3.067750 +v 0.993292 0.478707 -2.989506 +v -0.923450 0.596072 -1.033826 +v 1.110810 0.478707 -1.033826 +v 0.993292 0.596072 -2.989506 +v -0.923450 0.478707 -1.151290 +v -0.649599 0.361342 -3.067750 +v -1.001724 0.361342 -2.676534 +v 1.032536 0.478707 -2.911263 +v -0.923450 0.517813 -1.033826 +v -0.375748 0.596072 -3.067750 +f 112 117 121 +f 109 110 111 +f 111 110 113 +f 108 111 113 +f 108 113 114 +f 111 108 115 +f 110 109 117 +f 109 111 117 +f 116 110 118 +f 114 116 118 +f 110 117 118 +f 117 114 118 +f 108 114 119 +f 115 108 119 +f 112 115 119 +f 114 117 119 +f 117 112 119 +f 113 110 120 +f 114 113 120 +f 110 116 120 +f 116 114 120 +f 111 115 121 +f 115 112 121 +f 117 111 121 +o convex_4 +v 3.027618 0.322221 1.000442 +v -0.923412 0.517825 -1.033627 +v -2.996652 0.322221 -0.955284 +v -2.879138 0.517825 1.039816 +v 3.144523 0.556935 -1.033627 +v 3.144523 0.322221 -1.033627 +v 1.032314 0.596072 1.039816 +v -3.074589 0.322221 1.039816 +v -2.370722 0.556935 -0.955284 +v 3.027618 0.517798 1.000442 +v -0.923412 0.596072 -1.033627 +v -1.001349 0.596072 1.039816 +v -2.996652 0.517825 -0.955284 +v 1.110860 0.596072 -1.033627 +v -3.074589 0.517825 0.804788 +v 3.105555 0.556935 0.022376 +v 2.910104 0.322221 1.039816 +v -3.035620 0.361358 -0.681491 +f 136 134 139 +f 123 126 127 +f 122 124 127 +f 124 123 127 +f 124 122 129 +f 128 125 129 +f 123 124 132 +f 126 123 132 +f 132 130 133 +f 125 128 133 +f 128 132 133 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150 141 151 +f 144 150 151 +f 143 144 152 +f 151 147 152 +f 144 151 152 +f 144 140 153 +f 140 148 153 +f 150 144 153 +f 148 150 153 +f 146 142 154 +f 145 146 154 +f 148 145 154 +f 142 150 154 +f 150 148 154 +f 147 143 155 +f 143 152 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf new file mode 100644 index 000000000..d54a9d519 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.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 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243 237 253 +f 233 232 254 +f 225 233 254 +f 241 225 254 +f 232 241 254 +f 233 225 255 +f 225 234 255 +f 234 233 255 +f 229 241 256 +f 241 232 256 +f 232 251 256 +f 251 229 256 +f 225 238 257 +f 238 231 257 +f 231 245 257 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf new file mode 100644 index 000000000..5b4a5fc1b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj new file mode 100644 index 000000000..cfae52e79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj @@ -0,0 +1,498 @@ +o convex_0 +v -0.996771 -3.706645 -0.962198 +v 0.659927 -0.976417 1.062750 +v 0.629340 -0.976417 1.062750 +v 0.874837 0.803706 -1.023671 +v -0.996771 0.803706 0.939803 +v 0.936010 -3.583908 1.062750 +v 1.028171 -3.706645 -1.023671 +v -0.935396 -3.645277 0.970642 +v -0.935396 0.803706 -0.931359 +v 1.058959 0.803706 1.031911 +v 0.997585 0.803706 -1.023671 +v -0.198908 0.803706 1.031911 +v -0.720487 -3.522540 -0.992832 +v -0.965983 -0.393638 -0.962198 +v 0.997585 -2.233805 1.062750 +v -0.996771 -0.025429 0.970642 +v 1.028171 -1.466480 -1.023671 +v -0.996771 -3.706645 -0.593970 +v 1.028171 -3.675740 -0.593765 +v -0.597739 -2.847488 1.001276 +v 1.058959 0.005476 1.031911 +v -0.965983 -2.693847 0.970642 +v 1.028171 -3.706645 -0.839455 +v -0.812648 0.772360 -0.961993 +v 0.690714 -3.706645 -1.023671 +v 0.966797 -3.583908 0.909168 +v 0.752089 -3.461172 1.062750 +v -0.996771 -2.939320 -0.962198 +v -0.720487 -1.375532 1.001276 +v -0.659113 -3.645277 0.970438 +v -0.965983 -3.675740 0.356724 +v -0.689900 0.803706 1.001276 +v 1.058959 0.803706 0.909168 +v -0.996771 0.803706 0.847899 +v -0.965983 -3.645277 0.571575 +v -0.536364 -3.553003 1.001276 +f 27 20 36 +f 2 3 6 +f 5 4 9 +f 3 2 10 +f 4 5 10 +f 7 4 11 +f 4 10 11 +f 3 10 12 +f 10 5 12 +f 2 6 15 +f 10 2 15 +f 5 1 16 +f 7 11 17 +f 1 7 18 +f 16 1 18 +f 10 15 21 +f 15 19 21 +f 18 7 23 +f 7 21 23 +f 21 19 23 +f 9 4 24 +f 4 13 24 +f 14 9 24 +f 13 14 24 +f 7 1 25 +f 4 7 25 +f 1 13 25 +f 13 4 25 +f 15 6 26 +f 19 15 26 +f 6 23 26 +f 23 19 26 +f 6 3 27 +f 3 12 27 +f 1 5 28 +f 13 1 28 +f 14 13 28 +f 8 20 29 +f 22 8 29 +f 16 22 29 +f 27 12 29 +f 20 27 29 +f 6 8 30 +f 23 6 30 +f 23 30 31 +f 18 23 31 +f 30 8 31 +f 12 5 32 +f 5 16 32 +f 29 12 32 +f 16 29 32 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-3.052314 1.754803 0.019479 +f 52 61 62 +f 40 41 43 +f 43 41 45 +f 41 40 47 +f 47 40 50 +f 44 42 51 +f 38 39 52 +f 39 45 52 +f 46 49 52 +f 52 49 53 +f 37 51 53 +f 50 44 54 +f 47 50 54 +f 44 51 54 +f 51 47 54 +f 40 43 55 +f 43 48 55 +f 45 41 56 +f 49 46 56 +f 52 45 56 +f 46 52 56 +f 39 38 57 +f 45 39 57 +f 43 45 57 +f 48 43 57 +f 42 44 58 +f 48 42 58 +f 44 50 58 +f 50 40 58 +f 40 55 59 +f 55 48 59 +f 48 58 59 +f 58 40 59 +f 41 47 60 +f 51 37 60 +f 47 51 60 +f 53 49 60 +f 37 53 60 +f 56 41 60 +f 49 56 60 +f 51 42 61 +f 52 53 61 +f 53 51 61 +f 42 48 62 +f 38 52 62 +f 57 38 62 +f 48 57 62 +f 61 42 62 +o convex_2 +v 3.022367 1.509302 0.326366 +v 1.120324 1.447934 -0.348653 +v 1.120324 1.141218 -0.317928 +v 1.120324 1.693470 0.295641 +v 2.961074 1.662818 -0.348653 +v 3.114502 1.141218 0.234258 +v 1.120324 1.233366 0.264983 +v 3.022367 1.202650 -0.256478 +v 1.120324 1.693470 -0.348653 +v 1.120324 1.079850 -0.195161 +v 2.991721 1.601386 0.326366 +v 1.151361 1.724186 0.264983 +v 1.396729 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0.475934 2.000330 1.032266 +v 0.414563 0.957192 1.032266 +v -0.444432 1.908114 1.032266 +v -0.444432 0.834503 3.056726 +v 0.506671 1.938814 2.964760 +v -0.076306 1.447946 3.056726 +v 0.445197 1.018593 1.154954 +v 0.138443 0.865204 2.289873 +v -0.536540 1.141396 1.062987 +v 0.506671 1.969515 2.688859 +v -0.536540 0.926605 1.492496 +v 0.506671 1.386773 2.934236 +v -0.321689 0.865204 1.062987 +v 0.230449 1.785425 3.026203 +v -0.475066 1.908114 1.277841 +v -0.168210 0.834503 3.056726 +v 0.383928 2.000330 1.032266 +v -0.475066 1.141396 3.056726 +v -0.505701 1.846827 3.026203 +v 0.475934 0.895904 2.750104 +v -0.229683 1.938814 1.032266 +v 0.169078 0.865204 3.056726 +f 110 90 112 +f 88 91 92 +f 91 88 93 +f 88 87 94 +f 91 86 97 +f 92 91 97 +f 88 89 99 +f 93 88 99 +f 86 91 100 +f 95 86 100 +f 89 95 100 +f 89 88 101 +f 88 94 101 +f 86 95 102 +f 95 90 102 +f 97 86 102 +f 87 88 103 +f 88 92 103 +f 98 87 103 +f 92 98 103 +f 95 89 104 +f 90 95 104 +f 89 93 105 +f 99 89 105 +f 93 99 105 +f 94 87 106 +f 96 94 106 +f 87 98 106 +f 91 93 107 +f 89 100 107 +f 100 91 107 +f 94 96 108 +f 89 101 108 +f 101 94 108 +f 104 89 109 +f 96 104 109 +f 89 108 109 +f 108 96 109 +f 92 97 110 +f 98 92 110 +f 102 90 110 +f 97 102 110 +f 93 89 111 +f 89 107 111 +f 107 93 111 +f 90 104 112 +f 104 96 112 +f 96 106 112 +f 106 98 112 +f 98 110 112 +o convex_4 +v -0.536540 0.926512 -2.158782 +v 0.598719 0.987853 -1.054555 +v 0.506596 1.816072 -1.054555 +v 0.567937 1.079976 -3.110092 +v -0.536540 1.877524 -3.017738 +v -0.444417 1.816072 -1.054555 +v 0.414584 1.908195 -3.079106 +v -0.475087 0.834389 -1.054555 +v -0.536540 0.895841 -3.079106 +v 0.567937 0.926512 -3.110092 +v 0.445255 1.969647 -1.054555 +v 0.598719 0.895841 -1.054555 +v -0.229611 0.834389 -1.453550 +v 0.445255 1.908195 -2.956370 +v -0.505758 0.834389 -1.238660 +v -0.475087 1.846742 -1.606870 +v 0.230449 1.908195 -3.079106 +v -0.536540 1.202659 -3.079106 +v -0.106928 0.957294 -3.110092 +v -0.536540 1.846742 -2.772264 +v 0.598719 0.895841 -1.545501 +v 0.475925 1.938866 -1.729607 +v 0.506596 1.447913 -3.110092 +v -0.137599 0.834389 -1.054555 +v -0.321734 0.895841 -3.079106 +f 125 121 137 +f 115 114 116 +f 114 115 118 +f 114 118 120 +f 113 117 121 +f 118 115 123 +f 114 120 124 +f 119 123 126 +f 120 118 127 +f 113 121 127 +f 125 120 127 +f 121 125 127 +f 118 123 128 +f 123 117 128 +f 127 118 128 +f 117 123 129 +f 123 119 129 +f 121 117 130 +f 117 129 130 +f 130 129 131 +f 122 121 131 +f 116 122 131 +f 121 130 131 +f 117 113 132 +f 113 127 132 +f 128 117 132 +f 127 128 132 +f 116 114 133 +f 122 116 133 +f 114 124 133 +f 125 122 133 +f 115 116 134 +f 123 115 134 +f 116 126 134 +f 126 123 134 +f 126 116 135 +f 119 126 135 +f 129 119 135 +f 131 129 135 +f 116 131 135 +f 124 120 136 +f 120 125 136 +f 133 124 136 +f 125 133 136 +f 121 122 137 +f 122 125 137 +o convex_5 +v 1.120270 2.521935 1.032067 +v -0.475110 0.834653 -1.054354 +v -0.781947 0.803874 -0.962246 +v 1.058860 0.803706 1.032067 +v -0.996669 2.429599 0.939959 +v 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150 +f 140 146 150 +f 143 139 152 +f 139 145 152 +f 145 150 153 +f 150 147 153 +f 151 145 153 +f 153 147 154 +f 144 141 155 +f 141 149 155 +f 149 144 155 +f 143 138 156 +f 138 148 156 +f 145 151 157 +f 152 145 157 +f 141 144 158 +f 144 142 158 +f 146 141 158 +f 150 146 158 +f 147 150 158 +f 154 147 158 +f 139 143 159 +f 148 146 159 +f 143 156 159 +f 156 148 159 +f 142 151 160 +f 151 153 160 +f 158 142 160 +f 154 158 160 +f 157 151 161 +f 138 141 162 +f 142 144 163 +f 144 149 163 +f 142 138 164 +f 151 142 164 +f 161 151 164 +f 148 138 165 +f 138 162 165 +f 162 141 165 +f 138 143 166 +f 164 138 166 +f 161 164 166 +f 141 146 167 +f 146 148 167 +f 148 165 167 +f 165 141 167 +f 146 139 168 +f 139 159 168 +f 159 146 168 +f 138 142 169 +f 149 138 169 +f 142 163 169 +f 163 149 169 +f 152 157 170 +f 153 154 171 +f 160 153 171 +f 154 160 171 +f 143 152 172 +f 157 161 172 +f 166 143 172 +f 161 166 172 +f 152 170 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf new file mode 100644 index 000000000..79ba70b9f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj new file mode 100644 index 000000000..1bb7035b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj @@ -0,0 +1,537 @@ +o convex_0 +v 0.387919 -1.636648 -1.101674 +v -0.106845 -1.318107 1.091024 +v 1.059851 -1.318107 1.019981 +v -0.814254 -4.005578 1.019981 +v 1.059851 -4.041297 -0.995430 +v -1.061741 -1.318107 -0.960015 +v -0.991001 -4.005578 -0.960015 +v 1.095116 -3.934939 1.055610 +v 0.989111 -1.318107 -0.960015 +v -0.920260 -1.318107 0.984781 +v -0.955736 -4.005578 0.631064 +v 1.095116 -3.970392 -0.677128 +v -0.460550 -2.061014 1.091024 +v 1.024587 -3.828848 -1.030630 +v -0.920260 -4.005578 1.019981 +v 1.024587 -1.919470 -0.995430 +v -1.061741 -1.353560 -0.677128 +v 0.317178 -1.318107 -1.101674 +v -0.496026 -4.041297 -0.924601 +v 0.918370 -4.041297 -0.535684 +v 1.095116 -2.520832 0.984781 +v 1.059851 -1.318107 0.631064 +v -1.061741 -2.025828 -0.960015 +v -0.778989 -3.439935 1.055610 +v -0.920260 -1.601196 1.019981 +v -0.955736 -1.318107 0.701679 +v 1.059851 -3.970392 0.701893 +v 1.059851 -3.015569 -0.995430 +v 0.352654 -4.041297 -0.288212 +v 0.423183 -1.424465 -1.101674 +v -0.319068 -1.318107 1.091024 +v 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+v -0.694732 1.712281 -0.560146 +v -0.727869 1.811810 0.101950 +v -0.959622 1.811810 -0.361381 +v -0.827177 1.646124 -0.593273 +v -0.760980 1.248711 0.532494 +v -0.694732 1.811810 -0.096475 +v -0.926485 1.712281 0.532494 +f 155 156 160 +f 149 148 150 +f 149 147 151 +f 147 146 152 +f 150 148 152 +f 146 147 153 +f 147 149 153 +f 149 150 153 +f 151 145 154 +f 152 148 154 +f 151 147 156 +f 148 149 157 +f 149 151 157 +f 154 148 157 +f 151 154 157 +f 152 146 158 +f 150 152 158 +f 146 153 158 +f 153 150 158 +f 145 151 159 +f 154 145 159 +f 152 154 159 +f 155 152 159 +f 156 155 159 +f 151 156 159 +f 147 152 160 +f 152 155 160 +f 156 147 160 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf new file mode 100644 index 000000000..dc53d7109 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj new file mode 100644 index 000000000..83a1f4b5f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj @@ -0,0 +1,576 @@ +o convex_0 +v -0.849144 1.628412 -0.797282 +v 0.030044 2.039328 0.990607 +v -0.057757 2.039328 0.990607 +v 0.030044 -4.292370 -0.006422 +v 0.880161 2.038708 -0.826822 +v -0.761342 -3.265391 0.697243 +v 0.704167 -3.353400 0.697243 +v 0.030044 -3.324890 -1.090646 +v -0.966408 2.039328 0.667907 +v -0.966408 -3.295140 -0.123157 +v 0.967962 2.038708 0.697243 +v 0.938695 -3.324270 -0.123157 +v -0.087025 2.039328 -1.031973 +v -0.731880 -3.295140 -0.826618 +v 0.000777 -3.295140 0.961271 +v 0.704167 -3.295140 -0.855955 +v -0.937141 2.039328 -0.621467 +v -0.819877 1.950699 0.843721 +v 0.880161 1.803810 0.814589 +v -0.057757 -4.028343 -0.826822 +v 0.704167 -4.056853 -0.122953 +v -0.702612 -4.027723 -0.006219 +v 0.000777 -4.028343 0.726783 +v 0.997425 1.657542 -0.181829 +v 0.821431 1.892439 -0.914627 +v -0.995870 2.039328 -0.093820 +v -0.761342 2.039328 -0.855955 +v -0.995870 -2.620817 -0.035351 +v -0.057757 -1.771095 -1.090646 +v 0.997425 -0.482567 -0.093820 +v 0.938695 -3.324270 -0.035351 +v -0.087025 -3.001983 0.961271 +v 0.909428 1.979828 -0.768149 +v 0.528368 -3.881454 0.521429 +v 0.997425 2.038708 0.580101 +v 0.030044 -1.155031 -1.090646 +v 0.528368 -3.851705 -0.650804 +v -0.556081 -3.881454 -0.562795 +v -0.585348 -3.764316 0.550765 +v -0.057757 -3.295140 -1.090646 +v 0.117846 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+v 1.261246 2.772094 0.404339 +v 1.261246 2.361775 0.111104 +v 2.785245 2.567009 -0.035320 +v 1.290855 3.123924 -0.035320 +v 2.755980 2.947934 -0.006035 +v 1.320119 3.035967 0.287045 +v 2.726716 2.830658 -0.181898 +v 1.320119 2.420413 0.316252 +v 1.378821 2.479126 -0.299037 +v 1.261246 3.035967 -0.299037 +v 2.726716 2.567009 0.111104 +v 3.019706 2.772094 0.052535 +v 2.755980 2.713605 -0.181898 +v 2.755980 2.772094 0.228398 +v 1.261246 2.361775 -0.064527 +v 2.668014 2.947934 0.081742 +v 2.697451 2.684286 0.228398 +v 1.261246 2.655041 0.404339 +v 2.697451 2.537765 0.052535 +v 1.261246 3.065286 0.228398 +v 2.668014 2.947934 -0.064527 +v 1.349384 2.801413 -0.387124 +v 2.580048 2.596403 -0.152614 +v 2.668014 2.742850 -0.211183 +v 2.287057 2.537765 0.228398 +v 2.521519 2.918690 0.169828 +v 1.290855 3.006573 0.316252 +v 2.990442 2.772094 -0.035320 +v 1.437350 3.006573 -0.299037 +v 1.290855 2.449733 -0.269830 +v 1.378821 2.361775 -0.006035 +f 168 184 196 +f 165 164 166 +f 166 164 167 +f 165 166 175 +f 176 168 177 +f 166 163 179 +f 167 164 180 +f 170 169 181 +f 177 170 181 +f 179 177 181 +f 176 177 182 +f 179 163 182 +f 177 179 182 +f 163 166 183 +f 166 167 183 +f 167 173 183 +f 182 163 183 +f 173 182 183 +f 173 167 184 +f 168 176 184 +f 175 166 185 +f 169 175 185 +f 181 169 185 +f 171 181 185 +f 169 170 186 +f 170 172 186 +f 175 169 186 +f 164 165 187 +f 165 175 187 +f 168 174 188 +f 174 178 188 +f 178 168 188 +f 174 164 189 +f 172 178 189 +f 178 174 189 +f 164 187 189 +f 187 172 189 +f 182 173 190 +f 176 182 190 +f 173 184 190 +f 184 176 190 +f 181 171 191 +f 179 181 191 +f 166 179 192 +f 185 166 192 +f 171 185 192 +f 191 171 192 +f 179 191 192 +f 172 170 193 +f 170 177 193 +f 177 168 193 +f 178 172 193 +f 168 178 193 +f 186 172 194 +f 175 186 194 +f 187 175 194 +f 172 187 194 +f 164 174 195 +f 174 168 195 +f 180 164 195 +f 168 180 195 +f 167 180 196 +f 180 168 196 +f 184 167 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf new file mode 100644 index 000000000..ccbfdc391 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj new file mode 100644 index 000000000..2b8e85f6e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj @@ -0,0 +1,2226 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf new file mode 100644 index 000000000..e9d4e5b86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj new file mode 100644 index 000000000..6a369bc57 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj @@ -0,0 +1,228 @@ +o convex_0 +v -3.186778 -2.795406 -0.715090 +v -1.406782 1.290531 1.064669 +v -1.285410 1.290531 1.023952 +v -3.267561 1.168945 -0.998214 +v -1.285410 -2.795406 -1.079437 +v -3.308151 -2.795406 0.983656 +v -1.285410 -2.713815 1.024162 +v -1.285410 1.209340 -1.038720 +v -3.267561 1.290531 1.064669 +v -3.146189 -2.795406 -0.998214 +v -3.308151 -0.651649 -0.998214 +v -2.863053 1.209340 -1.038930 +v -1.447371 1.249735 -0.917411 +v -1.730508 -2.754611 1.024162 +v -1.730508 -2.754611 -1.079437 +v -3.308151 0.157459 -0.957918 +v -3.267561 1.290531 0.619309 +v -3.308151 -1.095599 -0.957918 +v -1.285410 -2.795406 -0.310656 +v -3.267561 0.885777 1.064669 +v -2.215997 -2.754611 1.023952 +v -3.308151 -2.795406 0.700322 +v -3.308151 -2.228270 0.983656 +v -2.579718 -2.795406 0.983656 +v -2.539327 1.290531 0.336185 +v -1.285410 -2.430647 -1.079437 +v -2.903444 1.088154 -1.038930 +v -3.267561 1.209340 -0.836399 +v 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0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj new file mode 100644 index 000000000..50089ee96 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj @@ -0,0 +1,1080 @@ +o convex_0 +v 0.866786 -0.779194 0.814399 +v -0.049483 -3.250768 0.009520 +v 0.005721 -3.250768 0.009520 +v 0.255683 -0.779194 -1.268265 +v -0.910547 -0.779194 0.759070 +v -0.882753 -2.333999 -0.768217 +v 0.866786 -2.333999 -0.795881 +v -0.021881 -2.917353 0.814399 +v -0.938342 -0.779194 -0.823546 +v 0.005721 -0.779194 1.397963 +v 0.672414 -2.306174 0.814399 +v -0.716176 -2.278591 0.786735 +v 0.977966 -0.779194 -0.684702 +v -0.021881 -2.889528 -0.740552 +v -0.216253 -0.806777 -1.268265 +v -0.771573 -2.583939 0.147842 +v 0.755799 -2.556356 0.147842 +v -0.993932 -0.862426 0.314612 +v 0.950171 -0.918076 0.314612 +v 0.838991 -0.779194 -0.934726 +v 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370 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf new file mode 100644 index 000000000..3fbbcb903 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj new file mode 100644 index 000000000..0780e391f --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj new file mode 100644 index 000000000..d9bd9eb4f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj @@ -0,0 +1,1884 @@ +o convex_0 +v -0.054534 -1.540799 -3.768993 +v -0.001422 -1.567344 -2.282204 +v -0.001422 -1.593926 -2.282204 +v -0.320031 -1.567344 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a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf new file mode 100644 index 000000000..a57e37c81 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj new file mode 100644 index 000000000..1bb4ccf8b --- /dev/null +++ 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+v 2.037228 0.127747 -0.110162 +v 2.183043 0.564994 -0.139339 +v 2.503735 0.186102 -0.168465 +v 2.736739 0.331834 0.239605 +v 2.095554 0.186102 0.239605 +f 413 435 436 +f 418 417 421 +f 417 418 422 +f 415 414 424 +f 416 419 424 +f 418 423 425 +f 418 421 426 +f 419 416 427 +f 416 420 427 +f 420 416 428 +f 423 416 429 +f 424 414 429 +f 416 424 429 +f 425 423 429 +f 414 425 429 +f 417 422 430 +f 419 427 430 +f 427 417 430 +f 414 415 431 +f 415 422 431 +f 422 418 431 +f 425 414 431 +f 418 425 431 +f 421 417 432 +f 420 428 432 +f 428 421 432 +f 422 415 433 +f 415 424 433 +f 424 419 433 +f 430 422 433 +f 419 430 433 +f 417 427 434 +f 427 420 434 +f 432 417 434 +f 420 432 434 +f 416 423 435 +f 423 418 435 +f 418 426 435 +f 428 416 435 +f 413 428 435 +f 426 421 436 +f 428 413 436 +f 421 428 436 +f 435 426 436 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf new file mode 100644 index 000000000..e19d9d208 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj new file mode 100644 index 000000000..89ab27b5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj @@ -0,0 +1,456 @@ +o convex_0 +v -0.030760 -3.414921 0.282173 +v 0.094901 -3.320614 -0.283637 +v 0.094901 -3.289161 -0.283637 +v -0.313715 -3.571986 -0.189261 +v 0.314963 -3.729100 0.156339 +v -0.187930 -3.792005 0.282173 +v -0.313715 -3.289161 0.219201 +v 0.283517 -3.289161 0.250714 +v 0.283517 -3.477727 -0.220665 +v -0.313715 -3.666245 -0.189261 +v -0.250822 -3.289161 -0.252178 +v 0.314963 -3.289161 -0.220665 +v 0.220624 -3.634841 -0.157803 +v 0.314963 -3.666245 0.219201 +v -0.219376 -3.792005 0.187797 +v -0.062207 -3.792005 0.282173 +f 6 15 16 +f 6 1 7 +f 7 1 8 +f 3 7 8 +f 7 4 10 +f 2 9 10 +f 3 2 11 +f 7 3 11 +f 4 7 11 +f 2 10 11 +f 10 4 11 +f 2 3 12 +f 3 8 12 +f 9 2 12 +f 5 9 12 +f 9 5 13 +f 10 9 13 +f 12 8 14 +f 5 12 14 +f 6 7 15 +f 7 10 15 +f 13 5 15 +f 10 13 15 +f 1 6 16 +f 8 1 16 +f 5 14 16 +f 14 8 16 +f 15 5 16 +o convex_1 +v 0.723559 4.349195 -0.503556 +v -1.036694 1.112271 0.784798 +v -1.005100 2.023585 -1.006259 +v 1.006438 1.111948 -0.974865 +v 1.037822 1.143607 0.973561 +v -0.973715 4.285878 1.004955 +v 1.100801 4.286201 0.910573 +v -1.036694 4.411866 -0.943471 +v 1.037822 4.317536 -1.037853 +v -0.973715 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0.565059 +v 2.986825 -2.157655 0.470585 +v 2.452378 -2.252003 0.596512 +v 3.018231 -2.063307 -0.315022 +v 3.112449 -2.220554 0.439250 +v 2.955148 -3.194662 -0.472049 +v 2.515191 -3.257561 -0.566406 +v 2.389566 -2.063307 -0.503619 +v 3.112449 -2.252003 0.596512 +v 0.346542 -2.157655 0.502038 +v 2.923741 -3.257561 -0.503619 +v 3.081043 -2.189104 0.564942 +v 0.346542 -2.094640 0.282105 +f 111 97 114 +f 87 88 89 +f 90 87 91 +f 87 89 94 +f 91 87 94 +f 89 88 95 +f 90 91 96 +f 91 94 96 +f 95 88 98 +f 98 88 99 +f 92 90 100 +f 95 98 102 +f 101 97 103 +f 93 102 104 +f 102 98 104 +f 93 96 105 +f 96 101 105 +f 103 86 105 +f 101 103 105 +f 96 93 106 +f 106 100 107 +f 90 96 107 +f 100 90 107 +f 96 106 107 +f 88 87 108 +f 87 90 108 +f 94 89 109 +f 96 94 109 +f 89 101 109 +f 101 96 109 +f 99 92 110 +f 98 99 110 +f 92 100 110 +f 93 104 110 +f 104 98 110 +f 106 93 110 +f 100 106 110 +f 89 95 111 +f 95 102 111 +f 103 97 111 +f 90 92 112 +f 99 88 112 +f 92 99 112 +f 88 108 112 +f 108 90 112 +f 102 93 113 +f 86 103 113 +f 105 86 113 +f 93 105 113 +f 111 102 113 +f 103 111 113 +f 101 89 114 +f 97 101 114 +f 89 111 114 +o convex_4 +v 0.283529 -2.031732 0.282173 +v -0.156447 -2.031732 -0.283637 +v -0.250822 -2.031732 -0.252178 +v -0.282281 -1.780286 -0.252178 +v 0.283529 -1.780286 -0.252178 +v -0.282281 -1.780286 0.250714 +v -0.282281 -2.031732 0.219201 +v 0.220557 -1.780286 0.282173 +v 0.220557 -2.031732 -0.220665 +f 116 119 123 +f 117 116 115 +f 116 117 118 +f 116 118 119 +f 119 118 120 +f 117 115 121 +f 118 117 121 +f 115 120 121 +f 120 118 121 +f 115 119 122 +f 120 115 122 +f 119 120 122 +f 115 116 123 +f 119 115 123 +o convex_5 +v -1.036479 -1.717159 0.030554 +v 0.786314 -0.585416 1.036586 +v 0.974943 -0.365465 1.036380 +v -1.036479 1.111632 1.005044 +v 1.006484 1.111632 -0.974859 +v 0.974943 -1.654316 -0.943524 +v -0.973603 1.111632 -1.006401 +v -1.099561 -1.654316 1.005044 +v -0.942268 -1.780286 -1.069484 +v 1.006484 1.111632 1.005044 +v 0.974943 -1.591473 1.036380 +v 0.220634 -1.780286 0.281856 +v 1.006484 -0.899915 -0.974859 +v -0.973603 0.765711 -1.037942 +v -0.659428 -1.654316 -1.069484 +v 0.943607 -1.685738 -0.943524 +v 0.000464 -1.622895 1.036586 +v -1.099561 -1.182993 0.910626 +v -0.345046 -1.780286 0.219185 +v 1.006484 -0.208924 1.005044 +v 0.283510 -1.780286 -0.251877 +v -1.068020 0.325526 0.942168 +v 0.880731 -1.622895 1.005044 +v -0.973603 -0.082954 -1.037942 +v -1.099561 -1.654316 0.816414 +v 0.849190 -1.685738 -0.974859 +v -0.910933 -0.899915 -1.069484 +v 0.974943 -1.622895 0.753537 +v -0.785180 -1.780286 -1.069484 +v 1.006484 -0.994180 -0.911982 +v -0.973603 -1.685738 0.847955 +v -0.942268 -1.780286 -0.880647 +v -0.596551 -1.654316 1.005044 +v -1.036479 1.111632 0.784872 +v -0.973603 -1.748581 -0.755099 +f 147 132 158 +f 125 126 127 +f 127 128 130 +f 127 126 133 +f 128 127 133 +f 126 125 134 +f 133 126 134 +f 128 133 136 +f 130 128 137 +f 128 136 138 +f 125 127 140 +f 127 131 140 +f 134 125 140 +f 132 135 142 +f 133 134 143 +f 136 133 143 +f 135 132 144 +f 139 135 144 +f 131 127 145 +f 130 141 145 +f 141 131 145 +f 134 140 146 +f 137 132 147 +f 124 131 148 +f 130 137 148 +f 141 130 148 +f 131 141 148 +f 147 124 148 +f 137 147 148 +f 136 129 149 +f 138 136 149 +f 129 139 149 +f 137 128 150 +f 132 137 150 +f 138 132 150 +f 128 138 150 +f 139 129 151 +f 135 139 151 +f 146 135 151 +f 134 146 151 +f 132 138 152 +f 144 132 152 +f 139 144 152 +f 138 149 152 +f 149 139 152 +f 129 136 153 +f 143 134 153 +f 136 143 153 +f 151 129 153 +f 134 151 153 +f 131 124 154 +f 142 135 154 +f 124 132 155 +f 132 142 155 +f 154 124 155 +f 142 154 155 +f 140 131 156 +f 135 146 156 +f 146 140 156 +f 131 154 156 +f 154 135 156 +f 127 130 157 +f 145 127 157 +f 130 145 157 +f 132 124 158 +f 124 147 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf new file mode 100644 index 000000000..ac91653ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj new file mode 100644 index 000000000..042626a71 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj @@ -0,0 +1,465 @@ +o convex_0 +v -0.273548 -2.051347 1.555078 +v 0.355211 -1.570633 1.222157 +v 0.355211 -1.607620 1.222157 +v 0.318129 -2.125322 2.960433 +v -0.273548 -1.496596 2.923503 +v -0.273548 -1.533645 1.111184 +v 0.207145 -2.014360 1.111184 +v -0.310565 -2.051347 2.923503 +v 0.170193 -1.570633 2.997547 +v -0.236532 -2.051347 1.111184 +v -0.014628 -1.496596 2.257663 +v 0.355211 -1.644608 1.111184 +v 0.318129 -2.125322 2.590583 +v 0.133177 -2.125322 2.960433 +v 0.281112 -1.866410 2.960433 +v -0.310565 -1.718583 2.923503 +v -0.310565 -2.051347 2.220733 +v 0.207145 -2.051347 1.222157 +v 0.207145 -1.570633 2.849460 +f 9 15 19 +f 3 2 4 +f 1 6 10 +f 6 7 10 +f 2 6 11 +f 6 5 11 +f 5 9 11 +f 2 3 12 +f 3 4 12 +f 6 2 12 +f 7 6 12 +f 12 4 13 +f 10 13 14 +f 4 9 14 +f 9 8 14 +f 1 10 14 +f 13 4 14 +f 4 2 15 +f 9 4 15 +f 5 6 16 +f 9 5 16 +f 8 9 16 +f 6 1 17 +f 1 14 17 +f 14 8 17 +f 16 6 17 +f 8 16 17 +f 10 7 18 +f 7 12 18 +f 12 13 18 +f 13 10 18 +f 2 11 19 +f 11 9 19 +f 15 2 19 +o convex_1 +v -1.604930 1.277500 1.111184 +v -0.643427 3.311780 -1.070920 +v -0.015081 3.274677 -0.997061 +v 0.946809 1.055763 -1.033773 +v -2.936389 1.092646 -0.996844 +v 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130 145 +f 136 144 145 +f 127 139 146 +f 139 140 146 +o convex_5 +v 0.014974 -2.304007 3.067171 +v -0.267582 -2.833838 1.124383 +v -0.267582 -2.621793 1.124383 +v 0.297589 -2.727847 1.124383 +v 0.226935 -2.833838 2.996428 +v 0.262262 -2.268718 1.301052 +v -0.302909 -2.198016 2.925874 +v -0.267582 -2.727847 3.067171 +v 0.191608 -2.198016 3.067171 +v -0.196929 -2.304007 1.159755 +v 0.297589 -2.445349 1.124383 +v -0.302909 -2.727847 1.371796 +v -0.302909 -2.198016 2.678462 +v 0.297589 -2.763135 1.724944 +v 0.085628 -2.833838 2.996428 +v -0.126275 -2.833838 1.124383 +v -0.267582 -2.833838 1.548275 +v 0.262262 -2.304007 1.124383 +v 0.226935 -2.833838 2.537164 +v -0.302909 -2.410060 2.961056 +v -0.267582 -2.198016 2.537164 +v 0.262262 -2.727847 2.501983 +v -0.267582 -2.763135 2.819758 +v 0.297589 -2.551153 1.513093 +v 0.191608 -2.198016 2.819758 +f 167 155 171 +f 148 149 150 +f 147 153 154 +f 153 147 155 +f 147 154 155 +f 154 151 155 +f 150 149 157 +f 152 155 157 +f 149 148 158 +f 153 155 159 +f 156 149 159 +f 149 158 159 +f 158 153 159 +f 150 157 160 +f 148 151 161 +f 151 154 161 +f 148 150 162 +f 151 148 162 +f 158 148 163 +f 148 161 163 +f 149 156 164 +f 156 152 164 +f 157 149 164 +f 152 157 164 +f 150 160 165 +f 160 151 165 +f 162 150 165 +f 151 162 165 +f 154 153 166 +f 153 158 166 +f 158 154 166 +f 152 156 167 +f 159 155 167 +f 156 159 167 +f 155 151 168 +f 151 160 168 +f 154 158 169 +f 161 154 169 +f 158 163 169 +f 163 161 169 +f 157 155 170 +f 160 157 170 +f 155 168 170 +f 168 160 170 +f 155 152 171 +f 152 167 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf new file mode 100644 index 000000000..a86643dcf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj new file mode 100644 index 000000000..88f95b482 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj @@ -0,0 +1,393 @@ +o convex_0 +v -0.578941 -3.227342 -1.101854 +v 0.912130 -3.973131 1.104205 +v 0.881034 -3.973131 1.104205 +v -0.237323 2.644593 0.606676 +v 1.067607 2.022882 -1.008567 +v -1.107347 -4.097869 1.042014 +v -1.014061 2.022222 -1.008351 +v 1.098702 -4.066189 -1.070758 +v 1.005416 2.084921 0.979823 +v -0.982966 2.022222 1.010703 +v -1.076252 -4.097869 -1.101854 +v 0.446130 2.644593 -0.511253 +v -0.610036 2.644593 -0.542349 +v -1.014061 1.277093 1.042014 +v 1.098486 -2.481553 -0.511469 +v -1.045157 1.494230 -0.821993 +v 1.098486 0.842159 -1.039662 +v 0.943225 -4.035170 0.979823 +v 0.477225 2.644593 0.482510 +v -1.107347 -2.947506 0.700179 +v 0.943225 1.681007 -1.039662 +v -0.889679 1.836104 1.042014 +v 0.415034 -4.035170 -1.101854 +v -1.045157 0.779460 -1.039446 +v -0.485870 2.644593 0.420319 +v 1.098702 -4.066189 -0.728707 +v -0.423679 -4.066189 1.073110 +v -1.076252 -3.289381 -1.101854 +v 0.974321 -0.711458 1.042014 +v -0.081845 -4.097869 -0.387087 +v 1.067607 2.022882 -0.386871 +v 1.098486 -1.518626 -1.070758 +v -1.014061 2.022222 0.265057 +v -1.107347 -4.035170 0.140890 +v 0.259557 -4.066189 1.073110 +v 0.166486 2.053901 1.010919 +v 1.036511 0.624362 0.544917 +v -1.107347 -3.289381 1.042014 +v -0.175132 -4.097869 -1.101854 +v 0.477225 2.644593 -0.449062 +v 0.943225 -3.382439 1.073110 +v -1.076252 -2.823427 -1.039446 +v -0.796393 -4.097869 1.042014 +v 1.067607 -4.066189 -0.418183 +v 1.036511 1.991862 0.389439 +v 0.881034 1.090315 1.010919 +v -0.081845 2.644593 0.606676 +v -0.454775 2.644593 0.513821 +v 1.005416 1.432190 0.979823 +v -0.610036 2.644593 -0.449062 +v 1.098702 -4.004150 -0.697827 +v 0.912130 -4.035170 1.104205 +v -0.392584 2.053901 1.010919 +v 1.098486 0.810480 -0.977471 +f 15 51 54 +f 5 7 13 +f 4 12 13 +f 12 5 13 +f 12 4 19 +f 7 5 21 +f 5 17 21 +f 3 2 22 +f 14 3 22 +f 10 14 22 +f 11 1 23 +f 1 21 23 +f 16 7 24 +f 7 21 24 +f 4 13 25 +f 3 14 27 +f 1 11 28 +f 21 1 28 +f 24 21 28 +f 6 11 30 +f 8 26 30 +f 17 5 31 +f 19 9 31 +f 5 19 31 +f 17 8 32 +f 21 17 32 +f 8 23 32 +f 23 21 32 +f 13 7 33 +f 14 10 33 +f 7 16 33 +f 20 14 33 +f 16 20 33 +f 11 6 34 +f 6 20 34 +f 20 16 34 +f 28 11 34 +f 20 6 38 +f 14 20 38 +f 27 14 38 +f 6 27 38 +f 11 23 39 +f 23 8 39 +f 30 11 39 +f 8 30 39 +f 5 12 40 +f 19 5 40 +f 12 19 40 +f 29 2 41 +f 16 24 42 +f 24 28 42 +f 34 16 42 +f 28 34 42 +f 6 30 43 +f 35 43 44 +f 26 18 44 +f 30 26 44 +f 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3.048467 -0.045212 +v -0.485725 2.706839 0.420492 +v -0.330356 2.675821 -0.573569 +v 0.508348 3.980440 0.358325 +v 0.415062 4.042620 -0.573448 +v -0.610217 2.738000 -0.449236 +v 0.508348 3.328202 -0.542547 +v -0.392548 4.104942 -0.418091 +v 0.135420 4.042620 0.171946 +v 0.197612 3.266023 0.638137 +v -0.454848 3.887386 0.482659 +v -0.081811 2.644803 0.606871 +v -0.610217 3.141665 -0.573569 +v -0.423643 4.104942 -0.604714 +v 0.290789 2.800036 -0.573569 +v -0.392548 4.073637 0.327302 +v 0.477253 4.042620 -0.355925 +f 76 84 85 +f 58 61 62 +f 61 58 64 +f 56 57 65 +f 61 63 66 +f 56 65 67 +f 65 62 67 +f 66 56 67 +f 61 64 69 +f 58 62 70 +f 62 65 70 +f 64 58 71 +f 60 63 72 +f 63 61 72 +f 69 60 72 +f 61 69 72 +f 58 70 74 +f 70 68 74 +f 60 69 75 +f 69 64 75 +f 55 73 75 +f 73 60 75 +f 59 68 76 +f 57 63 77 +f 57 56 78 +f 63 57 78 +f 56 66 78 +f 66 63 78 +f 65 68 79 +f 70 65 79 +f 68 70 79 +f 62 61 80 +f 61 66 80 +f 67 62 80 +f 66 67 80 +f 68 59 81 +f 59 71 81 +f 71 58 81 +f 58 74 81 +f 74 68 81 +f 71 59 82 +f 73 55 82 +f 60 73 82 +f 76 60 82 +f 59 76 82 +f 64 71 83 +f 55 75 83 +f 75 64 83 +f 82 55 83 +f 71 82 83 +f 65 57 84 +f 68 65 84 +f 76 68 84 +f 57 77 84 +f 84 77 85 +f 63 60 85 +f 60 76 85 +f 77 63 85 +o convex_2 +v 0.228628 2.675722 -2.934963 +v 0.352925 3.234874 -0.667011 +v 0.352925 3.172701 -0.667011 +v -0.330508 2.737895 -0.573642 +v -0.206211 3.234874 -2.996798 +v -0.175170 3.265960 -0.573642 +v 0.290777 2.800010 -0.573642 +v -0.268360 2.768981 -2.966004 +v 0.197587 3.203787 -3.090414 +v 0.352925 2.675722 -3.059126 +v -0.330508 2.675722 -0.573642 +v 0.290777 3.265960 -1.474812 +v -0.144063 2.675722 -0.635970 +v 0.352925 2.800010 -3.059126 +v 0.321818 3.265960 -0.573642 +v 0.352925 2.706809 -2.282120 +v -0.299401 2.737895 -2.406530 +v -0.206211 3.234874 -0.573642 +v -0.175170 3.265960 -2.127162 +v 0.135439 3.234874 -3.059126 +v -0.330508 2.675722 -0.977666 +v -0.268360 2.924298 -2.966004 +v 0.073290 3.172701 -3.090414 +v 0.321818 2.924298 -0.573642 +f 92 101 109 +f 91 89 92 +f 87 88 95 +f 86 93 95 +f 92 89 96 +f 86 95 96 +f 92 96 98 +f 96 95 98 +f 87 95 99 +f 95 94 99 +f 97 87 99 +f 94 97 99 +f 88 87 100 +f 91 92 100 +f 87 97 100 +f 97 91 100 +f 95 88 101 +f 92 98 101 +f 98 95 101 +f 93 86 102 +f 90 89 103 +f 91 90 103 +f 89 91 103 +f 90 91 104 +f 91 97 104 +f 104 97 105 +f 97 94 105 +f 90 104 105 +f 96 89 106 +f 86 96 106 +f 89 102 106 +f 102 86 106 +f 89 90 107 +f 90 93 107 +f 102 89 107 +f 93 102 107 +f 93 90 108 +f 95 93 108 +f 94 95 108 +f 90 105 108 +f 105 94 108 +f 88 100 109 +f 100 92 109 +f 101 88 109 +o convex_3 +v 0.042231 3.265939 3.061694 +v -0.206254 2.706796 0.638137 +v -0.237343 3.017417 0.669214 +v 0.321921 2.893218 0.638137 +v -0.268433 2.768957 2.906307 +v 0.321921 2.800037 2.968225 +v -0.237343 3.328099 0.638137 +v 0.197621 3.265939 0.638137 +v -0.237343 3.234858 2.999302 +v 0.166531 3.297019 3.061694 +v 0.321921 2.800037 0.638137 +v 0.321921 2.924298 2.968225 +v -0.081896 2.706796 1.011065 +v 0.197621 3.297019 1.911596 +v -0.050864 3.328099 1.880756 +v -0.268433 3.110598 2.968225 +v -0.050864 3.328099 0.638137 +v -0.081896 2.768957 2.937385 +v 0.259742 3.110598 0.638137 +v -0.268433 2.768957 2.595297 +v 0.197621 3.265939 3.061694 +v -0.237343 2.737877 2.284523 +v -0.237343 3.328099 1.011065 +v 0.073263 3.297019 3.061694 +v -0.268433 2.800037 2.937385 +v 0.104352 3.172698 3.061694 +f 134 115 135 +f 111 112 116 +f 113 111 116 +f 113 116 117 +f 111 113 120 +f 113 115 120 +f 115 113 121 +f 111 120 122 +f 120 115 122 +f 119 123 124 +f 117 116 126 +f 123 117 126 +f 116 124 126 +f 124 123 126 +f 122 115 127 +f 113 117 128 +f 121 113 128 +f 117 123 128 +f 123 121 128 +f 112 111 129 +f 116 112 129 +f 114 125 129 +f 125 116 129 +f 119 110 130 +f 115 121 130 +f 123 119 130 +f 121 123 130 +f 111 122 131 +f 127 114 131 +f 122 127 131 +f 129 111 131 +f 114 129 131 +f 124 116 132 +f 118 124 132 +f 116 125 132 +f 125 118 132 +f 118 110 133 +f 110 119 133 +f 124 118 133 +f 119 124 133 +f 110 118 134 +f 125 114 134 +f 118 125 134 +f 114 127 134 +f 127 115 134 +f 130 110 135 +f 115 130 135 +f 110 134 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf new file mode 100644 index 000000000..7b9cc8361 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj new file mode 100644 index 000000000..ddcac5d63 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj @@ -0,0 +1,969 @@ +o convex_0 +v -2.214904 -0.186003 -1.891140 +v -2.214904 -1.315344 -1.599655 +v -2.214904 -1.278857 -2.000534 +v -1.631992 -0.804992 -1.271822 +v -2.761550 -0.623262 -1.235474 +v -2.251391 -0.732253 -3.020555 +v -1.814318 -0.732253 -2.728896 +v -1.814318 -0.258742 -1.235474 +v -2.615601 -0.768623 -2.765244 +v -2.652088 -1.169513 -1.235474 +v -1.777830 -1.205882 -1.235474 +v -2.579224 -0.222255 -1.235474 +v -2.251391 -0.368086 -2.801767 +v -2.178638 -1.169513 -2.692373 +v -2.615601 -0.331717 -2.036882 +v -1.814318 -1.169513 -2.000534 +v -1.850694 -0.331717 -2.036882 +v -2.579224 -1.133025 -2.073405 +v -2.178638 -0.112911 -1.235474 +v -2.724952 -0.768623 -2.000534 +v -2.069286 -1.315344 -1.235474 +v -1.631992 -0.696001 -1.235474 +v -2.287768 -1.133025 -2.728896 +v -1.887182 -1.023799 -2.583154 +v -2.542737 -0.477313 -2.619502 +v -1.959935 -0.441061 -2.619502 +v -2.178638 -0.804992 -3.020555 +v -1.704966 -0.732253 -2.036882 +v -1.814318 -0.368086 -2.000534 +v -2.506360 -1.060168 -2.546631 +v -2.652088 -0.295230 -1.417564 +v -2.214904 -0.368086 -2.801767 +v -2.397009 -1.278857 -1.271822 +v -2.761550 -0.768623 -1.417564 +v -2.142150 -1.133025 -2.765244 +v -2.724952 -0.696001 -2.000534 +v -2.360632 -0.222255 -1.927663 +v -1.777830 -0.295230 -1.381042 +v -1.777830 -1.096656 -1.964011 +v -1.923558 -0.804992 -2.838115 +v -2.251391 -0.914454 -2.947510 +v -2.142150 -1.278857 -1.964011 +v -2.615601 -0.732253 -2.765244 +v -1.741454 -1.169513 -1.308170 +f 16 39 44 +f 8 5 10 +f 8 10 11 +f 5 8 12 +f 12 8 19 +f 17 1 19 +f 8 17 19 +f 18 10 20 +f 9 18 20 +f 11 10 21 +f 16 11 21 +f 11 4 22 +f 8 11 22 +f 14 3 23 +f 3 18 23 +f 15 13 25 +f 22 4 28 +f 22 28 29 +f 7 26 29 +f 26 17 29 +f 28 7 29 +f 18 9 30 +f 9 23 30 +f 23 18 30 +f 5 12 31 +f 12 15 31 +f 6 13 32 +f 13 1 32 +f 1 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+ + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj new file mode 100644 index 000000000..64c8e4f30 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj @@ -0,0 +1,726 @@ +o convex_0 +v -1.013757 -1.128755 0.708402 +v 1.029566 -0.714405 0.945614 +v 1.029566 -1.632319 0.945614 +v 0.822153 0.055479 -1.067827 +v -0.924752 -1.632319 -0.979163 +v -1.013757 0.055479 0.975239 +v 0.940560 -1.632319 -1.008577 +v -0.924752 0.055479 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convex_2 +v 0.999878 -2.579985 0.945509 +v -0.539749 -2.580057 -1.038437 +v -0.747153 -2.816738 -1.008475 +v -1.013758 -2.372653 0.945509 +v -1.013758 -3.112988 0.945509 +v 0.910877 -2.994430 -0.949341 +v 0.940677 -2.372726 -0.978908 +v 1.029479 -2.964863 0.915942 +v -0.924756 -2.372653 -0.978908 +v -0.924756 -3.024069 -0.978908 +v 1.029479 -2.372726 0.915942 +v -0.776753 -3.112988 0.708579 +v 0.910877 -2.994430 0.915942 +v 0.822075 -2.609624 0.975273 +v 0.792474 -2.846377 -1.008475 +v 0.614871 -2.372726 -1.038437 +v -1.013758 -3.083348 0.530980 +v 0.111462 -2.372653 0.975273 +v 1.029479 -2.964863 0.708579 +v -1.013758 -2.372653 0.590114 +v 0.940677 -2.964863 -0.831073 +v 0.022661 -3.053636 0.945509 +v -0.450948 -2.372653 -1.038437 +v 0.881276 -2.994430 -0.978908 +v 0.822075 -2.372726 0.975273 +v -0.954356 -2.935223 -0.564379 +v -0.924756 -3.083348 0.086686 +f 71 85 88 +f 63 64 70 +f 70 64 71 +f 62 69 72 +f 67 69 74 +f 73 67 74 +f 69 62 75 +f 64 63 76 +f 71 64 76 +f 76 63 77 +f 68 76 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-0.979117 +v -0.806355 2.484071 1.004887 +v 0.999872 2.987290 1.004887 +v 0.999872 2.335874 0.975250 +v -0.865555 2.987290 0.975250 +v -1.013758 2.779959 0.856704 +v -0.658152 3.076209 -0.682751 +v 0.674068 3.046569 -1.068027 +v 0.822070 2.335874 -1.097663 +v 1.029473 2.335874 0.146044 +v 0.644467 3.016930 -1.097663 +v 1.029473 2.750392 -1.097663 +v -0.510150 2.365514 -1.038390 +v -0.835955 2.335874 1.004887 +f 98 106 118 +f 90 91 93 +f 90 93 95 +f 96 89 97 +f 96 97 98 +f 97 89 99 +f 95 93 101 +f 99 94 102 +f 89 96 104 +f 99 89 105 +f 94 99 105 +f 100 94 105 +f 89 104 105 +f 91 90 107 +f 90 95 107 +f 95 103 107 +f 92 106 107 +f 106 98 107 +f 98 97 108 +f 91 107 108 +f 107 98 108 +f 100 92 109 +f 103 100 109 +f 107 103 109 +f 92 107 109 +f 96 92 110 +f 92 100 110 +f 104 96 110 +f 100 105 110 +f 105 104 110 +f 94 100 111 +f 95 101 111 +f 103 95 111 +f 100 103 111 +f 101 93 112 +f 94 111 112 +f 111 101 112 +f 93 97 113 +f 97 99 113 +f 93 91 114 +f 91 108 114 +f 108 97 114 +f 102 94 115 +f 112 93 115 +f 94 112 115 +f 93 113 115 +f 113 102 115 +f 97 93 116 +f 93 114 116 +f 114 97 116 +f 99 102 117 +f 113 99 117 +f 102 113 117 +f 92 96 118 +f 96 98 118 +f 106 92 118 +o convex_4 +v -0.362263 -1.810022 3.107437 +v 0.348458 -1.750772 1.745555 +v 0.348458 -1.780397 1.745555 +v -0.332627 -2.194973 1.064114 +v 0.289185 -2.313415 3.018231 +v -0.302990 -1.750772 1.064114 +v 0.200345 -2.313415 1.064114 +v -0.332627 -2.254165 3.107437 +v 0.289185 -1.750772 3.077435 +v 0.348458 -1.750772 1.064114 +v -0.332627 -2.343040 1.064114 +v 0.348458 -1.839705 1.064114 +v -0.243787 -1.780397 3.107437 +v -0.332627 -2.313415 2.071174 +v 0.200345 -2.313415 3.047833 +v 0.289185 -2.313415 2.692812 +v 0.318821 -1.780397 2.781617 +v 0.081937 -1.750772 3.077435 +v -0.125240 -2.343040 1.123717 +v -0.362263 -1.898839 2.781617 +f 129 132 138 +f 122 124 125 +f 120 124 127 +f 120 121 128 +f 124 120 128 +f 125 124 128 +f 122 125 129 +f 121 123 130 +f 128 121 130 +f 125 128 130 +f 124 119 131 +f 119 126 131 +f 126 127 131 +f 132 129 133 +f 123 127 133 +f 127 126 133 +f 126 132 133 +f 130 123 134 +f 125 130 134 +f 121 120 135 +f 123 121 135 +f 120 127 135 +f 127 123 135 +f 127 124 136 +f 124 131 136 +f 131 127 136 +f 129 125 137 +f 133 129 137 +f 123 133 137 +f 125 134 137 +f 134 123 137 +f 119 124 138 +f 124 122 138 +f 126 119 138 +f 122 129 138 +f 132 126 138 +o convex_5 +v 2.569070 1.684443 -0.238872 +v 1.592411 2.335874 -0.238872 +v 2.450863 2.306159 -0.209227 +v 1.059179 1.714095 0.323779 +v 3.013497 2.187746 0.205320 +v 1.059179 2.335874 0.294134 +v 1.059179 1.743682 -0.238872 +v 3.102502 1.743682 0.294134 +v 3.013497 1.802920 -0.298102 +v 1.059179 2.335874 -0.268457 +v 2.983695 2.276572 -0.238872 +v 3.013497 1.684443 -0.298102 +v 2.983695 2.246921 0.175674 +v 3.102502 1.832507 0.294134 +v 1.059179 1.714095 -0.179643 +v 1.059179 1.980572 -0.268457 +v 2.184247 1.714095 0.294134 +v 2.598872 1.684443 -0.298102 +v 1.177986 2.335874 0.294134 +v 2.066240 2.306159 -0.268457 +v 3.013497 1.684443 -0.179643 +v 1.503406 1.743682 0.323779 +v 2.983695 2.276572 -0.090768 +f 157 151 161 +f 142 144 145 +f 144 140 148 +f 145 144 148 +f 140 141 149 +f 147 146 150 +f 146 147 152 +f 147 149 152 +f 149 143 152 +f 139 142 153 +f 142 145 153 +f 145 148 154 +f 146 142 155 +f 148 147 156 +f 150 139 156 +f 147 150 156 +f 139 153 156 +f 153 145 156 +f 145 154 156 +f 154 148 156 +f 141 140 157 +f 140 144 157 +f 143 151 157 +f 152 143 157 +f 148 140 158 +f 147 148 158 +f 149 147 158 +f 140 149 158 +f 142 139 159 +f 139 150 159 +f 150 146 159 +f 155 142 159 +f 146 155 159 +f 144 142 160 +f 142 146 160 +f 146 152 160 +f 157 144 160 +f 152 157 160 +f 149 141 161 +f 143 149 161 +f 151 143 161 +f 141 157 161 +o convex_6 +v 0.200356 -1.839726 -1.068050 +v -0.184545 -2.342907 -3.081563 +v -0.214190 -2.224511 -3.081563 +v -0.332650 -2.342907 -1.068050 +v -0.332650 -1.691665 -1.068050 +v 0.200356 -1.721263 -2.933348 +v 0.289231 -2.194912 -1.068050 +v -0.243775 -1.661932 -3.022238 +v 0.200356 -2.224511 -2.933348 +v -0.332650 -2.342907 -1.453369 +v -0.095731 -2.342907 -2.814895 +v 0.200356 -1.780461 -1.394044 +v -0.066025 -1.661932 -2.903784 +v -0.214190 -2.342907 -1.098008 +v 0.230002 -2.224511 -2.726202 +v -0.332650 -1.691665 -1.482933 +v 0.230002 -2.224511 -1.068050 +v 0.289231 -2.135648 -1.186701 +v -0.273420 -1.691665 -1.068050 +v -0.125316 -2.224511 -3.081563 +v 0.200356 -1.721263 -2.726202 +f 174 180 182 +f 165 162 166 +f 162 165 168 +f 164 163 171 +f 163 165 171 +f 165 166 171 +f 169 164 171 +f 165 163 172 +f 163 170 172 +f 169 166 174 +f 167 169 174 +f 165 172 175 +f 170 167 176 +f 172 170 176 +f 166 169 177 +f 171 166 177 +f 169 171 177 +f 168 165 178 +f 165 175 178 +f 175 172 178 +f 176 168 178 +f 172 176 178 +f 162 168 179 +f 173 162 179 +f 176 167 179 +f 168 176 179 +f 166 162 180 +f 162 173 180 +f 174 166 180 +f 163 164 181 +f 164 169 181 +f 169 167 181 +f 170 163 181 +f 167 170 181 +f 167 174 182 +f 173 179 182 +f 179 167 182 +f 180 173 182 +o convex_7 +v -0.362245 -2.313302 -1.068050 +v 1.029566 -1.632319 0.945359 +v 0.881364 -1.632319 0.974995 +v 0.999765 -2.372653 0.945359 +v -1.013650 -2.372653 0.945359 +v -0.924650 -1.632319 -0.979140 +v 0.940565 -1.632319 -1.008777 +v -1.013650 -1.632319 0.945359 +v 0.940565 -2.372653 -0.979140 +v -0.924650 -2.372653 -0.979140 +v -0.332645 -2.343014 1.064114 +v 0.377960 -1.632319 1.064114 +v 0.496361 -1.632319 -1.068050 +v 1.029566 -2.372653 0.767748 +v -0.954250 -2.165249 -0.771893 +v 0.970165 -1.721237 -0.801321 +v 0.377960 -2.313302 -1.068050 +v -0.303045 -1.750877 1.064114 +v -0.332645 -1.691670 -1.068050 +v 0.200359 -2.313302 1.064114 +v -1.013650 -1.632319 0.678838 +v -1.013650 -2.372653 0.619565 +v 0.881364 -2.372653 -1.008777 +v -0.954250 -1.632319 -0.712620 +f 197 203 206 +f 184 185 186 +f 185 184 188 +f 188 184 189 +f 185 188 190 +f 186 187 191 +f 188 183 192 +f 191 187 192 +f 187 186 193 +f 190 187 193 +f 186 185 194 +f 185 190 194 +f 188 189 195 +f 184 186 196 +f 186 191 196 +f 188 192 197 +f 189 184 198 +f 191 189 198 +f 184 196 198 +f 196 191 198 +f 183 195 199 +f 190 193 200 +f 194 190 200 +f 193 194 200 +f 183 188 201 +f 195 183 201 +f 188 195 201 +f 193 186 202 +f 194 193 202 +f 186 194 202 +f 187 190 203 +f 190 188 203 +f 203 197 204 +f 192 187 204 +f 197 192 204 +f 187 203 204 +f 189 191 205 +f 192 183 205 +f 191 192 205 +f 195 189 205 +f 183 199 205 +f 199 195 205 +f 188 197 206 +f 203 188 206 +o convex_8 +v -1.695161 1.714095 -0.209244 +v -1.043568 2.335874 0.323779 +v -1.043568 2.217334 0.323779 +v -2.997559 2.187746 0.234887 +v -2.967994 2.187746 -0.238875 +v -2.997559 1.802920 0.205311 +v -1.043568 2.217334 -0.209244 +v -1.043568 1.743682 0.175680 +v -3.056884 1.684443 -0.179614 +v -1.043568 1.743682 -0.209244 +v -2.671762 1.891746 0.264517 +v -1.369365 2.335874 0.323779 +v -1.102893 2.335874 0.205311 +v -2.879105 2.217334 0.264517 +v -1.339800 1.773333 0.205311 +v -2.286837 2.217334 -0.209244 +v -2.286837 2.158095 -0.238875 +v -2.849541 1.802920 0.234887 +v -1.576707 2.187746 0.323779 +v -2.967994 2.098921 -0.238875 +v -3.056884 1.684443 -0.149983 +f 214 224 227 +f 208 209 213 +f 213 209 214 +f 210 211 215 +f 214 207 216 +f 213 214 216 +f 209 208 218 +f 208 213 219 +f 218 208 219 +f 211 218 219 +f 211 210 220 +f 210 212 220 +f 218 211 220 +f 214 209 221 +f 209 217 221 +f 213 211 222 +f 219 213 222 +f 211 219 222 +f 211 213 223 +f 213 216 223 +f 220 212 224 +f 217 220 224 +f 214 221 224 +f 221 217 224 +f 217 209 225 +f 209 218 225 +f 220 217 225 +f 218 220 225 +f 207 215 226 +f 215 211 226 +f 216 207 226 +f 211 223 226 +f 223 216 226 +f 212 210 227 +f 207 214 227 +f 215 207 227 +f 210 215 227 +f 224 212 227 +o convex_9 +v -1.043371 2.247002 -0.149911 +v 1.059086 1.743638 0.323657 +v 1.059086 1.714103 0.323657 +v 0.999816 2.335874 -1.097663 +v -0.924830 1.654766 -1.008548 +v -0.835924 2.335874 1.004887 +v -0.984100 1.654766 0.975044 +v 0.999816 2.335874 0.975250 +v 0.999816 1.654766 -1.068027 +v -0.924830 2.335874 -1.008548 +v 0.910910 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237 250 +f 248 228 250 +f 232 248 250 +f 232 237 251 +f 237 231 251 +f 231 242 251 +f 242 232 251 +f 234 239 252 +f 240 234 252 +f 239 245 252 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf new file mode 100644 index 000000000..a90e3b48e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.obj 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b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj new file mode 100644 index 000000000..f55748a09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj @@ -0,0 +1,459 @@ +o convex_0 +v -0.120662 -0.431594 -1.105821 +v -0.997544 4.115033 1.102927 +v -0.542880 4.147766 1.102710 +v -0.185555 -0.497060 1.102927 +v 0.918658 4.050029 -1.040528 +v 1.048651 -0.497060 1.037849 +v -1.062643 4.180037 -1.040744 +v -1.029990 -0.497060 0.095845 +v 0.983551 4.212770 1.005418 +v 1.048651 -0.497060 -0.975666 +v -0.997544 -0.464327 -0.975666 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-1.788011 +v 0.236506 -0.562138 -2.794508 +v -0.348058 -1.244136 -2.729837 +v 0.334056 -0.854383 -1.105821 +v -0.315541 -0.627050 -2.209992 +f 118 126 130 +f 110 108 111 +f 105 111 112 +f 106 107 113 +f 107 109 113 +f 108 110 114 +f 111 108 115 +f 110 113 117 +f 107 106 118 +f 108 114 118 +f 106 115 119 +f 115 108 119 +f 106 113 121 +f 115 106 121 +f 116 115 121 +f 112 111 122 +f 111 115 122 +f 116 112 122 +f 115 116 122 +f 113 109 123 +f 117 113 123 +f 109 120 123 +f 120 117 123 +f 114 110 124 +f 110 117 124 +f 117 120 124 +f 105 112 125 +f 112 116 125 +f 121 113 125 +f 116 121 125 +f 118 114 126 +f 120 109 126 +f 114 124 126 +f 124 120 126 +f 110 105 127 +f 113 110 127 +f 105 125 127 +f 125 113 127 +f 118 106 128 +f 108 118 128 +f 106 119 128 +f 119 108 128 +f 105 110 129 +f 111 105 129 +f 110 111 129 +f 109 107 130 +f 107 118 130 +f 126 109 130 +o convex_4 +v -0.835180 -0.789470 -1.008313 +v 1.081132 -1.244035 0.777971 +v 1.081132 -1.276618 0.777971 +v -1.062653 -1.276618 0.940341 +v -0.185707 -0.497060 1.102927 +v 1.048396 -0.497060 -0.975882 +v 1.016080 -1.276618 -0.975882 +v -0.997601 -0.497060 -0.943235 +v -0.997601 -1.276618 -0.943235 +v 1.048396 -0.497060 1.037849 +v -1.029917 -0.497060 0.940341 +v 0.463976 -1.276618 1.102927 +v -0.185707 -1.244035 -1.105821 +v -0.412970 -0.497060 -1.105821 +v 1.048396 -1.276618 1.037849 +v 0.301555 -0.594657 -1.105821 +v -0.250549 -1.146590 1.102927 +v 1.048396 -1.276618 -0.943235 +v 0.334081 -1.081728 -1.105821 +v -0.640233 -1.276618 -1.040744 +v -1.062653 -0.984284 0.875479 +v 0.983554 -0.497060 -1.008313 +v 0.269029 -0.659519 1.102927 +v -1.029917 -0.497060 0.095845 +v 1.081132 -1.114083 0.615601 +v -0.250549 -0.497060 1.102927 +v -0.412970 -0.886839 -1.105821 +v -0.965075 -0.497060 -0.975882 +f 138 144 158 +f 133 134 137 +f 135 136 138 +f 137 134 139 +f 133 132 140 +f 136 135 140 +f 135 138 141 +f 134 133 142 +f 138 136 144 +f 133 140 145 +f 142 133 145 +f 140 142 145 +f 143 144 146 +f 134 142 147 +f 142 135 147 +f 133 137 148 +f 137 136 148 +f 137 143 149 +f 143 146 149 +f 137 139 150 +f 139 131 150 +f 143 137 150 +f 139 134 151 +f 138 139 151 +f 134 141 151 +f 136 137 152 +f 144 136 152 +f 146 144 152 +f 137 149 152 +f 149 146 152 +f 140 135 153 +f 135 142 153 +f 142 140 153 +f 141 138 154 +f 138 151 154 +f 151 141 154 +f 132 133 155 +f 140 132 155 +f 136 140 155 +f 133 148 155 +f 148 136 155 +f 141 134 156 +f 135 141 156 +f 134 147 156 +f 147 135 156 +f 131 144 157 +f 144 143 157 +f 150 131 157 +f 143 150 157 +f 131 139 158 +f 139 138 158 +f 144 131 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf new file mode 100644 index 000000000..78ae6fc8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj new file mode 100644 index 000000000..be7adb7df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj @@ -0,0 +1,1692 @@ +o convex_0 +v 0.069576 -0.460384 -0.020588 +v 0.028309 -0.061476 0.463698 +v 0.033814 -0.099950 0.458151 +v 0.072328 -0.584184 0.414112 +v 0.080586 -0.518147 -0.015042 +v 0.033814 -0.066957 0.001455 +v 0.039314 -0.061476 -0.020588 +v 0.077833 -0.581443 0.414112 +v 0.025561 -0.072439 0.449903 +v 0.075081 -0.529162 0.006954 +v 0.039314 -0.061476 0.004205 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf new file mode 100644 index 000000000..ceaec1271 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj new file mode 100644 index 000000000..7be226079 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj @@ -0,0 +1,474 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf new file mode 100644 index 000000000..275d6ded4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj new file mode 100644 index 000000000..e482ee123 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj @@ -0,0 +1,933 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf new file mode 100644 index 000000000..3a9caf17c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj new file mode 100644 index 000000000..9640a1673 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj @@ -0,0 +1,759 @@ +o convex_0 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193 191 196 +f 192 193 198 +f 199 194 200 +f 192 198 202 +f 200 194 202 +f 195 190 203 +f 193 196 203 +f 196 195 203 +f 200 193 203 +f 190 195 204 +f 194 199 204 +f 201 194 204 +f 199 200 205 +f 203 190 205 +f 200 203 205 +f 190 204 205 +f 204 199 205 +f 196 191 206 +f 195 196 206 +f 201 197 207 +f 206 191 207 +f 198 193 208 +f 193 200 208 +f 202 198 208 +f 200 202 208 +f 191 192 209 +f 194 201 209 +f 192 202 209 +f 202 194 209 +f 207 191 209 +f 201 207 209 +f 195 197 210 +f 197 201 210 +f 204 195 210 +f 201 204 210 +f 197 195 211 +f 195 206 211 +f 207 197 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf new file mode 100644 index 000000000..c48c696e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj new file mode 100644 index 000000000..bda7c59bf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj @@ -0,0 +1,336 @@ +o convex_0 +v 1.519711 1.078428 -0.568747 +v -2.702894 -0.752716 0.290400 +v -2.702894 -0.752716 0.327735 +v 1.407284 -3.890527 0.963085 +v -1.133057 -3.853107 -1.054539 +v 1.332471 2.199204 0.962869 +v -2.515654 2.162388 -1.017203 +v -2.665281 2.162388 1.075091 +v -2.628081 -3.891130 0.925749 +v 1.370084 -3.778268 -1.092090 +v 1.407284 2.161784 -0.979652 +v -2.515654 -3.778268 -0.942533 +v -0.460979 -3.778872 1.112642 +v -0.685005 2.274647 -1.092090 +v -0.460979 2.237227 1.075091 +v -2.628081 2.124365 -0.979868 +v 1.519711 1.639118 0.477077 +v 1.519711 -1.050865 -0.344518 +v -0.348965 -3.891130 -0.979868 +v -0.647391 -2.396159 -1.092090 +v 1.444898 -3.479515 0.888198 +v 1.407284 -3.666009 -1.054539 +v 1.257658 -3.293021 1.000420 +v 1.407284 1.153267 -1.017203 +v -0.685005 -3.740849 1.112642 +v -2.628081 -3.105923 0.962869 +v -0.610192 -1.984544 1.112642 +v -2.702894 0.667416 0.663970 +v -0.498178 2.274647 -1.092090 +v -2.553267 -1.760630 -0.979868 +v 1.407284 2.199204 -0.792975 +v 1.519711 -1.088285 0.365071 +v 0.958819 1.153267 1.000420 +v -2.665281 1.639118 1.075091 +v -2.553267 -3.180159 -0.792975 +v 1.370084 1.675934 0.963085 +v 1.444898 2.086945 -0.942533 +v -0.946231 2.161784 -1.092090 +v -2.590467 -3.891130 0.589299 +v 0.398340 2.236624 1.000420 +v 1.407284 -3.815688 -0.568747 +v -2.665281 2.162388 0.439741 +v -2.515654 1.713957 -1.017203 +v 1.519711 1.713353 -0.494076 +v -2.254428 -3.778268 -0.979868 +v 1.370084 -3.479515 -1.092090 +v -2.628081 -3.891130 0.813527 +v -2.702894 -0.566222 0.215513 +v 1.370084 2.199204 0.776192 +v -0.685005 2.237227 1.075091 +v -2.702894 0.667416 0.439741 +v -2.628081 1.863032 -0.979868 +v -2.515654 -3.815688 -0.643418 +v 1.519711 0.107330 -0.568747 +v -0.647391 -3.891130 -0.942533 +v 1.257658 -3.853107 1.000420 +v -0.460979 -3.255601 1.112642 +v 1.407284 -1.498693 0.963085 +v -2.665281 0.181566 1.037756 +v 1.519711 0.704836 0.514628 +v -1.507123 -1.386434 -1.054539 +v -2.553267 -3.778268 -0.494076 +v -0.498178 2.274647 -0.792975 +v 1.407284 2.199204 -0.157625 +f 63 49 64 +f 3 2 9 +f 9 4 13 +f 1 17 18 +f 4 9 19 +f 5 10 19 +f 10 5 20 +f 14 10 20 +f 18 21 22 +f 9 13 25 +f 9 25 26 +f 8 25 27 +f 25 13 27 +f 2 3 28 +f 3 9 28 +f 10 14 29 +f 11 24 29 +f 11 29 31 +f 18 17 32 +f 21 18 32 +f 6 15 33 +f 15 27 33 +f 25 8 34 +f 26 25 34 +f 8 28 34 +f 30 12 35 +f 17 6 36 +f 6 33 36 +f 33 23 36 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40 63 +f 40 49 63 +f 14 50 63 +f 50 15 63 +f 37 31 64 +f 17 44 64 +f 44 37 64 +f 49 17 64 +f 31 63 64 +o convex_1 +v 3.499846 -1.088380 0.178393 +v 1.519711 -1.051114 -0.344723 +v 1.519711 -0.490611 -0.344723 +v 1.519711 -0.938987 0.365275 +v 3.275760 -0.528008 0.253104 +v 3.350390 -0.565472 -0.307333 +v 1.519711 -0.490611 0.290495 +v 3.462627 -1.013716 -0.232483 +v 1.669554 -1.125843 0.327885 +v 3.387803 -1.163241 0.028902 +v 2.192550 -0.490611 -0.344723 +v 2.827395 -1.163241 0.253104 +v 3.088892 -0.602804 0.290495 +v 2.491460 -1.051114 -0.307333 +v 1.519711 -1.088380 0.365275 +v 1.819009 -1.088380 -0.269943 +v 3.387803 -0.640135 0.253104 +v 2.267374 -0.864192 -0.344723 +v 2.902025 -1.163241 0.028902 +v 1.744184 -1.088380 0.365275 +v 3.499846 -1.163241 0.178393 +v 3.313172 -0.826926 0.253104 +v 2.304593 -0.490611 0.028902 +v 3.425215 -0.901655 -0.269943 +v 2.976850 -0.528008 -0.269943 +f 70 75 89 +f 67 66 68 +f 67 68 71 +f 70 65 72 +f 66 67 75 +f 67 71 75 +f 71 68 77 +f 69 71 77 +f 72 74 78 +f 68 66 79 +f 66 73 79 +f 73 66 80 +f 66 78 80 +f 78 74 80 +f 70 69 81 +f 65 70 81 +f 69 77 81 +f 66 75 82 +f 75 70 82 +f 78 66 82 +f 76 73 83 +f 74 76 83 +f 73 80 83 +f 80 74 83 +f 73 76 84 +f 77 68 84 +f 68 79 84 +f 79 73 84 +f 72 65 85 +f 74 72 85 +f 76 74 85 +f 65 81 85 +f 85 81 86 +f 81 77 86 +f 84 76 86 +f 77 84 86 +f 76 85 86 +f 71 69 87 +f 69 75 87 +f 75 71 87 +f 70 72 88 +f 72 78 88 +f 82 70 88 +f 78 82 88 +f 69 70 89 +f 75 69 89 +o convex_2 +v 1.781597 0.630491 -0.008393 +v 3.350390 1.751490 0.439888 +v 3.350390 1.751490 -0.494014 +v 1.519711 1.714070 -0.232534 +v 3.462627 0.705217 -0.531565 +v 1.519711 0.593071 0.514566 +v 3.462627 0.705217 0.552117 +v 1.519711 0.742749 -0.456781 +v 1.519711 1.639345 0.477227 +v 1.519711 1.714070 -0.494014 +v 3.499846 1.452474 0.215641 +v 1.819009 0.593071 0.252980 +v 3.387803 1.415167 -0.531565 +v 2.939437 0.705217 -0.531565 +v 2.229962 1.751490 -0.494014 +v 3.462627 1.564505 -0.307318 +v 3.462627 0.854668 0.552117 +v 1.856227 1.676651 0.477227 +v 1.519711 0.705217 -0.419442 +v 2.976850 0.667910 0.552117 +v 1.519711 1.415167 -0.494014 +v 2.304593 1.676651 0.477227 +v 2.902025 0.742749 0.552117 +v 1.519711 0.593071 0.252980 +v 3.238348 1.751490 0.439888 +v 3.499846 1.377635 -0.008393 +f 94 105 115 +f 95 93 97 +f 93 95 98 +f 97 93 99 +f 94 101 103 +f 99 102 103 +f 102 94 103 +f 91 92 104 +f 99 93 104 +f 92 102 104 +f 102 99 104 +f 92 91 105 +f 91 100 105 +f 102 92 105 +f 94 102 105 +f 100 91 106 +f 96 100 106 +f 93 98 107 +f 98 106 107 +f 95 97 108 +f 103 90 108 +f 97 103 108 +f 94 96 109 +f 101 94 109 +f 95 101 109 +f 96 106 109 +f 97 99 110 +f 103 97 110 +f 99 103 110 +f 106 91 111 +f 91 107 111 +f 107 106 111 +f 98 95 112 +f 106 98 112 +f 95 109 112 +f 109 106 112 +f 101 95 113 +f 90 103 113 +f 103 101 113 +f 95 108 113 +f 108 90 113 +f 91 104 114 +f 104 93 114 +f 107 91 114 +f 93 107 114 +f 96 94 115 +f 100 96 115 +f 105 100 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf new file mode 100644 index 000000000..3d41a0ddb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj new file mode 100644 index 000000000..255a72812 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj @@ -0,0 +1,1221 @@ +o convex_0 +v 0.545744 -1.256180 2.220583 +v -0.066464 -1.901045 1.221338 +v -0.292236 -1.804236 1.221338 +v 0.062188 -0.418275 1.221338 +v -0.356622 -1.223958 2.800779 +v -0.614646 -0.901888 1.221338 +v 0.610250 -1.288546 1.221518 +v 0.062188 -1.643128 2.800779 +v 0.029935 -0.869667 2.800779 +v -0.453381 -0.450642 1.253711 +v 0.448985 -1.772014 1.318097 +v 0.481238 -0.676193 1.318097 +v 0.448985 -1.223958 2.800779 +v -0.388875 -1.643128 2.091991 +v 0.094441 -1.256325 3.058683 +v 0.448985 -1.707571 1.930665 +v -0.517887 -1.610907 1.253711 +v 0.352226 -0.966331 2.607260 +v -0.517887 -1.256325 1.962859 +v 0.352226 -1.578540 2.575067 +v 0.062188 -1.901045 1.221338 +v -0.356622 -1.288401 2.800779 +v 0.094441 -0.869667 2.800779 +v -0.227730 -0.966331 2.639633 +v 0.513491 -0.740781 1.221518 +v -0.002198 -1.772014 2.156017 +v -0.388875 -0.418275 1.253711 +v 0.448985 -1.320768 2.768406 +v 0.577997 -1.320768 1.995052 +v 0.481238 -1.739648 1.221338 +v -0.259983 -1.546464 2.607260 +v -0.614646 -1.159660 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b/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj new file mode 100644 index 000000000..82526927e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj @@ -0,0 +1,999 @@ +o convex_0 +v -0.077668 2.720580 -2.271525 +v 0.053375 2.162900 -1.058065 +v 0.250117 2.130341 -1.123677 +v -0.044996 3.803046 -1.648580 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj new file mode 100644 index 000000000..66ff20d92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj @@ -0,0 +1,567 @@ +o convex_0 +v -0.614771 -3.866899 -0.122626 +v 1.337305 -0.034677 1.070425 +v 1.228926 -0.034677 1.070425 +v -0.687024 -0.034677 -1.099067 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf new file mode 100644 index 000000000..cf5cce2b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj new file mode 100644 index 000000000..7ce2cc498 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj new file mode 100644 index 000000000..55a26a160 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj @@ -0,0 +1,2214 @@ +o convex_0 +v 3.788817 1.504789 0.181643 +v 1.859419 1.528016 -0.004305 +v 1.859419 1.365314 0.181643 +v 3.788817 1.365314 -0.004305 +v 3.788817 1.551280 -0.004305 +v 1.859419 1.528016 0.204898 +v 3.788817 1.365314 0.228152 +v 1.929297 1.551280 0.158411 +v 3.300613 1.504789 0.228152 +v 1.859419 1.365314 0.204898 +v 1.859419 1.551280 -0.004305 +f 6 8 11 +f 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b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj new file mode 100644 index 000000000..7db48ae5c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj @@ -0,0 +1,1479 @@ +o convex_0 +v -0.304962 -3.433486 -4.982649 +v 0.000852 -3.280576 -0.956814 +v -0.101140 -3.280576 -0.956814 +v -0.228460 -3.433486 -0.956814 +v 0.000852 -3.433486 -4.931419 +v -0.330452 -3.280576 -3.020566 +v 0.000852 -3.357031 -4.931419 +v 0.000852 -3.382506 -1.746927 +v -0.279440 -3.407981 -0.956814 +v -0.304962 -3.357031 -4.957034 +v -0.330452 -3.433486 -2.638711 +v -0.253982 -3.331556 -0.956814 +f 6 9 12 +f 2 3 4 +f 4 1 5 +f 3 2 6 +f 5 1 7 +f 2 5 7 +f 6 2 7 +f 2 4 8 +f 4 5 8 +f 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b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf new file mode 100644 index 000000000..abb00c052 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj new file mode 100644 index 000000000..7a20a64b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj @@ -0,0 +1,1188 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf new file mode 100644 index 000000000..7742438d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj new file mode 100644 index 000000000..17ebffda3 --- /dev/null +++ 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000000000..95a6e88da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj new file mode 100644 index 000000000..c036b47f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj @@ -0,0 +1,378 @@ +o convex_0 +v -0.897128 -0.028479 -0.844604 +v 0.037163 0.472762 1.458215 +v -0.029322 0.472762 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a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj new file mode 100644 index 000000000..a5fb5e32b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj @@ -0,0 +1,963 @@ +o convex_0 +v -0.665460 3.146129 -1.881885 +v -2.481094 -0.749431 -1.654899 +v -2.481094 -0.749431 -1.616901 +v -0.173655 -2.149745 -0.217387 +v -2.102922 3.032736 -0.330980 +v -1.081585 -1.657776 -2.260461 +v -2.178376 3.108331 -2.108871 +v -0.173655 1.822011 -0.217387 +v -0.173655 0.649683 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b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf new file mode 100644 index 000000000..47af08f0b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj new file mode 100644 index 000000000..fa92775d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj @@ -0,0 +1,846 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf new file mode 100644 index 000000000..0464dca60 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj new file mode 100644 index 000000000..2c8818200 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj @@ -0,0 +1,645 @@ +o convex_0 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4.648956 0.298114 0.462211 +v 4.648956 0.298114 0.355333 +v 4.720486 -0.841684 0.141577 +v 2.761374 -0.841684 0.497803 +v 2.761374 0.155438 0.569089 +v 4.684817 0.226776 -0.463897 +v 4.648956 -0.841684 -0.463897 +v 2.761374 0.119884 -0.463897 +v 4.720486 -0.627785 0.462211 +v 2.761374 -0.841684 -0.428103 +v 3.936534 0.262445 0.569089 +v 4.578001 -0.841684 0.426517 +v 2.797044 -0.877353 0.426517 +v 4.613479 -0.022562 0.533395 +v 3.260165 -0.841684 0.497803 +v 2.903859 0.191222 0.462211 +v 3.046343 0.155438 -0.356918 +v 2.832904 -0.556677 0.533395 +v 4.684817 -0.592346 -0.463897 +v 4.684817 0.262445 -0.107570 +v 4.435517 0.298114 0.533395 +v 2.761374 -0.058231 0.569089 +v 4.648956 0.226776 0.533395 +v 3.972395 0.191222 0.569089 +v 4.435517 0.226776 -0.428103 +f 168 154 173 +f 148 152 153 +f 148 154 155 +f 148 153 156 +f 154 148 156 +f 151 154 157 +f 152 148 158 +f 148 155 158 +f 151 157 160 +f 155 151 161 +f 152 158 161 +f 158 155 161 +f 151 160 161 +f 160 157 163 +f 152 161 163 +f 161 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000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj new file mode 100644 index 000000000..4e1e1262f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj @@ -0,0 +1,495 @@ +o convex_0 +v 1.117265 1.251717 -0.030393 +v -1.348166 0.234874 -0.030393 +v -1.348166 0.234874 0.000269 +v -0.053783 3.747574 0.000070 +v -0.023013 1.837339 -1.047427 +v -0.023013 0.512383 0.986640 +v 0.962903 0.234530 -0.862457 +v -0.023013 3.254455 0.739748 +v 0.962903 0.234530 0.801670 +v 0.778028 3.161952 -0.091917 +v -0.824310 3.285404 -0.061056 +v -0.978416 0.234874 -0.862258 +v -1.039955 0.234874 0.801471 +v -0.084552 3.254455 -0.831596 +v -0.824310 1.836995 0.739947 +v -0.793284 1.867944 -0.800734 +v 0.778028 1.806734 0.709086 +v -0.023013 1.775785 0.986640 +v 0.778028 1.683283 -0.800734 +v 1.271371 0.234530 0.031130 +v -0.084552 0.234874 -1.016565 +v 0.531613 2.853838 -0.646626 +v 0.593409 2.822890 0.524117 +v -0.608409 2.884788 0.554978 +v -0.639178 2.945997 -0.584903 +v 0.007757 3.254455 -0.831596 +v 1.024699 0.265823 -0.800734 +v -0.269428 0.234874 0.955579 +v 0.716488 3.254455 -0.030393 +v -0.023013 3.716625 -0.153640 +v -0.023013 0.666440 -1.047427 +v -0.885850 0.296428 0.863194 +v -0.824310 3.254455 0.000269 +v 0.069297 1.714231 -1.047427 +v 0.778028 0.388931 0.863194 +v 0.778028 3.161952 -0.030393 +v -0.084552 1.775785 -1.047427 +v 0.007757 3.254455 0.739748 +v 1.240345 0.512039 -0.061056 +v -0.978416 0.388931 -0.862258 +v 0.562383 0.234530 -0.954842 +v -0.793284 3.316009 0.000269 +v -0.762514 0.234874 -0.923981 +v -0.053783 1.775785 0.986640 +v -0.885850 1.405774 0.770610 +v 0.654949 1.745180 0.770610 +v 1.271371 0.296428 0.031130 +v 0.747258 3.223506 -0.091917 +v 0.161863 0.234874 0.955579 +v 0.038527 3.716625 0.000070 +v -0.762514 1.775785 -0.831397 +v 0.962903 0.327377 0.801670 +v -1.348166 0.265823 0.000269 +v -1.348166 0.265823 -0.030393 +v -0.762514 3.346958 -0.061056 +v 0.747258 0.481434 -0.923981 +v 0.007757 1.745180 0.986640 +v 0.654949 2.360719 -0.708150 +v -1.039955 0.327377 0.801471 +v -0.577639 2.945997 -0.646427 +v 1.024699 1.559831 -0.184302 +v 1.055469 1.590780 0.000269 +v 0.100066 3.685676 -0.091917 +v 0.192632 0.234874 -1.016565 +f 34 41 64 +f 3 9 13 +f 9 7 20 +f 15 8 24 +f 11 14 25 +f 16 11 25 +f 5 14 26 +f 7 19 27 +f 20 7 27 +f 13 9 28 +f 26 14 30 +f 13 28 32 +f 15 24 33 +f 5 26 34 +f 26 19 34 +f 31 5 34 +f 1 10 36 +f 23 17 36 +f 29 23 36 +f 14 5 37 +f 5 31 37 +f 4 8 38 +f 8 18 38 +f 17 23 38 +f 23 29 38 +f 10 1 39 +f 12 2 40 +f 3 2 41 +f 9 3 41 +f 7 9 41 +f 2 12 41 +f 8 4 42 +f 24 8 42 +f 11 33 42 +f 33 24 42 +f 31 21 43 +f 37 31 43 +f 12 40 43 +f 40 37 43 +f 41 12 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-2.888962 -1.799340 0.000377 +v 1.856685 -0.135300 0.030898 +v 1.856685 -0.135300 0.000175 +v 2.781454 -2.107558 0.000175 +v 0.007739 -0.474576 -1.047426 +v -1.193751 -0.135300 0.832516 +v 1.979672 -1.367747 0.986332 +v -2.025688 -2.045872 0.770869 +v -1.994941 -2.045872 -0.800837 +v 2.103251 -1.336904 -1.016300 +v -1.348076 -0.166143 -0.831560 +v -2.796131 -0.443733 0.031100 +v -2.149266 -1.244588 0.986534 +v -2.025688 -1.214173 -1.047426 +v 2.565635 -0.721109 0.585725 +v 2.072504 -2.323462 -0.060866 +v -0.023008 -0.135300 0.986534 +v 2.103251 -2.076715 -0.800635 +v 2.596382 -0.782581 -0.584970 +v 2.011010 -2.045872 0.739944 +v 1.116988 -0.135300 -0.862282 +v -2.025688 -2.292619 -0.122715 +v -2.796131 -1.152487 -0.769710 +v -2.796131 -1.244802 0.770869 +v 2.750115 -1.367747 0.770667 +v 2.781454 -1.306275 -0.769912 +v 1.116988 -0.135300 0.832516 +v 2.750115 -0.536049 0.000175 +v 2.997272 -1.306275 0.092747 +v -1.933447 -0.135300 -0.030345 +v -2.796131 -2.045872 -0.061068 +v -3.043288 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-2.045872 -0.831357 +v -1.994941 -1.214173 1.017459 +f 108 81 128 +f 66 67 70 +f 66 70 81 +f 68 80 82 +f 71 72 84 +f 70 67 85 +f 71 84 89 +f 82 74 90 +f 66 81 91 +f 67 66 92 +f 85 67 92 +f 90 83 92 +f 89 68 93 +f 75 76 94 +f 76 70 94 +f 70 85 94 +f 73 86 95 +f 76 87 96 +f 65 88 96 +f 88 76 96 +f 69 78 97 +f 94 85 97 +f 70 76 98 +f 88 77 98 +f 72 71 99 +f 88 72 99 +f 77 88 99 +f 78 69 100 +f 76 75 101 +f 78 87 101 +f 89 79 103 +f 80 68 105 +f 86 80 105 +f 83 90 106 +f 85 92 106 +f 92 83 106 +f 72 88 107 +f 71 89 108 +f 91 81 108 +f 89 103 108 +f 103 91 108 +f 73 95 109 +f 86 73 110 +f 68 82 111 +f 90 68 111 +f 82 90 111 +f 84 72 112 +f 102 105 112 +f 72 107 112 +f 87 76 113 +f 76 101 113 +f 101 87 113 +f 76 88 114 +f 98 76 114 +f 88 98 114 +f 68 89 115 +f 89 84 115 +f 95 86 116 +f 86 105 116 +f 105 102 116 +f 87 78 117 +f 95 65 117 +f 65 96 117 +f 96 87 117 +f 73 109 117 +f 109 95 117 +f 69 97 118 +f 97 85 118 +f 78 100 119 +f 104 73 119 +f 100 104 119 +f 73 117 119 +f 117 78 119 +f 68 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0.234531 0.832348 +v 0.993832 0.234531 0.740008 +v -0.978040 0.234531 -0.862315 +v 1.055374 -0.135300 -0.862315 +v -1.163028 -0.135300 -0.862315 +v 1.301903 0.234531 -0.061056 +v -0.053827 -0.135300 0.986444 +v 0.192702 0.234531 -1.016411 +v -1.902978 -0.104456 -0.030276 +v -0.269585 0.234531 0.955467 +v 1.795324 -0.104456 -0.030276 +v 0.192702 -0.135300 -1.016411 +v 0.963061 0.234531 0.801372 +v 1.764191 -0.104456 0.092844 +v 1.148049 -0.104456 0.801372 +v -1.378786 0.234531 -0.061056 +v -1.902978 -0.104456 0.031088 +v 1.024603 0.234531 -0.800755 +v 1.363445 0.203687 0.000112 +v -0.762644 0.234531 -0.923875 +v 1.055374 -0.042842 -0.862315 +v -0.146140 0.234531 -1.016411 +v -1.224570 -0.104456 -0.800559 +v 0.161570 0.234531 0.955467 +v 0.901520 0.234531 -0.893095 +v -1.009173 0.234531 -0.831339 +v 1.764191 -0.073649 0.031088 +v -1.070715 0.234531 0.739812 +v 0.778436 0.234531 0.863128 +v -1.348016 -0.104456 0.616496 +v 1.024603 0.203687 -0.831535 +f 148 158 168 +f 132 130 133 +f 129 134 135 +f 132 133 136 +f 136 133 137 +f 129 135 138 +f 134 129 139 +f 135 134 140 +f 133 130 141 +f 131 130 142 +f 130 132 142 +f 134 139 143 +f 136 137 144 +f 140 134 145 +f 142 132 146 +f 129 138 147 +f 138 136 147 +f 136 144 147 +f 133 141 148 +f 141 130 149 +f 130 145 149 +f 139 129 150 +f 133 148 151 +f 151 150 152 +f 137 133 152 +f 150 137 152 +f 133 151 152 +f 135 140 153 +f 146 135 153 +f 146 132 154 +f 135 146 154 +f 134 143 155 +f 143 148 155 +f 143 139 156 +f 148 143 156 +f 131 142 157 +f 142 140 157 +f 140 145 157 +f 148 141 158 +f 130 131 159 +f 145 130 159 +f 131 157 159 +f 157 145 159 +f 140 142 160 +f 142 146 160 +f 137 129 161 +f 144 137 161 +f 129 147 161 +f 147 144 161 +f 145 134 162 +f 141 149 162 +f 149 145 162 +f 134 158 162 +f 158 141 162 +f 153 140 163 +f 146 153 163 +f 140 160 163 +f 160 146 163 +f 139 150 164 +f 151 148 164 +f 150 151 164 +f 156 139 164 +f 148 156 164 +f 138 135 165 +f 135 154 165 +f 154 138 165 +f 129 137 166 +f 150 129 166 +f 137 150 166 +f 132 136 167 +f 136 138 167 +f 154 132 167 +f 138 154 167 +f 134 155 168 +f 155 148 168 +f 158 134 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf new file mode 100644 index 000000000..3e9d6e14f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.obj 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1.436107 -1.348675 -0.546984 +v 1.285524 -0.897013 0.544747 +v 0.269173 -1.348675 0.506916 +v 1.360756 -1.348675 0.243388 +v 0.231439 -1.122866 0.544747 +v 0.231439 -0.897013 0.243388 +f 134 142 143 +f 134 133 132 +f 133 134 135 +f 133 135 136 +f 136 135 137 +f 132 133 138 +f 133 136 138 +f 137 132 139 +f 136 137 139 +f 134 132 140 +f 132 138 141 +f 138 136 141 +f 139 132 141 +f 136 139 141 +f 132 137 142 +f 140 132 142 +f 134 140 142 +f 135 134 143 +f 137 135 143 +f 142 137 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf new file mode 100644 index 000000000..8e439b7b1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj new file mode 100644 index 000000000..a15aec809 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj @@ -0,0 +1,387 @@ +o convex_0 +v 0.858726 -3.118446 -1.646045 +v 1.093159 -1.947134 2.102727 +v 1.093159 -1.986099 2.102727 +v -1.054853 -1.087543 3.118488 +v 1.053980 -1.048578 -3.051455 +v -1.094033 -2.962157 -2.974255 +v -0.976709 -3.118446 3.078369 +v -0.976709 -1.048578 -2.973647 +v 1.053980 -1.048578 2.961657 +v 0.936870 -3.079267 2.922144 +v 1.053980 -3.040302 -3.091575 +v -1.054853 -0.931254 -0.161611 +v 1.053980 -0.931254 -1.021148 +v -1.094033 -3.118446 0.696102 +v -1.054853 -0.931254 1.595151 +v 1.093159 -3.079267 1.320999 +v 1.053980 -1.165902 3.040072 +v 0.936870 -0.931254 1.048062 +v -0.976709 -3.001122 -2.973647 +v -0.547235 -3.118446 3.078369 +v -1.094033 -2.532469 -2.934742 +v 0.663471 -2.649365 -3.091575 +v -0.976709 -0.931254 -0.942732 +v 1.015015 -3.118446 -0.239420 +v -1.094033 -2.219891 -0.591380 +v 0.975836 -3.079267 -3.051455 +v 1.053980 -1.009399 -2.661806 +v 0.975836 -2.766689 2.961657 +v -1.094033 -3.118446 1.164774 +v -0.586200 -1.048578 -3.013158 +v -0.937529 -2.649365 3.118488 +v 1.093159 -3.079267 0.579390 +v -1.015888 -1.283012 -2.974255 +v -1.054853 -1.048578 3.000560 +v 0.975836 -1.634341 -3.091575 +v -0.586200 -1.087543 3.118488 +v -0.195477 -3.118446 3.039464 +v -0.469090 -0.931254 1.594543 +v -1.015888 -2.258856 3.118488 +v -0.664344 -1.634341 -3.013158 +v 1.015015 -1.048578 3.000560 +v 1.053980 -3.079267 -3.051455 +v 0.077494 -3.040302 -3.052063 +v 1.053980 -1.439301 3.000560 +v 0.975836 -3.001122 2.844336 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1.048349 +v 1.092937 1.490325 1.087356 +v 3.085066 0.904631 0.657622 +v -2.968150 1.256213 -1.021217 +v 3.006438 0.982668 -0.669933 +v 2.967423 2.778977 -0.826181 +v 1.483680 0.943650 1.048349 +v 2.733338 3.013503 -1.021435 +v 2.538266 2.974277 1.087356 +v -1.366764 3.013503 1.009342 +v -2.968150 2.974277 -0.591701 +v -3.046779 1.256213 -0.982210 +v -3.046779 0.943650 -0.396447 +v 3.085066 1.256006 0.970116 +v 2.733338 1.021894 -0.982210 +v -2.109236 3.013503 -1.060442 +v 3.045452 2.935259 1.009124 +v 3.085066 1.099725 0.657622 +v 3.006438 3.013503 0.306121 +v -3.007164 3.013503 0.267113 +v -3.046779 2.622695 1.009124 +v -2.968150 0.943650 -1.021217 +v -2.656036 2.974277 -1.021217 +f 126 114 133 +f 91 93 96 +f 98 92 100 +f 90 89 102 +f 98 100 102 +f 89 101 102 +f 102 100 103 +f 100 94 103 +f 93 91 104 +f 98 102 105 +f 102 101 105 +f 101 89 106 +f 97 94 107 +f 94 99 110 +f 107 94 111 +f 110 91 111 +f 94 110 111 +f 99 94 112 +f 94 100 112 +f 92 98 113 +f 106 89 114 +f 98 95 115 +f 95 108 115 +f 113 98 115 +f 93 104 116 +f 108 93 116 +f 115 108 116 +f 100 92 117 +f 112 100 117 +f 109 112 117 +f 96 93 118 +f 105 101 118 +f 93 108 118 +f 108 105 118 +f 109 88 119 +f 91 110 119 +f 110 99 119 +f 99 112 119 +f 112 109 119 +f 104 91 120 +f 119 88 120 +f 91 119 120 +f 107 121 122 +f 97 107 122 +f 114 97 122 +f 96 114 122 +f 121 96 122 +f 94 97 123 +f 97 102 123 +f 102 103 123 +f 103 94 123 +f 92 113 124 +f 117 92 124 +f 109 117 124 +f 95 98 125 +f 98 105 125 +f 108 95 125 +f 105 108 125 +f 101 106 126 +f 106 114 126 +f 96 118 126 +f 118 101 126 +f 88 109 127 +f 109 124 127 +f 127 124 128 +f 113 115 128 +f 115 116 128 +f 116 104 128 +f 124 113 128 +f 104 127 128 +f 120 88 129 +f 104 120 129 +f 88 127 129 +f 127 104 129 +f 91 96 130 +f 96 121 130 +f 121 107 130 +f 111 91 131 +f 107 111 131 +f 91 130 131 +f 130 107 131 +f 89 90 132 +f 90 102 132 +f 102 97 132 +f 114 89 132 +f 97 114 132 +f 114 96 133 +f 96 126 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf new file mode 100644 index 000000000..0e37889cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj new file mode 100644 index 000000000..990b9dcd5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj @@ -0,0 +1,684 @@ +o convex_0 +v 1.539977 -1.012462 0.101401 +v 3.562516 -0.576923 0.661355 +v 3.500153 -0.732591 0.692477 +v 3.500153 -1.199148 0.101401 +v 1.539977 -1.230295 0.661355 +v 1.539977 -0.576923 0.225889 +v 3.469071 -0.608134 0.101401 +v 1.539977 -0.701445 0.723599 +v 3.406906 -1.074691 0.723599 +v 1.539977 -1.168066 0.101401 +v 2.846629 -1.136919 0.723599 +v 3.500153 -1.199148 0.225889 +v 1.571456 -0.576923 0.350317 +v 2.971157 -0.608134 0.101401 +v 1.539977 -0.670363 0.692477 +v 1.539977 -1.136919 0.692477 +v 1.789033 -0.576923 0.194767 +v 2.815547 -1.199148 0.101401 +f 5 10 18 +f 1 5 6 +f 2 4 7 +f 4 1 7 +f 3 2 8 +f 6 5 8 +f 2 3 9 +f 3 8 9 +f 1 4 10 +f 5 1 10 +f 9 8 11 +f 9 11 12 +f 4 2 12 +f 5 4 12 +f 2 9 12 +f 11 5 12 +f 2 6 13 +f 7 1 14 +f 8 2 15 +f 6 8 15 +f 2 13 15 +f 13 6 15 +f 8 5 16 +f 5 11 16 +f 11 8 16 +f 6 2 17 +f 1 6 17 +f 2 7 17 +f 14 1 17 +f 7 14 17 +f 4 5 18 +f 10 4 18 +o convex_1 +v 1.539977 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mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj new file mode 100644 index 000000000..685d2e6f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj @@ -0,0 +1,465 @@ +o convex_0 +v -3.008677 0.321444 -0.380948 +v -0.723907 2.498918 -0.809226 +v -0.723907 2.498918 -1.059286 +v 3.024535 0.285556 1.011116 +v -3.116273 2.391475 1.082532 +v 2.988469 2.427363 0.939701 +v 2.953004 0.356891 -0.952270 +v -3.080207 0.285556 1.011116 +v 2.988469 2.355808 -0.952270 +v -3.080207 2.391475 -1.023472 +v -2.937146 0.321444 -1.059286 +v 0.953154 0.249669 -1.059499 +v -0.438386 0.499781 1.118346 +v -0.295325 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a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj new file mode 100644 index 000000000..40da62800 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj @@ -0,0 +1,435 @@ +o convex_0 +v -0.973558 -3.836757 -0.845776 +v 1.081132 2.175436 1.118221 +v 1.081132 2.175436 0.302461 +v -1.034015 2.205778 -0.966596 +v 0.960217 -3.776074 -1.117841 +v -1.003787 -3.836757 0.936771 +v 1.111361 -3.867098 1.118221 +v -0.943329 2.236119 0.936771 +v 1.050904 2.114754 -0.936391 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf new file mode 100644 index 000000000..1667402fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj new file mode 100644 index 000000000..2a71a5195 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf new file mode 100644 index 000000000..c2a03470f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj new file mode 100644 index 000000000..4ea547da2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj @@ -0,0 +1,390 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj new file mode 100644 index 000000000..2a3b1c96b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj @@ -0,0 +1,549 @@ +o convex_0 +v 0.300642 -1.379645 -1.808736 +v -0.206528 -2.120977 -3.057093 +v -0.206528 -1.964888 -3.057093 +v -0.245602 -1.730936 -1.067397 +v 0.339717 -1.964888 -1.067397 +v 0.261625 -2.042896 -3.017942 +v -0.167510 -1.379645 -2.940029 +v -0.245602 -1.379645 -1.067397 +v 0.339717 -1.418758 -2.978986 +v -0.206528 -2.042896 -1.145504 +v 0.261625 -1.379645 -1.067397 +v -0.245602 -2.003855 -2.861922 +v -0.245602 -1.379645 -1.769780 +v -0.128493 -2.120977 -2.940029 +v 0.339717 -1.379645 -2.705901 +v 0.300642 -1.847839 -3.017942 +v -0.206528 -1.535806 -2.940029 +v -0.128493 -2.042896 -1.106548 +v 0.300642 -2.003855 -1.613760 +v 0.339717 -1.847839 -1.067397 +f 5 15 20 +f 1 7 8 +f 4 5 8 +f 3 7 9 +f 1 8 11 +f 8 5 11 +f 3 2 12 +f 4 8 12 +f 2 10 12 +f 10 4 12 +f 8 7 13 +f 12 8 13 +f 2 6 14 +f 10 2 14 +f 7 1 15 +f 5 9 15 +f 9 7 15 +f 2 3 16 +f 6 2 16 +f 5 6 16 +f 9 5 16 +f 3 9 16 +f 7 3 17 +f 3 12 17 +f 13 7 17 +f 12 13 17 +f 5 4 18 +f 4 10 18 +f 10 14 18 +f 18 14 19 +f 6 5 19 +f 14 6 19 +f 5 18 19 +f 1 11 20 +f 11 5 20 +f 15 1 20 +o convex_1 +v 0.612770 1.352037 -2.940208 +v 1.120131 3.341737 3.069055 +v 0.885915 3.341737 3.069055 +v -0.986958 1.352037 3.069055 +v -0.908886 3.341737 -2.939612 +v 0.963987 1.352232 2.990997 +v 1.042059 3.185522 -3.018266 +v -1.025887 3.302781 3.029728 +v -0.947815 1.352037 -2.978939 +v 1.080988 1.390993 -2.784093 +v -1.065030 2.990545 0.766050 +v 1.120131 3.263629 -1.379051 +v 1.042059 1.352232 1.507898 +v -0.986958 1.352037 -1.105551 +v -1.065030 3.302781 2.600708 +v -0.947815 2.288550 -2.978939 +v 1.120131 3.068458 2.873612 +v 1.042059 1.352232 -2.900882 +v 1.120131 2.483137 -1.730014 +v 0.846772 3.224673 -3.018266 +v -1.065030 3.224673 0.805377 +v 1.042059 2.795373 -3.018266 +v 1.080988 1.976314 1.780802 +v -1.025887 2.132529 3.029728 +v 0.651699 3.341737 3.029728 +v -0.830814 3.341737 -2.939612 +v -0.947815 2.639353 -2.939612 +v -1.025887 2.054421 -0.130125 +v 0.261553 1.352037 3.029728 +v 0.534698 3.224673 -3.018266 +v -0.284524 1.352232 -2.978939 +v 1.002916 1.664273 2.951670 +v 1.042059 1.508252 -2.940208 +v 1.120131 3.341737 2.912939 +v -0.713599 1.352232 3.069055 +v 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-1.184864 1.039917 +v 0.768920 -0.833736 -1.067202 +f 73 68 92 +f 61 60 66 +f 60 61 69 +f 64 70 71 +f 66 62 72 +f 63 67 73 +f 71 65 74 +f 62 68 75 +f 68 65 75 +f 67 63 76 +f 60 69 77 +f 76 63 77 +f 65 68 78 +f 64 71 79 +f 71 74 79 +f 70 62 80 +f 71 70 80 +f 62 70 81 +f 72 62 81 +f 66 60 82 +f 62 66 82 +f 68 62 82 +f 63 68 82 +f 60 77 82 +f 77 63 82 +f 59 67 83 +f 67 76 83 +f 76 65 83 +f 78 59 83 +f 65 78 83 +f 61 66 84 +f 66 64 84 +f 69 61 84 +f 74 69 84 +f 64 79 84 +f 79 74 84 +f 65 71 85 +f 62 75 85 +f 75 65 85 +f 80 62 85 +f 71 80 85 +f 74 65 86 +f 69 74 86 +f 65 76 86 +f 76 69 86 +f 67 68 87 +f 73 67 87 +f 68 73 87 +f 69 76 88 +f 76 77 88 +f 67 59 89 +f 68 67 89 +f 59 78 89 +f 78 68 89 +f 77 69 90 +f 69 88 90 +f 88 77 90 +f 64 66 91 +f 70 64 91 +f 66 72 91 +f 81 70 91 +f 72 81 91 +f 68 63 92 +f 63 73 92 +o convex_3 +v -0.167499 -2.042976 2.522562 +v 0.378738 -1.535730 3.107882 +v 0.378738 -1.613772 3.107882 +v 0.339686 -1.769857 1.118185 +v -0.167499 -1.496739 1.118185 +v -0.245602 -1.574782 2.990818 +v 0.339686 -2.082028 1.235249 +v 0.222653 -2.082028 2.990818 +v -0.167499 -1.964933 1.118185 +v 0.300635 -1.457687 1.196293 +v -0.206551 -2.042976 2.990818 +v -0.206551 -1.535730 2.678582 +v -0.206551 -1.847839 1.703505 +v -0.167499 -2.003985 1.235249 +v 0.300635 -1.886830 3.068730 +v 0.339686 -2.042976 1.118185 +v 0.183601 -1.691876 3.107882 +v 0.183601 -1.457687 1.118185 +v 0.066568 -2.082028 2.834603 +f 100 103 111 +f 94 95 96 +f 97 96 101 +f 94 96 102 +f 98 94 104 +f 97 98 104 +f 98 97 105 +f 97 101 105 +f 103 98 105 +f 103 105 106 +f 99 93 106 +f 93 103 106 +f 105 101 106 +f 99 95 107 +f 100 99 107 +f 103 100 107 +f 96 95 108 +f 95 99 108 +f 101 96 108 +f 99 106 108 +f 106 101 108 +f 95 94 109 +f 94 98 109 +f 98 103 109 +f 107 95 109 +f 103 107 109 +f 96 97 110 +f 94 102 110 +f 102 96 110 +f 104 94 110 +f 97 104 110 +f 93 99 111 +f 99 100 111 +f 103 93 111 +o convex_4 +v 3.110229 0.688438 0.961844 +v -0.479642 -0.755037 -1.067202 +v -3.094157 -0.793997 -1.066988 +v -3.015812 1.156739 -0.949771 +v -2.859731 -0.755037 1.000774 +v -3.054681 1.156739 1.078847 +v 3.070753 1.156739 -0.949985 +v 3.031885 -0.716076 1.117991 +v 2.993016 -0.716076 -1.028058 +v 3.110229 1.156739 1.078847 +v -0.947886 -0.833346 1.117991 +v 0.963958 -0.833346 -1.067202 +v -2.742518 1.156739 1.117991 +v -3.054681 -0.755037 0.727625 +v -1.103968 1.078624 -0.988915 +v 1.041695 -0.833346 1.039704 +v -2.079324 -0.833346 -0.988915 +v -3.094157 -0.403811 -1.066988 +v 1.860971 -0.677116 -1.067202 +v 3.031885 -0.716076 -0.793839 +v 3.070753 0.259097 1.117991 +v -3.094157 0.337212 0.142397 +v 2.602509 -0.755231 -1.028058 +v -3.054681 -0.013624 1.039704 +v -3.054681 1.078624 -0.871698 +v -3.094157 -0.793997 -0.520690 +v 3.070753 -0.481926 1.117991 +v 3.110229 1.117584 0.064110 +v -0.909018 1.156739 1.117991 +v 3.031885 -0.442966 -1.028058 +v -2.976944 0.844474 -0.988915 +v -3.015812 -0.755037 0.961844 +v -1.025623 -0.833346 1.117991 +v -3.054681 0.571363 1.078847 +v 3.070753 0.493248 -0.949985 +v -2.508700 -0.365045 -1.066988 +f 130 113 147 +f 115 117 118 +f 118 117 121 +f 114 113 123 +f 121 117 124 +f 122 119 124 +f 115 118 126 +f 119 122 127 +f 122 123 127 +f 114 123 128 +f 123 122 128 +f 113 114 129 +f 123 113 130 +f 120 123 130 +f 126 118 130 +f 124 119 132 +f 129 114 133 +f 123 120 134 +f 119 127 134 +f 127 123 134 +f 131 119 134 +f 120 131 134 +f 133 125 135 +f 117 115 136 +f 115 129 136 +f 133 117 136 +f 129 133 136 +f 114 128 137 +f 133 114 137 +f 125 133 137 +f 112 121 138 +f 131 112 138 +f 119 131 138 +f 132 119 138 +f 121 132 138 +f 121 112 139 +f 118 121 139 +f 112 131 139 +f 121 124 140 +f 132 121 140 +f 124 132 140 +f 130 118 141 +f 120 130 141 +f 131 120 141 +f 115 126 142 +f 129 115 142 +f 126 129 142 +f 116 135 143 +f 135 125 143 +f 125 137 143 +f 143 137 144 +f 122 124 144 +f 128 122 144 +f 135 116 144 +f 137 128 144 +f 116 143 144 +f 135 144 145 +f 124 117 145 +f 117 133 145 +f 133 135 145 +f 144 124 145 +f 118 139 146 +f 139 131 146 +f 141 118 146 +f 131 141 146 +f 113 129 147 +f 129 126 147 +f 126 130 147 +o convex_5 +v -3.054746 1.273773 -0.403702 +v -1.065050 1.234782 1.117784 +v -1.065050 1.156739 1.117784 +v -1.065050 1.156739 -0.988953 +v -3.054746 1.156739 1.117784 +v -1.065050 1.312825 1.078603 +v -3.015790 1.156739 -0.949771 +v -1.182308 1.273773 -0.949771 +v -3.015790 1.312825 -0.949771 +v -2.625642 1.273773 1.117784 +v -3.054746 1.273773 0.610485 +v -1.533500 1.312825 1.078603 +v -2.625642 1.312825 -0.949771 +v -1.065050 1.312825 0.766593 +v -3.015790 1.312825 -0.598786 +v -3.054746 1.234782 1.117784 +v -1.065050 1.234782 -0.949771 +f 155 161 164 +f 149 150 151 +f 150 149 152 +f 151 150 152 +f 149 151 153 +f 152 148 154 +f 151 152 154 +f 154 148 156 +f 151 154 156 +f 152 149 157 +f 149 153 157 +f 148 152 158 +f 156 148 158 +f 153 156 159 +f 157 153 159 +f 155 151 160 +f 156 153 160 +f 151 156 160 +f 153 151 161 +f 155 160 161 +f 160 153 161 +f 156 158 162 +f 158 157 162 +f 159 156 162 +f 157 159 162 +f 152 157 163 +f 157 158 163 +f 158 152 163 +f 151 155 164 +f 161 151 164 +o convex_6 +v 0.613134 1.156758 -1.535255 +v 3.110229 1.273788 1.078610 +v 0.964199 1.351827 2.990314 +v -0.947652 1.351827 -2.979245 +v -1.025712 1.156758 1.663548 +v 3.070995 1.351827 -0.910650 +v 3.110229 1.156758 1.078610 +v -0.986887 1.351827 3.069055 +v 1.041850 1.234797 -2.901095 +v -0.947652 1.234797 -2.979245 +v 3.070995 1.156758 -0.910650 +v -0.791533 1.234797 3.029388 +v -1.064946 1.156758 -0.988800 +v 1.041850 1.351827 -2.901095 +v 0.964199 1.273788 2.990314 +v 3.110229 1.351827 -0.052782 +v 1.041850 1.195787 -2.549422 +v -1.064946 1.312798 0.766012 +v 3.110229 1.312798 1.000461 +v -0.986887 1.234797 3.029388 +v 0.613134 1.234797 2.756457 +v -1.064946 1.156758 1.273392 +v -0.206289 1.234797 -2.979245 +v -0.206289 1.195787 -2.315566 +v -1.064946 1.234797 -0.949725 +v 1.041850 1.156758 -1.573737 +f 181 175 190 +f 168 167 170 +f 166 167 171 +f 169 165 171 +f 167 168 172 +f 171 165 175 +f 173 170 175 +f 169 171 176 +f 165 169 177 +f 168 174 177 +f 168 170 178 +f 170 173 178 +f 171 167 179 +f 167 172 179 +f 172 176 179 +f 170 167 180 +f 166 171 180 +f 171 175 180 +f 175 170 180 +f 173 175 181 +f 172 168 182 +f 167 166 183 +f 180 167 183 +f 166 180 183 +f 169 176 184 +f 176 172 184 +f 176 171 185 +f 171 179 185 +f 179 176 185 +f 177 169 186 +f 172 182 186 +f 182 177 186 +f 169 184 186 +f 184 172 186 +f 174 168 187 +f 168 178 187 +f 178 173 187 +f 181 174 187 +f 173 181 187 +f 165 177 188 +f 177 174 188 +f 181 165 188 +f 174 181 188 +f 168 177 189 +f 182 168 189 +f 177 182 189 +f 175 165 190 +f 165 181 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf new file mode 100644 index 000000000..f8782542f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj new file mode 100644 index 000000000..1fdd5117c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj @@ -0,0 +1,576 @@ +o convex_0 +v -1.031294 -1.221655 0.790796 +v -1.103031 -3.688387 -1.068381 +v -0.816936 -3.688387 -1.068381 +v 0.470067 -3.652165 0.933840 +v 1.042259 -1.221413 -0.961048 +v 1.078127 -1.221413 0.969751 +v 1.042259 -3.545189 -0.961048 +v -0.995639 -1.221655 -1.032470 +v -0.924115 -3.580687 0.933840 +v 1.078127 -3.652165 0.933840 +v -0.673888 -1.221655 0.969751 +v 1.078127 -3.580928 -0.603337 +v -1.067163 -1.221655 0.540419 +v 1.006390 -2.722703 0.969751 +v -0.101697 -1.757743 -1.032470 +v -1.103031 -3.688387 -0.889426 +v 0.756163 -3.544947 -0.996559 +v 0.398544 -3.688387 0.254530 +v -0.995639 -1.221655 0.933840 +v -1.067163 -2.615485 -1.068381 +v -0.959770 -3.223294 0.862418 +v -1.067163 -1.221655 0.111286 +v 0.577460 -1.221655 -0.996559 +v -1.103031 -2.829921 -0.496203 +v -0.173221 -2.186856 0.969751 +v -0.673888 -3.366251 -1.068381 +v -0.995639 -3.688387 -0.674959 +v -1.031294 -1.579047 -0.996759 +v -1.103031 -3.294773 -1.068381 +v 1.078127 -3.652165 0.468996 +v 1.078127 -3.509449 -0.710670 +v 1.078127 -1.221413 0.719174 +v -0.530840 -1.221655 -1.032470 +v -0.995639 -1.829222 0.933840 +v 0.255496 -3.616426 -0.996559 +v -1.067163 -1.293133 0.540419 +v 0.291364 -3.688387 0.290041 +v -0.959770 -3.544947 0.719174 +f 21 24 38 +f 6 10 12 +f 1 6 13 +f 6 5 13 +f 9 4 14 +f 4 10 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-0.567787 +v 2.758459 -1.221175 0.540573 +v 3.080492 -0.184427 -0.531981 +f 183 193 198 +f 167 168 170 +f 170 169 173 +f 169 170 176 +f 170 168 176 +f 168 171 176 +f 174 177 180 +f 177 176 180 +f 168 167 181 +f 171 168 181 +f 179 171 181 +f 175 182 183 +f 166 174 183 +f 171 175 183 +f 173 175 184 +f 169 176 185 +f 176 177 185 +f 177 169 185 +f 170 173 186 +f 178 170 186 +f 173 184 186 +f 167 170 187 +f 170 178 187 +f 181 167 187 +f 179 181 187 +f 178 172 188 +f 172 179 188 +f 187 178 188 +f 179 187 188 +f 175 171 189 +f 171 179 189 +f 179 172 189 +f 172 184 189 +f 184 175 189 +f 174 166 190 +f 177 174 190 +f 182 191 192 +f 173 169 192 +f 169 182 192 +f 191 173 192 +f 174 180 193 +f 183 174 193 +f 169 177 194 +f 182 169 194 +f 183 182 194 +f 166 183 194 +f 190 166 194 +f 177 190 194 +f 172 178 195 +f 184 172 195 +f 178 186 195 +f 186 184 195 +f 176 171 196 +f 180 176 196 +f 171 193 196 +f 193 180 196 +f 175 173 197 +f 182 175 197 +f 173 191 197 +f 191 182 197 +f 171 183 198 +f 193 171 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf new file mode 100644 index 000000000..fedd08768 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj new file mode 100644 index 000000000..6fca0ac4d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj @@ -0,0 +1,495 @@ +o convex_0 +v 0.989784 -1.825626 1.053269 +v -0.225191 -3.213673 -0.995032 +v -0.225191 -3.005358 -0.995032 +v -1.058439 -1.582625 0.983495 +v 1.093833 -1.269856 -0.925258 +v 1.128730 -3.283243 1.018382 +v -0.954176 -1.269856 -0.960145 +v -0.954176 -3.248359 0.948809 +v 1.059150 -3.109614 -0.959944 +v -1.058439 -3.248359 -0.994831 +v 0.989784 -1.269856 1.053068 +v -1.058439 -1.269856 0.983495 +v 0.434214 -3.283243 1.018382 +v 1.024467 -1.339623 1.053068 +v -1.023542 -2.311039 -0.994831 +v 1.093833 -3.109614 -0.786513 +v -1.058439 -3.248359 -0.578194 +v 1.093833 -3.283243 0.810063 +v 0.677209 -1.339623 1.053269 +v -0.607132 -3.109811 0.983495 +v -0.016665 -3.283243 0.949009 +v -0.329454 -1.269856 -0.960145 +v -0.607132 -3.248359 -0.994831 +v -1.058439 -2.866612 -0.994831 +v 1.059150 -2.727669 -0.959944 +v -1.023542 -2.033942 0.983495 +v -0.988859 -3.248359 0.532372 +v 1.093833 -1.269856 -0.821199 +v 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166 +f 164 146 166 +f 121 123 167 +f 130 121 167 +f 117 149 167 +f 149 130 167 +f 156 117 167 +f 123 156 167 +f 141 113 168 +f 129 141 168 +f 142 129 168 +f 113 145 168 +f 145 142 168 +f 121 141 169 +f 141 129 169 +f 129 142 169 +f 142 123 169 +f 159 121 169 +f 123 159 169 +f 161 140 170 +f 155 161 170 +f 140 165 170 +f 165 155 170 +f 119 126 171 +f 139 119 171 +f 148 139 171 +f 158 148 171 +f 126 162 171 +f 162 158 171 +f 131 136 172 +f 136 152 172 +f 155 131 172 +f 152 155 172 +f 128 113 173 +f 113 141 173 +f 141 127 173 +f 126 154 173 +f 154 128 173 +f 162 126 173 +f 127 162 173 +f 124 135 174 +f 135 127 174 +f 127 141 174 +f 141 121 174 +f 121 153 174 +f 153 124 174 +f 124 130 175 +f 135 124 175 +f 133 135 175 +f 130 143 175 +f 143 133 175 +f 128 126 176 +f 145 128 176 +f 146 145 176 +f 126 166 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf new file mode 100644 index 000000000..34d4c64fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj new file mode 100644 index 000000000..2757acbea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj @@ -0,0 +1,438 @@ +o convex_0 +v 0.679452 3.109723 -1.006388 +v -1.105123 0.372485 -2.870260 +v -1.105123 0.372485 -2.830491 +v 0.996739 -3.116868 -2.275145 +v -0.906766 -2.997407 -0.887285 +v 1.076167 3.109723 -2.949595 +v -1.025695 3.029879 -0.887285 +v 1.036453 -2.997407 -0.887285 +v -0.985980 -2.957181 -2.949595 +v -1.025695 3.029879 -2.949595 +v 0.957024 -3.116868 -2.909827 +v 1.036453 3.109723 -0.887285 +v -0.946480 -2.997407 -0.966620 +v 1.076167 0.650415 -2.830491 +v -1.105123 1.523210 -2.275145 +v 1.076167 3.109723 -1.918440 +v -0.192765 -3.037024 -2.949595 +v -0.787623 3.069497 -2.671821 +v 0.957024 -3.076642 -1.045955 +v 0.996739 -2.720088 -2.909827 +v -1.065409 2.593482 -2.949595 +v -1.025695 2.514247 -0.887285 +v 0.719167 -3.116868 -2.909827 +v -0.946480 -2.997407 -2.037342 +v -0.787623 3.069497 -1.521966 +v -0.232479 -3.037024 -0.887285 +v -1.105123 1.641452 -2.909827 +v -1.105123 0.927734 -2.394249 +v -0.946480 -2.798712 -0.887285 +v -0.985980 -2.957181 -2.671821 +v -0.073836 -3.037024 -2.949595 +v 0.996739 -3.116868 -2.592486 +v 1.076167 1.046586 -2.473382 +v -1.065409 2.157084 -1.521966 +f 28 29 34 +f 7 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1.174700 +v 1.115827 0.492268 1.254136 +v 0.917471 -1.093224 1.254136 +v 1.115827 2.990417 1.214313 +v 1.076113 -0.935159 -0.847252 +v 0.956971 -3.076603 -0.609363 +v -0.946306 -1.053859 1.254136 +v -0.946306 -2.719292 -0.887075 +v 1.115827 0.412933 0.540259 +v 0.798329 3.109723 -0.530137 +v 0.996685 -3.076603 0.341983 +v -0.232524 3.029782 1.254136 +v -0.747950 -3.037238 -0.847252 +v -1.065448 3.030388 0.936811 +v 0.679401 -3.036633 1.095473 +v 0.560473 3.109723 -0.847252 +v -1.025734 2.672471 -0.887075 +v 0.996685 -3.036633 -0.887075 +v 1.036399 3.109723 -0.411087 +v -0.787664 -3.037238 1.174700 +v 0.996685 -1.053859 1.254136 +v 1.115827 1.007644 1.254136 +v 1.115827 2.950447 1.135087 +v 0.639901 -3.076603 -0.648976 +v -0.946306 -3.036633 -0.728412 +v -0.113382 -2.164551 1.214313 +v -1.065448 -2.640562 0.738535 +f 38 60 70 +f 39 38 42 +f 38 39 43 +f 36 37 44 +f 40 36 44 +f 45 40 46 +f 39 42 48 +f 40 44 50 +f 46 40 50 +f 37 36 51 +f 38 43 51 +f 45 39 52 +f 47 45 52 +f 39 48 52 +f 44 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-2.294801 0.571382 1.611447 +v -3.008794 -0.499173 1.651060 +v -2.968921 0.452407 2.642334 +v -1.105309 -0.459552 2.563003 +v -1.105309 0.531649 1.809723 +v -3.008794 -0.459552 2.642334 +v -1.105309 0.492028 2.602616 +v -1.105309 -0.578527 1.571834 +v -2.968921 0.571382 1.571834 +v -1.105309 0.531649 1.690778 +v -2.889547 -0.499173 2.602616 +v -2.175740 -0.459552 2.642334 +v -2.730985 -0.538794 1.611447 +v -2.215427 0.492028 2.642334 +v -1.144996 -0.578527 1.849336 +v -2.968921 0.016238 1.571834 +v -2.532737 0.571382 1.571834 +v -3.008794 0.055859 2.166451 +v -2.968921 0.571382 1.770005 +v -2.968921 0.492028 2.563003 +v -1.422619 0.531649 1.651060 +v -1.422619 -0.459552 2.602616 +f 108 107 118 +f 97 96 101 +f 100 101 103 +f 101 96 103 +f 101 100 104 +f 96 97 105 +f 97 101 106 +f 101 104 106 +f 102 98 107 +f 99 102 108 +f 102 107 108 +f 104 95 109 +f 95 107 109 +f 107 98 109 +f 99 108 110 +f 108 103 110 +f 95 104 111 +f 104 100 111 +f 107 95 111 +f 100 107 111 +f 98 105 112 +f 105 104 112 +f 104 109 112 +f 109 98 112 +f 105 97 113 +f 104 105 113 +f 97 106 113 +f 98 102 114 +f 102 99 114 +f 105 98 114 +f 105 114 115 +f 103 96 115 +f 96 105 115 +f 110 103 115 +f 99 110 116 +f 114 99 116 +f 115 114 116 +f 110 115 116 +f 106 104 117 +f 104 113 117 +f 113 106 117 +f 100 103 118 +f 107 100 118 +f 103 108 118 +o convex_4 +v -1.065339 -1.054185 2.642400 +v 1.076043 1.047203 3.237336 +v 1.076043 1.047203 2.602414 +v 1.036476 -1.094008 3.157947 +v 0.996692 -1.014572 1.254539 +v -0.985988 1.047203 1.254539 +v -1.025555 1.007380 3.197350 +v 1.115827 1.007590 1.254539 +v -0.946204 -1.054185 1.254539 +v -1.065339 -1.094008 3.118349 +v -1.105123 0.531602 1.690891 +v 1.115827 -0.618020 1.571903 +v -1.105123 -0.578407 1.571709 +v -1.065339 0.491989 3.197350 +v 1.115827 -0.459567 2.721596 +v -1.105123 0.690265 2.840583 +v -0.351400 -1.094008 3.157753 +v 1.076043 0.491989 3.237336 +v 0.362104 1.047203 3.237336 +v 1.115827 1.007590 2.245841 +v 1.036476 -1.094008 2.959570 +v -1.105123 -0.459567 2.523219 +v -0.351400 -1.054185 1.254539 +v -1.065339 -0.776683 3.157753 +v -0.985988 -1.014572 1.294137 +v -1.065339 0.967767 3.157753 +v 0.957125 -0.538794 3.197544 +v 0.084703 0.967767 3.237336 +v 1.076043 -0.181855 1.254539 +v 1.115827 0.452376 2.721596 +v -0.985988 1.047203 1.571709 +v -1.025555 0.928154 1.373527 +v -0.708369 1.047203 1.254539 +f 126 124 151 +f 120 121 124 +f 121 120 126 +f 123 124 126 +f 124 123 127 +f 119 127 128 +f 119 128 131 +f 122 130 133 +f 130 126 133 +f 129 131 134 +f 128 122 135 +f 133 120 136 +f 122 133 136 +f 120 124 137 +f 136 120 137 +f 126 120 138 +f 133 126 138 +f 122 128 139 +f 128 127 139 +f 130 122 139 +f 123 130 139 +f 131 128 140 +f 128 134 140 +f 134 131 140 +f 127 123 141 +f 123 139 141 +f 139 127 141 +f 134 128 142 +f 132 134 142 +f 128 135 142 +f 135 136 142 +f 127 119 143 +f 124 127 143 +f 119 131 143 +f 131 124 143 +f 132 125 144 +f 129 134 144 +f 134 132 144 +f 135 122 145 +f 136 135 145 +f 122 136 145 +f 125 132 146 +f 137 125 146 +f 136 137 146 +f 132 142 146 +f 142 136 146 +f 123 126 147 +f 130 123 147 +f 126 130 147 +f 120 133 148 +f 138 120 148 +f 133 138 148 +f 137 124 149 +f 125 137 149 +f 124 144 149 +f 144 125 149 +f 124 131 150 +f 131 129 150 +f 144 124 150 +f 129 144 150 +f 124 121 151 +f 121 126 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf new file mode 100644 index 000000000..cc1ec70a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj new file mode 100644 index 000000000..047e63b0f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj @@ -0,0 +1,468 @@ +o convex_0 +v -0.628570 -2.236253 1.103788 +v 0.171670 -2.549722 -1.090229 +v -1.011792 -2.549933 -1.055430 +v 0.798706 -0.425616 -1.090229 +v 3.063036 -2.549933 0.999178 +v -3.067310 -0.460281 1.068990 +v 3.063036 -0.564701 1.034191 +v 3.098039 -2.514845 -0.985834 +v -2.962301 -2.549933 -0.916022 +v -3.032307 -0.495158 -0.950820 +v -2.822893 -2.445303 0.964380 +v 3.028033 -0.495158 -1.020417 +v 0.694301 -0.425616 1.068990 +v 0.554893 -2.584810 1.034191 +v 1.495748 -2.549722 -1.090229 +v -2.962301 -2.306007 0.964380 +v -1.186203 -2.514845 1.103788 +v 1.112526 -2.584810 -0.393617 +v -0.942389 -0.425405 -1.020632 +v 2.958630 -0.530035 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a/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf new file mode 100644 index 000000000..c303cb5cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj new file mode 100644 index 000000000..5c878fe28 --- /dev/null +++ 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319 290 335 +f 289 312 336 +f 312 308 336 +f 324 289 336 +f 308 324 336 +f 287 316 337 +f 316 317 337 +f 320 287 337 +f 306 320 337 +f 292 307 338 +f 328 292 338 +f 314 328 338 +f 299 296 339 +f 296 314 339 +f 316 299 339 +f 307 316 339 +f 338 307 339 +f 314 338 339 +f 303 306 340 +f 295 308 340 +f 310 303 340 +f 308 310 340 +f 317 295 340 +f 337 317 340 +f 306 337 340 +f 303 293 341 +f 306 303 341 +f 320 306 341 +f 293 323 341 +f 341 323 342 +f 327 300 342 +f 323 327 342 +f 300 332 342 +f 332 320 342 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf new file mode 100644 index 000000000..6f04f9f39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj new file mode 100644 index 000000000..85177f80e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj @@ -0,0 +1,471 @@ +o convex_0 +v 1.097714 3.439422 -0.889691 +v -1.087997 -1.201144 0.906536 +v -1.058044 -1.201144 -0.560285 +v 1.097714 -1.200675 -0.141194 +v -1.028091 3.529458 1.056152 +v 0.917996 3.498977 1.056360 +v -0.908279 3.529458 -0.949620 +v 1.007855 -1.200675 -1.039515 +v 0.977902 -1.200675 0.966465 +v -1.028091 -1.201144 -0.919655 +v -1.087997 -1.201144 1.086325 +v 1.097714 3.589481 -1.009342 +v 0.049574 0.775411 1.086325 +v -0.968185 2.780571 -0.859726 +v 0.738278 -1.080628 -1.039515 +v 0.588513 3.589481 -1.009550 +v 0.977902 0.386665 0.996430 +v -1.058044 1.582915 1.086325 +v -0.399293 -1.170663 1.086117 +v -0.818420 -1.201144 -0.949620 +v -1.058044 -0.392233 -0.320775 +v 0.947949 3.050208 0.936501 +v 1.097714 -1.200675 -0.320983 +v -1.087997 -0.003018 1.056152 +v -1.028091 3.529458 0.906536 +v 1.067761 3.589481 -0.680145 +v 1.007855 1.253723 -1.039515 +v -0.009904 3.528988 1.056360 +v -0.968185 3.529458 -0.500356 +v 1.097714 -0.901026 -0.141194 +v 0.977902 0.026993 0.996430 +v 1.037808 -0.152608 -1.039515 +v 0.917996 2.960641 1.056360 +v 1.007855 -1.200675 0.816641 +v 0.139433 -0.092585 -1.009550 +v -0.369340 3.559000 -0.949412 +v -1.028091 -0.631858 -0.919655 +v 1.097714 3.139774 -1.009342 +v -0.938232 3.529458 -0.919447 +v 0.947949 3.498977 0.846606 +v -1.058044 1.942587 1.026395 +v 0.708325 -1.140651 0.996430 +v 0.079527 0.985024 1.086325 +v 0.528821 3.468965 -1.009550 +v -0.908279 2.570957 -0.949620 +v 0.169386 -1.200675 -1.009550 +v 1.037808 -1.080628 -0.889691 +f 8 32 47 +f 2 3 10 +f 2 10 11 +f 1 4 12 +f 11 13 18 +f 11 9 19 +f 13 11 19 +f 11 10 20 +f 6 17 22 +f 12 4 23 +f 4 20 23 +f 20 8 23 +f 3 2 24 +f 2 11 24 +f 11 18 24 +f 21 3 24 +f 12 16 26 +f 16 5 26 +f 8 15 27 +f 16 12 27 +f 5 18 28 +f 18 6 28 +f 26 5 28 +f 6 26 28 +f 14 21 29 +f 21 25 29 +f 4 1 30 +f 1 22 30 +f 22 17 30 +f 17 6 31 +f 8 27 32 +f 27 12 32 +f 31 6 33 +f 13 31 33 +f 9 11 34 +f 20 4 34 +f 11 20 34 +f 4 30 34 +f 30 17 34 +f 31 9 34 +f 17 31 34 +f 7 15 35 +f 5 16 36 +f 16 7 36 +f 25 5 36 +f 29 25 36 +f 10 3 37 +f 7 10 37 +f 3 21 37 +f 21 14 37 +f 12 23 38 +f 32 12 38 +f 23 32 38 +f 14 29 39 +f 36 7 39 +f 29 36 39 +f 7 37 39 +f 37 14 39 +f 1 12 40 +f 22 1 40 +f 6 22 40 +f 26 6 40 +f 12 26 40 +f 18 5 41 +f 24 18 41 +f 21 24 41 +f 25 21 41 +f 5 25 41 +f 19 9 42 +f 13 19 42 +f 9 31 42 +f 31 13 42 +f 6 18 43 +f 18 13 43 +f 33 6 43 +f 13 33 43 +f 15 7 44 +f 7 16 44 +f 27 15 44 +f 16 27 44 +f 10 7 45 +f 20 10 45 +f 7 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-1.769954 0.218001 +v 1.097907 -1.889731 0.277907 +v 1.277573 -1.261126 0.218001 +v 2.504872 -1.410815 -0.320921 +v 2.804057 -1.321015 0.188048 +v 2.923963 -1.261126 -0.171214 +v 3.043676 -1.650241 -0.201109 +v 1.247597 -1.829842 -0.261015 +v 1.487216 -1.231149 -0.261015 +v 2.953747 -1.350927 -0.320921 +v 1.097907 -1.590352 -0.261015 +v 1.307550 -1.829842 0.277907 +v 1.097907 -1.231149 -0.051402 +f 81 89 99 +f 79 76 80 +f 80 76 81 +f 78 77 82 +f 77 78 85 +f 80 81 85 +f 76 79 86 +f 82 83 87 +f 86 79 87 +f 81 76 88 +f 76 86 88 +f 81 87 91 +f 87 83 91 +f 83 89 91 +f 89 81 91 +f 82 77 92 +f 83 82 92 +f 77 89 92 +f 89 83 92 +f 79 84 93 +f 87 79 93 +f 82 87 93 +f 79 80 94 +f 84 79 94 +f 80 90 94 +f 78 82 95 +f 85 78 95 +f 82 90 95 +f 90 82 96 +f 93 84 96 +f 82 93 96 +f 84 94 96 +f 94 90 96 +f 80 85 97 +f 90 80 97 +f 85 95 97 +f 95 90 97 +f 87 81 98 +f 86 87 98 +f 81 88 98 +f 88 86 98 +f 77 85 99 +f 85 81 99 +f 89 77 99 +o convex_3 +v -1.956403 -1.859790 -0.021583 +v -1.117950 -1.201272 0.247933 +v -1.117950 -1.201272 0.098188 +v -3.034200 -1.231187 -0.350862 +v -3.004188 -1.740001 0.277907 +v -1.117950 -1.829810 -0.320889 +v -2.914153 -1.829810 -0.350862 +v -1.117950 -1.859790 0.277907 +v -3.034200 -1.320997 0.187986 +v -1.207798 -1.291082 -0.201117 +v -2.614786 -1.799895 0.277907 +v -2.225571 -1.500616 0.277907 +v -1.956403 -1.201272 0.008329 +v -2.884329 -1.231187 -0.350862 +v -1.117950 -1.859790 -0.171205 +v -2.076075 -1.829810 -0.350862 +v -1.117950 -1.291082 -0.171205 +v -2.973989 -1.799895 0.038302 +v -3.004188 -1.231187 -0.231091 +v -3.034200 -1.350912 -0.320889 +v -1.537176 -1.859790 0.277907 +v -1.117950 -1.799895 -0.320889 +v -3.034200 -1.410806 0.217960 +f 119 104 122 +f 102 101 105 +f 105 101 107 +f 107 104 110 +f 104 107 111 +f 107 101 111 +f 101 102 112 +f 108 101 112 +f 106 103 113 +f 102 109 113 +f 112 102 113 +f 103 112 113 +f 100 106 114 +f 107 100 114 +f 105 107 114 +f 106 113 115 +f 105 114 115 +f 114 106 115 +f 102 105 116 +f 109 102 116 +f 106 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-0.320774 +v -0.429134 -1.201144 1.086325 +v 0.738341 -2.608228 0.966257 +v 1.097714 -1.291170 0.247933 +v 1.007708 -2.608228 0.008423 +v -0.788507 -2.458559 -0.949620 +v -1.117950 -1.201144 0.247725 +v 1.007708 -1.530584 0.936501 +v 1.007708 -2.488521 -0.949620 +v -1.117950 -2.488380 0.846606 +v -1.117950 -1.949488 1.086325 +v 0.887989 -2.578266 -1.039515 +v 0.319108 -2.638190 0.277690 +v 0.738341 -1.201144 -1.039515 +v -0.668788 -2.488380 -0.949620 +v 0.947848 -1.710355 0.966257 +v 0.618622 -2.608228 0.966257 +v 1.007708 -1.889986 -1.039515 +v 1.037637 -1.201144 -0.859726 +v 0.708411 -2.548445 -1.039515 +f 154 157 162 +f 128 123 130 +f 130 123 131 +f 124 125 132 +f 131 123 133 +f 130 131 135 +f 132 125 135 +f 129 134 138 +f 128 129 139 +f 137 127 140 +f 131 137 140 +f 125 124 141 +f 126 130 141 +f 130 135 141 +f 134 132 142 +f 138 134 142 +f 130 126 143 +f 129 136 143 +f 136 130 143 +f 123 128 144 +f 139 123 144 +f 128 139 144 +f 138 127 145 +f 139 129 145 +f 131 133 146 +f 137 131 146 +f 140 127 147 +f 142 132 147 +f 141 124 148 +f 126 141 148 +f 128 130 149 +f 136 129 149 +f 130 136 149 +f 133 127 150 +f 127 137 150 +f 146 133 150 +f 137 146 150 +f 140 147 151 +f 147 132 151 +f 134 129 152 +f 126 134 152 +f 143 126 152 +f 129 143 152 +f 129 128 153 +f 128 149 153 +f 149 129 153 +f 124 132 154 +f 132 134 154 +f 127 138 155 +f 138 142 155 +f 147 127 155 +f 142 147 155 +f 135 125 156 +f 125 141 156 +f 141 135 156 +f 134 126 157 +f 126 148 157 +f 154 134 157 +f 133 123 158 +f 127 133 158 +f 123 139 158 +f 145 127 158 +f 139 145 158 +f 129 138 159 +f 138 145 159 +f 145 129 159 +f 132 135 160 +f 151 132 160 +f 140 151 160 +f 135 131 161 +f 131 140 161 +f 160 135 161 +f 140 160 161 +f 148 124 162 +f 124 154 162 +f 157 148 162 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf new file mode 100644 index 000000000..c9316a05a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj new file mode 100644 index 000000000..2c838dba7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj @@ -0,0 +1,516 @@ +o convex_0 +v 0.774755 -2.203942 -0.567607 +v -0.393382 -4.122491 1.643652 +v -0.435041 -4.122491 1.643652 +v 1.609198 -0.367644 1.518315 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf new file mode 100644 index 000000000..fd25c2510 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj new file mode 100644 index 000000000..ab0479236 --- /dev/null +++ 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1072 1076 1086 +f 1076 1077 1086 +f 1083 1074 1086 +o convex_86 +v -1.581765 -1.048325 0.753277 +v -0.915071 -1.030316 0.320840 +v -0.933096 -1.030316 0.518966 +v -1.617814 -1.012287 0.446878 +v -1.617814 -1.048325 -0.039696 +v -0.987169 -1.066349 0.915500 +v -1.347449 -1.012287 0.915500 +v -0.915071 -1.048325 -0.039696 +v -0.915071 -1.030316 -0.039696 +v -1.617814 -1.030316 0.915500 +v -1.617814 -1.030316 -0.039696 +v -0.951120 -1.066349 0.573009 +v -1.185436 -1.066349 0.915500 +f 1098 1092 1099 +f 1089 1088 1093 +f 1092 1089 1093 +f 1093 1088 1095 +f 1090 1093 1095 +f 1088 1094 1095 +f 1094 1091 1095 +f 1091 1087 1096 +f 1090 1091 1096 +f 1092 1093 1096 +f 1093 1090 1096 +f 1091 1090 1097 +f 1090 1095 1097 +f 1095 1091 1097 +f 1088 1089 1098 +f 1089 1092 1098 +f 1094 1088 1098 +f 1091 1094 1098 +f 1087 1091 1099 +f 1096 1087 1099 +f 1092 1096 1099 +f 1091 1098 1099 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf new file mode 100644 index 000000000..3e62a3476 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj new file mode 100644 index 000000000..c6b983519 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj @@ -0,0 +1,483 @@ +o convex_0 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convex_3 +v 2.933811 -0.315862 1.357935 +v 0.743369 0.322938 1.449217 +v 0.743369 0.322938 1.418783 +v 0.347721 -0.255021 1.570869 +v 2.994699 0.231645 1.570869 +v 2.933811 -0.285410 1.570869 +v 2.964126 0.201256 1.357935 +v 0.347721 0.231645 1.570869 +v 0.347721 -0.133339 1.449217 +v 0.347721 0.322938 1.418783 +v 2.477015 -0.315862 1.357935 +v 2.507848 0.231645 1.357935 +v 0.500332 -0.224569 1.449217 +v 2.933811 -0.315862 1.540435 +v 0.347721 0.170804 1.418783 +v 1.169590 0.262097 1.388369 +f 104 108 109 +f 96 95 98 +f 98 97 99 +f 98 94 100 +f 97 98 101 +f 98 95 101 +f 97 101 102 +f 102 101 103 +f 95 96 103 +f 101 95 103 +f 100 94 104 +f 96 98 105 +f 98 100 105 +f 103 96 105 +f 100 104 105 +f 97 102 106 +f 104 97 106 +f 94 98 107 +f 99 97 107 +f 98 99 107 +f 104 94 107 +f 97 104 107 +f 102 103 108 +f 106 102 108 +f 104 106 108 +f 103 105 109 +f 105 104 109 +f 108 103 109 +o convex_4 +v 0.104184 0.353426 1.388461 +v 0.165117 -0.346350 1.418864 +v 0.195518 -0.346350 1.418864 +v 0.286788 0.231705 2.057691 +v -0.230295 -0.224629 1.966360 +v -0.291098 -0.315868 0.810318 +v 0.256386 0.322944 0.810318 +v -0.230295 0.353426 1.418864 +v 0.347721 -0.346350 1.875029 +v 0.195518 -0.285455 0.810318 +v -0.199894 0.322944 0.840842 +v -0.230295 0.201223 1.996763 +v 0.195518 -0.346350 2.057691 +v -0.321630 -0.315868 1.357936 +v 0.347721 0.322944 1.418864 +v 0.347721 -0.224629 1.479669 +v -0.199828 -0.224629 2.057691 +v 0.347721 0.231705 1.966360 +v -0.169427 0.201223 2.057691 +v -0.291098 -0.194079 0.810318 +v -0.017421 0.353357 1.023382 +v 0.195518 -0.315868 0.901648 +f 125 118 131 +f 112 111 115 +f 113 110 117 +f 111 112 118 +f 115 116 119 +f 111 118 122 +f 118 113 122 +f 115 111 123 +f 114 121 123 +f 121 117 123 +f 111 122 123 +f 110 113 124 +f 116 110 124 +f 119 116 125 +f 116 124 125 +f 124 118 125 +f 121 114 126 +f 122 113 126 +f 114 123 126 +f 123 122 126 +f 113 118 127 +f 124 113 127 +f 118 124 127 +f 113 117 128 +f 117 121 128 +f 126 113 128 +f 121 126 128 +f 116 115 129 +f 120 116 129 +f 117 120 129 +f 115 123 129 +f 123 117 129 +f 110 116 130 +f 117 110 130 +f 116 120 130 +f 120 117 130 +f 112 115 131 +f 118 112 131 +f 115 119 131 +f 119 125 131 +o convex_5 +v -0.687186 -0.072495 1.357915 +v -0.230914 0.353426 1.418809 +v -0.230914 0.231705 1.996796 +v -3.059517 0.262118 1.601425 +v -3.090308 -0.194147 1.996796 +v -0.261146 -0.315868 1.357915 +v -3.059517 -0.346350 1.449223 +v -0.291657 -0.194147 1.935901 +v -2.968263 0.231705 2.057691 +v -2.968263 0.262118 1.479704 +v -0.352400 0.353426 1.357915 +v -1.781677 0.170810 2.057691 +v -2.815986 -0.255042 1.418809 +v -2.694500 -0.346350 1.510117 +v -0.230914 -0.285455 1.571012 +v -0.230914 0.079571 1.996796 +v -0.534909 0.353426 1.418809 +v -1.842700 0.231705 2.057691 +v -2.694500 0.079571 2.057691 +v -0.778440 -0.315868 1.357915 +v -3.059517 0.201223 1.479704 +v -3.090308 -0.255042 1.814180 +v -1.812189 -0.346350 1.449223 +f 137 146 154 +f 135 136 140 +f 133 137 142 +f 137 132 142 +f 141 142 144 +f 142 132 144 +f 133 134 146 +f 137 133 146 +f 134 143 147 +f 143 139 147 +f 139 146 147 +f 146 134 147 +f 140 133 148 +f 135 140 148 +f 141 135 148 +f 142 141 148 +f 133 142 148 +f 134 133 149 +f 133 140 149 +f 143 134 149 +f 140 143 149 +f 136 139 150 +f 140 136 150 +f 139 143 150 +f 143 140 150 +f 132 137 151 +f 137 138 151 +f 144 132 151 +f 138 144 151 +f 135 141 152 +f 144 138 152 +f 141 144 152 +f 136 135 153 +f 139 136 153 +f 138 145 153 +f 145 139 153 +f 135 152 153 +f 152 138 153 +f 138 137 154 +f 145 138 154 +f 139 145 154 +f 146 139 154 +o convex_6 +v 1.625608 -0.315850 1.905554 +v 2.994699 0.231726 1.875123 +v 2.994699 0.231726 1.570890 +v 0.347721 0.231726 1.570890 +v 2.964126 -0.285464 1.570890 +v 0.347721 0.231726 1.966416 +v 0.347721 -0.255021 1.570890 +v 2.994699 -0.255021 1.905554 +v 0.347721 -0.346350 1.875123 +v 0.347721 -0.346350 1.783791 +v 2.994699 -0.011704 1.905554 +v 0.682480 0.201226 1.966416 +v 2.751144 -0.285464 1.905554 +v 0.956350 -0.346350 1.875123 +f 159 167 168 +f 156 157 158 +f 158 157 159 +f 156 158 160 +f 160 158 161 +f 158 159 161 +f 157 156 162 +f 159 157 162 +f 155 160 163 +f 160 161 163 +f 163 161 164 +f 161 159 164 +f 162 156 165 +f 162 165 166 +f 156 160 166 +f 160 155 166 +f 165 156 166 +f 166 155 167 +f 159 162 167 +f 162 166 167 +f 155 163 168 +f 163 164 168 +f 164 159 168 +f 167 155 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf new file mode 100644 index 000000000..8c6198cc2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 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a/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf new file mode 100644 index 000000000..fc31e2fc0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj new file mode 100644 index 000000000..d67a13375 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj new file mode 100644 index 000000000..e7f813bc7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj @@ -0,0 +1,570 @@ +o convex_0 +v 0.895780 0.996304 1.290586 +v -0.762373 -1.120751 3.230634 +v -0.974165 -1.014561 0.620564 +v -1.044834 1.066807 4.219033 +v 1.107573 -0.944058 4.183443 +v 1.107573 -0.944058 0.302574 +v -1.009500 1.031556 0.302574 +v 1.001569 0.996304 4.219033 +v -1.080169 -1.120751 4.183443 +v 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2.442815 -2.520405 +v 0.190077 0.396826 -2.485157 +v 0.154846 2.372236 -2.520405 +v -0.021584 2.936870 -3.014252 +v 0.260677 2.972159 -2.590964 +v 0.331277 1.913471 -2.978942 +v -0.339146 1.314356 -2.485157 +f 184 190 196 +f 174 173 175 +f 174 175 176 +f 173 174 177 +f 175 173 182 +f 176 175 183 +f 173 177 185 +f 182 173 185 +f 182 185 186 +f 178 172 187 +f 179 183 187 +f 186 178 187 +f 175 182 188 +f 182 186 188 +f 174 176 189 +f 177 174 189 +f 172 178 189 +f 178 177 189 +f 180 172 189 +f 180 189 190 +f 181 180 190 +f 176 183 191 +f 183 179 191 +f 184 176 191 +f 184 191 192 +f 179 181 192 +f 181 190 192 +f 190 184 192 +f 191 179 192 +f 177 178 193 +f 185 177 193 +f 186 185 193 +f 178 186 193 +f 172 180 194 +f 180 181 194 +f 181 179 194 +f 187 172 194 +f 179 187 194 +f 183 175 195 +f 187 183 195 +f 186 187 195 +f 175 188 195 +f 188 186 195 +f 176 184 196 +f 189 176 196 +f 190 189 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf new file mode 100644 index 000000000..be626595e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj new file mode 100644 index 000000000..be41b1442 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj @@ -0,0 +1,522 @@ +o convex_0 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142 169 177 +f 169 150 177 +f 150 169 178 +f 169 158 178 +f 166 171 178 +f 171 150 178 +f 158 172 178 +f 172 166 178 +f 149 146 179 +f 157 149 179 +f 146 162 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf new file mode 100644 index 000000000..3de099db9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj new file mode 100644 index 000000000..d0c311051 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj @@ -0,0 +1,252 @@ +o convex_0 +v 3.109246 -1.063641 -0.698464 +v -3.063188 -3.047227 -1.102863 +v -3.063188 -3.083912 -0.845636 +v -3.063188 -1.063641 0.991426 +v 3.109246 -3.157498 1.028111 +v -3.100266 -3.194184 1.101697 +v -2.953172 -1.063641 -1.065962 +v 3.109246 -3.010542 -0.919006 +v 2.998622 -1.026956 0.991210 +v 0.977613 -0.989840 -1.102863 +v 3.109246 -1.504294 -1.029277 +v -1.372835 -0.990055 0.954525 +v 1.308269 -3.047227 -1.029061 +v -0.748601 -3.194399 0.697513 +v -1.703490 -0.990055 -1.065962 +v -3.100266 -1.945379 1.064796 +v 3.072169 -2.092119 1.028111 +v 3.109246 -1.063641 -1.029277 +v -0.637978 -2.679729 -1.102863 +v 0.977613 -0.989840 0.991426 +v 2.888606 -3.157498 0.697297 +v -3.026719 -2.753315 1.101697 +v 1.528908 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a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf new file mode 100644 index 000000000..eb75e0f79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj new file mode 100644 index 000000000..9a91cc288 --- /dev/null +++ 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197 +f 179 177 180 +f 177 179 182 +f 179 174 182 +f 175 176 183 +f 175 183 184 +f 178 174 185 +f 174 179 185 +f 179 180 186 +f 175 184 187 +f 183 178 188 +f 178 185 188 +f 185 181 188 +f 184 183 189 +f 186 184 189 +f 188 181 189 +f 183 188 189 +f 176 175 190 +f 175 177 190 +f 183 176 190 +f 183 190 191 +f 177 182 191 +f 190 177 191 +f 191 182 192 +f 182 178 192 +f 183 191 192 +f 174 178 193 +f 182 174 193 +f 178 182 193 +f 186 180 194 +f 184 186 194 +f 180 187 194 +f 187 184 194 +f 185 179 195 +f 181 185 195 +f 179 186 195 +f 189 181 195 +f 186 189 195 +f 177 175 196 +f 180 177 196 +f 175 187 196 +f 187 180 196 +f 178 183 197 +f 192 178 197 +o convex_7 +v -2.852998 -3.122019 0.353771 +v -1.226216 -3.219704 -0.362165 +v -1.226216 -3.154580 -0.362165 +v -1.096027 -2.894390 0.288667 +v -2.950932 -2.666519 -0.231956 +v -3.081121 -3.252265 -0.231956 +v -1.096027 -2.633957 -0.166782 +v -2.950932 -2.699141 0.321184 +v -1.128865 -3.219704 0.223563 +v -2.983382 -3.252265 0.353771 +v -1.226216 -2.731642 0.288667 +v -1.096027 -3.122019 -0.362165 +v -2.234891 -3.252265 -0.297060 +v -2.950932 -2.666519 0.223563 +v -1.454339 -2.633957 -0.199369 +v -2.169796 -2.699141 0.321184 +v -3.048282 -2.959332 0.060837 +v -1.096027 -2.633957 -0.101748 +v -2.202441 -2.633957 -0.166782 +v -1.096027 -3.219704 -0.362165 +v -1.714717 -2.731642 0.321184 +v -2.885643 -3.252265 0.353771 +v -2.137152 -3.252265 -0.134265 +v -2.983382 -2.699141 0.288667 +f 214 207 221 +f 198 205 207 +f 199 200 209 +f 200 202 209 +f 204 201 209 +f 200 199 210 +f 202 200 210 +f 203 202 210 +f 207 203 210 +f 209 202 212 +f 204 209 212 +f 205 198 213 +f 211 205 213 +f 202 203 214 +f 203 207 214 +f 201 204 215 +f 208 201 215 +f 204 212 215 +f 213 208 215 +f 211 213 215 +f 202 211 216 +f 212 202 216 +f 215 212 216 +f 211 215 216 +f 201 206 217 +f 199 209 217 +f 209 201 217 +f 210 199 217 +f 201 208 218 +f 213 198 218 +f 208 213 218 +f 206 201 219 +f 198 207 219 +f 207 210 219 +f 218 198 219 +f 201 218 219 +f 217 206 220 +f 210 217 220 +f 206 219 220 +f 219 210 220 +f 207 205 221 +f 211 202 221 +f 205 211 221 +f 202 214 221 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf new file mode 100644 index 000000000..172d25a53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj new file mode 100644 index 000000000..02cf4b932 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj @@ -0,0 +1,417 @@ +o convex_0 +v -0.530897 -0.537715 -4.247237 +v 0.561663 0.492142 -3.935037 +v 0.561663 0.461022 -3.935037 +v -0.562133 -0.475243 -0.626976 +v -0.624605 0.585965 -4.653255 +v 0.530427 -0.569067 -4.590578 +v 0.467955 0.585965 -0.626582 +v 0.436719 -0.600302 -0.626976 +v -0.468425 0.461022 -0.626976 +v 0.561663 0.523377 -4.621719 +v -0.562133 -0.506479 -4.621325 +v -0.530897 -0.600302 -2.094159 +v 0.030885 -0.600302 -3.747796 +v 0.561663 -0.131880 -4.621719 +v 0.249420 0.585965 -0.688864 +v 0.530427 0.461022 -2.343289 +v -0.437189 0.585965 -4.653255 +v -0.499661 0.461022 -1.063347 +v 0.561663 -0.256707 -4.559437 +v -0.562133 -0.506479 -0.751146 +v -0.530897 -0.600302 -3.154536 +v 0.218184 -0.600302 -0.626976 +v -0.530897 0.523494 -2.281400 +v -0.624605 0.492258 -4.653255 +v -0.624605 0.585965 -4.528296 +v 0.467955 0.585965 -1.032205 +v -0.187418 -0.537715 -4.621325 +v -0.250006 0.242487 -4.653255 +v 0.467955 0.242370 -0.626582 +v -0.530897 -0.069408 -0.626976 +v 0.530427 -0.537715 -3.997319 +v -0.031471 0.554613 -4.653255 +v -0.343598 0.492258 -0.720005 +v 0.499191 0.554613 -1.344406 +f 29 16 34 +f 2 3 10 +f 6 8 13 +f 8 12 13 +f 10 3 14 +f 7 5 15 +f 9 7 15 +f 3 2 16 +f 5 7 17 +f 14 3 19 +f 6 14 19 +f 3 16 19 +f 16 8 19 +f 11 12 20 +f 11 1 21 +f 12 11 21 +f 13 12 21 +f 12 8 22 +f 4 20 22 +f 20 12 22 +f 18 9 23 +f 5 17 24 +f 20 4 24 +f 11 20 24 +f 15 5 25 +f 23 15 25 +f 18 23 25 +f 24 4 25 +f 5 24 25 +f 7 10 26 +f 17 7 26 +f 10 17 26 +f 1 11 27 +f 6 13 27 +f 14 6 27 +f 21 1 27 +f 13 21 27 +f 11 24 28 +f 24 17 28 +f 27 11 28 +f 14 27 28 +f 7 4 29 +f 8 16 29 +f 4 22 29 +f 22 8 29 +f 4 7 30 +f 7 9 30 +f 9 18 30 +f 25 4 30 +f 18 25 30 +f 8 6 31 +f 6 19 31 +f 19 8 31 +f 10 14 32 +f 17 10 32 +f 14 28 32 +f 28 17 32 +f 9 15 33 +f 15 23 33 +f 23 9 33 +f 2 10 34 +f 10 7 34 +f 16 2 34 +f 7 29 34 +o convex_1 +v -0.499661 -0.444007 1.871515 +v 0.561663 0.554613 2.058644 +v 0.561663 0.523377 2.058644 +v -0.624605 0.367430 3.431911 +v 0.530427 -0.569067 3.400599 +v 0.467955 -0.600302 1.527826 +v -0.499661 0.461022 1.527826 +v 0.530427 0.523377 3.400599 +v -0.530897 -0.475243 3.338161 +v 0.561663 0.585965 1.527826 +v -0.624605 0.492258 3.431911 +v -0.405953 -0.475243 1.527826 +v -0.468425 -0.506479 3.275723 +v 0.343012 0.585965 1.809077 +v 0.530427 -0.569067 2.682653 +v -0.562133 -0.381651 3.369473 +v 0.499191 0.554613 3.025970 +v -0.499661 -0.319179 1.652888 +v -0.374718 0.492258 1.527826 +v 0.311776 -0.568950 3.369473 +v 0.093357 -0.568950 1.996392 +v -0.156182 0.086423 3.431911 +v -0.624605 0.492258 3.307035 +v 0.499191 -0.569067 1.902641 +v -0.343598 0.523494 2.963531 +v -0.468425 -0.444007 1.527826 +v -0.499661 -0.475243 2.089956 +v 0.436719 -0.600302 1.871515 +v -0.000351 0.523494 3.400599 +v 0.561663 0.523377 1.527826 +v 0.374248 0.585965 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0.998581 -3.034179 0.279122 +v -0.967998 -3.034785 0.279122 +v -0.967998 -3.097709 1.496535 +v 0.467961 -0.600107 1.527825 +v 1.061102 2.708247 1.465366 +v -0.967998 0.866508 1.527825 +v 1.092362 2.958128 1.121899 +v 1.092362 1.677866 1.434075 +v -0.468438 3.083372 0.435210 +v 0.561541 0.585165 1.527825 +v 0.998581 -3.003323 1.121899 +v -0.749377 -3.097709 1.496535 +v 0.499020 3.082767 0.279122 +v 1.029841 2.989591 0.435333 +v -0.967998 2.988986 1.309278 +v -0.655798 2.989591 1.527825 +v -0.374858 3.082767 0.809846 +v 0.717641 -3.003323 1.402906 +v 1.029841 -1.161583 1.402906 +v 0.592801 -3.065642 0.310413 +v -0.468438 -0.444007 1.527825 +v 0.624062 2.958128 1.465366 +v 0.311861 3.082767 0.778677 +v -0.842957 3.020447 1.371493 +v 0.998581 -3.034179 0.653880 +v 0.998581 -1.692203 1.402906 +v -0.624538 -3.097709 1.433953 +v 0.967321 3.020447 0.341582 +v 0.967321 2.926666 1.465366 +v -0.780638 3.051910 0.279122 +v 1.029841 2.958128 1.340447 +v 0.998581 -2.597341 1.371615 +v -0.967998 1.990066 1.527825 +f 125 116 143 +f 105 106 109 +f 105 109 111 +f 105 104 112 +f 106 105 112 +f 104 106 112 +f 106 104 113 +f 106 113 116 +f 114 108 116 +f 111 117 118 +f 110 115 118 +f 117 110 118 +f 108 114 120 +f 114 115 120 +f 113 104 122 +f 114 113 122 +f 109 106 123 +f 111 109 124 +f 117 111 124 +f 106 116 125 +f 108 120 126 +f 107 114 128 +f 122 107 128 +f 114 122 128 +f 118 115 129 +f 121 118 129 +f 104 105 130 +f 105 111 130 +f 113 114 131 +f 116 113 131 +f 114 116 131 +f 126 132 133 +f 123 119 133 +f 119 127 133 +f 133 127 134 +f 106 125 134 +f 125 108 134 +f 108 126 134 +f 127 119 134 +f 126 133 134 +f 111 118 135 +f 121 107 135 +f 118 121 135 +f 130 111 135 +f 114 107 136 +f 115 114 136 +f 129 115 136 +f 122 104 137 +f 107 122 137 +f 104 130 137 +f 135 107 137 +f 130 135 137 +f 109 123 138 +f 124 109 138 +f 117 124 138 +f 133 103 138 +f 123 133 138 +f 115 110 139 +f 120 115 139 +f 126 120 139 +f 110 132 139 +f 132 126 139 +f 123 106 140 +f 119 123 140 +f 106 134 140 +f 134 119 140 +f 110 117 141 +f 132 110 141 +f 133 132 141 +f 103 133 141 +f 138 103 141 +f 117 138 141 +f 107 121 142 +f 121 129 142 +f 136 107 142 +f 129 136 142 +f 116 108 143 +f 108 125 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf new file mode 100644 index 000000000..e77b05abb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj new file mode 100644 index 000000000..c5fef4c62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj @@ -0,0 +1,366 @@ +o convex_0 +v 1.093662 -0.755415 0.578144 +v -1.106876 0.152467 0.927309 +v -1.106876 0.152467 0.997315 +v -1.071765 -3.759012 -1.098323 +v 0.464691 -3.794007 1.102215 +v 1.093662 0.187854 -0.923417 +v 0.988762 -3.829001 -1.063212 +v -0.967080 0.187461 -0.993207 +v -1.036870 -3.689024 1.067105 +v 1.093662 0.187854 1.067105 +v 0.953867 -3.794007 1.102215 +v -1.071765 0.187461 1.067105 +v 1.023657 -3.060309 -1.063212 +v -0.932185 -0.162087 -1.028317 +v -1.071765 -3.025315 -1.098323 +v 0.534696 -3.829001 -1.098323 +v 0.115526 -2.117040 1.102215 +v -1.071765 -3.759012 -0.504247 +v 1.023657 -3.444458 -0.993422 +v 1.093662 -0.266283 -0.958528 +v 0.988762 -3.829001 -0.050181 +v 0.988762 -3.095304 1.102215 +v 1.093662 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b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj new file mode 100644 index 000000000..3a84bc510 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.109077 -1.735169 3.059754 +v 0.218763 -2.390918 1.091945 +v 0.278399 -2.390918 1.091945 +v -0.228285 -1.705301 1.091945 +v -0.317772 -2.241848 2.970185 +v 0.338036 -1.794770 3.000041 +v 0.248549 -1.735169 1.091945 +v -0.258136 -2.301449 1.121994 +v 0.218763 -2.211980 2.940329 +v -0.317772 -1.705301 1.390314 +v -0.198499 -1.705301 3.059754 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-1.705345 -2.962811 +v 0.129341 -1.675509 -1.084571 +v -0.049440 -2.331264 -3.052380 +v -0.287922 -1.884219 -2.962811 +v 0.308186 -1.645603 -2.276890 +f 125 115 128 +f 110 109 111 +f 111 112 113 +f 112 109 114 +f 113 112 115 +f 110 111 118 +f 111 113 118 +f 111 109 119 +f 112 111 119 +f 109 112 119 +f 112 114 120 +f 114 117 120 +f 120 117 121 +f 115 112 121 +f 112 120 121 +f 117 114 122 +f 116 117 122 +f 113 108 123 +f 118 113 123 +f 108 117 124 +f 117 116 124 +f 123 108 124 +f 116 123 124 +f 108 113 125 +f 113 115 125 +f 109 110 126 +f 114 109 126 +f 110 116 126 +f 122 114 126 +f 116 122 126 +f 116 110 127 +f 110 118 127 +f 123 116 127 +f 118 123 127 +f 117 108 128 +f 121 117 128 +f 115 121 128 +f 108 125 128 +o convex_4 +v -0.258013 -2.182377 -1.084571 +v 1.083436 -1.884353 1.061905 +v 1.053598 -1.615788 1.061905 +v -1.033380 -2.927438 0.912770 +v 0.934246 -3.076737 -1.054531 +v -1.063218 -1.615931 0.912770 +v 0.964084 -1.615788 -1.084571 +v 1.083436 -2.957470 1.061905 +v -0.973704 -2.987072 -0.935223 +v -0.973704 -1.615931 -0.935223 +v -0.317689 -1.884353 1.091945 +v 1.083436 -1.705310 0.405925 +v -0.914028 -2.957327 0.793675 +v 0.815104 -3.076737 -1.084571 +v 0.695752 -2.718793 1.091945 +v -0.317689 -1.735055 -1.084571 +v 0.665914 -3.076737 -0.845742 +v 0.278230 -1.615788 1.091945 +v -1.033380 -2.957327 0.227176 +v -1.003542 -1.794831 -0.666993 +v -0.228175 -2.301644 1.091945 +v 1.083436 -2.957470 0.763635 +v -1.003542 -2.867948 0.942597 +v -0.854352 -2.987072 -0.965050 +v 0.964084 -2.987215 0.703981 +v -1.063218 -2.510004 0.882943 +v -0.317689 -1.705310 1.091945 +v -1.033380 -1.615931 -0.040840 +v -0.973704 -2.987072 -0.637167 +v 0.725590 -1.615788 1.091945 +v -0.198547 -2.360992 -1.084571 +v -1.003542 -2.867948 -0.547686 +v 0.069785 -2.957470 1.002464 +v 1.083436 -1.615788 0.405925 +v -0.973704 -1.615931 0.942597 +v 0.427420 -1.615788 -1.084571 +v 0.874570 -3.076737 -0.786088 +v -0.943866 -2.927438 0.942597 +v -1.063218 -1.645819 0.704194 +v 0.039947 -3.046705 -1.024704 +v -0.347527 -1.615931 1.062118 +f 163 155 169 +f 133 135 140 +f 130 136 140 +f 129 135 142 +f 135 133 142 +f 135 129 144 +f 142 133 145 +f 131 135 146 +f 139 143 146 +f 141 132 147 +f 138 137 148 +f 143 139 149 +f 136 133 150 +f 133 140 150 +f 140 136 150 +f 134 132 151 +f 149 139 151 +f 137 138 152 +f 144 129 152 +f 138 144 152 +f 132 134 154 +f 147 132 154 +f 139 146 155 +f 151 139 155 +f 134 146 156 +f 146 138 156 +f 138 148 156 +f 145 141 157 +f 147 137 157 +f 141 147 157 +f 130 131 158 +f 136 130 158 +f 143 136 158 +f 131 146 158 +f 146 143 158 +f 129 142 159 +f 142 152 159 +f 152 129 159 +f 137 147 160 +f 148 137 160 +f 147 154 160 +f 156 148 160 +f 136 143 161 +f 153 136 161 +f 131 130 162 +f 135 131 162 +f 130 140 162 +f 140 135 162 +f 146 134 163 +f 134 151 163 +f 151 155 163 +f 135 144 164 +f 144 138 164 +f 146 135 164 +f 138 146 164 +f 133 136 165 +f 145 133 165 +f 141 145 165 +f 136 153 165 +f 161 141 165 +f 153 161 165 +f 132 141 166 +f 143 149 166 +f 151 132 166 +f 149 151 166 +f 141 161 166 +f 161 143 166 +f 154 134 167 +f 134 156 167 +f 160 154 167 +f 156 160 167 +f 142 145 168 +f 137 152 168 +f 152 142 168 +f 145 157 168 +f 157 137 168 +f 155 146 169 +f 146 163 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf new file mode 100644 index 000000000..e72fedef8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj new file mode 100644 index 000000000..d81530153 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj @@ -0,0 +1,408 @@ +o convex_0 +v 1.074484 -3.243084 0.597488 +v -1.110573 1.030861 -1.048970 +v -1.110573 1.030861 -1.017142 +v -1.078893 -4.383935 0.787407 +v -0.920492 1.727454 1.104431 +v 1.011124 1.632436 -0.985523 +v 0.947764 -4.320380 -0.922077 +v 1.106164 1.759547 1.104431 +v -0.952172 -4.225361 -0.953905 +v 0.852723 -4.288287 0.977537 +v -1.078893 -4.383935 1.072602 +v -0.318788 2.044602 -0.193807 +v -1.110573 1.632436 -1.048970 +v -1.015532 1.727454 1.072602 +v 1.074484 -4.256824 0.945919 +v 0.251019 2.044602 0.249268 +v -0.603692 0.175695 -1.048970 +v 0.852723 -4.003232 -0.953905 +v 0.314379 2.044602 -0.225425 +v 1.042804 1.600343 -0.668921 +v -1.078893 -2.768620 1.072602 +v 0.821043 -4.351213 -0.827222 +v 0.630963 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/dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj new file mode 100644 index 000000000..3c0bdd7fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj @@ -0,0 +1,591 @@ +o convex_0 +v 0.944580 -3.180305 -1.049785 +v -0.979431 -0.412817 1.110660 +v -0.945705 -0.007214 1.110442 +v 1.012239 -4.327596 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b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf new file mode 100644 index 000000000..6f1e66baf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj new file mode 100644 index 000000000..ae00bac42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj @@ -0,0 +1,435 @@ +o convex_0 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0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj new file mode 100644 index 000000000..d959865fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj @@ -0,0 +1,456 @@ +o convex_0 +v -0.471352 0.765104 -2.170686 +v 0.500837 1.834617 -2.494678 +v 0.500837 1.834617 -2.624313 +v 0.598161 0.635260 -2.203094 +v -0.471352 0.765104 -2.656769 +v -0.601196 1.704772 -2.170686 +v 0.533239 1.769695 -2.170686 +v -0.601196 1.672487 -2.559495 +v 0.500837 0.732584 -2.527086 +v -0.568676 0.926998 -2.170686 +v 0.468317 0.635260 -2.170686 +v 0.014684 1.315944 -2.656769 +v -0.276938 1.737292 -2.591904 +v 0.371110 0.732584 -2.559495 +v -0.503872 0.959518 -2.656769 +v -0.503872 0.765104 -2.624313 +v 0.500837 1.607683 -2.624313 +v -0.406547 1.737292 -2.170686 +v -0.244535 0.862194 -2.656769 +v 0.371110 1.834617 -2.624313 +f 13 18 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+v -0.536216 2.223464 -0.646702 +v 1.116802 2.191004 1.330109 +v 0.987077 1.283319 -0.549609 +v 0.760006 -0.693463 1.491930 +v 1.084216 2.255923 0.876361 +v -0.860426 2.158545 1.492146 +f 134 131 158 +f 126 125 135 +f 135 125 136 +f 124 127 137 +f 130 127 138 +f 131 134 138 +f 127 130 141 +f 137 127 141 +f 127 124 142 +f 128 131 142 +f 133 128 142 +f 124 137 142 +f 140 133 142 +f 137 140 142 +f 134 126 145 +f 135 132 145 +f 126 135 145 +f 143 129 145 +f 129 137 146 +f 144 129 146 +f 138 127 147 +f 131 138 147 +f 127 142 147 +f 142 131 147 +f 130 138 148 +f 138 134 148 +f 134 144 148 +f 146 130 148 +f 144 146 148 +f 128 133 149 +f 139 128 149 +f 133 139 149 +f 125 131 150 +f 136 125 150 +f 131 136 150 +f 129 144 151 +f 144 134 151 +f 134 145 151 +f 145 129 151 +f 132 135 152 +f 128 139 152 +f 141 130 153 +f 137 141 153 +f 146 137 153 +f 130 146 153 +f 139 133 154 +f 133 140 154 +f 132 152 154 +f 152 139 154 +f 137 129 155 +f 140 137 155 +f 129 143 155 +f 143 140 155 +f 131 128 156 +f 135 136 156 +f 136 131 156 +f 152 135 156 +f 128 152 156 +f 140 143 157 +f 145 132 157 +f 143 145 157 +f 154 140 157 +f 132 154 157 +f 125 126 158 +f 131 125 158 +f 126 134 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf new file mode 100644 index 000000000..13faacce3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj new file mode 100644 index 000000000..6541dedff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj @@ -0,0 +1,543 @@ +o convex_0 +v -4.648740 -0.767010 -0.523288 +v -2.706819 -0.020185 0.522477 +v -2.706819 -0.729804 0.522477 +v -2.706819 -0.020185 -0.598052 +v -4.536550 -0.057626 0.447830 +v -4.573946 -1.178039 0.597242 +v -2.706819 -1.066068 -0.448641 +v -4.648740 -0.057626 -0.560495 +v -4.686330 -1.215479 -0.485964 +v -2.706819 -1.215479 0.485154 +v -2.893609 -0.356450 -0.598052 +v -3.267189 -0.020185 0.522477 +v -4.648740 -0.132273 -0.261788 +v -2.706819 -1.215479 0.260978 +v -3.528579 -0.020185 -0.598052 +v -4.686330 -1.215479 -0.261788 +v -4.573946 -0.767010 0.559801 +v -4.051166 -1.178039 -0.485964 +v -3.229793 -0.356450 0.559801 +v -2.706819 -0.991303 -0.485964 +v -3.640576 -0.020185 0.485154 +v -4.536550 -0.132273 0.485154 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a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf new file mode 100644 index 000000000..5a6eeb442 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj new file mode 100644 index 000000000..4e5ff841f --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf new file mode 100644 index 000000000..fb937589c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj new file mode 100644 index 000000000..2fb16700d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj @@ -0,0 +1,393 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf new file mode 100644 index 000000000..af900dcc6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj new file mode 100644 index 000000000..41712a2bd --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf new file mode 100644 index 000000000..5d0147ad8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj new file mode 100644 index 000000000..19f9590ed --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf new file mode 100644 index 000000000..8152b9823 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj new file mode 100644 index 000000000..28b341f2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj @@ -0,0 +1,444 @@ +o convex_0 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104 103 111 +f 99 100 112 +f 103 99 112 +f 100 105 112 +f 105 103 112 +f 109 98 113 +f 103 109 113 +f 98 111 113 +f 111 103 113 +f 101 104 114 +f 98 107 114 +f 107 101 114 +f 111 98 114 +o convex_4 +v -0.331678 0.285894 -1.610818 +v -1.033065 0.052139 -3.013112 +v -1.033065 0.052139 -1.065344 +v 1.070467 0.052139 -2.973836 +v 1.109689 0.091106 -1.065344 +v 1.070467 0.207961 -2.973836 +v -1.033065 0.285894 -1.065344 +v 1.070467 0.246927 -1.104429 +v -1.033065 0.169017 -2.896047 +v 1.031664 0.052139 -1.065344 +v 1.070467 0.246927 -2.194805 +v 0.524920 0.207961 -2.973836 +v -1.033065 0.285894 -1.377071 +v 1.109689 0.169017 -2.584321 +v 0.408092 0.246927 -2.428552 +v -1.033065 0.130073 -3.013112 +v 1.031664 0.246927 -1.065344 +f 122 115 131 +f 117 116 118 +f 118 116 120 +f 116 117 121 +f 117 119 121 +f 116 121 123 +f 117 118 124 +f 118 119 124 +f 119 117 124 +f 115 122 125 +f 121 115 127 +f 123 121 127 +f 119 118 128 +f 118 120 128 +f 122 119 128 +f 120 125 128 +f 125 122 128 +f 115 125 129 +f 125 120 129 +f 120 126 129 +f 126 123 129 +f 123 127 129 +f 127 115 129 +f 120 116 130 +f 116 123 130 +f 126 120 130 +f 123 126 130 +f 115 121 131 +f 121 119 131 +f 119 122 131 +o convex_5 +v -1.305444 0.207957 1.155302 +v 2.161114 0.091114 -1.065153 +v 2.161114 0.324853 -1.065153 +v -3.019983 0.130061 -0.986907 +v 3.018383 0.091114 0.960556 +v -2.942049 0.324853 1.116179 +v 3.018383 0.324853 0.960556 +v -1.110907 0.052139 1.155302 +v -3.019983 0.324853 -0.986907 +v -1.032974 0.052139 -1.064936 +v 3.018383 0.091114 -1.065153 +v 0.992110 0.052139 1.155302 +v 3.018383 0.324853 -1.065153 +v -2.980719 0.207957 0.765592 +v 1.031374 0.052139 -1.064936 +v 0.564367 0.207957 1.155302 +v -2.942049 0.130061 -0.363545 +v -1.032974 0.285852 -1.064936 +v -2.708249 0.207957 1.116179 +v 3.057648 0.130088 -0.870189 +v -0.994304 0.324853 1.116179 +v -2.201383 0.091114 -0.012958 +v 3.057648 0.324853 -0.246828 +f 151 144 154 +f 134 137 138 +f 132 137 139 +f 137 134 140 +f 134 133 141 +f 135 140 141 +f 133 134 142 +f 141 133 142 +f 136 138 143 +f 132 139 143 +f 139 141 143 +f 134 138 144 +f 142 134 144 +f 140 135 145 +f 137 140 145 +f 142 136 146 +f 141 142 146 +f 143 141 146 +f 136 143 146 +f 137 132 147 +f 132 143 147 +f 143 138 147 +f 145 135 148 +f 139 145 148 +f 140 134 149 +f 134 141 149 +f 141 140 149 +f 139 137 150 +f 145 139 150 +f 137 145 150 +f 136 142 151 +f 142 144 151 +f 138 137 152 +f 137 147 152 +f 147 138 152 +f 135 141 153 +f 141 139 153 +f 148 135 153 +f 139 148 153 +f 138 136 154 +f 144 138 154 +f 136 151 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf new file mode 100644 index 000000000..555e6b997 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj new file mode 100644 index 000000000..0bd11fa04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj @@ -0,0 +1,543 @@ +o convex_0 +v 0.945278 -0.891641 -0.997777 +v -0.123113 1.182769 1.107904 +v 0.976611 1.182769 1.107692 +v -0.531670 -1.866025 1.107904 +v -1.034636 1.182769 -1.060826 +v -1.003304 -1.866025 -0.997777 +v 0.976611 -1.866025 1.076273 +v -1.066175 1.182769 1.107904 +v 1.008149 1.182769 -0.997565 +v 0.976611 -1.866025 -0.966358 +v -1.034636 -1.866025 1.107904 +v 1.039688 0.239720 0.573364 +v 0.379441 -1.614446 -1.028983 +v 1.039688 -0.420116 -0.715010 +v -1.066175 -0.482488 1.076061 +v 0.945278 1.182769 -1.028983 +v 1.039688 1.182769 0.636201 +v 1.008149 -1.614446 0.856343 +v -1.034636 0.522635 -1.060826 +v 1.008149 -1.866025 -0.840684 +v 1.039688 1.182769 -0.777635 +v 1.008149 1.025495 1.013224 +v 0.976611 0.585306 1.107692 +v 0.725334 -1.866025 -0.997777 +v -1.003304 -0.891641 -1.029195 +v -0.814485 1.119800 -1.060826 +v -1.034636 0.302690 -1.029195 +v 1.008149 0.616940 -0.997777 +f 21 14 28 +f 2 3 5 +f 4 6 7 +f 4 2 8 +f 2 5 8 +f 5 3 9 +f 7 6 10 +f 6 4 11 +f 4 8 11 +f 8 5 15 +f 6 11 15 +f 11 8 15 +f 5 9 16 +f 1 13 16 +f 9 3 17 +f 12 14 17 +f 14 12 18 +f 12 17 18 +f 15 5 19 +f 7 10 20 +f 18 7 20 +f 14 18 20 +f 9 17 21 +f 17 14 21 +f 17 3 22 +f 7 18 22 +f 18 17 22 +f 3 2 23 +f 2 4 23 +f 4 7 23 +f 22 3 23 +f 7 22 23 +f 1 10 24 +f 10 6 24 +f 6 13 24 +f 13 1 24 +f 13 6 25 +f 6 19 25 +f 19 13 25 +f 5 16 26 +f 16 13 26 +f 13 19 26 +f 19 5 26 +f 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-1.097839 2.282705 0.384825 +v -2.983358 2.314142 -0.463603 +f 56 44 58 +f 31 30 32 +f 32 30 33 +f 30 31 34 +f 36 29 37 +f 33 30 38 +f 32 33 39 +f 29 36 39 +f 33 42 43 +f 42 37 43 +f 34 31 44 +f 32 36 45 +f 36 40 45 +f 44 31 46 +f 31 32 47 +f 32 45 47 +f 45 40 47 +f 46 31 47 +f 30 34 48 +f 41 30 48 +f 37 42 49 +f 34 44 49 +f 48 34 49 +f 41 48 49 +f 40 36 50 +f 35 46 50 +f 47 40 50 +f 46 47 50 +f 39 33 51 +f 33 43 51 +f 43 39 51 +f 36 37 52 +f 37 49 52 +f 49 44 52 +f 36 32 53 +f 32 39 53 +f 39 36 53 +f 33 38 54 +f 38 41 54 +f 42 33 54 +f 49 42 54 +f 41 49 54 +f 37 29 55 +f 29 39 55 +f 39 43 55 +f 43 37 55 +f 50 36 56 +f 35 50 56 +f 36 52 56 +f 52 44 56 +f 38 30 57 +f 30 41 57 +f 41 38 57 +f 46 35 58 +f 44 46 58 +f 35 56 58 +o convex_2 +v -0.311742 -2.274528 -2.883552 +v 0.316719 -1.991786 -1.029395 +v 0.253867 -1.960404 -1.029395 +v -0.217495 -2.494630 -1.029395 +v 0.191014 -2.494630 -3.009540 +v -0.343200 -1.928899 -2.914952 +v 0.285261 -1.960404 -3.009540 +v -0.248889 -1.897456 -1.029395 +v 0.191014 -2.526073 -1.029395 +v -0.248889 -2.526073 -2.946352 +v -0.343200 -2.054610 -2.475157 +v 0.285261 -2.117497 -3.009540 +v -0.060331 -1.928899 -2.977753 +v 0.253867 -2.306033 -1.186590 +v -0.154643 -1.897456 -1.092583 +v 0.033850 -2.526073 -2.852346 +v -0.280348 -1.897456 -1.343978 +v 0.316719 -1.960404 -2.223568 +v 0.065309 -1.928899 -2.977753 +v -0.248889 -2.526073 -2.537763 +f 59 68 78 +f 60 61 62 +f 62 61 66 +f 60 62 67 +f 59 64 68 +f 59 62 69 +f 64 59 69 +f 63 65 70 +f 65 63 71 +f 63 68 71 +f 68 64 71 +f 60 67 72 +f 67 63 72 +f 70 60 72 +f 63 70 72 +f 66 61 73 +f 63 67 74 +f 68 63 74 +f 67 68 74 +f 62 66 75 +f 69 62 75 +f 64 69 75 +f 71 64 75 +f 66 73 75 +f 61 60 76 +f 60 70 76 +f 70 65 76 +f 73 61 76 +f 73 76 77 +f 65 71 77 +f 71 75 77 +f 75 73 77 +f 76 65 77 +f 62 59 78 +f 67 62 78 +f 68 67 78 +o convex_3 +v -1.097606 2.565537 -0.777825 +v 1.071125 1.780202 0.447597 +v 1.071125 1.214335 0.447597 +v -1.065975 1.182769 1.107904 +v 0.976657 2.848470 1.107904 +v 0.976657 1.182769 -1.029155 +v 1.008075 2.817070 -1.029155 +v -1.065975 2.880036 1.107904 +v -1.034556 1.182769 -1.060814 +v -1.065975 2.880036 -1.092257 +v 0.976657 1.182769 1.107904 +v 1.071125 2.314170 -0.589166 +v -1.097606 1.214335 0.070279 +v -0.657533 2.880036 -1.092257 +v 1.071125 1.182769 -0.557723 +v 1.008075 2.817070 1.107904 +v -0.028950 2.880036 0.321824 +v 0.442329 2.848470 -1.060814 +v -1.003138 1.905802 -1.092257 +v -1.097606 2.188403 0.479040 +v 0.725308 2.785504 -1.060814 +v -1.097606 1.182769 -0.432166 +v 1.071125 2.345404 0.416154 +v 1.008075 1.340102 -1.029155 +v -0.311717 2.817070 -1.092257 +v 1.008075 1.182769 1.013359 +v 1.008075 2.848470 0.824915 +v -0.311717 2.880036 1.107904 +v -1.097606 1.277136 0.510484 +f 98 91 107 +f 82 83 86 +f 84 82 87 +f 79 86 88 +f 87 79 88 +f 83 82 89 +f 82 84 89 +f 80 81 90 +f 88 86 92 +f 89 84 93 +f 90 81 93 +f 81 80 94 +f 83 89 94 +f 92 86 95 +f 92 95 96 +f 84 87 97 +f 87 88 97 +f 88 92 97 +f 86 79 98 +f 79 91 98 +f 96 85 99 +f 79 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1.371447 0.604893 +v 3.019691 2.282813 -0.274931 +v 1.951287 1.308659 -0.526360 +v 1.071321 2.282702 -0.494917 +v 2.799749 2.251364 0.416234 +v 3.051196 1.497244 -0.557803 +v 1.228451 1.214311 0.479120 +v 3.082503 1.654380 -0.400587 +v 3.082503 1.308659 -0.369261 +v 3.082503 2.125566 0.447677 +v 2.139725 1.874193 -0.589246 +f 122 120 136 +f 112 111 115 +f 109 110 116 +f 110 115 116 +f 111 112 117 +f 110 109 118 +f 112 115 118 +f 118 109 120 +f 112 118 120 +f 114 115 121 +f 119 114 121 +f 109 116 122 +f 117 112 123 +f 117 123 124 +f 123 113 124 +f 119 108 125 +f 108 124 125 +f 115 111 126 +f 108 119 126 +f 121 115 126 +f 119 121 126 +f 114 116 127 +f 116 115 127 +f 112 120 128 +f 120 113 128 +f 123 112 128 +f 113 123 128 +f 115 110 129 +f 110 118 129 +f 118 115 129 +f 115 114 130 +f 114 127 130 +f 127 115 130 +f 116 113 131 +f 113 120 131 +f 122 116 131 +f 120 122 131 +f 111 117 132 +f 117 124 132 +f 124 108 132 +f 126 111 132 +f 108 126 132 +f 114 113 133 +f 116 114 133 +f 113 116 133 +f 113 114 134 +f 124 113 134 +f 119 125 134 +f 125 124 134 +f 114 119 135 +f 134 114 135 +f 119 134 135 +f 120 109 136 +f 109 122 136 +o convex_5 +v -0.374606 -3.311704 0.384803 +v 1.008263 -1.866167 -0.652053 +v 1.008263 -1.897582 -0.652053 +v -1.003147 -1.866167 -0.997602 +v -1.034744 -1.866167 1.107695 +v 0.976666 -3.154485 1.076319 +v 0.976666 -3.123069 -0.934851 +v -0.971750 -3.280147 -0.966226 +v 0.976666 -1.866167 1.076319 +v -1.034744 -3.248731 1.107695 +v 0.725290 -1.866167 -0.997602 +v 0.190940 -2.683111 -1.029186 +v -0.028839 -3.311704 0.227716 +v 0.442316 -2.745942 1.107695 +v 0.976666 -1.866167 -0.966435 +v 0.913872 -3.186042 1.044734 +v -1.034744 -3.248731 0.667601 +v -0.500394 -2.777358 -1.029186 +v -0.248818 -1.897724 -1.029186 +v -0.060236 -3.217316 -0.966226 +v -1.003147 -3.280147 -0.432006 +v 0.882475 -3.060380 -0.966435 +v 0.316528 -1.960555 1.107695 +v -0.468797 -3.311704 -0.306295 +v 0.976666 -3.154485 -0.054872 +v 1.008263 -2.023386 -0.840724 +v 0.788084 -3.154485 -0.871890 +v -0.814565 -3.248731 1.107695 +v -1.003147 -2.117632 -0.997602 +v 0.316528 -1.991970 -1.029186 +v -1.034744 -2.180463 0.730561 +v -0.154627 -3.217316 1.107695 +f 164 152 168 +f 138 140 141 +f 139 138 142 +f 138 141 145 +f 142 138 145 +f 140 138 147 +f 142 145 150 +f 141 146 150 +f 147 138 151 +f 137 149 152 +f 146 141 153 +f 148 154 155 +f 140 147 155 +f 154 140 155 +f 144 154 156 +f 154 148 156 +f 137 146 157 +f 146 153 157 +f 148 147 158 +f 151 143 158 +f 147 151 158 +f 143 156 158 +f 156 148 158 +f 145 141 159 +f 141 150 159 +f 150 145 159 +f 149 137 160 +f 144 156 160 +f 137 157 160 +f 157 144 160 +f 142 152 161 +f 152 149 161 +f 138 139 162 +f 139 142 162 +f 151 138 162 +f 143 151 162 +f 142 161 162 +f 161 143 162 +f 156 143 163 +f 149 160 163 +f 160 156 163 +f 143 161 163 +f 161 149 163 +f 146 137 164 +f 150 146 164 +f 137 152 164 +f 153 140 165 +f 140 154 165 +f 154 144 165 +f 144 157 165 +f 157 153 165 +f 147 148 166 +f 148 155 166 +f 155 147 166 +f 141 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162 154 165 +f 155 162 165 +f 151 148 166 +f 155 151 166 +f 148 157 166 +f 157 155 166 +f 156 147 167 +f 152 158 167 +f 158 156 167 +f 147 161 167 +f 161 152 167 +f 159 150 168 +f 150 160 168 +f 163 159 168 +f 160 163 168 +f 148 149 169 +f 149 150 169 +f 157 148 169 +f 150 164 169 +f 164 157 169 +f 152 159 170 +f 163 152 170 +o convex_4 +v -0.319697 -0.106679 2.588683 +v 0.239495 -0.047822 2.618163 +v 0.239495 -0.106679 2.618163 +v -0.084219 -0.018472 3.530382 +v -0.113667 0.217058 2.529820 +v 0.062805 -0.312703 2.529820 +v -0.054770 -0.253742 3.265354 +v 0.180598 -0.047822 3.294835 +v -0.084219 0.158098 3.324217 +v 0.121701 0.158098 2.529820 +v -0.290193 -0.018472 3.147630 +v -0.290193 0.158098 2.529820 +v -0.231351 -0.253742 2.529820 +v 0.180598 -0.253742 2.794750 +v -0.260800 -0.106679 3.235972 +v -0.025486 0.158098 3.294835 +v 0.209992 -0.253742 2.529820 +v 0.003962 -0.253742 3.265354 +v 0.121701 0.099241 3.059385 +v -0.231351 0.099241 3.147630 +v -0.025486 -0.106679 3.500803 +v -0.054770 -0.312703 2.677025 +v -0.231351 -0.224392 2.882994 +f 192 177 193 +f 173 172 178 +f 176 175 180 +f 175 176 182 +f 179 175 182 +f 171 181 182 +f 171 182 183 +f 182 176 183 +f 181 171 185 +f 174 181 185 +f 174 178 186 +f 179 174 186 +f 175 179 186 +f 180 175 186 +f 172 173 187 +f 173 178 187 +f 180 172 187 +f 176 180 187 +f 184 176 187 +f 178 184 187 +f 176 184 188 +f 184 178 188 +f 178 172 189 +f 172 180 189 +f 186 178 189 +f 180 186 189 +f 174 179 190 +f 181 174 190 +f 179 182 190 +f 182 181 190 +f 178 174 191 +f 174 185 191 +f 185 177 191 +f 177 188 191 +f 188 178 191 +f 183 176 192 +f 176 188 192 +f 188 177 192 +f 171 183 193 +f 177 185 193 +f 185 171 193 +f 183 192 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf new file mode 100644 index 000000000..1681e1d04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj new file mode 100644 index 000000000..4e64a3e73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.012192 -0.950209 -1.019593 +v 0.012192 -2.760846 0.992489 +v -0.016563 -2.760846 0.992489 +v 0.040947 5.313670 0.388628 +v -1.051155 2.526333 -0.042111 +v 0.960913 -3.594783 -0.013552 +v -0.821114 -3.594783 -0.732040 +v 0.673362 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59 +f 28 13 60 +f 13 29 60 +f 29 28 60 +f 26 10 61 +f 10 27 61 +f 27 26 61 +f 5 11 62 +f 11 21 62 +f 21 25 62 +f 58 5 62 +f 25 58 62 +f 40 20 63 +f 20 41 63 +f 41 40 63 +f 11 5 64 +f 17 11 64 +f 5 36 64 +f 36 20 64 +f 54 17 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf new file mode 100644 index 000000000..b4e66b6d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj new file mode 100644 index 000000000..f31ae7f7c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj @@ -0,0 +1,483 @@ +o convex_0 +v -0.493255 -0.327762 -3.397109 +v 0.589577 0.590980 -1.559819 +v 0.523895 0.590980 -1.559626 +v 0.523895 -0.557560 -1.559626 +v 0.589577 -0.426134 -3.462830 +v -0.558937 -0.459075 -1.559626 +v -0.558937 0.492495 -3.495594 +v -0.460414 0.492495 -1.559626 +v 0.425371 0.525323 -3.462830 +v -0.493255 -0.426247 -3.364345 +v -0.591778 0.361182 -3.528551 +v 0.228556 0.590980 -2.019286 +v -0.558937 0.492495 -2.642380 +v 0.589577 -0.459075 -3.429873 +v 0.359689 -0.557560 -1.756788 +v -0.493255 -0.491903 -1.592582 +v 0.556736 -0.426134 -1.658303 +v 0.491053 0.558151 -2.871921 +v 0.589577 -0.294934 -3.429873 +v -0.493255 0.492495 -1.625346 +v 0.589577 0.229981 -1.559819 +v -0.329049 -0.459075 -3.036127 +v -0.361890 0.492495 -3.528551 +v -0.591778 0.459667 -3.167568 +v -0.591778 0.262809 -3.495594 +v 0.359689 -0.426247 -3.462830 +v 0.228556 0.590980 -1.658110 +v 0.589577 -0.459075 -2.937642 +v 0.556736 0.590980 -2.052050 +v 0.458212 0.459667 -3.462830 +v -0.526096 -0.459075 -2.544088 +f 25 10 31 +f 2 3 4 +f 4 3 6 +f 6 3 8 +f 1 10 11 +f 3 2 12 +f 12 7 13 +f 5 2 14 +f 14 4 15 +f 4 6 16 +f 15 4 16 +f 9 7 18 +f 7 12 18 +f 2 5 19 +f 6 8 20 +f 13 6 20 +f 2 4 21 +f 14 2 21 +f 4 17 21 +f 10 14 22 +f 14 15 22 +f 7 9 23 +f 5 11 23 +f 11 7 23 +f 7 11 24 +f 6 13 24 +f 13 7 24 +f 11 10 25 +f 6 24 25 +f 24 11 25 +f 10 1 26 +f 1 11 26 +f 11 5 26 +f 5 14 26 +f 14 10 26 +f 8 3 27 +f 3 12 27 +f 12 13 27 +f 20 8 27 +f 13 20 27 +f 4 14 28 +f 17 4 28 +f 14 21 28 +f 21 17 28 +f 12 2 29 +f 18 12 29 +f 2 19 29 +f 29 19 30 +f 9 18 30 +f 19 5 30 +f 5 23 30 +f 23 9 30 +f 18 29 30 +f 16 6 31 +f 15 16 31 +f 10 22 31 +f 22 15 31 +f 6 25 31 +o convex_1 +v -0.558876 -0.393081 -1.559626 +v -0.493156 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a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj new file mode 100644 index 000000000..822ff63fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj @@ -0,0 +1,621 @@ +o convex_0 +v -4.473887 -0.351770 -0.238846 +v -4.683795 0.347878 -0.203843 +v -4.683795 0.347878 -0.238846 +v -3.075029 0.312882 0.285767 +v -5.103611 -0.351770 0.250764 +v -3.075029 -0.211717 -0.238846 +v -3.075029 -0.351770 0.285767 +v -5.033509 0.207894 0.285767 +v -3.075029 0.207894 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b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf new file mode 100644 index 000000000..538612509 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj new file mode 100644 index 000000000..fbb32e402 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj @@ -0,0 +1,606 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf new file mode 100644 index 000000000..2591e4f2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj new file mode 100644 index 000000000..270f23cb4 --- /dev/null +++ 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206 +f 199 197 206 +f 202 194 206 +f 197 205 206 +f 198 194 207 +f 202 193 207 +f 194 202 207 +f 196 198 208 +f 193 200 208 +f 200 196 208 +f 198 207 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf new file mode 100644 index 000000000..3336a7f5d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj new file mode 100644 index 000000000..c798e9a1f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.805465 -4.425629 0.199866 +v 1.019664 -1.967641 1.094215 +v 0.945046 -1.967641 1.094215 +v -0.954493 -0.403538 -1.103683 +v 1.094282 -4.425629 -1.066248 +v -1.029111 -0.403538 1.056780 +v 0.945046 -0.403538 -1.066248 +v 1.019664 -4.425629 0.982125 +v -1.029111 -4.350810 -1.028814 +v -0.991698 -4.313794 0.982125 +v 1.019664 -0.403538 0.982125 +v 1.056869 -2.711889 1.094215 +v 1.094282 -3.196241 -1.028814 +v -1.029111 -2.303143 1.056780 +v -0.991698 -2.488615 -1.103683 +v -1.029111 -0.403538 0.088207 +v -0.991698 -4.425629 0.944906 +v 1.094282 -3.456924 0.088207 +v -0.209559 -0.403538 -1.103683 +v -0.991698 -0.850481 -1.103683 +v -0.172146 -4.388219 -1.066248 +v 1.056869 -2.079475 -0.954374 +v 1.056869 -4.425629 0.758592 +v 0.274731 -2.340159 1.094215 +v -0.283970 -0.403538 1.056780 +v -1.029111 -3.382500 0.982125 +v -1.029111 -2.861132 -1.066248 +v 1.019664 -0.552388 1.019345 +v -1.029111 -4.388219 -0.619182 +v 0.982459 -0.514979 -0.581962 +v 0.460964 -4.425629 -1.028814 +v 1.094282 -4.425629 -0.172115 +v 1.056869 -2.042459 1.094215 +v -1.029111 -3.792033 -1.066248 +v -0.507408 -4.425629 0.982125 +v 1.094282 -3.270666 -0.023237 +v -1.029111 -4.388219 -0.134896 +v 1.019664 -0.403538 0.795812 +v -0.544613 -1.818791 -1.103683 +v 0.945046 -3.941277 1.019345 +v -0.991698 -0.440554 -0.917154 +v -0.619231 -4.388219 -1.028814 +v 0.982251 -0.775663 -1.028814 +v 1.056869 -3.233650 1.056780 +f 23 18 44 +f 3 2 6 +f 4 6 7 +f 1 5 8 +f 7 6 11 +f 2 3 12 +f 5 7 13 +f 6 9 14 +f 6 4 16 +f 9 6 16 +f 1 8 17 +f 5 13 18 +f 4 7 19 +f 7 5 19 +f 15 4 19 +f 4 15 20 +f 15 5 21 +f 8 5 23 +f 3 6 24 +f 12 3 24 +f 10 12 24 +f 6 14 24 +f 14 10 24 +f 6 2 25 +f 11 6 25 +f 14 9 26 +f 10 14 26 +f 17 10 26 +f 9 16 27 +f 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50 87 +f 65 76 87 +f 45 78 88 +f 78 49 88 +f 80 45 88 +f 49 80 88 +f 67 47 89 +f 47 79 89 +f 79 67 89 +f 53 63 90 +f 72 57 90 +f 63 72 90 +f 75 53 90 +o convex_2 +v -1.029111 2.465823 0.982391 +v 1.094275 2.018837 1.094215 +v 0.907834 2.056250 1.094215 +v 0.982452 3.806782 0.982391 +v 1.019657 2.167898 -0.991558 +v -1.029111 3.806782 -1.029178 +v -0.991698 1.795147 -0.991558 +v 1.056862 3.732153 -1.029178 +v -0.954493 3.694937 0.982391 +v -1.029111 1.795147 1.094215 +v 1.094275 1.795344 -0.954352 +v 1.094275 1.795344 1.094215 +v 1.019657 3.583092 1.019597 +v -0.134944 2.503236 -1.029178 +v -1.029111 3.806782 -0.656296 +v 1.094275 2.837984 -0.060391 +v -0.917288 2.093466 1.094215 +v -1.029111 1.795147 -0.097596 +v -0.507618 3.806782 -1.029178 +v -0.842670 3.732153 0.870568 +v 1.056862 3.732153 -0.283829 +v 0.237521 1.795147 -0.991558 +v 1.056862 3.098890 -1.029178 +v -1.029111 3.359599 -1.029178 +v 1.019657 3.769369 -0.283829 +v -0.433000 3.806782 0.014227 +v -0.991698 3.173322 1.019597 +v -0.879875 3.285167 1.019597 +v 1.094275 2.205114 -0.954352 +v 0.833424 3.806782 0.982391 +v 0.684397 3.583092 1.019597 +v -1.029111 2.987045 -0.991558 +v 0.982452 3.806782 0.833363 +f 115 109 123 +f 92 93 100 +f 91 96 100 +f 92 100 102 +f 101 92 102 +f 93 92 103 +f 96 98 104 +f 96 91 105 +f 94 96 105 +f 92 101 106 +f 103 92 106 +f 100 93 107 +f 93 103 107 +f 100 96 108 +f 97 100 108 +f 96 94 109 +f 98 96 109 +f 105 99 110 +f 98 94 111 +f 94 103 111 +f 106 98 111 +f 103 106 111 +f 100 97 112 +f 95 101 112 +f 102 100 112 +f 101 102 112 +f 104 95 112 +f 97 104 112 +f 101 95 113 +f 98 101 113 +f 95 104 113 +f 104 98 113 +f 104 97 114 +f 96 104 114 +f 108 96 114 +f 98 109 115 +f 94 105 116 +f 105 110 116 +f 91 100 117 +f 105 91 117 +f 99 105 117 +f 100 107 117 +f 117 107 118 +f 99 117 118 +f 101 98 119 +f 106 101 119 +f 98 106 119 +f 103 94 120 +f 110 99 120 +f 94 116 120 +f 116 110 120 +f 107 103 121 +f 118 107 121 +f 99 118 121 +f 103 120 121 +f 120 99 121 +f 97 108 122 +f 114 97 122 +f 108 114 122 +f 94 98 123 +f 109 94 123 +f 98 115 123 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf new file mode 100644 index 000000000..fc08179c6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj new file mode 100644 index 000000000..644103639 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj @@ -0,0 +1,480 @@ +o convex_0 +v -2.732877 -1.406307 -1.086786 +v -1.227317 -1.549718 -2.270040 +v -1.227317 -1.513893 -2.270040 +v -2.983804 -1.657416 -2.198113 +v -2.947902 -0.546067 -2.198113 +v -1.083902 -0.546067 -1.194502 +v -1.083902 -1.549718 -1.230407 +v -3.019705 -0.510242 -1.194502 +v -1.083902 -0.581892 -2.198113 +v -3.055607 -1.585542 -1.086786 +v -1.083902 -1.549718 -2.270040 +v -2.983804 -0.510242 -1.875545 +v -3.055607 -1.012124 -1.122807 +v -1.872777 -0.510242 -1.266196 +v -2.768779 -1.657416 -2.162324 +v -2.983804 -0.581892 -2.162324 +v -3.055607 -1.585542 -1.373797 +v -1.980290 -0.546067 -2.198113 +v -1.335022 -1.513893 -1.194502 +v -1.083902 -0.546067 -1.660692 +v -2.768779 -0.653653 -1.158712 +v -1.478436 -1.585542 -2.234019 +v -2.947902 -1.657416 -2.018819 +v -2.266732 -1.621367 -2.234019 +v -1.083902 -1.442132 -2.270040 +f 18 9 25 +f 6 7 9 +f 2 3 11 +f 9 7 11 +f 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+f 94 118 135 +f 118 105 135 +f 121 98 135 +f 93 121 135 +f 115 116 136 +f 116 100 136 +f 109 102 137 +f 102 119 137 +f 119 108 137 +f 108 123 137 +f 123 109 137 +f 92 114 138 +f 120 92 138 +f 114 125 138 +f 125 120 138 +f 104 92 139 +f 92 124 139 +f 124 96 139 +f 96 131 139 +f 131 104 139 +f 100 89 140 +f 89 103 140 +f 103 115 140 +f 136 100 140 +f 115 136 140 +f 93 105 141 +f 94 107 141 +f 118 94 141 +f 105 118 141 +f 128 93 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf new file mode 100644 index 000000000..76b8d5468 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj new file mode 100644 index 000000000..5f186cf84 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj @@ -0,0 +1,453 @@ +o convex_0 +v 3.102523 1.217230 1.839420 +v 0.047571 1.530219 -0.275201 +v 0.047571 1.569702 -0.275201 +v -3.045537 0.199107 1.800091 +v 3.063155 -0.270663 -0.275201 +v -3.084904 -0.270854 -0.118320 +v -2.966801 1.647901 1.800091 +v 3.102523 -0.270663 1.917642 +v 2.985024 1.687192 -0.118320 +v -3.006169 1.569702 -0.079209 +v 3.063155 1.687192 1.839420 +v -1.087436 -0.270663 1.956972 +v -1.048068 1.687192 1.917642 +v -3.045537 -0.270854 1.800091 +v -1.048068 1.687192 -0.235872 +v -2.732410 -0.074781 -0.157650 +v 0.321936 -0.270663 -0.235872 +v -3.045537 1.138648 -0.118320 +v 0.478196 1.687192 -0.275201 +v -2.771172 1.647901 1.839420 +v 3.023787 1.021349 -0.196761 +v 3.102523 0.042517 1.917642 +v 3.102523 -0.231563 0.469221 +v -1.361195 1.295429 -0.235872 +v 3.063155 1.687192 1.095217 +v -2.966801 1.647901 1.251880 +v -3.045537 1.334721 -0.039879 +v 3.063155 0.355889 -0.235872 +v -3.084904 -0.231563 0.704106 +v 2.985024 1.608801 -0.157431 +v -2.928038 1.569702 -0.118320 +v 3.023787 1.687192 0.195006 +v -3.006169 1.608610 0.899443 +v -1.009306 -0.153364 1.956972 +v -3.084904 0.199107 -0.118320 +v -0.969938 1.687192 1.917642 +v 3.102523 0.903858 1.878313 +f 36 22 37 +f 2 3 5 +f 11 9 13 +f 6 5 14 +f 5 8 14 +f 8 12 14 +f 7 13 15 +f 13 9 15 +f 2 5 17 +f 5 6 17 +f 6 16 17 +f 5 3 19 +f 3 15 19 +f 15 9 19 +f 7 4 20 +f 13 7 20 +f 12 13 20 +f 4 14 20 +f 14 12 20 +f 5 19 21 +f 8 1 22 +f 1 8 23 +f 8 5 23 +f 3 2 24 +f 15 3 24 +f 2 17 24 +f 17 16 24 +f 16 18 24 +f 11 1 25 +f 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-0.235872 +v -1.009207 3.605760 0.351669 +v -1.048536 2.079108 1.917642 +v 0.987702 1.726480 1.486765 +v 0.987702 3.605951 1.565205 +v 0.752759 3.566664 -0.235872 +v -0.226134 3.645047 1.878531 +v 0.948579 3.566664 -0.196761 +v 0.478694 1.922342 -0.275201 +v 1.066154 2.039821 -0.196761 +v -0.930961 3.175131 1.956972 +f 41 49 64 +f 40 39 43 +f 42 38 44 +f 42 44 46 +f 44 38 47 +f 39 40 48 +f 46 44 48 +f 47 38 49 +f 50 48 51 +f 48 44 51 +f 41 46 53 +f 46 43 53 +f 49 41 53 +f 44 47 54 +f 51 44 54 +f 47 49 55 +f 52 45 55 +f 49 52 55 +f 38 42 56 +f 49 38 56 +f 42 49 56 +f 40 43 57 +f 43 46 57 +f 48 40 57 +f 46 48 57 +f 43 39 58 +f 54 47 59 +f 55 45 59 +f 47 55 59 +f 52 49 60 +f 53 43 60 +f 49 53 60 +f 43 58 60 +f 60 58 61 +f 50 45 61 +f 45 52 61 +f 58 50 61 +f 52 60 61 +f 45 50 62 +f 50 51 62 +f 51 54 62 +f 59 45 62 +f 54 59 62 +f 39 48 63 +f 48 50 63 +f 58 39 63 +f 50 58 63 +f 46 41 64 +f 42 46 64 +f 49 42 64 +o convex_2 +v -1.126620 -2.346238 -0.315221 +v 1.105081 -2.150545 1.956363 +v 0.948639 -1.954656 1.956972 +v 0.948639 -0.505820 -4.190991 +v -1.048399 -0.505820 1.878347 +v -1.087510 -2.424633 -4.073359 +v 0.948639 -2.385338 -4.151374 +v -1.048399 -0.505820 -4.269616 +v 1.105081 -0.505820 1.760715 +v -0.930849 -2.503027 1.799723 +v 0.909310 -2.385338 1.917355 +v 1.105081 -0.819203 -0.940561 +v 0.596208 -2.424633 -4.151374 +v 0.987750 -2.346238 -4.033742 +v 0.870200 -0.662609 1.917355 +v -0.304426 -1.798062 1.956972 +v 1.105081 -2.346238 1.525450 +v -1.087510 -0.780299 -0.001941 +v -0.617528 -2.503027 1.760715 +v 0.987750 -0.505820 -3.760079 +v -1.126620 -2.385338 -0.040339 +v -1.009289 -0.505820 1.917355 +v 0.752650 -0.545115 -4.229999 +v -1.087510 -2.346238 -4.112367 +v 1.105081 -0.505820 -0.901554 +v -0.030216 -1.054192 1.956972 +v -0.970178 -2.503027 1.486443 +v -0.735078 -0.701709 -4.269616 +v 1.065971 -0.505820 1.878347 +v 1.105081 -2.346238 1.956363 +v 0.556879 -1.954656 -4.190991 +v -1.087510 -1.249885 1.055531 +v -1.087510 -2.189449 -4.112367 +v -1.009289 -1.210786 1.878347 +v 0.948639 -1.563073 -4.190991 +v -0.930849 -2.424633 -4.112367 +f 88 92 100 +f 69 68 72 +f 68 69 73 +f 73 66 76 +f 71 75 77 +f 67 66 79 +f 76 66 81 +f 71 78 81 +f 78 76 81 +f 72 65 82 +f 69 72 82 +f 75 74 83 +f 77 75 83 +f 68 73 84 +f 78 68 84 +f 65 70 85 +f 82 65 85 +f 73 69 86 +f 72 68 87 +f 70 65 88 +f 73 76 89 +f 76 78 89 +f 84 73 89 +f 78 84 89 +f 67 79 90 +f 80 67 90 +f 79 86 90 +f 86 80 90 +f 83 74 91 +f 77 83 91 +f 85 70 91 +f 72 87 92 +f 88 72 92 +f 66 73 93 +f 79 66 93 +f 73 86 93 +f 86 79 93 +f 66 67 94 +f 75 71 94 +f 74 75 94 +f 67 80 94 +f 80 74 94 +f 71 81 94 +f 81 66 94 +f 71 77 95 +f 77 92 95 +f 92 87 95 +f 69 82 96 +f 82 85 96 +f 85 91 96 +f 65 72 97 +f 88 65 97 +f 72 88 97 +f 74 80 98 +f 86 69 98 +f 80 86 98 +f 91 74 98 +f 69 96 98 +f 96 91 98 +f 68 78 99 +f 78 71 99 +f 87 68 99 +f 71 95 99 +f 95 87 99 +f 70 88 100 +f 91 70 100 +f 77 91 100 +f 92 77 100 +o convex_3 +v -0.304448 -1.719778 2.466390 +v 0.361257 -1.484836 3.954179 +v 0.361257 -1.602203 3.954179 +v 0.282874 -1.132525 1.957363 +v -0.343639 -1.054073 3.875597 +v -0.343639 -1.680518 3.954179 +v 0.204560 -1.719778 1.957363 +v -0.186942 -1.054073 1.957363 +v 0.204560 -1.054073 3.875597 +v -0.265256 -1.758970 1.957363 +v -0.108628 -1.680518 3.954179 +v 0.282874 -1.093265 2.309616 +v -0.226134 -1.132525 2.035554 +v 0.282874 -1.680518 2.740451 +v -0.343639 -1.054073 3.640631 +v -0.343639 -1.719778 3.288183 +v 0.204560 -1.719778 2.309616 +v 0.282874 -1.289154 1.957363 +v 0.008809 -1.054073 2.035554 +v -0.265256 -1.563150 1.957363 +v 0.361257 -1.602203 3.640631 +v 0.322066 -1.641464 3.679727 +f 114 121 122 +f 102 105 106 +f 103 102 106 +f 104 107 108 +f 105 102 109 +f 108 105 109 +f 108 107 110 +f 103 106 111 +f 102 104 112 +f 109 102 112 +f 106 105 115 +f 105 108 115 +f 108 113 115 +f 101 110 116 +f 111 106 116 +f 106 115 116 +f 115 101 116 +f 110 107 117 +f 107 114 117 +f 116 110 117 +f 111 116 117 +f 107 104 118 +f 114 107 118 +f 104 108 119 +f 108 109 119 +f 112 104 119 +f 109 112 119 +f 110 101 120 +f 108 110 120 +f 113 108 120 +f 101 115 120 +f 115 113 120 +f 102 103 121 +f 104 102 121 +f 118 104 121 +f 114 118 121 +f 103 111 122 +f 111 117 122 +f 117 114 122 +f 121 103 122 +o convex_4 +v -0.421735 -0.427467 -4.269616 +v 1.105315 -0.388349 -0.314749 +v 1.105315 -0.505820 -0.314749 +v -1.048536 -0.349192 -0.314362 +v -1.048536 -0.505820 -0.314362 +v -1.048536 -0.310015 -4.269616 +v 0.948457 -0.505820 -4.190635 +v -1.048536 -0.505820 -4.269616 +v 0.596158 -0.427487 -4.190635 +v 0.556943 -0.349192 -0.432060 +v 1.105315 -0.388349 -0.784378 +v -0.930892 -0.310015 -4.151532 +v 0.948457 -0.466644 -4.190635 +v 0.556943 -0.349192 -0.314749 +f 134 126 136 +f 125 124 126 +f 125 126 127 +f 127 126 128 +f 125 127 129 +f 128 123 130 +f 127 128 130 +f 123 129 130 +f 129 127 130 +f 124 125 133 +f 125 129 133 +f 132 124 133 +f 132 133 134 +f 128 126 134 +f 131 128 134 +f 133 131 134 +f 123 128 135 +f 129 123 135 +f 128 131 135 +f 133 129 135 +f 131 133 135 +f 126 124 136 +f 124 132 136 +f 132 134 136 +o convex_5 +v 1.809438 -0.505774 1.839359 +v -1.048068 -0.505774 -0.314362 +v -2.144919 -0.505774 1.800006 +v 2.358166 -0.270854 0.155646 +v -3.045537 -0.270877 1.800006 +v -3.084904 -0.270877 -0.118488 +v 3.102523 -0.270854 1.917619 +v 3.063155 -0.466655 -0.275010 +v 3.063155 -0.270854 -0.275010 +v -3.084904 -0.427468 -0.118488 +v 3.102523 -0.427468 1.917619 +v -3.045537 -0.466632 1.800006 +v -1.126804 -0.505774 1.956972 +v 1.105054 -0.505774 -0.314362 +v -1.087436 -0.270877 1.956972 +v -1.048068 -0.349207 -0.314362 +v -3.084904 -0.466632 0.821305 +v 2.123170 -0.505774 0.625654 +v 3.102523 -0.427468 0.194998 +v 3.023787 -0.466655 0.194998 +v 0.360698 -0.270877 -0.235879 +f 145 152 157 +f 139 138 137 +f 141 140 142 +f 140 141 143 +f 142 140 145 +f 140 143 145 +f 142 138 146 +f 139 137 149 +f 137 147 149 +f 148 139 149 +f 141 148 149 +f 137 138 150 +f 145 144 150 +f 143 141 151 +f 147 143 151 +f 141 149 151 +f 149 147 151 +f 138 142 152 +f 150 138 152 +f 145 150 152 +f 138 139 153 +f 141 142 153 +f 146 138 153 +f 142 146 153 +f 139 148 153 +f 148 141 153 +f 137 150 154 +f 150 144 154 +f 145 143 155 +f 144 145 155 +f 143 147 155 +f 147 144 155 +f 147 137 156 +f 144 147 156 +f 137 154 156 +f 154 144 156 +f 142 145 157 +f 152 142 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf new file mode 100644 index 000000000..bdf1ebdbf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj new file mode 100644 index 000000000..750e0e194 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj @@ -0,0 +1,483 @@ +o convex_0 +v 1.065370 -0.562620 -0.988506 +v -1.090768 -4.143448 0.692065 +v -1.054044 -4.216245 -0.330918 +v -1.090768 -0.233656 -0.988710 +v 1.065370 -0.233656 0.947964 +v 0.955621 -4.179649 -1.025208 +v 0.919108 -4.179649 1.021165 +v -1.054044 -0.233656 0.947760 +v -1.017532 -4.252840 -1.061911 +v 1.065370 -0.233656 -1.061707 +v -1.090768 -4.143448 0.984462 +v -0.725221 -0.891584 0.984462 +v 1.065370 -0.964381 0.874966 +v -1.090768 -1.257143 -1.025208 +v 0.955621 -4.070257 1.021165 +v 0.115200 -0.233656 -1.061707 +v 0.480536 -4.216245 0.728768 +v -1.090768 -0.233656 0.180472 +v 0.992133 -2.498628 -1.061707 +v 0.553561 -3.448925 1.021165 +v 0.992133 -3.302937 -0.623111 +v -1.090768 -2.864187 0.984462 +v -0.688708 -4.252840 -1.061911 +v -1.017532 -4.252840 -0.696313 +v -0.396186 -4.179649 0.947760 +v 0.297763 -4.216245 -1.025208 +v -0.761733 -0.233656 -1.025208 +v 0.444024 -4.179649 1.021165 +v 1.065370 -1.001370 0.363169 +v -1.017532 -3.814090 -1.061911 +v -1.054044 -3.083759 -1.025208 +v 0.955621 -3.668496 1.021165 +v 0.955621 -4.179649 0.399871 +f 21 13 33 +f 5 4 8 +f 5 1 10 +f 4 5 10 +f 1 6 10 +f 2 3 11 +f 4 2 11 +f 5 8 12 +f 1 5 13 +f 2 4 14 +f 13 5 15 +f 4 10 16 +f 8 4 18 +f 4 11 18 +f 10 6 19 +f 7 15 20 +f 6 1 21 +f 12 8 22 +f 8 18 22 +f 18 11 22 +f 20 12 22 +f 19 6 23 +f 10 19 23 +f 3 9 24 +f 11 3 24 +f 9 23 24 +f 23 17 24 +f 11 24 25 +f 24 17 25 +f 6 17 26 +f 23 6 26 +f 17 23 26 +f 14 4 27 +f 4 16 27 +f 16 14 27 +f 17 7 28 +f 7 20 28 +f 22 11 28 +f 20 22 28 +f 11 25 28 +f 25 17 28 +f 1 13 29 +f 21 1 29 +f 13 21 29 +f 9 14 30 +f 16 10 30 +f 14 16 30 +f 23 9 30 +f 10 23 30 +f 3 2 31 +f 9 3 31 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214 221 +f 214 218 221 +f 208 205 222 +f 211 206 222 +f 205 216 222 +f 216 211 222 +f 206 211 223 +f 216 215 223 +f 211 216 223 +f 203 212 224 +f 212 208 224 +f 217 203 224 +f 208 217 224 +f 221 209 225 +f 220 213 226 +f 214 203 227 +f 203 217 227 +f 213 218 228 +f 218 215 228 +f 219 202 228 +f 218 213 229 +f 209 221 229 +f 221 218 229 +f 225 209 229 +f 213 225 229 +f 217 208 230 +f 206 217 230 +f 208 222 230 +f 222 206 230 +f 215 216 231 +f 216 205 231 +f 205 219 231 +f 228 215 231 +f 219 228 231 +f 214 206 232 +f 218 214 232 +f 215 218 232 +f 206 223 232 +f 223 215 232 +f 205 207 233 +f 210 219 233 +f 219 205 233 +f 202 210 234 +f 210 213 234 +f 228 202 234 +f 213 228 234 +f 213 210 235 +f 207 220 235 +f 226 213 235 +f 220 226 235 +f 233 207 235 +f 210 233 235 +f 207 212 236 +f 220 207 236 +f 213 220 236 +f 225 213 236 +f 225 236 237 +f 212 204 237 +f 204 221 237 +f 221 225 237 +f 236 212 237 +f 206 214 238 +f 217 206 238 +f 214 227 238 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf new file mode 100644 index 000000000..65d1ee640 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj new file mode 100644 index 000000000..287e78265 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj @@ -0,0 +1,366 @@ +o convex_0 +v -2.258222 -0.395044 -0.999185 +v -1.804925 1.035430 1.024776 +v -1.072081 1.000567 0.989728 +v -2.956197 -1.093173 0.989523 +v -3.061002 1.070293 -0.964138 +v -1.072081 -1.023231 -0.999185 +v -1.072081 1.105372 -1.069076 +v -1.072081 -0.988367 1.024776 +v -3.095871 -1.093173 -0.929295 +v -2.991066 1.035430 1.024776 +v -3.095871 0.372380 0.396374 +v -1.072081 -1.093173 -0.022150 +v -2.258222 1.105372 -1.034028 +v -1.560644 1.105372 -0.370989 +v -2.956197 -0.604440 1.024776 +v -3.095871 -0.325102 -0.964138 +v -1.072081 -1.093173 -0.650142 +v -1.351231 0.686581 -1.069076 +v -3.025935 1.070293 0.291846 +v -3.095871 0.826035 -0.475518 +v -3.095871 -1.093173 -0.684985 +v -2.642178 1.070293 0.640684 +v -2.991066 1.000567 -0.999185 +v -1.072081 -1.058094 0.501313 +v -3.025935 0.930625 0.884994 +v -1.386100 -1.023231 -0.999185 +v -1.490906 1.035430 0.989728 +v -2.781654 -0.883562 -0.964138 +v -1.072081 1.105372 -0.824561 +v -2.746785 -1.093173 0.989523 +v -1.072081 0.512049 -1.069076 +v -3.095871 0.302438 -0.964138 +v -2.537571 -1.093173 -0.929295 +v -3.061002 1.070293 -0.301098 +v -2.327960 1.105372 -0.964343 +v -1.525774 1.035430 -1.069076 +v -2.991066 0.407244 1.024776 +v -3.095871 0.476970 0.396374 +f 25 20 38 +f 3 6 7 +f 3 2 8 +f 6 3 8 +f 8 2 10 +f 6 8 12 +f 4 9 12 +f 7 13 14 +f 4 8 15 +f 8 10 15 +f 9 11 16 +f 6 12 17 +f 12 9 17 +f 16 11 20 +f 9 4 21 +f 11 9 21 +f 4 11 21 +f 10 2 22 +f 19 10 22 +f 5 13 23 +f 12 8 24 +f 10 19 25 +f 6 9 26 +f 1 18 26 +f 2 3 27 +f 22 2 27 +f 14 22 27 +f 9 16 28 +f 18 1 28 +f 16 18 28 +f 1 26 28 +f 26 9 28 +f 3 7 29 +f 7 14 29 +f 27 3 29 +f 14 27 29 +f 8 4 30 +f 4 12 30 +f 24 8 30 +f 12 24 30 +f 7 6 31 +f 18 7 31 +f 6 26 31 +f 26 18 31 +f 20 5 32 +f 16 20 32 +f 5 23 32 +f 23 16 32 +f 9 6 33 +f 6 17 33 +f 17 9 33 +f 5 20 34 +f 25 19 34 +f 20 25 34 +f 13 5 35 +f 14 13 35 +f 22 14 35 +f 19 22 35 +f 5 34 35 +f 34 19 35 +f 13 7 36 +f 7 18 36 +f 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-0.719855 +v 0.463400 3.094162 -1.068776 +v 1.021857 -1.860167 -1.103974 +v -0.932205 2.989579 0.989550 +v -1.001931 2.744538 -0.859554 +v 1.056720 1.313815 1.059290 +v 0.882189 2.954313 0.954789 +v -1.036794 -2.977140 -0.754834 +v -0.967068 1.523589 -1.068994 +v -0.967068 3.024238 -0.964056 +v 1.091583 0.476540 1.094270 +v 0.882189 -1.127476 1.129468 +v -1.036794 -3.047065 0.291709 +v 1.056720 2.988971 0.571108 +v -0.757674 3.129429 -0.894534 +v -1.001931 2.186355 1.024530 +v -1.071873 -1.022892 -0.999035 +v 1.021857 2.570030 -1.068994 +v 0.986993 -3.012407 0.989769 +v -0.583142 -3.082332 1.094489 +v 1.021857 3.059504 -0.440893 +v 1.056720 2.779804 0.954789 +v 1.126662 1.139914 0.500930 +v -0.897342 -3.082332 0.780329 +v 1.091583 -1.197400 1.129468 +f 85 48 90 +f 51 52 55 +f 40 41 56 +f 50 53 56 +f 53 54 56 +f 46 52 57 +f 55 52 60 +f 42 58 61 +f 56 48 63 +f 50 56 63 +f 58 50 63 +f 51 55 64 +f 49 47 67 +f 57 67 68 +f 42 57 68 +f 58 42 68 +f 50 58 68 +f 67 47 68 +f 45 62 69 +f 49 52 70 +f 52 51 70 +f 65 49 70 +f 51 65 70 +f 62 71 72 +f 69 62 72 +f 44 69 72 +f 57 42 73 +f 46 57 73 +f 60 46 73 +f 57 52 74 +f 39 67 74 +f 67 57 74 +f 52 49 75 +f 67 39 75 +f 49 67 75 +f 39 74 75 +f 74 52 75 +f 41 40 76 +f 45 41 76 +f 40 56 76 +f 56 54 76 +f 62 45 76 +f 54 71 76 +f 71 62 76 +f 41 45 77 +f 56 41 77 +f 64 43 77 +f 45 64 77 +f 55 60 78 +f 43 64 78 +f 64 55 78 +f 60 73 78 +f 44 59 79 +f 69 44 79 +f 66 69 79 +f 47 49 80 +f 49 65 80 +f 66 47 80 +f 65 69 80 +f 69 66 80 +f 64 45 81 +f 51 64 81 +f 65 51 81 +f 45 69 81 +f 69 65 81 +f 52 46 82 +f 46 60 82 +f 60 52 82 +f 53 50 83 +f 68 47 83 +f 50 68 83 +f 61 58 84 +f 63 48 84 +f 58 63 84 +f 43 61 85 +f 84 48 85 +f 61 84 85 +f 59 53 86 +f 47 66 86 +f 79 59 86 +f 66 79 86 +f 53 83 86 +f 83 47 86 +f 59 44 87 +f 54 59 87 +f 71 54 87 +f 72 71 87 +f 44 72 87 +f 54 53 88 +f 53 59 88 +f 59 54 88 +f 61 43 89 +f 42 61 89 +f 73 42 89 +f 43 78 89 +f 78 73 89 +f 48 56 90 +f 77 43 90 +f 56 77 90 +f 43 85 90 +o convex_2 +v 1.161710 -0.464805 -1.069076 +v 1.161710 -0.918459 1.129468 +v 1.685090 -0.150820 1.094390 +v 3.045919 -1.092992 -1.033998 +v 3.080773 1.070474 -1.068861 +v 1.126662 1.035396 1.059526 +v 2.976213 1.035396 1.024663 +v 2.976213 -0.988186 0.989584 +v 1.126662 0.930591 -0.998919 +v 1.126662 -1.092992 -1.069076 +v 1.126662 -1.023265 1.094390 +v 3.115626 -0.360000 -0.196416 +v 3.011066 -1.128070 -1.068861 +v 1.964305 1.070474 0.047412 +v 3.115626 0.721410 -0.824602 +v 1.126662 0.965669 -0.789524 +v 3.045919 1.070474 -0.022099 +v 2.871264 1.070474 -1.068861 +v 1.440924 -1.092992 -0.545265 +v 3.011066 -1.057913 0.082276 +v 1.161710 0.407209 1.094390 +v 3.115626 -0.499669 -0.475538 +v 3.115626 0.058361 -0.231279 +v 3.080773 0.093224 -1.068861 +v 1.126662 1.035396 0.780404 +v 1.789844 1.035396 1.059526 +v 2.731852 1.070474 -1.033998 +v 3.011066 -1.023050 0.431340 +v 2.836606 -1.128070 -1.033998 +v 1.126662 -1.092992 -0.789524 +v 2.976213 -1.023050 0.605657 +v 2.034206 1.070474 0.117354 +v 1.301317 0.965669 -0.998919 +v 1.440924 1.000533 -0.614992 +v 1.615384 -0.988186 1.094390 +f 101 98 125 +f 93 92 97 +f 96 99 100 +f 99 91 100 +f 92 96 101 +f 96 100 101 +f 97 98 102 +f 99 96 106 +f 95 104 107 +f 105 95 107 +f 95 91 108 +f 91 99 108 +f 104 95 108 +f 103 94 110 +f 101 103 110 +f 92 93 111 +f 96 92 111 +f 105 102 112 +f 97 102 113 +f 102 105 113 +f 107 97 113 +f 105 107 113 +f 91 95 114 +f 100 91 114 +f 94 103 114 +f 103 100 114 +f 95 105 114 +f 112 94 114 +f 105 112 114 +f 96 104 115 +f 106 96 115 +f 93 97 116 +f 111 93 116 +f 96 111 116 +f 104 108 117 +f 102 98 118 +f 98 110 118 +f 110 94 118 +f 112 102 118 +f 94 112 118 +f 100 103 119 +f 103 101 119 +f 101 109 119 +f 119 109 120 +f 101 100 120 +f 109 101 120 +f 100 119 120 +f 98 101 121 +f 110 98 121 +f 101 110 121 +f 104 96 122 +f 107 104 122 +f 97 107 122 +f 116 97 122 +f 96 116 122 +f 99 106 123 +f 108 99 123 +f 117 108 123 +f 117 123 124 +f 115 104 124 +f 106 115 124 +f 104 117 124 +f 123 106 124 +f 97 92 125 +f 98 97 125 +f 92 101 125 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf new file mode 100644 index 000000000..e1d638255 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj new file mode 100644 index 000000000..4fcdd72b7 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf new file mode 100644 index 000000000..35c227835 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj new file mode 100644 index 000000000..31752dfc2 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj new file mode 100644 index 000000000..d19fed64e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj @@ -0,0 +1,591 @@ +o convex_0 +v -1.813909 2.481968 0.268920 +v -3.096094 1.840797 -0.372384 +v -3.096094 1.840797 -0.194236 +v -1.136854 1.805157 -0.265384 +v -2.953587 2.481968 -0.301097 +v -3.024745 1.912077 0.340207 +v -1.136854 2.517678 -0.229740 +v -1.136854 1.840797 0.233276 +v -3.024745 2.410688 0.304493 +v -1.136854 2.481968 0.233276 +v -1.386386 2.481968 0.268920 +v -2.917912 1.912077 -0.372384 +v -2.989069 2.481968 -0.087306 +v -1.457544 1.805157 -0.301097 +v -3.024745 2.303838 0.340207 +v -1.457544 1.840797 0.233276 +v -1.136854 2.161417 -0.265384 +v -1.706885 2.481968 -0.265384 +v -3.096094 1.947717 -0.372384 +f 9 13 19 +f 4 7 8 +f 8 7 10 +f 8 10 11 +f 7 1 11 +f 6 8 11 +f 1 9 11 +f 10 7 11 +f 1 7 13 +f 7 5 13 +f 9 1 13 +f 3 2 14 +f 2 12 14 +f 3 6 15 +f 9 3 15 +f 6 11 15 +f 11 9 15 +f 6 3 16 +f 4 8 16 +f 8 6 16 +f 3 14 16 +f 14 4 16 +f 7 4 17 +f 4 14 17 +f 14 12 17 +f 5 7 18 +f 12 5 18 +f 7 17 18 +f 17 12 18 +f 2 3 19 +f 3 9 19 +f 12 2 19 +f 5 12 19 +f 13 5 19 +o convex_1 +v -0.530737 -3.432842 -0.407999 +v 0.609073 -2.933639 0.589613 +v 0.609073 -2.933639 -0.229838 +v 0.537765 -4.857409 0.518142 +v -0.530737 -2.933639 0.482693 +v 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-0.993990 1.163422 -2.794857 +v -0.459548 -0.831486 -3.115857 +v 1.072215 -0.760217 -3.044584 +v -0.993990 -0.510667 -3.115857 +v 0.965284 0.593265 -3.044584 +v -1.029773 0.095017 -0.337026 +f 85 92 112 +f 82 81 84 +f 81 82 86 +f 86 82 89 +f 85 86 89 +f 82 87 89 +f 85 80 92 +f 86 80 93 +f 84 86 93 +f 83 90 96 +f 80 85 97 +f 93 80 97 +f 93 97 99 +f 90 83 100 +f 97 85 100 +f 83 97 100 +f 82 84 101 +f 87 82 101 +f 96 88 102 +f 83 96 102 +f 97 83 102 +f 88 97 102 +f 94 90 103 +f 91 94 103 +f 90 100 103 +f 100 91 103 +f 84 81 104 +f 81 86 104 +f 86 84 104 +f 85 89 105 +f 89 95 105 +f 95 91 105 +f 91 100 105 +f 100 85 105 +f 89 87 106 +f 95 89 106 +f 91 95 106 +f 88 96 107 +f 96 93 107 +f 97 88 107 +f 93 99 107 +f 99 97 107 +f 84 98 108 +f 101 84 108 +f 94 91 109 +f 87 101 109 +f 101 94 109 +f 106 87 109 +f 91 106 109 +f 84 93 110 +f 96 90 110 +f 93 96 110 +f 98 84 110 +f 98 110 111 +f 90 94 111 +f 94 101 111 +f 108 98 111 +f 101 108 111 +f 110 90 111 +f 80 86 112 +f 86 85 112 +f 92 80 112 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-0.688947 0.055335 +v 0.929822 1.270645 1.088500 +v 0.038945 -0.795745 3.012068 +f 125 138 146 +f 117 116 118 +f 114 115 120 +f 116 121 123 +f 121 113 123 +f 113 119 124 +f 113 121 125 +f 116 117 126 +f 117 118 127 +f 113 124 127 +f 120 126 128 +f 124 119 130 +f 114 125 131 +f 119 113 132 +f 113 125 132 +f 115 114 133 +f 120 115 133 +f 116 126 133 +f 126 120 133 +f 114 131 133 +f 131 116 133 +f 121 116 134 +f 125 121 134 +f 116 131 134 +f 131 125 134 +f 122 120 135 +f 129 122 135 +f 129 135 136 +f 120 128 136 +f 119 129 136 +f 135 120 136 +f 117 127 137 +f 127 124 137 +f 130 117 137 +f 124 130 137 +f 125 122 138 +f 118 116 139 +f 116 123 139 +f 127 118 139 +f 126 117 140 +f 117 128 140 +f 129 119 141 +f 125 129 141 +f 119 132 141 +f 132 125 141 +f 114 120 142 +f 120 122 142 +f 125 114 142 +f 122 125 142 +f 128 117 143 +f 117 130 143 +f 130 119 143 +f 136 128 143 +f 119 136 143 +f 123 113 144 +f 113 127 144 +f 139 123 144 +f 127 139 144 +f 128 126 145 +f 126 140 145 +f 140 128 145 +f 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+f 149 164 179 +f 166 158 179 +f 164 169 179 +f 169 166 179 +f 154 173 180 +f 173 165 180 +f 170 154 181 +f 154 180 181 +f 180 165 181 +f 154 170 182 +f 170 168 182 +f 176 154 182 +f 168 176 182 +f 172 158 183 +f 159 172 183 +f 158 178 183 +f 178 159 183 +f 165 157 184 +f 157 171 184 +f 171 170 184 +f 170 181 184 +o convex_6 +v 1.250826 1.876437 0.055136 +v 1.500156 2.517678 -0.229789 +v 1.500156 2.517678 -0.265439 +v 2.960464 1.840797 -0.265439 +v 3.031807 2.410688 0.233276 +v 1.143627 2.375048 0.304521 +v 1.143627 1.840797 -0.265439 +v 2.817964 1.983357 0.197626 +v 2.889122 2.410688 -0.229789 +v 1.143627 1.947717 0.268871 +v 1.143627 2.517678 -0.158544 +v 2.924793 1.805157 -0.229789 +v 2.746621 2.410688 0.268871 +v 2.996135 1.947717 0.126381 +v 1.428998 1.912077 0.233276 +v 2.960464 2.196918 -0.265439 +v 1.143627 2.517678 -0.265439 +v 2.996135 2.410688 -0.122893 +v 3.031807 2.232558 0.233276 +v 1.606985 2.303838 0.304521 +f 203 197 204 +f 187 186 189 +f 187 188 191 +f 191 185 194 +f 190 191 194 +f 186 187 195 +f 189 186 195 +f 191 190 195 +f 191 188 196 +f 185 191 196 +f 189 195 197 +f 195 190 197 +f 196 188 198 +f 196 198 199 +f 194 185 199 +f 192 194 199 +f 185 196 199 +f 198 192 199 +f 188 187 200 +f 187 193 200 +f 187 191 201 +f 195 187 201 +f 191 195 201 +f 187 189 202 +f 193 187 202 +f 188 200 202 +f 200 193 202 +f 194 192 203 +f 189 197 203 +f 198 188 203 +f 192 198 203 +f 188 202 203 +f 202 189 203 +f 190 194 204 +f 197 190 204 +f 194 203 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf new file mode 100644 index 000000000..bf69e9c90 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj new file mode 100644 index 000000000..0e48d8166 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj @@ -0,0 +1,255 @@ +o convex_0 +v 0.236820 -2.789274 -0.022764 +v -0.349515 -4.724129 -0.345371 +v -0.290827 -4.753436 -0.169313 +v 0.354197 -4.694822 -0.315995 +v 0.266095 -4.812248 0.329020 +v -0.202863 -2.789274 0.182405 +v -0.173587 -2.789274 -0.315995 +v 0.266095 -2.789274 0.329020 +v -0.202863 -4.782743 0.211715 +v 0.236820 -2.877591 -0.227999 +v -0.320171 -3.991256 -0.140004 +v 0.148856 -4.343138 0.329020 +v -0.290827 -3.786305 -0.345371 +v 0.354197 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0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj new file mode 100644 index 000000000..088a39108 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj @@ -0,0 +1,720 @@ +o convex_0 +v 1.448601 0.268494 -1.983121 +v 1.742593 2.215307 -1.321905 +v 1.632308 2.215307 -1.321905 +v 1.632308 0.194925 -1.321905 +v 2.073143 0.194925 -1.946358 +v 2.036341 2.178324 -1.909595 +v 2.036341 0.194925 -1.395496 +v 1.448601 2.031384 -1.946358 +v 2.073143 2.104755 -1.432194 +v 1.522084 0.341865 -1.579117 +v 1.779151 0.746100 -1.983121 +v 1.448601 2.068168 -1.872897 +v 1.485342 0.194925 -1.983121 +v 1.815893 2.068168 -1.321905 +v 2.073143 0.893040 -1.946358 +v 1.595628 0.856256 -1.358733 +v 1.926117 1.737503 -1.946358 +f 15 11 17 +f 2 3 4 +f 3 2 6 +f 4 5 7 +f 6 2 9 +f 7 5 9 +f 1 4 10 +f 1 8 11 +f 3 6 12 +f 8 1 12 +f 6 8 12 +f 1 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--git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj new file mode 100644 index 000000000..83d56b2cd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj @@ -0,0 +1,537 @@ +o convex_0 +v 1.726103 0.544941 0.234170 +v 1.023825 0.271880 -1.053390 +v 1.023825 0.467099 -1.053390 +v -0.420091 -0.001356 0.936739 +v -0.380945 1.559518 -0.975213 +v 1.648025 1.559518 0.975725 +v 1.765249 1.559518 -1.014198 +v -0.380945 1.559518 0.936739 +v 1.648025 -0.235584 1.053902 +v -0.302867 -0.235584 -0.975213 +v 1.765249 -0.235584 -1.053390 +v -0.420091 -0.235584 0.936739 +v 1.023825 0.232872 1.053902 +v -0.146710 1.520157 -1.013992 +v 1.765249 1.481149 -0.506971 +v 1.648025 1.286105 1.014504 +v 1.686957 -0.235584 0.897547 +v -0.341799 -0.196399 -0.740885 +v 1.765249 1.012869 -1.053390 +v -0.068631 1.325290 0.975725 +v -0.420091 0.115670 0.390320 +v 1.765249 -0.235584 -0.702106 +v 1.023825 -0.196399 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-3.004071 +v -0.302912 3.783882 -3.043053 +v -0.381067 1.559518 1.053646 +v 1.648017 3.744690 1.833884 +v -0.381067 3.666741 0.311791 +v 1.648017 1.559518 0.975683 +v -0.341990 3.744690 3.004541 +v 1.765249 2.418258 -0.975212 +v -0.381067 3.705716 2.380231 +v 1.648017 2.418258 3.044123 +v 0.633685 3.744690 -3.082635 +v -0.341990 3.354512 -3.043053 +v 1.687094 2.418258 -3.043053 +v 1.648017 3.744690 0.624246 +v 0.867519 3.744690 3.004541 +v 1.452840 1.715850 -3.004071 +v 1.765249 1.559518 -0.545812 +v -0.381067 2.301335 -3.004071 +v -0.146813 1.676658 2.692086 +v -0.381067 1.559518 -0.975212 +v 1.609150 3.159205 -3.082635 +v 0.048154 3.783882 -3.043053 +v 1.765249 3.666741 -2.614252 +v -0.381067 1.637684 1.872866 +v 1.765249 1.715850 -1.404014 +v -0.341990 2.691078 -3.043053 +v 1.765249 3.432460 -3.082635 +v 1.648017 2.223169 -3.043053 +v 1.648017 1.871965 -3.004071 +v 1.257873 1.676876 2.653704 +v 1.140851 3.744690 2.965559 +v -0.107735 1.676658 -3.004071 +v 0.360563 3.705498 -3.082635 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-2.420924 0.975568 +v 3.716182 -1.172158 -0.858183 +v 3.677357 -2.069495 -1.053272 +v -0.966426 -2.303699 -1.092246 +v 3.755470 -2.420924 0.156019 +v 3.755470 -1.484349 0.975568 +v -0.224586 -2.303699 -1.131438 +v 2.701640 -1.406485 1.053734 +f 112 110 121 +f 100 99 102 +f 100 102 104 +f 104 102 105 +f 99 100 106 +f 105 102 107 +f 97 101 108 +f 101 103 108 +f 106 97 108 +f 99 106 108 +f 98 100 109 +f 100 104 109 +f 105 107 110 +f 102 99 111 +f 107 102 111 +f 107 111 112 +f 99 103 112 +f 103 110 112 +f 111 99 112 +f 103 101 113 +f 103 99 114 +f 99 108 114 +f 108 103 114 +f 104 105 115 +f 105 96 115 +f 109 104 115 +f 113 101 115 +f 115 101 116 +f 109 115 116 +f 98 97 117 +f 100 98 117 +f 97 106 117 +f 106 100 117 +f 96 103 118 +f 103 113 118 +f 115 96 118 +f 113 115 118 +f 103 96 119 +f 96 105 119 +f 110 103 119 +f 105 110 119 +f 97 98 120 +f 101 97 120 +f 98 109 120 +f 116 101 120 +f 109 116 120 +f 110 107 121 +f 107 112 121 +o convex_4 +v 2.545270 -0.742834 1.053780 +v -0.966426 -0.313693 -1.092414 +v -0.966426 -0.235584 -1.092414 +v 3.677025 -1.172158 -0.975190 +v -0.966426 -1.172158 1.014848 +v 3.677025 -0.274730 0.975702 +v -0.419572 -0.235584 0.936555 +v -0.966426 -1.172158 -0.975190 +v 3.716446 -0.352747 -0.936257 +v 3.716446 -1.172158 0.975702 +v 2.077257 -0.235584 -1.053268 +v -0.966426 -0.352747 0.936555 +v 1.063307 -0.235584 1.053780 +v -0.927005 -1.054995 -1.053054 +v 2.662617 -1.172158 1.053780 +v 1.648208 -0.313693 1.092926 +v 3.716446 -1.172158 -0.858179 +v 1.648208 -0.235584 1.053780 +v 3.716446 -0.508873 0.975702 +v -0.224758 -0.274638 -1.092414 +v 1.491898 -1.172158 1.053780 +v 3.286939 -0.313784 -0.975190 +v -0.771154 -0.898868 1.014848 +v 3.677025 -0.274730 0.702534 +v 1.608787 -0.508873 1.092926 +v 3.677025 -0.625945 -0.975190 +v 2.155183 -0.313693 -1.053268 +f 132 147 148 +f 124 123 126 +f 125 126 129 +f 126 123 129 +f 126 125 131 +f 124 128 132 +f 124 126 133 +f 128 124 133 +f 128 133 134 +f 132 128 134 +f 129 123 135 +f 125 129 135 +f 127 122 136 +f 126 131 136 +f 122 127 137 +f 136 122 137 +f 125 130 138 +f 130 131 138 +f 131 125 138 +f 127 132 139 +f 132 134 139 +f 137 127 139 +f 134 137 139 +f 130 127 140 +f 131 130 140 +f 127 136 140 +f 136 131 140 +f 123 124 141 +f 124 132 141 +f 135 123 141 +f 125 135 141 +f 126 136 142 +f 133 126 144 +f 134 133 144 +f 126 137 144 +f 137 134 144 +f 127 130 145 +f 132 127 145 +f 130 143 145 +f 143 132 145 +f 137 126 146 +f 136 137 146 +f 126 142 146 +f 142 136 146 +f 130 125 147 +f 143 130 147 +f 132 143 147 +f 141 132 148 +f 125 141 148 +f 147 125 148 +o convex_5 +v -1.512708 -1.133199 -1.092609 +v -0.966426 -1.523309 -2.418968 +v -0.966426 -1.562333 -2.418968 +v -1.668788 -1.484285 -3.082635 +v -1.551762 -1.601357 -1.092609 +v -1.083521 -0.977103 -1.092609 +v -1.083521 -1.133199 -2.926215 +v -1.668788 -1.133199 -2.926215 +v -1.044535 -1.640316 -1.092609 +v -1.005481 -1.562333 -2.965368 +v -1.668788 -1.445261 -1.092609 +v -1.668788 -1.562333 -2.223979 +v -0.966426 -1.445261 -2.926215 +v -1.278725 -1.562333 -3.004327 +v -1.083521 -1.640316 -1.521937 +v -1.044535 -1.094175 -1.248834 +v -1.551762 -1.133199 -1.248834 +v -1.083521 -1.094175 -2.653112 +v -1.122576 -0.977103 -1.170722 +v -1.668788 -1.562333 -1.092609 +v -1.044535 -1.172223 -2.926215 +f 166 154 169 +f 149 153 154 +f 155 152 156 +f 151 150 157 +f 154 153 157 +f 151 157 158 +f 153 149 159 +f 156 152 159 +f 159 152 160 +f 150 151 161 +f 151 158 161 +f 152 158 162 +f 160 152 162 +f 160 162 163 +f 157 153 163 +f 158 157 163 +f 153 160 163 +f 162 158 163 +f 157 150 164 +f 154 157 164 +f 150 161 164 +f 159 149 165 +f 156 159 165 +f 155 156 166 +f 149 154 167 +f 165 149 167 +f 156 165 167 +f 166 156 167 +f 154 166 167 +f 153 159 168 +f 160 153 168 +f 159 160 168 +f 152 155 169 +f 158 152 169 +f 161 158 169 +f 154 164 169 +f 164 161 169 +f 155 166 169 +o convex_6 +v -1.005450 -1.016192 3.083147 +v -1.629833 -1.679404 2.965880 +v -1.590718 -1.679404 2.965880 +v -1.005450 -1.016192 1.093121 +v -1.629833 -1.016192 1.951583 +v -1.083498 -1.562332 1.249347 +v -1.590718 -1.562332 1.093121 +v -1.044566 -1.601356 3.083147 +v -1.590718 -1.055151 3.004839 +v -1.629833 -1.016192 1.093121 +v -1.629833 -1.328319 3.043798 +v -1.083498 -1.523308 1.093121 +v -1.161546 -1.640380 3.083147 +v -1.629833 -1.640380 2.263450 +v -1.005450 -1.094175 1.093121 +v -1.473737 -1.523308 3.083147 +v -1.044566 -1.601356 2.497593 +f 175 184 186 +f 170 173 174 +f 170 174 178 +f 174 173 179 +f 171 174 179 +f 173 176 179 +f 174 171 180 +f 170 178 180 +f 178 174 180 +f 176 173 181 +f 175 176 181 +f 171 172 182 +f 172 175 182 +f 177 170 182 +f 172 171 183 +f 175 172 183 +f 176 175 183 +f 171 179 183 +f 179 176 183 +f 173 170 184 +f 170 177 184 +f 181 173 184 +f 175 181 184 +f 180 171 185 +f 170 180 185 +f 171 182 185 +f 182 170 185 +f 182 175 186 +f 177 182 186 +f 184 177 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf new file mode 100644 index 000000000..6301e6420 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj new file mode 100644 index 000000000..be1bcb407 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj @@ -0,0 +1,432 @@ +o convex_0 +v 0.540217 -3.164704 -1.261596 +v -0.856301 0.012272 0.938491 +v 0.924367 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96 +f 82 88 96 +f 88 84 96 +f 76 90 96 +o convex_3 +v -2.777132 0.955836 2.055886 +v -1.065988 1.479646 2.055886 +v -1.065988 1.479646 1.986055 +v -1.065988 0.851050 2.090832 +v -1.065988 0.886061 1.497304 +v -3.056542 1.479646 1.637026 +v -2.986592 1.444697 2.090832 +v -2.986592 0.990847 1.637026 +v -1.065988 1.409686 1.637026 +v -3.021275 0.990847 2.125839 +v -1.450226 0.886061 1.497304 +v -1.799586 1.479646 2.090832 +v -1.065988 1.025735 1.497304 +v -2.357822 1.479646 1.637026 +v -2.986592 1.479646 2.055886 +v -1.101060 1.130522 2.090832 +v -2.637427 0.955836 1.602080 +v -1.171010 0.851050 2.021001 +f 97 113 114 +f 99 98 100 +f 99 100 101 +f 98 99 102 +f 99 101 105 +f 97 100 106 +f 103 102 106 +f 104 97 106 +f 102 104 106 +f 98 102 108 +f 103 106 108 +f 105 101 109 +f 101 107 109 +f 107 102 109 +f 102 99 110 +f 99 105 110 +f 105 109 110 +f 109 102 110 +f 102 103 111 +f 108 102 111 +f 103 108 111 +f 100 98 112 +f 106 100 112 +f 98 108 112 +f 108 106 112 +f 97 104 113 +f 104 102 113 +f 102 107 113 +f 113 107 114 +f 100 97 114 +f 101 100 114 +f 107 101 114 +o convex_4 +v 1.099156 1.060773 1.427505 +v -1.065988 0.641819 1.287813 +v -1.065988 0.641819 1.357565 +v -1.030806 2.282852 2.789261 +v 0.994248 0.082848 2.859201 +v 1.029217 2.108051 0.938491 +v 1.064187 2.212844 2.754291 +v -0.926110 0.082848 2.859201 +v 0.924308 0.047844 0.938491 +v -1.030806 2.108051 0.938491 +v -0.996049 0.152856 0.938491 +v -0.786443 2.282852 2.859201 +v -1.065988 0.851187 2.090804 +v 0.784642 2.247848 2.789261 +v -1.065988 1.898464 0.938491 +v 1.099156 0.746393 1.602166 +v 1.029217 2.143055 1.148122 +v -0.996049 0.118071 1.113152 +v -0.961079 2.282852 2.614600 +v 1.064187 1.863679 0.938491 +v 0.994248 0.571811 2.859201 +v -1.030806 2.143055 1.113152 +v 1.099156 0.956199 2.021052 +v 0.994248 0.292435 1.008430 +v 0.959490 0.047844 1.532414 +v -0.996049 1.444505 2.859201 +v -0.926110 0.082848 2.265277 +v 1.064187 2.003257 2.789261 +v 1.099156 1.409720 1.532414 +v 1.064187 2.177840 1.741857 +v -1.065988 1.479509 2.055646 +v -0.472142 2.282852 2.754291 +v 0.819612 0.047844 0.938491 +v -0.996049 2.282852 2.859201 +v 1.099156 1.444505 2.090804 +f 143 144 149 +f 120 123 124 +f 124 123 125 +f 122 119 126 +f 116 117 127 +f 117 122 127 +f 125 116 129 +f 124 125 129 +f 116 127 129 +f 117 116 132 +f 122 117 132 +f 116 125 132 +f 118 126 133 +f 123 120 134 +f 126 119 135 +f 120 124 136 +f 129 118 136 +f 124 129 136 +f 131 120 136 +f 118 133 136 +f 133 131 136 +f 130 115 137 +f 119 130 137 +f 115 130 138 +f 134 115 138 +f 123 134 138 +f 119 122 139 +f 130 119 139 +f 123 138 139 +f 138 130 139 +f 122 126 140 +f 127 122 140 +f 118 127 140 +f 122 132 141 +f 121 128 142 +f 128 126 142 +f 135 119 142 +f 126 135 142 +f 119 137 142 +f 115 134 143 +f 137 115 143 +f 128 121 144 +f 120 131 144 +f 134 120 144 +f 143 134 144 +f 127 118 145 +f 118 129 145 +f 129 127 145 +f 126 128 146 +f 133 126 146 +f 131 133 146 +f 128 144 146 +f 144 131 146 +f 125 123 147 +f 132 125 147 +f 139 122 147 +f 123 139 147 +f 122 141 147 +f 141 132 147 +f 126 118 148 +f 118 140 148 +f 140 126 148 +f 121 142 149 +f 142 137 149 +f 137 143 149 +f 144 121 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf new file mode 100644 index 000000000..c3190eb6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj new file mode 100644 index 000000000..2d53a7f25 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj @@ -0,0 +1,1017 @@ +o convex_0 +v -0.025439 -2.632968 -1.048704 +v 0.035856 -2.816251 1.096313 +v 0.005108 -2.816251 1.096313 +v -0.117282 -1.039479 1.065658 +v 1.016378 -1.039165 -0.006640 +v -0.913918 -1.039165 -0.833908 +v -1.005961 -3.337127 0.054250 +v 0.740449 -4.011053 -0.006640 +v 0.801744 -1.039165 -0.925873 +v -0.852623 -1.039165 0.942828 +v 0.863039 -1.100889 0.942828 +v -0.025439 -3.980506 -0.834118 +v -0.086735 -3.980506 0.820207 +v 0.771197 -3.275718 0.820417 +v 0.771197 -3.214623 -0.772808 +v -0.791529 -3.245171 -0.803253 +v -0.760781 -3.275718 0.820417 +v -0.760781 -4.011053 -0.037296 +v 1.016378 -3.245171 -0.006640 +v -1.036710 -1.039165 0.084905 +v -0.055987 -4.256375 0.054250 +v -0.576895 -1.039479 -0.987184 +v 0.005108 -3.275718 -1.048704 +v -0.025439 -3.245171 1.096313 +v 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index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj new file mode 100644 index 000000000..417c8c395 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj @@ -0,0 +1,486 @@ +o convex_0 +v -0.386583 -4.038002 -0.239837 +v 0.612437 -3.311396 -0.239837 +v 0.612437 -3.372065 -0.239837 +v -0.447110 -4.007703 0.607804 +v -0.507746 -3.311396 -0.572930 +v 0.581955 -3.977333 -0.482087 +v 0.460901 -3.311396 0.486679 +v -0.447110 -3.311396 0.577523 +v 0.491274 -3.916877 0.486679 +v -0.507746 -4.038002 -0.572930 +v 0.491274 -3.311396 -0.512368 +v -0.477373 -3.674699 0.607804 +v 0.521428 -3.311396 0.456398 +v -0.507746 -4.007703 0.002412 +v 0.581955 -3.977333 -0.330681 +v 0.491274 -3.977333 -0.512368 +v 0.521428 -3.765382 0.456398 +v -0.477373 -3.372065 0.577523 +v -0.326056 -3.916877 0.607804 +v 0.370111 -3.947034 0.456398 +v -0.416846 -4.038002 -0.572930 +v 0.612437 -3.674699 -0.391243 +v 0.551801 -3.311396 -0.482087 +v -0.477373 -4.007703 0.607804 +f 12 14 24 +f 2 5 7 +f 7 5 8 +f 5 2 11 +f 7 8 12 +f 3 2 13 +f 2 7 13 +f 7 9 13 +f 5 10 14 +f 4 1 15 +f 1 6 15 +f 11 6 16 +f 3 13 17 +f 13 9 17 +f 9 15 17 +f 8 5 18 +f 12 8 18 +f 5 14 18 +f 14 12 18 +f 4 9 19 +f 9 7 19 +f 12 4 19 +f 7 12 19 +f 9 4 20 +f 4 15 20 +f 15 9 20 +f 6 1 21 +f 1 10 21 +f 10 5 21 +f 5 11 21 +f 16 6 21 +f 11 16 21 +f 2 3 22 +f 15 6 22 +f 3 17 22 +f 17 15 22 +f 6 11 23 +f 11 2 23 +f 2 22 23 +f 22 6 23 +f 1 4 24 +f 10 1 24 +f 4 12 24 +f 14 10 24 +o convex_1 +v 0.582156 -2.615066 0.456286 +v -0.507734 -2.615066 -0.572823 +v -0.507734 -2.524181 -0.572823 +v -0.447172 -2.615066 0.516872 +v 0.612437 -2.100387 0.425992 +v -0.477453 -2.100387 0.456286 +v 0.430750 -2.100387 -0.512237 +v 0.491313 -2.615066 -0.481944 +v -0.538015 -2.100387 -0.542530 +v -0.568296 -2.615066 0.214155 +v 0.461032 -2.100387 0.486579 +v -0.447172 -2.130665 0.516872 +v 0.521594 -2.554459 -0.391172 +v 0.461032 -2.615066 -0.512237 +v 0.461032 -2.615066 0.486579 +v -0.568296 -2.463624 -0.088455 +v -0.023236 -2.100387 -0.542530 +v -0.204923 -2.615066 0.516872 +f 39 35 42 +f 26 25 28 +f 30 29 31 +f 25 26 32 +f 27 26 33 +f 30 31 33 +f 26 28 34 +f 28 30 34 +f 25 29 35 +f 29 30 35 +f 35 30 36 +f 30 28 36 +f 29 25 37 +f 31 29 37 +f 25 32 37 +f 32 31 37 +f 32 26 38 +f 31 32 38 +f 28 25 39 +f 25 35 39 +f 33 26 40 +f 30 33 40 +f 26 34 40 +f 34 30 40 +f 26 27 41 +f 27 33 41 +f 33 31 41 +f 38 26 41 +f 31 38 41 +f 35 36 42 +f 36 28 42 +f 28 39 42 +o convex_2 +v 1.036285 3.863027 -0.451799 +v -1.113251 -2.039635 0.880002 +v -1.082952 -2.039635 0.547052 +v -1.052653 4.014299 -0.996760 +v 0.915089 -2.009259 -1.057334 +v 0.915089 3.923779 0.970864 +v 1.005986 -1.978276 1.031645 +v -0.992055 4.106035 0.940784 +v -0.931458 -1.978883 -0.996760 +v 1.036285 4.014907 -0.996552 +v -1.113251 -1.888363 1.061932 +v 0.430729 -2.100387 -0.512166 +v 1.036285 -0.616216 0.577339 +v 0.642610 3.045913 1.001151 +v -1.022354 3.438978 0.970864 +v 0.400430 -0.464944 -1.057334 +v 0.945388 -1.827003 -1.057334 +v 0.612311 -2.100387 0.456191 +v -0.598591 -2.100387 -0.663602 +v 1.036285 4.044675 -0.724176 +v 1.036285 2.561719 -0.996552 +v 0.945388 3.530106 0.970864 +v -0.568292 -1.978883 -1.027047 +v -0.477396 4.075659 0.970864 +v -0.537993 2.500968 -1.027047 +v -1.052653 4.044675 -0.663602 +v -0.931458 -2.039635 1.061932 +v 1.005986 -1.040265 1.031645 +v -1.113251 -1.282058 1.031438 +v -1.052653 3.621234 -0.996760 +v -0.416798 -2.100387 0.486478 +v -0.416798 4.045283 -0.996552 +v 1.005986 -1.978276 0.456191 +v 0.945388 3.954155 0.789141 +v -0.992055 4.106035 0.577339 +v -0.931458 3.923779 0.970864 +v -0.961756 -2.008652 -0.723968 +v 0.975687 4.045283 -0.996552 +v 0.945388 -0.767489 -1.057334 +v 0.400430 -1.978276 -1.057334 +v 0.945388 2.621864 1.001151 +v -0.901159 -2.008652 -0.996760 +v 1.005986 -0.283296 0.970864 +v 0.582012 -2.009259 1.031645 +v -0.810472 4.106035 0.940577 +v -1.022354 4.075659 0.456191 +v -1.052653 4.044675 -0.845117 +v 0.945388 -2.009259 0.819428 +v -1.113251 -2.039635 1.061932 +v 0.521625 3.015537 1.001151 +v -0.961756 -1.918131 1.061932 +v 1.036285 0.019857 0.214101 +v -0.144318 -2.100387 -0.663602 +v -0.961756 -0.737720 -0.996760 +f 79 72 96 +f 52 43 55 +f 47 58 59 +f 54 47 60 +f 54 60 61 +f 44 45 61 +f 43 52 62 +f 52 55 63 +f 59 52 63 +f 56 48 66 +f 65 46 67 +f 58 65 67 +f 49 55 70 +f 69 49 70 +f 46 44 71 +f 44 53 71 +f 53 57 71 +f 57 68 71 +f 45 44 72 +f 44 46 72 +f 46 65 72 +f 61 60 73 +f 60 69 73 +f 67 46 74 +f 55 49 75 +f 47 59 75 +f 43 62 76 +f 64 43 76 +f 48 64 76 +f 66 48 76 +f 62 66 76 +f 57 53 78 +f 50 57 78 +f 66 50 78 +f 61 45 79 +f 45 72 79 +f 62 52 80 +f 52 67 80 +f 67 74 80 +f 74 77 80 +f 52 59 81 +f 59 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-3.020314 -3.281121 -0.239825 +v -0.568794 -3.220547 0.153628 +v -0.568794 -2.766537 0.304986 +v -3.020314 -3.190200 0.304986 +v -0.568794 -3.281121 -0.239825 +v -1.113659 -2.675616 -0.149024 +v -2.989947 -2.705903 -0.330627 +v -0.568794 -3.190200 0.214119 +v -2.626787 -3.281121 -0.088467 +v -3.111167 -2.857339 -0.330627 +v -3.020314 -3.069111 0.304986 +v -0.568794 -3.129685 -0.360938 +v -1.446453 -2.766537 0.304986 +v -2.475200 -3.190200 0.304986 +v -0.568794 -2.705903 0.002270 +v -3.050433 -3.159913 0.244430 +v -3.111167 -2.766537 -0.209580 +v -1.476820 -2.675616 -0.330627 +f 115 110 121 +f 99 98 100 +f 105 102 106 +f 97 106 107 +f 104 98 108 +f 102 105 108 +f 100 103 110 +f 103 109 110 +f 105 106 111 +f 106 97 111 +f 101 104 112 +f 105 101 112 +f 104 108 112 +f 108 105 112 +f 100 98 113 +f 98 104 113 +f 107 106 114 +f 98 99 115 +f 99 100 115 +f 108 98 115 +f 102 108 115 +f 100 110 115 +f 106 103 116 +f 103 114 116 +f 114 106 116 +f 101 105 117 +f 97 107 117 +f 107 101 117 +f 105 111 117 +f 111 97 117 +f 106 102 118 +f 103 106 118 +f 102 109 118 +f 109 103 118 +f 104 101 119 +f 101 107 119 +f 113 104 119 +f 107 114 119 +f 119 114 120 +f 103 100 120 +f 100 113 120 +f 114 103 120 +f 113 119 120 +f 109 102 121 +f 110 109 121 +f 102 115 121 +o convex_4 +v 0.642713 -2.766505 0.123359 +v -0.507722 -3.311260 -0.572930 +v -0.507722 -2.615066 -0.572930 +v -0.447030 -3.311260 0.577529 +v 0.551792 -3.311260 -0.482051 +v -0.447030 -2.615066 0.516943 +v 0.521446 -3.311260 0.456357 +v 0.460990 -2.615066 -0.512344 +v 0.582138 -2.615066 0.456357 +v -0.568296 -2.645463 0.335297 +v -0.568296 -3.281000 -0.360992 +v 0.642713 -3.311260 0.244418 +v 0.642713 -2.705984 -0.360992 +v -0.568296 -3.190218 0.214125 +v 0.460990 -2.615066 0.486650 +v -0.568296 -2.675723 -0.330699 +v 0.642713 -3.220479 -0.270113 +v -0.447030 -2.645463 0.547236 +v 0.491218 -3.311260 -0.512344 +v 0.460990 -3.311260 0.486650 +v 0.642713 -2.887614 0.365590 +v -0.356346 -3.281000 0.577529 +f 141 136 143 +f 125 123 126 +f 125 126 128 +f 124 127 129 +f 129 127 130 +f 127 124 131 +f 124 123 132 +f 123 125 132 +f 128 126 133 +f 126 129 134 +f 129 130 134 +f 130 122 134 +f 122 133 134 +f 125 131 135 +f 132 125 135 +f 131 132 135 +f 130 127 136 +f 131 124 137 +f 124 132 137 +f 132 131 137 +f 133 126 138 +f 126 134 138 +f 134 133 138 +f 131 125 139 +f 127 131 139 +f 136 127 139 +f 123 124 140 +f 126 123 140 +f 124 129 140 +f 129 126 140 +f 125 128 141 +f 128 130 141 +f 130 136 141 +f 130 128 142 +f 122 130 142 +f 133 122 142 +f 128 133 142 +f 139 125 143 +f 136 139 143 +f 125 141 143 +o convex_5 +v 3.094668 -2.766522 -0.209580 +v 0.642956 -2.766522 -0.361003 +v 0.642956 -3.220490 -0.270178 +v 0.733823 -2.796762 0.365602 +v 3.003801 -3.281032 0.274776 +v 2.973674 -3.190251 -0.330704 +v 2.943304 -2.675678 0.274776 +v 0.642956 -3.311334 0.244477 +v 0.642956 -2.705980 -0.361003 +v 2.882807 -2.766522 -0.361003 +v 2.549708 -3.220490 -0.330704 +v 0.642956 -2.887605 0.365602 +v 3.064298 -2.978386 -0.361003 +v 0.673326 -3.311334 0.153652 +v 2.216853 -2.675678 0.093125 +v 0.642956 -2.705980 -0.239879 +v 2.882807 -2.675678 0.153652 +v 2.973674 -3.220490 -0.300406 +v 3.125038 -2.827064 -0.361003 +v 2.368217 -2.705980 0.305004 +v 3.003801 -3.281032 0.214178 +v 0.642956 -3.250792 -0.179352 +v 3.003801 -3.038866 0.274776 +v 2.701073 -2.675678 0.274776 +v 0.855060 -2.827064 0.365602 +f 148 163 168 +f 145 146 151 +f 145 151 152 +f 145 152 153 +f 146 145 154 +f 151 148 155 +f 152 151 155 +f 145 153 156 +f 154 145 156 +f 149 154 156 +f 148 151 157 +f 155 147 159 +f 152 155 159 +f 158 152 159 +f 150 144 160 +f 144 153 160 +f 153 152 160 +f 158 150 160 +f 152 158 160 +f 154 149 161 +f 149 156 161 +f 157 154 161 +f 153 144 162 +f 156 153 162 +f 161 156 162 +f 148 157 164 +f 157 161 164 +f 162 148 164 +f 161 162 164 +f 151 146 165 +f 146 154 165 +f 157 151 165 +f 154 157 165 +f 144 150 166 +f 162 144 166 +f 148 162 166 +f 163 148 166 +f 150 163 166 +f 150 158 167 +f 159 147 167 +f 158 159 167 +f 147 163 167 +f 163 150 167 +f 147 155 168 +f 155 148 168 +f 163 147 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf new file mode 100644 index 000000000..84c65c22e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj new file mode 100644 index 000000000..55fd66b6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj @@ -0,0 +1,642 @@ +o convex_0 +v 0.264177 -4.860695 0.011734 +v -0.349497 -2.923071 0.237826 +v -0.349497 -2.923071 0.302433 +v 0.361146 -2.826149 0.302433 +v 0.199623 -2.826149 -0.311301 +v -0.252528 -4.763773 -0.278965 +v -0.220252 -4.893272 0.367040 +v -0.252528 -2.826149 -0.246694 +v 0.199623 -4.893272 -0.311301 +v 0.328799 -4.828321 0.173219 +v 0.361146 -2.826149 0.205489 +v -0.349497 -2.826149 0.302433 +v -0.317151 -3.052367 0.334703 +v -0.123352 -4.699226 0.367040 +v -0.252528 -4.699226 0.367040 +v 0.070377 -2.826149 -0.311301 +v -0.284875 -2.826149 -0.182087 +v 0.296523 -4.828321 0.205489 +v 0.038101 -4.860695 -0.311301 +v -0.252528 -4.828321 -0.020536 +v 0.296523 -4.828321 0.011734 +f 11 10 21 +f 4 5 8 +f 1 7 9 +f 7 1 10 +f 1 9 10 +f 5 4 11 +f 9 5 11 +f 4 10 11 +f 2 3 12 +f 4 8 12 +f 12 3 13 +f 4 12 13 +f 4 13 14 +f 14 13 15 +f 13 3 15 +f 7 14 15 +f 8 5 16 +f 6 8 16 +f 5 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230 231 233 +f 225 230 234 +f 230 233 234 +f 226 227 235 +f 233 231 235 +f 226 232 236 +f 231 229 237 +f 229 232 237 +f 235 231 237 +f 233 228 238 +f 234 233 238 +f 228 236 238 +f 238 236 239 +f 234 238 239 +f 231 230 240 +f 229 231 240 +f 227 226 241 +f 228 233 241 +f 235 227 241 +f 233 235 241 +f 226 236 241 +f 236 228 241 +f 225 234 242 +f 234 239 242 +f 229 240 242 +f 232 226 243 +f 226 235 243 +f 237 232 243 +f 235 237 243 +f 232 229 244 +f 236 232 244 +f 239 236 244 +f 229 242 244 +f 242 239 244 +f 230 225 245 +f 240 230 245 +f 225 242 245 +o convex_9 +v -0.755147 -1.094582 2.056525 +v 0.996963 1.076871 2.704301 +v 0.920831 1.038611 2.742367 +v -1.097955 1.038611 1.142453 +v 0.958897 -0.941968 1.142453 +v -1.059890 1.000351 2.742367 +v 0.920831 -1.018062 2.818662 +v 1.073095 1.000564 1.142453 +v -0.945692 -1.018275 1.142453 +v -0.945692 -1.094582 2.742367 +v 1.111161 -0.561071 2.285084 +v -1.097955 -0.599118 2.323314 +v -1.097955 -0.560858 1.142453 +v 1.111161 -0.484764 1.180683 +v 1.111161 0.429006 2.361216 +v 0.387477 -1.018062 1.180683 +v -0.564601 0.505313 2.780432 +v -0.183727 -1.094582 2.780432 +v 0.311345 1.076871 2.742367 +v 0.996963 1.076871 2.209117 +v 0.920831 -1.018062 1.980558 +v -1.097955 1.038611 1.676031 +v -0.945692 -1.056322 1.218913 +v 0.539957 -0.637165 2.818662 +v 1.111161 0.581407 1.218749 +v 1.035029 1.038611 1.447472 +v -0.450404 -0.980015 2.780432 +v 0.958897 -0.789779 2.780432 +v -1.097955 0.467053 2.323314 +v -0.679015 1.038611 2.742367 +v 0.920831 -0.980228 1.142453 +v 0.996963 1.000564 2.742367 +v -1.059890 0.657502 2.742367 +v 0.616088 -1.056322 2.742367 +v -0.450404 -1.094582 2.247019 +f 279 263 280 +f 250 249 253 +f 249 250 254 +f 252 250 256 +f 249 254 258 +f 257 249 258 +f 250 253 259 +f 256 250 259 +f 256 259 260 +f 253 247 260 +f 255 246 263 +f 248 247 264 +f 262 248 264 +f 247 253 265 +f 264 247 265 +f 249 264 265 +f 250 252 266 +f 249 257 267 +f 264 249 267 +f 246 255 268 +f 255 257 268 +f 257 258 268 +f 258 254 268 +f 261 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a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj new file mode 100644 index 000000000..6cf29de4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj @@ -0,0 +1,393 @@ +o convex_0 +v -1.135300 0.072005 1.035824 +v -2.404459 -1.059916 -1.056756 +v -2.301423 -1.059916 -1.056756 +v -2.747459 0.964212 -1.091145 +v -3.090654 -1.025429 0.967261 +v -3.090654 1.101524 0.967261 +v -1.100825 1.032762 -0.919414 +v -1.100825 -1.059704 -0.988193 +v -1.100825 1.067037 1.104603 +v -1.100825 -0.922392 0.932872 +v -2.953337 -1.059916 -0.953804 +v -2.953337 0.929937 -1.091145 +v -3.056373 -1.059916 0.280982 +v -2.541776 -1.025429 0.967261 +v -3.056373 1.101524 0.589840 +v -2.953337 -0.236258 -1.091145 +v -2.267142 1.101524 1.035824 +v -2.987617 0.964212 -0.816462 +v -1.100825 -0.339083 -0.988193 +v -2.781740 -0.716743 1.001650 +v -1.375459 -1.059916 -1.022367 +v -1.272617 -0.956667 0.898697 +v -3.090654 -0.647981 0.726967 +v -1.203861 0.998487 -0.953804 +v -2.919056 -1.059916 -1.056541 +v -1.238142 0.826901 1.104603 +v -1.100825 -1.059704 -0.850851 +v -3.021898 -1.059916 0.589840 +v -3.090654 1.101524 0.829919 +v -2.919056 0.964212 -1.091145 +v -2.164300 1.101524 0.967046 +v -2.781740 1.101524 1.001650 +v -1.306898 -0.716743 0.967046 +v -2.644618 -0.716743 1.001650 +v -1.100825 0.826901 1.104603 +v -2.884776 -0.201983 -1.091145 +v -2.027178 0.998487 -1.022367 +f 30 15 37 +f 8 7 9 +f 8 9 10 +f 2 3 11 +f 11 3 13 +f 3 2 16 +f 12 4 16 +f 11 13 16 +f 15 6 17 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-0.988052 +v 1.403915 1.032759 0.967002 +v 3.016202 0.964048 -0.782183 +v 2.124207 -0.991298 -0.164777 +v 1.163567 -0.510723 -1.022528 +v 2.021335 0.929793 -1.022528 +v 3.016202 -0.030350 1.001677 +v 3.016202 -0.956842 0.281039 +v 2.981786 -0.510723 -0.987853 +v 2.089790 -0.991298 1.001479 +v 2.913142 1.067215 0.898446 +v 1.094923 0.964048 -0.439202 +v 1.094923 -0.716655 1.001479 +v 3.016202 0.552385 -0.988052 +v 1.094923 0.792371 0.967002 +v 3.016202 0.964048 -0.404725 +v 1.369499 1.032759 0.898446 +v 2.981786 -0.956842 -0.610594 +v 1.369499 -0.991097 -0.987853 +f 51 46 65 +f 42 41 43 +f 39 43 44 +f 42 43 45 +f 39 40 48 +f 44 38 49 +f 41 42 51 +f 42 49 52 +f 49 47 52 +f 51 42 52 +f 46 51 52 +f 40 39 53 +f 39 44 53 +f 44 49 53 +f 38 44 54 +f 44 50 54 +f 46 52 55 +f 43 41 56 +f 44 43 56 +f 41 50 56 +f 50 44 56 +f 48 40 57 +f 40 49 57 +f 49 42 57 +f 42 45 58 +f 57 42 58 +f 43 39 59 +f 45 43 59 +f 39 48 59 +f 49 38 60 +f 47 49 60 +f 52 47 60 +f 38 55 60 +f 55 52 60 +f 48 45 61 +f 45 59 61 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-0.679177 +v -1.100825 -3.015167 -0.782220 +v 0.889028 -1.059916 1.001677 +v 0.065582 -3.015366 0.967261 +v -0.448966 -2.637908 -1.091145 +v 1.060615 -1.128670 -1.022313 +f 87 76 95 +f 67 68 72 +f 66 71 72 +f 71 66 74 +f 69 71 74 +f 72 71 76 +f 66 72 77 +f 72 68 77 +f 69 67 78 +f 67 72 78 +f 73 75 79 +f 75 77 79 +f 72 76 81 +f 78 72 81 +f 76 78 81 +f 66 75 82 +f 75 73 82 +f 68 67 83 +f 67 69 83 +f 69 70 83 +f 75 66 84 +f 66 77 84 +f 77 75 84 +f 69 74 85 +f 70 80 86 +f 68 83 86 +f 83 70 86 +f 71 69 87 +f 69 78 87 +f 79 68 88 +f 73 79 88 +f 80 73 88 +f 68 86 88 +f 86 80 88 +f 80 70 89 +f 70 85 89 +f 85 74 89 +f 70 69 90 +f 69 85 90 +f 85 70 90 +f 77 68 91 +f 68 79 91 +f 79 77 91 +f 74 66 92 +f 66 82 92 +f 89 74 92 +f 82 89 92 +f 73 80 93 +f 82 73 93 +f 80 89 93 +f 89 82 93 +f 78 76 94 +f 76 87 94 +f 87 78 94 +f 76 71 95 +f 71 87 95 +o convex_3 +v -0.894920 1.341244 1.104603 +v -1.100825 -1.059916 -0.988075 +v 0.580160 -1.059916 -0.988075 +v -0.448935 3.091420 -1.022350 +v 1.094923 3.022746 1.104603 +v 1.060534 -1.059509 1.001566 +v 0.957581 3.022340 -1.022350 +v -0.997872 2.954072 0.933016 +v -1.100825 -0.922567 0.933016 +v 1.094923 -0.613330 -1.022350 +v -1.066436 3.091420 -1.022350 +v -1.100825 0.861743 1.104603 +v 1.060534 0.930417 -1.056837 +v -0.963483 -1.059916 0.933016 +v 1.060534 -1.059509 -0.987864 +v 1.094923 -0.990835 1.001566 +v 1.094923 0.930417 -1.022350 +v -0.620451 -0.613736 -1.022350 +v 0.477208 3.022340 1.070116 +v -1.100825 1.032413 -0.919314 +v -1.032047 2.988206 0.555357 +v 1.094923 3.022746 0.761430 +v -1.066436 3.091420 -0.782214 +v -0.997872 2.885397 0.967080 +v 0.683113 3.056880 -1.022350 +v -1.100825 1.066547 1.104603 +v 0.786065 0.758935 -1.056837 +v -0.311594 1.478592 1.104603 +v 0.923192 1.307110 -1.056837 +v 1.094923 -0.990835 -0.987864 +v 0.889018 -1.059916 1.001566 +v 1.094923 2.884991 1.104603 +v -1.066436 3.056880 -0.507802 +v -1.066436 2.644835 -1.022350 +v 1.026145 -0.682004 -1.022350 +v 0.683113 2.816723 1.104603 +v 0.991970 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b/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj new file mode 100644 index 000000000..8b433294a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj @@ -0,0 +1,3057 @@ +o convex_0 +v -0.999982 -0.177797 -0.461480 +v -0.980064 -0.814679 0.275262 +v -0.980064 -0.695231 0.235382 +v -1.179164 -0.973943 -0.222486 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+f 136 147 149 +f 137 141 150 +f 131 135 151 +f 135 139 151 +f 142 131 151 +f 122 121 152 +f 121 136 152 +f 137 122 152 +f 129 141 152 +f 141 137 152 +f 149 129 152 +f 136 149 152 +f 126 125 154 +f 131 126 154 +f 125 135 154 +f 135 131 154 +f 133 121 155 +f 128 133 155 +f 121 143 155 +f 143 128 155 +f 130 120 156 +f 126 134 156 +f 134 130 156 +f 145 126 156 +f 145 156 157 +f 120 130 157 +f 130 141 157 +f 156 120 157 +f 157 141 158 +f 129 125 158 +f 141 129 158 +f 125 145 158 +f 145 157 158 +f 144 137 159 +f 150 132 159 +f 137 150 159 +f 132 153 159 +f 121 133 160 +f 136 121 160 +f 139 136 160 +f 141 132 161 +f 132 150 161 +f 150 141 161 +f 141 130 162 +f 132 141 162 +f 130 153 162 +f 153 132 162 +f 130 134 163 +f 134 144 163 +f 153 130 163 +f 144 159 163 +f 159 153 163 +f 133 123 164 +f 123 142 164 +f 151 139 164 +f 142 151 164 +f 160 133 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf new file mode 100644 index 000000000..9e83a1f3f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj new file mode 100644 index 000000000..470ec6ac1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj @@ -0,0 +1,447 @@ +o convex_0 +v -2.159241 1.454481 -1.077777 +v -0.763812 2.420789 1.068909 +v -0.763812 2.420789 0.997339 +v 3.064333 0.274103 -0.648354 +v -3.053992 0.345887 1.068909 +v 2.992465 2.313113 -1.077777 +v 2.956532 0.596277 0.997125 +v -3.053992 2.349005 -0.934422 +v -2.946190 0.381566 -1.041885 +v 2.956532 2.384897 1.068909 +v -3.018058 2.420576 0.925554 +v 3.064333 0.274103 -1.041885 +v 0.953224 0.238211 1.033017 +v -0.799746 2.384897 -1.113669 +v -1.014151 0.238211 -0.970528 +v 2.956532 0.309995 0.961446 +v -1.014151 0.238211 1.068909 +v 2.956532 2.384897 0.352991 +v -1.443560 1.883904 -1.113669 +v 1.919243 2.277435 -1.113669 +v -3.053992 2.277435 0.961446 +v -2.767120 2.349005 -1.006207 +v 1.024492 0.238211 -1.006207 +v -1.372291 2.420789 1.068909 +v -2.982124 0.524707 -1.041885 +v 2.956532 1.919796 1.068909 +v -3.053992 0.345887 0.639273 +v 3.028399 1.132949 -1.077777 +v 3.064333 0.810988 -1.006207 +v -3.053992 0.775096 1.068909 +v -1.193221 2.384684 -1.113669 +v -3.053992 2.062723 -0.970314 +v -3.053992 2.420576 0.818306 +v -2.302377 1.061378 -1.077777 +v 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-0.227075 -3.081371 +v -0.513425 -0.870884 -2.973902 +v 0.595452 -0.155466 -1.400101 +v -0.084150 -1.121235 -2.830936 +f 114 117 125 +f 102 101 108 +f 101 102 109 +f 106 105 109 +f 105 106 110 +f 106 104 111 +f 103 105 112 +f 110 100 112 +f 105 110 112 +f 111 104 115 +f 105 103 116 +f 103 113 116 +f 113 109 116 +f 104 106 117 +f 109 102 117 +f 106 109 117 +f 114 104 117 +f 107 103 118 +f 103 112 118 +f 112 100 118 +f 108 113 119 +f 104 114 119 +f 114 108 119 +f 115 104 119 +f 107 115 119 +f 110 106 120 +f 106 111 120 +f 109 105 121 +f 105 116 121 +f 116 109 121 +f 103 107 122 +f 113 103 122 +f 107 119 122 +f 119 113 122 +f 108 101 123 +f 101 109 123 +f 113 108 123 +f 109 113 123 +f 100 110 124 +f 115 107 124 +f 111 115 124 +f 107 118 124 +f 118 100 124 +f 110 120 124 +f 120 111 124 +f 102 108 125 +f 108 114 125 +f 117 102 125 +o convex_4 +v -1.014380 -1.013804 -0.755715 +v 1.096484 0.238211 -0.505325 +v 1.060550 0.238211 0.997226 +v 1.024826 -1.228767 1.033118 +v -1.014380 0.238211 1.068797 +v 1.024826 -1.228767 -1.041997 +v -1.014380 0.238211 -0.970426 +v -1.050314 -1.228767 1.068797 +v 1.060550 0.238211 -1.006319 +v -0.656720 -1.228767 -1.041997 +v 0.666956 0.059147 1.104689 +v -0.441956 -0.012364 -1.077889 +v -0.978656 -1.228767 -0.970426 +v 0.058809 -1.121357 1.104689 +v 0.845786 -1.228767 -1.077889 +v 1.060550 -1.192868 -1.006319 +v 1.060550 -0.620350 1.033118 +v 0.738614 -0.012364 -1.077889 +v -1.050314 -0.870782 -0.362185 +v -0.585062 -0.012364 1.104689 +v -1.050314 -0.548696 1.068797 +v -0.477891 -1.156969 -1.077889 +v -1.050314 -1.228767 -0.290614 +v 0.452403 -1.121357 1.104689 +v 0.845786 0.238211 1.068797 +v 1.096484 0.059290 -0.970426 +v -0.441956 -1.085458 1.104689 +v -0.835340 0.238211 -1.006319 +v -0.084297 0.166557 -1.041997 +f 137 153 154 +f 128 127 130 +f 130 127 132 +f 131 129 133 +f 132 127 134 +f 131 133 135 +f 126 132 138 +f 132 135 138 +f 135 133 138 +f 131 135 140 +f 129 131 141 +f 131 134 141 +f 127 128 142 +f 136 129 142 +f 129 141 142 +f 134 131 143 +f 131 140 143 +f 140 137 143 +f 132 126 144 +f 136 130 145 +f 139 136 145 +f 130 132 146 +f 132 144 146 +f 144 133 146 +f 145 130 146 +f 133 145 146 +f 135 132 147 +f 140 135 147 +f 137 140 147 +f 126 138 148 +f 138 133 148 +f 144 126 148 +f 133 144 148 +f 133 129 149 +f 129 136 149 +f 139 133 149 +f 136 139 149 +f 128 130 150 +f 130 136 150 +f 142 128 150 +f 136 142 150 +f 134 127 151 +f 141 134 151 +f 127 142 151 +f 142 141 151 +f 133 139 152 +f 145 133 152 +f 139 145 152 +f 132 134 153 +f 147 132 153 +f 137 147 153 +f 134 143 154 +f 143 137 154 +f 153 134 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf new file mode 100644 index 000000000..016316e7a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj new file mode 100644 index 000000000..307a72075 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj @@ -0,0 +1,3003 @@ +o convex_0 +v 1.084629 -0.062144 0.951549 +v 2.147948 -0.110407 1.144388 +v 2.147948 -0.134538 1.144388 +v 1.592191 -0.110407 4.069119 +v 1.568041 -0.593795 0.541327 +v 1.616340 0.252134 -1.198903 +v 1.640490 0.276266 3.222964 +v 1.616340 -0.424590 -1.368952 +v 1.568041 -0.472948 3.246922 +v 1.181332 -0.134538 -1.150985 +v 1.181332 -0.497079 1.119845 +v 1.229632 0.276266 1.119845 +v 1.205482 -0.110407 3.222964 +v 2.027199 -0.182801 -1.174944 +v 2.027199 0.252040 0.951549 +v 2.002945 -0.472853 1.240808 +v 2.002945 -0.110407 3.246922 +v 1.664640 0.372981 0.975508 +v 1.592191 -0.110407 -1.900722 +v 1.592191 -0.521211 -1.150401 +v 2.027199 -0.086370 -1.127027 +v 1.302185 0.179550 -0.546755 +v 1.930496 -0.424590 -0.570714 +v 1.930496 0.155419 2.836116 +v 1.326335 0.179550 2.763655 +v 1.592191 -0.593795 1.434232 +v 1.278035 -0.424495 -0.474294 +v 1.302185 -0.400364 2.763655 +v 1.882196 -0.376232 2.787614 +v 1.930496 0.155419 -0.619216 +v 1.616340 0.252134 3.391844 +v 1.084629 -0.182801 1.168347 +v 1.181332 -0.086370 -1.126442 +v 2.027199 0.252040 1.216265 +v 1.978795 -0.496985 0.976092 +v 1.568041 0.372981 1.048553 +v 1.978795 -0.062238 3.367885 +v 1.640490 -0.521211 -1.150985 +v 1.181332 0.203682 1.095886 +v 1.229632 -0.158670 3.294840 +v 1.229632 -0.086370 3.343342 +v 1.616340 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+f 167 165 183 +f 165 173 183 +f 169 179 183 +f 179 167 183 +f 173 181 183 +f 181 169 183 +f 164 167 184 +f 174 164 184 +f 167 182 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf new file mode 100644 index 000000000..0e36844ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj new file mode 100644 index 000000000..b1162b1f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj @@ -0,0 +1,498 @@ +o convex_0 +v 1.036989 -0.156381 0.789973 +v -1.330323 -0.187530 -0.039987 +v -1.330323 -0.187530 0.021312 +v -0.008271 -3.692166 -0.039786 +v 0.944640 -0.156381 -0.900597 +v -0.776739 -1.724918 0.789771 +v -0.807437 -1.755029 -0.808447 +v 0.760197 -3.138402 0.051962 +v -0.008271 -3.199662 -0.808648 +v -0.838391 -3.200008 -0.070637 +v -0.008271 -3.199662 0.759323 +v -0.715344 -0.156381 0.912975 +v -0.838391 -0.156381 -0.931650 +v 1.283083 -0.217987 -0.070637 +v 0.022427 -1.755375 1.005327 +v -0.038713 -1.755375 -1.054652 +v 0.760197 -1.724572 -0.808447 +v 0.790895 -1.694115 0.728472 +v 0.114520 -0.156381 1.005327 +v 0.114520 -0.156381 -1.054652 +v 0.760197 -3.138402 -0.101287 +v -0.622995 -2.831063 0.574619 +v -0.961182 -0.156381 0.820623 +v -0.592297 -2.861866 -0.623944 +v 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+v 2.604618 1.811108 0.636325 +v -0.869012 1.257933 -1.085398 +v -0.869012 1.288426 -1.085398 +v -2.651896 1.227440 0.820728 +v 1.313524 0.212571 0.789994 +v 1.067629 0.212571 -0.931521 +v 1.989588 2.057304 -0.777851 +v -2.067969 2.241491 0.021231 +v -2.713516 0.489465 -0.101290 +v 2.758375 0.520163 -0.070556 +v 2.020691 2.057304 0.820728 +v -1.114907 0.212571 0.882196 +v -2.775137 1.196742 -0.777643 +v -1.175941 0.212571 -0.900787 +v 2.112828 1.257933 1.036073 +v -2.036866 1.995499 -0.777643 +v -2.006349 2.026402 0.789994 +v 2.697342 1.319329 -0.808585 +v -1.975832 1.319329 1.036073 +v 2.082312 2.272393 0.021439 +v -2.744033 2.026402 0.051965 +v 1.928554 1.319329 -1.085398 +v 2.789479 1.257933 0.820728 +v 2.758375 2.026402 0.021231 +v 0.145083 0.212571 1.005132 +v -0.192362 0.212571 -1.054456 +v -2.036866 1.227235 -1.054456 +v -2.990515 1.196742 0.051965 +v 3.004857 1.288631 -0.039822 +v 0.514219 2.057304 -0.839319 +v 0.452599 2.303296 0.021439 +v 1.989588 0.550860 -0.839319 +v 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100644 index 000000000..66bbf2955 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj new file mode 100644 index 000000000..2ff464ddb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj @@ -0,0 +1,636 @@ +o convex_0 +v -0.337963 -1.381863 1.565801 +v 0.331724 -1.522853 3.081249 +v -0.161691 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a/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf new file mode 100644 index 000000000..9c9b682e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj new file mode 100644 index 000000000..1dec841d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj @@ -0,0 +1,501 @@ +o convex_0 +v 0.947145 3.293931 1.044981 +v -1.080756 2.441399 -0.924222 +v -1.051162 1.324176 -0.953626 +v 0.947145 3.529160 -1.100434 +v 1.005906 -1.173579 -1.012223 +v -0.933640 -1.173579 0.927156 +v -0.992401 3.440777 1.015577 +v 1.005906 -1.173579 1.015367 +v -0.963021 -1.173579 -0.953626 +v -1.080756 3.529160 -0.924222 +v 1.094260 3.410855 1.044770 +v -1.051162 -1.173579 -0.071727 +v -1.051162 3.499699 0.162872 +v 0.506223 -1.173579 1.015577 +v 1.035286 -1.173119 -0.277343 +v 1.005906 -0.673199 -1.041627 +v 0.741480 3.381854 -1.100644 +v 1.064667 1.148790 1.044770 +v -0.933640 -1.055734 0.956770 +v 1.094260 3.410855 0.838945 +v -1.051162 -0.115278 0.133678 +v -0.992401 3.529160 -0.953626 +v 1.005906 0.178873 -1.041837 +v -1.080756 3.470238 -0.365764 +v -0.933640 3.470238 0.868349 +v 1.035286 -0.879427 1.015367 +v 0.947145 3.529160 -0.924012 +v -0.963021 -0.056356 0.956770 +v 1.094260 2.676628 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84 +f 82 73 85 +f 78 82 85 +f 83 74 86 +f 76 80 87 +f 73 77 88 +f 85 73 88 +f 79 72 89 +f 72 82 89 +f 82 78 89 +f 77 80 90 +f 84 76 91 +f 79 84 91 +f 76 87 91 +f 87 79 91 +f 78 81 92 +f 81 84 92 +f 84 79 92 +f 79 89 92 +f 89 78 92 +f 75 79 93 +f 79 87 93 +f 87 75 93 +f 83 86 94 +f 77 74 95 +f 85 88 95 +f 74 77 96 +f 71 86 96 +f 86 74 96 +f 77 90 96 +f 74 83 97 +f 83 78 97 +f 78 85 97 +f 95 74 97 +f 85 95 97 +f 80 75 98 +f 75 87 98 +f 87 80 98 +f 80 71 99 +f 90 80 99 +f 84 83 100 +f 76 84 100 +f 94 76 100 +f 83 94 100 +f 80 76 101 +f 71 80 101 +f 86 71 101 +f 76 94 101 +f 94 86 101 +f 88 77 102 +f 77 95 102 +f 95 88 102 +f 71 96 103 +f 96 90 103 +f 99 71 103 +o convex_3 +v 3.063486 -1.849597 -0.101301 +v 1.241382 -1.173579 -0.189454 +v 1.241382 -1.173579 -0.248261 +v 1.035476 -1.820151 0.045545 +v 3.122317 -1.320548 0.310178 +v 1.035476 -1.173579 0.221909 +v 1.035476 -1.820151 0.280774 +v 2.945826 -1.291233 -0.248261 +v 1.035476 -1.790770 -0.248261 +v 2.945826 -1.820151 0.280774 +v 3.092901 -1.849597 -0.277665 +v 1.035476 -1.173579 -0.248261 +v 1.535329 -1.643801 0.310178 +v 2.035182 -1.232406 0.280774 +v 3.004656 -1.467517 -0.277665 +v 2.357728 -1.820151 -0.277665 +v 3.034071 -1.614354 0.310178 +v 1.035476 -1.261787 0.251313 +v 3.004656 -1.291233 0.074949 +v 2.475388 -1.291233 0.310178 +v 2.769539 -1.849597 -0.277665 +v 2.651879 -1.261787 -0.248261 +v 1.182552 -1.173579 0.221909 +v 3.004656 -1.849597 -0.013090 +v 1.652786 -1.702628 0.310178 +f 120 116 128 +f 105 106 109 +f 109 107 110 +f 107 109 112 +f 108 104 114 +f 109 106 115 +f 112 109 115 +f 111 108 118 +f 108 114 118 +f 115 106 118 +f 115 118 119 +f 112 115 119 +f 118 114 119 +f 104 108 120 +f 113 104 120 +f 108 116 120 +f 109 110 121 +f 110 116 121 +f 117 109 121 +f 108 111 122 +f 117 108 122 +f 116 108 123 +f 108 117 123 +f 121 116 123 +f 117 121 123 +f 110 107 124 +f 107 112 124 +f 114 104 124 +f 112 119 124 +f 119 114 124 +f 106 105 125 +f 118 106 125 +f 111 118 125 +f 122 111 125 +f 122 125 126 +f 105 109 126 +f 109 117 126 +f 117 122 126 +f 125 105 126 +f 104 113 127 +f 113 110 127 +f 110 124 127 +f 124 104 127 +f 110 113 128 +f 116 110 128 +f 113 120 128 +o convex_4 +v -3.108611 -1.702507 0.192517 +v -1.051364 -1.202971 -0.101289 +v -1.051364 -1.202971 -0.189442 +v -1.051364 -1.878989 0.280785 +v -2.961607 -1.820162 -0.248250 +v -3.079210 -1.202971 0.280785 +v -3.049809 -1.261798 -0.307057 +v -1.051364 -1.761335 -0.218846 +v -1.051364 -1.291179 0.280785 +v -2.932206 -1.732020 0.280785 +v -2.961607 -1.849476 -0.218846 +v -1.169168 -1.202971 -0.218846 +v -2.814603 -1.232484 -0.248250 +v -1.374974 -1.790781 -0.218846 +v -2.932206 -1.320626 -0.307057 +v -1.051364 -1.878989 0.221921 +v -3.108611 -1.702507 0.280785 +v -2.991008 -1.820162 -0.071885 +v -1.639379 -1.202971 -0.218846 +v -1.139768 -1.878989 0.280785 +v -1.051364 -1.320626 -0.218846 +f 143 140 149 +f 131 130 132 +f 130 131 134 +f 129 134 135 +f 133 129 135 +f 131 132 136 +f 132 130 137 +f 130 134 137 +f 134 132 137 +f 132 134 138 +f 129 133 139 +f 134 131 140 +f 135 134 141 +f 133 136 142 +f 139 133 142 +f 133 135 143 +f 136 133 143 +f 135 140 143 +f 136 132 144 +f 142 136 144 +f 139 142 144 +f 134 129 145 +f 138 134 145 +f 129 139 146 +f 145 129 146 +f 138 145 146 +f 134 140 147 +f 140 135 147 +f 141 134 147 +f 135 141 147 +f 132 138 148 +f 144 132 148 +f 139 144 148 +f 138 146 148 +f 146 139 148 +f 131 136 149 +f 140 131 149 +f 136 143 149 +o convex_5 +v -0.580926 -1.878920 0.956629 +v 0.741325 -1.232472 -1.012468 +v 0.741325 -1.173648 -1.012468 +v -0.962914 -1.878920 -0.953508 +v -0.933703 -1.173648 0.927248 +v 1.005857 -1.878920 1.015588 +v 1.005857 -1.173648 1.015588 +v 1.035476 -1.878920 -1.012468 +v -0.962914 -1.173648 -0.953508 +v -1.051364 -1.878920 0.280676 +v 1.005857 -1.173648 -1.012468 +v -1.051364 -1.173648 -0.248175 +v -0.933703 -1.878920 0.927248 +v 1.035476 -1.173648 0.339437 +v 0.506412 -1.173648 1.015588 +v -1.051364 -1.291228 0.280676 +v 1.035476 -1.702585 0.545300 +v -1.051364 -1.761340 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b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf new file mode 100644 index 000000000..f2a20ed6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj new file mode 100644 index 000000000..26281cabc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj @@ -0,0 +1,984 @@ +o convex_0 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-1.921430 0.518900 +v 3.380368 -2.102583 -0.351538 +v 2.002051 -2.465401 -0.496781 +v 1.929489 -1.449819 0.337630 +v 2.691296 -1.558613 0.337630 +v 3.489123 -1.957738 0.373770 +v 2.727664 -2.102583 0.518900 +v 1.929489 -1.413512 -0.351538 +v 1.929489 -2.646937 0.011116 +f 269 280 299 +f 258 262 266 +f 260 259 267 +f 262 258 269 +f 259 260 270 +f 258 266 270 +f 266 259 270 +f 266 262 272 +f 269 258 276 +f 258 270 279 +f 273 262 280 +f 264 277 280 +f 277 273 280 +f 265 271 281 +f 271 274 281 +f 279 270 281 +f 274 279 281 +f 260 267 283 +f 261 271 283 +f 271 265 283 +f 265 281 283 +f 263 278 284 +f 278 273 284 +f 275 263 285 +f 271 268 286 +f 274 271 286 +f 258 279 286 +f 279 274 286 +f 269 276 287 +f 264 280 287 +f 280 269 287 +f 282 264 287 +f 268 282 287 +f 273 277 288 +f 277 284 288 +f 284 273 288 +f 277 261 289 +f 283 267 289 +f 261 283 289 +f 284 277 289 +f 261 277 290 +f 277 264 290 +f 264 282 290 +f 266 272 291 +f 275 266 291 +f 263 275 291 +f 272 278 291 +f 278 263 291 +f 271 261 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-0.133786 +v 3.380499 -0.034495 0.373770 +v 3.126494 0.328063 0.265122 +v 3.235256 -0.324669 0.265122 +v 1.965569 -0.687387 -0.496781 +v 1.892948 -0.179582 -0.605657 +v 2.763726 -0.034495 -0.533035 +v 3.199116 0.291791 -0.351538 +v 2.727586 -0.034495 0.482760 +v 3.344018 -0.107039 -0.387905 +v 3.380499 -0.397213 -0.025138 +v 1.892948 -0.107039 0.555381 +v 3.452780 0.001777 0.337630 +v 1.929429 0.690781 0.410251 +v 3.634505 0.038049 -0.061392 +v 1.929429 0.690781 -0.496781 +v 2.727586 0.038049 0.482760 +v 2.655135 0.110432 -0.533035 +v 1.929429 0.182976 -0.605657 +v 1.929429 -0.760091 -0.097646 +v 2.655135 0.400607 -0.460527 +f 333 331 336 +f 301 302 306 +f 304 300 306 +f 301 306 307 +f 306 300 307 +f 302 301 309 +f 300 304 313 +f 300 313 315 +f 313 310 315 +f 302 309 316 +f 307 305 318 +f 315 310 319 +f 317 315 319 +f 304 306 321 +f 320 304 321 +f 320 321 322 +f 321 311 322 +f 316 308 323 +f 300 315 324 +f 315 317 324 +f 308 303 325 +f 314 320 325 +f 320 322 325 +f 322 308 325 +f 303 310 326 +f 310 313 326 +f 320 314 326 +f 325 303 326 +f 314 325 326 +f 307 300 327 +f 312 307 327 +f 300 324 327 +f 324 312 327 +f 310 303 328 +f 305 317 328 +f 318 305 328 +f 309 318 328 +f 319 310 328 +f 317 319 328 +f 301 307 329 +f 309 301 329 +f 307 318 329 +f 318 309 329 +f 303 308 330 +f 308 316 330 +f 316 309 330 +f 328 303 330 +f 309 328 330 +f 306 302 331 +f 302 316 331 +f 316 323 331 +f 305 307 332 +f 307 312 332 +f 317 305 332 +f 312 324 332 +f 324 317 332 +f 308 322 333 +f 322 311 333 +f 331 333 334 +f 321 306 334 +f 311 321 334 +f 306 331 334 +f 333 311 334 +f 313 304 335 +f 304 320 335 +f 326 313 335 +f 320 326 335 +f 323 308 336 +f 331 323 336 +f 308 333 336 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf new file mode 100644 index 000000000..9fd00cdad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj new file mode 100644 index 000000000..dffca43a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj @@ -0,0 +1,333 @@ +o convex_0 +v 1.065701 -1.665167 0.839434 +v -1.095763 0.195554 -1.021627 +v -1.095763 0.195554 -0.991375 +v -1.035675 -3.196285 -0.631263 +v -1.065719 1.366813 1.049742 +v 1.035657 1.366813 -1.051671 +v 1.065489 -3.225624 -1.051671 +v -0.915500 -3.195827 1.049742 +v 0.975569 1.366813 1.079787 +v 1.065489 -3.316391 1.079787 +v -1.095763 1.366813 -1.021627 +v -1.035675 -3.196285 -1.021627 +v 1.065701 1.366813 -0.210855 +v 0.225108 -3.286135 1.079787 +v 0.015013 1.336558 -1.051671 +v -0.885456 -3.226082 -0.841363 +v -0.945544 -2.865307 1.049742 +v 1.065701 0.796082 -1.051671 +v 0.315028 1.366813 1.079787 +v -1.065719 -2.355545 -0.961331 +v -1.065719 1.096346 1.049742 +v 0.795306 -3.316391 0.749511 +v 1.035657 1.366813 0.509367 +v 0.675343 -3.225624 -1.051671 +v 1.065489 -3.255879 -0.751440 +v -0.825580 -3.226082 1.049742 +v 0.104933 -3.255879 1.079787 +v 1.005613 0.375712 1.079787 +v -0.975587 -3.195827 0.388982 +v -0.375134 -3.225624 -1.021627 +v -1.095763 1.366813 -0.781275 +v 1.065489 -2.715862 1.079787 +v 1.065489 -3.316391 0.689423 +v 0.765474 -3.316391 1.079787 +v 1.005613 1.336558 0.869478 +f 28 32 35 +f 6 5 9 +f 2 3 11 +f 5 6 11 +f 6 9 13 +f 10 9 14 +f 6 7 15 +f 2 11 15 +f 11 6 15 +f 12 2 15 +f 4 12 16 +f 1 7 18 +f 7 6 18 +f 13 1 18 +f 6 13 18 +f 9 5 19 +f 14 9 19 +f 3 2 20 +f 2 12 20 +f 12 4 20 +f 3 20 21 +f 20 4 21 +f 1 13 23 +f 13 9 23 +f 15 7 24 +f 12 15 24 +f 7 1 25 +f 24 7 25 +f 4 16 26 +f 16 14 26 +f 17 8 27 +f 19 5 27 +f 14 19 27 +f 5 21 27 +f 21 17 27 +f 8 26 27 +f 26 14 27 +f 9 10 28 +f 8 17 29 +f 21 4 29 +f 17 21 29 +f 4 26 29 +f 26 8 29 +f 16 12 30 +f 22 16 30 +f 12 24 30 +f 25 22 30 +f 24 25 30 +f 11 3 31 +f 5 11 31 +f 3 21 31 +f 21 5 31 +f 10 1 32 +f 1 23 32 +f 28 10 32 +f 1 10 33 +f 10 22 33 +f 25 1 33 +f 22 25 33 +f 10 14 34 +f 14 16 34 +f 22 10 34 +f 16 22 34 +f 23 9 35 +f 9 28 35 +f 32 23 35 +o convex_1 +v 2.836578 2.027174 0.299141 +v 1.876370 1.667069 -0.331178 +v 1.966346 1.426854 -0.301102 +v 1.095721 1.546992 0.359294 +v 1.095721 2.057224 -0.241085 +v 2.986998 1.426854 0.179106 +v 2.986998 1.937148 -0.331178 +v 1.095721 1.456966 -0.301102 +v 1.095721 2.027174 0.209115 +v 3.076777 1.426854 -0.301102 +v 3.107097 2.057224 0.269200 +v 1.395971 2.057224 -0.271093 +v 2.926751 1.426854 0.209115 +v 3.047048 1.997186 0.299141 +v 1.125845 1.456966 -0.150991 +v 1.095721 1.637080 0.359294 +v 2.836578 1.967136 -0.331178 +v 1.095721 2.057224 0.028994 +v 3.107097 2.057224 0.209115 +v 3.107097 1.577042 -0.150991 +v 1.335921 2.027174 0.239124 +v 1.125845 1.997186 -0.271093 +v 2.776725 1.426854 0.209115 +v 3.016924 1.667069 -0.331178 +v 2.416622 1.967136 -0.331178 +v 3.107097 1.937148 0.269200 +v 1.395971 1.517004 0.329217 +v 2.506402 2.057224 0.269200 +v 1.125845 1.667069 -0.301102 +v 1.155771 1.546992 0.359294 +f 62 48 65 +f 37 38 43 +f 39 40 43 +f 40 39 44 +f 38 37 45 +f 41 38 45 +f 40 46 47 +f 38 41 48 +f 46 36 49 +f 43 38 50 +f 39 43 50 +f 44 39 51 +f 49 36 51 +f 42 37 52 +f 40 44 53 +f 46 40 53 +f 47 46 54 +f 42 52 54 +f 52 47 54 +f 41 45 55 +f 45 42 55 +f 42 54 55 +f 54 46 55 +f 51 36 56 +f 44 51 56 +f 43 40 57 +f 40 47 57 +f 38 48 58 +f 50 38 58 +f 37 42 59 +f 45 37 59 +f 42 45 59 +f 52 37 60 +f 47 52 60 +f 57 47 60 +f 48 41 61 +f 46 49 61 +f 49 48 61 +f 41 55 61 +f 55 46 61 +f 39 50 62 +f 58 48 62 +f 50 58 62 +f 36 46 63 +f 53 44 63 +f 46 53 63 +f 56 36 63 +f 44 56 63 +f 37 43 64 +f 43 57 64 +f 60 37 64 +f 57 60 64 +f 48 49 65 +f 51 39 65 +f 49 51 65 +f 39 62 65 +o convex_2 +v -3.107153 1.396834 -0.301158 +v -1.095778 2.087306 0.269168 +v -1.095778 1.997144 0.299159 +v -3.077030 1.937195 0.299159 +v -2.987054 2.027221 -0.301158 +v -1.095778 1.456986 -0.271105 +v -1.095778 1.456986 0.329273 +v -1.095778 2.057230 -0.241114 +v -3.016980 1.456986 0.269168 +v -2.326505 1.396834 -0.301158 +v -2.206405 2.027221 -0.301158 +v -1.456077 2.087306 0.269168 +v -3.077030 1.396834 -0.121026 +v -1.756326 1.456986 0.329273 +v -1.125901 1.757074 0.329273 +v -2.987054 2.027221 -0.151017 +v -1.185951 1.426978 -0.271105 +v -1.125901 2.087306 0.028992 +v -2.806904 1.967203 0.299159 +v -3.107153 1.486995 -0.301158 +v -1.456077 2.027221 -0.271105 +v -3.046907 1.426978 0.119027 +f 79 74 87 +f 67 68 71 +f 71 68 72 +f 67 71 73 +f 66 70 75 +f 70 73 76 +f 75 70 76 +f 71 75 76 +f 68 67 77 +f 66 75 78 +f 75 72 78 +f 69 74 79 +f 72 68 80 +f 69 79 80 +f 79 72 80 +f 70 69 81 +f 77 70 81 +f 71 72 82 +f 75 71 82 +f 72 75 82 +f 67 73 83 +f 73 70 83 +f 77 67 83 +f 70 77 83 +f 68 77 84 +f 80 68 84 +f 69 80 84 +f 81 69 84 +f 77 81 84 +f 66 69 85 +f 70 66 85 +f 69 70 85 +f 73 71 86 +f 76 73 86 +f 71 76 86 +f 69 66 87 +f 74 69 87 +f 66 78 87 +f 78 72 87 +f 72 79 87 +o convex_3 +v 1.095672 1.967339 0.239179 +v -0.525392 2.657561 -1.051671 +v -1.095778 1.366957 -1.021627 +v -1.095778 2.717599 1.049742 +v -1.065531 1.366957 1.049742 +v 1.035608 1.366957 -1.051671 +v 0.945514 2.837676 1.079787 +v 0.975545 1.366957 1.079787 +v 1.035608 2.687508 -1.051671 +v -1.095778 2.687508 -1.021627 +v 1.095672 1.457086 -0.300779 +v 0.855419 2.837676 0.839434 +v 0.255001 2.807729 1.079787 +v 1.035608 2.717599 -0.841363 +v 1.095672 2.207203 -0.420955 +v -1.095778 1.457086 0.329103 +v 1.095672 1.547072 0.359147 +v 0.014963 1.366813 -1.051671 +v -1.095778 2.717599 0.299059 +v 0.645412 2.837676 1.019699 +v 0.315064 1.366813 1.079787 +v 0.975545 2.717599 0.959610 +v 1.005577 2.777637 -0.030591 +v 1.065640 2.537485 -0.871407 +v -1.095778 2.087415 1.049742 +v 1.035608 1.366957 0.509367 +v 0.975545 1.937392 1.079787 +v -0.735398 2.747690 1.049742 +f 107 106 115 +f 93 89 96 +f 89 90 97 +f 90 91 97 +f 96 89 97 +f 95 94 100 +f 96 97 101 +f 88 98 102 +f 91 90 103 +f 90 92 103 +f 98 88 104 +f 90 89 105 +f 92 90 105 +f 89 93 105 +f 97 91 106 +f 94 99 107 +f 99 97 107 +f 100 94 107 +f 97 106 107 +f 95 100 108 +f 92 105 108 +f 105 93 108 +f 88 102 109 +f 104 88 109 +f 99 94 110 +f 97 99 110 +f 101 97 110 +f 94 109 110 +f 109 102 110 +f 93 96 111 +f 98 93 111 +f 96 101 111 +f 102 98 111 +f 101 110 111 +f 110 102 111 +f 100 91 112 +f 91 103 112 +f 103 92 112 +f 92 108 112 +f 108 100 112 +f 93 98 113 +f 104 95 113 +f 98 104 113 +f 108 93 113 +f 95 108 113 +f 94 95 114 +f 95 104 114 +f 109 94 114 +f 104 109 114 +f 91 100 115 +f 106 91 115 +f 100 107 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf new file mode 100644 index 000000000..210f0e508 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj new file mode 100644 index 000000000..718270eea --- /dev/null +++ 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--git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf new file mode 100644 index 000000000..76e881355 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj new file mode 100644 index 000000000..19a9f1720 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf new file mode 100644 index 000000000..cd35d2464 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj new file mode 100644 index 000000000..ee8d76701 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj new file mode 100644 index 000000000..10aa3ff7d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj @@ -0,0 +1,591 @@ +o convex_0 +v -0.974809 -4.377235 -1.061039 +v 0.329653 0.017287 1.101607 +v 0.157804 0.017287 1.101607 +v -0.116424 -4.582907 1.101607 +v 1.050602 -4.582907 -1.095667 +v -0.974809 0.017287 -0.958015 +v -1.112246 -0.669657 1.066979 +v 0.981992 0.017287 -1.061254 +v 1.050602 -4.582907 1.101607 +v 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+f 194 176 202 +f 195 183 202 +f 181 192 203 +f 192 188 203 +f 200 181 203 +f 190 200 203 +f 188 202 203 +f 202 190 203 +f 188 192 204 +f 196 195 204 +f 192 196 204 +f 202 188 204 +f 195 202 204 +f 175 183 205 +f 191 175 205 +f 177 191 205 +f 195 177 205 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf new file mode 100644 index 000000000..450e6dbba --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj new file mode 100644 index 000000000..8e2ae656d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj @@ -0,0 +1,480 @@ +o convex_0 +v 1.065848 -0.279084 0.427557 +v -1.052736 -5.309954 -0.631354 +v -1.052736 -5.309954 0.919637 +v -1.052736 0.590693 -1.161114 +v 0.914461 -5.195999 -1.085347 +v -1.014785 0.590693 0.843870 +v 0.952204 -5.348327 0.919637 +v 0.914461 0.590693 -1.123027 +v 1.065848 0.590693 0.919434 +v -1.052736 -5.272163 -1.123027 +v 0.952204 -3.493655 -1.161114 +v 1.065848 -3.418073 0.805986 +v -1.052736 -2.926788 0.919637 +v -0.523090 -4.704715 -1.161114 +v 0.952204 -5.233790 -0.782685 +v 0.952204 0.552902 -1.009579 +v -0.031187 0.590693 -1.161114 +v -0.182366 -5.271582 -1.123027 +v 0.573945 0.552320 0.919637 +v 0.990154 -5.196581 0.919434 +v -1.052736 0.590693 -0.290808 +v 0.952204 -2.019220 -1.161114 +v 0.952204 -4.401804 -1.123027 +v 0.952204 -5.348327 0.616772 +v 0.044299 -5.348327 0.919637 +v -1.052736 -1.413981 0.881550 +v 1.065848 0.590693 0.465440 +v 0.990154 -2.472713 -0.706917 +v 0.914461 -5.233790 -1.009783 +v 1.065848 -3.418073 0.919434 +v -1.052736 -0.619786 -1.161114 +v 0.233429 -5.120417 -1.123027 +v 0.952204 -5.082626 -1.009783 +f 5 23 33 +f 2 3 4 +f 4 6 8 +f 8 6 9 +f 2 4 10 +f 1 9 12 +f 4 3 13 +f 3 7 13 +f 4 11 14 +f 4 8 17 +f 11 4 17 +f 2 10 18 +f 10 14 18 +f 9 6 19 +f 7 9 19 +f 6 13 19 +f 13 7 19 +f 15 12 20 +f 6 4 21 +f 4 13 21 +f 8 16 22 +f 17 8 22 +f 11 17 22 +f 2 18 24 +f 20 7 24 +f 15 20 24 +f 3 2 25 +f 7 3 25 +f 2 24 25 +f 24 7 25 +f 13 6 26 +f 6 21 26 +f 21 13 26 +f 8 9 27 +f 9 1 27 +f 16 8 27 +f 1 12 28 +f 11 22 28 +f 22 16 28 +f 23 11 28 +f 12 23 28 +f 27 1 28 +f 16 27 28 +f 5 15 29 +f 18 5 29 +f 24 18 29 +f 15 24 29 +f 9 7 30 +f 12 9 30 +f 7 20 30 +f 20 12 30 +f 10 4 31 +f 4 14 31 +f 14 10 31 +f 14 11 32 +f 5 18 32 +f 18 14 32 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-1.014786 2.709731 -2.787691 +v 1.027890 1.423597 -3.204034 +v 1.065840 2.369297 -1.161314 +v 0.952197 0.667123 -1.880216 +v 0.687375 2.823353 -3.128244 +f 99 117 121 +f 100 98 101 +f 96 97 104 +f 98 100 104 +f 102 96 104 +f 104 97 105 +f 98 104 106 +f 103 95 108 +f 104 100 109 +f 102 104 109 +f 103 97 111 +f 102 107 111 +f 111 107 112 +f 95 103 112 +f 107 99 112 +f 103 111 112 +f 104 105 113 +f 106 104 113 +f 107 102 114 +f 99 107 114 +f 102 109 114 +f 97 96 115 +f 96 102 115 +f 111 97 115 +f 102 111 115 +f 95 100 116 +f 100 101 116 +f 108 95 116 +f 101 110 116 +f 110 108 116 +f 109 100 117 +f 99 114 117 +f 114 109 117 +f 97 103 118 +f 105 97 118 +f 103 108 118 +f 110 105 118 +f 108 110 118 +f 101 98 119 +f 98 105 119 +f 110 101 119 +f 105 110 119 +f 105 98 120 +f 98 106 120 +f 113 105 120 +f 106 113 120 +f 100 95 121 +f 112 99 121 +f 95 112 121 +f 117 100 121 +o convex_5 +v 0.990042 2.823353 1.902577 +v -1.052522 0.591485 -1.161114 +v -1.052522 1.083256 -1.161114 +v -1.090538 0.818473 2.962557 +v 1.065645 0.591704 0.503532 +v -0.939118 2.709531 -1.161114 +v 1.065645 2.709531 -1.161114 +v -1.014720 2.747545 2.924614 +v 0.952241 0.705088 2.811189 +v 0.914439 0.591704 -1.123171 +v 0.990042 2.785121 2.811189 +v -1.090538 2.747545 0.692843 +v -1.014720 0.591485 0.844211 +v 0.309187 2.066362 2.962557 +v 1.103661 1.272449 -0.669067 +v 0.649615 2.823353 0.541474 +v 1.103661 2.255555 0.428453 +v -1.090538 2.369158 -0.669067 +v 1.065645 0.705088 1.372990 +v -0.749896 2.785121 2.659821 +v 0.952241 0.818473 -1.161114 +v -1.090538 1.310244 -0.631124 +v 0.346989 1.537232 2.962557 +v -0.712095 2.785121 0.768325 +v 0.498194 0.705088 2.848325 +v 1.065645 0.591704 0.919289 +v -1.052522 2.747545 2.470510 +v 1.065645 2.747326 -0.782492 +v 1.027843 2.066362 2.281199 +v 1.027843 2.823353 1.600244 +v -0.787697 0.780678 2.924614 +v 1.103661 2.331363 -0.706606 +v 1.103661 1.196859 0.352567 +v -0.560889 2.747326 -0.707010 +v 0.876423 0.818473 2.848325 +v 0.422592 2.823353 1.486415 +v -0.258263 2.785121 2.886268 +v 1.027843 2.823353 0.503532 +v 0.990042 1.083256 2.583935 +v 0.952241 0.591704 -0.971803 +v -0.296064 2.028785 2.962557 +v 1.065645 2.255555 -1.161114 +v 1.065645 1.272449 1.524358 +v -1.052522 2.369158 2.924614 +v -1.014720 2.747545 -0.177423 +f 145 155 166 +f 123 124 127 +f 123 127 128 +f 125 123 134 +f 123 126 134 +f 124 123 139 +f 127 124 139 +f 125 133 139 +f 123 128 142 +f 131 123 142 +f 123 125 143 +f 139 123 143 +f 125 139 143 +f 135 125 144 +f 132 135 144 +f 133 141 145 +f 134 126 147 +f 140 130 147 +f 146 134 147 +f 130 146 147 +f 129 141 148 +f 141 133 148 +f 128 127 149 +f 138 132 150 +f 122 132 151 +f 137 122 151 +f 132 138 151 +f 138 149 151 +f 125 134 152 +f 146 125 152 +f 134 146 152 +f 138 136 153 +f 128 149 153 +f 149 138 153 +f 126 136 154 +f 136 138 154 +f 147 126 154 +f 140 147 154 +f 145 137 155 +f 149 127 155 +f 130 132 156 +f 144 125 156 +f 132 144 156 +f 125 146 156 +f 146 130 156 +f 122 137 157 +f 141 122 157 +f 137 145 157 +f 145 141 157 +f 132 122 158 +f 129 135 158 +f 135 132 158 +f 122 141 158 +f 141 129 158 +f 137 151 159 +f 151 149 159 +f 155 137 159 +f 149 155 159 +f 132 130 160 +f 130 140 160 +f 150 132 160 +f 126 123 161 +f 123 131 161 +f 136 126 161 +f 131 142 161 +f 142 136 161 +f 129 125 162 +f 125 135 162 +f 135 129 162 +f 142 128 163 +f 136 142 163 +f 128 153 163 +f 153 136 163 +f 138 150 164 +f 154 138 164 +f 140 154 164 +f 160 140 164 +f 150 160 164 +f 125 129 165 +f 133 125 165 +f 129 148 165 +f 148 133 165 +f 127 139 166 +f 139 133 166 +f 133 145 166 +f 155 127 166 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf new file mode 100644 index 000000000..80485c321 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj new file mode 100644 index 000000000..277101aac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj @@ -0,0 +1,408 @@ +o convex_0 +v 1.105631 -0.335396 -0.118058 +v 3.016087 0.281910 -0.176852 +v 3.074982 -0.247175 0.234584 +v 1.164525 0.193629 0.205218 +v 3.045437 -0.335396 -0.265013 +v 1.076086 0.281910 -0.235646 +v 1.076086 -0.276602 0.322866 +v 2.957388 0.223056 0.293439 +v 3.074982 -0.335396 0.234584 +v 1.076086 -0.335396 -0.235646 +v 3.016087 0.281910 -0.294440 +v 2.281176 0.046674 -0.294440 +v 1.458607 0.281910 -0.059265 +v 1.076086 -0.159014 0.322866 +v 2.516363 0.252483 0.205218 +v 2.957388 -0.159014 -0.294440 +v 2.369224 -0.335396 0.234584 +v 1.076086 0.193629 0.175790 +v 1.575810 -0.159014 0.322866 +v 1.487761 -0.159014 -0.265013 +v 2.340070 0.281910 -0.294440 +v 2.751355 0.223056 0.293439 +v 2.046184 -0.335396 -0.265013 +f 20 12 23 +f 3 2 8 +f 1 5 9 +f 5 3 9 +f 3 8 9 +f 5 1 10 +f 1 7 10 +f 7 6 10 +f 2 3 11 +f 3 5 11 +f 6 2 11 +f 2 6 13 +f 6 7 14 +f 8 2 15 +f 2 13 15 +f 13 4 15 +f 11 5 16 +f 12 11 16 +f 7 1 17 +f 9 7 17 +f 1 9 17 +f 13 6 18 +f 4 13 18 +f 14 4 18 +f 6 14 18 +f 7 9 19 +f 9 8 19 +f 14 7 19 +f 8 14 19 +f 10 6 20 +f 6 11 21 +f 11 12 21 +f 20 6 21 +f 12 20 21 +f 4 14 22 +f 14 8 22 +f 8 15 22 +f 15 4 22 +f 5 10 23 +f 16 5 23 +f 12 16 23 +f 10 20 23 +o convex_1 +v -1.128580 0.340598 -0.147399 +v -3.068305 0.223108 -0.323836 +v -3.068305 0.311225 -0.323836 +v -3.009629 -0.276541 0.234659 +v -1.128580 -0.247106 -0.265002 +v -1.128580 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-2.576502 -3.092645 +v 0.314875 -1.961272 -3.051394 +v 1.175673 -0.444760 -2.969491 +v 1.175673 -2.576502 2.973564 +v 0.355856 -2.453413 2.932313 +v 1.175673 -0.485935 3.014814 +v 1.175673 -2.535328 -3.051394 +v 0.232911 -0.362629 -2.969491 +v 0.232911 -0.362629 3.014217 +v 0.232911 -2.576502 1.006097 +v 0.232911 -2.453413 -1.083927 +v 0.560857 -2.576502 2.973564 +v 1.175765 -0.444760 1.908226 +v 1.134691 -2.576502 -3.051394 +v 0.232911 -0.854769 3.014217 +v 0.396838 -2.207234 -3.092645 +v 0.396838 -0.362629 -1.616596 +v 0.806746 -2.494154 -3.092645 +v 0.396838 -2.576502 2.686604 +v 1.175673 -1.059774 3.014814 +v 0.232911 -0.485718 -2.969491 +v 0.273893 -1.182646 3.014217 +f 187 182 189 +f 167 175 176 +f 176 175 177 +f 168 171 177 +f 169 168 178 +f 177 175 178 +f 168 177 178 +f 177 171 179 +f 174 170 180 +f 171 174 180 +f 167 176 180 +f 176 173 180 +f 171 168 181 +f 174 171 181 +f 173 176 182 +f 176 177 182 +f 177 172 182 +f 168 175 183 +f 175 170 183 +f 170 175 184 +f 175 167 184 +f 167 180 184 +f 180 170 184 +f 170 174 185 +f 181 168 185 +f 174 181 185 +f 168 183 185 +f 183 170 185 +f 172 177 186 +f 179 172 186 +f 177 179 186 +f 171 180 187 +f 180 173 187 +f 173 182 187 +f 168 169 188 +f 175 168 188 +f 169 178 188 +f 178 175 188 +f 179 171 189 +f 172 179 189 +f 182 172 189 +f 171 187 189 +o convex_7 +v 2.446692 -0.526716 -1.452448 +v 2.364586 -2.617500 1.621013 +v 2.405639 -2.617500 1.621013 +v 2.323657 -0.403626 3.014562 +v 1.175781 -2.535368 -3.051651 +v 1.175781 -0.485758 3.014562 +v 1.175781 -2.576326 2.973311 +v 1.175781 -0.444801 -2.969151 +v 2.282604 -2.535151 -3.010401 +v 2.446692 -0.403626 -3.010401 +v 2.446692 -2.617500 3.055812 +v 2.446692 -1.592261 -0.878528 +v 1.954550 -0.403626 2.727602 +v 1.585817 -2.617500 2.194933 +v 2.446692 -1.059814 0.678230 +v 2.323657 -2.371105 -2.805344 +v 1.175781 -0.444801 2.031126 +v 1.790710 -0.403626 -2.969151 +v 2.446692 -2.617500 2.399990 +v 2.446692 -0.731720 -3.010401 +v 2.446692 -2.330364 3.055812 +v 1.421852 -2.576326 3.014562 +v 2.364586 -0.567673 2.399990 +v 2.282604 -2.576326 -1.165488 +v 1.667923 -2.535151 -3.051651 +v 1.175781 -2.166317 -3.051651 +v 1.175781 -2.576326 1.210899 +v 2.241675 -2.617500 3.055812 +v 2.446692 -0.403626 -1.985715 +v 1.749781 -2.617500 3.014562 +f 217 211 219 +f 195 194 196 +f 194 195 197 +f 191 192 200 +f 199 190 200 +f 199 200 201 +f 195 193 202 +f 193 199 202 +f 191 200 203 +f 200 190 204 +f 197 195 206 +f 195 202 206 +f 206 202 207 +f 199 197 207 +f 202 199 207 +f 197 206 207 +f 192 198 208 +f 200 192 208 +f 201 200 208 +f 198 205 208 +f 205 201 208 +f 199 201 209 +f 205 198 209 +f 201 205 209 +f 193 195 210 +f 200 204 210 +f 195 196 211 +f 204 190 212 +f 193 210 212 +f 210 204 212 +f 192 191 213 +f 198 192 213 +f 191 203 213 +f 203 194 213 +f 209 198 214 +f 199 209 214 +f 198 213 214 +f 213 194 214 +f 194 197 215 +f 197 199 215 +f 214 194 215 +f 199 214 215 +f 196 194 216 +f 194 203 216 +f 203 196 216 +f 203 200 217 +f 210 195 217 +f 200 210 217 +f 195 211 217 +f 190 199 218 +f 199 193 218 +f 212 190 218 +f 193 212 218 +f 196 203 219 +f 211 196 219 +f 203 217 219 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf new file mode 100644 index 000000000..992c450db --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj new file mode 100644 index 000000000..ff183d743 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj @@ -0,0 +1,282 @@ +o convex_0 +v 1.106138 -2.907067 0.844220 +v -1.017127 0.800315 0.365616 +v -1.017127 0.800315 0.425467 +v 1.076210 2.415209 -1.009720 +v -0.957270 -3.475114 -1.039438 +v 0.986424 2.445360 0.963715 +v -0.927341 -3.595115 1.053284 +v -0.987198 2.444757 -1.069156 +v 0.956496 -3.504662 -1.009720 +v -1.017127 2.505059 0.963715 +v 1.106138 -3.625267 0.993848 +v 0.597561 2.535210 -0.620894 +v 0.687347 1.428664 0.993640 +v -0.987198 -2.578420 -0.740389 +v -0.568406 1.218812 -1.069156 +v 0.986424 -3.535416 -0.770315 +v -1.017127 1.727160 0.993848 +v 1.016353 2.414606 0.754443 +v -0.568406 -3.625267 0.993640 +v 0.448126 2.535210 0.575096 +v -0.508757 2.535210 -0.560834 +v 1.076210 1.697612 -1.009720 +v 0.597561 -3.535416 1.023774 +v 0.507983 2.445360 -1.039646 +v 1.076210 2.415209 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4.448875 0.036816 +v -0.448881 2.595287 0.515394 +v -0.478692 3.312961 -0.591088 +v 0.507981 4.239659 0.455457 +v -0.060107 4.508955 0.335813 +v 0.507981 4.479012 -0.411507 +v 0.478059 2.714867 -0.501241 +v 0.478059 4.448875 -0.471329 +v -0.508615 2.535594 0.066728 +v 0.597750 4.389182 -0.202130 +v 0.448136 4.448875 0.425546 +v -0.299267 4.478819 0.455572 +v 0.537904 4.389182 0.306016 +v -0.508615 3.283018 0.485483 +v -0.538649 4.478819 0.186372 +v -0.060107 4.508955 -0.351685 +v -0.329301 4.060192 0.485483 +v -0.359112 2.535594 -0.561177 +v 0.567827 3.970555 -0.471329 +v 0.478059 3.193188 0.515280 +f 86 89 96 +f 68 62 71 +f 63 64 72 +f 67 72 73 +f 68 74 75 +f 72 64 78 +f 69 72 78 +f 62 68 79 +f 73 62 79 +f 75 67 79 +f 68 75 79 +f 63 72 80 +f 74 65 81 +f 77 66 82 +f 72 67 83 +f 76 72 83 +f 67 75 84 +f 82 66 84 +f 75 82 84 +f 72 69 85 +f 62 73 85 +f 73 72 85 +f 76 66 86 +f 72 76 86 +f 66 77 86 +f 70 77 87 +f 80 70 87 +f 81 65 87 +f 77 82 87 +f 82 81 87 +f 65 71 88 +f 63 80 88 +f 87 65 88 +f 80 87 88 +f 77 70 89 +f 70 80 89 +f 86 77 89 +f 71 62 90 +f 78 71 90 +f 69 78 90 +f 62 85 90 +f 85 69 90 +f 68 71 91 +f 71 65 91 +f 65 74 91 +f 74 68 91 +f 75 74 92 +f 74 81 92 +f 81 82 92 +f 82 75 92 +f 64 63 93 +f 78 64 93 +f 71 78 93 +f 63 88 93 +f 88 71 93 +f 67 73 94 +f 73 79 94 +f 79 67 94 +f 66 76 95 +f 83 67 95 +f 76 83 95 +f 84 66 95 +f 67 84 95 +f 80 72 96 +f 72 86 96 +f 89 80 96 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf new file mode 100644 index 000000000..2e4846dbb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj new file mode 100644 index 000000000..fd556c11c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj @@ -0,0 +1,861 @@ +o convex_0 +v 0.903856 -0.716810 -1.243823 +v 0.066665 -0.362383 0.784768 +v -0.029842 -0.362383 0.784768 +v 0.034297 -3.936735 -0.310538 +v -0.867033 -0.362383 -1.243823 +v 0.903856 -0.362383 0.623484 +v -0.738357 -1.940332 0.430238 +v -0.545144 -3.066939 -0.953954 +v 0.613937 -3.066939 0.204784 +v 0.066665 -0.362383 -1.726938 +v 0.453091 -3.163855 -0.986162 +v -0.834864 -0.362383 0.655692 +v 0.002327 -3.388826 0.430238 +v -0.738357 -3.453554 -0.342500 +v 0.807150 -3.324449 -0.374462 +v -0.963540 -2.101276 -0.406670 +v 0.002327 -3.453554 -1.114992 +v 1.032532 -0.362383 -0.567462 +v 1.032532 -2.004710 -0.310292 +v -0.738357 -1.972521 -1.146954 +v -0.995710 -0.362383 -0.310292 +v 0.807150 -1.972171 -1.114747 +v 0.002327 -2.101626 0.655938 +v 0.807150 -1.747200 0.462446 +v 0.903856 -0.362383 -1.340200 +v -0.545144 -3.099127 0.205030 +v -0.029842 -0.394922 -1.726938 +v 0.742812 -0.427111 0.720353 +v 0.710643 -3.485742 -0.310292 +v 0.098834 -3.421365 -1.114992 +v -0.963540 -2.004710 -0.278085 +v 0.098834 -3.421365 0.398030 +v -0.834864 -0.523677 -1.307993 +v 1.032532 -0.362383 -0.149254 +v -0.738357 -3.453554 -0.406670 +v 1.032532 -1.972171 -0.406670 +v 0.034297 -3.936735 -0.407161 +v 0.807150 -3.324449 -0.310292 +v 0.613937 -3.066939 -0.889539 +v 0.002327 -3.485392 0.365823 +v 0.710643 -3.485742 -0.374462 +v 0.002327 -3.356987 -1.147200 +v 0.195341 -1.650633 0.687899 +v -0.512776 -0.877753 0.687899 +v -0.867033 -0.394922 0.559069 +v 0.807150 -1.843766 -1.146954 +v -0.963540 -1.747200 -0.535254 +v 0.968194 -0.910292 0.269200 +v 0.066665 -0.394922 -1.726938 +v 0.839518 -0.459299 -1.372654 +v 0.807150 -1.940332 0.398276 +v 0.066665 -3.002561 0.494653 +v 0.968194 -0.878103 -0.985916 +v -0.480607 -3.646686 -0.342746 +v -0.995710 -0.684621 -0.374462 +v -0.158717 -3.839469 -0.407161 +v -0.963540 -1.715011 -0.181462 +v 0.871687 -0.555866 0.655692 +v 0.710643 -2.358436 0.366069 +v 1.032532 -1.779738 -0.213669 +v 0.066665 -3.485392 0.365823 +v 0.002327 -1.779388 0.687899 +v -0.802695 -0.362383 -1.340200 +v -0.673820 -3.517581 -0.406670 +f 56 54 64 +f 3 2 5 +f 5 2 6 +f 5 6 10 +f 3 5 12 +f 10 6 18 +f 12 5 21 +f 7 13 23 +f 10 18 25 +f 1 22 25 +f 13 7 26 +f 7 14 26 +f 6 2 28 +f 22 11 30 +f 14 7 31 +f 16 14 31 +f 29 9 32 +f 27 20 33 +f 18 6 34 +f 19 18 34 +f 14 16 35 +f 8 17 35 +f 20 8 35 +f 16 20 35 +f 19 15 36 +f 18 19 36 +f 22 1 36 +f 15 22 36 +f 29 4 37 +f 17 30 37 +f 15 19 38 +f 9 29 38 +f 29 15 38 +f 11 22 39 +f 22 15 39 +f 13 26 40 +f 26 14 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b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj new file mode 100644 index 000000000..b38c0bbea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj @@ -0,0 +1,549 @@ +o convex_0 +v 0.423563 1.765383 -1.021526 +v 1.348137 -3.088143 1.097404 +v 1.309669 -3.088143 1.097404 +v 1.348137 -4.205282 -1.098699 +v -0.578138 -4.243659 1.020231 +v 1.271009 1.843337 1.020231 +v -0.578138 1.727605 -1.060005 +v -0.578138 -4.243659 -0.982832 +v -0.578138 1.727605 0.943058 +v 1.386797 1.803760 -0.944568 +v 1.386797 -4.282636 1.097404 +v 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+v -3.082282 -1.616660 1.971046 +v -3.113846 -1.055030 1.565416 +v -0.554598 -1.554243 1.565416 +v -2.988840 -1.647965 1.565416 +v -0.835675 -1.117448 2.064677 +v -2.052420 -1.616660 1.971046 +v -1.678403 -0.992612 2.033467 +v -2.583008 -1.055030 1.565416 +v -3.051218 -1.023853 1.690257 +v -0.554598 -1.585484 1.721467 +v -2.551944 -1.491825 2.002256 +v -0.835675 -1.273524 1.534153 +v -0.554598 -1.523066 1.971046 +f 112 104 119 +f 103 102 104 +f 103 104 105 +f 101 107 108 +f 107 106 108 +f 105 104 109 +f 107 101 110 +f 101 108 110 +f 107 110 112 +f 110 104 112 +f 102 103 113 +f 111 102 113 +f 103 105 114 +f 105 108 114 +f 114 108 115 +f 108 106 115 +f 113 103 115 +f 106 113 115 +f 103 114 115 +f 109 104 116 +f 110 109 116 +f 104 110 116 +f 106 107 117 +f 107 112 117 +f 112 111 117 +f 113 106 117 +f 111 113 117 +f 108 105 118 +f 105 109 118 +f 109 110 118 +f 110 108 118 +f 104 102 119 +f 102 111 119 +f 111 112 119 +o convex_5 +v -0.554598 -0.992588 2.064503 +v 0.444131 -1.960069 2.376600 +v 0.506490 -1.960069 2.376600 +v 0.350428 -1.866248 0.816517 +v 0.475255 -0.805286 1.565510 +v -0.523254 -1.803965 0.816517 +v -0.492020 -1.928758 2.719948 +v 0.475255 -0.805286 2.719948 +v -0.336068 -0.899107 0.816517 +v -0.460895 -0.930192 2.750996 +v 0.506490 -1.960069 2.876198 +v 0.444131 -0.805286 0.816517 +v 0.537724 -1.866248 0.816517 +v 0.568959 -1.023899 2.033253 +v -0.460895 -0.992588 0.816517 +v -0.554598 -1.647748 1.222364 +v 0.568959 -1.554154 1.970954 +v 0.568959 -1.180003 1.440711 +v 0.350428 -0.805286 2.719948 +v -0.367192 -1.023899 2.782246 +v -0.492020 -1.928758 2.532649 +v -0.554598 -1.585352 1.939704 +v 0.007180 -1.960069 2.813496 +v 0.506490 -0.836597 2.657447 +v 0.319194 -0.805286 0.816517 +v -0.554598 -1.148692 1.534462 +v -0.398427 -1.835163 0.972566 +v 0.506490 -1.647748 2.844746 +v -0.429551 -0.930192 0.816517 +f 128 134 148 +f 122 121 123 +f 123 125 128 +f 120 126 129 +f 121 122 130 +f 127 124 131 +f 123 128 131 +f 122 123 132 +f 130 122 132 +f 123 131 132 +f 131 124 133 +f 128 125 134 +f 125 126 135 +f 130 132 136 +f 133 130 136 +f 133 136 137 +f 132 131 137 +f 131 133 137 +f 136 132 137 +f 128 129 138 +f 127 131 138 +f 129 126 139 +f 127 138 139 +f 138 129 139 +f 123 121 140 +f 126 125 140 +f 126 120 141 +f 120 135 141 +f 135 126 141 +f 121 130 142 +f 139 126 142 +f 130 139 142 +f 140 121 142 +f 126 140 142 +f 124 127 143 +f 133 124 143 +f 131 128 144 +f 128 138 144 +f 138 131 144 +f 120 134 145 +f 134 125 145 +f 135 120 145 +f 125 135 145 +f 125 123 146 +f 123 140 146 +f 140 125 146 +f 130 133 147 +f 139 130 147 +f 127 139 147 +f 143 127 147 +f 133 143 147 +f 129 128 148 +f 120 129 148 +f 134 120 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf new file mode 100644 index 000000000..ef5ab18b6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj new file mode 100644 index 000000000..7c0066278 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj @@ -0,0 +1,525 @@ +o convex_0 +v -0.466413 -3.647284 -0.025892 +v 0.949733 0.822086 1.484862 +v 0.981199 0.381099 1.201250 +v -1.064464 0.822086 -0.561013 +v 1.075807 0.821649 -0.592478 +v -1.032999 -3.616222 1.358789 +v 0.981199 -3.521725 1.390254 +v -1.064464 0.822086 1.453184 +v 1.012664 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+f 32 4 42 +f 6 23 43 +f 28 6 43 +f 23 28 43 +f 21 4 44 +f 10 21 44 +f 4 32 44 +f 42 10 44 +f 32 42 44 +f 12 7 45 +f 7 19 45 +f 19 12 45 +f 2 3 46 +f 11 2 46 +f 5 11 46 +f 15 5 46 +f 3 33 46 +o convex_1 +v -0.592502 0.885091 -4.684731 +v 0.540689 1.860770 -4.149305 +v 0.540689 1.797766 -4.149305 +v -0.592502 1.860770 -2.764978 +v 0.477685 0.885201 -2.764978 +v -0.592502 0.822086 -2.764978 +v -0.497995 1.923774 -4.527054 +v 0.509187 0.916593 -4.621585 +v 0.446182 1.955277 -2.764978 +v 0.477685 1.860770 -4.684731 +v 0.509187 0.885201 -4.180878 +v -0.592502 1.892161 -3.142539 +v 0.540689 1.199890 -4.652970 +v 0.477685 1.955277 -3.016623 +v -0.592502 1.136997 -4.652970 +v 0.162774 1.955277 -2.764978 +v 0.036987 0.885091 -4.652970 +v -0.246089 1.923774 -4.558627 +v 0.540689 1.577473 -4.684731 +v 0.509187 0.885201 -3.520288 +v -0.529386 0.822086 -2.922279 +v -0.529386 1.923774 -3.866087 +v -0.592502 1.892161 -2.796363 +v 0.477685 1.955277 -3.174112 +v 0.477685 1.451575 -2.764978 +v 0.540689 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-0.687087 +v -0.623883 1.860650 -2.449803 +v 0.446171 1.986739 -2.701358 +v 0.540649 0.916565 -0.844486 +v -0.592391 1.042536 -1.064928 +v 0.572142 1.074029 -0.813169 +v -0.592391 1.892143 -2.575682 +v -0.560898 1.671810 -0.687087 +v 0.477663 1.420217 -2.764602 +v -0.309072 2.018232 -0.750128 +v -0.560898 0.822203 -2.512437 +v 0.477663 0.885072 -1.725845 +v 0.509156 1.923753 -1.033407 +v -0.623883 1.608941 -2.575682 +v -0.246204 2.018232 -1.222327 +v 0.477663 1.923753 -0.687087 +v 0.446171 1.986739 -2.355241 +v 0.383302 1.986739 -2.701358 +v 0.131359 0.916682 -0.687087 +v 0.509156 0.885072 -2.166320 +v -0.560898 0.948175 -0.876007 +v -0.560898 1.986622 -1.190807 +f 98 90 105 +f 78 77 79 +f 76 75 80 +f 80 75 81 +f 76 80 82 +f 78 79 83 +f 77 78 84 +f 83 79 89 +f 81 85 90 +f 84 78 91 +f 88 84 91 +f 85 88 91 +f 82 80 92 +f 80 89 92 +f 75 76 94 +f 87 94 95 +f 94 76 95 +f 80 86 96 +f 89 80 96 +f 83 89 96 +f 81 75 97 +f 85 81 97 +f 75 88 97 +f 88 85 97 +f 78 93 98 +f 78 83 99 +f 74 93 99 +f 93 78 99 +f 83 96 99 +f 99 96 100 +f 93 74 100 +f 96 86 100 +f 86 98 100 +f 98 93 100 +f 74 99 100 +f 80 81 101 +f 86 80 101 +f 81 90 101 +f 90 98 101 +f 98 86 101 +f 79 77 102 +f 87 79 102 +f 77 94 102 +f 94 87 102 +f 76 82 103 +f 79 87 103 +f 89 79 103 +f 82 92 103 +f 92 89 103 +f 87 95 103 +f 95 76 103 +f 77 84 104 +f 88 75 104 +f 84 88 104 +f 75 94 104 +f 94 77 104 +f 90 85 105 +f 91 78 105 +f 85 91 105 +f 78 98 105 +o convex_3 +v -0.844213 2.395789 -0.340698 +v 1.075758 1.451920 -0.120485 +v 1.075758 0.822086 -0.120485 +v -1.096142 2.364386 1.484850 +v -1.064465 0.822246 -0.561127 +v 0.949687 0.822086 1.484634 +v 0.949687 2.458917 1.484634 +v 1.075758 2.364225 -0.623891 +v -1.064465 0.822246 1.453360 +v 1.075758 0.822086 -0.592401 +v -1.064465 2.332982 -0.529637 +v -0.592498 0.822246 -0.687086 +v -0.403498 2.458917 0.005474 +v -0.529569 2.017985 -0.687086 +v -0.434963 0.948181 1.516339 +v 0.572113 0.948021 -0.687086 +v 0.792365 2.458917 1.516339 +v -1.096142 0.822246 0.666330 +v -0.434963 2.458917 0.886758 +v 1.075758 2.395950 -0.309208 +v 1.012616 2.301258 -0.655597 +v -1.096142 2.364386 0.445685 +v 0.477507 0.853650 1.516339 +v -0.025712 2.458917 -0.026016 +v -0.592498 1.892211 1.516339 +v -1.096142 0.979585 1.453360 +v -0.970071 2.395789 1.358890 +v 0.477507 1.923774 -0.687086 +v 0.949687 2.207047 1.516339 +v 0.697971 2.395950 -0.529422 +v -0.498104 2.364386 -0.561127 +v 0.981152 0.822086 1.169951 +v 1.075758 1.073956 -0.623891 +v 1.075758 2.395950 -0.183249 +v -1.096142 1.797680 1.484850 +v -0.970071 0.948181 -0.592617 +v 0.572113 2.364225 -0.623891 +v -1.033000 2.364386 -0.498147 +v 0.949687 2.458917 1.358675 +f 125 129 144 +f 107 108 113 +f 108 111 115 +f 111 110 115 +f 113 108 115 +f 115 110 117 +f 115 117 121 +f 117 119 121 +f 112 118 122 +f 110 111 123 +f 111 114 123 +f 122 118 124 +f 107 113 125 +f 116 110 127 +f 110 123 127 +f 123 109 127 +f 114 111 128 +f 120 114 128 +f 122 120 128 +f 118 112 129 +f 122 109 130 +f 120 122 130 +f 109 123 131 +f 123 114 131 +f 118 106 132 +f 109 122 132 +f 124 118 132 +f 122 124 132 +f 127 109 132 +f 121 119 133 +f 119 126 133 +f 126 121 133 +f 112 122 134 +f 128 111 134 +f 122 128 134 +f 106 118 135 +f 125 113 135 +f 118 129 135 +f 129 125 135 +f 119 116 136 +f 108 107 137 +f 111 108 137 +f 107 134 137 +f 134 111 137 +f 113 115 138 +f 115 121 138 +f 126 113 138 +f 121 126 138 +f 107 125 139 +f 125 112 139 +f 134 107 139 +f 112 134 139 +f 114 120 140 +f 130 109 140 +f 120 130 140 +f 109 131 140 +f 131 114 140 +f 110 116 141 +f 117 110 141 +f 116 119 141 +f 119 117 141 +f 113 126 142 +f 126 119 142 +f 135 113 142 +f 119 136 142 +f 136 135 142 +f 116 127 143 +f 132 106 143 +f 127 132 143 +f 106 135 143 +f 136 116 143 +f 135 136 143 +f 112 125 144 +f 129 112 144 +o convex_4 +v -0.340543 1.923645 1.579427 +v 0.603629 1.420214 3.436335 +v 0.603629 0.948172 3.436335 +v -0.529445 1.545989 3.404889 +v -0.434937 0.948172 1.516340 +v 0.477656 1.986643 1.516340 +v 0.477656 0.853675 1.516340 +v -0.466516 0.885174 3.373442 +v 0.572050 1.923645 3.373442 +v -0.561024 1.860647 2.806819 +v -0.561024 1.797760 1.516340 +v -0.497981 1.829259 3.436335 +v 0.068385 1.703373 3.499423 +v 0.603629 0.916673 2.995693 +v 0.509120 1.923645 1.579427 +v 0.477656 1.986643 2.083157 +v 0.036921 0.853675 2.240390 +v 0.603629 1.766261 3.404889 +v 0.509120 0.853675 1.642320 +v -0.561024 1.892146 1.516340 +v 0.225823 1.388826 3.499423 +v 0.383261 1.734762 3.499423 +v -0.309078 1.860647 3.373442 +v 0.225823 1.986643 1.579427 +v -0.340543 0.916673 1.705214 +v -0.277613 1.608876 3.467782 +v 0.320332 0.916673 3.404889 +v -0.561024 1.797760 2.995499 +v 0.572050 1.892146 3.436335 +v -0.466516 0.885174 3.184567 +v 0.288753 1.074057 3.467782 +v 0.603629 1.199943 2.995693 +v 0.288753 0.853675 1.547980 +v 0.572050 1.923645 2.838072 +v 0.509120 0.853675 1.799942 +v -0.309078 0.885174 3.373442 +f 161 179 180 +f 149 150 151 +f 150 149 155 +f 148 152 156 +f 146 147 158 +f 151 150 159 +f 153 150 160 +f 146 158 162 +f 151 159 163 +f 159 158 163 +f 161 151 163 +f 154 145 164 +f 150 155 164 +f 155 154 164 +f 157 165 166 +f 147 146 166 +f 156 157 166 +f 165 147 166 +f 156 153 167 +f 154 156 167 +f 153 160 167 +f 167 160 168 +f 145 154 168 +f 160 150 168 +f 164 145 168 +f 150 164 168 +f 154 167 168 +f 156 152 170 +f 157 156 170 +f 152 165 170 +f 165 157 170 +f 147 152 171 +f 158 147 171 +f 152 148 172 +f 155 152 172 +f 154 155 172 +f 148 156 172 +f 156 154 172 +f 153 156 173 +f 146 162 173 +f 162 153 173 +f 166 146 173 +f 156 166 173 +f 155 149 174 +f 152 155 174 +f 161 152 174 +f 149 169 174 +f 169 161 174 +f 152 147 175 +f 147 165 175 +f 165 152 175 +f 158 159 176 +f 162 158 176 +f 149 151 177 +f 151 161 177 +f 169 149 177 +f 161 169 177 +f 150 153 178 +f 159 150 178 +f 153 162 178 +f 176 159 178 +f 162 176 178 +f 163 158 179 +f 161 163 179 +f 158 171 179 +f 179 171 180 +f 152 161 180 +f 171 152 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf new file mode 100644 index 000000000..0d4192c21 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj new file mode 100644 index 000000000..c4762fc0d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj @@ -0,0 +1,639 @@ +o convex_0 +v 0.021320 -0.753190 -1.812783 +v 0.021320 0.389939 0.721367 +v -0.060393 0.389939 0.721367 +v 0.021320 2.896721 -0.777145 +v 1.029506 0.009668 -0.505027 +v -0.768768 -2.197295 -0.450454 +v 0.729695 -2.034073 0.121565 +v -0.741531 2.134442 -0.559351 +v 0.702457 1.998424 0.285282 +v 0.729695 -1.979666 -1.349413 +v 0.675220 1.916234 -1.294840 +v -0.632580 1.861827 -1.349413 +v -0.659818 1.997845 0.203424 +v -0.714293 -1.870273 0.230710 +v -0.687055 -1.951884 -1.294840 +v 0.048557 -2.933528 -0.505027 +v -0.986866 0.090700 -0.640962 +v -0.005918 2.651888 0.257996 +v -0.005918 -2.633710 0.203424 +v 0.266458 0.499333 -1.812783 +v 0.947596 -0.044739 0.257996 +v -0.005918 -2.606506 -1.322127 +v -0.904956 0.172311 0.203424 +v 0.920358 0.090700 -1.322127 +v -0.360007 0.063496 -1.812783 +v -0.033155 2.651888 -1.294840 +v 0.266458 -0.207961 0.721367 +v -0.877719 0.199514 -1.294840 +v 0.756933 2.216052 -0.532313 +v 0.811408 -2.197295 -0.532313 +v -0.251056 0.009668 0.721367 +v 0.402646 -0.071943 -1.812783 +v -0.005918 2.978910 -0.450454 +v 0.729695 -1.951884 0.230710 +v -0.714293 2.298242 -0.559351 +v -0.278294 0.472129 -1.812783 +v 0.538834 1.234987 0.503077 +v -0.441720 1.289973 0.476038 +v -0.659818 2.025627 -1.294840 +v -0.033155 -2.933528 -0.586390 +v -0.169344 -0.235743 0.721367 +v -0.251056 -0.562765 -1.812783 +v -0.904956 -0.126929 0.203424 +v 0.702457 -0.017536 0.476038 +v 0.348171 -0.589390 -1.812783 +v 0.756933 -1.897477 -1.349413 +v 0.048557 1.779637 0.476038 +v -0.768768 -2.170091 -0.668000 +v -0.877719 -0.154132 -1.294840 +v 0.348171 2.324867 -1.294840 +v -0.986866 0.036293 -0.396130 +v 0.048557 2.979489 -0.450454 +v 0.075795 -2.605927 -1.322127 +v 0.729695 -2.306109 -0.586390 +v -0.741531 -2.006870 0.039954 +v -0.632580 -0.044739 0.448752 +v 0.075795 2.651888 0.257996 +v -0.005918 -2.442127 0.257996 +v 0.920358 -0.126350 -1.322127 +v 0.293696 0.117325 0.721367 +v 0.566269 -1.325623 0.421218 +v -0.060393 0.608147 -1.812783 +v 1.029506 -0.017536 -0.559103 +v 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126 +f 98 75 126 +f 69 78 127 +f 78 111 127 +f 112 69 127 +f 111 112 127 +f 66 82 128 +f 82 102 128 +f 102 94 128 +f 113 66 128 +o convex_2 +v 0.266520 0.336247 2.165589 +v -0.305667 -0.072199 2.083890 +v -0.305667 -0.072199 2.247328 +v 0.075791 -0.562871 2.056564 +v 0.075791 -0.017754 2.465298 +v -0.033162 0.581583 2.056564 +v 0.293758 -0.344757 2.056564 +v -0.251130 -0.044977 2.437972 +v -0.223891 -0.453758 2.056564 +v 0.021314 0.200024 2.437972 +v -0.251130 0.390803 2.056564 +v 0.212044 -0.017754 2.410765 +v 0.266520 0.472582 2.056564 +v -0.087639 -0.208422 2.410765 +v 0.321058 0.063800 2.165589 +v -0.196653 0.145579 2.383519 +v 0.266520 -0.426424 2.083890 +v -0.005924 -0.208422 2.410765 +v -0.033162 0.581583 2.083890 +v -0.005924 -0.562871 2.083890 +v 0.239282 0.499804 2.083890 +v 0.157506 0.145579 2.410765 +v -0.060400 0.200024 2.437972 +v -0.278368 -0.017754 2.410765 +v -0.223891 -0.453758 2.083890 +v 0.321058 0.172801 2.056564 +f 141 143 154 +f 132 134 135 +f 131 130 137 +f 134 132 137 +f 130 131 139 +f 137 130 139 +f 134 137 139 +f 135 134 141 +f 133 136 142 +f 129 140 143 +f 140 135 143 +f 141 129 143 +f 132 135 145 +f 135 140 145 +f 140 133 146 +f 133 142 146 +f 132 145 146 +f 145 140 146 +f 134 139 147 +f 139 144 147 +f 137 132 148 +f 146 142 148 +f 132 146 148 +f 129 141 149 +f 141 134 149 +f 134 147 149 +f 147 138 149 +f 138 133 150 +f 133 140 150 +f 140 129 150 +f 129 149 150 +f 149 138 150 +f 136 133 151 +f 133 138 151 +f 138 147 151 +f 147 144 151 +f 139 131 152 +f 144 139 152 +f 136 151 152 +f 151 144 152 +f 131 137 153 +f 142 136 153 +f 137 148 153 +f 148 142 153 +f 152 131 153 +f 136 152 153 +f 135 141 154 +f 143 135 154 +o convex_3 +v -0.142174 0.227262 -2.548600 +v -0.005929 -0.317631 -2.739359 +v 0.021224 -0.317631 -2.739359 +v -0.033135 -0.017906 -3.529369 +v 0.266560 0.036594 -2.548600 +v -0.251159 -0.181296 -2.548600 +v 0.211988 -0.045129 -3.311346 +v -0.060395 0.172817 -3.311346 +v -0.251159 -0.045129 -3.175117 +v -0.033135 -0.263131 -3.284177 +v 0.239300 -0.235852 -2.548600 +v 0.184728 0.200096 -2.575865 +v -0.251159 0.145595 -2.603130 +v 0.130209 -0.235852 -3.175117 +v -0.196640 -0.263131 -2.548600 +v -0.196640 0.145595 -3.093419 +v -0.005929 0.172817 -3.311346 +v -0.005929 0.254596 -2.630395 +v -0.223899 -0.099629 -3.229647 +v -0.223899 0.009316 -3.284177 +v 0.021224 -0.072351 -3.529369 +v -0.278418 0.036594 -2.548600 +v -0.196640 -0.263131 -2.712094 +v 0.048483 -0.317631 -2.548600 +v 0.157468 0.118261 -3.066154 +v -0.087655 -0.072351 -3.474839 +v 0.266560 -0.045129 -2.739359 +v 0.211988 -0.099629 -3.256912 +v 0.048483 -0.263131 -3.256912 +f 182 168 183 +f 159 155 160 +f 157 156 164 +f 159 160 165 +f 155 159 166 +f 159 161 166 +f 165 157 168 +f 165 160 169 +f 155 162 170 +f 167 155 170 +f 161 158 171 +f 158 162 171 +f 166 171 172 +f 162 155 172 +f 155 166 172 +f 171 162 172 +f 160 163 173 +f 162 158 174 +f 163 167 174 +f 170 162 174 +f 167 170 174 +f 173 163 174 +f 158 161 175 +f 160 155 176 +f 163 160 176 +f 155 167 176 +f 167 163 176 +f 164 156 177 +f 156 169 177 +f 169 160 177 +f 160 173 177 +f 173 164 177 +f 156 157 178 +f 157 165 178 +f 169 156 178 +f 165 169 178 +f 166 161 179 +f 161 171 179 +f 171 166 179 +f 164 173 180 +f 174 158 180 +f 173 174 180 +f 158 175 180 +f 175 164 180 +f 161 159 181 +f 159 165 181 +f 181 165 182 +f 165 168 182 +f 175 161 182 +f 161 181 182 +f 175 182 183 +f 157 164 183 +f 168 157 183 +f 164 175 183 +o convex_4 +v 0.266523 0.309001 -2.112631 +v -0.360165 -0.099453 -1.867366 +v -0.360165 -0.099453 -1.812927 +v 0.293745 -0.535393 -1.840147 +v -0.223910 -0.262931 -2.548504 +v -0.060288 0.581583 -1.812927 +v 0.266523 0.036538 -2.548504 +v -0.223910 0.200016 -2.548504 +v -0.223910 -0.535393 -1.812927 +v 0.375556 0.063784 -1.812927 +v 0.048529 -0.344669 -2.521140 +v -0.305577 0.390739 -1.840147 +v 0.130267 0.227262 -2.548504 +v -0.005844 -0.644618 -1.812927 +v 0.239300 -0.235684 -2.548504 +v 0.239300 0.472478 -1.867366 +v -0.305577 -0.017954 -2.439410 +v 0.348261 -0.317423 -1.812927 +v -0.005844 0.445232 -2.167070 +v -0.278282 -0.453654 -1.840147 +v 0.293745 -0.044961 -2.466629 +v 0.075751 -0.644618 -1.840147 +v 0.266523 0.445232 -1.812927 +v -0.033066 0.281754 -2.521140 +v 0.321039 -0.508147 -1.812927 +v -0.278282 -0.126699 -2.521140 +v -0.060288 0.554217 -1.921877 +v -0.278282 0.336247 -2.112631 +v 0.212006 0.172769 -2.548504 +v -0.005844 -0.644618 -1.840147 +v 0.021306 0.581583 -1.840147 +v 0.239300 -0.262931 -2.521140 +v -0.360165 0.009292 -1.812927 +v -0.060288 -0.317423 -2.548504 +v -0.251132 -0.480901 -1.949097 +f 213 192 218 +f 190 188 191 +f 189 186 192 +f 189 192 193 +f 190 184 193 +f 190 191 196 +f 193 192 197 +f 188 190 198 +f 193 197 201 +f 186 185 203 +f 192 186 203 +f 190 193 204 +f 198 190 204 +f 193 201 204 +f 189 193 206 +f 193 184 206 +f 184 199 206 +f 196 191 207 +f 202 196 207 +f 201 197 208 +f 204 201 208 +f 205 187 208 +f 197 205 208 +f 191 188 209 +f 185 200 209 +f 200 191 209 +f 203 185 209 +f 195 189 210 +f 207 191 210 +f 202 207 210 +f 191 200 211 +f 200 195 211 +f 195 210 211 +f 210 191 211 +f 184 190 212 +f 190 196 212 +f 199 184 212 +f 196 199 212 +f 197 192 213 +f 194 205 213 +f 205 197 213 +f 199 196 214 +f 196 202 214 +f 189 206 214 +f 206 199 214 +f 210 189 214 +f 202 210 214 +f 194 198 215 +f 198 204 215 +f 187 205 215 +f 205 194 215 +f 208 187 215 +f 204 208 215 +f 185 186 216 +f 186 189 216 +f 189 195 216 +f 200 185 216 +f 195 200 216 +f 188 198 217 +f 198 194 217 +f 213 188 217 +f 194 213 217 +f 192 203 218 +f 209 188 218 +f 203 209 218 +f 188 213 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf new file mode 100644 index 000000000..0d64ab863 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj new file mode 100644 index 000000000..1a68b90e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj @@ -0,0 +1,657 @@ +o convex_0 +v -0.048719 2.796542 -3.038355 +v 0.688183 0.586038 -1.122677 +v -1.043779 0.622781 -2.116986 +v -1.006812 2.796322 -0.385634 +v 0.946139 2.796542 -0.385371 +v 1.019870 0.770192 -3.001753 +v -1.043779 0.586038 -0.385634 +v -0.969846 2.833284 -3.075483 +v 1.019870 2.722836 -3.001753 +v 0.946139 0.586038 -0.385371 +v -1.043779 0.659524 -2.964888 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a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj new file mode 100644 index 000000000..05eb6edbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj @@ -0,0 +1,477 @@ +o convex_0 +v 1.075676 -0.612116 0.042067 +v -1.108772 -0.551058 0.011396 +v -1.108772 -0.551058 0.103813 +v 0.060215 5.079151 -0.049744 +v 0.029424 -3.196280 -1.003569 +v -0.001366 -3.074163 0.965222 +v 0.029424 3.171557 0.996094 +v -0.031730 3.140043 -1.065315 +v -0.831867 4.462654 -0.019275 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a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf new file mode 100644 index 000000000..938ab3341 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj new file mode 100644 index 000000000..4397ab062 --- /dev/null +++ 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276 +f 229 250 276 +f 250 240 276 +f 240 262 276 +f 262 246 276 +f 268 229 276 +f 233 268 276 +f 245 227 277 +f 237 249 277 +f 249 245 277 +f 227 255 277 +f 274 237 277 +f 255 274 277 +f 222 235 278 +f 247 231 278 +f 235 247 278 +f 231 252 278 +f 252 222 278 +f 227 253 279 +f 255 227 279 +f 238 255 279 +f 271 238 279 +f 253 271 279 +f 234 225 280 +f 225 259 280 +f 269 234 280 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf new file mode 100644 index 000000000..851888cc9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj new file mode 100644 index 000000000..d222eb4bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.932109 -0.767149 0.500900 +v -0.974639 -1.085043 0.024244 +v -0.974639 -1.085043 0.050649 +v -0.047717 4.476507 -0.002160 +v 0.031739 -2.727491 -0.955668 +v 0.031739 -2.779682 0.977753 +v 0.852653 2.092308 -0.743843 +v -0.709918 1.641564 -0.690641 +v -0.656814 1.800511 0.765731 +v 0.773197 1.747528 0.739130 +v 0.852653 -3.469242 -0.028564 +v -0.603910 -3.602093 -0.558225 +v -0.551006 -3.521433 0.580310 +v 0.773197 -2.806569 -0.717242 +v 1.038117 1.721433 0.024244 +v 0.084643 1.748319 0.977753 +v -0.047717 1.695337 -0.929067 +v -0.921735 1.800511 0.077053 +v 0.773197 -2.727491 0.739130 +v 0.428820 4.184710 -0.001963 +v -0.047717 4.237692 -0.399406 +v -0.444998 4.263788 0.050452 +v 0.031739 4.237692 0.394889 +v -0.683366 -1.826794 0.792135 +v 1.038117 -2.197669 -0.028564 +v -0.736271 -1.905872 -0.717242 +v -0.921735 -2.859551 0.050649 +v 0.587733 -3.522224 0.606714 +v 0.587733 -3.575206 -0.611231 +v 0.137548 -0.316405 1.030759 +v -0.021165 -0.210441 -0.982270 +v 0.852653 -0.423161 0.765731 +v -0.683366 -0.079172 0.818736 +v -0.656814 -2.806569 0.765731 +v 1.064470 -0.714167 -0.081570 +v -0.762823 -0.291100 -0.717242 +v 0.005387 -3.602093 -0.770247 +v -0.709918 -2.886438 -0.690641 +v -0.762823 -3.575206 0.024244 +v 0.031739 -3.496129 0.792332 +v -0.656814 2.277350 -0.584827 +v 0.084643 -0.343292 -0.982270 +v 0.005387 -0.422370 1.030759 +v 0.879205 2.436297 0.209468 +v -0.180077 2.436297 -0.796652 +v 0.826101 -0.555221 -0.743843 +v 1.011565 -2.807360 0.024244 +v -0.921735 1.721433 -0.028564 +v -0.312637 4.077954 0.315479 +v 1.064470 -0.582107 0.103654 +v 0.296460 4.025764 -0.319799 +v 0.640836 2.357219 0.659720 +v 0.799749 2.092308 -0.770247 +v -0.974639 -0.397065 0.103457 +v -0.338990 4.077954 -0.266990 +v 0.746645 -3.549111 0.262474 +v 0.110996 -2.779682 0.977753 +v 1.011565 1.721433 0.156660 +v 0.323012 3.998877 0.288878 +v -0.683366 1.774415 0.739130 +v -0.021165 4.158614 0.421490 +v 0.799749 -2.753587 0.712725 +v -0.736271 -0.503029 -0.743843 +v -0.074269 -2.833456 -0.929067 +f 63 31 64 +f 15 7 20 +f 4 20 21 +f 4 21 22 +f 20 4 23 +f 4 22 23 +f 3 2 27 +f 24 3 27 +f 2 26 27 +f 5 14 29 +f 14 11 29 +f 10 16 30 +f 10 30 32 +f 30 19 32 +f 6 24 34 +f 24 27 34 +f 7 15 35 +f 25 14 35 +f 26 2 36 +f 5 29 37 +f 12 27 38 +f 27 26 38 +f 27 12 39 +f 28 13 39 +f 13 34 39 +f 34 27 39 +f 13 28 40 +f 6 34 40 +f 34 13 40 +f 5 31 42 +f 31 17 42 +f 16 9 43 +f 24 6 43 +f 30 16 43 +f 9 33 43 +f 33 24 43 +f 15 20 44 +f 17 8 45 +f 8 41 45 +f 41 21 45 +f 14 5 46 +f 7 35 46 +f 35 14 46 +f 5 42 46 +f 11 14 47 +f 14 25 47 +f 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b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf new file mode 100644 index 000000000..c0f985546 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj new file mode 100644 index 000000000..4d2efedb9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj @@ -0,0 +1,840 @@ +o convex_0 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+1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj new file mode 100644 index 000000000..5f4d96510 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj @@ -0,0 +1,657 @@ +o convex_0 +v 0.569884 0.217707 -1.913072 +v -0.038386 -0.825048 -1.710173 +v 0.048442 -0.825048 -1.710173 +v -0.009443 -0.071883 -3.477359 +v -0.414996 0.623067 -1.681163 +v -0.472881 -0.593178 -1.739184 +v 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+ + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj new file mode 100644 index 000000000..a92506ddf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj @@ -0,0 +1,504 @@ +o convex_0 +v -0.982022 -3.210155 -1.116324 +v 0.468128 -1.016857 1.077207 +v 0.998890 -1.052323 1.076992 +v -0.911383 -3.634682 1.077207 +v 1.069744 -3.741080 -1.010040 +v -1.017449 -1.016857 -1.010040 +v 1.069744 -1.016857 -1.045468 +v 1.069744 -3.634682 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convex_1 +v -1.300115 2.061107 1.076996 +v 1.352535 2.450337 -1.010175 +v 1.352535 2.450337 -1.080733 +v 2.979761 0.292335 0.793918 +v -3.034005 0.256990 -1.080733 +v 3.085819 0.363243 -1.045454 +v 3.050668 2.273176 1.076996 +v -3.104306 0.221645 1.006226 +v -3.034005 2.308521 -0.974685 +v -2.998249 2.273176 1.006226 +v 3.015518 2.308521 -1.045454 +v 0.927699 0.221427 1.076996 +v -1.052850 2.450337 1.076996 +v 1.069513 0.221427 -1.045454 +v 2.979761 0.292335 1.006226 +v -2.538867 0.221645 -0.903704 +v 2.873703 2.308521 0.899966 +v 0.963456 2.450337 -1.080733 +v 1.069513 1.176830 -1.080733 +v -3.069156 1.636531 1.006226 +v -3.034005 1.954854 -1.009964 +v -3.069156 1.777911 -0.549857 +v 3.085819 1.176830 -0.089961 +v 3.050668 0.327898 -0.868425 +v 3.050668 1.884164 1.076996 +v 3.050668 2.308521 0.050944 +v -0.804978 2.450337 1.076996 +v 0.362261 0.221427 1.076996 +v -3.069156 0.256990 -0.656116 +v -3.104306 0.787818 0.475561 +v -2.467961 2.308521 1.041717 +v 0.750735 2.450337 -1.045454 +v -3.034005 2.273176 0.864687 +v 3.015518 0.716910 1.006226 +v 1.494349 0.363243 1.076996 +v 1.281628 2.450337 -0.797655 +v 2.802796 2.344084 -0.868425 +v -2.326147 1.070795 1.041717 +v -3.034005 0.363024 -1.080733 +v -1.017093 2.450337 0.935457 +v 3.085819 0.575530 -1.045454 +v -3.104306 0.221645 0.475561 +v 3.050668 0.327898 -0.125663 +v 2.378566 0.327898 1.041505 +v 1.104664 0.221427 -0.408318 +v 3.050668 1.565624 1.041505 +v -3.104306 0.717128 1.006226 +v -3.069156 1.813256 -0.266990 +v -3.034005 2.308521 -0.868425 +v 2.095544 2.379429 0.050944 +f 59 79 92 +f 49 43 54 +f 44 45 55 +f 43 49 55 +f 47 48 56 +f 47 56 58 +f 45 47 60 +f 55 45 60 +f 47 45 61 +f 45 48 61 +f 48 47 61 +f 51 60 63 +f 51 63 64 +f 56 48 66 +f 46 56 66 +f 57 46 66 +f 49 54 67 +f 65 49 67 +f 59 49 68 +f 49 65 68 +f 44 55 69 +f 55 49 69 +f 49 59 69 +f 54 43 70 +f 56 54 70 +f 64 63 71 +f 64 71 72 +f 43 55 73 +f 55 52 73 +f 52 62 73 +f 60 51 74 +f 55 60 74 +f 52 55 75 +f 62 52 75 +f 67 57 76 +f 67 54 77 +f 44 69 78 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-0.196394 +v 3.050934 -0.450867 0.228081 +v 2.944851 -0.981477 -0.302595 +v 2.661510 -0.344708 -0.019524 +v 2.944851 -0.804566 -0.302595 +v 1.105172 -0.415522 0.263415 +v 1.813039 -0.946070 0.263415 +v 1.105172 -0.344708 -0.054924 +v 3.086425 -0.486212 0.263415 +v 3.086425 -0.839910 0.192681 +v 1.105172 -0.663061 -0.231794 +v 1.105172 -0.521557 0.298816 +v 1.883632 -0.344708 -0.231794 +v 2.767982 -0.981477 -0.302595 +v 1.494402 -0.450867 0.298816 +f 109 102 115 +f 95 94 98 +f 96 98 99 +f 99 98 101 +f 94 95 103 +f 97 98 104 +f 102 97 104 +f 95 98 105 +f 103 95 105 +f 97 103 105 +f 98 96 106 +f 102 104 106 +f 99 101 107 +f 104 98 108 +f 98 106 108 +f 106 104 108 +f 93 100 109 +f 97 102 109 +f 103 97 110 +f 100 103 110 +f 109 100 110 +f 97 109 110 +f 98 94 111 +f 94 101 111 +f 101 98 111 +f 96 99 112 +f 100 96 112 +f 99 107 112 +f 107 100 112 +f 98 97 113 +f 105 98 113 +f 97 105 113 +f 101 94 114 +f 94 103 114 +f 103 100 114 +f 100 107 114 +f 107 101 114 +f 100 93 115 +f 96 100 115 +f 106 96 115 +f 102 106 115 +f 93 109 115 +o convex_3 +v -3.069501 -0.946056 -0.054838 +v -1.123739 -0.344646 -0.125572 +v -1.123739 -0.344646 -0.267174 +v -1.123739 -0.981456 -0.196373 +v -1.123739 -0.910590 0.334237 +v -2.998714 -0.450847 0.298836 +v -2.927928 -0.415446 -0.231708 +v -2.963418 -1.016857 0.298836 +v -1.512969 -0.981456 -0.337974 +v -1.123739 -0.450847 0.228036 +v -3.034205 -0.910590 -0.267174 +v -1.123739 -0.698320 -0.337974 +v -3.104992 -1.016857 0.228036 +v -1.760819 -0.344646 -0.267174 +v -1.371395 -0.946056 0.334237 +v -2.432615 -0.450847 0.298836 +v -1.123739 -0.981456 -0.337974 +v -1.725523 -0.910590 -0.337974 +v -2.644781 -1.016857 0.298836 +v -2.963418 -0.415446 -0.090238 +v -3.069501 -1.016857 0.157301 +v -1.123739 -0.839921 0.334237 +v -3.034205 -0.839921 -0.267174 +f 121 135 138 +f 118 117 119 +f 119 117 120 +f 120 117 125 +f 118 119 127 +f 123 121 128 +f 116 126 128 +f 117 118 129 +f 121 117 129 +f 118 127 129 +f 127 122 129 +f 119 120 130 +f 121 123 130 +f 117 121 131 +f 125 117 131 +f 124 127 132 +f 127 119 132 +f 124 126 133 +f 127 124 133 +f 122 127 133 +f 123 128 134 +f 119 130 134 +f 130 123 134 +f 132 119 134 +f 121 129 135 +f 129 122 135 +f 126 124 136 +f 128 126 136 +f 124 132 136 +f 134 128 136 +f 132 134 136 +f 120 125 137 +f 130 120 137 +f 121 130 137 +f 131 121 137 +f 125 131 137 +f 126 116 138 +f 116 128 138 +f 128 121 138 +f 122 133 138 +f 133 126 138 +f 135 122 138 +o convex_4 +v 0.114424 -0.415169 1.076996 +v 0.079079 -1.016857 -1.080733 +v -0.486876 -1.016857 -1.045250 +v -0.734508 0.221427 -0.974494 +v 1.069609 0.221427 -1.045250 +v -1.017486 0.221427 1.006240 +v 0.963356 -1.016857 1.076996 +v -0.982141 -1.016857 1.006240 +v 0.928011 0.221427 1.076996 +v 1.069609 -1.016857 -1.045250 +v -1.052830 -1.016857 -0.832983 +v -1.017486 0.221427 -0.939222 +v 1.105172 -0.450563 0.298684 +v -1.123738 -0.839768 0.334168 +v -1.123738 0.221427 0.192656 +v 1.105172 0.221427 -0.408449 +v -1.017486 -1.016857 -1.009977 +v 1.105172 -1.016857 -0.231666 +v 0.892666 0.115247 -1.080733 +v -1.123738 -0.981463 -0.337905 +v -0.769853 -1.016857 1.041512 +v -1.123738 -0.273959 -0.337905 +v 0.998919 -1.016857 0.970757 +v 1.105172 0.186033 -0.726955 +v 0.362274 0.221427 1.076996 +v 0.680378 -1.016857 -1.080733 +v -1.052830 0.221427 -0.797711 +v -0.062301 -1.016857 1.076996 +v 0.963356 -0.167779 1.076996 +v 1.105172 -0.910555 0.192656 +v 1.105172 -1.016857 -0.620716 +v -1.123738 -0.910555 0.334168 +v -1.123738 0.221427 0.263412 +v -1.017486 -0.061720 1.006240 +v -1.017486 -0.167779 -0.974494 +f 155 165 173 +f 143 142 144 +f 141 140 145 +f 141 145 146 +f 143 144 147 +f 139 145 147 +f 145 140 148 +f 141 146 149 +f 144 142 150 +f 144 150 153 +f 143 147 154 +f 147 151 154 +f 141 149 155 +f 145 148 156 +f 154 151 156 +f 142 143 157 +f 143 148 157 +f 149 146 158 +f 152 153 158 +f 139 144 159 +f 146 145 159 +f 149 158 160 +f 158 153 160 +f 145 156 161 +f 148 143 162 +f 143 154 162 +f 154 156 162 +f 144 139 163 +f 139 147 163 +f 147 144 163 +f 148 140 164 +f 140 157 164 +f 157 148 164 +f 153 150 165 +f 155 149 165 +f 149 160 165 +f 160 153 165 +f 145 139 166 +f 139 159 166 +f 159 145 166 +f 147 145 167 +f 151 147 167 +f 145 161 167 +f 161 151 167 +f 156 151 168 +f 151 161 168 +f 161 156 168 +f 156 148 169 +f 148 162 169 +f 162 156 169 +f 144 152 170 +f 158 146 170 +f 152 158 170 +f 152 144 171 +f 144 153 171 +f 153 152 171 +f 159 144 172 +f 146 159 172 +f 144 170 172 +f 170 146 172 +f 140 141 173 +f 150 142 173 +f 141 155 173 +f 157 140 173 +f 142 157 173 +f 165 150 173 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf new file mode 100644 index 000000000..16cded808 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj new file mode 100644 index 000000000..a97c2c09d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj @@ -0,0 +1,489 @@ +o convex_0 +v -2.718077 -4.005361 0.057200 +v 1.055690 -1.703050 1.076252 +v 1.432831 -1.892027 1.076252 +v 2.980406 -1.891798 -0.923707 +v 2.942574 -4.043157 1.000832 +v -2.945070 -1.891798 -1.112695 +v 3.056071 -3.929770 -1.036838 +v -2.982903 -1.967389 1.114181 +v -2.945070 -3.967337 -0.999346 +v -2.945070 -4.005361 1.076252 +v 2.980406 -1.967389 0.925411 +v 0.527221 -1.703050 -1.074766 +v -1.095428 -1.703050 1.038324 +v -1.057595 -1.703050 -1.074548 +v 1.734898 -2.684585 1.076252 +v 2.942574 -4.043157 0.661002 +v -2.945070 -3.703227 -1.037056 +v -1.171092 -4.005361 1.076252 +v 2.904742 -1.929822 0.962903 +v -2.907238 -3.137213 1.114181 +v -2.793741 -2.269523 -1.112695 +v 1.017858 -1.703050 -1.036838 +v 1.017858 -1.892027 -1.074766 +v 3.018239 -2.307318 -0.961417 +v 1.659233 -4.043157 1.038324 +v -1.548233 -4.005361 -0.395325 +v -2.945070 -1.891798 -0.282194 +v 0.149490 -4.043157 1.000832 +v -1.774635 -2.005184 -1.112695 +v 3.056071 -3.854180 -0.697444 +v -0.944690 -3.967337 -0.999128 +v 2.564843 -3.552275 1.038542 +v 3.018239 -2.042750 -0.885996 +v 1.206428 -3.929770 -1.036838 +v 2.980406 -2.533632 0.962903 +v 2.980406 -1.891798 -0.470746 +v -2.491674 -1.967389 1.114181 +v 3.056071 -3.288165 -0.923707 +v 3.018239 -3.967337 -0.546385 +v 3.018239 -3.703227 -1.036838 +v 2.980406 -1.929593 0.887482 +v -2.945070 -1.929822 0.661220 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0.677667 +f 257 269 297 +f 236 235 237 +f 236 237 242 +f 237 235 244 +f 237 244 247 +f 246 245 252 +f 251 238 253 +f 245 246 254 +f 240 250 256 +f 238 246 257 +f 249 238 257 +f 246 252 257 +f 239 249 258 +f 246 238 259 +f 254 246 259 +f 252 245 260 +f 250 240 263 +f 237 247 264 +f 249 239 265 +f 245 254 266 +f 249 265 268 +f 257 252 269 +f 260 243 269 +f 252 260 269 +f 251 253 270 +f 245 266 271 +f 247 239 272 +f 258 243 272 +f 239 258 272 +f 264 247 272 +f 243 264 272 +f 239 247 273 +f 247 244 273 +f 265 239 273 +f 244 235 274 +f 256 250 276 +f 242 256 276 +f 267 242 276 +f 250 267 276 +f 263 240 277 +f 241 263 277 +f 253 238 278 +f 244 274 278 +f 274 253 278 +f 236 242 279 +f 261 236 279 +f 250 263 279 +f 242 267 279 +f 267 250 279 +f 259 241 280 +f 254 259 280 +f 238 251 281 +f 259 238 281 +f 241 259 281 +f 261 241 281 +f 235 270 282 +f 270 253 282 +f 274 235 282 +f 253 274 282 +f 256 248 283 +f 240 256 283 +f 266 240 283 +f 248 271 283 +f 271 266 283 +f 255 248 284 +f 248 256 284 +f 256 242 284 +f 242 275 284 +f 275 255 284 +f 248 255 285 +f 255 262 285 +f 234 271 285 +f 271 248 285 +f 244 265 286 +f 273 244 286 +f 265 273 286 +f 240 266 287 +f 266 254 287 +f 277 240 287 +f 241 277 287 +f 280 241 287 +f 254 280 287 +f 242 237 288 +f 237 262 288 +f 262 255 288 +f 275 242 288 +f 255 275 288 +f 260 234 289 +f 243 260 289 +f 264 243 289 +f 234 285 289 +f 285 262 289 +f 238 249 290 +f 268 244 290 +f 249 268 290 +f 278 238 290 +f 244 278 290 +f 234 260 291 +f 260 245 291 +f 271 234 291 +f 245 271 291 +f 262 237 292 +f 237 264 292 +f 264 289 292 +f 289 262 292 +f 265 244 293 +f 244 268 293 +f 268 265 293 +f 241 261 294 +f 263 241 294 +f 261 279 294 +f 279 263 294 +f 235 236 295 +f 236 261 295 +f 270 235 295 +f 251 270 295 +f 281 251 295 +f 261 281 295 +f 249 257 296 +f 258 249 296 +f 257 258 296 +f 243 258 297 +f 258 257 297 +f 269 243 297 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf new file mode 100644 index 000000000..f7fba35c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj new file mode 100644 index 000000000..46ece5974 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj @@ -0,0 +1,528 @@ +o convex_0 +v -2.754491 0.603992 -0.436346 +v 1.995857 2.779587 0.070831 +v 2.322506 2.707112 0.288308 +v 2.430994 0.894344 -0.799078 +v 1.270826 0.459270 0.977559 +v -2.500167 2.235688 0.759880 +v -2.028867 2.416987 -0.726653 +v -2.500167 0.459043 0.941144 +v 2.358669 1.764264 1.049984 +v -1.557567 0.459043 -1.016757 +v 2.322506 2.416987 -0.762865 +v 3.156618 1.002942 0.034821 +v 1.379313 0.459270 -0.871705 +v 2.358669 1.727913 -0.980342 +v -2.500167 2.561936 0.107044 +v 2.322506 2.525813 0.832304 +v 3.084293 2.453338 0.034821 +v -2.464005 1.691789 -0.907917 +v -1.811299 1.727913 1.013569 +v 2.829969 0.857993 0.759880 +v 3.084293 1.727913 -0.726653 +v 3.047538 1.800387 0.832507 +v -1.775136 2.707112 0.070831 +v -1.738380 1.800387 -0.980545 +v -1.847461 2.416987 0.796092 +v -2.573085 0.459043 -0.871705 +v 2.648563 0.676694 -0.291294 +v -2.717736 2.126636 0.288511 +v -2.573085 2.308162 -0.690440 +v -1.484649 0.459043 1.013569 +v 0.509039 2.525813 -0.726653 +v -2.717736 0.459043 0.759880 +v 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0.034656 +v -1.847630 -1.426576 0.977350 +v 0.581750 0.458816 1.013722 +v -2.717914 0.458816 0.759912 +v -1.811422 -3.240274 0.034656 +v 1.017105 -2.441870 0.759713 +v -2.536445 -2.514650 -0.690402 +v -1.775213 -2.768111 0.759713 +v 0.291656 -2.768111 -0.799121 +v 1.561085 -0.629258 -0.581683 +v -2.754122 -1.789026 0.469929 +v -1.702796 -1.282102 -1.016757 +v 1.561085 -0.629258 0.578449 +v 1.270565 0.458816 0.977548 +v 0.255448 -1.426576 1.013523 +v 0.255448 0.277410 -1.016757 +v 0.980470 -1.209685 -0.980385 +v -1.448910 0.458816 1.013523 +v -2.500236 -1.318311 0.905003 +v -2.790757 -1.318311 -0.654228 +v -2.391611 0.458816 -0.944410 +v -1.775213 -3.203703 -0.110236 +v 0.255448 -3.022659 0.397185 +v 1.561085 0.168422 -0.472765 +v -1.158390 -1.318311 1.013523 +v 1.524451 -1.173114 -0.509137 +v -2.790757 -0.955861 -0.110236 +v 1.561085 -1.136905 0.397185 +v 1.017105 -2.913308 -0.073864 +v -2.536445 -2.877462 -0.073864 +v -2.717914 -0.992070 0.723739 +v 1.089522 -1.173838 -0.944212 +v -2.065308 -1.246256 0.977350 +v 1.017105 -2.514650 0.723739 +v -2.754122 0.059433 -0.726774 +v -2.754122 -2.152200 -0.001518 +v 0.581750 0.458816 -0.980385 +v -2.500236 -2.623638 0.542275 +v 0.291656 -3.240274 0.034656 +v 1.561085 0.277410 -0.001518 +v -2.609288 -1.028641 -0.871865 +v -1.629953 -2.768111 -0.762947 +v -2.536445 -2.442232 -0.726774 +v 0.690376 -0.593411 1.013722 +v 1.017105 -2.913308 0.034457 +v -2.355402 -3.022297 -0.037691 +v -1.775213 -2.587429 -0.799121 +f 124 81 128 +f 66 70 71 +f 70 66 72 +f 71 70 75 +f 66 71 84 +f 71 75 85 +f 77 68 87 +f 83 76 89 +f 69 80 90 +f 67 82 91 +f 70 79 93 +f 79 90 93 +f 82 67 94 +f 77 87 94 +f 67 66 95 +f 66 84 95 +f 94 67 95 +f 77 94 95 +f 68 77 96 +f 79 70 97 +f 79 97 98 +f 69 90 98 +f 90 79 98 +f 84 71 99 +f 71 85 100 +f 75 70 102 +f 70 93 102 +f 93 81 102 +f 80 86 103 +f 88 74 103 +f 90 80 103 +f 68 89 104 +f 89 86 104 +f 67 91 105 +f 91 72 105 +f 83 89 106 +f 89 68 106 +f 68 96 106 +f 69 91 107 +f 91 82 107 +f 65 92 108 +f 92 85 108 +f 101 65 108 +f 82 94 109 +f 94 87 109 +f 80 69 110 +f 78 80 110 +f 69 107 110 +f 107 82 110 +f 65 88 111 +f 92 76 112 +f 85 92 112 +f 76 100 112 +f 100 85 112 +f 72 91 113 +f 91 69 113 +f 69 98 113 +f 98 72 113 +f 76 83 114 +f 99 71 114 +f 71 100 114 +f 100 76 114 +f 83 106 114 +f 106 99 114 +f 87 68 115 +f 68 104 115 +f 109 87 115 +f 85 75 116 +f 108 85 116 +f 101 108 116 +f 92 65 117 +f 111 73 117 +f 65 111 117 +f 70 72 118 +f 97 70 118 +f 98 97 118 +f 72 98 118 +f 73 86 119 +f 89 76 119 +f 86 89 119 +f 76 92 119 +f 92 117 119 +f 117 73 119 +f 80 78 120 +f 86 80 120 +f 104 86 120 +f 78 115 120 +f 115 104 120 +f 66 67 121 +f 72 66 121 +f 67 105 121 +f 105 72 121 +f 75 102 122 +f 102 81 122 +f 116 75 122 +f 101 116 122 +f 103 74 123 +f 90 103 123 +f 88 65 124 +f 74 88 124 +f 65 101 124 +f 122 81 124 +f 101 122 124 +f 77 95 125 +f 95 84 125 +f 96 77 125 +f 84 99 125 +f 106 96 125 +f 99 106 125 +f 82 109 126 +f 78 110 126 +f 110 82 126 +f 115 78 126 +f 109 115 126 +f 86 73 127 +f 103 86 127 +f 88 103 127 +f 73 111 127 +f 111 88 127 +f 81 93 128 +f 93 90 128 +f 123 74 128 +f 90 123 128 +f 74 124 128 +o convex_2 +v 1.561114 -1.173135 -0.073980 +v 1.996301 0.241223 -0.001519 +v 1.996301 0.241223 -0.037749 +v 3.301862 -0.339140 0.034711 +v 1.561114 -0.483816 0.578616 +v 1.561114 -0.266595 -0.581655 +v 3.084268 -0.339140 -0.364047 +v 1.561114 0.132404 0.469813 +v 3.011680 -0.302868 0.397239 +v 3.047974 0.096132 -0.037749 +v 1.561114 0.168677 -0.472851 +v 1.597408 -1.027906 0.397239 +v 3.047974 -0.701452 0.034711 +v 1.633702 -0.955361 -0.472851 +v 2.431488 0.096132 0.361009 +v 2.250359 0.059859 -0.436508 +v 2.177771 -0.375413 -0.545311 +v 2.902798 -0.628907 -0.255244 +v 2.902798 -0.592634 0.288435 +v 2.322947 -0.266595 0.506043 +v 1.561114 0.241223 0.143515 +v 2.866675 0.023586 0.288435 +v 2.794087 -0.012686 -0.327817 +v 1.561114 -0.556500 -0.581655 +v 1.597408 -1.173135 0.034711 +v 1.561114 -0.991772 0.433469 +v 3.265568 -0.194050 0.034711 +v 1.597408 0.132404 -0.509081 +v 1.706290 0.168677 0.433469 +v 3.047974 0.096132 0.034711 +v 3.084268 -0.665318 -0.037749 +v 2.975386 -0.339140 -0.400278 +v 1.597408 -1.173135 -0.073980 +v 3.120392 -0.230322 0.288435 +v 2.286653 0.204950 0.070941 +v 2.322947 -0.230322 -0.509081 +v 2.322947 0.204950 -0.073980 +v 1.633702 0.241223 -0.182783 +v 1.561114 -0.955361 -0.472851 +v 2.975386 -0.230322 0.397239 +v 2.286653 0.096132 0.397239 +v 3.301862 -0.266595 -0.037749 +v 2.322947 -0.339140 0.506043 +v 1.597408 -0.991772 0.433469 +v 2.975386 -0.194050 -0.364047 +v 2.939092 -0.520089 -0.327817 +v 3.084268 -0.339140 0.324779 +v 1.597408 -0.411686 0.578616 +v 2.214065 0.096132 -0.400278 +v 1.851295 -0.375413 -0.581655 +v 3.156686 -0.266595 -0.255244 +f 173 138 179 +f 129 133 134 +f 134 133 136 +f 134 136 139 +f 140 141 147 +f 130 131 149 +f 139 136 149 +f 129 134 152 +f 145 142 152 +f 141 140 153 +f 133 129 154 +f 129 153 154 +f 153 140 154 +f 134 139 156 +f 139 144 156 +f 149 136 157 +f 143 150 158 +f 155 138 158 +f 135 132 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a/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf new file mode 100644 index 000000000..7cb88586a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj new file mode 100644 index 000000000..213b58945 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj @@ -0,0 +1,423 @@ +o convex_0 +v -1.060797 2.525925 0.616349 +v -1.000838 3.484714 1.125624 +v 0.646585 3.484714 0.975684 +v 1.066092 -1.188469 1.035356 +v 1.006132 3.424790 -1.030820 +v -1.000838 -1.158278 -1.091143 +v -1.000838 -1.188469 1.035573 +v -1.030818 3.424790 -1.091143 +v 1.006132 -1.188469 -1.091143 +v 0.976153 3.454523 0.945739 +v -1.030818 -0.708617 1.065518 +v 1.066092 -0.229680 0.226636 +v 0.706544 -1.188469 1.065518 +v -1.060797 3.484714 1.125624 +v 1.006132 2.765622 0.915795 +v 1.036112 -1.188469 -0.851152 +v -1.000838 -1.188469 -1.060981 +v -1.060797 3.484714 0.526298 +v 0.376976 3.424790 -1.060981 +v 1.066092 -0.828466 1.035356 +v -1.030818 2.046530 -1.091143 +v -0.910899 3.454523 -0.611595 +v -0.671270 3.424790 -1.091143 +v -1.000838 -1.008239 1.065518 +v -1.060797 3.214368 1.125624 +v 1.006132 1.806833 -1.060981 +v 0.856234 3.484714 0.915795 +v -1.060797 3.394599 0.107074 +v 1.066092 -1.188469 0.076913 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-3.068156 +v 0.197271 -1.308394 -2.768549 +v 0.167344 -1.248452 -1.091143 +v -0.132111 -1.218481 -2.948117 +v -0.341846 -1.787596 -1.330828 +v 0.287237 -1.757569 -3.098215 +v -0.192026 -1.787596 -1.420809 +v -0.222015 -1.248452 -2.978372 +v 0.197271 -1.278423 -1.151064 +v -0.251942 -1.218481 -2.169532 +v -0.251942 -1.787596 -2.798608 +v -0.072195 -1.787596 -3.098215 +v 0.227321 -1.727598 -1.450671 +v 0.197271 -1.368280 -2.978372 +v 0.287237 -1.697627 -3.098215 +v -0.222015 -1.697627 -3.098215 +f 145 125 146 +f 123 124 127 +f 124 123 129 +f 128 120 129 +f 121 122 131 +f 126 130 132 +f 129 123 133 +f 130 126 134 +f 133 130 134 +f 125 124 135 +f 120 128 135 +f 129 120 135 +f 124 129 135 +f 131 122 136 +f 124 125 137 +f 122 127 137 +f 127 124 137 +f 128 134 138 +f 123 121 139 +f 121 131 139 +f 132 130 139 +f 131 132 139 +f 133 123 139 +f 130 133 139 +f 128 129 140 +f 129 133 140 +f 134 128 140 +f 133 134 140 +f 128 125 141 +f 125 135 141 +f 135 128 141 +f 136 122 142 +f 125 136 142 +f 137 125 142 +f 122 137 142 +f 122 121 143 +f 121 123 143 +f 127 122 143 +f 123 127 143 +f 126 132 144 +f 132 131 144 +f 134 126 144 +f 138 134 144 +f 138 144 145 +f 136 125 145 +f 131 136 145 +f 144 131 145 +f 125 128 146 +f 128 138 146 +f 138 145 146 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf new file mode 100644 index 000000000..8d86f00a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.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 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128 123 131 +f 122 131 132 +f 125 119 134 +f 119 129 134 +f 129 128 134 +f 124 133 135 +f 119 130 136 +f 127 117 137 +f 131 127 137 +f 117 132 137 +f 132 117 138 +f 122 132 138 +f 117 133 138 +f 133 124 138 +f 124 135 138 +f 136 122 138 +f 131 122 139 +f 128 131 139 +f 122 136 139 +f 136 130 139 +f 126 120 140 +f 120 129 140 +f 129 126 140 +f 129 118 141 +f 118 135 141 +f 117 121 142 +f 133 117 142 +f 121 133 142 +f 130 125 143 +f 125 134 143 +f 134 128 143 +f 128 139 143 +f 139 130 143 +f 133 121 144 +f 135 133 144 +f 141 135 144 +f 121 126 145 +f 126 129 145 +f 129 141 145 +f 118 119 146 +f 135 118 146 +f 119 136 146 +f 138 135 146 +f 136 138 146 +f 144 121 147 +f 141 144 147 +f 121 145 147 +f 145 141 147 +f 132 131 148 +f 131 137 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf new file mode 100644 index 000000000..f685a3948 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj new file mode 100644 index 000000000..48a76f0c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj @@ -0,0 +1,480 @@ +o convex_0 +v -2.274526 -0.315739 0.330150 +v -3.943354 -0.093313 -0.337455 +v -3.943354 0.017900 -0.337455 +v -2.014956 0.166293 -0.300337 +v 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+v -0.939083 3.504569 0.330150 +v -1.013247 4.950665 0.218817 +v -0.605444 4.950665 -0.374544 +v -0.531280 2.948046 -0.189058 +v -0.679608 4.913420 0.255928 +v -1.198755 2.948046 -0.226169 +v -0.642493 2.948046 0.330150 +v -1.198755 4.950665 0.181775 +v -1.087411 2.985487 0.293039 +v -1.087411 4.765224 -0.300322 +v -0.642493 4.913420 0.144665 +v -0.531280 3.022537 -0.226169 +v -1.198755 4.468437 0.218817 +v -1.198755 4.913420 0.033401 +v -0.531280 3.096635 -0.114905 +v -1.198755 2.948046 -0.077794 +v -0.642493 4.802272 -0.374544 +v -1.050296 2.948046 0.330150 +v -0.642493 3.912503 0.293039 +v -0.568330 4.282995 -0.263142 +f 111 108 116 +f 97 96 101 +f 98 97 101 +f 99 98 101 +f 102 100 103 +f 96 97 103 +f 98 99 104 +f 102 95 106 +f 99 101 107 +f 100 102 108 +f 97 98 109 +f 98 104 109 +f 104 102 109 +f 95 102 110 +f 104 99 110 +f 102 104 110 +f 106 95 110 +f 99 106 110 +f 103 100 111 +f 100 108 111 +f 102 103 112 +f 109 102 112 +f 105 109 112 +f 102 106 113 +f 106 99 113 +f 99 108 113 +f 108 102 113 +f 103 97 114 +f 97 109 114 +f 109 105 114 +f 112 103 114 +f 105 112 114 +f 101 96 115 +f 96 103 115 +f 107 101 115 +f 103 111 115 +f 111 107 115 +f 99 107 116 +f 108 99 116 +f 107 111 116 +o convex_4 +v 0.062295 -1.057265 2.518208 +v 0.247723 0.871052 3.111838 +v 0.136477 0.871052 3.111838 +v 0.247723 0.796751 1.109023 +v 0.247723 -1.094318 2.963431 +v 0.099395 -1.131763 1.109023 +v 0.247723 -1.131763 1.109023 +v 0.136477 0.833803 1.776955 +v 0.062295 -0.723397 3.000484 +v 0.173523 0.796751 1.109023 +v 0.099395 0.796751 3.037537 +v 0.099395 -0.834752 1.109023 +v 0.062295 -1.094318 2.963431 +v 0.136477 0.240369 1.109023 +f 128 124 130 +f 120 118 121 +f 121 122 123 +f 120 121 123 +f 122 120 123 +f 119 118 124 +f 118 120 124 +f 118 119 125 +f 121 118 125 +f 120 122 126 +f 124 120 126 +f 119 124 127 +f 125 119 127 +f 117 125 127 +f 122 117 128 +f 126 122 128 +f 117 127 128 +f 127 124 128 +f 117 122 129 +f 122 121 129 +f 125 117 129 +f 121 125 129 +f 124 126 130 +f 126 128 130 +o convex_5 +v 0.136466 -0.538017 -3.044805 +v 0.247723 0.945231 -1.079238 +v 0.247723 0.945231 -2.562529 +v 0.247723 -1.205941 -3.044805 +v 0.173559 -1.205941 -1.079238 +v 0.136466 0.907960 -3.082054 +v 0.247723 -1.205941 -1.079238 +v 0.173559 0.945231 -1.339197 +v 0.247723 0.907960 -3.082054 +v 0.173559 -1.205941 -3.044805 +v 0.136466 0.907960 -2.525476 +v 0.210619 0.945231 -1.079238 +v 0.173559 -0.500957 -1.079238 +f 135 142 143 +f 133 132 134 +f 134 132 137 +f 135 134 137 +f 132 135 137 +f 132 133 138 +f 133 136 138 +f 133 134 139 +f 136 133 139 +f 134 136 139 +f 135 131 140 +f 134 135 140 +f 136 134 140 +f 131 136 140 +f 131 135 141 +f 136 131 141 +f 138 136 141 +f 135 132 142 +f 132 138 142 +f 142 138 143 +f 141 135 143 +f 138 141 143 +o convex_6 +v 0.025188 -2.540836 -1.004697 +v 0.099381 2.910957 1.108809 +v 0.136455 2.502417 1.071538 +v 0.025188 -3.208158 1.071752 +v 0.247701 -1.205593 -1.079024 +v 0.025210 2.836677 -1.004697 +v 0.247701 -1.131313 1.108809 +v 0.210626 2.317316 -1.004697 +v 0.210626 -3.133878 -0.930584 +v 0.025210 2.910957 1.108809 +v 0.247701 0.796373 1.108809 +v 0.099381 -3.208757 0.886256 +v 0.173508 2.873817 -0.485478 +v 0.025188 -3.133878 -0.930584 +v 0.247701 1.241454 -1.041754 +v 0.025188 -0.352571 -1.079024 +v 0.210626 -3.133878 -0.708031 +v 0.247701 0.944933 -1.079024 +v 0.173508 2.836677 -1.004697 +v 0.025188 -1.650674 -1.079024 +v 0.099381 -1.130714 1.108809 +v 0.136455 2.910957 0.478206 +v 0.099381 -2.911637 1.071538 +v 0.025188 1.983056 -1.041754 +f 162 161 167 +f 150 145 153 +f 146 145 154 +f 145 150 154 +f 150 148 154 +f 154 151 156 +f 147 144 157 +f 144 152 157 +f 155 147 157 +f 152 155 157 +f 154 148 158 +f 151 154 158 +f 144 147 159 +f 148 150 160 +f 152 148 160 +f 150 155 160 +f 155 152 160 +f 158 148 161 +f 151 158 161 +f 148 159 161 +f 149 156 162 +f 156 151 162 +f 151 161 162 +f 152 144 163 +f 148 152 163 +f 144 159 163 +f 159 148 163 +f 147 150 164 +f 153 147 164 +f 150 153 164 +f 145 146 165 +f 153 145 165 +f 149 153 165 +f 146 154 165 +f 156 149 165 +f 154 156 165 +f 150 147 166 +f 147 155 166 +f 155 150 166 +f 147 153 167 +f 153 149 167 +f 159 147 167 +f 161 159 167 +f 149 162 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf new file mode 100644 index 000000000..6763b9728 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj new file mode 100644 index 000000000..2993e9f6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj @@ -0,0 +1,156 @@ +o convex_0 +v 0.558845 -3.041005 -0.560530 +v -0.473762 -1.535726 1.121629 +v 1.031280 2.270852 1.091911 +v -1.005252 3.008627 -0.914793 +v 1.090123 3.038356 -0.944297 +v -1.064306 -3.100464 -1.062527 +v -1.005252 3.097208 1.062407 +v 1.090334 -3.040398 0.973894 +v -0.975724 -3.070128 1.121629 +v 0.972225 -2.804990 -0.944297 +v 1.001752 3.068085 1.091911 +v -1.034779 1.828551 0.649136 +v 0.824589 -2.952423 -0.973801 +v -1.034779 1.355914 -0.973801 +v 0.795062 -3.070734 1.003398 +v 1.090123 2.978897 -0.354002 +v 0.706481 3.097815 0.088345 +v 1.090123 2.005107 -0.944297 +v -1.005252 -3.100464 0.708144 +v -0.237756 3.068085 1.091911 +v 1.090334 -3.040398 0.708358 +v -1.064306 -2.450664 -1.062527 +v -0.769034 -3.011882 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+v -0.489666 0.925176 3.445574 +v 0.140489 0.888107 3.445574 +v 0.177587 0.332185 1.481267 +v -0.341272 0.406325 3.445574 +v -0.415404 0.813967 1.518573 +v -0.341272 0.295116 1.481267 +v 0.140489 0.332185 3.445574 +v 0.177587 0.665689 1.481267 +v -0.044874 0.295116 2.741385 +v -0.415404 0.925176 2.963871 +v -0.156040 0.925176 3.371540 +v 0.140489 0.813967 1.481267 +v -0.415404 0.851037 1.778172 +v -0.044874 0.295116 1.481267 +f 200 197 205 +f 189 188 193 +f 188 189 194 +f 192 187 195 +f 193 192 195 +f 190 192 196 +f 187 192 197 +f 192 190 197 +f 190 194 197 +f 195 187 197 +f 189 193 198 +f 193 195 198 +f 191 193 199 +f 193 188 199 +f 188 194 199 +f 194 190 199 +f 194 189 200 +f 195 197 200 +f 198 195 200 +f 189 198 200 +f 193 191 202 +f 192 193 202 +f 191 201 202 +f 201 192 202 +f 190 196 203 +f 196 191 203 +f 191 199 203 +f 199 190 203 +f 196 192 204 +f 191 196 204 +f 201 191 204 +f 192 201 204 +f 197 194 205 +f 194 200 205 +o convex_8 +v -0.341424 0.406292 -1.039469 +v 0.956050 0.813971 1.443762 +v -0.045099 1.184726 1.481267 +v -1.193990 -0.001503 1.332974 +v -1.082657 1.184726 -0.668366 +v 0.844717 -0.001503 -0.594343 +v 0.881758 1.184726 -0.594343 +v 0.956050 -0.001503 1.443762 +v -1.082657 -0.001503 -0.705378 +v -1.193990 1.184726 1.369985 +v 0.956050 1.184726 1.406997 +v 0.066233 0.850896 -1.039469 +v -0.341424 0.295054 1.481267 +v 0.140525 0.332211 -1.039469 +v -1.193990 0.332211 0.628520 +v -0.378465 0.888168 -1.039469 +v -1.119698 1.184726 -0.483061 +v -0.637749 1.184726 1.481267 +v 0.881758 0.443333 -0.594343 +v -1.119698 -0.001503 -0.594343 +v -1.119698 0.035654 1.369985 +v 0.956050 1.036447 1.147423 +v -0.118970 0.295054 -1.039469 +v -1.193990 1.110528 0.813825 +v 0.177565 0.332211 1.481267 +v -1.193990 -0.001503 0.628520 +v -1.119698 1.110528 1.406997 +f 226 223 232 +f 210 208 212 +f 209 211 213 +f 211 209 214 +f 208 210 215 +f 208 207 216 +f 212 208 216 +f 207 213 216 +f 206 217 219 +f 217 212 219 +f 209 215 220 +f 210 212 221 +f 206 214 221 +f 214 210 221 +f 217 206 221 +f 212 217 221 +f 215 210 222 +f 208 215 223 +f 218 208 223 +f 213 211 224 +f 211 219 224 +f 219 212 224 +f 210 214 225 +f 214 209 225 +f 222 210 225 +f 220 222 225 +f 209 213 226 +f 213 218 226 +f 218 223 226 +f 212 216 227 +f 216 213 227 +f 213 224 227 +f 224 212 227 +f 214 206 228 +f 211 214 228 +f 219 211 228 +f 206 219 228 +f 220 215 229 +f 215 222 229 +f 222 220 229 +f 207 208 230 +f 213 207 230 +f 208 218 230 +f 218 213 230 +f 209 220 231 +f 225 209 231 +f 220 225 231 +f 215 209 232 +f 223 215 232 +f 209 226 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf new file mode 100644 index 000000000..00e7bee53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj new file mode 100644 index 000000000..def80f757 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj @@ -0,0 +1,327 @@ +o convex_0 +v 1.061468 -3.149755 -0.212208 +v -1.080805 -3.841326 -0.972489 +v -0.216850 -3.841326 -0.972489 +v 0.854077 0.132289 -1.007151 +v -0.942614 0.132289 0.927698 +v 1.061468 -3.771702 1.100593 +v -1.080805 -3.841326 0.962360 +v 1.026868 0.132289 0.927698 +v -1.011605 0.132289 -0.937828 +v 1.061468 -3.806708 -0.937828 +v 0.992267 0.132289 -0.972283 +v -0.769823 -0.040798 0.962153 +v -1.046205 -0.731591 -0.972489 +v -1.080805 -3.392077 0.962360 +v 0.819476 -3.806708 1.065931 +v 1.026868 -3.530158 -0.972283 +v -1.011605 0.132289 -0.488674 +v 0.923067 -3.564386 1.100593 +v 1.026868 0.062665 0.236740 +v 0.957667 -0.316960 0.962360 +v -1.080805 -2.769741 -0.972489 +v 1.061258 -2.424345 1.031270 +v -0.735223 0.132289 -0.972489 +v 1.061468 -3.287836 -0.764933 +v -0.562432 -3.841326 0.893037 +v 0.750276 -0.144262 -1.006944 +v 1.061468 -3.806708 0.236740 +v -0.977005 -0.628128 0.927698 +v -1.046205 -2.666278 0.962360 +v 0.819476 -3.806708 -0.972283 +v 0.888677 -3.702856 1.100593 +v 0.957667 0.062665 -1.007151 +v 1.061468 -3.564386 1.100593 +f 22 8 33 +f 2 3 7 +f 4 5 8 +f 5 4 9 +f 1 6 10 +f 4 8 11 +f 8 5 12 +f 2 7 14 +f 6 7 15 +f 11 10 16 +f 5 9 17 +f 9 13 17 +f 13 14 17 +f 11 8 19 +f 8 12 20 +f 14 13 21 +f 2 14 21 +f 19 8 22 +f 9 4 23 +f 4 13 23 +f 13 9 23 +f 1 10 24 +f 10 11 24 +f 11 19 24 +f 22 1 24 +f 19 22 24 +f 7 3 25 +f 15 7 25 +f 3 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-1.011574 1.445174 -2.976448 +v 0.957714 0.166842 -1.871166 +v 0.957714 1.963343 -1.007353 +v -0.977075 0.270853 -2.492697 +v -1.046276 2.239937 -2.320015 +v 1.026915 0.166842 -2.527192 +v 0.957714 0.236043 -3.045439 +v -0.907873 2.309138 -2.354511 +v 0.024819 2.309138 -3.010943 +v -0.977075 0.478037 -3.010943 +v -0.527978 0.996206 -3.080138 +v -0.942373 2.239937 -1.283928 +v 0.404714 2.274538 -1.594795 +v -0.735175 0.270853 -3.045439 +v -1.011574 0.236043 -1.283928 +v 0.404714 0.201442 -1.007353 +v 0.439416 2.239937 -1.007353 +v 0.957714 2.239727 -1.214733 +f 55 47 70 +f 37 39 43 +f 43 35 44 +f 37 43 44 +f 38 41 47 +f 46 41 48 +f 46 40 50 +f 47 41 51 +f 35 43 52 +f 49 38 54 +f 44 49 54 +f 39 37 55 +f 37 45 55 +f 45 47 55 +f 36 35 57 +f 42 50 57 +f 35 52 57 +f 52 42 57 +f 50 53 57 +f 53 36 57 +f 45 37 58 +f 38 47 58 +f 47 45 58 +f 37 54 58 +f 54 38 58 +f 41 38 59 +f 48 41 59 +f 38 49 59 +f 34 42 60 +f 42 52 60 +f 42 34 61 +f 41 50 61 +f 50 42 61 +f 34 51 61 +f 51 41 61 +f 50 40 62 +f 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3.070062 +v -1.046255 1.514110 -0.937922 +v -0.113099 2.378245 3.104676 +v 0.508447 0.719879 3.070062 +v 1.096021 0.201750 2.482429 +v 1.096021 1.238229 3.000834 +v -1.011655 2.239754 -0.488745 +v -1.046255 2.205242 -0.696026 +v 0.439246 2.239754 -1.007150 +v -0.977055 1.548622 3.104676 +v 0.785039 0.201750 2.966220 +v 1.061421 1.825163 3.070062 +v -0.873464 0.305288 3.035448 +v -1.011655 0.132725 -0.488745 +v 1.026821 0.167018 2.136691 +v 1.061421 2.343512 2.862378 +v 1.096021 2.239754 1.411406 +v 0.957620 0.305288 3.000432 +v 1.096021 2.101484 0.928016 +v 0.439246 2.343292 3.104676 +v -0.147908 2.378245 3.035448 +v 0.992220 0.409046 -0.937520 +v 0.646638 1.825163 3.104676 +v 1.096021 2.239754 1.031858 +f 104 105 112 +f 72 73 83 +f 73 74 83 +f 82 72 84 +f 72 83 84 +f 73 72 85 +f 72 79 85 +f 75 77 86 +f 83 74 88 +f 75 85 90 +f 85 79 90 +f 77 71 91 +f 86 77 91 +f 71 89 92 +f 89 87 92 +f 81 78 93 +f 78 84 93 +f 84 83 93 +f 78 81 94 +f 75 86 95 +f 77 75 96 +f 76 89 96 +f 75 90 96 +f 90 76 96 +f 74 73 97 +f 73 85 97 +f 85 75 97 +f 86 74 97 +f 75 95 97 +f 95 86 97 +f 71 77 98 +f 89 71 98 +f 77 96 98 +f 96 89 98 +f 78 87 99 +f 87 82 99 +f 78 94 100 +f 94 80 100 +f 76 82 101 +f 82 87 101 +f 89 76 101 +f 87 89 101 +f 79 72 102 +f 72 82 102 +f 82 76 102 +f 76 90 102 +f 90 79 102 +f 82 84 103 +f 84 78 103 +f 99 82 103 +f 78 99 103 +f 88 74 104 +f 91 80 104 +f 80 94 105 +f 94 81 105 +f 104 80 105 +f 87 78 106 +f 92 87 106 +f 100 92 106 +f 78 100 106 +f 83 81 107 +f 81 93 107 +f 93 83 107 +f 91 71 108 +f 80 91 108 +f 74 86 109 +f 86 91 109 +f 104 74 109 +f 91 104 109 +f 81 83 110 +f 88 81 110 +f 83 88 110 +f 71 92 111 +f 100 80 111 +f 92 100 111 +f 108 71 111 +f 80 108 111 +f 81 88 112 +f 88 104 112 +f 105 81 112 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf new file mode 100644 index 000000000..afcebdac2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj new file mode 100644 index 000000000..81db7ac28 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj @@ -0,0 +1,921 @@ +o convex_0 +v 0.034108 -1.234048 2.177736 +v -0.098154 -2.327054 1.184474 +v 0.000955 -2.327054 1.184474 +v -0.065001 -2.095015 2.740871 +v -0.628252 -1.697646 1.184474 +v 0.497900 -1.200934 1.184474 +v 0.398558 -1.796988 2.674539 +v 0.431594 -2.227472 1.184474 +v -0.429451 -1.763754 2.674539 +v -0.462604 -1.200934 1.184474 +v -0.462604 -2.128129 1.813769 +v 0.067261 -1.366385 2.707705 +v 0.564323 -1.863096 1.217469 +v 0.034108 -1.697646 2.939867 +v -0.296955 -1.432853 2.509053 +v -0.495640 -2.161364 1.184474 +v -0.031965 -1.101351 1.316967 +v 0.332252 -2.128129 2.111576 +v 0.398558 -1.333390 2.078410 +v -0.495640 -1.234048 1.349961 +v -0.031965 -2.260586 1.946261 +v 0.497900 -1.697646 2.111576 +v -0.561946 -1.697646 1.913095 +v 0.000955 -2.128129 2.707705 +v -0.429451 -1.697646 2.674539 +v 0.398558 -1.697646 2.674539 +v -0.330109 -2.028787 2.542047 +v -0.031965 -1.366385 2.707705 +v -0.065001 -1.730760 2.939867 +v -0.065001 -2.161364 2.575213 +v 0.332252 -1.465847 2.542047 +v 0.266062 -2.062021 2.509053 +v -0.131307 -1.101351 1.184474 +v 0.497900 -1.200934 1.250634 +v 0.034108 -1.796988 2.939867 +v -0.628252 -1.763754 1.217469 +v -0.098154 -1.200934 1.879929 +v 0.564323 -1.730760 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a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj new file mode 100644 index 000000000..3e9ca64ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj @@ -0,0 +1,264 @@ +o convex_0 +v -0.617927 -0.123165 1.007489 +v -0.444339 -2.344523 -0.101722 +v -0.374990 -2.344523 -0.101722 +v 0.631434 -0.296899 -3.017363 +v 1.047745 -2.309733 3.020812 +v 0.978396 -0.331472 3.056092 +v -1.104015 -2.309733 3.056092 +v -1.034452 -2.240152 -3.052642 +v 0.978396 -2.309733 -2.948000 +v -0.999777 -0.296899 -2.948000 +v -1.104015 -0.158173 2.986131 +v 1.082634 -0.123383 -1.004040 +v 1.082634 -0.296899 -3.017363 +v 1.082634 -0.123383 1.076852 +v -1.069127 -0.123165 -0.553180 +v 1.047745 -2.274725 0.139853 +v 1.082634 -1.164481 1.111534 +v -1.034452 -0.123165 -1.039319 +v -1.104015 -2.309733 2.292500 +v 1.082634 -0.539779 -3.017363 +v 0.284259 -2.309733 -2.982681 +v 1.047745 -0.262109 -2.809273 +v 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73 88 +f 73 64 88 +f 81 61 88 +f 64 81 88 +f 64 55 89 +f 55 66 89 +f 77 60 89 +f 66 77 89 +f 60 83 89 +f 83 64 89 +f 58 65 90 +f 78 58 90 +f 83 78 90 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf new file mode 100644 index 000000000..0412b202b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj new file mode 100644 index 000000000..b4083a2e9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj @@ -0,0 +1,732 @@ +o convex_0 +v -0.019092 -0.276574 2.008047 +v -0.019092 -2.361624 -2.035059 +v 0.043896 -2.361624 -2.035059 +v -0.050586 -0.497811 -2.761889 +v 1.055020 -0.055336 -0.076671 +v 0.802239 -2.013740 2.070917 +v -0.966814 -1.413689 2.039776 +v -0.935320 -0.055336 -1.055571 +v 1.023319 -1.318873 -2.066788 +v -1.061711 -1.413689 -2.066788 +v -0.714033 -2.077176 2.039776 +v 0.770538 -1.255663 2.765431 +v -0.840424 -0.055336 0.901642 +v -0.714033 -1.287268 2.797160 +v 0.043896 -2.045571 -2.761889 +v 0.802239 -2.077176 -1.971601 +v -0.777228 -2.140161 -2.035059 +v 0.075597 -2.171992 2.418761 +v 1.055020 -1.318873 1.976317 +v 0.896928 -0.055336 -1.087300 +v 0.896928 -0.055336 0.996829 +v -0.777228 -1.255663 -2.761302 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf new file mode 100644 index 000000000..7eaae076d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj new file mode 100644 index 000000000..6c8823c74 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj new file mode 100644 index 000000000..d15286bd4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj @@ -0,0 +1,564 @@ +o convex_0 +v -0.013296 -0.245799 1.017792 +v -2.067654 -4.059994 0.797813 +v -1.957557 -2.996453 -1.072547 +v 0.096586 -4.097318 -1.072763 +v -1.957557 -0.245799 -1.109605 +v -0.013511 -4.059994 1.091478 +v -2.067654 -0.245799 0.981165 +v 0.133429 -0.245799 -0.999293 +v -1.920714 -4.097318 -1.072547 +v -2.067654 -4.059994 0.981165 +v -0.343587 -0.245799 1.091478 +v -0.637036 -4.059994 1.091478 +v -1.994184 -0.245799 -0.962665 +v 0.133429 -0.796231 -0.742471 +v 0.059959 -4.097318 -0.082318 +v 0.133429 -1.089544 -1.035920 +v -1.957557 -2.519537 -1.109605 +v -1.590638 -0.245799 -1.109605 +v -2.067654 -0.245799 0.577619 +v -1.994184 -4.097318 0.100818 +v -1.664108 -0.686145 1.017792 +v -1.773990 -4.059994 1.018008 +v -0.050138 -0.245799 1.091478 +v 0.133429 -2.409451 -0.999293 +v 0.096586 -3.179679 -1.072763 +v -1.957557 -4.097318 -0.852784 +v 0.096586 -4.023424 -0.632589 +v 0.133429 -0.245799 -0.742471 +v -0.013511 -2.262794 1.091478 +v -0.196863 -0.245799 -1.035920 +v 0.023332 -3.326335 0.651089 +f 28 29 31 +f 1 5 7 +f 5 1 8 +f 7 2 10 +f 1 7 11 +f 6 11 12 +f 3 2 13 +f 7 5 13 +f 9 4 15 +f 8 14 16 +f 9 3 17 +f 4 9 17 +f 3 13 17 +f 13 5 17 +f 5 8 18 +f 4 17 18 +f 17 5 18 +f 2 7 19 +f 13 2 19 +f 7 13 19 +f 10 2 20 +f 6 12 20 +f 9 15 20 +f 15 6 20 +f 11 7 21 +f 12 11 21 +f 12 21 22 +f 7 10 22 +f 10 20 22 +f 20 12 22 +f 21 7 22 +f 1 11 23 +f 11 6 23 +f 4 16 24 +f 16 14 24 +f 16 4 25 +f 4 18 25 +f 18 16 25 +f 2 3 26 +f 3 9 26 +f 20 2 26 +f 9 20 26 +f 15 4 27 +f 6 15 27 +f 4 24 27 +f 24 14 27 +f 8 1 28 +f 14 8 28 +f 1 23 29 +f 23 6 29 +f 28 1 29 +f 8 16 30 +f 18 8 30 +f 16 18 30 +f 6 27 31 +f 27 14 31 +f 14 28 31 +f 29 6 31 +o convex_1 +v -0.637094 -0.245210 1.054420 +v -1.370630 1.992346 -0.999293 +v -1.370630 1.992346 -1.072547 +v -4.011944 -0.025090 -0.999293 +v -4.011944 1.992346 1.017792 +v 0.243483 -0.208414 -0.999293 +v 0.243483 1.882176 0.907695 +v -3.974872 0.011487 0.944538 +v -3.938216 1.881957 -0.926038 +v 0.243483 1.882176 -1.036135 +v 0.243483 -0.171837 1.091478 +v -1.957543 -0.244991 -1.109605 +v -2.067511 -0.244991 0.981165 +v -1.554327 1.918753 1.054635 +v -2.177479 1.992346 -1.072547 +v -0.343429 -0.245210 1.091478 +v -3.974872 0.048283 -1.035920 +v -0.196805 -0.245210 -1.035920 +v -3.277991 1.918753 1.054635 +v -4.011944 1.478733 1.017792 +v -4.011944 0.745219 -0.999293 +v -1.444359 0.451945 -1.109605 +v 0.243483 1.918753 -0.155573 +v -3.535000 1.992346 1.017792 +v -1.994199 0.855389 -1.109605 +v -3.901560 -0.025090 0.944538 +v 0.243483 1.772007 0.944538 +v -4.011944 1.955331 0.247327 +v -0.013525 -0.245210 1.017792 +v -1.994199 1.992346 -0.155788 +v -4.011944 -0.025090 -0.339140 +v -3.974872 1.845380 -0.926038 +v -2.691079 1.992346 -0.742471 +v 0.243483 0.965120 -1.035920 +v 0.243483 -0.061887 1.091478 +v 0.243483 1.918753 -0.779098 +v -3.791592 1.808584 -0.962665 +v -0.453814 1.405141 -1.072763 +v -2.361175 -0.098464 -1.109605 +v 0.133098 -0.245210 -0.742471 +v -1.590983 -0.244991 -1.109605 +v -3.938216 0.598473 0.981165 +v -4.011944 1.992346 0.760971 +v -1.040726 1.955331 -1.072547 +v -1.994199 -0.244991 -0.962665 +v -0.086837 0.048283 1.091478 +v -4.011944 1.221817 0.981165 +f 62 39 78 +f 33 34 36 +f 38 37 41 +f 37 38 42 +f 36 34 46 +f 44 32 47 +f 43 35 48 +f 47 32 49 +f 45 36 50 +f 47 50 51 +f 36 35 51 +f 50 36 51 +f 35 36 52 +f 48 35 52 +f 46 48 52 +f 34 33 54 +f 38 41 54 +f 33 36 55 +f 36 45 55 +f 45 38 55 +f 46 34 56 +f 48 46 56 +f 53 43 56 +f 47 39 57 +f 44 47 57 +f 42 38 58 +f 38 45 58 +f 52 36 59 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-0.449191 +v 2.481301 3.862573 -0.596019 +v 2.518036 -1.858605 -0.522549 +v 3.581792 3.899901 -0.375832 +v 2.738112 2.578626 -0.596019 +v 2.738112 -2.116343 -0.522549 +v 3.471699 -1.638788 -0.485814 +v 2.554660 -1.455113 0.541207 +v 2.481301 2.028786 -0.596019 +v 2.444566 3.129058 0.394378 +v 3.581792 -0.758333 0.467737 +v 3.581792 -1.859198 0.027585 +v 3.178153 -2.079607 0.504472 +v 3.581792 3.202528 -0.449191 +v 2.554660 -2.116343 -0.522549 +v 2.701377 3.862573 -0.596019 +v 3.545057 0.085387 0.504472 +v 2.738112 -2.042280 0.541207 +v 3.508322 -2.042280 -0.412456 +v 2.444566 3.825839 0.100944 +v 3.581792 3.752961 -0.265738 +v 2.518036 -1.858605 -0.412456 +v 3.178153 3.936636 0.467737 +v 2.554660 -2.116343 0.211037 +v 3.471699 3.349469 0.541207 +v 3.581792 2.431686 -0.449191 +v 2.444566 3.385611 0.541207 +v 2.518036 -0.795068 -0.559173 +v 2.848094 -2.116343 0.504472 +v 2.848094 -2.079015 -0.522549 +v 3.288246 -1.821870 0.504472 +v 2.444566 3.899901 0.247661 +f 108 87 117 +f 80 83 85 +f 79 90 92 +f 85 83 93 +f 87 90 94 +f 81 80 96 +f 82 89 96 +f 82 86 97 +f 89 82 97 +f 84 89 99 +f 92 90 99 +f 89 97 99 +f 91 85 100 +f 89 84 101 +f 87 89 101 +f 90 87 101 +f 84 99 101 +f 99 90 101 +f 96 80 102 +f 82 96 102 +f 80 85 103 +f 85 98 103 +f 86 82 104 +f 91 86 104 +f 82 98 104 +f 87 94 105 +f 94 88 105 +f 95 83 105 +f 88 95 105 +f 80 81 106 +f 89 80 106 +f 81 96 106 +f 96 89 106 +f 95 88 107 +f 88 100 107 +f 83 80 108 +f 80 89 108 +f 89 87 108 +f 85 93 109 +f 100 85 109 +f 93 107 109 +f 107 100 109 +f 102 80 110 +f 80 103 110 +f 86 92 111 +f 97 86 111 +f 92 99 111 +f 99 97 111 +f 93 83 112 +f 83 95 112 +f 107 93 112 +f 95 107 112 +f 90 79 113 +f 88 94 113 +f 94 90 113 +f 100 88 113 +f 91 100 113 +f 85 91 114 +f 98 85 114 +f 91 104 114 +f 104 98 114 +f 86 91 115 +f 92 86 115 +f 79 92 115 +f 113 79 115 +f 91 113 115 +f 98 82 116 +f 82 102 116 +f 103 98 116 +f 102 110 116 +f 110 103 116 +f 105 83 117 +f 87 105 117 +f 83 108 117 +o convex_3 +v 0.830507 -0.208737 0.321099 +v 0.647072 -2.152870 -0.045659 +v 0.683782 -2.189712 -0.192437 +v 1.233970 -2.079572 0.247683 +v 1.233970 -0.208737 -0.229172 +v 0.720492 -0.208737 -0.229172 +v 0.647072 -2.042923 0.321099 +v 1.197203 -2.042923 -0.192437 +v 1.233970 -0.208737 0.284364 +v 0.683782 -1.859291 -0.229172 +v 0.683782 -0.575807 -0.045659 +v 1.123841 -0.245580 0.321099 +v 0.867217 -2.042923 0.321099 +v 1.233970 -2.079572 -0.045659 +v 0.647072 -1.602750 0.247683 +v 0.793854 -0.245580 0.284364 +v 1.233970 -1.345626 0.284364 +v 0.683782 -0.869385 -0.229172 +v 0.793854 -2.189712 -0.082394 +f 131 121 136 +f 118 122 123 +f 122 118 126 +f 121 122 126 +f 120 119 127 +f 123 122 127 +f 125 120 127 +f 122 125 127 +f 118 124 129 +f 126 118 129 +f 124 121 130 +f 129 124 130 +f 122 121 131 +f 120 125 131 +f 125 122 131 +f 119 124 132 +f 128 132 133 +f 118 123 133 +f 124 118 133 +f 123 128 133 +f 132 124 133 +f 121 126 134 +f 126 129 134 +f 130 121 134 +f 129 130 134 +f 127 119 135 +f 123 127 135 +f 128 123 135 +f 119 132 135 +f 132 128 135 +f 119 120 136 +f 124 119 136 +f 121 124 136 +f 120 131 136 +o convex_4 +v 0.243483 1.882051 -1.036236 +v 0.316917 -0.098338 1.091478 +v 0.243483 -0.098338 1.091478 +v 0.903847 -0.171719 -0.999372 +v 1.967468 2.029031 0.944645 +v 2.004275 -0.098338 -0.962716 +v 2.077708 1.992012 -1.036236 +v 2.077708 -0.024958 0.981301 +v 0.243483 1.882051 0.907990 +v 0.243483 -0.171719 -0.999372 +v 1.234029 -0.208737 0.284213 +v 0.757159 2.029031 -0.302491 +v 0.243483 -0.171719 1.091478 +v 2.077708 0.525065 0.981301 +v 2.040902 1.221629 -1.036236 +v 0.243483 -0.208737 -0.779436 +v 0.977281 1.955431 0.944645 +v 2.040902 -0.024958 1.017957 +v 2.077708 -0.024958 0.357525 +v 0.793787 2.029031 0.284213 +v 2.040902 2.029031 -0.228971 +v 0.280290 1.918632 -1.036236 +v 0.243483 1.038507 -1.036236 +v 1.234029 -0.208737 -0.228971 +v 0.280290 1.808671 0.944645 +v 0.243483 1.918632 0.137589 +v 1.527405 1.992012 -1.036236 +v 2.004275 1.698491 0.944645 +v 2.040902 2.029031 -0.559083 +v 0.243483 -0.208737 -0.265835 +v 2.004275 -0.098338 -0.595947 +v 1.710720 2.029031 0.944645 +v 2.040902 1.038288 0.981301 +v 2.004275 0.415323 -0.999372 +v 0.830414 -0.208737 0.321077 +v 0.316917 -0.171719 1.091478 +f 149 171 172 +f 139 138 141 +f 137 139 145 +f 139 137 146 +f 138 139 149 +f 139 146 149 +f 144 143 150 +f 137 143 151 +f 143 142 151 +f 146 140 152 +f 149 146 152 +f 147 144 154 +f 144 150 154 +f 142 143 155 +f 144 142 155 +f 143 144 155 +f 141 148 156 +f 145 153 156 +f 148 141 157 +f 150 143 157 +f 143 137 158 +f 146 137 159 +f 140 146 159 +f 151 140 159 +f 137 151 159 +f 140 142 160 +f 142 147 160 +f 152 140 160 +f 147 152 160 +f 145 139 161 +f 139 153 161 +f 153 145 161 +f 137 145 162 +f 156 148 162 +f 145 156 162 +f 158 137 162 +f 148 158 162 +f 143 158 163 +f 158 148 163 +f 157 141 164 +f 150 157 164 +f 157 143 165 +f 148 157 165 +f 143 163 165 +f 163 148 165 +f 152 147 166 +f 149 152 166 +f 142 144 167 +f 147 142 167 +f 144 147 167 +f 139 141 168 +f 153 139 168 +f 141 156 168 +f 156 153 168 +f 141 138 169 +f 138 154 169 +f 154 150 169 +f 164 141 169 +f 150 164 169 +f 142 140 170 +f 140 151 170 +f 151 142 170 +f 166 147 171 +f 149 166 171 +f 138 149 172 +f 154 138 172 +f 147 154 172 +f 171 147 172 +o convex_5 +v 0.720445 2.652969 -0.082390 +v 0.793815 4.010005 0.357783 +v 0.720445 4.010005 0.357783 +v 1.270594 3.863037 -0.302542 +v 1.307279 2.029224 0.284292 +v 1.343963 3.863037 0.321070 +v 1.307279 2.029224 -0.265828 +v 0.793815 2.029224 0.284292 +v 0.757130 3.679617 -0.229050 +v 0.757130 2.029224 -0.302542 +v 0.720445 3.863037 -0.155752 +v 1.343963 2.689614 0.321070 +v 1.343963 3.863037 0.064270 +v 0.757130 2.616130 0.321070 +v 1.197225 2.029224 -0.302542 +v 0.757130 2.506194 -0.302542 +v 0.720445 3.679617 0.357783 +v 1.343963 2.836389 -0.009028 +v 1.087170 3.936327 -0.082390 +v 1.160540 3.826392 -0.302542 +v 0.977238 3.863037 0.357783 +v 0.757130 2.029224 -0.009028 +f 180 186 194 +f 179 177 180 +f 179 180 182 +f 173 175 183 +f 182 173 183 +f 177 179 184 +f 179 176 185 +f 178 184 185 +f 180 177 186 +f 177 184 186 +f 176 179 187 +f 182 176 187 +f 179 182 187 +f 176 182 188 +f 183 181 188 +f 182 183 188 +f 175 173 189 +f 174 175 189 +f 173 186 189 +f 186 184 189 +f 184 179 190 +f 179 185 190 +f 185 184 190 +f 175 174 191 +f 174 178 191 +f 183 175 191 +f 176 183 191 +f 185 176 191 +f 178 185 191 +f 181 183 192 +f 183 176 192 +f 176 188 192 +f 188 181 192 +f 178 174 193 +f 184 178 193 +f 174 189 193 +f 189 184 193 +f 182 180 194 +f 173 182 194 +f 186 173 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf new file mode 100644 index 000000000..327a3eca9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj new file mode 100644 index 000000000..8921425ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj @@ -0,0 +1,504 @@ +o convex_0 +v -1.733064 -1.682873 0.192993 +v -1.463247 -2.222557 -0.346831 +v -1.972732 -2.252515 -0.316717 +v -1.102983 -2.252515 0.252951 +v -3.052380 -2.192537 0.252951 +v -2.902397 -1.652792 -0.196801 +v -1.102983 -1.682873 -0.316717 +v -2.992272 -1.742852 0.312909 +v -1.102983 -1.712832 0.342956 +v -2.932165 -2.282535 -0.256827 +v -1.102983 -2.222557 -0.316717 +v -1.402949 -1.652792 -0.316717 +v -1.432907 -2.282535 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000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj new file mode 100644 index 000000000..581e6aafa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj @@ -0,0 +1,366 @@ +o convex_0 +v 0.079820 0.558712 -1.799817 +v 0.153952 -0.590644 -2.430465 +v 0.302217 -0.590644 -2.430465 +v -0.142464 0.521546 -3.690835 +v -0.476115 -0.367997 -1.799817 +v -0.550360 -0.553478 -3.653630 +v 0.598858 -0.405163 -3.690835 +v -0.513237 0.447563 -1.799817 +v 0.450481 0.595878 -1.799817 +v 0.598858 -0.590644 -1.837022 +v 0.487603 0.447563 -3.653630 +v -0.476115 0.521546 -3.690835 +v 0.598858 -0.553478 -3.690835 +v -0.439105 -0.479378 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--- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj new file mode 100644 index 000000000..00858218e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj @@ -0,0 +1,4269 @@ +o convex_0 +v -0.803021 -0.357261 0.196575 +v -0.803021 0.066709 1.233221 +v -0.803021 0.396567 1.138676 +v -1.038651 0.160820 0.950394 +v -0.826617 0.514324 0.173285 +v -1.038651 -0.310206 0.550079 +v -0.826617 -0.451607 1.044708 +v -1.038651 0.325867 0.361567 +v -0.803021 0.655843 0.691089 +v -1.038651 -0.003875 0.267368 +v -1.038651 0.349394 0.879717 +v -0.803021 -0.545953 0.597236 +v -0.803021 0.113882 0.055335 +v -1.038651 -0.215977 0.879717 +v -1.038651 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1526 +f 1525 1519 1526 +f 1518 1525 1526 +f 1519 1520 1527 +f 1520 1521 1527 +f 1522 1523 1527 +f 1523 1519 1527 +f 1521 1524 1527 +f 1524 1522 1527 +f 1521 1519 1528 +f 1519 1525 1528 +o convex_124 +v 0.210348 -2.949546 0.526296 +v 0.964343 -2.690335 0.761947 +v 0.940649 -2.690335 0.785520 +v 0.210348 -2.690335 -0.109673 +v 0.210348 -2.855260 0.785520 +v 0.893556 -2.808167 0.644077 +v 0.940649 -2.690335 0.455662 +v 0.233968 -2.713907 -0.109673 +v 0.422485 -2.784621 0.785520 +v 0.233968 -2.902378 0.785520 +v 0.210348 -2.690335 0.008109 +f 1533 1537 1539 +f 1531 1530 1532 +f 1532 1529 1533 +f 1530 1531 1534 +f 1532 1530 1535 +f 1530 1534 1535 +f 1535 1534 1536 +f 1529 1532 1536 +f 1534 1529 1536 +f 1532 1535 1536 +f 1533 1531 1537 +f 1533 1529 1538 +f 1531 1533 1538 +f 1534 1531 1538 +f 1529 1534 1538 +f 1531 1532 1539 +f 1532 1533 1539 +f 1537 1531 1539 +o convex_125 +v 0.752212 0.655843 3.189173 +v 0.917121 -0.003967 3.236173 +v 0.540255 0.726481 3.000592 +v 0.940725 0.750102 2.482262 +v 0.398844 0.750102 3.330589 +v 0.940725 0.113912 3.330589 +v 0.940725 0.750102 2.670927 +v 0.917121 0.726481 2.482262 +v 0.563806 0.443632 3.306922 +v 0.516651 0.726481 3.330589 +f 1546 1544 1549 +f 1543 1542 1544 +f 1541 1543 1545 +f 1543 1544 1546 +f 1545 1543 1546 +f 1540 1545 1546 +f 1541 1542 1547 +f 1542 1543 1547 +f 1543 1541 1547 +f 1542 1541 1548 +f 1544 1542 1548 +f 1541 1545 1548 +f 1545 1544 1548 +f 1545 1540 1549 +f 1544 1545 1549 +f 1540 1546 1549 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf new file mode 100644 index 000000000..975542691 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj new file mode 100644 index 000000000..aa32263d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj @@ -0,0 +1,321 @@ +o convex_0 +v 0.329270 -3.056439 0.087576 +v -0.361848 -3.261245 0.061974 +v -0.361848 -3.261245 0.087576 +v -0.029075 -4.771436 0.010966 +v 0.022001 -3.056439 -0.296323 +v -0.105858 -3.056439 0.369198 +v -0.003571 -4.515429 0.215586 +v -0.029075 -4.540778 -0.168313 +v -0.284997 -3.056439 -0.193850 +v -0.233853 -4.540778 0.061974 +v 0.175568 -4.464228 -0.014636 +v 0.252419 -3.158842 -0.219452 +v 0.252419 -3.133325 0.266790 +v -0.310636 -3.056439 0.317994 +v -0.208214 -4.335972 -0.117044 +v -0.131430 -4.387341 0.215586 +v 0.022001 -3.056439 0.369198 +v 0.149996 -4.387341 0.113178 +v 0.329270 -3.056439 -0.065840 +v -0.080219 -4.515429 -0.168313 +v -0.284997 -3.235896 -0.193850 +v -0.361848 -3.082124 -0.014636 +v 0.124424 -4.335972 -0.117044 +v -0.029075 -3.082124 -0.296323 +v -0.233853 -4.489744 -0.014636 +v 0.175568 -4.464228 0.036438 +v 0.022001 -4.489744 0.215586 +v -0.284997 -3.235896 0.317994 +v -0.029075 -4.361825 0.241188 +v 0.329270 -3.210211 0.036438 +v -0.054647 -4.720235 0.087576 +v -0.361848 -3.107640 0.164382 +v 0.277991 -3.133325 -0.193850 +v -0.003571 -4.745584 0.061974 +v 0.022001 -3.107640 0.369198 +v -0.182642 -4.233737 0.215586 +v -0.105858 -4.720235 0.010966 +v 0.201208 -3.082124 -0.245054 +v 0.149996 -4.540778 -0.014636 +v 0.252419 -3.056439 0.266790 +v 0.124424 -4.335972 0.164382 +v -0.259425 -3.082124 -0.219452 +v -0.233853 -4.489744 0.087576 +v -0.080219 -3.133325 0.369198 +v 0.329270 -3.107640 0.087576 +f 26 30 45 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-0.731271 +v -0.003480 0.296226 1.060317 +v -0.003480 0.756581 1.034660 +v -1.027349 0.092463 -0.014676 +v 0.815535 3.009929 -0.756928 +v 0.738765 -1.929450 0.727376 +v -0.668955 2.676613 -0.680157 +v -0.668955 -2.236353 0.701919 +v -0.668955 2.779123 0.650605 +v 0.661994 2.523161 0.727376 +v 0.943418 -1.929450 -0.014676 +v -0.694412 -1.981020 -0.654500 +v -0.028937 0.449678 -0.987441 +v 0.226830 -3.056439 0.292207 +v 0.713108 -1.955235 -0.654500 +v -0.080251 3.316833 0.650605 +v 1.020389 0.756581 0.061894 +v -0.105707 3.316833 -0.756728 +v -0.796839 0.423893 0.804146 +v -0.668955 -2.748278 0.036438 +v 0.738765 3.316204 0.087551 +v -0.054594 -1.955235 0.983345 +v -0.924922 2.625672 0.010981 +v -0.643298 3.316833 -0.040133 +v -0.950379 -1.929450 0.061894 +v 0.277943 -3.056439 -0.219332 +v -0.745725 0.423893 -0.756928 +v -0.080251 2.523161 0.932231 +v 0.764221 0.501248 0.804146 +v -0.028937 2.625043 -0.935927 +v 0.943418 2.548317 0.087551 +v -0.003480 -1.699273 -0.910470 +v 0.789878 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103 109 +f 48 47 55 +f 49 57 70 +f 65 53 70 +f 57 65 70 +f 57 49 72 +f 61 54 73 +f 55 47 74 +f 52 63 75 +f 63 50 75 +f 58 72 75 +f 62 50 76 +f 66 55 76 +f 50 66 76 +f 55 74 76 +f 74 62 76 +f 72 58 77 +f 56 60 78 +f 79 71 80 +f 71 59 80 +f 65 79 80 +f 59 71 81 +f 53 67 82 +f 70 53 82 +f 80 59 83 +f 50 63 84 +f 66 50 84 +f 63 69 84 +f 75 50 85 +f 58 75 85 +f 77 58 85 +f 50 78 85 +f 54 68 86 +f 73 54 86 +f 64 73 86 +f 49 70 87 +f 60 56 89 +f 56 81 89 +f 81 71 89 +f 54 61 90 +f 68 54 90 +f 69 68 90 +f 81 51 91 +f 59 81 91 +f 51 83 91 +f 83 59 91 +f 55 66 92 +f 68 52 93 +f 52 75 93 +f 75 72 93 +f 71 79 94 +f 46 89 94 +f 89 71 94 +f 65 57 95 +f 79 65 95 +f 94 79 95 +f 63 52 96 +f 52 68 96 +f 69 63 96 +f 68 69 96 +f 47 67 97 +f 83 51 97 +f 67 83 97 +f 53 65 98 +f 67 53 98 +f 65 80 98 +f 83 67 98 +f 80 83 98 +f 74 47 99 +f 62 74 99 +f 51 88 99 +f 88 62 99 +f 47 97 99 +f 97 51 99 +f 47 48 100 +f 67 47 100 +f 48 73 100 +f 73 64 100 +f 64 82 100 +f 82 67 100 +f 78 60 101 +f 77 85 101 +f 85 78 101 +f 60 89 101 +f 89 46 101 +f 50 62 102 +f 78 50 102 +f 56 78 102 +f 88 56 102 +f 62 88 102 +f 72 49 103 +f 49 87 103 +f 93 72 103 +f 82 64 104 +f 70 82 104 +f 64 86 104 +f 87 70 104 +f 86 87 104 +f 51 81 105 +f 81 56 105 +f 88 51 105 +f 56 88 105 +f 57 72 106 +f 72 77 106 +f 46 94 106 +f 95 57 106 +f 94 95 106 +f 101 46 106 +f 77 101 106 +f 48 55 107 +f 73 48 107 +f 61 73 107 +f 55 92 107 +f 92 61 107 +f 66 84 108 +f 84 69 108 +f 90 61 108 +f 69 90 108 +f 92 66 108 +f 61 92 108 +f 86 68 109 +f 87 86 109 +f 68 93 109 +f 103 87 109 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf new file mode 100644 index 000000000..9777ea802 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj new file mode 100644 index 000000000..978a4ffca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj @@ -0,0 +1,1815 @@ +o convex_0 +v 1.214757 -4.542131 0.408295 +v 1.536870 -4.485270 0.976721 +v 1.404217 -4.485270 0.995641 +v 1.536870 -4.561085 0.976721 +v 1.517882 -4.485270 0.256636 +v 0.987320 -4.485270 1.014562 +v 0.987320 -4.504223 0.256636 +v 1.063168 -4.542131 0.995641 +v 1.517882 -4.542131 0.256636 +v 0.987320 -4.523177 0.256636 +f 9 1 10 +f 2 3 4 +f 3 2 5 +f 2 4 5 +f 4 3 6 +f 3 5 6 +f 6 5 7 +f 1 4 8 +f 4 6 8 +f 4 1 9 +f 5 4 9 +f 7 5 9 +f 7 9 10 +f 6 7 10 +f 1 8 10 +f 8 6 10 +o convex_1 +v 1.480063 -4.466341 -0.899664 +v 0.418833 -4.561072 -1.070199 +v -0.415309 -4.598992 -1.070175 +v 0.418833 -4.447374 -1.070199 +v 0.418833 -4.542106 -0.823873 +v 1.460953 -4.523168 -1.070199 +v -0.415309 -4.504230 -0.975430 +v 1.480063 -4.523168 -0.823873 +v 1.460953 -4.447374 -0.823873 +v 1.460953 -4.447374 -1.070199 +v -0.282469 -4.598992 -0.975430 +v -0.415309 -4.504230 -1.070175 +v 1.233494 -4.542106 -1.070199 +f 18 21 23 +f 12 13 14 +f 12 14 16 +f 16 11 18 +f 14 17 19 +f 17 15 19 +f 18 11 19 +f 15 18 19 +f 16 14 20 +f 11 16 20 +f 19 11 20 +f 14 19 20 +f 17 13 21 +f 15 17 21 +f 18 15 21 +f 14 13 22 +f 13 17 22 +f 17 14 22 +f 13 12 23 +f 12 16 23 +f 16 18 23 +f 21 13 23 +o convex_2 +v 1.764710 0.158421 0.199715 +v 3.546018 0.783864 0.237597 +v 2.901405 0.632156 0.256556 +v 1.555878 0.783864 0.180756 +v 3.488940 0.461653 0.180756 +v 1.556073 0.177400 0.275506 +v 1.574969 0.726989 0.237597 +v 3.546018 0.783864 0.180756 +v 1.556073 0.158421 0.180747 +v 3.090756 0.291150 0.199715 +v 2.105621 0.783864 0.237597 +v 1.575359 0.272171 0.275506 +f 26 34 35 +f 27 29 30 +f 27 25 31 +f 25 28 31 +f 31 28 32 +f 29 27 32 +f 24 29 32 +f 27 31 32 +f 25 26 33 +f 28 25 33 +f 26 29 33 +f 29 24 33 +f 32 28 33 +f 24 32 33 +f 26 25 34 +f 25 27 34 +f 27 30 34 +f 34 30 35 +f 29 26 35 +f 30 29 35 +o convex_3 +v -0.434262 -4.504223 0.503008 +v -0.510062 0.139437 0.995756 +v -0.491112 0.139437 0.635565 +v -0.510062 -0.411020 0.256561 +v -0.472181 -3.916039 0.995756 +v -0.434262 -3.859674 0.995756 +v -0.453231 -1.566481 0.256561 +v -0.453231 -4.446496 0.256561 +v -0.529022 -0.637840 0.976727 +v -0.434262 -2.987852 0.256561 +v -0.510062 0.139437 0.256561 +v -0.453231 -4.466042 0.995756 +v -0.529022 0.119892 0.597867 +v -0.472181 -0.354202 0.275591 +v -0.491112 -0.581021 0.995756 +v -0.529022 0.139437 0.995756 +v -0.434262 -4.446496 0.256561 +v -0.434262 -4.466042 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a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf new file mode 100644 index 000000000..0476a70dd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj new file mode 100644 index 000000000..e2f82d178 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.185724 -3.355093 -0.397373 +v 1.041163 1.363904 1.077164 +v 1.041163 1.363904 0.546057 +v -1.082365 1.363904 -1.075677 +v -0.964345 -3.089026 0.959021 +v -0.964345 1.363904 1.047468 +v 1.070668 -3.295505 1.017986 +v 0.982153 1.363904 -1.016712 +v -0.934839 -3.207278 -1.075677 +v 1.011658 -3.206816 -0.957748 +v -0.964345 -3.295967 0.929539 +v -0.964345 0.301945 1.047468 +v -0.964345 1.363904 -1.105372 +v -0.610283 -3.207278 -1.075677 +v 1.011658 -0.022786 1.077164 +v 1.041163 -3.325530 0.959021 +v 1.011658 -1.703259 -0.957748 +v 0.805122 -3.295967 1.017986 +v 0.539786 1.245652 -1.046194 +v 1.041163 -3.265942 -0.220266 +v 1.070668 -1.761923 0.988503 +v -0.964345 -3.266404 0.428128 +v -0.993850 -0.376619 -1.105372 +v 0.716606 -3.119051 -0.987230 +v 0.480776 -3.355093 0.103611 +v 0.982153 -3.236841 -0.928266 +v 0.510281 1.363904 1.077164 +v -1.082365 1.333879 -1.105372 +v 1.070668 -1.939301 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-3.110946 +v 0.303742 1.540918 -1.223544 +f 100 87 102 +f 81 80 82 +f 80 81 83 +f 83 81 86 +f 81 82 89 +f 79 84 90 +f 82 80 91 +f 90 82 91 +f 88 84 92 +f 86 88 92 +f 86 81 93 +f 88 86 93 +f 81 89 93 +f 93 89 94 +f 85 84 94 +f 84 88 94 +f 89 85 94 +f 88 93 94 +f 89 82 95 +f 85 89 95 +f 86 92 96 +f 96 92 97 +f 84 79 97 +f 79 90 97 +f 90 87 97 +f 92 84 97 +f 87 96 97 +f 87 90 98 +f 90 91 98 +f 80 83 99 +f 91 80 99 +f 83 86 100 +f 86 96 100 +f 96 87 100 +f 84 85 101 +f 82 90 101 +f 90 84 101 +f 95 82 101 +f 85 95 101 +f 87 98 102 +f 98 91 102 +f 99 83 102 +f 91 99 102 +f 83 100 102 +o convex_3 +v -0.345022 1.540927 1.608394 +v 0.303840 1.599926 2.964419 +v 0.303840 1.540927 2.964419 +v 0.303840 2.042196 1.106854 +v -0.256420 1.953666 2.994060 +v 0.274306 1.511459 1.165939 +v -0.345022 1.393398 3.112231 +v -0.285954 1.953666 1.106854 +v 0.185830 2.012665 2.934974 +v -0.315424 1.540927 1.106854 +v -0.020591 2.012665 2.934974 +v -0.345022 1.570458 3.082394 +v 0.303840 1.511459 2.109542 +v -0.079469 1.511459 1.106854 +v -0.256420 1.393398 3.112231 +v -0.197478 1.983197 1.106854 +v -0.345022 1.393398 2.905529 +v 0.244772 1.511459 1.106854 +v -0.285954 1.953666 2.109542 +v 0.244772 1.865199 2.934974 +v 0.215301 2.042196 1.991764 +v -0.315424 1.511459 1.224829 +v -0.197478 1.983197 2.964419 +v -0.315424 1.776732 1.106854 +v 0.244772 1.511459 2.964419 +v -0.285954 1.481991 3.112231 +v 0.303840 1.658925 2.934974 +v 0.274306 2.042196 1.667284 +f 129 106 130 +f 104 105 106 +f 110 106 112 +f 107 111 113 +f 103 109 114 +f 106 105 115 +f 108 106 115 +f 112 106 116 +f 105 104 117 +f 108 115 117 +f 106 110 118 +f 109 103 119 +f 117 109 119 +f 108 117 119 +f 106 108 120 +f 116 106 120 +f 108 119 120 +f 119 116 120 +f 114 107 121 +f 118 110 121 +f 111 104 122 +f 113 111 123 +f 106 118 123 +f 118 113 123 +f 103 112 124 +f 112 116 124 +f 119 103 124 +f 116 119 124 +f 107 113 125 +f 113 118 125 +f 121 107 125 +f 118 121 125 +f 112 103 126 +f 110 112 126 +f 103 114 126 +f 121 110 126 +f 114 121 126 +f 115 105 127 +f 105 117 127 +f 117 115 127 +f 104 111 128 +f 111 107 128 +f 114 109 128 +f 107 114 128 +f 117 104 128 +f 109 117 128 +f 104 106 129 +f 122 104 129 +f 122 129 130 +f 111 122 130 +f 106 123 130 +f 123 111 130 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf new file mode 100644 index 000000000..cdadef792 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj new file mode 100644 index 000000000..03b114967 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj @@ -0,0 +1,1947 @@ +o convex_0 +v -0.660021 0.225819 0.314795 +v -2.951893 0.220434 0.153384 +v -2.951893 0.241957 0.153384 +v -0.240093 0.220434 0.314795 +v -0.185944 0.263476 0.320172 +v -2.924547 0.263476 0.169548 +v -2.946478 0.220434 0.174942 +v -0.460481 0.263476 0.320172 +v -2.940792 0.263476 0.153384 +v -0.250652 0.220434 0.325583 +f 5 8 10 +f 1 6 7 +f 3 2 7 +f 2 4 7 +f 5 6 8 +f 6 1 8 +f 2 3 9 +f 4 2 9 +f 5 4 9 +f 6 5 9 +f 7 6 9 +f 3 7 9 +f 4 5 10 +f 1 7 10 +f 7 4 10 +f 8 1 10 +o convex_1 +v -1.154193 -0.242343 -0.309399 +v -0.169822 -0.199305 -0.314779 +v -0.164430 -0.269246 -0.293258 +v -2.058610 -0.199305 -0.293258 +v -0.159038 -0.280024 -0.320159 +v -0.557323 -0.199305 -0.320159 +v -0.352788 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+v 3.117652 -0.342130 1.047339 +v 2.278096 1.091744 -1.051284 +v 0.319401 0.356905 -1.086310 +v -1.009828 -0.971715 -0.981018 +v 3.117652 -1.076754 0.802365 +v -0.344810 -0.202151 1.082366 +v -1.009828 0.986490 -0.946204 +f 157 147 168 +f 138 139 144 +f 137 140 145 +f 145 140 149 +f 141 146 150 +f 146 142 150 +f 141 150 151 +f 150 144 151 +f 140 137 152 +f 146 141 152 +f 142 146 153 +f 149 140 154 +f 148 149 154 +f 151 148 154 +f 140 152 154 +f 150 142 155 +f 148 151 158 +f 151 144 158 +f 139 138 159 +f 138 149 159 +f 149 148 159 +f 143 138 160 +f 138 144 160 +f 156 143 160 +f 156 160 161 +f 155 142 161 +f 142 156 161 +f 144 139 162 +f 158 144 162 +f 148 158 162 +f 139 159 162 +f 159 148 162 +f 138 143 163 +f 149 138 163 +f 145 149 163 +f 157 145 163 +f 147 157 163 +f 142 153 164 +f 153 147 164 +f 143 156 164 +f 156 142 164 +f 163 143 164 +f 147 163 164 +f 137 147 165 +f 152 137 165 +f 146 152 165 +f 153 146 165 +f 147 153 165 +f 144 150 166 +f 150 155 166 +f 160 144 166 +f 161 160 166 +f 155 161 166 +f 141 151 167 +f 152 141 167 +f 151 154 167 +f 154 152 167 +f 137 145 168 +f 147 137 168 +f 145 157 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf new file mode 100644 index 000000000..57ad93b98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj new file mode 100644 index 000000000..a95453168 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj @@ -0,0 +1,558 @@ +o convex_0 +v -3.763898 -0.208170 -0.448703 +v -1.796221 0.307890 0.002810 +v -1.796221 0.307890 -0.351946 +v -1.796221 -0.304990 -0.513250 +v -3.763898 -0.079139 0.067357 +v -3.763898 0.178796 -0.513250 +v -1.796221 -0.175896 0.035083 +v -3.699294 0.243343 0.099630 +v -3.731596 -0.337327 -0.351946 +v -1.796221 0.275617 -0.545587 +v -3.796200 -0.208170 0.002810 +v -2.892920 0.243343 -0.545587 +v -2.796211 -0.337327 -0.481040 +v -1.796221 -0.208170 -0.029464 +v -3.763898 0.049766 -0.513250 +v -3.183246 0.275617 0.002810 +v -3.763898 0.211070 -0.416493 +v -1.828719 -0.046865 -0.545587 +v -2.699696 -0.337327 -0.416493 +v -1.796221 0.017492 0.035083 +v -3.796200 0.114313 -0.319673 +f 8 17 21 +f 3 2 4 +f 4 2 7 +f 5 7 8 +f 3 4 10 +f 7 5 11 +f 1 9 11 +f 3 10 12 +f 9 1 13 +f 4 7 14 +f 7 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-0.513181 +v -1.667011 3.081723 -1.287388 +v -1.763755 -0.336623 -1.255086 +v -0.151130 3.017191 -1.222992 +v -1.473522 -3.078295 -1.222784 +v 0.365059 0.887661 0.841631 +v 0.429773 0.178421 0.034913 +v -1.796221 0.307483 0.002611 +v 0.429773 0.339447 -0.513181 +v -0.118882 -3.079502 0.486516 +v 0.397307 -0.981935 -1.190690 +v 0.074825 -3.079502 0.292912 +v -1.763755 3.081723 -1.190690 +v -1.731507 1.307416 0.744516 +v -1.086326 -3.046934 -1.222784 +v 0.397307 3.081723 0.551120 +v 0.429773 -0.272092 -0.448576 +v 0.171570 2.791031 0.841631 +v 0.397307 -3.014367 -0.642180 +v -1.796221 0.274916 -0.545483 +v -1.731507 -3.014367 -0.351879 +v -1.699259 2.791031 -1.287388 +v -1.731507 -3.078295 -0.997086 +v -1.473522 -2.981800 0.712214 +v 0.429773 -3.078295 0.712422 +v -1.183288 2.888129 0.776818 +f 56 60 68 +f 24 23 32 +f 27 28 36 +f 23 24 37 +f 30 34 37 +f 35 25 39 +f 36 26 42 +f 37 34 42 +f 28 27 44 +f 32 23 45 +f 28 40 45 +f 40 32 45 +f 31 38 46 +f 41 31 46 +f 29 33 47 +f 32 40 47 +f 25 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0.340151 -0.480967 +v 0.720098 -0.305066 0.131793 +v 0.429807 0.340151 -0.513260 +v 0.429807 -0.305066 0.164152 +v 0.720098 -0.305066 -0.448741 +v 0.720098 0.275604 -0.029470 +v 0.429807 0.243331 0.002756 +f 69 77 78 +f 70 71 74 +f 71 70 75 +f 73 69 75 +f 70 73 75 +f 74 71 75 +f 72 73 76 +f 73 70 76 +f 70 74 76 +f 74 72 76 +f 69 73 77 +f 73 72 77 +f 72 74 77 +f 77 74 78 +f 75 69 78 +f 74 75 78 +o convex_3 +v 1.881383 0.565873 -0.191494 +v 1.042869 -0.595414 -3.223237 +v 1.107326 -0.595414 -3.223237 +v 0.913727 -0.563049 1.454123 +v 0.784698 0.469129 -2.900148 +v 1.849211 -0.466304 -3.158712 +v 0.784698 0.469129 1.454123 +v 1.849211 -0.466304 1.454587 +v 1.849211 0.501377 -3.287761 +v 1.881383 0.598238 1.454587 +v 0.720127 -0.304946 -0.481624 +v 0.849269 -0.595414 -3.222772 +v 0.784698 0.436880 -3.222772 +v 0.784698 -0.498552 1.454123 +v 1.139611 0.565873 1.454587 +v 1.881383 -0.369559 -1.803689 +v 0.720127 0.340019 -0.288050 +v 1.816925 -0.498552 -3.158712 +v 0.946012 -0.595414 -0.578179 +v 0.720127 -0.304946 0.131595 +v 1.881383 -0.272698 0.099100 +v 1.655612 -0.498552 1.228518 +v 0.784698 0.178777 -3.222772 +v 0.816984 0.469129 -3.190278 +v 0.752413 0.340019 1.099004 +v 1.623326 0.178661 -3.287761 +v 0.784698 -0.530801 0.680288 +v 0.978298 0.533625 1.389598 +v 0.816984 -0.304946 -3.222772 +v 0.849269 -0.595414 -1.480600 +v 1.849211 0.598238 1.390062 +v 1.042869 -0.401808 -3.255267 +v 1.010469 -0.563049 1.454123 +v 1.784640 0.501377 -3.287761 +v 1.816925 -0.498552 -2.610018 +f 100 81 113 +f 80 81 90 +f 82 86 92 +f 86 88 93 +f 92 86 93 +f 85 92 93 +f 86 84 94 +f 87 79 94 +f 84 87 94 +f 79 88 94 +f 85 83 95 +f 91 89 95 +f 83 91 95 +f 84 86 96 +f 90 81 97 +f 95 89 98 +f 88 86 99 +f 86 94 99 +f 94 88 99 +f 97 81 100 +f 89 91 101 +f 91 83 102 +f 83 93 102 +f 92 85 103 +f 85 95 103 +f 98 92 103 +f 95 98 103 +f 87 84 104 +f 96 81 104 +f 84 96 104 +f 89 90 105 +f 82 92 105 +f 92 98 105 +f 98 89 105 +f 83 85 106 +f 93 83 106 +f 85 93 106 +f 90 89 107 +f 89 101 107 +f 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116 125 +f 118 117 125 +f 116 121 125 +f 121 118 125 +f 117 118 126 +f 122 114 126 +f 118 122 126 +f 114 123 126 +o convex_5 +v 1.042739 0.630499 2.099741 +v 0.913755 -0.563153 1.454587 +v 1.010576 -0.563153 1.454587 +v 0.752388 -0.466292 2.906327 +v 1.849134 -0.433926 2.712496 +v 1.881518 0.598134 1.454587 +v 1.881518 0.598134 2.712496 +v 0.784772 0.468907 1.454587 +v 1.849134 -0.466175 1.454587 +v 0.784772 0.469024 2.809411 +v 1.720151 -0.563153 2.261030 +v 0.752388 -0.498540 1.551502 +v 0.978302 0.630499 1.583760 +v 0.752388 0.081929 2.873927 +v 1.881518 -0.175941 2.712496 +v 1.655383 0.630499 1.454587 +v 0.946250 -0.563153 2.035226 +v 0.881482 -0.466292 2.906327 +v 1.558673 -0.563153 1.519245 +v 1.720151 0.598134 2.744896 +v 1.784698 -0.433926 2.744896 +v 0.849208 0.501273 2.809411 +v 1.849134 -0.466292 2.680238 +v 1.687656 0.630499 2.099741 +v 0.752388 0.210922 2.809411 +v 0.784772 -0.498540 1.454587 +f 138 134 152 +f 129 128 132 +f 132 128 134 +f 129 132 135 +f 128 129 137 +f 134 136 139 +f 138 130 140 +f 132 133 141 +f 135 132 141 +f 132 134 142 +f 139 127 142 +f 134 139 142 +f 128 137 143 +f 137 130 143 +f 138 128 143 +f 130 138 143 +f 130 137 144 +f 140 130 144 +f 129 135 145 +f 137 129 145 +f 135 137 145 +f 140 144 146 +f 146 144 147 +f 131 141 147 +f 141 133 147 +f 133 146 147 +f 127 139 148 +f 139 136 148 +f 136 140 148 +f 146 127 148 +f 140 146 148 +f 137 135 149 +f 141 131 149 +f 135 141 149 +f 144 137 149 +f 147 144 149 +f 131 147 149 +f 133 132 150 +f 142 127 150 +f 132 142 150 +f 127 146 150 +f 146 133 150 +f 136 134 151 +f 134 138 151 +f 140 136 151 +f 138 140 151 +f 134 128 152 +f 128 138 152 +o convex_6 +v 1.623334 -1.853222 1.906189 +v 0.978214 -2.433975 1.648216 +v 0.978214 -2.433975 1.680492 +v 0.978214 -0.563645 1.841636 +v 1.558815 -0.563645 1.519109 +v 1.655560 -0.563645 2.099729 +v 1.107317 -2.950199 2.035176 +v 1.526589 -2.950199 1.519109 +v 1.623334 -2.982463 2.132006 +v 1.010573 -3.079255 1.519109 +v 1.075091 -0.821512 1.551446 +v 1.010573 -0.563645 2.002959 +v 1.526589 -2.659823 2.132006 +v 0.978214 -1.208680 1.970682 +v 1.075091 -0.563645 1.583722 +v 1.558815 -2.788879 1.583722 +v 1.655560 -0.886040 2.002959 +v 1.075091 -2.982463 1.970682 +v 1.010573 -2.595295 1.519109 +v 1.591107 -0.563645 1.615999 +v 1.591107 -0.563645 2.099729 +v 1.139610 -3.079255 1.648216 +v 1.429778 -0.563645 1.519109 +v 1.365259 -2.982463 2.099729 +f 170 174 176 +f 154 155 156 +f 157 156 158 +f 155 154 162 +f 157 160 162 +f 158 156 164 +f 161 158 165 +f 156 155 166 +f 164 156 166 +f 159 164 166 +f 156 157 167 +f 163 156 167 +f 160 157 168 +f 161 160 168 +f 153 161 168 +f 161 153 169 +f 158 161 169 +f 153 168 169 +f 155 162 170 +f 166 155 170 +f 159 166 170 +f 154 156 171 +f 162 154 171 +f 157 162 171 +f 156 163 171 +f 157 158 172 +f 168 157 172 +f 158 169 172 +f 169 168 172 +f 158 164 173 +f 165 158 173 +f 164 165 173 +f 160 161 174 +f 162 160 174 +f 170 162 174 +f 167 157 175 +f 163 167 175 +f 157 171 175 +f 171 163 175 +f 164 159 176 +f 161 165 176 +f 165 164 176 +f 159 170 176 +f 174 161 176 +o convex_7 +v 1.655582 2.372302 1.777246 +v 0.978214 0.630742 1.583691 +v 1.075120 0.630742 1.551465 +v 1.687884 0.630742 2.099707 +v 1.107352 2.920567 2.131999 +v 0.978214 3.049670 1.583691 +v 1.655582 0.630742 1.454587 +v 1.042818 0.630742 2.099707 +v 1.655582 3.114587 2.131999 +v 1.558815 3.017334 1.583691 +v 0.978214 2.791706 1.680502 +v 1.591048 3.082007 1.648209 +v 1.139585 2.082002 2.131999 +v 1.591048 0.792182 1.454587 +v 0.978214 0.630742 1.777246 +v 1.655582 1.243680 1.486946 +v 1.655582 3.114587 2.002962 +v 1.042818 0.953380 2.099707 +f 187 191 194 +f 178 179 180 +f 179 178 182 +f 180 179 183 +f 178 180 184 +f 182 181 185 +f 182 178 187 +f 181 182 187 +f 186 182 188 +f 184 180 189 +f 181 184 189 +f 180 185 189 +f 185 181 189 +f 179 182 190 +f 183 179 190 +f 182 186 190 +f 178 184 191 +f 187 178 191 +f 177 180 192 +f 180 183 192 +f 188 177 192 +f 186 188 192 +f 183 190 192 +f 190 186 192 +f 180 177 193 +f 185 180 193 +f 182 185 193 +f 177 188 193 +f 188 182 193 +f 184 181 194 +f 181 187 194 +f 191 184 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf new file mode 100644 index 000000000..821490923 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj new file mode 100644 index 000000000..a89f44579 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj @@ -0,0 +1,447 @@ +o convex_0 +v 0.291350 -3.399307 0.371953 +v -0.328798 -5.321238 0.681979 +v -0.328798 -5.321238 0.743972 +v 0.260330 -5.383392 0.496056 +v 0.260330 -3.399307 0.837049 +v -0.235679 -3.399307 0.278934 +v -0.173640 -5.352314 0.247909 +v -0.266698 -3.399307 0.774998 +v 0.260330 -5.321238 0.837049 +v 0.260330 -5.383392 0.340985 +v -0.235679 -3.461462 0.806023 +v -0.235679 -5.042320 0.247909 +v 0.229311 -3.399307 0.340985 +v 0.291350 -4.515173 0.650953 +v 0.167272 -5.321238 0.837049 +v -0.111661 -5.259277 0.247909 +v -0.266698 -3.399307 0.434004 +v 0.074274 -3.399307 0.837049 +v -0.297718 -4.019492 0.774998 +v 0.291350 -3.399307 0.650953 +v 0.291350 -4.422135 0.371953 +v -0.173640 -4.639093 0.247909 +f 13 16 22 +f 5 1 6 +f 3 2 7 +f 4 3 7 +f 5 6 8 +f 4 7 10 +f 2 6 12 +f 7 2 12 +f 6 1 13 +f 1 10 13 +f 9 4 14 +f 5 9 14 +f 4 10 14 +f 3 4 15 +f 4 9 15 +f 9 5 15 +f 11 3 15 +f 10 7 16 +f 7 12 16 +f 13 10 16 +f 6 2 17 +f 8 6 17 +f 5 8 18 +f 8 11 18 +f 15 5 18 +f 11 15 18 +f 2 3 19 +f 3 11 19 +f 11 8 19 +f 17 2 19 +f 8 17 19 +f 1 5 20 +f 14 1 20 +f 5 14 20 +f 10 1 21 +f 1 14 21 +f 14 10 21 +f 12 6 22 +f 6 13 22 +f 16 12 22 +o convex_1 +v -1.010960 0.103905 0.310172 +v 1.066534 0.755640 1.643025 +v 1.066534 1.189531 1.612209 +v 0.942283 -3.305687 -0.558068 +v -0.917823 -3.367223 1.518899 +v 1.004510 1.189531 -0.527252 +v -0.917823 -3.398664 -0.527036 +v 1.066534 -3.336680 1.643025 +v -0.979847 1.189531 1.519114 +v -1.010960 1.189531 -0.527252 +v -0.483656 -0.298994 1.581177 +v 0.167290 1.189531 -0.558068 +v -0.948936 -3.243703 1.519114 +v 0.291134 -3.398664 0.372236 +v 0.632367 -3.336680 1.643025 +v 1.066534 -3.336680 1.363956 +v -1.010960 1.158538 1.270861 +v -0.948936 -2.685843 -0.527252 +v -0.917823 -3.398664 1.302108 +v -0.359608 1.158090 1.581177 +v -0.080602 -0.206017 -0.558068 +v 0.756415 -3.336680 -0.558068 +v -0.669727 -3.367223 1.550146 +v 1.004510 0.755640 -0.527252 +v -1.010960 0.352292 -0.527252 +v 1.004510 -3.336680 0.372236 +v 0.384272 -3.274246 -0.558068 +v 0.260224 -3.398664 0.836848 +v 0.942283 -2.096093 -0.558068 +v 0.322248 -3.367223 1.612209 +v -0.483656 -3.398664 -0.527036 +v -0.979847 -0.887846 1.519114 +v -0.762865 -2.189070 1.550146 +v 0.322248 1.189531 -0.558068 +v -0.948936 -3.274695 1.394988 +v 1.066534 0.972585 1.550146 +v 1.004510 0.693655 1.643025 +v -0.483656 0.010928 1.581177 +v 0.849349 1.189980 1.612209 +v 0.973397 -3.305687 -0.123840 +f 46 48 62 +f 25 24 30 +f 30 24 37 +f 25 30 38 +f 30 36 38 +f 32 23 39 +f 31 32 39 +f 23 35 39 +f 29 36 41 +f 34 26 43 +f 32 34 43 +f 29 40 43 +f 43 26 44 +f 35 27 45 +f 37 33 45 +f 27 41 45 +f 26 28 46 +f 28 38 46 +f 23 32 47 +f 32 43 47 +f 43 40 47 +f 38 36 48 +f 36 44 48 +f 44 26 48 +f 46 38 48 +f 29 43 49 +f 44 29 49 +f 43 44 49 +f 36 30 50 +f 41 36 50 +f 28 26 51 +f 26 34 51 +f 30 37 52 +f 37 45 52 +f 45 41 52 +f 50 30 52 +f 41 50 52 +f 36 29 53 +f 29 44 53 +f 44 36 53 +f 31 39 54 +f 39 35 54 +f 35 45 55 +f 45 33 55 +f 31 54 55 +f 54 35 55 +f 28 51 56 +f 51 34 56 +f 35 23 57 +f 27 35 57 +f 40 29 57 +f 41 27 57 +f 29 41 57 +f 23 47 57 +f 47 40 57 +f 28 25 58 +f 25 38 58 +f 38 28 58 +f 37 24 59 +f 24 42 59 +f 59 42 60 +f 33 37 60 +f 42 31 60 +f 31 55 60 +f 55 33 60 +f 37 59 60 +f 24 25 61 +f 25 28 61 +f 32 31 61 +f 34 32 61 +f 42 24 61 +f 31 42 61 +f 28 56 61 +f 56 34 61 +f 26 46 62 +f 48 26 62 +o convex_2 +v -0.607864 1.903091 -1.054678 +v 0.601412 1.965039 -0.527276 +v 0.601412 1.779085 -0.527276 +v 0.508372 2.244188 -4.527229 +v -0.514706 1.221005 -4.433651 +v 0.322293 1.190086 -0.527276 +v 0.477359 1.252034 -4.434043 +v -0.514706 2.213159 -4.433651 +v 0.508372 2.306246 -0.527276 +v -0.483812 1.221005 -0.527276 +v -0.607864 2.120073 -0.527276 +v 0.477359 1.252034 -0.744580 +v 0.477359 1.221005 -4.061690 +v -0.576733 2.182131 -2.604385 +v -0.545720 1.345120 -3.999827 +v 0.508372 1.314091 -4.030367 +v -0.018615 2.244188 -4.495906 +v 0.570398 2.213050 -0.589531 +v -0.607864 2.151102 -1.054678 +v 0.601412 1.779085 -0.930560 +v 0.508372 2.275108 -3.410954 +v 0.508372 1.345120 -0.527276 +v 0.260267 1.190086 -1.364776 +v 0.074306 1.190086 -0.527276 +v -0.514706 1.221005 -2.635317 +v 0.446346 2.058016 -4.527229 +v -0.514706 2.213159 -3.782915 +v -0.545720 2.182131 -3.844778 +v -0.607864 2.058016 -1.426639 +v 0.074306 1.221005 -4.434043 +v 0.508372 1.314091 -1.240658 +v -0.545720 1.562103 -0.527276 +v 0.539385 2.306246 -0.713648 +v -0.421667 2.151102 -4.464974 +v -0.328746 2.182131 -0.527276 +v 0.291280 2.182131 -4.527229 +v 0.539385 2.275108 -2.356933 +f 83 95 99 +f 65 64 68 +f 68 64 71 +f 68 71 72 +f 72 71 73 +f 74 68 75 +f 70 67 77 +f 69 66 78 +f 75 69 78 +f 70 71 79 +f 71 64 80 +f 63 73 81 +f 64 65 82 +f 66 64 82 +f 65 78 82 +f 78 66 82 +f 66 79 83 +f 65 68 84 +f 68 74 84 +f 75 68 85 +f 68 72 86 +f 67 85 86 +f 85 68 86 +f 77 67 87 +f 63 77 87 +f 67 86 87 +f 86 72 87 +f 66 69 88 +f 71 70 89 +f 70 76 89 +f 81 71 89 +f 76 81 89 +f 76 70 90 +f 70 77 90 +f 90 77 91 +f 77 63 91 +f 63 81 91 +f 81 76 91 +f 76 90 91 +f 69 75 92 +f 85 67 92 +f 75 85 92 +f 67 88 92 +f 88 69 92 +f 74 75 93 +f 78 65 93 +f 75 78 93 +f 65 84 93 +f 84 74 93 +f 72 73 94 +f 73 63 94 +f 63 87 94 +f 87 72 94 +f 79 71 95 +f 71 80 95 +f 83 79 95 +f 67 70 96 +f 70 79 96 +f 73 71 97 +f 71 81 97 +f 81 73 97 +f 79 66 98 +f 88 67 98 +f 66 88 98 +f 67 96 98 +f 96 79 98 +f 64 66 99 +f 80 64 99 +f 66 83 99 +f 95 80 99 +o convex_3 +v -1.041968 2.709135 -0.279105 +v 1.066534 1.500157 1.612233 +v 1.066534 1.190134 1.612233 +v 1.004410 1.190134 -0.527276 +v -0.979844 1.190134 1.519038 +v 0.973451 2.678179 1.612233 +v 1.004410 2.709290 -0.496071 +v -1.010803 1.190134 -0.527067 +v -1.010803 2.771202 1.519038 +v -1.041968 2.678179 -0.527067 +v -0.204635 1.500311 1.612233 +v 1.035369 2.709290 -0.216905 +v -1.010803 1.190134 1.301862 +v 1.035369 2.678179 1.518829 +v -0.669843 2.368002 1.581029 +v -0.638884 2.771202 1.146886 +v -1.041968 1.810334 -0.185910 +v 0.539203 2.554202 -0.527276 +v -1.041968 2.740091 0.557767 +v 0.322284 2.740246 0.186033 +v -1.010803 1.438245 1.519038 +v -0.328676 1.190134 1.581029 +v 0.694409 2.678179 1.612233 +v -0.111552 2.709135 -0.496071 +v -0.204635 1.934312 1.612233 +v -0.762719 2.771202 1.519038 +v 1.004410 2.709290 0.062052 +v -1.041968 1.903356 -0.527067 +v -0.917720 2.771202 1.177881 +v 1.035369 2.647223 1.612233 +f 113 105 129 +f 103 102 104 +f 102 101 105 +f 103 104 107 +f 102 105 110 +f 101 102 111 +f 102 103 111 +f 103 106 111 +f 107 104 112 +f 101 111 113 +f 104 110 114 +f 100 109 116 +f 107 112 116 +f 106 103 117 +f 103 107 117 +f 109 106 117 +f 100 116 118 +f 111 106 119 +f 112 104 120 +f 104 114 120 +f 114 108 120 +f 116 112 120 +f 108 118 120 +f 118 116 120 +f 104 102 121 +f 102 110 121 +f 110 104 121 +f 105 108 122 +f 110 105 122 +f 108 114 122 +f 109 100 123 +f 106 109 123 +f 119 106 123 +f 114 110 124 +f 110 122 124 +f 122 114 124 +f 108 105 125 +f 105 113 125 +f 115 108 125 +f 119 115 125 +f 119 125 126 +f 113 111 126 +f 111 119 126 +f 125 113 126 +f 116 109 127 +f 107 116 127 +f 117 107 127 +f 109 117 127 +f 108 115 128 +f 118 108 128 +f 100 118 128 +f 115 119 128 +f 123 100 128 +f 119 123 128 +f 105 101 129 +f 101 113 129 +o convex_4 +v -0.049725 2.027070 2.604828 +v 0.229287 1.376024 3.379472 +v 0.291350 1.376024 3.379472 +v 0.167278 1.500157 1.612233 +v -0.266783 1.407074 3.658721 +v 0.291350 1.965037 3.379472 +v -0.204720 1.934054 1.612233 +v 0.229287 2.058187 1.612233 +v -0.235751 1.965037 3.472622 +v -0.204720 1.469174 1.798332 +v 0.291350 1.438057 3.658721 +v 0.260318 1.500157 1.643484 +v -0.266783 1.469174 2.914325 +v -0.204720 1.500157 1.612233 +v 0.291350 1.903137 3.503672 +v -0.235751 1.965037 2.418529 +v -0.266783 1.717105 3.565371 +v -0.049725 1.376024 3.658721 +v 0.105269 2.058187 1.674333 +v 0.260318 2.027070 1.984431 +v 0.291350 1.500157 2.697176 +v -0.235751 1.469174 1.922532 +v 0.229287 2.058187 1.922532 +v -0.173743 1.996154 3.224423 +v -0.266783 1.407074 3.224423 +f 142 151 154 +f 133 136 137 +f 132 131 139 +f 132 135 140 +f 133 137 141 +f 132 139 141 +f 139 133 141 +f 136 133 143 +f 133 139 143 +f 135 138 144 +f 140 135 144 +f 145 142 146 +f 134 140 146 +f 142 134 146 +f 144 138 146 +f 140 144 146 +f 138 145 146 +f 131 132 147 +f 139 131 147 +f 132 140 147 +f 140 134 147 +f 137 136 148 +f 145 130 148 +f 136 145 148 +f 141 137 149 +f 141 149 150 +f 135 132 150 +f 132 141 150 +f 149 135 150 +f 143 139 151 +f 136 143 151 +f 145 136 151 +f 142 145 151 +f 148 130 152 +f 137 148 152 +f 135 149 152 +f 149 137 152 +f 138 135 153 +f 130 145 153 +f 145 138 153 +f 152 130 153 +f 135 152 153 +f 134 142 154 +f 139 147 154 +f 147 134 154 +f 151 139 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf new file mode 100644 index 000000000..b2828d18e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj new file mode 100644 index 000000000..1d12febc2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.222164 -2.212918 -0.845740 +v 0.001916 0.476968 0.997868 +v 0.001916 1.049958 0.972781 +v 0.973561 0.103539 -0.073372 +v -0.496272 3.018080 -0.571560 +v -0.645785 -2.262509 0.673711 +v 0.799129 2.669148 -0.845740 +v 0.475184 -2.984871 0.524373 +v 0.649616 2.319618 0.723490 +v -0.894973 2.295121 0.026186 +v 0.674535 -2.263107 -0.646228 +v -0.645785 -2.287604 -0.696205 +v -0.695623 2.295121 0.648821 +v 0.674535 -2.263107 0.723490 +v 0.001916 0.999769 -1.020165 +v 0.101401 3.041980 0.623931 +v -0.446434 -3.009966 -0.521583 +v -0.670704 2.295121 -0.745787 +v -0.969730 -0.244796 -0.048483 +v 0.749291 3.018080 0.100855 +v 0.001916 -2.262509 0.923002 +v 0.873886 -2.312698 0.050878 +v 0.475184 -2.984871 -0.446914 +v -0.421515 -3.035658 0.449507 +v -0.845136 -2.312698 -0.023396 +v -0.745460 -0.219701 0.723687 +v 0.724372 -0.120519 0.798356 +v 0.923723 2.270027 0.075965 +v -0.720541 0.003759 -0.795763 +v -0.097570 3.018080 -0.820653 +v 0.051563 -2.262509 -0.895322 +v -0.496272 3.018080 0.424617 +v -0.047732 2.220435 0.923002 +v -0.022813 2.295719 -0.995078 +v 0.051563 -0.194607 -1.020165 +v 0.774210 0.177627 -0.770874 +v 0.973561 -0.195205 0.075965 +v 0.599778 -3.035658 0.100855 +v -0.894973 2.270027 -0.123152 +v -0.645785 3.018080 0.001099 +v -0.022813 -3.035060 0.624129 +v -0.147407 -0.020141 0.972781 +v 0.051563 -3.009966 -0.621339 +v -0.595947 -3.009966 -0.023593 +v 0.475184 3.041980 0.524373 +v -0.745460 0.301905 0.723687 +v 0.824048 2.643456 -0.820653 +v -0.969730 0.003161 0.026186 +v 0.026644 -0.369073 0.997868 +v -0.870055 -2.188421 -0.023396 +v -0.047732 2.967891 0.673908 +v 0.475184 2.992986 -0.471804 +v -0.022813 -0.119921 -1.020165 +v -0.969730 0.003161 -0.098065 +v 0.923723 2.320216 -0.123152 +v 0.898804 -1.988860 0.026186 +v 0.724372 0.152533 0.798356 +v -0.072651 -3.059557 0.100855 +v -0.695623 2.244932 -0.720897 +v 0.699454 -0.045235 -0.795763 +v -0.645785 -2.138232 -0.721095 +v -0.047732 -2.262509 -0.895322 +v 0.724372 2.270624 -0.870432 +v 0.973561 0.675931 0.051076 +f 57 37 64 +f 8 14 21 +f 11 22 23 +f 12 17 25 +f 20 9 28 +f 5 16 30 +f 18 5 30 +f 2 3 33 +f 3 9 33 +f 9 16 33 +f 15 29 34 +f 29 18 34 +f 30 7 34 +f 18 30 34 +f 27 14 37 +f 14 8 38 +f 22 14 38 +f 23 22 38 +f 5 18 39 +f 10 13 40 +f 16 5 40 +f 13 32 40 +f 32 16 40 +f 5 39 40 +f 39 10 40 +f 21 6 41 +f 8 21 41 +f 6 24 41 +f 38 8 41 +f 6 21 42 +f 26 6 42 +f 2 33 42 +f 11 23 43 +f 31 11 43 +f 23 38 43 +f 24 6 44 +f 25 17 44 +f 6 25 44 +f 16 9 45 +f 9 20 45 +f 30 16 45 +f 20 30 45 +f 13 10 46 +f 33 13 46 +f 26 42 46 +f 42 33 46 +f 7 20 47 +f 4 36 47 +f 36 7 47 +f 46 10 48 +f 26 46 48 +f 21 14 49 +f 14 27 49 +f 2 42 49 +f 42 21 49 +f 12 25 50 +f 25 6 50 +f 6 26 50 +f 48 19 50 +f 26 48 50 +f 32 13 51 +f 16 32 51 +f 33 16 51 +f 13 33 51 +f 20 7 52 +f 7 30 52 +f 30 20 52 +f 29 15 53 +f 15 35 53 +f 10 39 54 +f 19 48 54 +f 48 10 54 +f 12 50 54 +f 50 19 54 +f 20 28 55 +f 47 20 55 +f 4 47 55 +f 22 11 56 +f 14 22 56 +f 36 4 56 +f 11 36 56 +f 4 37 56 +f 37 14 56 +f 3 2 57 +f 9 3 57 +f 28 9 57 +f 27 37 57 +f 2 49 57 +f 49 27 57 +f 41 24 58 +f 38 41 58 +f 17 43 58 +f 43 38 58 +f 24 44 58 +f 44 17 58 +f 18 29 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj new file mode 100644 index 000000000..b9ceeb89b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj @@ -0,0 +1,942 @@ +o convex_0 +v -0.011816 -3.676240 -0.514719 +v 0.017944 -3.676240 0.620722 +v 0.197261 -3.676240 0.560927 +v -0.011816 -5.379402 0.053002 +v -0.549658 -3.676240 0.112686 +v 0.555895 -3.945319 -0.006682 +v -0.011816 -5.140165 -0.395017 +v 0.047812 -5.140165 0.441337 +v 0.406446 -5.170008 0.053002 +v 0.436314 -3.676240 -0.395017 +v -0.370233 -5.080482 -0.036469 +v -0.400101 -4.333765 0.471234 +v -0.370233 -4.363773 -0.365120 +v 0.406446 -4.273914 0.441337 +v 0.406446 -4.423458 -0.365120 +v -0.400101 -3.676240 -0.365120 +v 0.496050 -3.676240 0.291960 +v -0.430077 -3.676240 0.501132 +v -0.370233 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284 304 319 +f 304 292 319 +f 280 292 320 +f 292 276 320 +f 276 303 320 +f 317 280 320 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf new file mode 100644 index 000000000..07e2859a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj new file mode 100644 index 000000000..f5cd9258c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj @@ -0,0 +1,273 @@ +o convex_0 +v 1.098104 1.295754 -0.544104 +v -1.095469 -4.141080 -1.038654 +v -1.095469 -4.141080 -0.513220 +v -1.064549 1.851835 0.845854 +v 1.036265 -4.202465 1.000270 +v 1.067185 -4.202465 -1.007562 +v -0.971790 1.758553 -1.007353 +v -1.033629 -4.234362 1.093129 +v 1.005346 1.789847 0.969178 +v 1.098104 1.913822 -0.914912 +v -1.064549 1.851835 0.969387 +v 1.098104 -0.619836 -0.976679 +v -0.570265 1.913822 -0.513220 +v 0.572901 1.913822 0.475045 +v -1.064549 -1.824076 -1.038654 +v 0.850748 -4.048399 1.031153 +v -0.848112 -3.801052 1.093129 +v -1.064549 1.017112 1.000270 +v 0.078402 -4.110387 -1.038445 +v 1.067185 -4.141080 -0.018879 +v 1.005346 1.881926 -0.945795 +v 0.634525 0.677686 1.000270 +v -1.002710 1.789847 -0.698729 +v 1.067185 -2.812865 -1.007562 +v -0.724648 1.727860 -1.007353 +v -0.291989 -4.234362 0.289745 +v 1.036265 -2.256182 1.000270 +v -1.095469 -1.916756 -0.327712 +v 0.418303 -4.234362 1.031153 +v -0.600970 1.913822 0.444162 +v 1.067185 -2.256182 0.413070 +v 1.036265 1.820540 0.567695 +v -1.064549 -4.079092 0.505929 +v 1.098104 -1.360675 -0.914912 +v -1.033629 -4.234362 0.753204 +v -1.002710 1.202472 -1.007353 +v 1.005346 -0.991159 1.000270 +v 0.850748 -4.203067 -1.007562 +v -1.095469 -3.306958 -1.038654 +v -0.508426 1.851835 0.969387 +v 1.098104 0.492325 -0.482337 +v -0.322908 1.820540 -0.976679 +v 1.098104 1.882528 -0.605870 +v -1.064549 0.708379 1.000270 +v -1.064549 1.480512 0.629670 +v 0.047482 -4.234362 1.061828 +v 0.511062 1.820540 0.969387 +v -1.033629 -3.770359 1.093129 +v 1.098104 1.666475 -0.945795 +v 1.005346 1.820540 0.752995 +v -1.095469 -2.194797 -0.296829 +v -0.909951 -2.009436 -1.038654 +v 1.067185 -4.202465 -0.049762 +v -0.971790 1.017112 1.000270 +v -1.033629 1.851835 0.567904 +f 13 23 55 +f 3 2 8 +f 10 1 12 +f 10 13 14 +f 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53 +f 5 29 53 +f 29 6 53 +f 6 34 53 +f 34 20 53 +f 22 9 54 +f 17 22 54 +f 40 18 54 +f 9 47 54 +f 47 40 54 +f 48 17 54 +f 18 48 54 +f 4 13 55 +f 23 4 55 +o convex_1 +v 0.572883 2.346678 0.320692 +v -0.601142 1.913822 0.258902 +v -0.570114 1.913822 -0.513329 +v -0.539200 5.775323 -0.297113 +v 0.480142 5.899165 -0.513329 +v 0.387401 5.899165 0.444171 +v 0.511056 1.913822 -0.575120 +v -0.508402 5.559092 0.444274 +v 0.572883 1.913822 0.475221 +v -0.601142 5.744265 -0.420592 +v -0.601142 1.913822 0.444274 +v 0.541969 5.682933 0.444274 +v -0.415661 5.806382 0.444274 +v -0.384748 1.975940 -0.544276 +v 0.511056 5.559092 -0.420592 +v -0.570114 5.311801 -0.451538 +v 0.047582 1.975940 0.475015 +v 0.511056 5.930223 0.073426 +v 0.511056 2.593575 -0.575120 +v 0.572883 2.655693 0.475221 +v -0.601142 5.744265 -0.358904 +v -0.570114 2.841259 -0.513329 +v -0.601142 2.192171 0.444274 +v 0.387401 5.930223 0.351536 +v 0.449228 5.899165 -0.513329 +v 0.541969 2.284954 -0.204375 +v -0.508402 5.775323 0.382483 +v 0.511056 5.930223 0.413327 +v 0.232949 1.944881 -0.575120 +v 0.511056 4.230644 -0.544173 +v 0.511056 5.899165 -0.327957 +v -0.601142 5.342467 -0.420592 +v -0.446575 5.713599 -0.451538 +v 0.541969 5.682933 0.382483 +v 0.572883 1.913822 0.289746 +v 0.171236 5.867713 -0.482382 +v 0.418315 5.837440 -0.513329 +v 0.449228 2.562910 -0.575120 +f 92 80 93 +f 57 58 62 +f 57 62 64 +f 57 64 66 +f 65 57 66 +f 66 64 72 +f 68 63 72 +f 64 56 75 +f 67 61 75 +f 61 68 75 +f 72 64 75 +f 68 72 75 +f 59 65 76 +f 65 66 76 +f 58 65 77 +f 69 58 77 +f 65 71 77 +f 72 63 78 +f 66 72 78 +f 63 76 78 +f 76 66 78 +f 59 68 79 +f 79 73 80 +f 73 60 80 +f 60 74 80 +f 62 74 81 +f 68 59 82 +f 63 68 82 +f 59 76 82 +f 76 63 82 +f 61 67 83 +f 68 61 83 +f 67 73 83 +f 79 68 83 +f 73 79 83 +f 62 58 84 +f 58 69 84 +f 74 62 84 +f 70 56 85 +f 60 70 85 +f 74 60 85 +f 56 81 85 +f 81 74 85 +f 70 60 86 +f 60 73 86 +f 58 57 87 +f 65 58 87 +f 57 65 87 +f 71 65 88 +f 77 71 88 +f 65 80 88 +f 56 70 89 +f 73 67 89 +f 75 56 89 +f 67 75 89 +f 70 86 89 +f 86 73 89 +f 56 64 90 +f 64 62 90 +f 81 56 90 +f 62 81 90 +f 65 59 91 +f 59 79 91 +f 79 80 91 +f 80 65 91 +f 69 77 92 +f 77 88 92 +f 88 80 92 +f 80 74 93 +f 84 69 93 +f 74 84 93 +f 69 92 93 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf new file mode 100644 index 000000000..e2169f248 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj new file mode 100644 index 000000000..c119b4117 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj @@ -0,0 +1,408 @@ +o convex_0 +v 3.873482 1.156996 0.081234 +v 1.957783 0.677979 -0.360905 +v 1.957783 0.677979 -0.287086 +v 1.957783 1.304404 -0.029268 +v 1.957783 0.751745 0.265491 +v 3.873482 0.677979 0.302369 +v 3.910565 1.156996 -0.176648 +v 2.878932 1.304404 0.228549 +v 3.799699 0.677979 -0.213461 +v 1.957783 1.267552 -0.287086 +v 1.957783 1.304404 0.228549 +v 3.836591 1.267552 0.191801 +v 2.178943 0.788535 -0.360905 +v 3.541838 1.193786 -0.213461 +v 1.957783 1.120143 0.265491 +v 3.873482 0.788535 0.302369 +v 3.836591 1.267552 0.118111 +v 2.142051 1.267552 -0.287086 +v 2.989225 0.714831 0.302369 +v 2.510587 0.714831 0.265491 +v 3.836591 0.714831 -0.213461 +v 3.689214 1.120143 -0.213461 +f 21 13 22 +f 2 3 4 +f 4 3 5 +f 3 2 6 +f 6 2 9 +f 2 4 10 +f 4 5 11 +f 8 4 11 +f 1 7 12 +f 9 2 13 +f 2 10 13 +f 11 5 15 +f 8 11 15 +f 7 1 16 +f 6 7 16 +f 1 12 16 +f 12 8 16 +f 8 15 16 +f 4 8 17 +f 12 7 17 +f 8 12 17 +f 7 14 17 +f 17 14 18 +f 10 4 18 +f 13 10 18 +f 14 13 18 +f 4 17 18 +f 15 5 19 +f 6 16 19 +f 16 15 19 +f 5 3 20 +f 3 6 20 +f 19 5 20 +f 6 19 20 +f 7 6 21 +f 6 9 21 +f 9 13 21 +f 13 14 22 +f 14 7 22 +f 7 21 22 +o convex_1 +v -0.216472 -0.058588 -0.987331 +v -0.216472 -1.643191 1.113037 +v -0.253371 -1.643191 1.113037 +v -1.653538 3.956548 1.076029 +v -2.206225 -2.121905 -0.987331 +v -0.216472 4.068046 -0.950323 +v -2.058829 4.031082 -0.987331 +v -2.169327 -2.084941 1.039022 +v -0.216472 3.883226 1.076029 +v -0.216472 -2.122511 -0.913522 +v -2.058829 3.956548 1.076029 +v -2.243124 1.083053 0.338968 +v -0.253569 -2.011619 1.002426 +v -2.095529 3.883226 -0.950323 +v -2.132428 0.678267 1.076029 +v -2.243124 -0.316124 -0.286866 +v -0.216472 3.441476 -0.987331 +v -0.511464 -1.974655 1.113037 +v -0.290270 4.068046 -0.618697 +v -0.290270 -2.085547 -0.950323 +v -2.206225 -2.121905 -0.139659 +v -2.206225 -1.311121 0.818212 +v -2.095529 3.514798 0.965419 +v -2.206225 -1.385049 -0.987331 +v -2.243124 0.751589 -0.066056 +v -0.253371 3.920190 0.928617 +v -1.616640 -2.122511 -0.987331 +v -0.216472 -2.122511 -0.766110 +v -2.243124 0.052304 0.449579 +v -1.690437 3.993512 0.596991 +v -0.216472 -1.974655 1.113037 +v -1.505943 -2.047977 1.076029 +v -2.058829 4.031082 -0.729102 +v -0.769358 -2.048583 0.855014 +v -2.206225 1.709017 0.523182 +v -0.769358 4.068046 -0.839918 +v -2.021930 -2.084941 1.039022 +v -2.206225 1.230303 -0.397682 +v -2.132428 0.347410 1.076029 +v -1.358745 4.031082 -0.987331 +v -2.169327 -1.016622 1.039022 +v -2.132428 -2.121905 0.007753 +v -2.095529 3.809298 -0.987331 +v -2.243124 -0.500338 -0.213468 +v -2.095728 2.740978 1.076029 +v -2.243124 0.347410 0.449579 +f 67 57 68 +f 25 24 26 +f 24 23 28 +f 23 27 29 +f 26 24 31 +f 24 28 31 +f 23 24 32 +f 25 26 33 +f 28 23 39 +f 23 29 39 +f 24 25 40 +f 25 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj new file mode 100644 index 000000000..ebcd64345 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj @@ -0,0 +1,546 @@ +o convex_0 +v 1.070469 -1.045960 0.386461 +v -1.078706 -2.887769 0.147750 +v -1.078706 -2.887769 1.034685 +v -1.078706 -0.227407 1.068845 +v -0.976254 -0.227407 -0.943527 +v 0.968017 -2.887769 -0.977687 +v 1.002098 -2.887769 1.069052 +v 1.036178 -0.227407 -0.977687 +v 1.070469 -0.227407 1.069052 +v -0.976254 -2.887769 -0.943527 +v -0.396254 -2.751300 -1.046009 +v -0.805641 -2.887769 1.068845 +v -0.976254 -0.705048 -0.977480 +v 1.036178 -2.580714 1.000731 +v -1.010334 -0.227407 -0.602334 +v -1.010334 -2.887769 -0.909366 +v 1.070469 -0.261524 -0.397578 +v -0.055239 -2.853652 -1.046009 +v 0.149244 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a/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf new file mode 100644 index 000000000..a06066e38 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj new file mode 100644 index 000000000..332bee64a --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj new file mode 100644 index 000000000..ced516a54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj @@ -0,0 +1,501 @@ +o convex_0 +v 1.512202 0.566037 0.535426 +v 2.629345 0.131388 -0.581777 +v 2.629345 0.162410 -0.581777 +v 3.187916 -0.427013 0.535426 +v 1.325947 -0.582237 -0.488504 +v 1.325947 -0.489058 0.597531 +v 3.187916 0.503880 0.349110 +v 3.312151 -0.520080 -0.426514 +v 1.325947 0.472858 -0.426399 +v 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285 +f 246 264 285 +f 240 278 285 +f 278 246 285 +f 248 235 286 +f 235 271 286 +f 271 255 286 +f 239 267 287 +f 267 251 287 +f 275 239 287 +f 251 275 287 +f 247 237 288 +f 237 262 288 +f 270 247 288 +f 262 270 288 +f 244 245 289 +f 268 244 289 +f 250 268 289 +f 277 250 289 +f 245 280 289 +f 280 277 289 +f 258 248 290 +f 255 258 290 +f 248 286 290 +f 286 255 290 +f 240 254 291 +f 254 257 291 +f 283 240 291 +f 257 283 291 +f 242 259 292 +f 261 242 292 +f 259 272 292 +f 272 261 292 +f 243 258 293 +f 258 255 293 +f 263 243 293 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf new file mode 100644 index 000000000..dcbe5fbfd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj new file mode 100644 index 000000000..059895822 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj @@ -0,0 +1,471 @@ +o convex_0 +v 0.641888 -1.658577 -0.850350 +v 3.905802 0.442396 1.100660 +v 3.905802 0.442396 0.687835 +v 0.266676 0.404693 -0.362545 +v 0.266676 -1.696067 0.987974 +v 4.131005 -1.658364 -0.962610 +v 4.168411 0.404693 -0.962610 +v 4.131005 -1.621086 0.950484 +v 0.266676 0.329711 1.100660 +v 0.266676 0.066850 -1.037804 +v 0.266676 -1.621086 -1.075508 +v 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115 +f 72 86 116 +f 92 72 116 +f 86 100 116 +o convex_3 +v 0.228884 0.629997 0.650165 +v -1.947099 4.156188 -1.075324 +v -1.947099 4.156188 -0.887672 +v 0.266588 4.343866 -1.113028 +v 0.153910 4.381327 1.062956 +v -1.871909 0.629997 0.950495 +v -1.421630 0.629997 -1.000134 +v -1.909396 4.418788 0.912791 +v 0.153910 0.629997 -1.037837 +v 0.116423 0.629997 1.100660 +v -1.871909 0.629997 -0.962646 +v -1.646770 2.393649 1.025469 +v 0.266588 2.393649 -1.113028 +v -1.947099 4.306405 -1.075324 +v -0.446316 2.468572 1.100660 +v -1.909396 4.268943 0.950495 +v 0.228884 0.629997 -0.850185 +v -1.947099 4.381327 -0.024819 +v -1.384143 4.418788 0.425026 +v 0.153910 3.556064 1.100660 +v -0.483803 4.343866 -1.113028 +v -0.108716 0.629997 1.100660 +v -0.221177 2.768263 -1.113028 +v -1.871909 1.305786 0.987765 +v 0.191397 4.381327 0.425026 +v 0.228884 0.892969 0.687652 +v -1.909396 3.818665 -1.075324 +v 0.191397 1.680770 0.987982 +v 0.266588 1.868448 -0.962863 +v -1.233978 4.418788 0.987765 +v -1.947099 4.343866 0.162616 +v -0.408829 4.381327 -0.512585 +v 0.191397 2.281265 -1.113028 +v 0.266588 4.343866 -1.037837 +v -0.784133 4.231482 -1.113028 +v -1.534308 0.705662 -1.000134 +v -1.909396 3.518603 0.950495 +v -0.071229 4.381327 1.062956 +v 0.153910 0.967891 1.100660 +v -1.609282 0.629997 0.987765 +v -0.071229 0.629997 -1.037837 +v -1.871909 3.143247 0.987765 +v -1.909396 4.343866 -0.662533 +v -1.046543 4.418788 0.875304 +v -1.834422 4.418788 0.537703 +f 137 159 161 +f 119 118 122 +f 117 122 123 +f 117 123 125 +f 122 117 126 +f 122 118 127 +f 123 122 127 +f 118 119 130 +f 117 125 133 +f 125 129 133 +f 130 119 134 +f 131 126 136 +f 120 129 137 +f 122 126 138 +f 126 131 138 +f 131 128 138 +f 137 129 139 +f 138 128 140 +f 141 121 142 +f 127 118 143 +f 121 136 144 +f 142 121 144 +f 129 120 145 +f 117 133 145 +f 133 129 145 +f 142 117 145 +f 124 132 146 +f 135 124 146 +f 119 122 147 +f 132 124 147 +f 134 119 147 +f 124 134 147 +f 120 137 148 +f 141 120 148 +f 129 125 149 +f 139 129 149 +f 120 141 150 +f 141 142 150 +f 145 120 150 +f 142 145 150 +f 118 130 151 +f 130 137 151 +f 137 139 151 +f 143 118 151 +f 139 143 151 +f 123 127 152 +f 127 143 152 +f 143 139 152 +f 139 149 152 +f 140 132 153 +f 122 140 153 +f 147 122 153 +f 132 147 153 +f 132 131 154 +f 136 121 154 +f 131 136 154 +f 146 132 154 +f 121 146 154 +f 126 117 155 +f 136 126 155 +f 117 142 155 +f 144 136 155 +f 142 144 155 +f 122 138 156 +f 140 122 156 +f 138 140 156 +f 125 123 157 +f 149 125 157 +f 123 152 157 +f 152 149 157 +f 128 131 158 +f 131 132 158 +f 140 128 158 +f 132 140 158 +f 130 134 159 +f 137 130 159 +f 121 141 160 +f 135 146 160 +f 146 121 160 +f 148 135 160 +f 141 148 160 +f 134 124 161 +f 124 135 161 +f 135 148 161 +f 148 137 161 +f 159 134 161 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf new file mode 100644 index 000000000..d718534cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj new file mode 100644 index 000000000..01c66d0c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj @@ -0,0 +1,3171 @@ +o convex_0 +v -0.452673 -0.634634 -2.429702 +v 0.110026 -0.618069 -2.793806 +v 0.110026 -0.601475 -2.793806 +v 0.126583 -0.866278 -2.429702 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105 +f 93 85 105 +f 90 93 105 +f 84 96 106 +f 97 84 106 +f 88 97 106 +f 98 88 106 +f 96 102 106 +f 102 98 106 +f 84 83 107 +f 83 94 107 +f 95 84 107 +f 89 95 107 +f 101 89 107 +f 94 101 107 +f 86 88 108 +f 88 92 108 +f 99 86 108 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf new file mode 100644 index 000000000..09e136e32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj new file mode 100644 index 000000000..b5ebb76fb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj @@ -0,0 +1,537 @@ +o convex_0 +v -0.360358 -0.083051 -1.490251 +v 0.367300 0.068417 -1.308266 +v 0.367300 -0.052744 -1.308266 +v 0.003471 -0.083051 -3.006134 +v -0.087344 0.341318 -1.308266 +v -0.117687 -0.356020 -1.308266 +v -0.026730 0.159338 -2.763320 +v 0.215657 -0.113358 -2.733238 +v -0.238987 -0.022436 -2.763320 +v -0.299601 0.250328 -1.308266 +v 0.276271 0.250328 -1.460003 +v -0.148030 -0.234655 -2.642162 +v 0.276271 -0.264962 -1.429590 +v 0.003471 -0.264962 -2.763320 +v -0.299601 -0.295338 -1.308266 +v 0.215657 0.007802 -2.733238 +v 0.064085 -0.356020 -1.308266 +v 0.064085 0.341318 -1.368928 +v -0.238987 -0.113358 -2.702824 +v -0.178301 0.129031 -2.551253 +v 0.124700 0.129031 -2.642162 +v -0.360358 0.068417 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129 +f 127 125 131 +f 128 130 132 +f 132 130 135 +f 134 124 135 +f 129 127 137 +f 131 125 138 +f 133 131 138 +f 130 128 139 +f 128 138 139 +f 128 132 140 +f 132 133 140 +f 138 128 140 +f 133 138 140 +f 133 132 141 +f 135 130 142 +f 130 136 142 +f 135 124 143 +f 132 135 143 +f 141 132 143 +f 125 126 144 +f 126 136 144 +f 136 130 144 +f 138 125 144 +f 130 139 144 +f 139 138 144 +f 135 142 145 +f 124 134 146 +f 137 127 146 +f 134 137 146 +f 127 141 146 +f 143 124 146 +f 141 143 146 +f 127 131 147 +f 131 133 147 +f 141 127 147 +f 133 141 147 +f 134 135 148 +f 129 137 148 +f 137 134 148 +f 145 129 148 +f 135 145 148 +f 142 136 149 +f 129 145 149 +f 145 142 149 +f 126 129 150 +f 136 126 150 +f 129 149 150 +o convex_4 +v -0.329950 0.219994 1.299174 +v 0.397619 0.038080 1.329790 +v 0.397619 -0.022463 1.329790 +v 0.033719 0.038080 3.027192 +v -0.208650 -0.325678 1.299174 +v 0.215669 0.341294 1.299174 +v 0.003471 -0.204378 2.784633 +v -0.178325 0.038080 2.784633 +v 0.064044 0.250337 2.663354 +v 0.245994 0.038080 2.814911 +v 0.276319 -0.265063 1.299174 +v -0.390677 -0.052806 1.329790 +v -0.087350 0.371637 1.329790 +v 0.336969 0.280680 1.329790 +v -0.299625 -0.295335 1.329790 +v -0.238975 0.250337 1.875462 +v 0.033719 -0.356020 1.420622 +v 0.215669 -0.174106 2.390518 +v -0.026700 0.219994 2.754187 +v 0.215669 0.189723 2.572352 +v -0.148000 -0.174106 2.481351 +v 0.245994 -0.052806 2.754187 +v 0.064044 -0.204378 2.784633 +v -0.390677 0.038080 1.329790 +v -0.178325 0.007808 2.784633 +v -0.299625 0.280680 1.420622 +v 0.064044 0.371637 1.390345 +v 0.064044 0.219994 2.814911 +v 0.276319 -0.265063 1.390345 +v 0.276319 0.038080 2.633077 +v 0.064044 -0.022463 3.027192 +v 0.306644 0.310952 1.299174 +v -0.087350 -0.356020 1.360067 +v -0.148000 0.189723 2.542075 +f 169 166 184 +f 155 151 156 +f 155 156 161 +f 151 155 162 +f 156 151 163 +f 162 155 165 +f 158 154 169 +f 159 163 169 +f 163 166 169 +f 165 157 171 +f 168 172 173 +f 157 167 173 +f 151 162 174 +f 162 158 174 +f 154 158 175 +f 158 162 175 +f 162 165 175 +f 171 157 175 +f 165 171 175 +f 163 151 176 +f 158 166 176 +f 166 163 176 +f 151 174 176 +f 174 158 176 +f 159 156 177 +f 156 163 177 +f 163 159 177 +f 154 160 178 +f 169 154 178 +f 159 169 178 +f 170 159 178 +f 160 170 178 +f 161 153 179 +f 167 161 179 +f 153 172 179 +f 172 168 179 +f 168 173 179 +f 173 167 179 +f 153 152 180 +f 152 164 180 +f 170 160 180 +f 164 170 180 +f 172 153 180 +f 160 172 180 +f 160 154 181 +f 172 160 181 +f 173 172 181 +f 157 173 181 +f 154 175 181 +f 175 157 181 +f 152 153 182 +f 156 159 182 +f 153 161 182 +f 161 156 182 +f 164 152 182 +f 159 170 182 +f 170 164 182 +f 155 161 183 +f 165 155 183 +f 157 165 183 +f 167 157 183 +f 161 167 183 +f 166 158 184 +f 158 169 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf new file mode 100644 index 000000000..02d49984c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj new file mode 100644 index 000000000..95e777a19 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj @@ -0,0 +1,864 @@ +o convex_0 +v -0.034666 -2.695454 0.973757 +v 0.000788 -2.060920 -1.036217 +v 0.000788 -1.778694 -1.036217 +v 1.481927 -1.778694 0.021728 +v -0.951276 -1.778694 0.868044 +v 0.036241 -3.400933 -0.683433 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf new file mode 100644 index 000000000..1551f9d5e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj new file mode 100644 index 000000000..bc408f3f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj @@ -0,0 +1,510 @@ +o convex_0 +v 0.282612 -1.196955 -2.185540 +v -0.320944 -1.260525 -2.122057 +v -0.289159 -1.260525 -2.312554 +v 0.219042 -1.609861 -2.058426 +v -0.193864 -1.609861 -2.503151 +v 0.250827 -1.069875 -2.566683 +v 0.091962 -1.006306 -2.058426 +v -0.289159 -1.069875 -2.376037 +v 0.187257 -1.578018 -2.471360 +v -0.162079 -1.578018 -2.058426 +v -0.320944 -1.069875 -2.058426 +v 0.282612 -1.006306 -2.058426 +v -0.162079 -1.069875 -2.471360 +v 0.219042 -1.609861 -2.312554 +v -0.225590 -1.578018 -2.503151 +v 0.219042 -1.038150 -2.534892 +v 0.250827 -1.165170 -2.566683 +v 0.123747 -1.133386 -2.566683 +f 17 5 18 +f 3 2 8 +f 5 4 10 +f 4 7 10 +f 10 7 11 +f 7 8 11 +f 8 2 11 +f 2 10 11 +f 4 1 12 +f 1 6 12 +f 7 4 12 +f 1 4 14 +f 4 5 14 +f 5 9 14 +f 2 3 15 +f 3 8 15 +f 5 10 15 +f 10 2 15 +f 8 13 15 +f 8 7 16 +f 12 6 16 +f 7 12 16 +f 6 13 16 +f 13 8 16 +f 6 1 17 +f 9 5 17 +f 1 14 17 +f 14 9 17 +f 13 6 18 +f 5 15 18 +f 15 13 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-4.341374 -0.883096 +v 0.441405 1.629878 -2.026526 +v -0.575073 -4.214043 -1.963081 +v -0.511516 1.629878 -1.931299 +v 0.441405 1.661408 -0.914996 +v -0.511516 -4.214043 -1.010223 +v 0.536740 -4.214043 -1.994863 +v -0.447958 1.788740 -0.946659 +v -0.320844 -1.070161 -2.058308 +v 0.473183 1.344291 -0.914878 +v -0.225509 -1.989982 -0.851315 +v -0.575073 -4.118847 -1.613601 +v 0.346069 -1.545533 -0.851315 +v 0.536740 -3.038953 -1.994863 +v -0.416180 1.820876 -0.883214 +v 0.409626 -4.373511 -1.042122 +v 0.187285 1.661408 -2.026526 +v 0.536740 -2.911621 -0.914878 +v -0.511516 -3.293010 -0.978441 +v 0.473183 0.613043 -2.026526 +v 0.155507 1.725074 -0.883214 +v 0.282512 -1.006495 -2.058308 +v -0.575073 -2.530232 -1.899518 +v -0.384401 -4.246179 -0.978441 +v -0.289066 1.820876 -1.073786 +v -0.479737 1.693544 -1.867736 +v -0.511516 -4.246179 -1.867736 +v 0.377848 -3.642263 -2.026526 +v -0.257287 -2.085783 -2.058308 +v 0.536740 -4.245573 -1.962963 +v -0.447958 0.867100 -0.883214 +v 0.441405 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136 139 +f 114 119 141 +f 119 111 141 +f 111 126 141 +f 126 134 141 +f 123 116 142 +f 129 123 142 +f 131 129 142 +f 116 137 142 +f 137 131 142 +f 110 122 143 +f 122 120 143 +f 118 112 144 +f 113 118 144 +f 112 132 144 +f 132 113 144 +f 117 113 145 +f 113 132 145 +f 132 117 145 +f 133 115 146 +f 112 136 146 +f 136 125 146 +f 130 114 147 +f 114 141 147 +f 120 109 148 +f 109 140 148 +f 115 133 149 +f 120 148 149 +f 133 110 150 +f 110 143 150 +f 143 120 150 +f 149 133 150 +f 120 149 150 +f 137 116 151 +f 112 138 151 +f 138 137 151 +f 116 139 151 +f 139 112 151 +f 108 122 152 +f 122 114 152 +f 114 130 152 +f 130 108 152 +f 110 133 153 +f 139 110 153 +f 125 139 153 +f 146 125 153 +f 133 146 153 +f 109 124 154 +f 124 117 154 +f 121 128 154 +f 117 132 154 +f 132 121 154 +f 140 109 154 +f 128 140 154 +f 118 113 155 +f 126 118 155 +f 113 126 155 +f 111 119 156 +f 129 111 156 +f 123 129 156 +f 119 127 157 +f 127 123 157 +f 156 119 157 +f 123 156 157 +f 121 112 158 +f 128 121 158 +f 112 146 158 +f 146 115 158 +f 140 128 159 +f 148 140 159 +f 115 149 159 +f 149 148 159 +f 158 115 159 +f 128 158 159 +f 124 108 160 +f 108 130 160 +f 134 124 160 +f 141 134 160 +f 130 147 160 +f 147 141 160 +f 113 117 161 +f 117 124 161 +f 124 134 161 +f 135 113 161 +o convex_4 +v 0.219064 -1.101663 -0.565420 +v -0.257412 -1.165192 -0.851314 +v -0.225627 -1.482707 -0.851314 +v 0.346144 -1.578033 -0.851314 +v -0.193842 -1.609765 -0.565420 +v 0.282574 -0.974540 -0.851314 +v -0.193842 -1.038134 -0.565420 +v 0.282574 -1.641562 -0.565420 +v -0.193842 -1.609765 -0.851314 +v -0.257412 -1.069931 -0.851314 +v 0.028533 -0.974540 -0.565420 +v 0.314359 -1.641562 -0.787761 +v 0.282574 -0.974540 -0.787761 +v 0.314359 -1.578033 -0.628974 +f 174 162 175 +f 164 163 165 +f 163 164 166 +f 165 163 167 +f 166 162 168 +f 163 166 168 +f 162 166 169 +f 164 165 170 +f 166 164 170 +f 169 166 170 +f 167 163 171 +f 163 168 171 +f 171 168 172 +f 168 162 172 +f 167 171 172 +f 165 169 173 +f 170 165 173 +f 169 170 173 +f 165 167 174 +f 172 162 174 +f 167 172 174 +f 162 169 175 +f 169 165 175 +f 165 174 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf new file mode 100644 index 000000000..8283751cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj new file mode 100644 index 000000000..4c73e6bbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj @@ -0,0 +1,642 @@ +o convex_0 +v -0.412698 2.852357 -1.027162 +v -2.724122 -3.165870 0.566676 +v -2.724122 -3.165870 0.965135 +v -0.213361 -3.205782 1.005250 +v -2.604421 2.851752 1.005250 +v -2.644239 -3.085442 -0.947552 +v -0.213361 -3.125353 -1.107184 +v -0.213361 2.932181 0.965342 +v -2.684058 2.972093 -0.947552 +v -0.213361 2.972093 -0.987460 +v -2.724122 -1.212607 -0.987460 +v -2.724122 1.177872 0.965135 +v -0.253179 0.500580 -1.107184 +v -0.213361 2.612886 1.005250 +v -0.850944 -3.125353 -1.107184 +v -0.731243 2.972093 0.925434 +v -1.408891 -3.205782 1.005043 +v -2.724122 2.493150 -0.907644 +v -2.604421 1.018225 -0.987460 +v -0.253179 -3.165265 -0.867943 +v -0.213361 2.533062 -1.067276 +v -2.684058 -3.125353 -0.588794 +v -2.684058 2.931576 -0.190335 +v -2.166175 -1.770769 1.005250 +v -0.253179 -3.205782 0.128309 +v -2.444902 -2.966311 -0.987460 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj new file mode 100644 index 000000000..8aefb91e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj @@ -0,0 +1,681 @@ +o convex_0 +v 0.578847 -1.463569 -0.521734 +v 0.994760 0.870602 1.557038 +v 1.026785 0.870602 1.524737 +v -1.019928 0.870602 -0.489643 +v 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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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj new file mode 100644 index 000000000..11b67c33e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj @@ -0,0 +1,558 @@ +o convex_0 +v 1.049600 -0.627712 2.510104 +v -0.998076 -0.739234 1.579392 +v -0.923313 -1.260487 1.579392 +v -0.551099 -0.627986 3.254601 +v 0.081484 0.749906 1.579392 +v 0.900675 -1.558151 1.579574 +v 0.081484 -1.372282 3.217431 +v 0.081484 0.190932 3.180079 +v -0.811869 0.339900 1.691267 +v 0.900675 0.377348 1.579574 +v -0.029960 -2.042504 1.616927 +v 0.788830 -0.553638 3.217431 +v -0.774587 -1.334835 2.435946 +v -0.998076 -0.553638 2.398776 +v -0.737306 0.190932 2.398776 +v 0.826112 -1.334835 2.473116 +v 0.826112 0.191205 2.435946 +v 0.118766 -0.553638 3.440817 +v 1.049600 -0.776408 1.579574 +v -0.700024 -0.516464 3.180079 +v -0.848950 -1.521251 1.579392 +v -0.551099 -1.186140 2.994046 +v -0.886231 0.153758 1.579392 +v 0.639905 -1.111519 3.031398 +v -0.402374 0.041963 3.031216 +v 0.528461 0.042237 3.031398 +v 0.044203 -2.042504 1.579392 +v 1.049600 -0.367222 2.249731 +v 0.007121 0.190932 3.180079 +v -0.737306 -0.627986 3.142909 +v 0.044203 0.749906 1.616927 +v 0.007121 -0.516464 3.440817 +v 0.826112 -0.516464 3.180261 +v 1.049600 -0.367222 1.579574 +v -0.737306 -1.372282 2.435946 +v 0.044203 -1.372282 3.217431 +v -0.848950 -1.521251 1.691267 +v -0.998076 -0.627986 2.398776 +v 0.044203 -2.042504 1.616927 +v 0.081484 -0.664886 3.440817 +v 0.863393 -0.627712 3.068568 +v -0.998076 -0.479290 1.579392 +v 0.081484 0.749906 1.616927 +v 1.049600 -0.776408 2.287083 +v 0.156047 0.191205 3.142909 +v 0.937956 0.302727 1.616745 +v 0.826112 -1.372009 2.398594 +v -0.774587 0.377348 1.579392 +v -0.588380 -0.106732 2.994046 +v 1.049600 -0.441843 2.398594 +v 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-2.292225 +v -0.848969 -3.270578 -1.622396 +v -0.997916 -0.738534 1.579392 +v -0.811784 1.457218 -2.292225 +v 1.049531 -0.776105 1.579392 +v 0.528321 -3.196052 -2.143238 +v 0.007319 2.685977 1.429997 +v 0.007319 2.238820 -2.292633 +v -1.035308 -2.600458 0.387497 +v 0.826215 -3.345104 0.425050 +v -1.035308 -2.638029 -1.659541 +v -0.811784 -2.600458 -2.366922 +v 1.012346 1.456602 -1.585252 +v -0.067258 -3.606254 -1.659541 +v -0.774599 2.685977 1.169576 +v -0.774599 -3.308149 0.462195 +v 0.751638 -2.637413 -2.255080 +v 0.826215 2.685977 -0.505607 +v 0.789030 2.685977 1.206721 +v -0.997916 1.456602 -1.696686 +v 1.086924 -2.600458 0.425050 +v 0.900584 -1.557706 1.578984 +v 0.081481 1.456602 -2.553054 +v -0.848969 -1.520135 1.578984 +v -0.848969 2.685977 -0.505607 +v -0.067258 -3.382675 -2.329778 +v 0.751638 -3.382059 -1.621988 +v 0.007319 -3.606254 -0.022319 +v -0.029866 -2.638029 -2.590607 +v -0.029866 -2.153916 1.579392 +v 1.012346 -2.637413 -1.622396 +v 0.937977 0.302370 1.578984 +v 0.789030 -2.674984 1.169168 +v -0.774599 2.201248 -1.622396 +v -0.774599 -2.562887 1.169576 +v -0.811784 0.376896 1.579392 +v 0.751638 -0.627053 -2.329778 +v 0.751638 2.238820 -1.584844 +v -0.029866 2.685977 -0.989304 +v -0.774599 -3.382059 -1.622396 +v -0.997916 2.685361 0.499340 +v -0.104443 1.456602 -2.553054 +v -0.774599 -1.557706 -2.404067 +v 0.826215 1.419647 -2.217936 +v 1.086924 -1.967293 0.387497 +v -0.104443 -3.568683 0.387497 +v 1.012346 2.685977 0.238919 +v 1.049531 -0.367135 1.579392 +v 0.602899 -2.637413 -2.366922 +v -0.811784 -3.345104 -0.021910 +v -1.035308 -1.930338 -1.621988 +v -0.997916 -0.441045 1.579392 +v -0.551283 2.052196 -2.143238 +v -0.513891 -3.159096 0.983445 +v -0.774599 1.493557 -2.329778 +v -0.662837 -3.084570 -2.180791 +v 0.528321 2.052812 -2.143238 +f 77 107 126 +f 64 65 72 +f 64 72 74 +f 65 64 76 +f 71 78 80 +f 71 80 81 +f 80 73 81 +f 76 68 84 +f 84 68 87 +f 68 76 88 +f 73 80 89 +f 79 67 90 +f 90 74 91 +f 77 70 92 +f 72 78 93 +f 84 87 94 +f 89 69 94 +f 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119 +f 85 78 119 +f 71 109 119 +f 115 85 119 +f 109 115 119 +f 80 78 120 +f 69 89 120 +f 89 80 120 +f 110 69 120 +f 78 110 120 +f 78 72 121 +f 72 105 121 +f 105 84 121 +f 110 78 121 +f 84 110 121 +f 103 77 122 +f 85 66 123 +f 66 104 123 +f 104 85 123 +f 73 103 124 +f 77 111 124 +f 112 73 124 +f 111 112 124 +f 122 77 124 +f 103 122 124 +f 71 81 125 +f 81 95 125 +f 109 71 125 +f 95 109 125 +f 70 77 126 +f 107 70 126 +o convex_2 +v -1.035104 3.319178 0.313099 +v 1.049407 3.505182 0.499514 +v 0.937773 3.468016 0.871668 +v -0.067135 4.435716 0.424948 +v 0.007152 2.686148 -0.877929 +v 0.007152 2.686148 1.430464 +v 0.044295 4.175036 -0.356642 +v 0.863487 2.686148 -0.430983 +v -0.067135 4.175036 1.169707 +v -0.774489 2.686148 1.169707 +v -0.848980 2.686148 -0.468266 +v 0.826140 4.212203 0.387665 +v -0.811632 4.137870 0.350382 +v 0.826140 2.686148 1.169482 +v -0.774489 3.393511 1.169707 +v 0.826140 3.468016 1.206991 +v -0.774489 3.468016 -0.356642 +v 0.788996 3.430849 -0.356416 +v -0.029992 3.430849 1.430464 +v 1.049407 2.760652 0.462231 +v -0.997961 2.686148 0.499288 +v 0.602872 4.026199 1.020801 +v -0.625712 3.988861 0.908951 +v -0.588365 3.988861 -0.170453 +v 0.565729 4.026199 -0.170227 +v 0.081438 4.175036 1.169707 +v -1.035104 3.393511 0.462005 +v 0.826140 4.212203 0.499514 +v 1.049407 3.468016 0.350608 +v -0.029992 4.175036 -0.356642 +v 0.081438 4.435716 0.462005 +v -0.774489 4.137870 0.499288 +v 0.788996 2.723486 -0.542606 +v -0.029992 2.723486 -0.877929 +v -0.774489 2.760652 -0.542832 +v 0.081438 2.686148 1.430464 +v -0.700203 4.212203 0.350382 +v 1.012264 2.686148 0.239210 +v -0.997961 2.723486 0.201927 +v 0.193276 3.430849 1.392954 +v 0.044295 4.212203 -0.319359 +v 0.007152 2.723486 -0.877929 +v 0.379400 4.361383 0.387665 +v -0.029992 4.212203 -0.319359 +v -1.035104 3.430849 0.350382 +v -0.923470 2.797990 -0.244793 +v 0.788996 2.686148 1.206991 +v 0.044295 4.100532 -0.393700 +v -0.700203 4.212203 0.424948 +v -0.476731 4.026199 1.020575 +v 0.863487 3.468016 -0.170227 +v -0.029992 4.435716 0.350382 +v 0.044295 4.212203 1.132198 +v -0.811632 3.133003 -0.430983 +v -0.811632 3.393511 1.095367 +v 0.640015 4.063365 -0.058603 +v -0.625712 4.026199 -0.095886 +v -0.960613 3.691015 0.424948 +v 0.900630 2.760652 -0.319359 +v -0.029992 4.212203 1.132198 +v 0.937773 2.686148 0.834611 +v 0.826140 3.095665 1.206991 +v 0.788996 3.505182 -0.319359 +f 151 182 189 +f 132 131 134 +f 131 132 136 +f 131 136 137 +f 132 134 140 +f 136 132 145 +f 135 141 145 +f 141 136 145 +f 137 136 147 +f 135 145 152 +f 142 148 152 +f 147 136 153 +f 127 147 153 +f 129 128 154 +f 128 138 154 +f 142 129 154 +f 148 142 154 +f 138 128 155 +f 128 146 155 +f 143 150 156 +f 141 149 158 +f 134 131 159 +f 144 134 159 +f 143 156 160 +f 131 137 161 +f 160 131 161 +f 132 140 162 +f 145 132 162 +f 140 134 164 +f 155 146 164 +f 137 147 165 +f 147 127 165 +f 152 145 166 +f 142 152 166 +f 162 142 166 +f 145 162 166 +f 151 133 167 +f 133 156 167 +f 159 131 168 +f 144 159 168 +f 131 160 168 +f 154 138 169 +f 157 154 169 +f 138 167 169 +f 156 150 170 +f 167 156 170 +f 139 143 171 +f 127 153 171 +f 165 127 172 +f 137 165 172 +f 127 171 172 +f 162 140 173 +f 133 144 174 +f 156 133 174 +f 160 156 174 +f 144 168 174 +f 168 160 174 +f 158 135 175 +f 139 158 175 +f 163 139 175 +f 130 163 175 +f 141 135 176 +f 149 141 176 +f 135 158 176 +f 158 149 176 +f 134 144 177 +f 138 155 177 +f 130 157 178 +f 163 130 178 +f 157 169 178 +f 169 167 178 +f 170 163 178 +f 167 170 178 +f 135 152 179 +f 152 148 179 +f 148 154 179 +f 154 157 179 +f 143 160 180 +f 161 137 180 +f 160 161 180 +f 171 143 180 +f 137 172 180 +f 172 171 180 +f 136 141 181 +f 153 136 181 +f 141 158 181 +f 151 167 182 +f 167 138 182 +f 143 139 183 +f 150 143 183 +f 139 163 183 +f 170 150 183 +f 163 170 183 +f 158 139 184 +f 139 171 184 +f 171 153 184 +f 153 181 184 +f 181 158 184 +f 164 134 185 +f 155 164 185 +f 134 177 185 +f 177 155 185 +f 157 130 186 +f 130 175 186 +f 175 135 186 +f 135 179 186 +f 179 157 186 +f 128 129 187 +f 146 128 187 +f 140 164 187 +f 164 146 187 +f 129 142 188 +f 142 162 188 +f 173 140 188 +f 162 173 188 +f 187 129 188 +f 140 187 188 +f 144 133 189 +f 133 151 189 +f 177 144 189 +f 138 177 189 +f 182 138 189 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf new file mode 100644 index 000000000..6885711b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj new file mode 100644 index 000000000..aac288754 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj @@ -0,0 +1,513 @@ +o convex_0 +v 0.134674 1.390847 3.512779 +v -0.253005 0.777026 1.607216 +v -0.220682 0.777026 1.607216 +v 0.328545 1.487770 1.607216 +v 0.296223 0.809380 3.577481 +v -0.285327 1.423202 3.610028 +v -0.317650 1.390847 1.607216 +v 0.296223 0.874018 1.671721 +v -0.253005 0.874018 3.286716 +v 0.263901 1.390847 3.383572 +v -0.317650 0.938587 1.671721 +v 0.102352 0.809380 3.577481 +v -0.317650 1.423202 2.350109 +v -0.253005 0.970941 3.545130 +v 0.296223 0.809380 2.931248 +v 0.328545 1.261640 1.607216 +v -0.091456 1.423202 3.577481 +v 0.328545 1.487770 1.768578 +v 0.231578 1.487770 1.607216 +v 0.263901 0.874018 1.607216 +v -0.285327 1.326279 3.610028 +v -0.285327 0.809380 2.091694 +v 0.296223 0.874018 3.577481 +v 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1.423123 -2.141151 +f 32 31 40 +f 26 27 30 +f 30 29 32 +f 30 27 33 +f 29 30 33 +f 25 28 34 +f 32 25 34 +f 31 32 34 +f 28 26 35 +f 34 28 35 +f 31 34 35 +f 27 26 36 +f 26 28 36 +f 33 27 36 +f 28 25 37 +f 29 28 37 +f 25 32 37 +f 32 29 37 +f 26 30 38 +f 30 31 38 +f 35 26 38 +f 31 35 38 +f 28 29 39 +f 29 33 39 +f 36 28 39 +f 33 36 39 +f 31 30 40 +f 30 32 40 +o convex_2 +v 0.683780 -3.874838 -0.590239 +v 0.942295 2.198515 1.606824 +v 1.039344 2.230964 1.445098 +v -0.931304 2.198515 -0.557765 +v -1.060774 -3.810541 1.574350 +v 0.974715 -3.842389 1.574350 +v 1.103973 2.230964 -0.460988 +v -1.028353 2.101169 1.445098 +v -0.963725 -3.907887 -0.525506 +v 0.942295 -3.648296 -0.590239 +v -0.317649 1.390898 1.606824 +v 0.199170 1.357848 -0.590239 +v 1.006924 -2.097960 1.606824 +v -0.963725 -0.838462 -0.557765 +v 1.103973 1.390898 -0.428513 +v -1.028353 2.133617 1.089817 +v -1.060774 -3.842990 1.218854 +v 0.974715 -3.874838 0.831099 +v -0.253020 2.230964 0.831099 +v 0.910087 -3.907287 -0.590239 +v 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0.863700 +v 0.231559 4.104753 0.314440 +v -0.091462 4.234169 0.766666 +v 0.231559 4.234169 0.831289 +f 115 106 119 +f 99 98 101 +f 95 98 102 +f 98 99 102 +f 98 95 104 +f 103 97 107 +f 98 104 107 +f 105 100 108 +f 95 105 108 +f 102 99 109 +f 99 105 109 +f 101 96 110 +f 99 101 110 +f 96 106 110 +f 110 106 111 +f 105 99 111 +f 100 105 111 +f 99 110 111 +f 101 98 112 +f 107 97 112 +f 98 107 112 +f 95 102 113 +f 105 95 113 +f 102 109 113 +f 109 105 113 +f 104 95 114 +f 95 108 114 +f 103 104 115 +f 104 114 115 +f 97 96 116 +f 96 101 116 +f 112 97 116 +f 101 112 116 +f 104 103 117 +f 103 107 117 +f 107 104 117 +f 108 100 118 +f 111 106 118 +f 100 111 118 +f 114 108 118 +f 115 114 118 +f 106 115 118 +f 96 97 119 +f 97 103 119 +f 106 96 119 +f 103 115 119 +o convex_4 +v 0.199335 0.906666 -2.108797 +v -0.317649 4.201859 -0.881147 +v 0.457709 4.169239 -0.978124 +v 0.554600 -1.969303 -0.913472 +v -0.608437 -1.839428 -2.108677 +v -0.576024 4.201255 -2.011700 +v -0.543727 -1.936683 -1.010449 +v 0.554600 4.104604 -1.947170 +v 0.522303 -1.904063 -2.044026 +v -0.446836 3.813443 -0.881147 +v 0.587014 4.169239 -1.010449 +v -0.576024 0.454219 -1.365790 +v -0.252938 0.842031 -0.881147 +v 0.328405 1.907608 -0.881147 +v 0.554600 0.712761 -2.011821 +v -0.349829 1.293270 -2.108797 +v 0.296108 1.325890 -2.108797 +v 0.554600 -1.969303 -1.430441 +v -0.576024 4.201255 -1.850193 +v -0.414539 -1.969303 -0.978124 +v -0.576024 3.781427 -2.044026 +v 0.554600 3.878682 -1.979495 +v -0.543727 -1.354965 -0.978124 +v -0.576024 -1.936683 -1.301139 +v -0.608437 0.293537 -2.011700 +v -0.091454 4.168635 -2.011700 +v -0.446836 4.201859 -0.945798 +v 0.490006 -1.936683 -1.947049 +v 0.554600 3.910094 -0.978003 +v 0.587014 4.169239 -1.139631 +v -0.446836 -1.839428 -2.108677 +v -0.285235 4.201859 -2.011700 +v 0.425413 -1.969303 -0.913472 +v -0.608437 -1.839428 -1.882518 +v 0.587014 3.425631 -1.042655 +v 0.554600 -1.936683 -1.559383 +v -0.543727 -0.805867 -0.978124 +v -0.349829 1.389921 -0.881147 +v 0.296108 0.939286 -0.881147 +v -0.576024 -1.419600 -1.236608 +v -0.608437 -1.225695 -2.108677 +v 0.554600 -1.322345 -0.913472 +v -0.349829 -1.872048 -2.076352 +v 0.457709 4.104604 -1.979375 +v 0.070030 -1.872048 -2.076352 +f 162 150 164 +f 121 122 130 +f 121 129 132 +f 121 132 133 +f 120 124 135 +f 134 128 136 +f 120 135 136 +f 131 129 138 +f 137 123 139 +f 136 135 140 +f 134 136 141 +f 126 139 142 +f 139 132 142 +f 139 126 143 +f 138 125 144 +f 131 138 144 +f 125 140 144 +f 136 140 145 +f 129 121 146 +f 125 138 146 +f 138 129 146 +f 128 137 147 +f 137 139 147 +f 139 143 147 +f 122 121 148 +f 130 122 148 +f 121 133 148 +f 141 127 149 +f 134 141 149 +f 124 120 150 +f 121 130 151 +f 140 125 151 +f 145 140 151 +f 146 121 151 +f 125 146 151 +f 130 149 151 +f 149 127 151 +f 123 132 152 +f 139 123 152 +f 132 139 152 +f 124 143 153 +f 144 124 153 +f 130 123 154 +f 123 137 154 +f 149 130 154 +f 134 149 154 +f 128 134 155 +f 137 128 155 +f 154 137 155 +f 134 154 155 +f 129 131 156 +f 142 129 156 +f 132 129 157 +f 129 142 157 +f 142 132 157 +f 132 123 158 +f 123 133 158 +f 133 132 158 +f 126 142 159 +f 143 126 159 +f 131 144 159 +f 153 143 159 +f 144 153 159 +f 156 131 159 +f 142 156 159 +f 135 124 160 +f 140 135 160 +f 124 144 160 +f 144 140 160 +f 123 130 161 +f 133 123 161 +f 130 148 161 +f 148 133 161 +f 143 124 162 +f 128 147 162 +f 147 143 162 +f 124 150 162 +f 141 136 163 +f 127 141 163 +f 136 145 163 +f 151 127 163 +f 145 151 163 +f 120 136 164 +f 136 128 164 +f 150 120 164 +f 128 162 164 +o convex_5 +v 0.166946 0.906363 -0.848692 +v -0.220670 1.455530 -0.848692 +v -0.220670 1.455530 -0.881027 +v -0.317637 0.873974 -0.751744 +v 0.199268 1.358484 -0.590239 +v -0.317637 1.390813 -0.590239 +v 0.231591 0.938691 -0.590239 +v 0.296236 1.390813 -0.881027 +v -0.285315 0.841645 -0.881027 +v -0.317637 0.873974 -0.590239 +v -0.349959 1.455530 -0.881027 +v 0.296236 0.938691 -0.881027 +v 0.231591 1.390813 -0.654909 +f 172 166 177 +f 169 170 171 +f 167 166 172 +f 165 171 173 +f 167 172 173 +f 171 170 174 +f 168 173 174 +f 173 171 174 +f 166 167 175 +f 170 166 175 +f 167 173 175 +f 173 168 175 +f 168 174 175 +f 174 170 175 +f 171 165 176 +f 172 171 176 +f 165 173 176 +f 173 172 176 +f 166 170 177 +f 170 169 177 +f 169 171 177 +f 171 172 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf new file mode 100644 index 000000000..d83a36271 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj new file mode 100644 index 000000000..b28674505 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj @@ -0,0 +1,819 @@ +o convex_0 +v 0.070773 3.300357 1.575140 +v 0.559547 2.849165 2.214378 +v 0.559547 3.074859 2.176745 +v 0.597217 2.510722 1.575140 +v 0.559547 4.465693 1.537507 +v 0.108381 4.428045 2.063844 +v -0.042050 2.510722 2.176745 +v 0.521939 4.503341 2.101478 +v 0.108381 4.352749 1.537507 +v 0.033165 2.510722 1.612840 +v 0.559547 2.510722 2.214378 +v 0.070773 4.164898 2.101478 +v 0.597217 2.924461 1.537507 +v 0.597217 3.488403 1.612840 +v -0.042050 2.623666 2.063844 +v -0.004442 2.548370 1.687974 +v 0.597217 2.510722 1.913510 +v 0.484394 4.503341 1.687974 +v 0.446787 4.164898 2.139045 +v 0.258874 2.548370 2.214378 +v 0.258874 2.548370 1.575140 +f 9 13 21 +f 2 3 8 +f 4 7 10 +f 9 1 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+ + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj new file mode 100644 index 000000000..29cc1a9fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj @@ -0,0 +1,576 @@ +o convex_0 +v 0.901021 1.277809 -1.044776 +v 1.076542 3.136750 0.603579 +v 1.041354 3.136750 1.094625 +v -1.063223 3.276870 -0.974472 +v -0.992847 1.278005 1.059365 +v -1.063223 3.276870 1.094409 +v 0.971187 1.277809 1.059581 +v -0.957869 1.278005 -1.009516 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-0.992957 1.277589 -0.343265 +v 0.971277 1.277589 1.059028 +v 1.076422 -0.966970 -1.044614 +v -1.028145 -0.020019 1.796032 +v -0.957769 1.277589 -1.009770 +v 1.041443 0.681296 2.567881 +v 1.076422 1.102041 -1.115114 +v -0.992957 -0.966970 -0.237921 +v -0.957769 -0.195348 2.988853 +v -0.957769 -0.756488 2.918353 +v -0.151172 -0.896663 3.024103 +v 1.111609 -0.686181 1.129528 +v -1.028145 1.137194 2.742915 +v 1.111609 -0.861729 0.288395 +v 1.076422 1.277589 -0.693737 +v 0.550280 1.067107 2.988853 +v 1.041443 -0.931817 2.567881 +v -0.501794 1.102041 2.953198 +v 0.655425 -0.931817 3.024103 +v -0.992957 -0.861729 1.796032 +v -1.028145 0.856624 2.918353 +v -0.256317 -0.826576 3.024103 +v -1.028145 1.137194 2.392443 +v -0.992957 0.681296 2.953603 +v -0.010631 -0.966970 1.094683 +f 122 102 128 +f 92 93 94 +f 92 101 102 +f 91 99 103 +f 93 92 104 +f 100 97 104 +f 97 100 105 +f 100 96 105 +f 96 103 105 +f 92 94 106 +f 101 92 106 +f 97 93 108 +f 93 104 108 +f 104 97 108 +f 103 99 109 +f 94 93 110 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-1.563604 -1.115114 +v 0.199572 -1.598702 -3.044410 +v 0.304803 -2.089628 -1.115114 +v 0.234605 -2.194924 -2.939032 +v -0.326583 -2.089628 -1.115114 +v -0.221287 -1.528440 -1.641440 +v -0.326583 -2.019430 -1.641440 +v 0.269704 -2.159760 -1.150240 +v 0.234605 -1.563604 -2.693337 +v -0.256385 -2.019430 -2.974158 +v 0.339901 -1.633736 -1.255430 +v 0.304803 -1.528440 -1.711504 +v -0.256385 -2.159760 -2.693337 +v 0.234605 -1.984332 -2.974158 +v -0.221287 -1.528440 -1.115114 +v -0.186253 -1.633736 -2.974158 +v -0.326583 -1.914265 -1.255430 +v -0.186253 -2.054594 -3.009284 +v 0.269704 -2.054594 -2.448020 +v 0.164473 -1.563604 -2.763589 +f 145 142 153 +f 132 129 134 +f 129 132 136 +f 132 134 138 +f 133 134 139 +f 131 138 140 +f 136 132 141 +f 130 137 141 +f 137 136 141 +f 131 140 143 +f 140 133 143 +f 129 136 144 +f 139 129 145 +f 129 144 145 +f 131 130 146 +f 138 131 146 +f 132 138 146 +f 130 141 146 +f 141 132 146 +f 130 135 147 +f 137 130 147 +f 135 142 147 +f 142 145 147 +f 145 144 147 +f 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164 168 176 +f 168 166 176 +f 165 169 179 +f 178 165 179 +f 158 178 179 +f 162 157 180 +f 173 162 180 +f 172 173 180 +f 157 176 180 +f 176 172 180 +f 155 165 182 +f 171 162 183 +f 169 171 183 +f 179 169 183 +f 178 160 184 +f 165 178 184 +f 182 165 184 +f 160 182 184 +f 170 159 185 +f 174 161 185 +f 159 174 185 +f 168 163 186 +f 166 168 186 +f 161 155 187 +f 155 182 187 +f 185 161 187 +f 170 185 187 +f 159 167 188 +f 167 168 188 +f 181 159 188 +f 167 159 189 +f 159 175 189 +f 163 167 190 +f 167 177 190 +f 186 163 190 +f 165 156 191 +f 156 171 191 +f 171 165 191 +f 162 158 192 +f 158 179 192 +f 183 162 192 +f 179 183 192 +f 154 164 193 +f 164 174 193 +f 174 159 193 +f 159 181 193 +f 177 160 194 +f 160 178 194 +f 166 186 194 +f 190 177 194 +f 186 190 194 +f 158 172 195 +f 176 166 195 +f 172 176 195 +f 178 158 195 +f 194 178 195 +f 166 194 195 +f 175 170 196 +f 182 160 196 +f 170 187 196 +f 187 182 196 +f 160 177 197 +f 177 167 197 +f 167 189 197 +f 189 175 197 +f 196 160 197 +f 175 196 197 +f 168 154 198 +f 188 168 198 +f 181 188 198 +f 154 193 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf new file mode 100644 index 000000000..1b20078a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj new file mode 100644 index 000000000..82fe8825d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj @@ -0,0 +1,1119 @@ +o convex_0 +v -1.044016 -1.684723 -0.116207 +v 1.013523 -0.518818 0.054570 +v 0.979083 -0.518818 0.466199 +v 0.944844 -1.856087 0.706070 +v 0.773248 -1.856087 -1.042126 +v -0.666787 -0.518949 -1.145033 +v -0.701026 -0.518949 1.049094 +v -0.666787 -1.856087 1.014792 +v -0.598109 -1.856087 -1.110731 +v 0.773248 -0.518949 -1.145033 +v 0.601854 -0.518949 1.152001 +v -0.975338 -0.518949 -0.905162 +v 0.087670 -1.856087 1.186059 +v 0.018992 -1.856087 -1.316545 +v -0.975338 -0.518949 0.706315 +v 0.944844 -1.650424 -0.836312 +v -0.941099 -1.856087 -0.767707 +v -0.906659 -1.856087 0.774920 +v 0.979083 -0.518818 -0.939464 +v 0.807688 -1.856087 0.946187 +v 0.910404 -0.518949 0.911885 +v 1.013523 -1.616125 -0.082149 +v 0.601854 -0.518949 -1.213638 +v -1.044016 -0.518949 -0.150509 +v -0.632347 -0.518949 1.083397 +v 0.979083 -1.856087 -0.253416 +v -1.044016 -1.581826 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a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj new file mode 100644 index 000000000..b9a0de401 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj @@ -0,0 +1,510 @@ +o convex_0 +v -1.076993 -2.790132 -0.347943 +v 1.058419 -1.285135 0.947126 +v 1.023360 -1.285135 1.087363 +v 0.953242 -3.105390 0.982185 +v 1.023360 -3.140549 -1.083339 +v -1.076993 -1.285331 -1.083339 +v -1.112265 -1.285331 0.947126 +v 1.058419 -1.285135 -1.083339 +v -0.972029 -3.140354 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146 154 163 +f 156 146 163 +f 153 156 163 +f 155 142 165 +f 161 147 165 +f 142 161 165 +f 148 164 165 +f 164 155 165 +f 151 138 166 +f 150 151 166 +f 138 158 166 +f 158 150 166 +f 148 139 167 +f 139 156 167 +f 156 157 167 +f 164 148 167 +f 143 149 168 +f 157 143 168 +f 150 144 169 +f 151 150 169 +f 154 151 169 +f 149 143 170 +f 143 160 170 +f 160 149 170 +f 156 153 171 +f 157 156 171 +f 143 157 171 +f 160 143 171 +f 153 160 171 +f 144 163 172 +f 163 154 172 +f 169 144 172 +f 154 169 172 +f 149 155 173 +f 168 149 173 +f 168 173 174 +f 155 164 174 +f 167 157 174 +f 164 167 174 +f 157 168 174 +f 173 155 174 +f 147 148 175 +f 165 147 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf new file mode 100644 index 000000000..d2d515b30 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj new file mode 100644 index 000000000..0163d0235 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj @@ -0,0 +1,717 @@ +o convex_0 +v 0.538231 -3.172089 0.319081 +v -0.547307 -4.980963 0.253393 +v -0.481377 -5.046758 -0.536077 +v -0.547307 -3.073690 -0.470279 +v 0.538231 -5.079950 -0.503123 +v -0.547307 -3.073690 0.582384 +v 0.604049 -4.981159 0.450787 +v 0.571140 -3.073690 -0.470169 +v -0.547307 -4.980963 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1.532256 -0.141229 +v 1.788420 2.617463 -0.536019 +v 1.788420 2.617463 -0.568973 +v 1.097664 1.466332 0.351984 +v 2.972546 2.486066 0.516534 +v 1.097664 2.485954 0.549488 +v 1.097664 1.565162 -0.536019 +v 3.005345 2.584670 -0.536019 +v 2.939550 1.499238 0.516534 +v 3.104137 1.532256 -0.536019 +v 1.097664 2.617463 -0.568973 +v 1.097664 1.466332 0.549488 +v 2.051407 1.466332 0.549488 +v 3.104137 1.499238 -0.371468 +v 1.097664 1.861199 -0.568973 +v 2.676171 2.551765 -0.568973 +v 1.097664 2.551765 0.154589 +v 3.104137 1.729689 -0.305780 +v 2.215797 2.124105 0.549488 +v 2.150002 1.532256 -0.536019 +v 1.262055 2.617463 -0.404422 +v 2.478980 1.466332 0.483690 +v 2.939550 2.584670 -0.437267 +v 1.953008 2.485954 0.549488 +v 2.972546 2.124105 0.516534 +v 1.328047 2.518859 0.417782 +v 3.005345 2.518859 -0.108276 +v 3.104137 1.795388 -0.536019 +f 105 124 125 +f 101 103 104 +f 100 99 105 +f 99 100 108 +f 104 103 108 +f 103 101 109 +f 103 109 110 +f 109 101 110 +f 98 106 111 +f 108 100 112 +f 104 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-0.634584 +v 1.064592 0.512325 -0.601817 +v -0.514450 0.643935 -1.062411 +v -1.106537 -0.474368 -0.536077 +v -1.106537 0.446521 0.516592 +v 0.932828 -0.606103 1.009747 +v 1.064592 0.446521 0.615099 +v -0.251135 -0.639005 -1.062411 +v 0.735607 0.643935 -1.029232 +v 1.064592 -0.639005 -0.766065 +v -1.106537 -0.474368 0.582332 +v -1.073384 -0.244052 1.042926 +v -1.007715 0.643935 -1.062411 +v 1.031651 0.413618 -0.996465 +v 0.965769 -0.112442 0.976980 +v 0.570902 -0.606103 -1.029232 +v 1.031651 0.643935 -0.864984 +v 1.031651 -0.639005 0.614893 +v 0.932828 0.545228 1.042720 +f 142 151 155 +f 127 128 129 +f 126 129 130 +f 128 127 131 +f 131 127 132 +f 128 131 133 +f 129 126 134 +f 126 130 135 +f 129 128 137 +f 130 129 137 +f 129 134 139 +f 128 133 140 +f 137 128 140 +f 137 140 141 +f 130 137 141 +f 133 131 142 +f 131 136 142 +f 126 135 143 +f 136 138 143 +f 132 127 144 +f 127 139 144 +f 144 139 145 +f 139 134 145 +f 131 132 146 +f 138 136 146 +f 140 133 147 +f 141 140 147 +f 141 147 148 +f 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-1.073642 2.814739 -1.029257 +v -1.073642 0.643935 -0.831824 +v -0.941878 3.012426 0.911072 +v 0.900042 3.045335 0.713639 +v 0.998652 0.643935 -0.996316 +v -1.073642 2.518795 0.450536 +v 1.097474 1.400837 -0.568721 +v 0.998652 0.643935 0.812462 +v -1.040701 1.532472 1.009895 +v -1.040701 2.979517 -0.371288 +v -1.040701 0.775805 -1.062198 +v 0.965711 2.979517 -0.601662 +v 0.965711 0.808479 1.009895 +v 0.373627 3.045335 1.075565 +v 0.900042 2.880791 1.108718 +v 1.097474 1.860854 -0.634603 +v -1.040701 2.979517 0.253315 +v -1.073642 0.643935 -0.371288 +v -0.612896 3.012426 1.009895 +v 0.998652 1.926437 -0.996316 +v 0.965711 2.025163 -1.029470 +v 0.340687 3.045335 0.976954 +v 0.735551 0.643935 -1.029470 +v 1.031593 0.643935 -0.601662 +v 0.867101 3.045335 1.108718 +f 217 237 247 +f 210 209 211 +f 214 211 217 +f 211 214 218 +f 210 219 220 +f 220 219 221 +f 213 215 222 +f 218 214 222 +f 214 217 224 +f 212 223 224 +f 218 222 227 +f 223 212 228 +f 220 221 229 +f 211 218 230 +f 212 217 231 +f 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b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf new file mode 100644 index 000000000..59d29dafd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj new file mode 100644 index 000000000..4f99131c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj @@ -0,0 +1,849 @@ +o convex_0 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-0.797232 +v -2.808824 -0.561058 -0.062852 +v 3.066216 0.204893 -0.062645 +f 287 279 289 +f 226 230 235 +f 227 228 237 +f 237 228 238 +f 228 227 239 +f 235 230 244 +f 235 244 245 +f 237 238 246 +f 227 237 249 +f 239 227 249 +f 231 242 250 +f 250 242 253 +f 236 242 254 +f 229 247 255 +f 246 238 256 +f 243 246 256 +f 238 251 256 +f 251 232 256 +f 237 246 257 +f 246 243 257 +f 231 250 257 +f 250 237 257 +f 238 228 258 +f 239 249 259 +f 245 229 260 +f 233 245 260 +f 248 233 260 +f 226 235 261 +f 235 250 261 +f 253 236 261 +f 250 253 261 +f 237 250 262 +f 250 235 262 +f 229 244 263 +f 244 240 263 +f 240 247 263 +f 229 245 264 +f 230 226 265 +f 252 265 266 +f 226 261 266 +f 261 236 266 +f 265 226 266 +f 233 248 267 +f 249 237 267 +f 248 259 267 +f 259 249 267 +f 240 230 268 +f 230 251 268 +f 251 238 268 +f 262 235 270 +f 237 262 270 +f 233 267 270 +f 267 237 270 +f 242 231 273 +f 231 257 273 +f 257 243 273 +f 247 229 274 +f 229 263 274 +f 263 247 274 +f 248 239 275 +f 259 248 275 +f 239 259 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a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf new file mode 100644 index 000000000..1f5a29400 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj new file mode 100644 index 000000000..4b5709864 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj @@ -0,0 +1,507 @@ +o convex_0 +v -0.432875 -0.333447 -1.038340 +v -1.483163 -3.157676 1.098729 +v -1.519358 -3.157676 1.098729 +v -1.809128 -4.063532 -1.038340 +v 0.110470 -4.063532 1.062349 +v -1.809128 -0.115872 0.881299 +v 0.110470 -0.115872 0.989801 +v 0.110470 -3.918610 -0.965792 +v -1.845324 -0.115872 -1.074720 +v -1.881519 -3.990878 1.098729 +v 0.182861 -0.115872 -1.002172 +v 0.219262 -0.731884 0.700037 +v -1.881519 -0.115872 0.627702 +v -1.772933 -0.224853 0.953634 +v -1.845324 -2.072118 -1.074720 +v -0.179300 -0.478369 1.025969 +v -1.881519 -3.990878 0.410272 +v -1.519358 -4.063532 -1.038340 +v 0.219262 -0.115872 0.700037 +v 0.146665 -3.049082 -0.603692 +v 0.110470 -4.027205 0.229009 +v 0.110470 -3.266657 1.062349 +v -1.193393 -4.027205 1.098729 +v 0.182861 -0.623290 -1.002172 +v -1.809128 -4.063532 -0.531358 +v -1.881519 -3.447519 1.098729 +v 0.219262 -0.731884 0.301557 +v -1.265784 -0.188526 -1.074720 +v 0.110470 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-0.115485 -1.002123 +v 3.370525 2.021371 -0.965927 +v 4.131147 1.767894 -0.929731 +v 3.008096 2.094138 0.989879 +v 1.414889 0.029610 0.989879 +v 3.660120 -0.079212 0.953684 +v 4.203547 -0.079212 0.156759 +v -0.179190 2.094138 0.591520 +f 45 58 73 +f 46 40 49 +f 45 46 49 +f 40 47 49 +f 41 42 50 +f 46 45 50 +f 45 49 51 +f 50 42 52 +f 46 50 52 +f 44 51 54 +f 51 44 55 +f 52 42 56 +f 53 52 56 +f 45 51 58 +f 55 41 58 +f 51 55 58 +f 47 54 59 +f 59 54 60 +f 51 49 60 +f 54 51 60 +f 43 53 62 +f 48 53 63 +f 53 56 63 +f 48 57 64 +f 44 62 64 +f 44 54 65 +f 61 43 65 +f 43 62 65 +f 62 44 65 +f 40 46 66 +f 46 52 66 +f 53 43 66 +f 52 53 66 +f 43 61 66 +f 61 40 66 +f 56 42 67 +f 42 57 67 +f 57 48 67 +f 48 63 67 +f 63 56 67 +f 53 48 68 +f 62 53 68 +f 48 64 68 +f 64 62 68 +f 42 41 69 +f 41 55 69 +f 55 44 69 +f 57 42 69 +f 44 64 69 +f 64 57 69 +f 59 60 70 +f 60 49 70 +f 49 47 71 +f 47 59 71 +f 70 49 71 +f 59 70 71 +f 47 40 72 +f 54 47 72 +f 40 61 72 +f 65 54 72 +f 61 65 72 +f 41 50 73 +f 50 45 73 +f 58 41 73 +o convex_2 +v -3.040806 0.753962 0.591474 +v -3.837553 1.369627 -0.603689 +v -3.873869 0.536649 -0.458739 +v -1.990582 0.500375 -0.567422 +v -1.990582 1.478338 0.410375 +v -3.873869 1.405900 0.518941 +v -1.990582 1.550666 -0.567422 +v -1.990582 0.572812 0.518941 +v -3.837553 0.572812 0.591474 +v -3.837553 1.587050 -0.567422 +v -3.873869 0.464101 -0.132807 +v -1.990582 1.442064 0.518941 +v -2.787513 0.464101 -0.531156 +v -3.728972 1.442064 0.518941 +v -3.873869 0.971274 0.591474 +v -2.823645 1.550666 -0.603689 +v -2.099346 0.572812 0.555207 +v -1.990582 0.536649 0.265425 +v -3.873869 0.464101 -0.422589 +v -3.873869 1.478338 -0.024124 +v -2.099346 1.550666 -0.422589 +v -2.678748 0.464101 -0.458739 +v -3.873869 0.500375 0.156859 +f 91 90 96 +f 78 77 80 +f 77 78 81 +f 75 76 83 +f 79 76 84 +f 81 78 85 +f 76 75 86 +f 75 77 86 +f 78 83 87 +f 83 79 87 +f 85 78 87 +f 85 87 88 +f 82 74 88 +f 79 84 88 +f 74 85 88 +f 87 79 88 +f 77 75 89 +f 80 77 89 +f 75 83 89 +f 83 80 89 +f 74 82 90 +f 85 74 90 +f 81 85 90 +f 77 81 91 +f 81 90 91 +f 84 76 92 +f 76 86 92 +f 86 84 92 +f 76 79 93 +f 83 76 93 +f 79 83 93 +f 78 80 94 +f 83 78 94 +f 80 83 94 +f 86 77 95 +f 84 86 95 +f 77 91 95 +f 91 84 95 +f 82 88 96 +f 88 84 96 +f 90 82 96 +f 84 91 96 +o convex_3 +v -0.469061 1.007406 3.054833 +v -0.396623 0.427990 1.062895 +v -0.976015 0.500488 1.062895 +v -0.324186 1.586936 1.062895 +v -1.338203 1.478246 2.982098 +v -1.374587 0.464296 3.054833 +v -1.338203 1.478246 1.062895 +v -0.251638 0.427990 3.054833 +v -0.324186 1.550631 3.018368 +v -1.374587 0.572873 1.062895 +v -0.324186 0.427990 1.207586 +v -1.265875 1.514438 2.982098 +v -1.374587 1.115983 3.018368 +v -0.614046 1.586936 1.135240 +v -0.251638 0.935135 3.054833 +v -0.251638 0.427990 2.438824 +v -0.324186 1.586936 2.149052 +v -0.758812 0.427990 3.054833 +v -1.084616 1.514438 3.018368 +v -0.287912 1.441940 3.018368 +v -1.374587 0.898943 1.062895 +v -1.374587 0.536680 1.352472 +v -1.157164 1.514438 1.062895 +f 108 110 119 +f 98 99 100 +f 100 99 103 +f 97 102 104 +f 103 99 106 +f 98 100 107 +f 104 98 107 +f 103 101 108 +f 101 103 109 +f 106 102 109 +f 97 104 111 +f 105 97 111 +f 107 100 112 +f 104 107 112 +f 100 111 112 +f 111 104 112 +f 108 105 113 +f 100 110 113 +f 110 108 113 +f 102 98 114 +f 98 104 114 +f 104 102 114 +f 102 97 115 +f 97 105 115 +f 108 101 115 +f 105 108 115 +f 109 102 115 +f 101 109 115 +f 111 100 116 +f 105 111 116 +f 113 105 116 +f 100 113 116 +f 103 106 117 +f 109 103 117 +f 106 109 117 +f 99 98 118 +f 98 102 118 +f 106 99 118 +f 102 106 118 +f 100 103 119 +f 103 108 119 +f 110 100 119 +o convex_4 +v -1.193328 1.514438 -2.233716 +v -0.215531 0.609178 -2.777120 +v -0.215531 0.572873 -2.777120 +v -0.324214 1.514438 -1.074720 +v -1.302011 0.536680 -1.074720 +v -1.374427 0.427990 -3.030824 +v -0.396630 1.441940 -2.958255 +v -1.410694 1.586936 -1.074720 +v -0.324214 0.572873 -1.074720 +v -1.338161 1.441940 -2.994253 +v -0.251798 0.536680 -2.958255 +v -0.360481 1.586936 -1.183477 +v -1.374427 0.427990 -2.523417 +v -1.084645 0.427990 -3.030824 +v -1.120911 1.441940 -3.030824 +v -0.288064 0.572873 -1.183477 +v -0.432897 1.478246 -2.777120 +v -1.302011 1.586936 -1.364612 +v -0.215531 0.645371 -2.958255 +v -1.338161 0.645371 -1.111100 +v -1.374427 0.790253 -3.030824 +v -0.360481 1.514438 -2.161147 +v -1.048495 0.427990 -2.958255 +v -0.541580 0.898943 -2.994253 +f 138 133 143 +f 124 123 127 +f 123 124 128 +f 127 123 131 +f 127 125 132 +f 128 124 132 +f 132 125 133 +f 133 125 134 +f 122 121 135 +f 121 123 135 +f 123 128 135 +f 130 122 135 +f 129 120 136 +f 126 134 136 +f 134 129 136 +f 120 129 137 +f 129 127 137 +f 127 131 137 +f 136 120 137 +f 131 136 137 +f 121 122 138 +f 123 121 138 +f 122 130 138 +f 130 133 138 +f 124 127 139 +f 132 124 139 +f 127 132 139 +f 125 127 140 +f 127 129 140 +f 129 134 140 +f 134 125 140 +f 131 123 141 +f 136 131 141 +f 126 136 141 +f 123 138 141 +f 138 126 141 +f 128 132 142 +f 133 130 142 +f 132 133 142 +f 135 128 142 +f 130 135 142 +f 134 126 143 +f 133 134 143 +f 126 138 143 +o convex_5 +v -1.447000 1.731677 -1.074720 +v -0.324214 1.586759 1.062505 +v -0.179190 1.768014 1.026103 +v -0.179190 -0.115485 -1.002126 +v -1.809206 -0.115485 0.845142 +v -1.954052 1.985391 0.953719 +v -1.845373 -0.115485 -1.074720 +v -0.179190 2.094188 -1.074720 +v -0.179190 -0.115485 0.989911 +v -1.881540 2.021513 -1.002126 +v -0.179190 2.057634 0.953510 +v -1.990397 0.500524 -0.567192 +v -1.410832 0.464402 1.062505 +v -1.990397 0.572983 0.518785 +v -1.990397 1.550637 -0.567192 +v -0.179190 0.391727 -1.074720 +v -0.215534 2.094188 0.446400 +v -1.736693 -0.078931 0.953719 +v -1.664181 2.057850 -0.965934 +v -1.881540 -0.115485 0.591378 +v -1.338320 1.478179 1.062505 +v -0.360381 0.428065 1.062505 +v -1.591846 2.021513 0.953719 +v -1.881540 0.536645 -1.074720 +v -1.990397 1.441841 0.518785 +v -0.758755 2.094188 -1.038109 +v -1.881540 0.971399 0.953719 +v -1.917885 2.021513 -0.530999 +v -0.396726 -0.115485 -1.038109 +v -1.917885 2.021513 0.265439 +v -0.831267 2.057850 0.953719 +v -0.686420 -0.115485 0.989911 +f 165 156 175 +f 147 148 150 +f 146 147 151 +f 150 144 151 +f 147 146 152 +f 148 147 152 +f 151 144 153 +f 146 151 154 +f 155 157 158 +f 151 147 159 +f 150 151 159 +f 154 151 160 +f 150 148 163 +f 155 150 163 +f 148 157 163 +f 157 155 163 +f 145 149 164 +f 156 145 164 +f 149 156 164 +f 146 145 165 +f 152 146 165 +f 145 156 165 +f 145 146 166 +f 149 145 166 +f 144 150 167 +f 153 144 167 +f 150 155 167 +f 155 158 167 +f 158 153 167 +f 157 149 168 +f 158 157 168 +f 149 158 168 +f 151 153 169 +f 160 151 169 +f 153 162 169 +f 162 160 169 +f 156 149 170 +f 157 148 170 +f 149 157 170 +f 148 161 170 +f 161 156 170 +f 158 149 171 +f 153 158 171 +f 162 153 171 +f 147 150 172 +f 159 147 172 +f 150 159 172 +f 149 166 173 +f 171 149 173 +f 162 171 173 +f 146 154 174 +f 154 160 174 +f 160 162 174 +f 166 146 174 +f 162 173 174 +f 173 166 174 +f 148 152 175 +f 161 148 175 +f 156 161 175 +f 152 165 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf new file mode 100644 index 000000000..22b9b3086 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj new file mode 100644 index 000000000..6bd925102 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj @@ -0,0 +1,633 @@ +o convex_0 +v 0.915163 -1.060338 1.299416 +v -0.025563 -3.143397 -1.219221 +v 0.007882 -3.143397 -1.219221 +v -0.059211 -1.295305 -2.765099 +v -1.033790 -2.067766 2.072651 +v 0.814218 -2.773522 2.106398 +v 0.982256 -2.067980 -2.093107 +v -1.033790 -0.959424 -0.110287 +v -0.798455 -2.807303 -1.991864 +v -0.092860 -1.295305 2.845294 +v -0.798455 -2.840869 2.005748 +v 0.847867 -0.959210 -1.252969 +v 0.747126 -2.840656 -2.058767 +v -1.033790 -2.135113 -2.025612 +v 0.780570 -2.067766 2.845294 +v -0.059211 -2.807303 -2.731351 +v -0.025563 -2.807303 2.744643 +v 1.049553 -2.135113 2.005156 +v -0.832104 -0.959210 1.131862 +v 0.747126 -2.001060 -2.765099 +v 1.049553 -0.959210 0.123578 +v 0.646181 -3.109617 0.157326 +v -0.697714 -3.143397 0.089831 +v -0.764807 -2.034841 2.811546 +v -0.764807 -1.967494 -2.731351 +v -0.865752 -0.959210 -1.118571 +v 0.948608 -2.840656 0.023520 +v -0.966493 -2.807089 -0.009636 +v 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-0.832104 -2.067766 2.745235 +v -0.059211 -1.933927 3.047779 +v -0.731159 -2.874436 -1.991864 +v -0.630418 -1.496919 2.610244 +v 0.814218 -2.975136 -0.916677 +f 41 47 64 +f 5 8 14 +f 15 6 18 +f 8 5 19 +f 7 12 21 +f 12 19 21 +f 2 3 23 +f 14 8 26 +f 8 19 26 +f 19 12 26 +f 18 6 27 +f 6 22 27 +f 17 11 29 +f 22 6 29 +f 19 10 30 +f 21 19 30 +f 4 20 31 +f 25 4 31 +f 24 17 32 +f 3 2 33 +f 16 13 33 +f 2 23 33 +f 12 4 34 +f 4 26 34 +f 26 12 34 +f 19 5 36 +f 10 19 36 +f 7 21 37 +f 21 18 37 +f 27 7 37 +f 18 27 37 +f 20 4 38 +f 25 14 39 +f 26 4 39 +f 14 26 39 +f 9 14 40 +f 14 25 40 +f 31 16 40 +f 25 31 40 +f 23 3 41 +f 22 29 41 +f 3 33 41 +f 1 21 42 +f 21 30 42 +f 15 18 43 +f 21 1 43 +f 18 21 43 +f 13 16 44 +f 33 23 45 +f 29 6 46 +f 17 29 46 +f 15 32 46 +f 32 17 46 +f 13 7 47 +f 7 27 47 +f 33 13 47 +f 41 33 47 +f 11 17 48 +f 17 24 48 +f 35 15 50 +f 1 42 50 +f 15 43 50 +f 43 1 50 +f 5 14 51 +f 14 28 51 +f 49 11 51 +f 28 49 51 +f 29 11 52 +f 23 41 52 +f 41 29 52 +f 11 49 52 +f 49 23 52 +f 9 40 53 +f 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-0.832121 0.888804 0.695192 +v 1.015904 0.888804 -0.144403 +v -0.966512 -0.119036 -0.614728 +v -0.832121 -0.488631 0.930481 +f 126 132 151 +f 101 100 105 +f 104 102 106 +f 106 102 107 +f 101 105 108 +f 105 100 109 +f 100 101 110 +f 108 105 111 +f 107 102 112 +f 104 106 114 +f 114 106 115 +f 98 112 116 +f 108 111 117 +f 98 116 117 +f 105 109 118 +f 100 99 121 +f 109 100 121 +f 101 108 125 +f 111 105 126 +f 118 103 126 +f 105 118 126 +f 99 100 127 +f 100 110 127 +f 108 117 128 +f 124 108 128 +f 110 101 129 +f 106 107 130 +f 103 118 130 +f 130 118 131 +f 118 109 131 +f 109 121 131 +f 106 130 131 +f 126 119 132 +f 114 115 133 +f 99 127 133 +f 127 123 133 +f 102 104 134 +f 112 102 135 +f 116 112 135 +f 102 124 135 +f 104 114 136 +f 120 104 136 +f 129 120 136 +f 98 117 137 +f 117 111 137 +f 111 122 137 +f 101 125 138 +f 125 113 138 +f 129 101 138 +f 120 129 138 +f 107 119 139 +f 126 103 139 +f 119 126 139 +f 103 130 139 +f 130 107 139 +f 113 125 140 +f 134 113 140 +f 127 110 141 +f 123 127 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207 +f 197 178 207 +f 202 160 207 +f 174 202 207 +f 162 169 208 +f 180 162 208 +f 192 180 208 +f 169 205 208 +f 205 192 208 +f 161 181 209 +f 171 189 209 +f 189 161 209 +f 191 171 209 +f 181 191 209 +f 180 152 210 +f 173 180 210 +f 160 185 210 +f 185 173 210 +f 152 197 210 +f 197 160 210 +f 172 186 211 +f 161 189 211 +f 189 172 211 +f 195 161 211 +f 186 195 211 +f 174 168 212 +f 168 202 212 +f 202 174 212 +f 187 168 213 +f 168 200 213 +f 200 187 213 +f 164 182 214 +f 190 164 214 +f 182 190 214 +f 155 178 215 +f 178 192 215 +f 205 155 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf new file mode 100644 index 000000000..06b8bba70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj new file mode 100644 index 000000000..4d493454b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj @@ -0,0 +1,387 @@ +o convex_0 +v 0.068919 4.119402 0.632296 +v -0.265874 0.139317 0.000066 +v -0.228721 0.177108 -0.780792 +v 1.816987 0.139317 -0.334500 +v 1.779834 4.044990 -1.004040 +v 1.779834 0.511379 1.041482 +v -0.265874 3.970578 -0.929624 +v 1.854140 4.007589 0.967066 +v -0.191568 0.177108 1.004172 +v 1.779834 0.139317 -1.041350 +v -0.228721 4.119402 1.041482 +v 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2.706080 +v -0.799463 1.411663 -0.274092 +v -0.970690 0.829156 2.637235 +v 1.016320 0.555334 2.363022 +f 179 205 222 +f 160 161 163 +f 161 160 166 +f 161 166 169 +f 163 161 170 +f 163 170 172 +f 166 160 173 +f 170 161 179 +f 160 163 180 +f 163 172 182 +f 173 163 182 +f 177 171 183 +f 166 173 187 +f 173 182 187 +f 164 174 188 +f 181 164 188 +f 182 168 189 +f 187 182 189 +f 177 183 190 +f 164 181 191 +f 165 184 191 +f 183 171 192 +f 167 169 193 +f 176 188 194 +f 186 165 195 +f 185 164 196 +f 164 191 196 +f 191 185 196 +f 159 177 197 +f 177 189 197 +f 197 178 199 +f 197 199 200 +f 171 177 200 +f 177 159 200 +f 159 197 200 +f 199 176 200 +f 169 167 201 +f 188 174 201 +f 167 188 201 +f 172 170 202 +f 170 185 202 +f 191 184 202 +f 185 191 202 +f 173 160 203 +f 160 180 203 +f 174 170 204 +f 170 179 204 +f 179 174 204 +f 161 169 205 +f 179 161 205 +f 167 175 206 +f 175 198 206 +f 206 198 207 +f 175 162 207 +f 162 183 207 +f 183 192 207 +f 198 175 207 +f 192 206 207 +f 191 181 208 +f 165 191 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a/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf new file mode 100644 index 000000000..71f9ddd2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj new file mode 100644 index 000000000..9c66a811f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj @@ -0,0 +1,354 @@ +o convex_0 +v -0.632167 -3.348078 0.386647 +v 0.342193 1.406720 1.066170 +v -0.396014 1.406720 1.066170 +v 0.253560 1.406720 -1.089732 +v 0.962425 -3.259182 1.066170 +v -0.927612 -3.229860 -1.089732 +v 0.991969 -3.288969 -0.942010 +v -1.075335 1.406720 -1.060188 +v -1.075335 -3.348078 1.036626 +v 0.991969 1.406720 -0.942010 +v -1.045790 1.406720 0.977325 +v 0.991969 1.406720 0.977325 +v 0.519258 -3.348078 -0.528598 +v 0.666980 -0.926464 -1.030643 +v -1.075335 -0.631849 1.007081 +v -0.720801 -1.457050 1.066170 +v -0.986701 -1.634843 -1.089732 +v -0.336925 -3.259182 -1.060188 +v 0.371738 1.052065 -1.089732 +v 0.991969 -0.277194 1.007081 +v -1.075335 -3.348078 0.918237 +v 0.696524 -3.288969 1.066170 +v -0.957157 -3.259182 -0.823832 +v 0.932880 -2.904992 -0.971555 +v 0.991969 -3.258717 -0.380876 +v -0.396014 -3.348078 0.741181 +v -0.927612 -3.259182 -0.971343 +v 0.991969 0.195214 1.007081 +v -0.750345 -3.229860 -1.089732 +v 0.342193 -3.288969 1.066170 +v 0.962425 -2.845418 1.066170 +v -1.075335 -2.402797 1.036626 +v 0.637435 1.406720 -1.030643 +v -1.075335 1.347611 -1.060188 +v 0.283104 -3.348078 -0.439965 +v 0.371738 1.376933 1.066170 +v 0.844247 -3.259182 -0.971555 +v 0.519258 -3.348078 -0.439965 +v 0.932880 -1.900602 -0.971555 +v -1.075335 1.406720 -0.971343 +f 15 11 40 +f 3 2 4 +f 2 3 5 +f 3 4 8 +f 4 2 10 +f 3 8 11 +f 10 2 12 +f 7 10 12 +f 9 1 13 +f 8 9 15 +f 5 3 16 +f 4 6 17 +f 8 4 17 +f 7 13 18 +f 14 18 19 +f 6 4 19 +f 7 12 20 +f 9 8 21 +f 1 9 21 +f 5 16 22 +f 17 6 23 +f 21 17 23 +f 10 7 24 +f 5 7 25 +f 20 5 25 +f 7 20 25 +f 9 13 26 +f 22 9 26 +f 6 18 27 +f 18 13 27 +f 1 21 27 +f 23 6 27 +f 21 23 27 +f 5 20 28 +f 20 12 28 +f 18 6 29 +f 19 18 29 +f 6 19 29 +f 16 9 30 +f 9 22 30 +f 22 16 30 +f 2 5 31 +f 5 28 31 +f 3 11 32 +f 15 9 32 +f 11 15 32 +f 16 3 32 +f 9 16 32 +f 4 10 33 +f 14 19 33 +f 19 4 33 +f 8 17 34 +f 21 8 34 +f 17 21 34 +f 13 1 35 +f 1 27 35 +f 27 13 35 +f 12 2 36 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0.873745 2.617416 -0.971231 +v 0.991969 2.794622 0.534358 +v -1.104867 2.322214 -1.060009 +v -1.016199 1.643136 0.977392 +v -0.750400 2.735554 0.947871 +v 0.371703 1.406862 -1.089530 +v 0.696409 2.794622 0.947657 +v -0.986643 2.824227 -1.060009 +v -1.016199 2.735554 0.888828 +v 0.991969 2.765159 -0.616975 +v 0.460371 2.647021 0.977178 +v 0.519278 2.824227 0.770529 +v -0.927531 2.381283 0.977392 +f 69 52 78 +f 42 45 47 +f 45 44 48 +f 43 42 50 +f 42 47 50 +f 44 45 51 +f 45 42 51 +f 44 51 52 +f 42 43 55 +f 51 42 55 +f 53 46 57 +f 46 53 58 +f 54 41 59 +f 45 54 59 +f 55 43 61 +f 52 55 61 +f 48 41 62 +f 45 48 62 +f 41 54 62 +f 52 51 63 +f 51 55 63 +f 55 52 63 +f 44 49 64 +f 57 44 64 +f 46 58 65 +f 60 46 65 +f 47 45 66 +f 56 47 66 +f 45 59 66 +f 50 47 67 +f 41 48 68 +f 48 44 68 +f 44 57 68 +f 57 46 68 +f 60 41 68 +f 46 60 68 +f 49 44 69 +f 44 52 69 +f 49 61 70 +f 54 45 71 +f 45 62 71 +f 62 54 71 +f 53 70 72 +f 59 41 73 +f 41 60 73 +f 65 56 73 +f 60 65 73 +f 56 66 73 +f 66 59 73 +f 53 57 74 +f 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88 +f 86 80 89 +f 84 86 89 +f 82 86 90 +f 88 82 90 +f 84 88 90 +f 82 83 91 +f 83 79 92 +f 79 85 92 +f 92 85 93 +f 81 87 93 +f 87 92 93 +f 79 83 94 +f 83 88 94 +f 94 88 95 +f 84 79 95 +f 88 84 95 +f 79 94 95 +f 80 81 96 +f 93 85 96 +f 81 93 96 +f 79 84 97 +f 85 79 97 +f 84 89 97 +f 89 80 97 +f 80 96 97 +f 96 85 97 +f 87 82 98 +f 82 91 98 +f 91 87 98 +f 86 84 99 +f 90 86 99 +f 84 90 99 +f 91 83 100 +f 87 91 100 +f 92 87 100 +o convex_3 +v 0.194575 1.997355 -1.178470 +v -0.248410 1.406720 -1.650996 +v -0.218845 1.406720 -1.650996 +v -0.307479 1.997355 -3.009372 +v 0.253643 1.436276 -2.979769 +v -0.218845 2.115510 -1.119265 +v 0.312712 1.554431 -1.119265 +v 0.194575 1.938312 -3.009372 +v -0.159777 1.465832 -3.009372 +v -0.248410 1.406720 -1.119265 +v 0.283147 1.967799 -1.119265 +v -0.218845 1.524875 -3.009372 +v -0.159777 2.115510 -1.207887 +v -0.159777 1.406720 -1.119265 +v -0.307479 1.997355 -2.625282 +v -0.307479 1.879200 -3.009372 +v 0.283147 1.938312 -1.444150 +v -0.248410 1.761115 -1.119265 +v 0.312712 1.613473 -1.444150 +v 0.224079 1.761115 -3.009372 +v -0.248410 1.997355 -3.009372 +v 0.253643 1.436276 -2.861545 +f 107 114 122 +f 103 102 105 +f 105 102 109 +f 104 108 109 +f 102 103 110 +f 107 106 110 +f 106 107 111 +f 108 101 111 +f 109 102 112 +f 104 109 112 +f 104 106 113 +f 101 108 113 +f 111 101 113 +f 106 111 113 +f 103 105 114 +f 110 103 114 +f 107 110 114 +f 106 104 115 +f 110 115 116 +f 102 110 116 +f 112 102 116 +f 104 112 116 +f 115 104 116 +f 108 111 117 +f 110 106 118 +f 106 115 118 +f 115 110 118 +f 107 105 119 +f 111 107 119 +f 117 111 119 +f 117 119 120 +f 105 109 120 +f 109 108 120 +f 108 117 120 +f 119 105 120 +f 108 104 121 +f 104 113 121 +f 113 108 121 +f 105 107 122 +f 114 105 122 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf new file mode 100644 index 000000000..748cf91d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj new file mode 100644 index 000000000..76927b647 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj @@ -0,0 +1,645 @@ +o convex_0 +v 2.661443 -0.070385 -2.798695 +v -2.824384 -2.233760 -3.301041 +v -2.824384 -2.156366 -3.301041 +v -3.095357 -2.156366 -1.253487 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b/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj new file mode 100644 index 000000000..61e228300 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj @@ -0,0 +1,417 @@ +o convex_0 +v -1.089390 -3.516799 -1.112364 +v 0.950496 0.934258 1.051344 +v 1.012292 -1.476441 1.051133 +v -1.089390 -3.423996 0.958366 +v 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131 +f 115 123 131 +f 117 104 132 +f 119 102 132 +f 102 123 132 +f 123 115 132 +f 115 131 132 +f 103 114 133 +f 120 103 133 +f 114 120 133 +f 101 112 134 +f 112 107 134 +f 129 101 134 +f 107 129 134 +f 125 106 135 +f 126 119 135 +f 106 126 135 +f 104 125 136 +f 132 104 136 +f 119 132 136 +f 125 135 136 +f 135 119 136 +f 108 121 137 +f 121 110 137 +f 127 108 137 +f 110 127 137 +f 106 109 138 +f 109 119 138 +f 119 126 138 +f 126 106 138 +f 117 132 139 +f 132 131 139 +f 116 99 140 +f 104 117 140 +f 117 111 140 +f 111 124 140 +f 124 116 140 +f 116 113 141 +f 113 120 141 +f 122 116 141 +f 120 122 141 +f 105 130 142 +f 130 117 142 +f 131 105 142 +f 117 139 142 +f 139 131 142 +f 99 122 143 +f 122 104 143 +f 140 99 143 +f 104 140 143 +f 103 120 144 +f 120 113 144 +f 129 103 144 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf new file mode 100644 index 000000000..969bbb2ef --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj new file mode 100644 index 000000000..661bcc4e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj @@ -0,0 +1,411 @@ +o convex_0 +v -1.021519 3.682991 -1.115685 +v 1.019006 1.193803 1.098001 +v 0.984309 1.193803 1.098001 +v 1.053703 -0.052154 -0.977005 +v -1.056216 -0.052154 0.924867 +v 1.019006 3.890910 1.063330 +v 0.949818 3.925563 -1.115685 +v -1.056216 3.890910 0.924867 +v -1.056216 -0.052154 -0.942552 +v 1.019006 -0.051375 1.098001 +v -0.987029 3.855868 -1.115685 +v 0.984309 3.440808 -1.115685 +v 1.053703 2.092060 0.129188 +v -0.883144 -0.052154 0.959537 +v -0.744768 3.890910 0.959537 +v 1.053703 0.640131 -1.011892 +v 0.984309 3.925563 -1.011892 +v 0.811442 0.086459 1.098001 +v -1.021519 3.890910 -0.319790 +v 1.053703 -0.052154 0.025611 +v 0.569388 -0.051375 -0.977222 +v 0.949818 3.925563 -0.250666 +v 0.465503 3.925563 -1.115685 +v -1.056216 0.640131 -0.942552 +v -1.021519 3.614074 -1.115685 +v 0.880630 3.890910 1.063330 +v 1.019006 3.890910 0.440569 +v 1.053703 0.985884 -1.011892 +v -0.502714 3.890910 -1.115685 +v -0.053096 -0.052154 1.028660 +v 0.949818 1.124107 1.098001 +v 1.053703 1.781349 0.164075 +v -1.021519 3.855868 -1.011675 +f 19 11 33 +f 3 2 6 +f 4 5 9 +f 5 8 9 +f 2 3 10 +f 7 1 11 +f 1 7 12 +f 5 4 14 +f 8 5 14 +f 8 14 15 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+v -3.062253 -1.331596 -1.046508 +v -2.992990 -0.121427 -0.838894 +v -2.405152 -2.058117 0.994085 +f 76 81 92 +f 62 61 63 +f 64 61 65 +f 61 64 67 +f 60 65 69 +f 61 62 70 +f 65 61 70 +f 65 70 73 +f 64 65 74 +f 65 60 74 +f 66 63 75 +f 69 66 75 +f 66 69 76 +f 72 63 77 +f 64 72 77 +f 60 68 78 +f 74 60 78 +f 63 61 79 +f 61 67 79 +f 77 63 79 +f 67 77 79 +f 73 70 80 +f 71 73 80 +f 70 76 80 +f 76 71 80 +f 62 63 81 +f 70 62 81 +f 76 70 81 +f 60 69 82 +f 69 75 82 +f 78 68 83 +f 67 64 84 +f 77 67 84 +f 64 77 84 +f 69 71 85 +f 76 69 85 +f 71 76 85 +f 63 72 86 +f 75 63 86 +f 72 75 86 +f 72 64 87 +f 64 74 87 +f 74 78 87 +f 83 72 87 +f 78 83 87 +f 69 65 88 +f 71 69 88 +f 65 73 88 +f 73 71 88 +f 68 72 89 +f 72 83 89 +f 83 68 89 +f 68 60 90 +f 75 68 90 +f 60 82 90 +f 82 75 90 +f 72 68 91 +f 68 75 91 +f 75 72 91 +f 63 66 92 +f 66 76 92 +f 81 63 92 +o convex_3 +v 0.604353 -1.781397 1.028677 +v 1.053568 -0.052154 0.025729 +v 1.053568 -0.052154 -0.977218 +v 3.024908 -2.092818 0.925012 +v -1.263750 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-0.977218 +v 3.094445 -0.951650 0.925012 +v -1.055993 -0.052154 0.924799 +v 1.537764 -0.225142 1.098001 +v 3.059463 -0.121477 -0.250924 +v 0.223821 -2.231251 0.163949 +v 1.883740 -2.092605 0.959354 +v -1.263750 -0.502009 0.959354 +v 2.955798 -0.225356 1.063232 +v -1.263750 -2.092605 0.509713 +v 2.091070 -2.161928 -1.046328 +v -0.917773 -2.092605 0.890244 +v -0.640907 -1.677732 1.063232 +v -0.779553 -2.127373 -1.081097 +f 138 106 141 +f 98 97 101 +f 97 98 102 +f 94 95 105 +f 99 96 106 +f 105 95 107 +f 95 94 109 +f 103 95 109 +f 106 104 110 +f 103 109 111 +f 109 99 111 +f 107 95 113 +f 104 96 114 +f 112 105 116 +f 95 103 117 +f 100 108 118 +f 99 109 118 +f 97 102 119 +f 103 111 119 +f 117 103 119 +f 115 100 120 +f 100 118 120 +f 118 109 120 +f 94 105 121 +f 105 112 121 +f 115 120 121 +f 101 97 122 +f 97 110 122 +f 122 110 123 +f 110 104 123 +f 104 114 123 +f 96 99 124 +f 114 96 124 +f 108 114 124 +f 97 106 125 +f 110 97 125 +f 106 110 125 +f 98 101 126 +f 101 116 126 +f 116 105 126 +f 114 93 127 +f 113 95 128 +f 102 113 128 +f 95 117 128 +f 119 102 128 +f 117 119 128 +f 99 118 129 +f 118 108 129 +f 124 99 129 +f 108 124 129 +f 102 98 130 +f 98 107 130 +f 113 102 130 +f 107 113 130 +f 112 93 131 +f 121 112 131 +f 115 121 131 +f 109 94 132 +f 120 109 132 +f 94 121 132 +f 121 120 132 +f 96 104 133 +f 106 96 133 +f 104 106 133 +f 123 114 134 +f 114 127 134 +f 127 101 134 +f 107 98 135 +f 105 107 135 +f 98 126 135 +f 126 105 135 +f 108 100 136 +f 93 114 136 +f 114 108 136 +f 100 115 136 +f 131 93 136 +f 115 131 136 +f 101 122 137 +f 122 123 137 +f 123 101 137 +f 99 106 138 +f 101 123 139 +f 134 101 139 +f 123 134 139 +f 93 112 140 +f 116 101 140 +f 112 116 140 +f 127 93 140 +f 101 127 140 +f 106 97 141 +f 111 99 141 +f 97 119 141 +f 119 111 141 +f 99 138 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf new file mode 100644 index 000000000..00815cc79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj new file mode 100644 index 000000000..c13910d6c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj @@ -0,0 +1,375 @@ +o convex_0 +v -3.105993 -1.451450 -3.522430 +v 2.966918 -0.749470 -3.803145 +v 2.966918 -0.749470 -3.838249 +v -3.000165 -0.784536 -3.346910 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130 128 137 +f 130 125 139 +f 131 130 139 +f 134 131 139 +f 125 134 139 +f 132 130 140 +f 137 128 140 +f 138 132 140 +f 127 126 141 +f 126 132 141 +f 135 127 141 +f 132 138 141 +f 138 135 141 +f 130 137 142 +f 140 130 142 +f 137 140 142 +f 126 129 143 +f 132 126 143 +f 129 132 143 +f 130 129 144 +f 136 130 144 +f 129 136 144 +f 135 138 145 +f 140 128 145 +f 138 140 145 +f 133 134 146 +f 134 125 146 +f 125 136 146 +f 136 133 146 +f 128 131 147 +f 131 135 147 +f 145 128 147 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf new file mode 100644 index 000000000..5f43574da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj new file mode 100644 index 000000000..2c92ffc31 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.348663 -4.929515 -0.300444 +v 0.322616 -4.364344 -0.088358 +v 0.322616 -4.435122 -0.088358 +v -0.348663 -4.964935 0.229492 +v 0.251914 -5.000293 -0.300444 +v -0.242610 -4.364344 -0.265024 +v 0.216562 -4.364344 0.335505 +v 0.216562 -5.000293 0.123480 +v -0.277961 -4.364344 0.229492 +v 0.322616 -4.364344 -0.265024 +v -0.348663 -5.000293 -0.300444 +v 0.181277 -4.929515 0.229492 +v -0.207324 -4.435122 -0.300444 +v 0.039938 -4.399702 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-2.986182 -0.653545 +v 0.958371 -3.021318 -0.512144 +v 0.993750 0.828799 0.723867 +v -1.090389 -2.208779 -0.936130 +v 0.993750 -1.607940 0.971156 +v 0.251865 -3.657734 -0.194263 +v 0.145943 -3.056895 0.971156 +v 0.923207 0.758086 -1.113046 +v -0.984467 -2.986182 0.900564 +v -1.055225 -0.160303 1.077262 +v 1.099673 0.828799 -0.689059 +v -1.055225 -2.208779 -0.971426 +v 0.958371 -2.561904 -1.042236 +v -0.136660 -2.986182 -1.006722 +v -0.984467 0.758086 1.112776 +v -1.055225 0.828799 0.017513 +v 0.993750 -3.092031 0.405986 +v 1.029129 -2.632617 0.582465 +v 0.923207 -1.679092 -1.077532 +v 0.993750 -0.937705 0.971156 +v -0.065902 -3.056895 0.971156 +v -1.055225 -3.021318 -0.936130 +f 34 50 58 +f 17 18 20 +f 17 20 22 +f 22 20 29 +f 23 27 31 +f 27 24 31 +f 25 24 32 +f 24 27 32 +f 17 22 35 +f 20 30 36 +f 26 21 37 +f 20 18 39 +f 21 26 40 +f 19 33 41 +f 24 25 42 +f 19 31 42 +f 31 24 42 +f 25 38 42 +f 29 20 44 +f 20 36 44 +f 27 23 45 +f 23 28 45 +f 37 27 45 +f 37 45 46 +f 35 26 46 +f 28 35 46 +f 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-0.277999 -3.940475 3.020622 +v 0.287286 -4.152327 3.020622 +v 0.287286 -4.187626 3.020622 +v -0.242665 -3.799057 0.830132 +v -0.277999 -4.364289 0.830132 +v 0.251893 -3.799057 0.830132 +v 0.216559 -4.328934 0.830132 +v -0.313333 -4.328934 2.879106 +v 0.181225 -3.834466 2.985243 +v -0.242665 -3.799057 3.020622 +v 0.287286 -4.222980 2.985243 +v -0.313333 -4.258280 1.995920 +v -0.313333 -4.293580 2.985243 +v 0.216559 -3.834466 2.879106 +v 0.216559 -4.328934 1.112948 +v 0.251893 -4.046429 0.830132 +v -0.242665 -4.364289 1.536852 +v 0.251893 -3.799057 1.289629 +v -0.313333 -4.152327 2.773184 +f 95 83 101 +f 85 84 83 +f 87 86 88 +f 87 88 89 +f 83 84 92 +f 86 83 92 +f 88 86 92 +f 84 91 92 +f 84 85 93 +f 88 84 93 +f 86 87 94 +f 87 90 94 +f 94 90 95 +f 85 83 95 +f 93 85 95 +f 90 93 95 +f 91 84 96 +f 92 91 96 +f 89 93 97 +f 93 90 97 +f 89 88 98 +f 88 93 98 +f 93 89 98 +f 87 89 99 +f 90 87 99 +f 89 97 99 +f 97 90 99 +f 84 88 100 +f 88 92 100 +f 96 84 100 +f 92 96 100 +f 83 86 101 +f 86 94 101 +f 94 95 101 +o convex_4 +v -1.055470 2.913616 -0.794946 +v -3.033557 0.864569 0.865268 +v -2.962989 0.864569 0.865268 +v -1.832512 3.019729 1.041966 +v -3.069038 3.019729 -1.113045 +v -1.055470 0.970681 -1.006940 +v -1.055470 1.041564 1.112776 +v -2.998273 0.935240 -1.113045 +v -2.998273 3.019729 0.971374 +v -1.055470 3.019729 1.041966 +v -3.033557 0.864569 1.006670 +v -1.055470 2.878175 -0.936130 +v -3.033557 1.889409 1.006670 +v -2.892223 3.019729 -1.113045 +v -1.161323 1.006122 1.112558 +v -3.069038 2.171673 -0.370960 +v -3.033557 3.019729 0.935860 +v -3.033557 1.429940 -1.113045 +v -1.090754 2.948847 1.077262 +v -1.550041 0.935451 -0.441552 +v -2.821654 0.935240 -1.113045 +v -1.302657 2.913616 -0.971426 +v -1.267373 1.076794 1.112558 +v -2.362368 0.935240 -1.077532 +v -1.055470 3.019729 0.900564 +v -2.609752 3.019729 1.006670 +v -1.055470 1.182695 -1.006940 +v -2.645036 0.900010 1.041966 +v -3.069038 3.019729 -0.406256 +v -1.055470 0.970681 -0.441552 +v -2.927704 0.864569 1.006670 +v -3.033557 0.900010 0.264584 +v -3.069038 2.454358 -1.113045 +v -1.585325 1.006122 -1.042236 +v -2.856939 2.984288 -1.113045 +f 135 122 136 +f 107 102 108 +f 104 103 109 +f 105 106 110 +f 106 105 111 +f 108 102 111 +f 103 104 112 +f 102 107 113 +f 109 106 115 +f 106 111 115 +f 103 112 117 +f 112 114 117 +f 110 106 118 +f 114 110 118 +f 106 109 119 +f 111 105 120 +f 108 111 120 +f 104 109 122 +f 109 115 122 +f 102 113 123 +f 115 102 123 +f 116 108 124 +f 120 105 124 +f 108 120 124 +f 121 104 125 +f 107 121 125 +f 104 122 125 +f 122 107 125 +f 111 102 126 +f 102 115 126 +f 115 111 126 +f 105 110 127 +f 110 114 127 +f 124 105 127 +f 114 124 127 +f 113 107 128 +f 123 113 128 +f 114 112 129 +f 124 114 129 +f 116 124 129 +f 106 117 130 +f 117 114 130 +f 114 118 130 +f 118 106 130 +f 107 108 131 +f 108 116 131 +f 121 107 131 +f 121 131 132 +f 112 104 132 +f 104 121 132 +f 129 112 132 +f 116 129 132 +f 131 116 132 +f 109 103 133 +f 103 117 133 +f 119 109 133 +f 119 133 134 +f 117 106 134 +f 106 119 134 +f 133 117 134 +f 107 122 135 +f 128 107 135 +f 128 135 136 +f 122 115 136 +f 115 123 136 +f 123 128 136 +o convex_5 +v 3.078222 3.055059 -0.123671 +v 0.888029 0.970841 -1.113045 +v -1.055273 0.970841 -1.006940 +v -0.949171 0.829453 1.112776 +v -1.055273 2.878161 -0.936130 +v -1.055273 3.019331 1.077262 +v 3.078222 1.006133 0.971156 +v 3.113725 0.900038 -1.042236 +v 2.936616 3.019549 1.006452 +v 3.113725 3.055059 -1.006722 +v -0.949171 0.829453 -1.006940 +v 0.958627 0.829453 1.006670 +v 0.393429 2.454215 1.112558 +v -1.055273 0.829453 1.112776 +v 2.936616 2.948746 -1.042018 +v 3.078222 3.019549 0.971374 +v 1.099825 0.829453 -1.113045 +v 3.113725 0.900038 -0.476848 +v -1.055273 2.913454 -0.794947 +v 1.558921 2.984256 1.077262 +v 0.958627 2.878161 -1.006722 +v 2.830922 3.055059 -1.006940 +v 1.241022 1.253399 -1.113045 +v -1.055273 3.019331 0.900564 +v 3.113725 3.055059 -0.370960 +v -1.055273 1.500664 1.112776 +v -1.055273 2.171657 -0.971426 +v 3.078222 0.970623 0.617979 +v 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150 168 +f 138 139 169 +f 159 138 169 +f 139 163 169 +f 163 141 169 +f 141 167 169 +f 167 159 169 +f 140 143 170 +f 149 140 170 +f 143 156 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf new file mode 100644 index 000000000..03e9a78ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj new file mode 100644 index 000000000..a4d85f5ef --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj @@ -0,0 +1,717 @@ +o convex_0 +v -1.604791 1.237051 0.582436 +v -1.711182 0.211794 -0.619683 +v -2.064657 0.211794 -0.584265 +v -3.584365 1.378556 -0.478126 +v -3.443091 0.211794 0.511598 +v -1.604791 1.272342 -0.548846 +v -3.478361 1.378556 0.582318 +v -1.604791 0.353299 0.511598 +v -3.478361 0.317894 -0.548964 +v -1.604791 0.211794 -0.372105 +v -3.336894 0.317894 0.546900 +v -1.746452 1.060255 -0.584265 +v -3.513825 0.565386 -0.548964 +v -1.923190 0.883459 0.582318 +v -3.124887 1.378556 -0.478126 +v -3.301624 1.378556 0.582318 +v -3.584365 1.343152 -0.266084 +v -1.781916 0.317894 0.511598 +v -1.604791 0.211794 -0.619683 +v -3.478361 1.095660 0.582318 +v -3.478361 0.282603 -0.336686 +v -2.241394 1.307632 -0.548964 +v -3.230891 0.211794 0.511598 +v -2.877416 0.353299 -0.584265 +v -1.604791 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a/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj new file mode 100644 index 000000000..157fb985e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.061355 -2.469926 -1.066715 +v 0.032072 -0.612683 1.055344 +v 0.002790 2.274407 0.996144 +v 1.034144 3.069530 0.023603 +v -0.763608 3.069530 -0.683473 +v -0.970000 -2.970668 0.082595 +v 0.827752 -4.414213 0.023603 +v -0.763608 3.069530 0.730887 +v 0.827752 3.009871 -0.742258 +v 0.032072 5.015773 0.052891 +v 0.798268 -3.000009 0.789879 +v -0.734123 -2.970668 0.819375 +v -0.527731 -4.119832 -0.565489 +v 0.827752 -3.000009 -0.801250 +v 0.002790 -4.473872 0.789671 +v 0.709814 3.040190 0.760383 +v 0.032072 3.335549 -0.919235 +v -0.999485 3.128211 0.053099 +v -0.734123 -2.911010 -0.771962 +v 0.090839 -4.503212 -0.771962 +v 1.063629 -2.970668 -0.064470 +v -0.734123 -4.473872 0.053099 +v -0.056180 4.514053 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@@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj new file mode 100644 index 000000000..548467032 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj @@ -0,0 +1,609 @@ +o convex_0 +v -2.186624 -1.274264 -0.301060 +v -2.070073 -1.186889 0.310801 +v -2.070073 -0.924661 0.252526 +v -2.477980 -1.245034 0.019425 +v -2.070073 -1.769597 0.019425 +v -2.070073 -0.779037 -0.271892 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b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj new file mode 100644 index 000000000..d86bb2509 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj @@ -0,0 +1,249 @@ +o convex_0 +v 0.270481 -1.177473 -1.077459 +v -0.833834 2.657994 1.073040 +v 1.026284 1.436874 0.985978 +v -0.950144 -3.328825 1.073040 +v 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-0.292847 +v 0.241395 2.832722 0.317538 +v -0.252590 4.838076 0.230306 +v 0.241395 2.832722 -0.292847 +v -0.194441 2.832722 0.259404 +v -0.252590 2.832722 -0.292847 +v -0.310739 4.721477 -0.205615 +v 0.299607 4.808632 0.201269 +v 0.270501 2.978177 0.230306 +v -0.223484 4.372856 0.259404 +v -0.281633 4.838076 0.172172 +v 0.125160 2.891022 0.317538 +v 0.328712 4.605270 -0.205615 +v -0.252590 3.152487 -0.292847 +v -0.136292 4.838076 0.259404 +v -0.310739 4.372856 -0.147480 +v -0.107248 2.832722 0.288441 +v -0.020056 4.838076 -0.031210 +v 0.270501 3.181539 0.288441 +v 0.270501 4.808632 0.288441 +v -0.252590 2.891022 -0.205615 +v -0.281633 4.750528 -0.205615 +v 0.270501 4.750528 -0.292847 +v 0.270501 3.356046 -0.292847 +v -0.252590 4.198349 0.230306 +v 0.212352 3.356046 0.317538 +f 61 79 85 +f 63 61 64 +f 60 63 65 +f 63 64 65 +f 59 58 66 +f 61 63 68 +f 60 67 72 +f 65 59 73 +f 60 65 73 +f 59 66 73 +f 62 69 74 +f 70 62 74 +f 69 71 74 +f 58 59 75 +f 66 58 75 +f 70 66 75 +f 64 61 76 +f 69 64 76 +f 61 71 76 +f 71 69 76 +f 67 60 77 +f 70 74 77 +f 61 68 78 +f 72 67 78 +f 68 72 78 +f 74 57 79 +f 67 77 79 +f 77 74 79 +f 61 78 79 +f 78 67 79 +f 59 65 80 +f 65 64 80 +f 75 59 80 +f 64 75 80 +f 60 66 81 +f 66 70 81 +f 77 60 81 +f 70 77 81 +f 66 60 82 +f 60 73 82 +f 73 66 82 +f 63 60 83 +f 68 63 83 +f 60 72 83 +f 72 68 83 +f 69 62 84 +f 64 69 84 +f 62 70 84 +f 75 64 84 +f 70 75 84 +f 71 61 85 +f 57 74 85 +f 74 71 85 +f 79 57 85 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf new file mode 100644 index 000000000..4f6e784fb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj new file mode 100644 index 000000000..ec9ea3a86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj @@ -0,0 +1,441 @@ +o convex_0 +v -1.595309 1.549108 1.810409 +v -2.090055 0.983669 2.764664 +v -2.054791 0.983669 2.764664 +v -2.125485 1.019103 1.103389 +v -2.054791 1.619788 3.012092 +v -1.630629 1.019103 2.976634 +v -2.090055 1.619788 1.103389 +v -1.559935 1.125154 1.103389 +v -1.559935 1.584479 3.047356 +v -1.630629 1.549108 1.103389 +v -2.090055 0.983669 3.082813 +v -1.913404 1.619788 1.174111 +v -2.019361 1.019103 1.103389 +v -2.090055 1.619788 1.704424 +v -1.807391 1.619788 3.047356 +v -1.595309 1.195833 3.012092 +v -1.630629 1.019103 2.658485 +v -1.559935 1.266513 1.103389 +v -2.054791 1.443120 3.082813 +v -2.125485 1.160462 1.174111 +f 11 14 20 +f 3 2 4 +f 4 7 8 +f 8 7 10 +f 9 1 10 +f 2 3 11 +f 4 2 11 +f 3 6 11 +f 7 5 12 +f 10 7 12 +f 9 10 12 +f 3 4 13 +f 4 8 13 +f 5 7 14 +f 11 5 14 +f 12 5 15 +f 9 12 15 +f 6 8 16 +f 8 9 16 +f 11 6 16 +f 9 11 16 +f 6 3 17 +f 8 6 17 +f 3 13 17 +f 13 8 17 +f 1 9 18 +f 9 8 18 +f 10 1 18 +f 8 10 18 +f 5 11 19 +f 11 9 19 +f 15 5 19 +f 9 15 19 +f 7 4 20 +f 4 11 20 +f 14 7 20 +o convex_1 +v 2.893673 2.468237 -0.628334 +v 2.893673 0.347426 -0.946608 +v 3.282585 0.347426 -0.946608 +v 1.267814 0.418424 1.103389 +v 1.267814 2.361948 -0.981854 +v 3.211784 2.432738 1.032685 +v 1.267814 2.397239 0.961981 +v 3.176482 0.418424 0.961770 +v 1.267814 0.383132 -1.052769 +v 3.211784 2.468237 -1.052769 +v 3.247086 2.185283 0.784904 +v 3.211784 0.382925 0.573003 +v 1.904037 2.432738 0.997227 +v 1.267814 1.089793 -1.052769 +v 3.211784 2.468237 0.926523 +v 1.586123 0.383132 -1.052769 +v 1.586123 2.397239 -0.981854 +v 3.282585 0.877629 -0.451679 +v 1.303313 2.256073 0.997227 +v 1.267814 2.397239 0.078285 +v 1.798131 2.361948 -1.017101 +v 3.247086 0.842545 -0.981854 +v 1.374114 0.559590 1.103389 +v 2.858371 2.468237 -1.017101 +v 3.211784 1.054501 0.961770 +v 3.282585 0.347426 -0.699038 +v 1.267814 0.383132 -0.734284 +v 3.282585 0.736463 -0.946608 +f 31 38 48 +f 25 24 27 +f 23 22 29 +f 24 25 29 +f 28 24 32 +f 29 25 34 +f 30 29 34 +f 30 21 35 +f 31 30 35 +f 26 31 35 +f 21 33 35 +f 33 26 35 +f 23 29 36 +f 29 30 36 +f 30 25 37 +f 27 24 39 +f 26 33 39 +f 33 27 39 +f 25 27 40 +f 27 33 40 +f 37 25 40 +f 25 30 41 +f 34 25 41 +f 30 34 41 +f 30 23 42 +f 23 36 42 +f 36 30 42 +f 24 28 43 +f 28 26 43 +f 39 24 43 +f 26 39 43 +f 21 30 44 +f 33 21 44 +f 30 37 44 +f 40 33 44 +f 37 40 44 +f 26 28 45 +f 31 26 45 +f 28 32 45 +f 38 31 45 +f 38 45 46 +f 22 23 46 +f 24 22 46 +f 32 24 46 +f 23 38 46 +f 45 32 46 +f 22 24 47 +f 29 22 47 +f 24 29 47 +f 23 30 48 +f 30 31 48 +f 38 23 48 +o convex_2 +v -1.701388 1.619826 -1.158917 +v -1.701388 1.019078 -3.067388 +v -1.878022 1.089820 -3.102887 +v -2.054711 1.089820 -1.088116 +v -2.019396 1.549146 -2.925786 +v -1.630701 1.019078 -1.088116 +v -1.595385 1.549146 -2.961285 +v -2.090138 1.655259 -1.088116 +v -1.524699 1.584455 -1.088116 +v -2.019396 1.160500 -3.102887 +v -1.630701 1.054449 -3.067388 +v -2.090138 1.655259 -1.477029 +v -2.090138 1.160500 -1.123616 +v -2.054711 1.266489 -2.678673 +v -1.524699 1.513775 -1.158917 +v -1.560014 1.513775 -2.466270 +v -1.595385 1.125129 -1.512331 +v -1.913338 1.655259 -1.194219 +f 60 56 66 +f 51 50 52 +f 52 50 54 +f 52 54 56 +f 55 49 57 +f 56 54 57 +f 51 52 58 +f 55 51 58 +f 53 55 58 +f 50 51 59 +f 54 50 59 +f 51 55 59 +f 55 53 60 +f 52 56 61 +f 58 52 61 +f 56 60 61 +f 53 58 62 +f 60 53 62 +f 58 61 62 +f 61 60 62 +f 57 54 63 +f 63 59 64 +f 55 57 64 +f 59 55 64 +f 57 63 64 +f 54 59 65 +f 63 54 65 +f 59 63 65 +f 49 55 66 +f 57 49 66 +f 56 57 66 +f 55 60 66 +o convex_3 +v -1.489310 1.690392 1.103389 +v -2.832162 0.276732 -1.017326 +v -2.832162 0.700957 -1.017326 +v -0.923889 0.347436 -1.052721 +v -0.923889 2.361975 -1.052721 +v -2.938462 2.397222 0.926413 +v -2.832162 0.276732 0.961808 +v -0.923889 0.418351 0.961808 +v -2.761559 2.432890 -1.017326 +v -0.923889 2.397433 0.961808 +v -2.408145 1.796342 -1.088116 +v -2.125336 1.019230 1.103389 +v -1.312604 0.312401 -0.557830 +v -2.867661 0.312189 0.961808 +v -2.867661 2.432890 -0.062940 +v -2.302239 0.771661 -1.088116 +v -2.231439 2.432890 -1.017326 +v -1.524809 1.584230 -1.088116 +v -2.832162 2.326729 0.961808 +v -2.125336 0.276732 -1.017326 +v -2.938462 1.937962 0.891017 +v -2.726257 2.362186 -1.052506 +v -2.090034 1.619688 1.103389 +v -0.923889 2.256025 0.997203 +v -2.938462 2.397222 0.714255 +v -1.560111 1.125392 1.103389 +v -1.312604 2.397433 -1.052506 +v -0.923889 0.383105 0.396127 +v -2.655653 0.276732 0.820441 +v -1.206501 0.312401 -1.052506 +v -2.796860 2.432890 -0.804954 +v -2.796860 2.432890 0.077998 +v -1.277302 0.382894 0.961808 +v -1.630715 1.019230 -1.088116 +v -2.620154 0.488844 -1.052506 +f 82 96 101 +f 70 71 74 +f 74 71 76 +f 68 73 80 +f 73 78 80 +f 75 81 83 +f 71 70 84 +f 77 71 84 +f 82 77 84 +f 76 72 85 +f 72 80 85 +f 80 78 85 +f 73 68 86 +f 68 80 87 +f 80 72 87 +f 68 69 88 +f 69 75 88 +f 78 67 89 +f 67 85 89 +f 85 78 89 +f 67 74 90 +f 74 76 90 +f 76 85 90 +f 85 67 90 +f 69 68 91 +f 81 69 91 +f 72 81 91 +f 68 87 91 +f 87 72 91 +f 74 67 92 +f 67 78 92 +f 78 74 92 +f 76 71 93 +f 71 77 93 +f 75 83 93 +f 83 76 93 +f 88 75 93 +f 77 88 93 +f 70 74 94 +f 79 94 95 +f 73 86 95 +f 86 79 95 +f 82 70 96 +f 86 68 96 +f 79 86 96 +f 70 94 96 +f 94 79 96 +f 75 69 97 +f 69 81 97 +f 81 75 97 +f 72 76 98 +f 81 72 98 +f 76 83 98 +f 83 81 98 +f 78 73 99 +f 74 78 99 +f 94 74 99 +f 95 94 99 +f 73 95 99 +f 70 82 100 +f 84 70 100 +f 82 84 100 +f 77 82 101 +f 68 88 101 +f 88 77 101 +f 96 68 101 +o convex_4 +v -0.004656 -5.732038 -0.381179 +v 0.454729 -3.717858 0.361105 +v -0.146060 -3.717858 0.361105 +v -0.039958 -3.717858 -0.310482 +v -0.146060 -5.661243 0.290408 +v 0.419427 -5.661243 -0.310482 +v 0.419427 -5.732038 0.184326 +v 0.384059 -3.717858 -0.275024 +v 0.525530 -3.717858 0.184326 +v -0.110693 -5.555151 -0.204327 +v -0.146060 -3.823753 0.113629 +v 0.419427 -4.601305 -0.310482 +v 0.313390 -4.212627 0.361105 +v -0.075259 -5.732038 -0.381179 +v 0.278088 -3.717858 -0.310482 +v -0.075259 -4.777599 -0.345721 +v 0.419427 -5.519852 0.219711 +v 0.348758 -5.625945 -0.345721 +v -0.146060 -4.141833 0.361105 +v -0.039958 -4.247926 -0.345721 +v -0.146060 -5.661243 0.113629 +f 111 115 122 +f 104 103 105 +f 102 107 108 +f 105 103 109 +f 108 107 110 +f 109 103 110 +f 104 105 112 +f 106 104 112 +f 110 107 113 +f 109 110 113 +f 103 104 114 +f 102 108 115 +f 108 106 115 +f 105 109 116 +f 109 113 116 +f 111 112 117 +f 112 105 117 +f 115 111 117 +f 106 108 118 +f 110 103 118 +f 108 110 118 +f 103 114 118 +f 114 106 118 +f 107 102 119 +f 113 107 119 +f 102 116 119 +f 116 113 119 +f 104 106 120 +f 114 104 120 +f 106 114 120 +f 102 115 121 +f 116 102 121 +f 105 116 121 +f 117 105 121 +f 115 117 121 +f 106 112 122 +f 112 111 122 +f 115 106 122 +o convex_5 +v 1.267814 2.220366 0.997227 +v -0.923684 -3.081182 -1.017101 +v -0.888289 -3.681549 -1.017101 +v -0.888289 -3.717463 1.103389 +v 1.197024 -3.717463 -1.017101 +v -0.923684 2.361629 -1.052769 +v -0.923684 2.397544 0.961981 +v 1.267814 2.361629 -0.981854 +v 1.197024 -3.681549 0.926523 +v 1.267814 0.276206 1.103389 +v 1.267814 0.382153 -1.052769 +v 1.267814 2.397544 0.961981 +v -0.923684 2.255682 0.997227 +v -0.888289 -2.020513 -1.052769 +v 1.232419 -2.479617 0.997227 +v 1.197024 -2.974636 -1.052769 +v -0.711528 -3.717463 -1.017101 +v 1.197024 0.523416 1.103389 +v 1.267814 2.397544 0.113532 +v -0.923684 0.418068 0.961981 +v 1.267814 -0.677318 0.997227 +v 0.914291 -3.717463 0.679164 +v 1.267814 1.053751 -1.052769 +v 1.091052 -3.646233 0.961981 +v -0.640737 -3.399023 1.103389 +v -0.888289 -3.540286 1.103389 +v 1.267814 1.937242 -1.017101 +v -0.570162 2.361629 -1.052769 +v -0.923684 2.397544 0.679164 +v 1.232419 -2.621479 0.926523 +v 1.197024 -3.717463 0.008003 +f 152 131 153 +f 124 125 126 +f 128 124 129 +f 130 123 132 +f 130 132 133 +f 123 130 134 +f 129 124 135 +f 123 134 135 +f 134 129 135 +f 125 124 136 +f 124 128 136 +f 128 133 136 +f 133 127 138 +f 125 136 138 +f 136 133 138 +f 126 125 139 +f 127 126 139 +f 125 138 139 +f 138 127 139 +f 132 123 140 +f 126 132 140 +f 123 135 140 +f 129 134 141 +f 134 130 141 +f 124 126 142 +f 135 124 142 +f 126 135 142 +f 133 132 143 +f 127 133 143 +f 132 137 143 +f 126 127 144 +f 131 126 144 +f 130 133 145 +f 133 128 145 +f 126 131 146 +f 131 137 146 +f 137 132 146 +f 132 126 147 +f 126 146 147 +f 146 132 147 +f 135 126 148 +f 126 140 148 +f 140 135 148 +f 130 145 149 +f 149 145 150 +f 128 141 150 +f 141 130 150 +f 145 128 150 +f 130 149 150 +f 128 129 151 +f 141 128 151 +f 129 141 151 +f 137 131 152 +f 127 143 152 +f 143 137 152 +f 144 127 153 +f 131 144 153 +f 127 152 153 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf new file mode 100644 index 000000000..b7280cdea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj new file mode 100644 index 000000000..f073b4596 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj @@ -0,0 +1,321 @@ +o convex_0 +v 0.700354 1.108296 -3.095488 +v 1.084553 1.457365 3.014782 +v 1.049449 2.539752 3.050881 +v -1.115548 0.549406 3.050881 +v -1.010668 2.400082 -3.025096 +v -1.115548 2.539752 3.015384 +v 1.014561 2.539752 -3.059991 +v -1.045556 0.444494 -2.954704 +v 1.049449 0.409524 0.919867 +v 1.084553 0.514647 -3.059991 +v 1.084553 0.479465 3.014782 +v -0.975780 0.409524 1.094945 +v 0.141499 2.574722 -0.475941 +v 1.049449 0.409524 -1.418713 +v -1.115548 2.539752 1.758555 +v 1.049449 2.260201 -3.059991 +v 1.014561 2.574722 1.549184 +v -0.870901 2.434841 -3.025096 +v -0.975780 0.409524 -0.999369 +v -0.975780 0.514435 3.050881 +v 0.770130 0.514435 -3.095488 +v 1.084553 0.793987 -3.095488 +v -0.905789 0.549406 -2.990201 +v -1.045556 0.898686 -2.954704 +v 0.211490 2.539752 3.050881 +v 0.176602 0.479465 3.015384 +v 0.839906 2.539752 -3.059991 +v 1.014561 1.806221 3.050881 +v -1.080444 2.539752 1.374106 +v -1.115548 0.549406 2.806013 +v 0.525698 2.574722 -0.615522 +v 0.351042 2.504781 -3.059991 +v 0.490810 2.574722 1.025154 +v -1.115548 0.968415 3.050881 +v 1.049449 1.492123 -3.095488 +v -0.870901 0.444706 -2.955306 +v -1.010668 2.190472 -3.025096 +v 1.049449 2.539752 2.282585 +v 1.014561 2.574722 0.745391 +v -1.010668 2.434841 -2.570857 +v 1.084553 0.479465 -2.536563 +v 0.071723 2.574722 -0.126388 +v -0.731348 0.514435 3.050881 +v 0.595474 0.898474 -3.095488 +v -1.080444 2.469811 0.081780 +f 24 15 45 +f 2 3 11 +f 10 2 11 +f 4 8 12 +f 9 11 12 +f 11 9 14 +f 9 12 14 +f 4 6 15 +f 12 8 19 +f 8 14 19 +f 14 12 19 +f 3 4 20 +f 4 12 20 +f 2 10 22 +f 16 2 22 +f 21 1 22 +f 10 21 22 +f 21 8 23 +f 5 8 24 +f 8 15 24 +f 4 3 25 +f 3 17 25 +f 17 6 25 +f 12 11 26 +f 20 12 26 +f 18 13 27 +f 11 3 28 +f 3 20 28 +f 13 18 29 +f 8 4 30 +f 4 15 30 +f 15 8 30 +f 13 17 31 +f 7 27 31 +f 27 13 31 +f 1 5 32 +f 5 18 32 +f 18 27 32 +f 6 17 33 +f 17 13 33 +f 6 4 34 +f 4 25 34 +f 25 6 34 +f 7 16 35 +f 22 1 35 +f 16 22 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-3.886224 -0.371529 +v -0.242497 -3.641790 -0.231791 +v 0.246350 -3.606570 0.152289 +v 0.141572 -5.561850 0.117339 +v 0.281276 -5.527013 0.082450 +f 58 61 66 +f 48 47 49 +f 48 49 50 +f 47 48 52 +f 50 51 53 +f 49 47 54 +f 50 49 56 +f 51 50 56 +f 56 55 57 +f 53 51 57 +f 55 46 57 +f 51 56 57 +f 49 54 58 +f 46 55 59 +f 52 48 60 +f 48 53 60 +f 53 52 60 +f 47 52 61 +f 54 47 61 +f 56 49 62 +f 55 56 62 +f 49 58 62 +f 59 55 62 +f 58 59 62 +f 48 50 63 +f 53 48 63 +f 50 53 63 +f 58 54 64 +f 54 61 64 +f 61 58 64 +f 52 53 65 +f 57 46 65 +f 53 57 65 +f 46 59 65 +f 59 52 65 +f 52 59 66 +f 59 58 66 +f 61 52 66 +o convex_2 +v -0.696389 -3.571192 -0.301472 +v -0.731360 0.409524 1.095003 +v 1.049582 -0.743378 0.955463 +v 1.049582 0.409524 -0.930047 +v -0.975728 0.409524 -0.999817 +v 0.944672 -3.606176 -1.104903 +v -1.080639 -3.501224 1.025018 +v 1.084553 -3.501617 0.955463 +v -0.975728 -3.466633 -1.104687 +v 1.049582 0.409524 0.920363 +v -0.975728 0.409524 1.095003 +v -0.417051 -3.606176 0.501313 +v 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-3.501224 -0.999817 +f 97 105 110 +f 68 70 71 +f 70 68 76 +f 68 71 77 +f 69 68 79 +f 73 81 83 +f 76 69 86 +f 70 76 86 +f 79 74 86 +f 69 79 86 +f 84 70 86 +f 74 84 86 +f 75 85 87 +f 85 80 87 +f 68 77 88 +f 77 71 88 +f 72 78 89 +f 78 72 90 +f 79 68 91 +f 68 88 91 +f 88 81 91 +f 70 84 92 +f 73 78 93 +f 85 75 95 +f 84 72 96 +f 78 73 97 +f 67 89 97 +f 89 78 97 +f 68 69 98 +f 69 76 98 +f 76 68 98 +f 71 70 99 +f 87 80 99 +f 70 92 99 +f 92 87 99 +f 83 71 100 +f 80 85 100 +f 95 83 100 +f 85 95 100 +f 71 99 100 +f 99 80 100 +f 84 74 101 +f 72 84 101 +f 90 72 101 +f 81 73 102 +f 79 91 102 +f 91 81 102 +f 73 93 102 +f 93 79 102 +f 92 84 103 +f 82 92 103 +f 74 79 104 +f 78 90 104 +f 93 78 104 +f 79 93 104 +f 101 74 104 +f 90 101 104 +f 73 83 105 +f 83 95 105 +f 95 75 105 +f 97 73 105 +f 82 72 106 +f 72 87 106 +f 92 82 106 +f 87 92 106 +f 71 83 107 +f 83 81 107 +f 88 71 107 +f 81 88 107 +f 87 72 108 +f 75 87 108 +f 72 89 108 +f 94 75 108 +f 89 94 108 +f 72 82 109 +f 96 72 109 +f 84 96 109 +f 82 103 109 +f 103 84 109 +f 89 67 110 +f 75 94 110 +f 94 89 110 +f 67 97 110 +f 105 75 110 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf new file mode 100644 index 000000000..a76c18112 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj new file mode 100644 index 000000000..9be5c8c5e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.268258 1.860218 -1.593187 +v 0.005766 1.129487 -2.233051 +v 0.036192 1.129487 -2.233051 +v -0.298685 1.799336 -3.390001 +v 0.310404 1.829813 -3.298311 +v 0.249489 1.860218 -1.379899 +v -0.298685 1.159964 -3.237512 +v -0.329174 1.281800 -1.410397 +v 0.310404 1.129487 -1.379899 +v 0.249489 1.281800 -3.328809 +v -0.298685 1.860218 -1.379899 +v -0.329174 1.190441 -2.598041 +v -0.329174 1.616617 -1.379899 +v 0.279853 1.373159 -3.328809 +v -0.298685 1.829813 -3.054722 +v 0.188511 1.129487 -1.410397 +v 0.310404 1.829813 -2.902626 +v 0.036192 1.220846 -3.298311 +v 0.310404 1.129487 -1.532388 +v -0.024598 1.829813 -3.359503 +v -0.329174 1.220846 -2.872128 +v 0.310404 1.647094 -3.298311 +v 0.310404 1.220846 -1.379899 +v -0.298685 1.707977 -3.390001 +v -0.298685 1.281800 -1.379899 +v -0.176854 1.159964 -3.176713 +f 19 3 26 +f 5 1 6 +f 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91 +f 82 88 91 +o convex_3 +v -0.298718 0.885799 2.000728 +v -0.237805 1.220751 2.213900 +v -0.268261 1.220751 2.213900 +v -0.176893 1.220751 2.000728 +v -0.298718 1.220751 2.000728 +v -0.207361 0.946723 2.031214 +f 92 95 97 +f 92 93 94 +f 94 93 95 +f 95 92 96 +f 92 94 96 +f 94 95 96 +f 93 92 97 +f 95 93 97 +o convex_4 +v 0.188532 1.768895 2.701132 +v -0.298718 1.220783 2.000728 +v -0.298718 1.464444 2.000728 +v 0.249492 1.677553 2.000728 +v 0.249492 1.251272 2.792509 +v -0.237704 1.860361 2.670673 +v -0.207278 1.251272 2.701132 +v 0.219012 1.312250 2.000728 +v -0.237704 1.829873 2.000728 +v 0.249492 1.768895 2.000728 +v 0.127626 1.768895 2.792509 +v -0.298718 1.220783 2.183560 +v -0.115892 1.220783 2.000728 +v -0.237704 1.220783 2.579296 +v 0.249492 1.434018 2.792509 +v -0.146371 1.860361 2.548836 +v -0.176798 1.251272 2.731591 +v 0.127626 1.799446 2.762050 +v 0.249492 1.281698 2.396619 +f 102 110 116 +f 99 100 101 +f 99 101 105 +f 101 100 106 +f 100 103 106 +f 102 101 107 +f 101 106 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1.391699 +v -0.268179 -1.306780 1.970180 +v 0.249488 -1.550459 1.361150 +v -0.298676 1.464086 2.000666 +v 0.249488 1.860361 1.909271 +v 0.158062 -0.910845 1.970180 +v -0.329174 0.824473 1.391699 +v -0.237747 1.860361 1.909271 +v 0.249488 -1.550459 1.939756 +v 0.218991 1.068491 2.000666 +f 143 124 144 +f 122 121 123 +f 122 118 125 +f 124 117 125 +f 118 123 127 +f 123 120 127 +f 121 122 129 +f 122 128 129 +f 125 118 131 +f 118 127 131 +f 122 125 132 +f 128 122 132 +f 120 123 133 +f 124 120 133 +f 130 124 133 +f 124 125 134 +f 123 121 135 +f 121 129 135 +f 129 130 135 +f 133 123 135 +f 130 133 135 +f 125 131 136 +f 131 127 136 +f 134 125 136 +f 118 119 137 +f 123 118 137 +f 122 123 137 +f 119 126 137 +f 126 122 137 +f 125 117 138 +f 117 128 138 +f 132 125 138 +f 128 132 138 +f 117 124 139 +f 124 130 139 +f 130 129 139 +f 136 127 140 +f 134 136 140 +f 119 118 141 +f 118 122 141 +f 126 119 141 +f 122 126 141 +f 128 117 142 +f 129 128 142 +f 117 139 142 +f 139 129 142 +f 120 124 143 +f 127 120 143 +f 140 127 143 +f 140 143 144 +f 124 134 144 +f 134 140 144 +o convex_6 +v 0.340828 4.449011 1.878817 +v -0.268261 4.326930 1.513475 +v -0.268261 4.326930 1.543940 +v 0.310401 1.860362 1.604871 +v -0.237773 1.860362 1.909282 +v -0.207346 1.860362 1.361150 +v 0.340828 4.479330 1.452605 +v -0.207346 4.601410 1.970212 +v 0.249486 1.860362 1.909282 +v 0.310401 1.860362 1.391675 +v -0.268261 4.601410 1.513475 +v 0.371317 4.326930 1.878817 +v -0.055027 2.560917 1.361150 +v -0.237773 3.626374 1.970212 +v -0.055027 4.570823 1.970212 +v 0.279913 4.174798 1.422140 +v 0.310401 2.835398 1.909282 +v 0.340828 2.560917 1.513475 +v -0.237773 1.860362 1.635336 +v -0.237773 3.261205 1.422140 +v 0.127656 4.479330 1.452605 +v 0.066741 2.073668 1.361150 +v 0.340828 3.809093 1.422140 +v -0.268261 4.601410 1.604871 +v -0.115942 4.601410 1.970212 +v 0.279913 2.073668 1.909282 +v 0.371317 4.449011 1.817887 +f 151 169 171 +f 147 146 149 +f 148 149 150 +f 149 148 153 +f 148 150 154 +f 146 147 155 +f 149 153 158 +f 156 145 159 +f 158 153 159 +f 152 158 159 +f 148 156 161 +f 156 159 161 +f 148 154 162 +f 156 148 162 +f 149 146 163 +f 146 150 163 +f 150 149 163 +f 150 146 164 +f 146 155 164 +f 157 150 164 +f 155 151 165 +f 151 160 165 +f 160 157 165 +f 164 155 165 +f 157 164 165 +f 154 150 166 +f 150 157 166 +f 157 160 166 +f 166 160 167 +f 160 151 167 +f 162 154 167 +f 154 166 167 +f 147 149 168 +f 155 147 168 +f 152 155 168 +f 149 158 168 +f 158 152 168 +f 151 155 169 +f 155 152 169 +f 159 145 169 +f 152 159 169 +f 153 148 170 +f 159 153 170 +f 148 161 170 +f 161 159 170 +f 145 156 171 +f 156 162 171 +f 167 151 171 +f 162 167 171 +f 169 145 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf new file mode 100644 index 000000000..bc5f5b9e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj new file mode 100644 index 000000000..20ba4ba20 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj @@ -0,0 +1,489 @@ +o convex_0 +v 0.376429 -4.938695 -0.199901 +v -0.343820 -3.780509 0.144486 +v -0.343820 -3.780509 0.207119 +v 0.345056 -3.310707 -0.199901 +v -0.249770 -5.157859 -0.325232 +v -0.124488 -5.189140 0.332386 +v 0.282450 -3.310707 0.238404 +v -0.249770 -3.310707 -0.293819 +v -0.343820 -3.310707 0.332386 +v 0.188471 -5.157859 0.238404 +v 0.345056 -5.283177 -0.231186 +v -0.187164 -5.189140 0.332386 +v -0.093185 -5.032540 -0.325232 +v -0.124488 -3.373463 0.332386 +v 0.376429 -5.283177 -0.168552 +v 0.251147 -3.310707 -0.231186 +v 0.219844 -3.843071 0.269753 +v -0.218467 -5.189140 0.081853 +v -0.187164 -4.281398 -0.325232 +v 0.282450 -3.561345 0.238404 +v -0.343820 -3.310707 0.144486 +v -0.312446 -3.999672 0.332386 +v 0.313753 -3.310707 0.081853 +v 0.251147 -5.283177 -0.231186 +v -0.281073 -4.625494 -0.199901 +f 21 8 25 +f 3 2 5 +f 7 4 8 +f 7 8 9 +f 2 3 9 +f 4 1 11 +f 6 9 12 +f 11 5 13 +f 7 9 14 +f 9 6 14 +f 10 6 15 +f 11 1 15 +f 6 12 15 +f 8 4 16 +f 4 11 16 +f 11 13 16 +f 6 10 17 +f 14 6 17 +f 7 14 17 +f 3 5 18 +f 5 8 19 +f 13 5 19 +f 8 16 19 +f 16 13 19 +f 15 7 20 +f 10 15 20 +f 17 10 20 +f 7 17 20 +f 9 8 21 +f 2 9 21 +f 9 3 22 +f 12 9 22 +f 3 18 22 +f 18 12 22 +f 1 4 23 +f 4 7 23 +f 15 1 23 +f 7 15 23 +f 5 11 24 +f 11 15 24 +f 15 12 24 +f 18 5 24 +f 12 18 24 +f 5 2 25 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90 82 98 +f 79 90 98 +f 83 76 99 +f 88 83 99 +f 84 88 99 +f 94 84 99 +f 76 94 99 +f 71 80 100 +f 80 77 100 +f 86 71 100 +f 77 87 100 +f 87 86 100 +f 82 80 101 +f 89 82 101 +f 80 91 101 +o convex_3 +v 0.000853 2.858276 0.488880 +v 0.313597 1.198872 -1.045482 +v 0.313597 1.292891 -1.045482 +v -1.063827 2.232089 -0.951214 +v -1.095384 1.198872 1.052430 +v 1.002635 1.198872 1.021008 +v 1.127994 2.858442 -1.045482 +v -1.063827 2.858276 1.021008 +v 0.971295 2.764422 1.052636 +v -1.032705 2.889892 -0.951214 +v -1.032705 1.198872 -0.951214 +v 1.127994 1.198872 -1.013854 +v 1.127994 2.294823 0.457457 +v 1.127994 1.198872 0.520097 +v -1.095384 2.294823 -0.575582 +v -1.095384 1.230487 -0.512943 +v 0.188456 2.889892 -1.013854 +v -1.063827 2.889892 0.332178 +v -1.095384 1.856674 1.052430 +v 1.096654 2.858442 -0.575582 +v 0.971295 1.731371 1.052636 +v -0.907346 1.198872 -0.982637 +v 0.658116 2.795707 1.052636 +v -1.063827 2.889892 -0.919997 +v 0.877276 1.324341 -1.045482 +v -0.562827 2.858276 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132 +f 121 124 132 +f 124 110 132 +f 108 118 133 +f 118 119 133 +f 102 121 133 +f 121 108 133 +f 127 102 133 +f 119 127 133 +f 108 113 134 +f 126 108 134 +o convex_4 +v 1.128144 1.198872 0.081709 +v 1.284744 2.388732 -0.544350 +v 1.284744 2.388732 -0.575653 +v 3.100804 1.292980 0.520176 +v 2.912923 1.230202 -0.607069 +v 2.944204 2.357518 0.551593 +v 1.128144 2.294741 0.457457 +v 3.038048 2.232080 -0.544350 +v 1.128144 1.261649 -0.481744 +v 1.128144 1.198872 0.520176 +v 1.128144 2.388732 -0.607069 +v 2.474403 2.357402 0.551593 +v 2.411841 1.198872 -0.293813 +v 1.754351 1.637383 0.551593 +v 3.100804 1.637383 0.144314 +v 1.284744 1.261649 -0.513047 +v 1.629226 1.198872 0.520176 +v 2.944204 1.261533 -0.607069 +v 3.038048 1.856347 0.551593 +v 1.472626 2.326071 0.488873 +v 2.944204 2.357518 0.426154 +v 2.286522 1.230319 -0.575653 +v 2.818885 2.263410 -0.544350 +v 1.128144 2.388732 -0.450441 +v 2.975486 1.230202 -0.293813 +v 1.128144 1.512177 0.520176 +v 3.100804 1.355641 0.269639 +v 1.128144 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142 149 166 +f 152 142 166 +f 149 161 166 +f 161 152 166 +f 151 138 167 +f 148 151 167 +f 138 153 167 +f 153 148 167 +f 138 149 168 +f 153 138 168 +f 149 164 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf new file mode 100644 index 000000000..6e2118322 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj new file mode 100644 index 000000000..979c9c30b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj @@ -0,0 +1,1626 @@ +o convex_0 +v 3.479042 -1.894064 -1.218920 +v 4.353495 -1.809440 0.699465 +v 4.353495 -1.950494 0.699465 +v 3.422447 -1.894064 0.699465 +v 4.184164 -1.809440 -1.388340 +v 3.422447 -1.837676 -1.190718 +v 3.422447 -1.950494 -0.429045 +v 4.268738 -1.894064 -0.485450 +v 3.704696 -1.809440 -1.388340 +v 3.422447 -1.950494 0.191615 +v 4.184164 -1.837676 -1.388340 +v 4.325243 -1.950494 0.360830 +f 11 8 12 +f 3 2 4 +f 4 2 6 +f 6 1 7 +f 4 6 7 +f 2 3 8 +f 5 2 8 +f 2 5 9 +f 6 2 9 +f 1 6 9 +f 3 4 10 +f 7 3 10 +f 4 7 10 +f 5 8 11 +f 1 9 11 +f 9 5 11 +f 7 1 12 +f 3 7 12 +f 8 3 12 +f 1 11 12 +o convex_1 +v 0.178007 4.059028 0.022033 +v 2.293904 4.087233 -0.175520 +v 2.068062 4.115417 0.530056 +v 0.262592 4.256478 -1.416341 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj new file mode 100644 index 000000000..e2fef0086 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj @@ -0,0 +1,321 @@ +o convex_0 +v -0.608926 -3.436709 -1.057343 +v 1.119160 -1.593279 0.939655 +v 1.119160 -1.823756 0.939655 +v -0.992922 -3.475058 1.093562 +v -0.992922 -1.593471 -1.057343 +v 1.042444 -3.552140 -0.980285 +v -0.992922 -1.593471 0.978184 +v 0.965521 -1.593279 -1.018814 +v 1.042444 -3.552140 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354 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf new file mode 100644 index 000000000..7add69d8a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj new file mode 100644 index 000000000..7a8d23738 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj new file mode 100644 index 000000000..e0d57bb93 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj @@ -0,0 +1,654 @@ +o convex_0 +v 0.711632 2.542904 -2.070736 +v -1.414698 0.416889 -2.803624 +v -1.414698 0.416889 -2.693943 +v 0.528263 0.380071 -2.913886 +v 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+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj new file mode 100644 index 000000000..f9d602295 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj @@ -0,0 +1,645 @@ +o convex_0 +v 0.060105 -0.279401 4.745006 +v -0.215606 0.175754 4.767441 +v -0.212389 0.092434 4.761031 +v 0.306975 0.172561 4.773851 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf new file mode 100644 index 000000000..118ed205a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj new file mode 100644 index 000000000..d6a8af555 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj @@ -0,0 +1,621 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj new file mode 100644 index 000000000..626846ce7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj @@ -0,0 +1,513 @@ +o convex_0 +v -1.018166 0.034615 1.090703 +v 0.955506 -0.663441 -1.065386 +v 0.955506 0.429749 -1.065386 +v 1.046677 -0.572624 0.999529 +v 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index 000000000..450172f53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj new file mode 100644 index 000000000..585e0f20c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj @@ -0,0 +1,666 @@ +o convex_0 +v -0.725613 -0.256000 1.000226 +v -0.954944 -0.354251 -1.095658 +v -0.987736 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+v 1.108008 0.988431 0.607165 +v 1.009700 3.477293 -0.964457 +v 1.108008 2.363444 1.000124 +v -0.332611 3.411758 0.541457 +v -1.053248 1.053966 -1.095443 +v 1.042397 3.444404 -0.866324 +v -1.118859 3.477293 -1.095443 +v -1.085944 1.709071 0.967270 +v -0.660233 0.988431 1.098256 +v 1.108008 3.378869 0.737936 +f 52 47 60 +f 28 27 29 +f 29 32 34 +f 34 32 35 +f 32 29 36 +f 35 32 37 +f 28 29 39 +f 29 34 39 +f 35 33 40 +f 36 27 41 +f 33 26 42 +f 31 41 43 +f 41 31 44 +f 32 41 44 +f 42 32 44 +f 35 37 46 +f 40 33 48 +f 30 45 48 +f 45 40 48 +f 33 47 48 +f 47 38 48 +f 38 43 49 +f 30 48 49 +f 48 38 49 +f 32 36 50 +f 41 32 50 +f 36 41 50 +f 26 37 51 +f 37 32 51 +f 42 26 51 +f 32 42 51 +f 42 31 52 +f 31 43 52 +f 26 33 53 +f 33 35 53 +f 37 26 53 +f 35 46 53 +f 46 37 53 +f 43 38 54 +f 38 47 54 +f 52 43 54 +f 47 52 54 +f 29 27 55 +f 27 36 55 +f 36 29 55 +f 31 42 56 +f 44 31 56 +f 42 44 56 +f 27 28 57 +f 28 30 57 +f 41 27 57 +f 43 41 57 +f 30 49 57 +f 49 43 57 +f 30 28 58 +f 28 39 58 +f 39 34 58 +f 34 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-1.172979 0.508946 +f 130 140 142 +f 116 115 120 +f 116 120 121 +f 121 120 123 +f 121 118 124 +f 124 118 125 +f 125 118 126 +f 120 122 127 +f 126 114 127 +f 118 121 128 +f 126 118 128 +f 115 119 129 +f 120 115 129 +f 124 117 131 +f 121 124 131 +f 122 130 132 +f 121 123 133 +f 123 127 133 +f 127 114 133 +f 128 121 133 +f 116 121 134 +f 131 116 134 +f 121 131 134 +f 117 124 135 +f 130 119 135 +f 132 130 135 +f 132 135 136 +f 124 125 136 +f 125 132 136 +f 135 124 136 +f 123 120 137 +f 120 127 137 +f 127 123 137 +f 114 126 138 +f 126 128 138 +f 133 114 138 +f 128 133 138 +f 125 126 139 +f 127 122 139 +f 126 127 139 +f 122 132 139 +f 132 125 139 +f 122 120 140 +f 130 122 140 +f 115 116 141 +f 119 115 141 +f 116 131 141 +f 131 117 141 +f 117 135 141 +f 135 119 141 +f 129 119 142 +f 120 129 142 +f 119 130 142 +f 140 120 142 +o convex_5 +v 1.042512 -1.074705 0.967478 +v -0.856733 -1.173106 -1.095658 +v -0.856733 -1.074705 -1.095658 +v -1.020390 -2.679100 0.934560 +v 1.107803 -2.646406 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151 +f 143 149 153 +f 152 154 156 +f 145 144 157 +f 148 145 157 +f 154 152 157 +f 143 153 158 +f 153 147 158 +f 149 146 160 +f 155 149 160 +f 149 143 161 +f 146 149 161 +f 143 159 161 +f 159 146 161 +f 147 151 162 +f 158 147 162 +f 143 148 163 +f 148 146 163 +f 159 143 163 +f 146 159 163 +f 147 145 164 +f 145 151 164 +f 151 147 164 +f 147 149 165 +f 150 147 165 +f 149 155 165 +f 156 154 166 +f 157 144 167 +f 154 157 167 +f 146 148 168 +f 148 157 168 +f 166 146 168 +f 156 166 168 +f 144 147 169 +f 147 150 169 +f 167 144 169 +f 150 167 169 +f 149 147 170 +f 153 149 170 +f 147 153 170 +f 155 160 171 +f 150 165 171 +f 165 155 171 +f 152 156 172 +f 157 152 172 +f 168 157 172 +f 168 172 173 +f 156 168 173 +f 172 156 173 +f 146 166 174 +f 166 154 174 +f 151 143 175 +f 143 158 175 +f 162 151 175 +f 158 162 175 +f 160 146 176 +f 167 150 176 +f 154 167 176 +f 150 171 176 +f 171 160 176 +f 146 174 176 +o convex_6 +v -0.529421 -0.256000 1.032763 +v -1.020390 0.202622 -1.095443 +v -1.020390 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+v -0.365548 -0.223137 1.557013 +v 0.453028 0.890135 2.473706 +v -0.529353 0.955683 1.491507 +v 0.485789 -0.223252 1.262334 +v -0.594763 0.006049 1.524358 +v -0.463831 -0.092157 2.768580 +v 0.420155 -0.124930 3.063259 +v -0.529353 0.726381 2.768580 +v 0.354745 0.857361 1.163977 +v -0.627636 0.693607 1.131322 +v 0.387394 0.890135 2.965098 +f 219 217 230 +f 204 205 206 +f 204 206 208 +f 207 209 210 +f 206 205 212 +f 204 208 214 +f 205 204 215 +f 208 211 218 +f 213 214 218 +f 214 208 218 +f 211 217 218 +f 217 213 218 +f 203 216 219 +f 216 209 219 +f 207 210 220 +f 210 215 220 +f 203 211 221 +f 211 208 221 +f 206 212 222 +f 212 216 222 +f 216 203 222 +f 203 221 222 +f 221 206 222 +f 214 213 223 +f 204 214 223 +f 215 204 223 +f 220 215 223 +f 210 209 225 +f 215 210 225 +f 224 215 225 +f 209 207 226 +f 213 217 226 +f 219 209 226 +f 217 219 226 +f 207 220 226 +f 223 213 226 +f 220 223 226 +f 209 216 227 +f 225 209 227 +f 224 225 227 +f 208 206 228 +f 206 221 228 +f 221 208 228 +f 212 205 229 +f 205 215 229 +f 216 212 229 +f 215 224 229 +f 227 216 229 +f 224 227 229 +f 211 203 230 +f 217 211 230 +f 203 219 230 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf new file mode 100644 index 000000000..be582ffe4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.obj 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156 150 161 +f 140 137 143 +f 141 140 144 +f 143 137 145 +f 143 142 146 +f 140 143 149 +f 143 146 149 +f 139 142 150 +f 147 148 150 +f 148 141 150 +f 137 140 152 +f 145 137 152 +f 147 145 152 +f 148 147 152 +f 138 139 153 +f 139 138 154 +f 142 139 154 +f 138 146 154 +f 146 142 154 +f 144 140 155 +f 140 149 155 +f 151 144 155 +f 149 151 155 +f 145 147 156 +f 147 150 156 +f 146 138 157 +f 144 151 157 +f 138 153 157 +f 153 144 157 +f 140 141 158 +f 141 148 158 +f 152 140 158 +f 148 152 158 +f 141 144 159 +f 139 150 159 +f 150 141 159 +f 153 139 159 +f 144 153 159 +f 149 146 160 +f 151 149 160 +f 146 157 160 +f 157 151 160 +f 142 143 161 +f 143 145 161 +f 150 142 161 +f 145 156 161 +o convex_6 +v -1.052492 -1.030576 0.332161 +v 1.063380 0.589299 -0.890446 +v 1.063380 0.490109 -0.890446 +v 0.997104 -0.204215 1.059760 +v -0.986216 0.589299 1.059760 +v -1.052492 0.589299 -1.022793 +v 1.030242 -1.063747 -1.056139 +v 0.964173 -1.063747 1.059760 +v -0.986216 -1.063747 -0.989654 +v 0.997104 0.589299 1.026415 +v -0.986216 -1.063747 1.059760 +v 1.063380 0.589299 -1.056139 +v -0.523524 -0.534630 -1.056139 +v -1.052492 0.556128 0.133744 +v -1.019354 -0.964558 -1.022793 +v 0.997104 -0.799189 1.059760 +v -0.457248 0.589299 -1.056139 +v 1.063380 -0.204215 -1.022793 +v 0.633413 0.589299 1.059760 +v -1.019354 -1.063747 0.861343 +f 166 175 181 +f 164 163 165 +f 166 163 167 +f 165 166 169 +f 168 169 170 +f 165 163 171 +f 163 166 171 +f 169 166 172 +f 170 169 172 +f 163 164 173 +f 167 163 173 +f 173 168 174 +f 166 167 175 +f 167 162 175 +f 162 167 176 +f 168 170 176 +f 170 162 176 +f 174 168 176 +f 167 174 176 +f 164 165 177 +f 165 169 177 +f 169 168 177 +f 167 173 178 +f 173 174 178 +f 174 167 178 +f 173 164 179 +f 168 173 179 +f 164 177 179 +f 177 168 179 +f 166 165 180 +f 165 171 180 +f 171 166 180 +f 162 170 181 +f 172 166 181 +f 170 172 181 +f 175 162 181 +o convex_7 +v -0.457292 -0.402451 1.059761 +v 0.600554 -0.005905 3.010154 +v 0.567467 0.423942 3.076279 +v 0.600554 0.523164 1.059761 +v -0.589639 0.556238 2.910868 +v -0.424205 -0.468599 3.043118 +v 0.567467 -0.600895 1.059761 +v -0.589639 0.423942 1.059761 +v 0.600554 -0.534634 2.944029 +v -0.324945 -0.534747 1.059761 +v -0.424205 0.556238 2.976993 +v -0.589639 0.258686 1.159244 +v -0.358032 -0.402451 3.076279 +v 0.501293 -0.600895 1.258333 +v -0.589639 0.556238 2.679529 +v -0.457292 -0.336304 3.043118 +v 0.600554 -0.567821 2.216653 +v -0.424205 -0.501673 2.183689 +v 0.468206 0.126391 3.076279 +v 0.269919 0.423942 3.076279 +v -0.093570 -0.501673 2.976993 +v -0.556553 0.523164 2.976993 +v 0.600554 0.093317 1.059761 +v 0.600554 0.489977 1.754173 +v -0.589639 0.457016 1.390583 +v -0.589639 0.490090 2.811779 +f 193 197 207 +f 182 185 188 +f 185 182 189 +f 185 183 190 +f 182 188 191 +f 189 182 193 +f 186 189 193 +f 187 190 194 +f 191 188 195 +f 189 186 196 +f 192 185 196 +f 186 192 196 +f 193 182 197 +f 187 194 197 +f 185 190 198 +f 195 188 198 +f 182 191 199 +f 191 195 199 +f 197 182 199 +f 187 197 199 +f 183 184 200 +f 190 183 200 +f 184 194 200 +f 194 190 200 +f 184 192 201 +f 194 184 201 +f 190 187 202 +f 198 190 202 +f 195 198 202 +f 187 199 202 +f 199 195 202 +f 192 186 203 +f 186 197 203 +f 197 194 203 +f 201 192 203 +f 194 201 203 +f 188 185 204 +f 185 198 204 +f 198 188 204 +f 184 183 205 +f 183 185 205 +f 192 184 205 +f 185 192 205 +f 185 189 206 +f 196 185 206 +f 189 196 206 +f 186 193 207 +f 197 186 207 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf new file mode 100644 index 000000000..98f1c92a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj new file mode 100644 index 000000000..ac4f584f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj @@ -0,0 +1,486 @@ +o convex_0 +v -0.871683 -3.972573 -1.073509 +v -0.944013 -0.035993 1.129481 +v -1.016131 -0.035993 1.129481 +v -1.088461 -0.035993 -1.109674 +v 1.042193 -0.035993 -1.037344 +v 1.006134 -3.936351 1.057151 +v -1.052190 -3.936351 1.057151 +v 1.078464 -0.035993 0.984821 +v 0.934016 -3.900130 -0.928850 +v -1.016131 -3.358349 -1.109674 +v 1.042193 -0.830939 -1.037344 +v -1.088461 -2.888626 0.515335 +v 1.042193 -3.322128 1.057151 +v 0.644909 -0.035993 1.057151 +v -0.257835 -0.035993 -1.109455 +v -0.546517 -3.972573 -1.073290 +v -1.016131 -3.972573 -0.567858 +v -1.088461 -0.035993 -0.314923 +v 1.078464 -0.072600 -0.351088 +v -1.052190 -2.708290 1.093316 +v 0.970075 -3.863908 -0.531693 +v -1.088461 -1.083718 -1.073509 +v 1.078464 -1.480998 0.984821 +v 0.970075 -3.177627 -0.965015 +v -0.907742 -3.972573 0.045849 +v 0.572579 -3.936351 -0.892904 +v 1.006134 -3.900130 0.370895 +v -1.052190 -3.936351 0.334730 +v -0.980072 -3.972573 -1.073509 +v -0.944013 -3.394571 -1.109674 +v -0.257835 -3.972573 -0.387253 +v -1.052190 -2.202730 1.093316 +v 1.042193 -3.322128 0.984821 +v -0.582788 -1.950721 -1.109455 +v 0.680968 -3.900130 -0.965015 +f 16 24 35 +f 3 2 4 +f 4 2 5 +f 5 2 8 +f 2 6 13 +f 8 2 14 +f 2 13 14 +f 13 8 14 +f 4 5 15 +f 5 11 15 +f 1 16 17 +f 3 4 18 +f 4 12 18 +f 5 8 19 +f 11 5 19 +f 2 3 20 +f 6 2 20 +f 7 6 20 +f 12 7 20 +f 4 10 22 +f 12 4 22 +f 8 13 23 +f 19 8 23 +f 16 11 24 +f 21 9 24 +f 11 21 24 +f 6 7 25 +f 7 17 25 +f 17 16 25 +f 9 6 26 +f 16 9 26 +f 6 9 27 +f 9 21 27 +f 21 11 27 +f 7 12 28 +f 17 7 28 +f 10 17 28 +f 22 10 28 +f 12 22 28 +f 1 17 29 +f 17 10 29 +f 10 4 30 +f 4 15 30 +f 16 1 30 +f 11 16 30 +f 1 29 30 +f 29 10 30 +f 6 25 31 +f 25 16 31 +f 26 6 31 +f 16 26 31 +f 3 18 32 +f 18 12 32 +f 20 3 32 +f 12 20 32 +f 13 6 33 +f 11 19 33 +f 23 13 33 +f 19 23 33 +f 6 27 33 +f 27 11 33 +f 15 11 34 +f 30 15 34 +f 11 30 34 +f 9 16 35 +f 24 9 35 +o convex_1 +v -0.582728 0.903036 1.201984 +v 0.608847 0.614113 2.971095 +v 0.608847 0.505738 2.971095 +v -0.546570 1.119672 3.007252 +v 0.500490 1.516970 1.165826 +v 0.572689 1.661431 2.934937 +v -0.438214 1.589031 1.129856 +v 0.500490 0.541938 1.129856 +v -0.510413 0.578026 3.043598 +v -0.546570 1.589031 2.934937 +v -0.510413 0.614113 1.129856 +v -0.402173 0.541938 3.043598 +v -0.582728 0.614113 1.743602 +v 0.500490 1.589031 2.971095 +v 0.211577 0.541938 1.129856 +v -0.582728 1.300107 2.285033 +v -0.329857 1.625231 2.934937 +v -0.004903 1.625231 1.743602 +v -0.149418 0.903036 3.043598 +v 0.464332 1.516970 1.129856 +v -0.474371 1.589031 1.382586 +v 0.572689 1.661431 2.790493 +v -0.582728 0.614113 1.238142 +v 0.536531 0.505738 2.609891 +v -0.402173 1.516970 2.971095 +v 0.355975 0.541938 3.007252 +v 0.608847 0.614113 2.898779 +v -0.185459 1.589031 1.129856 +f 53 57 63 +f 36 42 46 +f 42 43 46 +f 44 39 48 +f 37 41 49 +f 46 43 50 +f 39 45 51 +f 48 39 51 +f 36 48 51 +f 49 41 52 +f 42 52 53 +f 39 44 54 +f 44 47 54 +f 40 43 55 +f 43 42 55 +f 42 36 56 +f 36 51 56 +f 51 45 56 +f 52 42 56 +f 45 52 56 +f 41 37 57 +f 52 41 57 +f 53 52 57 +f 36 46 58 +f 47 44 58 +f 44 48 58 +f 48 36 58 +f 46 50 58 +f 50 47 58 +f 43 38 59 +f 38 47 59 +f 50 43 59 +f 47 50 59 +f 45 39 60 +f 52 45 60 +f 49 52 60 +f 39 54 60 +f 54 49 60 +f 38 37 61 +f 47 38 61 +f 37 49 61 +f 54 47 61 +f 49 54 61 +f 37 38 62 +f 43 40 62 +f 38 43 62 +f 57 37 62 +f 40 57 62 +f 42 53 63 +f 40 55 63 +f 55 42 63 +f 57 40 63 +o convex_2 +v -0.004998 0.505802 -2.265169 +v 0.608963 1.589130 -1.110063 +v 0.572784 1.625309 -1.110063 +v 0.464488 1.552951 -2.951391 +v -0.510543 1.697547 -1.110063 +v -0.582781 1.661368 -3.095828 +v -0.546722 0.578040 -1.110063 +v -0.618960 0.614219 -3.059670 +v 0.428309 0.469623 -2.915233 +v 0.464488 0.614219 -1.110063 +v -0.582781 1.625309 -2.445764 +v 0.608963 1.444534 -1.326621 +v 0.428309 0.505802 -2.951391 +v -0.582781 0.578040 -1.579337 +v -0.474485 1.661368 -3.095828 +v 0.464488 0.578040 -2.770796 +v 0.500547 1.589130 -2.554043 +v -0.257771 0.541861 -1.507216 +v -0.618960 1.119523 -3.023512 +v -0.546722 1.155702 -1.110063 +v 0.500547 0.722636 -1.110063 +v -0.402247 1.697547 -1.326621 +v 0.500547 1.516772 -2.698480 +v -0.438306 1.480833 -3.095828 +v -0.438306 0.578040 -3.023512 +v 0.464488 0.541861 -1.940527 +v 0.283833 1.589130 -2.987354 +v 0.320012 0.469623 -2.770796 +f 89 81 91 +f 65 66 68 +f 65 68 70 +f 65 70 73 +f 68 69 74 +f 72 71 76 +f 64 70 77 +f 76 67 79 +f 72 76 79 +f 66 65 80 +f 78 66 80 +f 70 64 81 +f 73 70 81 +f 69 71 82 +f 74 69 82 +f 71 77 82 +f 77 74 82 +f 70 68 83 +f 68 74 83 +f 77 70 83 +f 74 77 83 +f 65 73 84 +f 75 65 84 +f 79 75 84 +f 68 66 85 +f 69 68 85 +f 66 78 85 +f 78 69 85 +f 65 75 86 +f 79 67 86 +f 75 79 86 +f 80 65 86 +f 67 80 86 +f 71 69 87 +f 76 71 87 +f 69 78 87 +f 71 72 88 +f 64 77 88 +f 77 71 88 +f 72 79 89 +f 73 81 89 +f 84 73 89 +f 79 84 89 +f 67 76 90 +f 80 67 90 +f 78 80 90 +f 76 87 90 +f 87 78 90 +f 81 64 91 +f 88 72 91 +f 64 88 91 +f 72 89 91 +o convex_3 +v -1.087994 -0.035993 -0.314923 +v 1.078464 2.203162 0.948657 +v 1.078464 2.203162 0.732105 +v -2.966165 2.166997 -1.109674 +v -2.966165 0.253107 0.984821 +v 1.078464 0.000172 -1.037344 +v 1.078464 -0.035993 0.984821 +v -2.966165 2.094667 1.020986 +v -3.074426 0.000172 -1.073290 +v 1.078464 2.094667 -1.037344 +v -1.016230 -0.035993 1.129481 +v 0.464162 1.516906 1.129481 +v -0.221903 -0.035993 -1.109674 +v -3.110924 1.552852 0.551500 +v 0.681095 1.661346 -1.109674 +v -2.966165 0.108667 0.948657 +v 1.078464 2.130832 -1.001179 +v 0.500660 0.541988 1.129481 +v -2.966165 2.166997 -0.423418 +v -3.110924 0.325437 -0.784409 +v -0.438836 1.589016 1.129481 +v -2.605294 0.036556 -1.109674 +v 1.078464 2.166778 0.984821 +v 1.041966 -0.035993 -1.037344 +v -1.666208 2.166997 -1.073290 +v -2.966165 1.047639 1.020986 +v 1.005879 0.180777 -1.073509 +v -3.110924 0.867033 -0.603804 +v -3.074426 0.000172 -0.856520 +v 0.608921 -0.035993 1.057151 +v -3.038339 1.011474 -1.109674 +v -1.087994 -0.035993 -1.109674 +v -3.002252 2.058503 -0.820574 +v -3.110924 1.444576 0.551500 +v 0.464162 0.614098 -1.109674 +v 0.969792 2.203162 0.948876 +v -2.966165 0.072502 0.479170 +v -2.496622 2.166997 -1.109674 +v -2.533120 0.108667 1.020986 +v -3.038339 1.841732 0.840381 +v -3.110924 1.552852 0.370895 +v -3.002252 2.022338 0.768051 +f 105 131 133 +f 94 93 97 +f 97 93 98 +f 94 97 101 +f 92 98 102 +f 98 92 104 +f 104 95 106 +f 94 101 108 +f 103 102 109 +f 99 102 112 +f 102 103 112 +f 95 104 113 +f 98 93 114 +f 109 98 114 +f 103 109 114 +f 99 112 114 +f 112 103 114 +f 97 98 115 +f 98 104 115 +f 94 108 116 +f 102 99 117 +f 101 97 118 +f 106 101 118 +f 97 115 118 +f 115 104 118 +f 111 105 119 +f 100 92 120 +f 92 102 120 +f 111 100 120 +f 107 111 120 +f 102 98 121 +f 98 109 121 +f 109 102 121 +f 100 111 122 +f 95 113 122 +f 113 100 122 +f 119 95 122 +f 111 119 122 +f 92 100 123 +f 104 92 123 +f 100 113 123 +f 113 104 123 +f 110 95 124 +f 95 119 124 +f 107 96 125 +f 105 111 125 +f 111 107 125 +f 104 106 126 +f 106 118 126 +f 118 104 126 +f 93 94 127 +f 94 95 127 +f 95 110 127 +f 110 99 127 +f 114 93 127 +f 99 114 127 +f 102 107 128 +f 120 102 128 +f 107 120 128 +f 95 94 129 +f 106 95 129 +f 101 106 129 +f 108 101 129 +f 94 116 129 +f 116 108 129 +f 96 107 130 +f 107 102 130 +f 102 117 130 +f 117 96 130 +f 117 99 131 +f 96 117 131 +f 125 96 131 +f 105 125 131 +f 119 105 132 +f 105 124 132 +f 124 119 132 +f 99 110 133 +f 124 105 133 +f 110 124 133 +f 131 99 133 +o convex_4 +v 1.873163 0.000122 -0.531672 +v 2.703616 2.130712 1.057250 +v 2.631360 2.130712 1.057250 +v 1.114769 2.094487 -1.037132 +v 1.078739 0.108797 0.984708 +v 2.956216 0.000122 -1.109674 +v 2.920187 0.144807 1.057250 +v 2.920187 2.094703 -1.001286 +v 1.078739 2.202947 0.948650 +v 1.078739 0.000338 -1.037132 +v 3.100927 2.094703 1.057250 +v 1.078739 2.130712 -1.001073 +v 3.028671 1.625072 -0.423283 +v 2.956216 0.072572 0.226412 +v 2.450620 0.542203 -1.109674 +v 1.187025 0.000338 -1.073403 +v 3.100927 1.805766 0.984921 +v 1.114769 2.202947 0.984708 +v 1.800907 0.108797 1.020979 +v 2.956216 0.469753 -1.109674 +v 1.078739 0.036563 0.118023 +v 1.223054 2.202947 0.804202 +v 2.811902 0.000122 -0.640061 +v 2.956216 0.181032 1.057250 +v 2.956414 2.094703 -0.892897 +v 2.847931 1.769756 -1.037344 +v 2.992443 0.397735 0.226412 +v 3.100927 2.094703 0.804202 +v 1.367567 0.072572 0.695813 +v 2.558905 0.144807 1.057250 +v 1.367567 2.130712 -1.001073 +v 1.078739 0.000338 -0.495401 +v 2.920187 0.108582 0.732084 +v 2.234247 0.000122 -1.109674 +f 149 148 167 +f 135 136 140 +f 138 142 143 +f 135 140 144 +f 143 142 145 +f 137 143 145 +f 143 137 149 +f 137 148 149 +f 136 135 151 +f 142 138 151 +f 151 138 152 +f 146 139 153 +f 139 148 153 +f 148 137 153 +f 138 143 154 +f 145 142 155 +f 151 135 155 +f 142 151 155 +f 134 139 156 +f 139 147 156 +f 144 140 157 +f 140 147 157 +f 150 144 157 +f 153 141 158 +f 146 153 158 +f 155 135 158 +f 141 155 158 +f 137 141 159 +f 153 137 159 +f 141 153 159 +f 147 139 160 +f 139 150 160 +f 157 147 160 +f 150 157 160 +f 135 144 161 +f 139 146 161 +f 144 150 161 +f 150 139 161 +f 158 135 161 +f 146 158 161 +f 152 138 162 +f 138 154 162 +f 154 134 162 +f 134 156 162 +f 140 136 163 +f 136 151 163 +f 152 140 163 +f 151 152 163 +f 141 137 164 +f 137 145 164 +f 155 141 164 +f 145 155 164 +f 143 134 165 +f 154 143 165 +f 134 154 165 +f 147 140 166 +f 140 152 166 +f 156 147 166 +f 152 162 166 +f 162 156 166 +f 139 134 167 +f 134 143 167 +f 148 139 167 +f 143 149 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf new file mode 100644 index 000000000..ef5a291b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj new file mode 100644 index 000000000..d61927fdb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj @@ -0,0 +1,456 @@ +o convex_0 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0.479623 -1.083554 +v 0.313432 0.420186 -1.827156 +f 141 146 157 +f 136 135 139 +f 135 136 140 +f 135 140 141 +f 142 137 143 +f 139 144 145 +f 134 133 146 +f 141 140 146 +f 141 142 147 +f 142 143 147 +f 139 145 148 +f 145 138 148 +f 132 135 149 +f 143 137 149 +f 145 132 149 +f 137 145 149 +f 138 134 150 +f 148 138 150 +f 136 134 151 +f 140 136 151 +f 134 146 151 +f 146 140 151 +f 133 134 152 +f 134 138 152 +f 142 133 152 +f 137 142 152 +f 145 137 152 +f 138 145 152 +f 134 136 153 +f 136 139 153 +f 139 148 153 +f 150 134 153 +f 148 150 153 +f 144 132 154 +f 145 144 154 +f 132 145 154 +f 135 141 155 +f 141 147 155 +f 147 143 155 +f 149 135 155 +f 143 149 155 +f 135 132 156 +f 139 135 156 +f 132 144 156 +f 144 139 156 +f 142 141 157 +f 133 142 157 +f 146 133 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf new file mode 100644 index 000000000..20ff4b9de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj new file mode 100644 index 000000000..fbce1c1c9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj @@ -0,0 +1,492 @@ +o convex_0 +v 0.993289 -0.878176 0.909226 +v -1.131186 -2.661191 -0.987324 +v -1.131186 -2.661191 -0.949415 +v 1.107225 -4.785368 -0.759652 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj new file mode 100644 index 000000000..cdbd525e3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj @@ -0,0 +1,483 @@ +o convex_0 +v 1.104815 -0.511704 0.682926 +v -1.060365 -3.375327 -1.082322 +v -1.026878 -3.841902 -1.082322 +v -0.993604 -4.108144 0.916061 +v 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88 +f 81 82 89 +f 84 83 89 +f 85 81 90 +f 87 85 90 +f 89 83 92 +f 83 91 92 +f 83 84 93 +f 84 85 93 +f 86 83 93 +f 82 85 94 +f 89 82 94 +f 84 89 94 +f 86 88 95 +f 87 90 96 +f 91 87 96 +f 92 91 96 +f 83 86 97 +f 91 83 97 +f 87 91 97 +f 85 88 98 +f 93 85 98 +f 88 93 98 +f 95 80 99 +f 86 95 99 +f 97 86 99 +f 85 84 100 +f 94 85 100 +f 80 87 101 +f 87 97 101 +f 99 80 101 +f 97 99 101 +f 96 90 102 +f 92 96 102 +f 88 86 103 +f 86 93 103 +f 93 88 103 +f 87 80 104 +f 88 87 104 +f 80 95 104 +f 95 88 104 +f 81 89 105 +f 90 81 105 +f 89 92 105 +f 102 90 105 +f 92 102 105 +f 84 94 106 +f 100 84 106 +o convex_3 +v 1.104815 1.420645 0.616459 +v -1.026868 0.188158 -1.049012 +v -1.060223 0.188158 0.949511 +v -1.093577 1.420645 0.949511 +v 1.071245 0.188158 0.949511 +v 0.971396 1.420645 -1.015623 +v 0.971396 0.188158 -1.048803 +v -0.993514 1.420645 -1.015415 +v -0.660613 1.420645 1.082857 +v 1.037890 1.420645 0.949511 +v 1.104815 0.388063 -0.515836 +v -1.060223 0.188158 1.049469 +v -1.093577 1.087309 -0.582405 +v -0.693752 1.320632 -1.049012 +v 1.104815 1.254037 -0.515836 +v -1.093577 0.354766 -0.482447 +v -1.093577 0.854348 1.082857 +v 1.104815 0.188158 0.649639 +v -1.093577 1.353930 -0.582405 +v -1.026868 0.654563 1.082857 +v -1.093577 1.420645 1.082857 +v 1.071245 0.188158 -0.582613 +v -1.093577 0.321468 0.449933 +v 0.971396 0.454658 -1.048803 +v 1.071245 1.087309 0.949511 +v -1.026868 0.654563 -1.049012 +v -0.826956 0.188158 1.049469 +f 126 118 133 +f 109 108 111 +f 110 107 112 +f 111 108 113 +f 110 112 114 +f 107 110 115 +f 107 115 116 +f 109 111 118 +f 113 108 120 +f 114 112 120 +f 112 107 121 +f 107 117 121 +f 117 113 121 +f 108 109 122 +f 119 108 122 +f 110 119 122 +f 110 122 123 +f 111 113 124 +f 117 107 124 +f 110 114 125 +f 108 119 125 +f 119 110 125 +f 111 115 126 +f 115 123 126 +f 123 118 126 +f 115 110 127 +f 110 123 127 +f 123 115 127 +f 113 117 128 +f 124 113 128 +f 117 124 128 +f 109 118 129 +f 122 109 129 +f 118 123 129 +f 123 122 129 +f 113 120 130 +f 120 112 130 +f 112 121 130 +f 121 113 130 +f 115 111 131 +f 116 115 131 +f 107 116 131 +f 124 107 131 +f 111 124 131 +f 120 108 132 +f 114 120 132 +f 108 125 132 +f 125 114 132 +f 118 111 133 +f 111 126 133 +o convex_4 +v 1.138464 0.288116 0.283406 +v 3.036730 1.387335 -0.182783 +v 3.036730 1.387335 -0.449371 +v 3.069988 0.221469 0.383260 +v 1.204981 1.254041 0.449933 +v 1.105010 0.388086 -0.516044 +v 3.103246 0.354763 -0.449371 +v 1.138464 1.287364 -0.516044 +v 2.936759 1.287364 0.516397 +v 1.105010 0.288116 0.549890 +v 3.069988 0.221469 0.549890 +v 1.105010 1.254041 0.416544 +v 1.871125 0.854273 -0.516044 +v 1.671379 1.320573 0.183449 +v 3.069988 0.454733 0.549890 +v 1.371664 0.554590 0.549890 +v 2.570331 1.387335 -0.449267 +v 3.069988 1.354011 -0.449371 +v 1.105010 1.254041 -0.516044 +v 2.670302 1.254041 -0.482551 +v 2.370390 0.221469 0.516397 +v 1.804412 0.388086 -0.516044 +v 3.103246 0.321439 0.216629 +v 1.204981 1.287364 0.349975 +v 2.770077 1.320573 0.349975 +v 3.003276 0.687883 0.549890 +v 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146 164 +f 139 137 165 +f 134 143 165 +f 143 139 165 +f 137 154 165 +f 154 134 165 +f 138 145 166 +f 145 143 166 +f 143 149 166 +f 163 138 166 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf new file mode 100644 index 000000000..c29fa2da1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj new file mode 100644 index 000000000..cb70f32d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj @@ -0,0 +1,1212 @@ +o convex_0 +v 1.296371 -2.587898 0.046864 +v 1.359434 -1.167590 0.015388 +v 1.359434 -1.167590 -0.173801 +v 3.000395 -2.019691 0.046864 +v 1.296371 -1.987993 0.583511 +v 2.022425 -2.051250 -0.521037 +v 2.747978 -1.956573 0.425687 +v 1.296371 -1.230847 -0.457863 +v 1.296371 -2.429962 -0.426275 +v 2.716447 -2.366704 -0.079151 +v 2.779509 -1.641257 0.015388 +v 2.716447 -1.987993 -0.394800 +v 1.296371 -1.420203 0.457163 +v 1.485726 -2.429962 0.425687 +v 2.085320 -2.398403 -0.394800 +v 2.621686 -1.704237 0.330926 +v 1.296371 -1.893315 -0.552735 +v 2.589988 -2.272027 0.267863 +v 2.053789 -2.019552 0.551813 +v 1.927664 -2.524640 0.015388 +v 1.832904 -1.546579 0.457163 +v 1.359434 -1.199288 -0.426275 +v 1.990727 -2.366704 0.394100 +v 1.296371 -2.272027 0.520226 +v 2.589988 -1.704237 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b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj new file mode 100644 index 000000000..19d6e8456 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj @@ -0,0 +1,279 @@ +o convex_0 +v 0.285480 -3.439431 0.296666 +v -0.334708 -4.088724 -0.264335 +v -0.334708 -4.088724 -0.234825 +v 0.374079 -4.767897 0.178501 +v 0.344523 -2.819035 -0.293908 +v -0.216554 -2.848718 0.326240 +v -0.186998 -4.679438 0.355813 +v 0.255924 -4.827263 -0.293908 +v -0.334708 -2.819035 -0.234825 +v 0.344523 -2.819035 0.267093 +v -0.305152 -4.709121 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-2.730402 -1.091293 +v -0.009608 3.263863 1.005355 +v 1.053208 3.294217 -0.648261 +v 1.082695 1.788062 1.005355 +v -1.013884 0.754212 1.034876 +v -0.423069 3.382850 -0.411878 +v -1.013884 -1.459792 -1.091293 +v 0.728423 3.353103 -0.589005 +v -1.072857 -1.193893 -1.032037 +v -0.925208 -2.256882 1.094132 +v 0.285258 -2.819035 0.768971 +v -1.013884 -2.730402 -0.943473 +v -0.954694 3.263863 -1.032037 +v 1.023722 -2.789288 0.444024 +v -1.102344 3.175837 -0.589219 +v -0.984397 -2.552528 0.798492 +v -0.275637 -2.819035 -0.264057 +v 0.167312 3.382850 -0.500441 +v -0.275637 3.294217 0.975834 +v 0.994235 3.323356 -0.943259 +v -1.043370 3.057457 0.975834 +v -0.511746 3.382850 -0.618526 +v -0.836531 -2.700048 1.094132 +v -1.043370 -2.641161 -0.677568 +v -0.600422 -2.819035 0.591844 +v 1.023722 1.905835 -1.002302 +v -1.013884 2.348393 1.005355 +v 0.344448 3.293609 -1.002516 +v 0.669233 -2.789288 0.975834 +v 1.112181 3.204977 0.975834 +v -0.984397 -1.637665 1.064397 +v 1.023722 -2.670908 0.384981 +v 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--- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj new file mode 100644 index 000000000..5cc9b97d8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj @@ -0,0 +1,909 @@ +o convex_0 +v 0.061728 -1.542912 0.872308 +v 0.026481 -2.462037 0.872308 +v 0.132486 -2.462037 0.872308 +v -0.008897 -2.143785 2.604844 +v -0.291795 -1.967248 0.872308 +v 0.380005 -2.108423 1.084635 +v 0.238556 -2.037701 2.392516 +v -0.220972 -1.578273 0.907752 +v -0.150346 -2.285230 2.180359 +v 0.380005 -2.391314 0.872308 +v 0.061728 -1.896525 2.357242 +v 0.273869 -1.684357 0.978471 +v 0.061728 -2.285230 2.357242 +v -0.220972 -2.355953 0.872308 +v -0.150346 -2.108423 2.357242 +v 0.238556 -2.108423 2.392516 +v 0.309182 -1.755080 0.872308 +v 0.132486 -1.896525 2.286522 +v 0.061728 -1.542912 0.943027 +v 0.026481 -2.320592 2.215803 +v -0.150346 -1.542912 0.907752 +f 11 19 21 +f 3 2 1 +f 1 2 5 +f 1 5 8 +f 3 1 10 +f 4 7 11 +f 4 9 13 +f 5 2 14 +f 2 9 14 +f 9 5 14 +f 8 5 15 +f 9 4 15 +f 5 9 15 +f 4 11 15 +f 11 8 15 +f 7 4 16 +f 6 7 16 +f 10 6 16 +f 4 13 16 +f 13 10 16 +f 7 6 17 +f 10 1 17 +f 6 10 17 +f 12 7 17 +f 1 12 17 +f 11 7 18 +f 7 12 18 +f 18 12 19 +f 12 1 19 +f 11 18 19 +f 2 3 20 +f 9 2 20 +f 3 10 20 +f 13 9 20 +f 10 13 20 +f 1 8 21 +f 8 11 21 +f 19 1 21 +o convex_1 +v 0.273910 2.205020 -1.708991 +v 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298 312 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf new file mode 100644 index 000000000..8ea080f73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj new file mode 100644 index 000000000..25f7eaf07 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj @@ -0,0 +1,459 @@ +o convex_0 +v 1.099914 -3.275899 1.052231 +v -1.086323 -3.011338 -1.034284 +v -1.086323 -3.011338 -0.968158 +v 1.100128 0.499617 -1.067668 +v -1.053150 0.500068 1.019275 +v 0.934475 -4.104286 -1.100411 +v -0.953629 -4.070934 0.952934 +v 1.100128 0.499617 1.019275 +v -1.019976 0.400012 -1.067454 +v 0.967434 -4.070934 1.085401 +v -1.053150 -4.038033 -0.934987 +v 1.099914 -2.249204 -1.067454 +v -0.390537 0.102099 1.085401 +v -1.086323 -1.421718 -1.100839 +v -1.053150 -2.215852 0.787297 +v -1.086323 0.500068 0.091578 +v 1.066954 -4.070934 0.588490 +v -1.019976 0.500068 -1.034284 +v 0.006902 0.500068 1.085401 +v -1.019976 -4.070934 0.091578 +v -1.086323 -2.315457 -1.100839 +v 1.033781 -3.044239 -1.100411 +v -0.490057 -4.070934 -1.001328 +v -1.086323 0.433364 0.522149 +v 1.066954 -3.805923 1.085401 +v -0.986803 -3.905527 0.952934 +v 0.868128 -4.070934 1.085401 +v 1.099914 -3.805923 0.754127 +v 0.934475 -4.104286 -0.371735 +v 0.735648 -4.104286 -1.100411 +v -1.053150 -4.004682 -0.537373 +v -1.053150 -1.520872 0.986105 +v -0.589364 -4.004682 0.985891 +v 0.337995 -2.017093 -1.100411 +v -1.053150 0.102099 -0.934987 +v -0.390537 -0.030406 1.085401 +v 0.437515 -4.104286 -1.067454 +v -1.019976 -1.256311 -1.100839 +v 0.967434 -4.104286 -0.802306 +v -1.053150 0.102099 1.019275 +v -1.053150 -3.905527 -0.968158 +v 1.066954 -4.038033 1.085401 +v -1.086323 -2.050445 -0.404906 +v 0.602954 0.499617 1.052231 +v -1.019976 -4.070934 -0.206312 +v -1.053150 -2.646722 0.522149 +v -0.291017 0.500068 1.085401 +f 13 19 47 +f 3 2 11 +f 2 3 14 +f 14 3 16 +f 4 9 18 +f 16 5 18 +f 8 4 19 +f 13 10 19 +f 4 18 19 +f 18 5 19 +f 2 14 21 +f 4 12 22 +f 6 21 22 +f 5 16 24 +f 16 3 24 +f 1 8 25 +f 19 10 25 +f 20 7 26 +f 10 13 27 +f 8 1 28 +f 4 8 28 +f 12 4 28 +f 22 12 28 +f 17 22 28 +f 17 10 29 +f 27 7 29 +f 10 27 29 +f 21 6 30 +f 23 21 30 +f 6 29 30 +f 3 11 31 +f 11 20 31 +f 20 26 31 +f 24 15 32 +f 15 26 32 +f 7 27 33 +f 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104 108 +f 93 96 109 +f 96 105 109 +f 105 93 109 +f 92 95 110 +f 104 92 110 +f 95 104 110 +f 99 101 111 +f 101 94 111 +f 94 103 111 +o convex_3 +v 0.006974 0.500136 1.085615 +v -0.291355 0.963770 -1.067711 +v -1.019841 0.500136 -1.034407 +v -1.053012 1.195689 1.019009 +v 1.100131 1.195689 -1.067711 +v 1.100131 0.500136 -1.067711 +v 1.100131 1.195689 1.052312 +v -1.019841 1.195689 -1.001315 +v 1.100131 0.500136 1.019009 +v -1.053012 0.500136 1.019009 +v -1.086184 0.533296 0.091367 +v -0.258183 1.195689 1.085615 +v -1.086184 1.195689 0.787151 +v -0.986883 1.195689 -1.034407 +v 0.338045 0.599549 1.085615 +v -0.291355 0.500136 1.085615 +v -1.086184 1.195689 0.488898 +v -1.086184 0.500136 0.522201 +v -0.224798 0.665802 -1.067711 +v -1.053012 0.500136 -0.669969 +v 0.338045 1.096276 1.085615 +v -0.291355 1.129436 -1.067711 +f 125 116 133 +f 113 116 117 +f 112 114 117 +f 116 115 118 +f 117 116 118 +f 115 116 119 +f 112 117 120 +f 117 118 120 +f 114 112 121 +f 118 115 123 +f 115 119 124 +f 121 115 124 +f 114 119 125 +f 119 116 125 +f 112 120 126 +f 120 118 126 +f 123 112 126 +f 121 112 127 +f 115 121 127 +f 112 123 127 +f 123 115 127 +f 119 122 128 +f 124 119 128 +f 122 124 128 +f 114 121 129 +f 121 124 129 +f 124 122 129 +f 114 113 130 +f 113 117 130 +f 117 114 130 +f 119 114 131 +f 122 119 131 +f 114 129 131 +f 129 122 131 +f 118 123 132 +f 126 118 132 +f 123 126 132 +f 113 114 133 +f 116 113 133 +f 114 125 133 +o convex_4 +v -0.291171 0.698901 1.880868 +v 0.338185 1.129407 2.211825 +v 0.305044 1.162552 3.039981 +v -0.258030 1.195696 1.085807 +v 0.338185 0.599530 1.085807 +v -0.324377 0.665818 2.940503 +v 0.205621 0.632674 2.940503 +v -0.324377 1.096263 2.874312 +v -0.224889 0.566324 1.085807 +v 0.338185 1.096263 1.085807 +v -0.059249 1.195696 1.085807 +v -0.258030 0.566324 1.582816 +v -0.324377 1.129407 2.410590 +v 0.305044 1.030036 2.973599 +v 0.338185 1.129407 1.251476 +v -0.258030 1.096263 2.973599 +v 0.139403 0.665818 3.006694 +v -0.258030 1.195696 1.516433 +v 0.073121 0.566324 1.119094 +v -0.258030 0.798272 1.085807 +v 0.172544 1.162552 3.006694 +v -0.324377 1.063180 2.278016 +v 0.338185 0.698901 1.516433 +v 0.238762 0.732045 2.973599 +v 0.305044 1.162552 2.410590 +f 148 144 158 +f 137 138 142 +f 138 137 143 +f 135 138 143 +f 143 137 144 +f 139 134 145 +f 140 139 145 +f 139 141 146 +f 135 136 147 +f 136 135 148 +f 135 143 148 +f 143 144 148 +f 141 139 149 +f 139 140 150 +f 136 149 150 +f 149 139 150 +f 136 144 151 +f 144 137 151 +f 137 146 151 +f 138 140 152 +f 142 138 152 +f 140 145 152 +f 145 142 152 +f 137 142 153 +f 145 134 153 +f 142 145 153 +f 146 141 154 +f 149 136 154 +f 141 149 154 +f 136 151 154 +f 151 146 154 +f 134 139 155 +f 146 137 155 +f 139 146 155 +f 137 153 155 +f 153 134 155 +f 138 135 156 +f 135 147 156 +f 156 147 157 +f 140 138 157 +f 147 136 157 +f 150 140 157 +f 136 150 157 +f 138 156 157 +f 144 136 158 +f 136 148 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf new file mode 100644 index 000000000..9c4a62db7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj new file mode 100644 index 000000000..d0dbdc760 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj @@ -0,0 +1,555 @@ +o convex_0 +v -0.537851 -1.249602 -4.066052 +v 0.604943 -1.173423 -1.476004 +v 0.566758 -0.792527 -1.476004 +v 0.566758 -0.335569 -5.398860 +v -0.575917 -0.259390 -1.475613 +v 0.414378 -1.364044 -5.360880 +v -0.499667 -0.373716 -5.322509 +v -0.575917 -1.364044 -1.475613 +v 0.490508 -0.183095 -1.476004 +v -0.461601 -1.364044 -5.475602 +v 0.604943 -1.249717 -1.476004 +v -0.614101 -0.982917 -1.818603 +v -0.461601 -0.335569 -4.903559 +v -0.271155 -1.364044 -1.475613 +v 0.452443 -0.183095 -1.933325 +v 0.566758 -0.525958 -5.398860 +v -0.575917 -0.259390 -2.085243 +v 0.566758 -0.297421 -4.751250 +v 0.566758 -1.287749 -2.466213 +v -0.499667 -0.792527 -5.399251 +v -0.614101 -0.602253 -1.513984 +v 0.452443 -1.249717 -5.360880 +v -0.537851 -0.335569 -4.255949 +v -0.499667 -1.364044 -5.170591 +v 0.033486 -0.335569 -5.361271 +v 0.528693 -0.221242 -2.618914 +v -0.575917 -1.364044 -2.352274 +v -0.309221 -1.364044 -5.475602 +f 16 6 28 +f 6 8 10 +f 4 2 11 +f 2 3 14 +f 5 8 14 +f 8 6 14 +f 3 9 14 +f 9 5 14 +f 11 2 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a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf new file mode 100644 index 000000000..4284f409a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj new file mode 100644 index 000000000..cf683478b --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf new file mode 100644 index 000000000..785927910 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj new file mode 100644 index 000000000..d8e0439f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj @@ -0,0 +1,615 @@ +o convex_0 +v -0.063345 -1.576146 2.703265 +v -0.029947 -3.282082 -1.711081 +v 0.003450 -3.282082 -1.711081 +v 0.036847 -1.409060 -2.681053 +v -1.033434 -2.144861 -0.172282 +v 0.638978 -3.014331 2.034299 +v 0.939946 -1.476101 -0.072144 +v -0.732270 -3.014331 1.934162 +v 0.672376 -3.047748 -2.012086 +v -0.732270 -3.014331 -2.045268 +v -0.665476 -1.174726 0.027401 +v -0.732270 -1.509312 -2.079042 +v 0.705773 -1.409060 2.000525 +v -0.698873 -1.442477 2.000525 +v 0.672376 -1.375642 -1.945723 +v 0.003450 -2.278530 -3.049014 +v -0.029947 -2.244906 3.004271 +v 0.873151 -3.047748 0.194494 +v -0.565088 -3.282082 0.997372 +v 0.672376 -1.174726 -0.072144 +v 0.638978 -3.248458 0.094357 +v 0.772763 -2.244906 2.168211 +v -0.029947 -1.208349 1.632564 +v 0.739366 -2.145067 -2.279910 +v -0.933046 -3.047748 -0.038962 +v -0.063345 -3.047748 -2.681053 +v -0.063345 -3.014331 2.636310 +v 0.003450 -1.174726 -1.744263 +v -0.799261 -2.245112 2.201393 +v -0.799261 -2.311741 -2.313092 +v -0.933046 -1.442477 0.094357 +v 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-0.540743 +v -2.739226 1.334307 0.061188 +f 133 125 145 +f 108 109 110 +f 109 108 111 +f 109 111 112 +f 111 108 114 +f 109 112 118 +f 112 111 119 +f 107 116 123 +f 115 117 127 +f 117 121 127 +f 119 115 129 +f 107 123 129 +f 115 127 129 +f 129 127 130 +f 107 129 130 +f 110 109 131 +f 109 118 131 +f 121 110 131 +f 118 124 131 +f 112 119 132 +f 123 112 132 +f 119 129 132 +f 129 123 132 +f 117 115 133 +f 119 111 133 +f 115 119 133 +f 111 125 133 +f 111 114 134 +f 114 120 134 +f 122 110 135 +f 113 126 135 +f 117 113 136 +f 110 121 136 +f 121 117 136 +f 135 110 136 +f 113 135 136 +f 126 113 137 +f 120 126 137 +f 134 120 137 +f 122 135 138 +f 135 126 138 +f 116 107 139 +f 127 121 139 +f 130 127 139 +f 107 130 139 +f 108 110 140 +f 114 108 140 +f 120 114 140 +f 110 122 140 +f 126 120 140 +f 122 138 140 +f 138 126 140 +f 125 111 141 +f 113 128 141 +f 128 125 141 +f 111 134 141 +f 137 113 141 +f 134 137 141 +f 124 116 142 +f 121 131 142 +f 131 124 142 +f 116 139 142 +f 139 121 142 +f 116 124 143 +f 124 118 143 +f 118 112 144 +f 123 116 144 +f 112 123 144 +f 116 143 144 +f 143 118 144 +f 113 117 145 +f 128 113 145 +f 125 128 145 +f 117 133 145 +o convex_3 +v 1.274590 2.537634 -0.038874 +v -1.267578 0.866438 -0.105709 +v -1.267578 0.866438 0.027755 +v 0.705738 -1.174725 0.027548 +v -0.063184 1.801731 1.031307 +v -0.732320 3.741471 -0.774675 +v 0.070196 -0.539095 -0.975591 +v -0.765664 3.808895 0.730138 +v -0.765664 -0.638790 0.730138 +v 0.806270 3.741471 -0.741257 +v 0.806270 3.741471 0.729932 +v 0.806270 -0.605366 0.796973 +v -0.799258 -0.638790 -0.808298 +v 1.274590 1.033558 -0.473712 +v 0.103789 4.712493 -0.039080 +v -1.267578 2.337090 -0.507130 +v 0.739331 1.768884 -1.009009 +v -0.765664 1.735460 -1.008803 +v -1.267578 1.801731 0.562845 +v 0.806270 -0.605366 -0.841716 +v 1.274590 1.702612 0.596262 +v -0.498159 -1.174725 -0.607588 +v -0.799258 4.343678 -0.005869 +v -0.096777 -1.174725 0.663097 +v 0.806270 4.410525 0.027548 +v 0.772676 1.835155 0.964266 +v -0.765664 1.702036 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4.611645 -0.139332 +v -0.063184 -1.174725 -0.741464 +v -1.167046 1.735460 -0.707840 +v 0.103789 4.678493 0.060966 +v -0.698726 -1.174725 -0.105709 +v 0.103789 1.768884 1.031307 +f 173 194 209 +f 147 148 161 +f 161 148 164 +f 152 162 165 +f 159 146 166 +f 151 161 168 +f 167 149 169 +f 166 156 171 +f 164 154 172 +f 154 169 173 +f 150 172 173 +f 172 154 173 +f 160 155 175 +f 155 162 175 +f 171 156 176 +f 165 159 177 +f 161 164 178 +f 146 159 179 +f 159 165 179 +f 162 152 180 +f 175 162 180 +f 166 157 181 +f 159 166 181 +f 157 177 181 +f 152 165 182 +f 149 167 182 +f 147 161 183 +f 166 146 184 +f 156 166 184 +f 170 156 184 +f 169 154 185 +f 167 169 185 +f 154 174 185 +f 169 149 186 +f 149 177 186 +f 177 157 186 +f 153 168 187 +f 172 150 187 +f 164 172 187 +f 150 176 187 +f 176 153 187 +f 178 164 187 +f 168 178 187 +f 164 148 188 +f 154 164 188 +f 153 176 189 +f 147 183 190 +f 146 179 191 +f 179 155 191 +f 177 149 192 +f 165 177 192 +f 149 182 192 +f 182 165 192 +f 180 152 193 +f 163 180 193 +f 157 166 194 +f 166 171 194 +f 177 159 195 +f 159 181 195 +f 181 177 195 +f 161 151 196 +f 151 175 196 +f 180 163 196 +f 175 180 196 +f 148 147 197 +f 174 154 197 +f 158 174 197 +f 188 148 197 +f 154 188 197 +f 147 190 197 +f 190 158 197 +f 155 160 198 +f 160 170 198 +f 184 146 198 +f 170 184 198 +f 146 191 198 +f 191 155 198 +f 151 168 199 +f 168 153 199 +f 153 189 199 +f 168 161 200 +f 161 178 200 +f 178 168 200 +f 162 155 201 +f 165 162 201 +f 155 179 201 +f 179 165 201 +f 158 190 202 +f 190 183 202 +f 193 158 202 +f 163 193 202 +f 173 169 203 +f 169 186 203 +f 186 157 203 +f 157 194 203 +f 194 173 203 +f 175 151 204 +f 160 175 204 +f 189 160 204 +f 151 199 204 +f 199 189 204 +f 167 158 205 +f 152 182 205 +f 182 167 205 +f 158 193 205 +f 193 152 205 +f 183 161 206 +f 161 196 206 +f 196 163 206 +f 163 202 206 +f 202 183 206 +f 156 170 207 +f 170 160 207 +f 176 156 207 +f 160 189 207 +f 189 176 207 +f 158 167 208 +f 174 158 208 +f 167 185 208 +f 185 174 208 +f 150 173 209 +f 176 150 209 +f 171 176 209 +f 194 171 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf new file mode 100644 index 000000000..553364a24 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj new file mode 100644 index 000000000..c1de4dcb3 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1.264926 -2.669048 +v 0.074188 1.523397 -1.312916 +v 0.074188 1.361843 -2.636665 +v -0.216419 0.974464 -2.184621 +v -0.313368 1.232644 -1.571321 +v -0.087273 0.812983 -1.474501 +v -0.313368 0.942110 -1.312916 +v 0.009556 0.974464 -2.765867 +v -0.087273 1.361843 -2.669048 +v 0.138761 1.297207 -2.604446 +f 227 218 234 +f 208 209 215 +f 213 214 217 +f 214 207 219 +f 208 217 221 +f 217 214 221 +f 215 212 222 +f 210 220 222 +f 213 217 223 +f 220 213 223 +f 217 220 223 +f 220 217 224 +f 207 214 226 +f 214 213 226 +f 216 207 226 +f 213 218 226 +f 218 216 226 +f 216 218 227 +f 210 222 227 +f 222 216 227 +f 211 212 228 +f 212 215 228 +f 212 211 229 +f 211 214 229 +f 214 219 229 +f 225 212 229 +f 219 225 229 +f 209 208 230 +f 215 209 230 +f 208 221 230 +f 221 211 230 +f 211 228 230 +f 228 215 230 +f 214 211 231 +f 211 221 231 +f 221 214 231 +f 208 215 232 +f 217 208 232 +f 215 222 232 +f 222 220 232 +f 224 217 232 +f 220 224 232 +f 207 216 233 +f 219 207 233 +f 222 212 233 +f 216 222 233 +f 212 225 233 +f 225 219 233 +f 218 213 234 +f 220 210 234 +f 213 220 234 +f 210 227 234 +o convex_6 +v -0.087201 0.780645 -1.280432 +v 0.009530 1.717182 -1.118967 +v 0.009530 1.717182 -1.151287 +v 0.494067 1.135913 -1.118967 +v -0.474811 0.877474 -1.118967 +v -0.248713 1.458742 -1.312733 +v 0.267970 1.426400 -1.312733 +v 0.235628 0.780645 -1.312733 +v 0.106457 0.715962 -1.118967 +v -0.377884 1.652498 -1.118967 +v -0.345640 1.168255 -1.312733 +v 0.364799 1.587815 -1.118967 +v -0.474811 1.458742 -1.151287 +v -0.313298 0.942059 -1.312733 +v 0.332555 1.135913 -1.312733 +v 0.106457 1.523229 -1.312733 +v 0.267970 0.780645 -1.118967 +v -0.119542 0.715962 -1.151287 +v 0.494067 1.200499 -1.151287 +f 242 249 253 +f 238 236 239 +f 240 241 242 +f 238 239 243 +f 236 237 244 +f 239 236 244 +f 237 240 244 +f 240 242 245 +f 237 236 246 +f 236 238 246 +f 239 244 247 +f 244 240 247 +f 240 245 247 +f 245 239 247 +f 235 239 248 +f 242 235 248 +f 239 245 248 +f 245 242 248 +f 242 241 249 +f 240 237 250 +f 241 240 250 +f 237 246 250 +f 246 241 250 +f 242 238 251 +f 238 243 251 +f 243 242 251 +f 239 235 252 +f 235 242 252 +f 243 239 252 +f 242 243 252 +f 238 242 253 +f 246 238 253 +f 241 246 253 +f 249 241 253 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf new file mode 100644 index 000000000..5a5f6dec8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj new file mode 100644 index 000000000..7158502e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj @@ -0,0 +1,279 @@ +o convex_0 +v 0.485176 -4.462163 -0.473204 +v -0.531205 -4.342613 0.603068 +v -0.591126 -4.342613 0.603068 +v -0.321994 -2.549169 -0.473087 +v 0.455272 -2.549169 0.423612 +v -0.441608 -4.522228 -0.592842 +v 0.514965 -4.462163 0.513282 +v -0.591126 -2.549169 0.453580 +v 0.485176 -2.638976 -0.443236 +v -0.531205 -2.549169 -0.473087 +v 0.574886 -4.522228 -0.443236 +v -0.591126 -4.492099 0.393761 +v 0.485176 -2.937948 0.453463 +v 0.455272 -2.549169 -0.443236 +v -0.052975 -4.492099 0.573101 +v -0.531205 -2.848140 -0.503055 +v 0.574886 -4.522228 -0.234045 +v -0.531205 -2.728590 0.483431 +v -0.561108 -2.549169 -0.233928 +v -0.471397 -4.342613 -0.562757 +v -0.591126 -4.492099 0.603068 +v 0.514965 -4.103320 0.513282 +v 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13 33 +f 7 22 33 +f 13 24 33 +o convex_1 +v 0.724326 -2.338764 -1.070995 +v -0.889927 3.459938 1.111330 +v 0.126329 3.549596 1.111117 +v -0.650771 3.519306 -1.041089 +v -0.979690 -2.429028 1.081210 +v 1.053245 -2.489002 0.961798 +v 0.933561 3.489622 -1.070995 +v -0.949769 -2.458712 -0.921462 +v 0.933561 3.639860 1.081210 +v -1.099373 3.519912 -1.011396 +v 0.933561 -2.548370 -1.070995 +v -0.979690 3.459938 1.081210 +v -0.591140 -2.548976 0.453386 +v 0.963482 2.921383 -0.861863 +v 0.993403 1.067640 1.051517 +v -1.039531 0.559981 -0.981489 +v -0.591140 -2.428422 1.081210 +v 1.053245 -1.651789 0.662732 +v -1.099373 3.519912 -0.742236 +v -0.979690 -0.096704 1.111330 +v 0.395407 3.519912 -1.070995 +v -1.099373 2.891699 -1.011396 +v 0.963482 -2.488396 0.991490 +v -0.531298 -2.548976 -0.473077 +v -0.979690 -1.681473 -0.951369 +v 0.664484 3.639860 0.812265 +v 0.903640 2.473698 1.081210 +v 0.455248 -2.548370 0.423479 +v -0.979690 -2.429028 0.214133 +v -0.591140 1.875169 -1.041089 +v -0.860006 3.489622 1.081210 +v 0.963482 -2.548370 -0.682423 +v 0.933561 3.519912 -1.041089 +v -0.411614 -2.488396 -0.981275 +v 1.053245 -1.711157 0.991490 +v 0.545011 -1.262260 -1.070995 +v 0.963482 2.503382 1.051517 +v 1.053245 -2.489002 0.692638 +v -0.740533 3.549596 -0.652517 +v -0.979690 2.712383 1.111330 +v 0.963482 2.174434 -0.861863 +v 0.724326 3.639860 1.081210 +v -1.009611 1.994512 -1.011396 +v -0.889927 0.022638 1.111330 +v 0.933561 3.639860 0.812265 +v -0.291931 -2.458712 1.051304 +v 0.963482 -2.189132 -0.712330 +v 0.604642 -2.548370 -1.041089 +v 1.023324 -2.518080 0.393573 +v -1.069453 3.519912 -0.562797 +v -0.949769 -2.458712 0.064600 +v -0.979690 -1.771131 -0.921462 +v 1.053245 -2.070395 0.662732 +v -0.830085 -2.369054 -0.951369 +v -1.009611 3.489622 0.632612 +v 0.903640 3.519912 -1.070995 +v 0.574721 -2.488396 0.991490 +v -0.561219 -2.488396 -0.951369 +v 1.053245 -1.681473 0.961798 +v -0.291931 3.579886 -0.174225 +v 1.053245 -2.189738 0.991490 +v -1.099373 2.921989 -0.951369 +f 52 55 95 +f 34 40 44 +f 44 40 47 +f 38 50 53 +f 52 38 53 +f 40 34 54 +f 43 37 55 +f 52 43 55 +f 46 41 57 +f 42 36 60 +f 48 42 60 +f 50 56 60 +f 56 46 61 +f 39 56 61 +f 41 38 62 +f 55 49 62 +f 38 55 62 +f 55 37 63 +f 45 35 64 +f 57 44 65 +f 46 57 65 +f 61 46 65 +f 47 40 66 +f 34 44 67 +f 39 51 68 +f 54 34 69 +f 37 54 69 +f 34 63 69 +f 63 37 69 +f 47 42 70 +f 42 48 70 +f 48 68 70 +f 51 39 71 +f 37 43 72 +f 43 52 72 +f 54 37 72 +f 35 45 73 +f 52 53 73 +f 53 35 73 +f 44 47 74 +f 47 51 74 +f 35 36 75 +f 36 42 75 +f 42 59 75 +f 64 35 75 +f 49 55 76 +f 58 49 76 +f 63 34 76 +f 55 63 76 +f 36 35 77 +f 35 53 77 +f 53 50 77 +f 60 36 77 +f 50 60 77 +f 42 47 78 +f 59 42 78 +f 47 66 78 +f 38 46 79 +f 50 38 79 +f 56 50 79 +f 65 44 80 +f 71 65 80 +f 44 74 80 +f 44 57 81 +f 67 44 81 +f 39 61 82 +f 61 65 82 +f 71 39 82 +f 65 71 82 +f 72 52 83 +f 38 41 84 +f 46 38 84 +f 41 46 84 +f 58 41 85 +f 49 58 85 +f 41 62 85 +f 62 49 85 +f 51 71 86 +f 74 51 86 +f 71 80 86 +f 80 74 86 +f 41 58 87 +f 34 67 87 +f 67 41 87 +f 76 34 87 +f 58 76 87 +f 45 64 88 +f 73 45 88 +f 52 73 88 +f 64 75 88 +f 83 52 88 +f 75 83 88 +f 40 54 89 +f 66 40 89 +f 54 72 89 +f 78 66 89 +f 46 56 90 +f 79 46 90 +f 56 79 90 +f 57 41 91 +f 41 67 91 +f 81 57 91 +f 67 81 91 +f 51 47 92 +f 68 51 92 +f 47 70 92 +f 70 68 92 +f 75 59 93 +f 59 78 93 +f 72 83 93 +f 83 75 93 +f 89 72 93 +f 78 89 93 +f 56 39 94 +f 48 60 94 +f 60 56 94 +f 68 48 94 +f 39 68 94 +f 38 52 95 +f 55 38 95 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf new file mode 100644 index 000000000..2b217e7f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj new file mode 100644 index 000000000..dc718b31a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj @@ -0,0 +1,888 @@ +o convex_0 +v -1.044799 -1.594074 0.039428 +v -2.124532 -0.855322 -0.017247 +v -2.124532 -0.855322 0.011091 +v -1.584610 -3.014666 0.039528 +v -1.527981 -1.764809 -0.528725 +v -1.158502 -0.770065 0.408918 +v -1.101650 -0.770065 -0.471850 +v -1.556240 -2.531467 0.437356 +v -1.158502 -2.673416 0.011091 +v -1.953978 -0.769845 0.408918 +v -1.953978 -2.673636 -0.017247 +v -1.897126 -0.769845 -0.443412 +v -1.527981 -2.730328 -0.386637 +v -1.953978 -1.821281 -0.386637 +v -1.953978 -1.793155 0.352143 +v -1.186872 -1.906319 0.380480 +v -1.471018 -1.310175 0.494231 +v -0.987947 -0.770065 0.011091 +v -1.186872 -1.849627 -0.386537 +v -1.499500 -2.673636 0.408918 +v -1.527981 -0.769845 -0.528725 +v -1.073280 -0.940580 0.380480 +v -1.840275 -2.474336 0.295267 +v -1.641461 -1.736243 0.494231 +v -1.698202 -2.645070 -0.358199 +v -2.067569 -1.793155 0.011091 +v -1.158502 -2.673416 0.067866 +v -1.073280 -0.968926 -0.386537 +v -1.613091 -0.769845 0.465793 +v -1.471018 -1.764809 0.494231 +v -1.584610 -1.793155 -0.528725 +v -2.124532 -0.769845 -0.045585 +v -1.300575 -2.502901 -0.301324 +v -1.584610 -2.673636 0.408918 +v -1.243724 -2.474555 0.295267 +v -1.868645 -2.446209 -0.301324 +v -1.044799 -1.622420 -0.045585 +v -1.414278 -2.929189 0.039528 +v -1.925607 -1.821281 0.380480 +v -1.925607 -2.673636 0.067966 +v -2.067569 -1.793155 -0.045585 +v -1.584610 -2.957535 -0.102460 +v -1.925607 -1.793155 -0.414974 +v -1.925607 -2.730328 -0.045585 +v -1.953978 -0.769845 -0.386637 +v -0.987947 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0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj new file mode 100644 index 000000000..001b84274 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj @@ -0,0 +1,666 @@ +o convex_0 +v -2.980433 -0.499673 -2.103221 +v -0.626361 0.441861 -1.766852 +v -0.626361 0.408214 -1.094338 +v -0.626361 -0.735316 -1.800545 +v -3.081614 -0.701669 -1.094338 +v -3.014081 0.441861 -1.195304 +v -3.081614 0.307158 -2.204188 +v -0.626361 0.441861 -2.237881 +v -0.626361 -0.600729 -1.161723 +v -0.626361 -0.701669 -2.136914 +v -2.913380 -0.701669 -2.103221 +v -2.980433 0.441861 -1.094338 +v -0.626361 -0.735316 -1.430707 +v -2.072451 0.374452 -2.237881 +v -2.442326 -0.735316 -1.968673 +v -2.139985 -0.667907 -1.094338 +v -3.081614 0.139040 -2.204188 +v -3.047727 0.408214 -1.632640 +v -0.861888 0.441861 -1.094338 +v -0.660248 -0.533435 -1.128031 +v -1.097416 0.239980 -2.237881 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-2.136690 +v -0.592618 0.004519 -2.708445 +v 0.315256 -0.768949 -1.027120 +v -0.626361 -0.634309 -2.237706 +v 0.550721 0.071720 -2.674907 +v -0.188929 -0.735289 -0.690734 +v -0.188929 0.340881 -2.742385 +v 0.147032 -0.735289 -2.675108 +f 66 84 85 +f 59 58 62 +f 61 59 64 +f 59 61 67 +f 61 64 69 +f 62 68 69 +f 58 60 70 +f 60 65 70 +f 57 68 71 +f 62 58 72 +f 58 70 72 +f 59 62 73 +f 64 59 73 +f 62 69 73 +f 69 64 73 +f 68 57 74 +f 57 71 74 +f 68 61 75 +f 61 69 75 +f 69 68 75 +f 66 62 76 +f 62 72 76 +f 72 63 76 +f 58 59 77 +f 60 58 77 +f 59 67 77 +f 67 60 77 +f 70 63 78 +f 63 72 78 +f 72 70 78 +f 62 66 79 +f 74 71 79 +f 61 68 80 +f 74 60 80 +f 68 74 80 +f 68 62 81 +f 71 68 81 +f 62 79 81 +f 79 71 81 +f 63 70 82 +f 70 65 82 +f 76 63 82 +f 65 76 82 +f 60 67 83 +f 67 61 83 +f 80 60 83 +f 61 80 83 +f 76 65 84 +f 66 76 84 +f 65 60 85 +f 60 74 85 +f 79 66 85 +f 74 79 85 +f 84 65 85 +o convex_3 +v 0.618505 -0.768949 -1.228951 +v 2.434095 0.441861 -1.128126 +v 2.972164 0.441742 -1.161773 +v 0.618505 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3.073192 -0.499818 0.688181 +v 1.088954 0.038155 0.620888 +v 3.006031 -0.432524 0.082914 +v 1.122732 0.071802 0.150208 +v 3.106971 0.038155 0.553657 +v 1.088954 -0.432524 0.654534 +v 1.088954 -0.499818 0.116561 +v 2.366807 -0.096307 0.049268 +v 3.073192 -0.365293 0.688181 +v 1.257254 0.071802 0.553657 +v 1.391775 -0.398877 0.688181 +v 2.501526 -0.466171 0.082914 +v 3.006031 -0.298000 0.049268 +v 2.703209 0.139096 0.049268 +v 3.073192 -0.499818 0.587241 +f 163 168 171 +f 156 155 161 +f 154 157 162 +f 158 154 162 +f 157 154 163 +f 154 158 163 +f 158 160 163 +f 163 160 164 +f 157 161 165 +f 161 158 165 +f 160 158 166 +f 161 155 166 +f 158 161 166 +f 162 157 167 +f 158 162 167 +f 157 165 167 +f 165 158 167 +f 156 161 169 +f 161 159 169 +f 163 164 169 +f 164 156 169 +f 159 168 169 +f 168 163 169 +f 155 156 170 +f 164 160 170 +f 156 164 170 +f 166 155 170 +f 160 166 170 +f 161 157 171 +f 159 161 171 +f 157 163 171 +f 168 159 171 +o convex_6 +v 1.223870 1.652720 0.183832 +v 1.189894 2.157109 0.587251 +v 1.189894 2.157109 0.520036 +v 3.106971 2.123466 0.150192 +v 2.972054 1.484503 0.688171 +v 3.039611 1.585499 0.049271 +v 1.223870 1.518212 0.721812 +v 2.972054 2.022536 0.721812 +v 1.088954 2.123466 0.116551 +v 1.088954 1.652720 0.721812 +v 3.106971 2.123466 0.082911 +v 2.703209 1.585499 0.049271 +v 1.088954 1.686364 0.183832 +v 2.770569 2.056179 0.721812 +v 3.006031 1.955314 0.049271 +v 2.938671 1.518212 0.351967 +v 1.088954 2.157109 0.553611 +v 1.257254 1.518212 0.654531 +v 3.073192 2.123466 0.284687 +v 2.972054 1.787295 0.721812 +f 175 179 191 +f 174 173 175 +f 175 176 177 +f 178 179 181 +f 174 175 182 +f 175 177 182 +f 180 174 182 +f 183 172 184 +f 178 181 184 +f 181 180 184 +f 180 183 184 +f 173 181 185 +f 181 179 185 +f 182 177 186 +f 180 182 186 +f 183 180 186 +f 177 183 186 +f 177 176 187 +f 183 177 187 +f 173 174 188 +f 174 180 188 +f 181 173 188 +f 180 181 188 +f 176 178 189 +f 172 183 189 +f 184 172 189 +f 178 184 189 +f 187 176 189 +f 183 187 189 +f 175 173 190 +f 179 175 190 +f 173 185 190 +f 185 179 190 +f 176 175 191 +f 178 176 191 +f 179 178 191 +o convex_7 +v -3.047889 -0.466184 0.217386 +v -1.097231 0.172729 0.217386 +v -1.097231 0.172729 0.116525 +v -1.097231 -0.466184 0.049205 +v -1.097231 -0.466184 0.620891 +v -2.946948 0.105436 0.587231 +v -3.081470 0.038205 0.183786 +v -3.115248 -0.466184 0.654610 +v -1.097231 0.071789 0.620891 +v -3.014110 -0.466184 0.150126 +v -1.837197 -0.096320 0.654610 +v -1.265531 -0.398891 0.049205 +v -2.341306 0.105436 0.150126 +v -3.047889 -0.197135 0.654610 +v -1.904556 0.105436 0.620891 +v -3.047889 -0.264366 0.150126 +v -1.332890 0.172729 0.116525 +v -2.106240 -0.466184 0.654610 +f 202 199 209 +f 194 193 195 +f 192 195 196 +f 195 193 196 +f 198 192 199 +f 192 196 199 +f 196 193 200 +f 195 192 201 +f 196 200 202 +f 194 195 203 +f 195 201 203 +f 198 197 204 +f 197 198 205 +f 198 199 205 +f 199 202 205 +f 205 202 206 +f 193 197 206 +f 200 193 206 +f 202 200 206 +f 197 205 206 +f 192 198 207 +f 201 192 207 +f 203 201 207 +f 198 204 207 +f 204 203 207 +f 193 194 208 +f 197 193 208 +f 194 203 208 +f 204 197 208 +f 203 204 208 +f 199 196 209 +f 196 202 209 +o convex_8 +v -2.879589 1.787258 0.620937 +v -2.610744 2.123463 0.015572 +v -2.610744 2.157103 0.015572 +v -1.097231 2.056182 0.721877 +v -1.097231 1.652763 0.049241 +v -3.047889 1.518202 0.183782 +v -1.097231 1.518202 0.620937 +v -1.097231 2.123463 0.015572 +v -3.047889 2.123463 0.553666 +v -3.115248 2.190743 0.049241 +v -2.778846 1.619123 0.620937 +v -1.400052 1.619123 0.049241 +v -2.576965 2.190743 0.082842 +v -3.115248 2.022542 0.049241 +v -2.913367 2.089822 0.620937 +v -2.980332 1.585483 0.486396 +v -1.097231 1.518202 0.520066 +v -1.400052 2.157103 0.049241 +v -1.467214 1.518202 0.620937 +v -3.014110 1.551842 0.150113 +v -1.097231 1.888047 0.015572 +v -1.232147 1.619123 0.654607 +f 220 228 231 +f 214 213 216 +f 211 212 217 +f 213 214 217 +f 212 211 219 +f 213 210 220 +f 218 213 222 +f 219 218 222 +f 215 218 223 +f 219 211 223 +f 218 219 223 +f 211 221 223 +f 210 213 224 +f 218 210 224 +f 213 218 224 +f 210 218 225 +f 218 215 225 +f 220 210 225 +f 214 216 226 +f 216 215 226 +f 215 221 226 +f 221 214 226 +f 217 212 227 +f 213 217 227 +f 212 219 227 +f 222 213 227 +f 219 222 227 +f 215 216 228 +f 225 215 228 +f 220 225 228 +f 221 215 229 +f 215 223 229 +f 223 221 229 +f 211 217 230 +f 217 214 230 +f 221 211 230 +f 214 221 230 +f 216 213 231 +f 213 220 231 +f 228 216 231 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf new file mode 100644 index 000000000..0253d963d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj new file mode 100644 index 000000000..8ba4a63d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj @@ -0,0 +1,477 @@ +o convex_0 +v -1.072069 -0.115330 -0.443390 +v 0.999129 0.707589 1.079496 +v 1.060072 0.768442 1.079284 +v -0.980655 3.843857 1.018530 +v 0.938187 3.813430 -1.083113 +v 1.029601 -0.876928 -1.052629 +v -1.041597 -0.876928 1.079284 +v -1.041597 3.905178 -1.052418 +v 1.029601 3.752577 1.049013 +v -1.011126 -0.876928 -1.052418 +v 1.060072 -0.876928 1.079284 +v -0.127674 0.524562 -1.083113 +v -0.706416 3.752577 1.049013 +v 0.907716 3.843857 -1.022146 +v 0.999129 1.285692 -1.083113 +v -1.072069 -0.846034 0.256875 +v -1.011126 2.229381 1.049013 +v 1.029601 3.752577 0.835631 +v 1.060072 -0.389169 0.256875 +v 0.816303 3.783004 1.049013 +v -0.828300 3.905178 -0.747798 +v 0.207090 3.843857 -1.083113 +v -1.041597 -0.876928 -0.900214 +v -1.041597 3.874283 -0.839248 +v 0.968658 3.813430 -0.687044 +v -1.041597 -0.297889 1.079284 +v 1.029601 -0.389169 -1.052418 +v 1.060072 1.468719 1.018530 +v -1.011126 3.813430 0.317841 +v -0.980655 3.447844 1.049013 +v -1.072069 -0.876928 -0.382424 +v 0.999129 0.798868 -1.083113 +v -1.041597 2.412408 -1.052418 +v 1.060072 -0.876928 0.165425 +v -1.072069 0.311109 -0.412907 +v 0.968658 3.783004 0.896597 +v -0.036261 3.813430 1.049013 +v -0.615003 3.905178 -0.991663 +v 0.968658 2.930126 -1.083113 +v -0.980655 3.905178 -0.595383 +f 37 21 40 +f 6 7 10 +f 3 2 11 +f 7 6 11 +f 2 7 11 +f 6 10 12 +f 12 5 15 +f 3 11 19 +f 3 9 20 +f 5 12 22 +f 12 8 22 +f 8 14 22 +f 14 5 22 +f 10 7 23 +f 4 8 24 +f 5 14 25 +f 9 18 25 +f 18 15 25 +f 2 3 26 +f 7 2 26 +f 3 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92 102 +f 100 97 102 +f 88 93 103 +f 93 101 103 +f 101 96 103 +f 95 88 104 +f 96 95 104 +f 88 103 104 +f 103 96 104 +f 97 90 105 +f 95 97 105 +f 99 95 105 +f 99 105 106 +f 90 98 106 +f 98 94 106 +f 94 99 106 +f 105 90 106 +f 93 88 107 +f 88 99 107 +f 99 94 107 +f 94 101 107 +f 101 93 107 +f 92 96 108 +f 91 100 108 +f 101 91 108 +f 96 101 108 +f 102 92 108 +f 100 102 108 +f 91 94 109 +f 94 98 109 +f 98 97 109 +f 100 91 109 +o convex_4 +v -2.990887 -1.547032 -0.017053 +v -1.072078 -0.876928 -0.138833 +v -1.072078 -0.876928 -0.260677 +v -3.051692 -0.907495 -0.321598 +v -2.960386 -0.968366 0.287555 +v -1.072078 -1.516466 0.226633 +v -1.072078 -1.486096 -0.352090 +v -1.072078 -0.998867 0.287555 +v -3.082390 -1.516466 -0.260677 +v -2.869079 -1.547032 0.226633 +v -1.133080 -1.211980 0.287555 +v -1.072078 -1.516466 -0.321598 +v -3.051692 -1.151109 -0.321598 +v -1.742313 -1.547032 0.165712 +v -2.320848 -0.907495 -0.321598 +v -1.650810 -0.876928 -0.108404 +v -2.625268 -0.937865 0.196141 +v -2.930081 -1.516466 0.226633 +v -2.899384 -1.059803 0.287555 +v -1.590201 -0.876928 -0.291169 +v -3.082390 -1.516466 -0.199755 +v -3.051692 -0.907495 -0.260677 +v -1.072078 -1.425094 -0.352090 +v -1.255084 -1.486096 -0.352090 +v -2.047126 -1.547032 -0.047482 +f 121 123 134 +f 112 111 115 +f 112 115 116 +f 115 111 117 +f 117 114 120 +f 115 117 120 +f 119 115 120 +f 116 115 121 +f 118 113 122 +f 119 110 123 +f 115 119 123 +f 121 115 123 +f 111 112 125 +f 117 111 126 +f 114 117 126 +f 111 125 126 +f 110 119 127 +f 127 119 128 +f 120 114 128 +f 119 120 128 +f 114 127 128 +f 124 113 129 +f 125 112 129 +f 113 125 129 +f 118 110 130 +f 113 118 130 +f 110 127 130 +f 127 114 130 +f 125 113 131 +f 114 126 131 +f 126 125 131 +f 113 130 131 +f 130 114 131 +f 112 116 132 +f 113 124 132 +f 129 112 132 +f 124 129 132 +f 116 121 133 +f 121 118 133 +f 122 113 133 +f 118 122 133 +f 132 116 133 +f 113 132 133 +f 110 118 134 +f 118 121 134 +f 123 110 134 +o convex_5 +v -0.493322 -2.308493 1.018357 +v -1.011111 -2.216909 -1.052445 +v -0.188490 -2.338974 -0.230092 +v 1.060048 -0.877209 1.079287 +v -1.041383 -0.877209 1.079287 +v 1.029565 -0.877209 -1.052445 +v 1.060048 -2.186572 -1.052445 +v -1.011111 -0.877209 -1.052445 +v 1.090531 -2.216909 1.079287 +v -1.041383 -2.308493 1.079287 +v -1.072078 -1.120621 -0.382418 +v 1.090531 -0.938026 -0.351953 +v 0.267910 -2.338974 -0.077766 +v -1.041383 -2.277870 -0.077766 +v -1.072078 -0.877209 0.256934 +v 0.206944 -2.338974 0.287400 +v 0.420325 -2.216909 -1.052445 +v -1.072078 -1.516722 -0.321488 +v 1.090531 -1.608019 1.079287 +v 1.090531 -2.216909 0.713704 +v -1.041383 -0.877209 -0.900119 +v 0.267910 -2.338974 -0.199627 +v 1.090531 -0.907546 0.226469 +v -1.041383 -1.881913 -0.839188 +v -1.072078 -1.181582 0.378795 +v -1.041383 -2.308493 0.622309 +v 1.090531 -1.486241 -0.199627 +v -1.011111 -2.247533 -0.778258 +v -0.310423 -2.338974 0.196004 +v 1.060048 -2.216909 0.165539 +v 0.907632 -2.247390 0.896496 +f 156 154 165 +f 139 138 140 +f 136 140 141 +f 140 136 142 +f 139 140 142 +f 138 139 143 +f 135 143 144 +f 143 139 144 +f 141 140 146 +f 139 142 149 +f 135 144 150 +f 137 147 150 +f 137 136 151 +f 136 141 151 +f 149 145 152 +f 138 143 153 +f 143 146 153 +f 146 143 154 +f 142 136 155 +f 149 142 155 +f 145 149 155 +f 147 137 156 +f 137 151 156 +f 151 141 156 +f 140 138 157 +f 146 140 157 +f 138 153 157 +f 153 146 157 +f 136 148 158 +f 152 145 158 +f 148 152 158 +f 155 136 158 +f 145 155 158 +f 144 139 159 +f 139 149 159 +f 152 144 159 +f 149 152 159 +f 148 137 160 +f 152 148 160 +f 144 152 160 +f 141 146 161 +f 154 141 161 +f 146 154 161 +f 136 137 162 +f 137 148 162 +f 148 136 162 +f 150 144 163 +f 137 150 163 +f 160 137 163 +f 144 160 163 +f 141 154 164 +f 156 141 164 +f 154 156 164 +f 143 135 165 +f 135 150 165 +f 150 147 165 +f 154 143 165 +f 147 156 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf new file mode 100644 index 000000000..ea0c448c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj new file mode 100644 index 000000000..9c891ece4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj @@ -0,0 +1,720 @@ +o convex_0 +v 0.486179 2.592039 -2.315193 +v -0.598675 0.747572 -1.338881 +v -0.598675 0.747572 -1.266604 +v -0.598675 3.460367 -1.266604 +v 0.558458 2.628153 -1.194100 +v -0.490258 0.747572 -2.279054 +v 0.558458 0.747572 -1.628218 +v -0.526510 3.423987 -2.242916 +v 0.558458 3.387608 -2.279168 +v 0.558458 0.747572 -2.279168 +v 0.558458 3.315380 -1.194100 +v 0.486179 0.747572 -1.230352 +v -0.056361 0.747572 -2.351445 +v -0.562650 3.460367 -2.170525 +v -0.454119 0.892294 -1.230465 +v -0.526510 2.845102 -1.230465 +v 0.341509 1.796736 -2.351445 +v 0.413901 3.423987 -2.279168 +v 0.160587 3.351759 -1.194100 +v 0.522319 1.652014 -1.194100 +v -0.598675 3.460367 -1.700608 +v 0.522319 3.351494 -1.230352 +v -0.526510 1.688128 -2.242916 +v 0.269118 0.747572 -2.351445 +v 0.450040 2.845367 -2.315193 +v 0.522319 1.037281 -1.230352 +v -0.490258 1.833115 -2.279054 +v 0.341509 3.423987 -1.989718 +v -0.454119 3.423987 -1.230465 +v -0.417866 0.747572 -1.230465 +v 0.269118 1.760622 -2.351445 +v -0.381727 3.460367 -2.242916 +f 18 8 32 +f 2 3 4 +f 3 2 6 +f 3 6 7 +f 5 7 9 +f 7 6 10 +f 1 9 10 +f 9 7 10 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b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj new file mode 100644 index 000000000..219303784 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj @@ -0,0 +1,570 @@ +o convex_0 +v 1.078425 3.249190 0.721350 +v -1.101646 1.034535 0.932566 +v -1.066436 1.034535 -0.157315 +v -1.066436 3.671091 0.229214 +v 1.043215 1.034535 -1.071673 +v -1.031225 3.635780 -1.071673 +v 0.972793 3.706402 -1.036190 +v 0.972793 1.034535 0.967628 +v -1.066436 3.671091 1.037964 +v -1.031225 1.034535 -1.071673 +v 1.043215 3.670829 1.002691 +v 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126 120 133 +f 131 126 133 +f 131 133 134 +f 117 121 134 +f 123 127 134 +f 127 117 134 +f 121 131 134 +f 133 123 134 +f 116 124 135 +f 124 117 135 +f 125 116 135 +f 117 127 135 +f 127 125 135 +f 130 124 136 +f 124 132 136 +o convex_4 +v -0.292869 0.506692 2.831276 +v 0.304851 0.998808 2.971981 +v -0.152136 1.033994 3.042333 +v -0.327986 0.963621 1.073236 +v 0.199302 0.471567 1.073236 +v 0.234485 0.998808 1.073236 +v -0.363235 0.401132 1.073236 +v 0.199302 0.471567 2.936708 +v -0.292869 1.033994 3.042333 +v -0.187320 0.471567 2.971981 +v -0.011666 1.033994 1.846920 +v -0.363235 0.577003 1.354839 +v 0.304851 0.928497 2.901628 +v -0.222503 0.998808 1.143589 +v 0.129001 0.471567 2.971981 +v -0.257620 0.541879 3.007060 +v -0.292869 0.401132 1.178861 +v 0.234485 0.612190 1.460078 +v 0.234485 0.822999 1.073236 +f 154 141 155 +f 141 140 142 +f 140 141 143 +f 137 143 146 +f 139 138 147 +f 138 142 147 +f 145 139 147 +f 143 137 148 +f 140 143 148 +f 145 140 148 +f 137 145 148 +f 142 138 149 +f 138 144 149 +f 142 140 150 +f 140 145 150 +f 147 142 150 +f 145 147 150 +f 138 139 151 +f 144 138 151 +f 146 151 152 +f 139 145 152 +f 145 137 152 +f 137 146 152 +f 151 139 152 +f 143 141 153 +f 141 144 153 +f 146 143 153 +f 144 151 153 +f 151 146 153 +f 144 141 154 +f 149 144 154 +f 149 154 155 +f 141 142 155 +f 142 149 155 +o convex_5 +v -0.222468 0.401132 -3.005497 +v 0.339952 0.928562 -1.071673 +v 0.304824 0.963728 -1.071673 +v 0.304824 0.998894 -2.935144 +v -0.292848 0.998894 -1.071673 +v 0.199316 0.436298 -1.071673 +v 0.339952 0.471464 -3.040769 +v -0.187340 0.928562 -3.040769 +v -0.222468 0.436298 -1.071673 +v -0.257658 0.401132 -2.900064 +v -0.222468 0.963728 -2.829712 +v 0.058680 0.401132 -1.071673 +v 0.269634 0.436298 -1.810277 +v -0.011514 0.401132 -3.005497 +v 0.339952 0.858172 -2.970417 +v -0.292848 0.752733 -1.739924 +v 0.058680 0.998894 -1.071673 +v -0.292848 0.998894 -1.493787 +v -0.187340 0.401132 -1.071673 +v 0.339952 0.858172 -1.142025 +v -0.257658 0.998894 -1.950789 +v 0.234506 0.471464 -1.106945 +v -0.292848 0.823065 -1.177298 +v 0.339952 0.471464 -2.794440 +f 175 168 179 +f 158 157 159 +f 157 158 160 +f 157 160 161 +f 162 156 163 +f 161 160 164 +f 163 156 165 +f 159 163 166 +f 163 165 166 +f 161 164 167 +f 165 156 167 +f 161 167 168 +f 168 167 169 +f 156 162 169 +f 167 156 169 +f 162 168 169 +f 159 157 170 +f 157 162 170 +f 163 159 170 +f 162 163 170 +f 158 159 172 +f 159 160 172 +f 160 158 172 +f 160 159 173 +f 166 165 173 +f 171 160 173 +f 165 171 173 +f 164 165 174 +f 167 164 174 +f 165 167 174 +f 162 157 175 +f 159 166 176 +f 173 159 176 +f 166 173 176 +f 157 161 177 +f 161 168 177 +f 175 157 177 +f 168 175 177 +f 164 160 178 +f 165 164 178 +f 160 171 178 +f 171 165 178 +f 168 162 179 +f 162 175 179 +o convex_6 +v 0.234224 0.858158 1.073236 +v -1.031225 0.365970 -1.071673 +v -1.066222 0.365970 -0.227650 +v 1.078425 0.365970 -0.262713 +v 1.043215 1.033991 -1.071673 +v -1.031225 1.033991 -1.071673 +v -1.101646 1.033991 1.073236 +v -1.101646 0.365970 1.073236 +v 0.972793 1.033991 0.967418 +v 0.937583 0.365970 0.967418 +v 1.078425 0.365970 -1.071673 +v 1.078425 1.033991 -0.051707 +v 0.199226 0.471574 1.073236 +v 0.972793 0.541868 0.967418 +v 0.234224 0.998811 1.073236 +v 1.078425 1.033991 -0.895730 +v -1.101646 0.998811 0.897293 +v 0.339856 0.365970 1.037964 +f 189 192 197 +f 182 181 183 +f 184 181 185 +f 181 182 185 +f 184 185 186 +f 182 183 187 +f 180 186 187 +f 184 186 188 +f 187 183 189 +f 183 181 190 +f 181 184 190 +f 184 188 191 +f 183 190 191 +f 180 187 192 +f 192 189 193 +f 188 180 193 +f 189 183 193 +f 183 191 193 +f 191 188 193 +f 180 192 193 +f 186 180 194 +f 180 188 194 +f 188 186 194 +f 190 184 195 +f 184 191 195 +f 191 190 195 +f 185 182 196 +f 186 185 196 +f 182 187 196 +f 187 186 196 +f 187 189 197 +f 192 187 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf new file mode 100644 index 000000000..3b4834c3e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj new file mode 100644 index 000000000..630ea1ad1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj @@ -0,0 +1,684 @@ +o convex_0 +v -1.770283 -1.322690 -0.938955 +v 0.315029 -1.608932 1.064395 +v 0.315029 -1.813414 1.064395 +v 0.274026 -1.813414 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@@ -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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj new file mode 100644 index 000000000..5026ba143 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj @@ -0,0 +1,771 @@ +o convex_0 +v -0.285969 -1.194689 -3.487655 +v 0.347685 -0.525811 -1.481021 +v 0.347685 -0.596326 -1.481021 +v -0.321193 -0.701935 -1.481021 +v -0.039461 -0.631551 -3.487655 +v 0.242010 -1.088949 -1.481021 +v 0.312460 -1.088949 -3.487655 +v -0.215454 -1.088949 -1.586695 +v -0.285969 -0.631551 -3.135473 +v 0.206851 -0.631551 -3.381784 +v -0.321193 -0.596326 -1.481021 +v -0.180294 -1.194689 -3.100117 +v -0.285969 -0.842769 -3.487655 +v 0.312460 -0.983406 -3.487655 +v 0.312460 -1.088949 -2.924320 +v 0.242010 -0.525811 -1.551536 +v -0.285969 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b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj new file mode 100644 index 000000000..e4429fbe2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj @@ -0,0 +1,693 @@ +o convex_0 +v -3.079420 -3.118216 0.427857 +v -1.090849 -1.976688 0.869932 +v -1.090849 -2.234527 0.869932 +v -1.090849 -2.124124 -0.271711 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj new file mode 100644 index 000000000..3a1d03c22 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj @@ -0,0 +1,453 @@ +o convex_0 +v -1.106732 -2.441705 1.862591 +v 1.111102 -0.822550 2.532068 +v 1.111102 -0.928265 2.532068 +v 1.075716 -0.259677 -3.030014 +v -1.071346 -0.365175 2.918969 +v -1.071346 -2.406322 -2.959072 +v 1.075716 -2.371156 -2.501825 +v -1.036176 -0.294843 -2.994245 +v 0.970208 -2.335990 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0.972854 -0.319250 +v 1.075898 0.444817 -0.248814 +v 2.695208 0.937561 0.279058 +v 1.075898 0.409647 0.279058 +v 1.075898 0.972854 -0.178445 +v 2.976818 0.937561 0.067883 +v 2.941642 0.656019 -0.284032 +v 3.117723 0.339185 0.208688 +f 103 97 111 +f 94 92 96 +f 93 92 97 +f 91 95 98 +f 92 94 99 +f 97 92 99 +f 91 98 100 +f 94 100 101 +f 100 96 102 +f 93 97 103 +f 102 93 103 +f 97 99 104 +f 92 93 105 +f 96 92 105 +f 93 102 105 +f 102 96 105 +f 100 98 106 +f 101 100 106 +f 94 96 107 +f 100 94 107 +f 96 100 107 +f 99 94 108 +f 94 101 108 +f 98 104 108 +f 104 99 108 +f 106 98 108 +f 101 106 108 +f 98 95 109 +f 95 104 109 +f 104 98 109 +f 95 97 110 +f 104 95 110 +f 97 104 110 +f 95 91 111 +f 97 95 111 +f 91 100 111 +f 100 102 111 +f 102 103 111 +o convex_3 +v -3.007452 0.550490 -0.213649 +v -2.549957 1.007993 0.208636 +v -1.071732 0.444903 0.314289 +v -1.071732 0.867188 -0.284018 +v -1.071732 0.374468 -0.248801 +v -2.937024 0.374468 0.208636 +v -3.042956 0.867188 -0.354454 +v -1.071732 0.867188 0.208636 +v -2.972334 0.902340 0.208636 +v -2.972334 0.480055 -0.284018 +v -1.423874 0.339315 0.314289 +v -2.972334 1.007993 0.067896 +v -2.444218 0.796752 -0.354454 +v -1.071732 0.339315 -0.002539 +v -2.937024 0.374468 0.103049 +v -3.042956 0.726382 -0.354454 +v -2.268243 0.339315 0.208636 +v -1.071732 0.339315 0.314289 +v -1.071732 0.796752 0.243854 +f 119 113 130 +f 115 114 116 +f 114 115 119 +f 115 113 119 +f 114 113 120 +f 114 120 122 +f 120 117 122 +f 113 115 123 +f 115 118 123 +f 120 113 123 +f 118 120 123 +f 115 116 124 +f 118 115 124 +f 116 114 125 +f 117 112 126 +f 121 116 126 +f 112 121 126 +f 112 117 127 +f 117 120 127 +f 120 118 127 +f 116 121 127 +f 121 112 127 +f 124 116 127 +f 118 124 127 +f 122 117 128 +f 116 125 128 +f 125 122 128 +f 117 126 128 +f 126 116 128 +f 114 122 129 +f 125 114 129 +f 122 125 129 +f 113 114 130 +f 114 119 130 +o convex_4 +v 1.075805 1.008031 0.419746 +v -1.071539 -0.012689 -0.988189 +v -1.071539 -0.224078 -0.952833 +v -1.000913 1.043262 0.947721 +v 0.934975 -0.224078 0.983077 +v 0.934975 1.043262 -0.952833 +v 1.040492 -0.224078 -0.917478 +v -1.000913 -0.224078 0.947721 +v -1.000913 1.043262 -0.988189 +v 0.970077 1.043262 1.018432 +v 1.075805 -0.224078 0.595737 +v -1.071539 1.043262 0.490260 +v 1.040492 1.043262 -0.847160 +v 1.075805 -0.188846 -0.776645 +v -1.071539 0.128113 0.454905 +v -0.613736 0.409592 0.983077 +v -1.071539 1.043262 -0.318988 +v 0.406967 -0.224078 -0.952833 +v -0.121041 1.008031 -0.988189 +v -0.789668 1.043262 0.983077 +v 1.075805 0.972799 -0.389502 +v -1.071539 -0.224078 -0.002360 +v -1.036226 1.008031 -0.988189 +v 0.582900 1.008031 1.018432 +v 0.794145 0.198576 -0.952833 +v 1.040492 0.867229 -0.917478 +f 151 144 156 +f 135 133 137 +f 133 135 138 +f 134 136 139 +f 136 134 140 +f 135 137 141 +f 131 140 141 +f 140 135 141 +f 132 133 142 +f 138 134 142 +f 134 139 142 +f 140 131 143 +f 136 140 143 +f 131 141 144 +f 141 137 144 +f 142 133 145 +f 138 142 145 +f 138 135 146 +f 132 142 147 +f 142 139 147 +f 133 132 148 +f 137 133 148 +f 132 139 149 +f 139 136 149 +f 148 132 149 +f 134 138 150 +f 140 134 150 +f 138 146 150 +f 143 131 151 +f 131 144 151 +f 133 138 152 +f 145 133 152 +f 138 145 152 +f 139 132 153 +f 132 147 153 +f 147 139 153 +f 135 140 154 +f 146 135 154 +f 140 150 154 +f 150 146 154 +f 136 137 155 +f 137 148 155 +f 149 136 155 +f 148 149 155 +f 137 136 156 +f 136 143 156 +f 144 137 156 +f 143 151 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf new file mode 100644 index 000000000..91fcb290f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj new file mode 100644 index 000000000..7c7e8d37f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj @@ -0,0 +1,543 @@ +o convex_0 +v 1.080478 -1.247167 0.265025 +v -1.064668 -2.015735 -0.118989 +v -1.064668 -2.015735 -0.023038 +v -0.328062 2.370316 0.200778 +v 0.984308 2.049997 -1.015304 +v 1.016435 1.954049 1.033475 +v -0.968498 -2.655880 0.969437 +v 1.048352 -2.655880 -1.015514 +v -1.064668 1.954049 -1.047638 +v -0.936371 1.953557 0.969227 +v 0.984308 -2.655880 1.097302 +v -1.000625 -2.655880 -0.951477 +v 0.280038 2.370316 -0.343016 +v 1.016435 1.857609 -0.983390 +v 1.080478 -2.655880 0.489051 +v -1.000625 -2.559932 -0.983390 +v 0.311955 2.370316 0.264815 +v -0.199974 -0.350177 1.033475 +v 0.568129 1.986032 1.033265 +v -1.064668 1.025077 -1.047638 +v 1.080478 -2.559932 -0.663203 +v -1.064668 1.954049 -0.759364 +v -1.000625 -2.655880 0.905190 +v -0.232101 1.986032 -1.047428 +v -0.296145 2.370316 -0.278978 +v -1.032542 -2.623897 -0.663413 +v 0.247911 -2.655880 1.065389 +v 0.536003 -2.655880 -1.015514 +v 1.080478 -1.311133 -0.438967 +v -0.648280 1.057059 1.001141 +v 0.984308 2.017523 0.680954 +v -0.968498 1.089042 0.744991 +v 1.080478 -1.247167 0.553089 +v 0.920264 -2.432001 1.097302 +v -1.032542 -2.655880 0.489051 +v -1.064668 -1.791364 -0.438967 +v -0.008053 2.370316 0.264815 +v 1.048352 -1.471538 -1.015514 +v 0.984308 0.352457 1.065389 +v 0.984308 1.986032 1.033265 +v -0.968498 -0.319179 0.969227 +v -0.424232 1.986032 -1.047428 +v -1.032542 -1.631451 0.360767 +v -1.064668 1.889592 -0.727240 +v 1.016435 -2.079700 0.937314 +v -1.032542 -1.247167 -0.983390 +v -0.360188 1.921575 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-2.185055 -3.328731 0.072949 +v -2.088988 -2.752498 0.265061 +v -3.049457 -2.720524 0.104935 +v -2.921301 -2.720524 -0.279224 +v -1.449209 -3.296638 0.297047 +v -3.017368 -2.816563 0.329098 +v -1.513187 -2.944575 -0.279224 +v -1.032651 -3.296638 0.040897 +v -1.833277 -3.296638 0.297047 +f 138 147 150 +f 131 132 133 +f 130 134 136 +f 132 131 137 +f 134 130 138 +f 130 135 138 +f 130 136 139 +f 136 134 140 +f 131 133 141 +f 134 131 141 +f 131 134 142 +f 137 131 142 +f 135 130 143 +f 130 139 143 +f 143 139 144 +f 133 132 144 +f 135 143 144 +f 139 136 145 +f 136 140 145 +f 141 133 145 +f 144 139 145 +f 133 144 145 +f 137 142 146 +f 132 137 147 +f 138 135 147 +f 144 132 147 +f 135 144 147 +f 140 134 148 +f 134 141 148 +f 145 140 148 +f 141 145 148 +f 134 138 149 +f 142 134 149 +f 138 146 149 +f 146 142 149 +f 137 146 150 +f 146 138 150 +f 147 137 150 +o convex_5 +v 0.824186 -2.720663 1.097302 +v 0.440077 -4.000865 -1.015414 +v 0.440077 -3.776855 -1.015414 +v -1.000384 -2.752664 0.937236 +v 0.952223 -4.096869 1.097302 +v 1.048405 -2.656516 -1.015414 +v -0.968530 -4.128870 -0.951511 +v -1.000384 -2.656372 -0.951511 +v -1.000384 -4.064867 0.937236 +v 1.048405 -3.968863 -1.015414 +v 1.080466 -2.656516 0.489090 +v -0.968530 -2.656372 0.969290 +v 0.984284 -2.656516 1.097302 +v -1.032651 -3.328834 -0.471104 +v 0.279980 -4.096869 1.065248 +v 0.984284 -4.096869 1.001138 +v 1.080466 -3.712852 -0.791237 +v -1.032651 -2.656372 0.520938 +v -0.200105 -4.128870 -0.215080 +v -1.000384 -4.096869 0.681212 +v 0.856247 -4.000865 -1.015414 +v 1.080466 -3.136682 0.489090 +v -0.936469 -4.064867 0.969290 +v -1.032651 -3.584702 0.649157 +v 1.080466 -2.656516 -0.663225 +v 0.503992 -2.656516 -1.015414 +v 0.664089 -3.232830 1.097302 +v -1.032651 -2.656372 -0.631171 +v -1.000384 -3.840858 -0.791237 +v -0.744311 -4.128870 -0.951511 +v -0.968530 -4.128870 -0.375146 +v 1.048405 -4.001009 -0.439049 +v 0.984284 -4.096869 0.905181 +v 0.984284 -3.680706 1.097302 +v 0.247919 -2.656516 1.065248 +v -1.000384 -4.096869 0.136902 +v -0.232165 -4.128870 -0.086861 +f 170 181 187 +f 152 153 156 +f 153 152 158 +f 152 157 158 +f 152 156 160 +f 154 159 162 +f 161 162 163 +f 151 155 163 +f 160 156 167 +f 154 162 168 +f 162 158 168 +f 157 152 171 +f 152 160 171 +f 161 163 172 +f 167 161 172 +f 162 159 173 +f 159 170 173 +f 170 165 173 +f 159 154 174 +f 154 168 174 +f 168 164 174 +f 170 159 174 +f 156 158 175 +f 158 162 175 +f 162 161 175 +f 167 156 175 +f 161 167 175 +f 156 153 176 +f 153 158 176 +f 158 156 176 +f 155 151 177 +f 165 155 177 +f 162 173 177 +f 173 165 177 +f 168 158 178 +f 164 168 178 +f 158 157 179 +f 178 158 179 +f 164 178 179 +f 169 157 180 +f 157 171 180 +f 171 169 180 +f 157 169 181 +f 170 157 181 +f 160 167 182 +f 172 166 182 +f 167 172 182 +f 166 169 183 +f 171 160 183 +f 169 171 183 +f 160 182 183 +f 182 166 183 +f 163 155 184 +f 155 166 184 +f 172 163 184 +f 166 172 184 +f 163 162 185 +f 151 163 185 +f 177 151 185 +f 162 177 185 +f 157 170 186 +f 174 164 186 +f 170 174 186 +f 179 157 186 +f 164 179 186 +f 155 165 187 +f 166 155 187 +f 169 166 187 +f 165 170 187 +f 181 169 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf new file mode 100644 index 000000000..7ffdc3daa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj new file mode 100644 index 000000000..347011dfc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj @@ -0,0 +1,303 @@ +o convex_0 +v -0.993267 -0.475008 3.009952 +v 0.367634 0.990809 1.125913 +v 0.367634 0.990809 1.090670 +v 1.065771 -1.103274 1.090670 +v 0.960924 0.920705 3.079659 +v -1.028216 0.990809 1.090670 +v -1.028216 -1.103274 1.090670 +v 0.995873 -1.068018 3.009952 +v -1.098115 0.920910 3.044806 +v 1.065771 0.955757 1.090670 +v -1.028216 -0.998529 2.975099 +v 0.995873 0.955757 2.661027 +v 0.297948 -1.103274 2.346956 +v -0.923369 0.886064 3.079659 +v -1.098115 0.955757 2.835490 +v -1.063166 -0.614600 1.405131 +v 0.995873 -0.579549 3.044806 +v 1.065771 0.955757 1.509691 +v -1.063166 -0.754192 2.975099 +v -0.993267 0.990809 1.893665 +v 0.402372 -1.068223 3.009952 +v -1.028216 -1.103274 1.405131 +v 0.995873 0.920705 2.975099 +v 0.960924 0.257593 3.079659 +v -1.098115 0.467288 2.556272 +v 1.030822 -1.103274 2.137445 +v -1.098115 0.432236 3.044806 +v 0.158363 -0.335417 3.044806 +v -0.923369 -1.033171 2.626173 +v -1.063166 0.886064 1.823763 +f 16 25 30 +f 2 3 6 +f 3 4 6 +f 6 4 7 +f 3 2 10 +f 4 3 10 +f 7 4 13 +f 5 9 14 +f 9 5 15 +f 5 12 15 +f 6 7 16 +f 10 2 18 +f 4 10 18 +f 2 12 18 +f 17 8 18 +f 16 7 19 +f 2 6 20 +f 12 2 20 +f 6 15 20 +f 15 12 20 +f 1 11 21 +f 13 8 21 +f 8 17 21 +f 7 13 22 +f 19 7 22 +f 11 19 22 +f 13 21 22 +f 12 5 23 +f 5 17 23 +f 18 12 23 +f 17 18 23 +f 5 14 24 +f 17 5 24 +f 9 15 25 +f 16 19 25 +f 13 4 26 +f 8 13 26 +f 4 18 26 +f 18 8 26 +f 11 1 27 +f 1 14 27 +f 14 9 27 +f 19 11 27 +f 9 25 27 +f 25 19 27 +f 14 1 28 +f 1 21 28 +f 21 17 28 +f 24 14 28 +f 17 24 28 +f 21 11 29 +f 11 22 29 +f 22 21 29 +f 15 6 30 +f 6 16 30 +f 25 15 30 +o convex_1 +v -1.098115 -0.125872 -1.980858 +v 1.030870 1.025710 -1.108118 +v 1.030870 0.851067 -1.108118 +v 1.030870 0.013515 -2.957892 +v 0.960849 -0.998475 -1.108118 +v -1.098115 1.025710 -1.108118 +v -1.028093 0.990659 -2.922946 +v -1.063104 -1.068373 -2.922946 +v -0.993291 -0.998475 -1.108118 +v 0.995859 -1.033321 -2.957892 +v 1.030870 0.990659 -2.922765 +v -1.063104 -0.684444 -1.143245 +v -0.469797 -1.068373 -2.399302 +v -1.063104 1.025710 -2.050206 +v -1.063104 0.816220 -2.922946 +v 0.088498 -0.963628 -2.957892 +v 0.995859 -0.544647 -1.108118 +v 1.030870 1.025710 -2.050387 +v 0.472366 -1.033321 -1.492341 +v -1.063104 -1.033321 -1.806310 +v 0.995859 -1.033321 -2.538904 +v -1.098115 1.025710 -1.562051 +v -0.155535 -1.068373 -2.922765 +v -1.098115 0.362393 -1.108118 +v 1.030870 -0.056178 -2.887819 +v -0.993291 -1.068373 -2.469194 +v 0.926046 -1.033321 -2.189989 +v -1.063104 0.990659 -2.853054 +v -1.028093 -0.963628 -1.108118 +f 54 42 59 +f 32 33 34 +f 33 32 35 +f 35 32 36 +f 35 36 39 +f 32 34 41 +f 34 37 41 +f 36 32 44 +f 38 31 45 +f 37 34 46 +f 34 40 46 +f 40 38 46 +f 45 37 46 +f 38 45 46 +f 33 35 47 +f 32 41 48 +f 41 37 48 +f 44 32 48 +f 37 44 48 +f 35 39 49 +f 31 38 50 +f 42 31 50 +f 47 35 51 +f 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2.561153 -1.038168 +v 1.065771 1.828197 1.090670 +v -0.958318 -2.987430 -0.828750 +v -0.399978 -3.057178 1.020720 +v 1.065771 -1.974880 0.985853 +v 0.925974 -2.987430 -0.968434 +v 0.995873 -2.951955 -0.619331 +v -0.749046 -3.092654 0.671832 +v -1.063166 3.049991 -0.933567 +v -1.098115 1.024891 -1.108118 +v 0.925974 -2.951955 1.055587 +v -1.098115 -3.092654 0.881251 +v 1.030822 3.049390 -0.200494 +v -0.714097 -2.952556 -1.038168 +v -1.063166 -0.649064 -1.108118 +v -0.016172 -2.987430 -0.968434 +v -1.098115 3.049991 0.148178 +v 0.681754 -2.951955 1.055587 +v 0.960924 -2.987430 -0.514729 +v -0.504614 -3.057178 1.020720 +v 1.030822 1.025492 -1.108118 +v -1.028216 -3.092654 0.671832 +v -0.888631 -2.219600 -1.073035 +v -0.818733 -3.092654 0.985853 +v 0.472270 -3.022305 -0.479862 +v 1.030822 -2.952556 0.741567 +f 102 97 104 +f 62 61 63 +f 61 62 66 +f 63 61 67 +f 61 66 70 +f 65 62 72 +f 62 65 74 +f 66 62 74 +f 69 73 75 +f 73 72 75 +f 72 73 76 +f 72 62 79 +f 70 66 80 +f 66 78 80 +f 78 67 80 +f 76 64 81 +f 66 71 83 +f 77 75 83 +f 75 78 83 +f 78 66 83 +f 73 69 84 +f 69 75 85 +f 75 77 85 +f 84 69 85 +f 62 63 87 +f 63 68 87 +f 68 63 88 +f 75 72 88 +f 79 68 88 +f 72 79 88 +f 71 66 89 +f 66 74 89 +f 65 72 90 +f 76 81 90 +f 86 65 90 +f 67 61 91 +f 61 70 91 +f 70 80 91 +f 80 67 91 +f 84 64 92 +f 73 84 92 +f 72 76 93 +f 90 72 93 +f 76 90 93 +f 81 64 94 +f 64 84 94 +f 79 62 95 +f 68 79 95 +f 62 87 95 +f 87 68 95 +f 89 74 96 +f 82 89 96 +f 85 77 97 +f 84 85 97 +f 74 65 98 +f 65 82 98 +f 96 74 98 +f 82 96 98 +f 63 67 99 +f 78 75 99 +f 67 78 99 +f 88 63 99 +f 75 88 99 +f 90 81 100 +f 86 90 100 +f 81 94 100 +f 64 76 101 +f 76 73 101 +f 92 64 101 +f 73 92 101 +f 82 65 102 +f 65 86 102 +f 86 60 102 +f 89 82 102 +f 60 97 102 +f 60 86 103 +f 94 84 103 +f 97 60 103 +f 84 97 103 +f 86 100 103 +f 100 94 103 +f 83 71 104 +f 77 83 104 +f 71 89 104 +f 97 77 104 +f 89 102 104 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf new file mode 100644 index 000000000..7022c1ce4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj new file mode 100644 index 000000000..3332ccb54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj @@ -0,0 +1,438 @@ +o convex_0 +v -0.751903 -3.588109 -0.789299 +v -1.001177 0.865951 1.079425 +v -1.592991 0.865951 1.079425 +v 0.213395 0.865951 -1.007204 +v 0.369191 -3.556498 1.017106 +v -1.655309 0.865951 -0.945098 +v -1.530672 -3.463422 1.048052 +v 0.493615 -3.432250 -1.100896 +v 0.431510 0.865511 0.923627 +v -1.592991 -3.619281 -0.976257 +v 0.431510 0.865511 -1.007204 +v -1.686468 0.585404 0.487605 +v 0.493615 0.523060 0.674350 +v 0.275713 0.865951 1.017106 +v -1.655309 0.305297 -0.976257 +v -1.063496 -3.588109 0.580871 +v -1.561831 -3.214047 1.016892 +v -1.499513 -3.619281 -1.007417 +v 0.493615 -2.746469 -1.100896 +v 0.493615 -3.463422 -0.789299 +v -1.530672 -1.812632 1.079425 +v 0.493615 0.865511 0.331594 +v 0.151076 -3.588109 0.611817 +v 0.182235 -3.401078 -1.100682 +v 0.462669 -0.038033 -1.038363 +v 0.493615 -0.069204 0.643190 +v -0.534215 -3.494593 1.048052 +v -0.191463 -1.999224 1.048265 +v 0.493615 -3.463422 -1.069523 +v -1.686468 0.865951 0.518552 +v -1.250238 0.865951 -0.976044 +v 0.369191 -0.411655 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-3.617302 1.177520 -0.041864 +v -3.555068 1.333217 0.363034 +v -3.212589 1.800374 0.176082 +v -1.717631 1.426687 -0.259881 +v -3.399483 1.239811 0.363034 +v -3.461717 1.738018 -0.353357 +v -1.842291 1.706840 0.238423 +v -2.434281 1.146342 -0.259881 +v -3.523951 1.800374 -0.041864 +v -1.998068 1.270925 0.363034 +v -3.274823 1.769132 0.207288 +v -3.679920 1.769132 -0.259881 +f 100 93 110 +f 87 90 92 +f 90 87 94 +f 88 89 96 +f 90 94 97 +f 95 89 98 +f 90 97 98 +f 89 95 99 +f 95 98 99 +f 98 97 99 +f 91 94 100 +f 92 90 102 +f 94 91 103 +f 97 94 103 +f 91 99 103 +f 99 97 103 +f 90 88 104 +f 88 96 104 +f 96 92 104 +f 102 90 104 +f 92 102 104 +f 87 92 105 +f 101 87 105 +f 92 101 105 +f 89 88 106 +f 88 90 106 +f 98 89 106 +f 90 98 106 +f 92 96 107 +f 96 93 107 +f 101 92 107 +f 93 101 107 +f 94 87 108 +f 87 100 108 +f 100 94 108 +f 100 87 109 +f 93 100 109 +f 87 101 109 +f 101 93 109 +f 96 89 110 +f 93 96 110 +f 89 99 110 +f 99 91 110 +f 91 100 110 +o convex_3 +v -1.001076 0.866277 1.079425 +v 0.213494 0.866277 -1.007453 +v 0.213494 0.897391 -1.007453 +v -1.686399 1.987203 -0.944945 +v 0.400301 2.454242 0.985663 +v -1.592886 2.485520 1.079425 +v 0.400301 2.454242 -0.975995 +v -1.655228 0.866277 -0.944945 +v 0.431472 0.866277 0.923563 +v -1.686399 2.485520 -0.944945 +v -1.624057 0.866277 0.923563 +v 0.524765 0.959619 -0.602375 +v 0.026469 2.547748 -0.633425 +v 0.524765 2.080545 0.487435 +v -1.717350 1.177581 0.362827 +v 0.431472 0.866277 -1.007453 +v 0.275617 0.866277 1.017121 +v -1.592886 0.866277 1.079425 +v 0.524765 0.866277 0.549739 +v -1.094589 2.485355 1.079425 +v 0.524765 1.987038 -0.509021 +v -1.686399 2.049431 0.580789 +v -0.689586 2.547748 -0.446513 +v -0.067044 2.547748 -0.259601 +v -1.250225 0.866277 -0.976199 +v -1.624057 2.454242 1.048171 +v -1.717350 1.146467 -0.259601 +v -1.686399 0.866277 0.518485 +v 0.431472 1.333316 -1.007453 +v 0.151152 2.454242 1.017121 +v 0.431472 2.392014 0.954613 +v -1.717350 1.675898 0.269473 +v -0.191509 2.454242 -0.976199 +v 0.337959 2.485355 -0.882641 +v 0.431472 2.142773 -0.975995 +v -1.686399 2.485520 -0.695729 +v 0.400301 0.866277 0.985663 +v -1.717350 1.737962 -0.228551 +v -1.250225 2.516634 -0.571121 +v -0.876392 2.485355 1.048171 +f 134 130 150 +f 112 111 118 +f 111 112 119 +f 118 111 121 +f 112 113 126 +f 119 112 126 +f 111 119 127 +f 111 116 128 +f 121 111 128 +f 122 124 129 +f 119 126 129 +f 126 122 129 +f 116 111 130 +f 111 127 130 +f 117 124 131 +f 124 122 131 +f 123 120 133 +f 115 123 134 +f 116 130 134 +f 133 116 134 +f 123 133 134 +f 113 112 135 +f 112 118 135 +f 118 114 135 +f 114 120 135 +f 125 121 136 +f 128 116 136 +f 121 128 136 +f 132 125 136 +f 114 118 137 +f 120 114 137 +f 125 137 138 +f 118 121 138 +f 121 125 138 +f 137 118 138 +f 126 113 139 +f 122 126 139 +f 113 135 139 +f 135 120 139 +f 127 115 140 +f 115 130 140 +f 130 127 140 +f 117 115 141 +f 124 117 141 +f 119 129 141 +f 129 124 141 +f 125 132 142 +f 137 125 142 +f 120 117 143 +f 117 139 143 +f 139 120 143 +f 115 117 144 +f 117 120 144 +f 123 115 144 +f 120 123 144 +f 117 131 145 +f 131 122 145 +f 139 117 145 +f 122 139 145 +f 136 116 146 +f 132 136 146 +f 142 132 146 +f 115 127 147 +f 127 119 147 +f 141 115 147 +f 119 141 147 +f 120 137 148 +f 137 142 148 +f 146 120 148 +f 142 146 148 +f 116 133 149 +f 133 120 149 +f 146 116 149 +f 120 146 149 +f 130 115 150 +f 115 134 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf new file mode 100644 index 000000000..fcb8797cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj new file mode 100644 index 000000000..a42b93fbb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.094125 2.627129 -1.045816 +v 0.022265 -2.699155 1.020900 +v -0.006832 -2.699155 1.020900 +v -0.006832 -4.241790 -0.812967 +v 0.982879 2.830043 -0.055950 +v -0.792664 3.237501 0.642392 +v -1.025641 -3.543407 -0.085082 +v 0.982879 -3.571929 -0.114214 +v 0.691707 3.325512 0.671319 +v -0.705371 3.266838 -0.783630 +v 0.778999 -3.601266 0.787846 +v 0.749902 3.208164 -0.754498 +v -0.734469 -3.601266 0.758714 +v -0.821762 -3.514071 -0.812967 +v 0.720804 -3.571929 -0.812761 +v -1.025641 2.597792 -0.114214 +v -0.065028 2.597792 0.962637 +v 0.022265 -4.328985 0.787846 +v -0.035930 -3.048754 -1.074947 +v -0.065028 3.791643 -0.609044 +v -0.763566 -4.300464 -0.027024 +v 0.778999 -4.300464 -0.027024 +v -0.472394 3.791643 0.438469 +v 0.575316 3.791643 0.001903 +v -0.821762 2.568455 0.700656 +v 0.749902 2.655651 -0.812967 +v -0.006832 -4.533529 -0.055950 +v -0.734469 2.597792 -0.841893 +v -0.065028 3.296175 0.904373 +v 0.051363 3.151120 -1.016684 +v -0.850859 3.441230 -0.085082 +v 0.720804 1.898595 0.729582 +v 0.109558 -3.601266 1.020900 +v -1.025641 -3.543407 0.031035 +v 0.982879 -3.601266 0.089298 +v 0.022265 2.568455 -1.074947 +v 0.953585 3.266838 0.031035 +v 0.051363 3.791643 0.554997 +v -0.472394 3.791643 -0.434458 +v -0.152320 -3.514071 -1.045816 +v -0.094125 1.316746 -1.074947 +v 0.633511 -0.573857 -0.871025 +v -1.025641 2.509782 0.001903 +v -0.297808 -3.572744 0.933300 +v 0.633511 3.499903 -0.638176 +v 0.982879 2.713511 0.001903 +v -0.588981 -4.095920 -0.609044 +v -0.821762 -1.476783 -0.812967 +v 0.604414 -4.125257 0.584128 +v -0.559883 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a/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf new file mode 100644 index 000000000..a5a4fe1e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj new file mode 100644 index 000000000..0c580e9e0 --- /dev/null +++ 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207 222 226 +f 204 201 227 +f 213 204 227 +f 201 226 227 +f 226 213 227 +f 214 198 228 +f 210 216 228 +f 216 214 228 +f 198 220 228 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf new file mode 100644 index 000000000..e5b5d5f1c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj new file mode 100644 index 000000000..4abf12d5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj @@ -0,0 +1,450 @@ +o convex_0 +v 3.169006 -0.060924 -0.983853 +v 0.445467 -2.061155 -2.473370 +v 0.445467 -1.890787 -2.473370 +v 4.403312 -0.827183 -2.473370 +v 4.360628 -2.018363 -0.388338 +v 0.445467 -0.188701 -0.345429 +v 0.445467 -0.018332 -2.387969 +v 0.445467 -2.018563 -0.388338 +v 4.445995 -0.103516 -0.345429 +v 4.445995 -2.061155 -2.387969 +v 4.360628 -0.146308 -2.473370 +v 0.956498 -2.061155 -0.685991 +v 4.403312 -1.124728 -0.345429 +v 4.403312 -2.061155 -0.941361 +v 3.467009 -0.103716 -2.473370 +v 0.530835 -0.146308 -0.473114 +v 1.467137 -0.018332 -1.792037 +v 4.445995 -0.103516 -0.856168 +v 1.169133 -0.103516 -2.430461 +v 2.275779 -1.167320 -0.345429 +v 3.424325 -1.975971 -2.430461 +v 4.445995 -0.657014 -0.345429 +v 0.445467 -0.018332 -2.005123 +v 3.722329 -0.103516 -0.345429 +v 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59 71 89 +f 72 66 89 +f 71 72 89 +f 66 74 89 +f 74 59 89 +f 62 75 90 +f 75 65 90 +f 57 78 90 +f 78 62 90 +f 85 57 90 +f 65 85 90 +f 57 70 91 +f 70 63 91 +f 78 57 91 +o convex_3 +v 0.360333 1.981583 2.462715 +v -1.639781 -2.231390 -0.898694 +v -1.724916 -0.358402 -0.898694 +v -1.724916 -2.103497 3.655099 +v 0.445467 -2.018096 -0.898694 +v 0.445467 -2.145989 3.484822 +v -1.767591 1.939090 3.612307 +v 0.360333 1.854106 -0.898694 +v -1.639781 1.938674 -0.855902 +v 0.445250 1.896598 3.612307 +v 0.402792 2.024491 -0.515348 +v 0.402792 -0.400895 3.655099 +v -1.639781 2.024491 1.526638 +v -1.724916 -2.145989 0.846422 +v -1.682457 1.896181 -0.898694 +v 0.445467 -0.145525 -0.898694 +v -1.639781 2.024491 -0.473001 +v -0.873790 1.002596 3.655099 +v 0.402792 -2.060588 -0.898694 +v -1.724916 0.960104 -0.898694 +v 0.360333 2.024491 1.696915 +v -1.639781 -2.231390 -0.132448 +v -1.384379 -2.231390 -0.898694 +v -1.171651 -2.103497 3.655099 +v -1.043841 1.981583 2.973546 +v -1.767591 1.513335 3.442030 +v 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-1.724917 3.088345 1.569576 +v 0.360261 3.854232 1.356711 +v -1.682243 3.130829 -0.430334 +v -0.618642 2.024874 1.569576 +v -1.639786 2.322654 -0.472822 +f 132 136 155 +f 130 129 132 +f 132 133 137 +f 134 132 137 +f 129 130 139 +f 137 131 140 +f 131 138 140 +f 138 135 142 +f 140 138 142 +f 135 138 143 +f 138 141 143 +f 130 136 144 +f 139 130 144 +f 128 141 144 +f 135 143 145 +f 145 143 146 +f 143 136 146 +f 132 134 147 +f 145 132 147 +f 132 129 148 +f 133 132 148 +f 129 139 148 +f 139 133 148 +f 137 133 149 +f 131 137 149 +f 133 139 149 +f 139 144 149 +f 141 128 150 +f 136 143 150 +f 143 141 150 +f 128 144 150 +f 144 136 150 +f 142 135 151 +f 140 142 151 +f 135 145 151 +f 147 134 151 +f 145 147 151 +f 138 131 152 +f 141 138 152 +f 144 141 152 +f 131 149 152 +f 149 144 152 +f 136 132 153 +f 132 145 153 +f 145 146 153 +f 146 136 153 +f 134 137 154 +f 137 140 154 +f 151 134 154 +f 140 151 154 +f 130 132 155 +f 136 130 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf new file mode 100644 index 000000000..243e3166d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj new file mode 100644 index 000000000..9e8ff8dc0 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf new file mode 100644 index 000000000..e12967391 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj new file mode 100644 index 000000000..118b83507 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf new file mode 100644 index 000000000..02f39ee3c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj new file mode 100644 index 000000000..835f8a6ab --- /dev/null +++ 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new file mode 100644 index 000000000..9c02fbf54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj new file mode 100644 index 000000000..2c912fd6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj @@ -0,0 +1,471 @@ +o convex_0 +v 3.009056 0.826171 -1.945343 +v 1.105181 0.861439 -2.474071 +v 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249 +f 200 237 249 +f 241 200 249 +f 225 241 249 +f 213 222 250 +f 227 213 250 +f 222 228 250 +f 199 198 251 +f 214 199 251 +f 233 214 251 +f 198 238 251 +f 238 233 251 +f 217 197 252 +f 218 224 252 +f 197 239 252 +f 239 218 252 +f 244 217 252 +f 224 244 252 +f 220 208 253 +f 215 220 253 +f 208 225 253 +f 221 219 254 +f 219 236 254 +f 236 221 254 +f 215 201 255 +f 201 223 255 +f 223 231 255 +f 209 227 256 +f 228 202 256 +f 227 250 256 +f 250 228 256 +f 201 215 257 +f 225 206 257 +f 233 201 257 +f 206 233 257 +f 215 253 257 +f 253 225 257 +f 205 218 258 +f 223 201 258 +f 238 205 258 +f 201 238 258 +f 218 239 258 +f 239 223 258 +f 202 226 259 +f 237 209 259 +f 226 249 259 +f 249 237 259 +f 256 202 259 +f 209 256 259 +f 220 215 260 +f 247 220 260 +f 231 247 260 +f 215 255 260 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf new file mode 100644 index 000000000..29b93da0f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj new file mode 100644 index 000000000..52f095f8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj @@ -0,0 +1,447 @@ +o convex_0 +v 0.532282 1.886661 -1.461338 +v -0.611606 1.636425 -1.246923 +v -0.611606 1.636425 -1.211130 +v 0.496485 -0.007844 -1.747108 +v -0.540012 1.958185 -2.283203 +v -0.575809 -0.007844 -1.139658 +v -0.504330 -0.007844 -2.176053 +v 0.568079 1.994045 -2.211847 +v 0.460804 -0.007844 -1.103864 +v 0.496485 -0.007844 -2.176053 +v 0.389325 1.886661 -1.175452 +v -0.540012 1.922325 -1.211130 +v 0.496485 1.564901 -1.139658 +v 0.568079 1.278804 -2.211731 +v -0.468533 1.421852 -2.283203 +v -0.575809 -0.007844 -1.461338 +v -0.468533 1.958185 -1.318395 +v -0.146822 1.886661 -2.283203 +v 0.139092 0.171064 -1.103864 +v 0.568079 1.958185 -1.854489 +v -0.611606 1.922325 -1.246923 +v -0.504330 0.278252 -2.211731 +v 0.460804 1.994045 -2.032995 +v 0.532282 0.885912 -2.211731 +v -0.289779 0.564152 -1.139658 +v 0.496485 1.135756 -1.139658 +v 0.496485 1.850801 -1.175452 +v 0.568079 1.278804 -2.140260 +v 0.246252 1.994045 -2.211731 +v -0.540012 1.815137 -2.283203 +v 0.031817 1.886661 -1.175452 +f 25 13 31 +f 3 2 6 +f 4 6 7 +f 6 4 9 +f 4 7 10 +f 3 6 12 +f 4 10 14 +f 6 2 16 +f 7 6 16 +f 12 11 17 +f 5 8 18 +f 8 14 18 +f 15 5 18 +f 6 9 19 +f 9 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-2.283371 +v -0.575858 -4.011277 -1.782849 +v 0.282000 -4.082794 -2.283371 +v 0.568030 -2.760806 -1.139560 +f 116 120 126 +f 102 103 105 +f 101 105 107 +f 105 103 107 +f 105 101 108 +f 107 103 109 +f 111 104 112 +f 108 111 112 +f 111 108 113 +f 110 111 113 +f 102 105 114 +f 105 108 114 +f 108 112 114 +f 103 102 115 +f 104 106 116 +f 115 102 116 +f 106 115 116 +f 107 109 117 +f 106 110 118 +f 115 106 118 +f 106 104 119 +f 111 110 119 +f 104 111 119 +f 102 114 120 +f 114 112 120 +f 116 102 120 +f 109 103 121 +f 103 115 121 +f 115 118 121 +f 118 109 121 +f 117 109 122 +f 118 110 122 +f 109 118 122 +f 101 107 123 +f 110 101 123 +f 107 117 123 +f 122 110 123 +f 117 122 123 +f 108 101 124 +f 101 110 124 +f 113 108 124 +f 110 113 124 +f 110 106 125 +f 106 119 125 +f 119 110 125 +f 112 104 126 +f 104 116 126 +f 120 112 126 +o convex_4 +v -1.040582 -1.973762 -2.640795 +v -0.861670 -0.079557 -0.674773 +v -1.004680 -0.079557 -0.674773 +v 0.997055 -2.152404 -0.674773 +v 0.961153 -0.043914 -2.676515 +v 0.961153 -2.188474 -2.748158 +v -1.040582 -0.008058 -2.712235 +v -0.968977 -2.045261 -0.674773 +v 0.997055 -0.115200 -0.674773 +v -0.575851 -2.188474 -2.247672 +v 0.568027 -0.008058 -0.996659 +v -0.575851 -2.188474 -1.103819 +v -1.040582 -0.437055 -0.674773 +v 0.997055 -2.188474 -2.426272 +v -1.004680 -2.045261 -2.676312 +v -0.575851 -0.008058 -1.139539 +v 0.961153 -0.294056 -2.712235 +v 0.997055 -0.115200 -2.068869 +v 0.746739 -0.008058 -2.068869 +v 0.532125 -2.152404 -2.748158 +v 0.961153 -1.544765 -2.748158 +v 0.568027 -2.188474 -1.103819 +v -0.933075 -2.080904 -0.746416 +v -1.040582 -0.079557 -0.746416 +v 0.711036 -2.188474 -2.748158 +v 0.961153 -0.043914 -2.068869 +v -1.040582 -1.973762 -2.533432 +v -0.718661 -2.080904 -0.674773 +f 149 138 154 +f 128 129 130 +f 130 129 134 +f 128 130 135 +f 129 128 137 +f 128 135 137 +f 136 132 138 +f 133 127 139 +f 134 129 139 +f 135 130 140 +f 138 132 140 +f 127 133 141 +f 129 137 142 +f 137 133 142 +f 133 131 143 +f 131 140 143 +f 131 135 144 +f 140 131 144 +f 135 140 144 +f 131 133 145 +f 133 137 145 +f 141 133 146 +f 140 132 147 +f 133 143 147 +f 143 140 147 +f 132 146 147 +f 146 133 147 +f 130 138 148 +f 140 130 148 +f 138 140 148 +f 136 138 149 +f 134 141 149 +f 141 136 149 +f 133 139 150 +f 139 129 150 +f 129 142 150 +f 142 133 150 +f 132 136 151 +f 136 141 151 +f 146 132 151 +f 141 146 151 +f 135 131 152 +f 137 135 152 +f 131 145 152 +f 145 137 152 +f 139 127 153 +f 134 139 153 +f 127 141 153 +f 141 134 153 +f 130 134 154 +f 138 130 154 +f 134 149 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf new file mode 100644 index 000000000..29f5a5d93 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj new file mode 100644 index 000000000..710fe1ff7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj @@ -0,0 +1,534 @@ +o convex_0 +v -2.829954 -0.749174 0.283820 +v -2.968464 -0.991075 -0.269350 +v -2.968464 -0.956580 -0.269350 +v -3.867357 -1.025679 0.076360 +v -2.829954 -1.233194 0.145513 +v -3.590540 -0.783724 0.007264 +v -2.829954 -0.749174 -0.131043 +v -3.625269 -1.025679 -0.200196 +v -3.625269 -1.025679 0.249243 +v -3.590540 -1.198536 -0.061889 +v -2.829954 -1.163986 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130 182 +f 130 148 182 +f 155 119 182 +f 148 165 182 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf new file mode 100644 index 000000000..77d585466 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj new file mode 100644 index 000000000..e7b94edf9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj @@ -0,0 +1,486 @@ +o convex_0 +v -3.370440 0.447025 -0.346946 +v -1.408220 -1.590683 0.218920 +v -1.370432 -1.590683 0.218920 +v -2.766620 0.371722 1.087111 +v -3.370440 -1.552826 0.973552 +v -3.370440 -1.552826 -1.101792 +v -1.370432 0.333865 -0.988448 +v -1.370432 0.484882 1.011476 +v -1.370432 -1.552826 -0.988448 +v -1.370432 -1.590683 0.973766 +v -3.370440 0.522740 -1.026158 +v -3.294865 0.333865 1.087111 +v -1.747722 0.484882 1.049187 +v -3.030743 -1.213139 -1.101792 +v -3.332653 0.069687 1.087111 +v -2.389134 0.447025 -1.026158 +v -1.370432 0.484882 0.633946 +v -2.162800 -1.590683 0.973766 +v -3.332653 0.371722 0.860422 +v -1.710130 -0.005822 -1.026158 +v -3.332653 0.220704 -1.063868 +v -1.370432 -0.684783 1.011476 +v -1.483599 0.371516 -0.988448 +v -3.370440 -1.062121 1.011262 +v -3.370440 0.484882 -0.460077 +v -1.861085 -1.552826 -1.026158 +v -3.143910 0.371722 1.087111 +f 25 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121 113 125 +f 117 121 125 +f 120 114 126 +f 114 121 126 +f 116 122 126 +f 122 120 126 +f 123 116 126 +f 121 123 126 +f 118 120 127 +f 120 122 127 +f 124 118 127 +f 122 124 127 +f 117 115 128 +f 118 117 128 +f 115 118 128 +f 115 113 129 +f 113 119 129 +f 119 115 129 +f 112 117 130 +f 122 112 130 +f 117 124 130 +f 124 122 130 +f 112 116 131 +f 117 112 131 +f 116 123 131 +o convex_4 +v 2.818668 -0.986527 -0.573351 +v 0.818862 -1.666163 0.860303 +v 0.818862 -1.628168 -0.422337 +v 0.818862 0.409521 1.086716 +v 0.818862 0.333938 -0.950560 +v 2.705501 0.333938 1.124633 +v 2.705501 -1.628168 1.011317 +v 2.781076 0.409521 -0.988259 +v 2.818668 -1.590580 -1.063875 +v 0.818862 -1.590377 -1.063657 +v 1.196151 -1.024318 1.124633 +v 1.082984 0.032013 -1.101574 +v 2.290425 -0.194329 -1.101574 +v 0.818862 -1.552585 0.973618 +v 2.177258 -1.062110 1.124633 +v 2.743289 0.409521 -0.044911 +v 1.271726 -1.175484 -1.101574 +v 2.781076 -1.628168 -0.158226 +v 1.988516 0.409521 -0.950560 +v 1.875349 -1.666163 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158 +f 148 144 158 +f 138 142 159 +f 145 133 159 +f 142 145 159 +f 133 151 159 +f 151 138 159 +f 150 139 160 +f 136 155 160 +f 155 150 160 +f 147 137 161 +f 139 147 161 +f 154 132 161 +f 137 154 161 +f 142 135 162 +f 135 145 162 +f 145 142 162 +f 141 136 163 +f 136 143 163 +f 143 141 163 +f 143 136 164 +f 144 143 164 +f 139 144 164 +f 136 160 164 +f 160 139 164 +f 135 137 165 +f 147 135 165 +f 137 152 165 +f 152 147 165 +f 137 146 166 +f 146 138 166 +f 138 154 166 +f 154 137 166 +f 132 157 167 +f 157 139 167 +f 161 132 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf new file mode 100644 index 000000000..faa0b6f66 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj new file mode 100644 index 000000000..12cb5ce91 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.564909 -3.184183 0.024260 +v -0.634558 -2.834215 -0.025597 +v -0.634558 -2.834215 -0.000613 +v -0.284674 -4.508208 0.224124 +v -0.009933 -4.208235 -0.450309 +v -0.034824 -2.759050 0.573997 +v 0.064975 -2.759050 -0.550351 +v 0.364959 -4.408217 0.299073 +v 0.364959 -4.383219 -0.300410 +v -0.384590 -4.258230 -0.325393 +v 0.464875 -2.759050 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-1.784299 0.973788 +v 0.814653 0.589142 -0.800219 +v -0.659462 -2.733676 -0.025345 +v -0.559570 2.263238 -0.550285 +v 0.789780 -2.483026 0.024201 +v -0.584643 2.238482 0.623961 +v 0.039985 -2.483644 -0.775346 +v 0.614868 2.188353 -0.625305 +v 0.589795 2.138841 0.548941 +v -0.484550 -2.759050 -0.450191 +v -0.809502 -2.483644 -0.000672 +v -0.034834 2.762682 -0.775346 +v 0.789780 2.763301 -0.100365 +v 0.564922 -2.483644 0.598887 +v -0.009760 -1.784299 -0.950259 +v -0.634590 -2.509019 0.573814 +v 0.639741 -2.434133 -0.600232 +v -0.059707 2.788057 0.774001 +v 1.039712 0.488882 -0.125438 +v -0.734482 0.563768 -0.750272 +v 0.039985 0.539631 1.023935 +v -0.059707 3.538151 -0.025545 +v -0.984414 0.563768 0.199114 +v 0.764707 -0.009324 0.723854 +v -0.784428 2.788057 0.074147 +v -0.584643 -2.558530 -0.550285 +v 0.964693 -1.783680 0.049074 +v -0.009760 0.539631 -1.025279 +v 0.364937 0.539012 -0.950259 +v -0.734482 0.539012 0.848821 +v 0.015113 -1.784299 0.973788 +v -1.009487 0.539012 -0.000672 +v -0.709609 -1.534268 -0.700125 +v 0.589795 -2.758431 0.024201 +v -0.084780 -2.759050 0.574014 +v -0.934468 -1.783680 0.124094 +v 0.689687 -1.633909 0.723854 +v 0.065059 -2.759050 -0.550285 +f 124 125 128 +f 67 66 76 +f 76 72 83 +f 72 80 85 +f 73 69 88 +f 81 73 88 +f 70 84 91 +f 92 68 98 +f 72 76 99 +f 80 72 99 +f 76 80 99 +f 82 93 100 +f 78 90 101 +f 68 87 102 +f 94 71 102 +f 68 83 103 +f 83 72 103 +f 72 85 103 +f 98 68 103 +f 92 98 103 +f 84 89 104 +f 95 74 104 +f 81 88 105 +f 65 90 105 +f 97 65 105 +f 88 97 105 +f 84 70 106 +f 93 82 106 +f 101 93 106 +f 88 69 107 +f 69 95 107 +f 95 77 107 +f 77 97 107 +f 97 88 107 +f 67 76 108 +f 76 83 108 +f 96 79 108 +f 69 73 109 +f 85 69 109 +f 73 92 109 +f 103 85 109 +f 92 103 109 +f 71 94 110 +f 94 102 110 +f 66 67 111 +f 76 66 111 +f 80 76 111 +f 67 91 111 +f 83 68 112 +f 68 102 112 +f 102 71 112 +f 108 83 112 +f 70 79 113 +f 86 78 113 +f 85 80 114 +f 80 111 114 +f 71 86 115 +f 79 96 115 +f 96 108 115 +f 112 71 115 +f 108 112 115 +f 113 79 115 +f 86 113 115 +f 90 65 116 +f 65 97 116 +f 100 93 116 +f 97 100 116 +f 101 90 116 +f 93 101 116 +f 69 85 117 +f 95 69 117 +f 74 95 117 +f 114 74 117 +f 85 114 117 +f 87 81 118 +f 102 87 118 +f 81 105 118 +f 75 110 118 +f 110 102 118 +f 73 81 119 +f 87 68 119 +f 81 87 119 +f 68 92 119 +f 92 73 119 +f 79 70 120 +f 91 67 120 +f 70 91 120 +f 67 108 120 +f 108 79 120 +f 91 84 121 +f 84 104 121 +f 104 74 121 +f 111 91 121 +f 86 71 122 +f 78 86 122 +f 71 110 122 +f 110 75 122 +f 90 78 123 +f 105 90 123 +f 75 118 123 +f 118 105 123 +f 122 75 123 +f 78 122 123 +f 77 95 124 +f 104 89 124 +f 95 104 124 +f 89 84 125 +f 82 100 125 +f 84 106 125 +f 106 82 125 +f 124 89 125 +f 78 101 126 +f 106 70 126 +f 101 106 126 +f 70 113 126 +f 113 78 126 +f 74 114 127 +f 114 111 127 +f 121 74 127 +f 111 121 127 +f 97 77 128 +f 100 97 128 +f 77 124 128 +f 125 100 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf new file mode 100644 index 000000000..ccf79bd26 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj new file mode 100644 index 000000000..8c880314f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj @@ -0,0 +1,1158 @@ +o convex_0 +v -0.600097 -1.614013 1.220498 +v 0.589341 -1.746075 1.518147 +v 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391 +f 339 347 392 +f 347 343 392 +f 382 339 392 +f 343 382 392 +f 342 356 393 +f 374 342 393 +f 356 374 393 +f 343 347 394 +f 361 343 394 +f 336 361 394 +f 371 336 394 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf new file mode 100644 index 000000000..2b5533a0c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj new file mode 100644 index 000000000..c87856a85 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.024987 3.781879 -0.303387 +v 0.218451 5.683771 0.309256 +v 0.186187 5.683771 0.309256 +v -0.297413 5.845359 -0.335645 +v -0.232885 3.878630 0.244741 +v 0.282979 5.748406 -0.303387 +v 0.250715 3.781879 0.180226 +v -0.329677 5.683771 0.212483 +v -0.329677 3.781879 -0.206614 +v 0.218451 3.910948 -0.303387 +v -0.039421 3.781879 0.244741 +v 0.282979 4.491251 -0.013194 +v 0.250715 5.683771 0.276999 +v -0.297413 4.942284 0.244741 +v -0.007277 4.717070 -0.335645 +v -0.329677 3.878630 -0.238872 +v -0.103949 4.201200 0.276999 +v -0.232885 5.845359 -0.238872 +v 0.282979 5.103468 -0.303387 +v 0.250715 3.781879 -0.013194 +v -0.329677 3.781879 -0.142162 +v 0.282979 5.716089 -0.013194 +v -0.297413 5.651656 0.244741 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80 123 +f 99 85 123 +f 110 99 123 +f 80 113 123 +f 113 110 123 +f 88 89 124 +f 111 88 124 +f 92 111 124 +f 89 112 124 +f 112 92 124 +f 101 82 125 +f 94 101 125 +f 107 94 125 +f 82 115 125 +f 78 100 126 +f 103 78 126 +f 88 117 126 +f 117 103 126 +f 119 88 126 +f 100 119 126 +f 90 83 127 +f 83 108 127 +f 108 99 127 +f 110 90 127 +f 99 110 127 +f 87 88 128 +f 119 87 128 +f 88 119 128 +f 105 98 129 +f 98 107 129 +f 115 105 129 +f 107 125 129 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf new file mode 100644 index 000000000..b2a9e042a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj new file mode 100644 index 000000000..a7e883375 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj @@ -0,0 +1,369 @@ +o convex_0 +v 0.594590 -3.081494 -1.993971 +v 0.297805 -1.078959 0.194983 +v 0.260733 -1.078959 0.194983 +v 1.076946 -0.076922 -1.993971 +v -1.000553 -0.076922 -1.845484 +v -0.926410 -3.935323 0.157486 +v 1.002591 -3.897983 0.194983 +v -1.074908 -4.009620 -1.845484 +v -0.963482 -0.076922 0.120632 +v 1.039663 -0.076922 0.157701 +v 1.076946 -3.897983 -1.993971 +v -0.295556 -0.076922 -1.993971 +v -1.074908 -3.118834 -1.437305 +v 1.076946 -1.932404 -0.917921 +v -1.037625 -0.411062 -1.845484 +v -0.889338 -0.076922 0.157486 +v -1.000553 -3.972279 -0.547239 +v -0.666696 -4.009620 -1.808202 +v 1.076946 -0.076922 -0.843999 +v 0.779950 -3.935323 -1.956689 +v 1.039663 -1.746855 0.157701 +v 1.076946 -3.897983 -1.548510 +v 0.075163 -3.935323 0.157701 +v -0.926410 -3.155790 -1.882338 +v -1.074908 -4.009620 -1.474373 +v -1.000553 -0.114262 -0.769862 +v -0.963482 -0.930751 0.120632 +v 0.631662 -3.786731 0.194983 +v 0.854093 -3.897983 -1.993971 +v -1.074908 -2.488278 -1.845484 +v -0.926410 -3.972279 -0.250479 +v -0.963482 -3.638523 -0.064923 +v 1.002591 -3.156175 0.194983 +v -0.703768 -0.076922 -1.919406 +v 1.039663 -3.860642 -0.547239 +v -1.000553 -0.856070 -0.361683 +v -1.000553 -4.009620 -1.289032 +f 31 25 37 +f 2 3 7 +f 4 5 9 +f 3 2 10 +f 4 9 10 +f 1 4 11 +f 4 1 12 +f 5 4 12 +f 11 4 14 +f 6 3 16 +f 9 6 16 +f 3 10 16 +f 10 9 16 +f 4 10 19 +f 14 4 19 +f 7 18 20 +f 18 8 20 +f 10 7 21 +f 19 10 21 +f 14 19 21 +f 11 14 22 +f 7 20 22 +f 20 11 22 +f 14 21 22 +f 7 6 23 +f 18 7 23 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2.894783 0.034643 1.864387 +v -2.632778 2.074830 1.641785 +v -0.963528 -0.076922 -0.027408 +v 3.043038 2.111873 0.380731 +v 1.410395 2.149134 1.270710 +v -2.855466 1.963484 2.123839 +v 3.080255 1.889398 0.009656 +v 2.709310 0.145989 2.086774 +v 1.039450 -0.076922 0.158129 +v 0.928411 2.074612 -0.027408 +v 1.930205 2.149134 2.086774 +v -1.408905 1.666705 2.161332 +v -1.890889 0.071685 2.161332 +v -1.371689 2.111873 0.343666 +v -0.889095 -0.076922 0.158129 +v 3.080255 1.481056 0.009656 +v -3.114762 1.406752 2.123839 +v -2.336266 2.074830 2.086774 +v -3.078155 2.037570 0.862999 +v 3.116861 0.702503 0.083786 +v -3.078155 -0.039661 0.269323 +v 2.968605 2.149134 1.493312 +v 3.043038 2.111873 0.640398 +v 2.560444 0.034643 1.901451 +v -2.743817 2.037570 0.084000 +v 2.449405 0.071685 2.086774 +v 3.116861 0.108728 2.049710 +v -1.000744 1.963484 2.123839 +f 59 65 81 +f 39 40 45 +f 38 44 47 +f 46 38 50 +f 38 47 50 +f 40 39 51 +f 41 48 51 +f 51 48 53 +f 42 45 54 +f 49 42 54 +f 46 50 56 +f 50 49 56 +f 43 50 57 +f 57 50 58 +f 43 57 60 +f 45 40 61 +f 40 51 61 +f 51 53 61 +f 49 54 62 +f 56 49 62 +f 50 43 63 +f 49 50 63 +f 60 49 63 +f 43 60 63 +f 39 58 64 +f 59 39 64 +f 41 51 65 +f 59 41 65 +f 48 52 66 +f 53 48 66 +f 58 50 67 +f 64 58 67 +f 62 52 68 +f 56 62 68 +f 42 49 69 +f 60 42 69 +f 49 60 69 +f 44 38 70 +f 48 41 70 +f 38 52 70 +f 52 48 70 +f 59 44 70 +f 41 59 70 +f 55 44 71 +f 44 59 71 +f 59 64 71 +f 67 55 71 +f 64 67 71 +f 47 44 72 +f 44 55 72 +f 55 67 72 +f 45 42 73 +f 42 60 73 +f 38 46 74 +f 52 38 74 +f 46 56 74 +f 68 52 74 +f 56 68 74 +f 39 57 75 +f 57 58 75 +f 58 39 75 +f 57 39 76 +f 60 57 76 +f 54 45 77 +f 62 54 77 +f 52 62 77 +f 66 52 77 +f 50 47 78 +f 67 50 78 +f 47 72 78 +f 72 67 78 +f 45 61 79 +f 61 53 79 +f 53 66 79 +f 77 45 79 +f 66 77 79 +f 39 45 80 +f 45 73 80 +f 73 60 80 +f 76 39 80 +f 60 76 80 +f 51 39 81 +f 39 59 81 +f 65 51 81 +o convex_2 +v -0.295745 1.110232 -3.069742 +v 0.334927 0.776505 -1.994153 +v 0.334927 0.702267 -1.994153 +v 0.297805 1.295689 -3.849017 +v -0.184446 1.407046 -1.994153 +v 0.112260 0.702267 -3.849017 +v -0.221568 0.702267 -1.994153 +v -0.369990 0.813624 -3.849017 +v -0.184446 1.332808 -3.849017 +v 0.223559 1.332808 -1.994153 +v 0.223559 0.702267 -3.700316 +v -0.221568 1.332808 -2.105452 +v -0.184446 1.369927 -3.551978 +v -0.073147 1.407046 -2.031374 +v 0.260682 1.332808 -2.699168 +v -0.221568 1.295689 -3.849017 +v 0.112260 1.332808 -3.849017 +v 0.297805 1.221520 -3.849017 +f 92 87 99 +f 83 84 85 +f 84 83 86 +f 84 86 88 +f 87 84 88 +f 87 88 89 +f 85 87 89 +f 85 89 90 +f 86 83 91 +f 84 87 92 +f 88 86 93 +f 89 88 93 +f 82 89 93 +f 86 91 95 +f 94 86 95 +f 83 85 96 +f 91 83 96 +f 95 91 96 +f 89 82 97 +f 90 89 97 +f 93 86 97 +f 82 93 97 +f 86 94 97 +f 94 90 97 +f 85 90 98 +f 90 94 98 +f 94 95 98 +f 96 85 98 +f 95 96 98 +f 85 84 99 +f 87 85 99 +f 84 92 99 +o convex_3 +v 1.076946 1.926477 -1.622682 +v -1.074908 1.889409 -0.064770 +v -1.074908 1.889409 -0.027622 +v 1.076946 -0.076922 -0.843919 +v -1.000553 -0.076922 -1.845186 +v -0.963482 1.963546 -1.845186 +v 0.928448 2.074750 -0.027622 +v -0.963482 -0.076922 -0.027622 +v 1.076946 -0.076922 -1.993971 +v 1.039663 -0.076922 -0.027622 +v 1.076946 1.963331 -1.956631 +v -1.074908 2.112033 -0.064770 +v -0.332838 0.925206 -1.993971 +v -1.000553 2.000614 -1.734127 +v -0.295767 -0.076922 -1.993971 +v 1.039663 0.665300 -0.027622 +v 1.039663 2.000614 -1.660023 +v -0.184551 1.407094 -1.993971 +v 1.076946 1.592435 -1.993971 +v -1.000553 -0.076922 -0.806771 +v 0.965520 2.037468 -0.101919 +v 0.520236 1.963331 -1.956823 +v 1.076946 0.924992 -0.769815 +v -1.000553 1.703854 -1.845186 +v -1.074908 2.074750 -0.250319 +v -0.703768 -0.076922 -1.919675 +v -1.074908 2.112033 -0.027622 +v 0.928448 2.074750 -0.139067 +f 116 111 127 +f 102 101 104 +f 104 103 107 +f 106 102 107 +f 100 103 108 +f 103 104 108 +f 107 103 109 +f 106 107 109 +f 100 108 110 +f 101 102 111 +f 108 104 114 +f 112 108 114 +f 106 109 115 +f 110 113 116 +f 113 111 116 +f 112 105 117 +f 108 112 117 +f 110 108 118 +f 108 117 118 +f 102 104 119 +f 104 107 119 +f 107 102 119 +f 100 110 120 +f 106 115 120 +f 116 106 120 +f 110 116 120 +f 105 113 121 +f 113 110 121 +f 117 105 121 +f 110 118 121 +f 118 117 121 +f 103 100 122 +f 109 103 122 +f 115 109 122 +f 100 120 122 +f 120 115 122 +f 105 112 123 +f 113 105 123 +f 113 123 124 +f 104 101 124 +f 101 111 124 +f 111 113 124 +f 123 104 124 +f 114 104 125 +f 112 114 125 +f 104 123 125 +f 123 112 125 +f 102 106 126 +f 111 102 126 +f 106 111 126 +f 111 106 127 +f 106 116 127 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf new file mode 100644 index 000000000..7804af3b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj new file mode 100644 index 000000000..5fd98e626 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj @@ -0,0 +1,270 @@ +o convex_0 +v -1.602109 -1.560583 -1.087081 +v 1.087781 -0.970814 1.050217 +v 1.235090 -1.044455 1.050217 +v -2.928491 -3.144934 0.939543 +v 3.003998 -3.034259 -1.050048 +v 3.003998 -3.071079 1.013397 +v 2.930343 -1.007635 -0.939586 +v -2.928491 -1.044668 1.087251 +v -3.039272 -3.107900 -1.013015 +v -3.076399 -1.007635 -1.050048 +v 3.041124 -1.118309 0.976576 +v 0.092545 -3.034046 1.087251 +v -0.459565 -0.970814 -1.087081 +v 2.561471 -3.070867 -1.050048 +v -1.012274 -0.970814 1.087251 +v -1.528455 -3.070867 1.050004 +v 1.197963 -2.960405 1.087251 +v -2.928491 -3.144934 -0.055040 +v 3.003998 -2.628806 -1.050048 +v -3.076399 -1.007635 -0.755057 +v 0.718909 -0.970814 -1.050048 +v -2.560218 -2.628806 -1.050048 +v 3.003998 -2.297208 1.013397 +v -2.450035 -3.144934 0.976363 +v -3.076399 -2.039464 -1.050048 +v -0.275129 -1.818540 -1.087081 +v -2.928491 -1.265592 1.087251 +v -2.965617 -3.107900 0.534090 +v -2.965617 -1.118309 0.829081 +v 2.966871 -1.486728 -0.976407 +v 0.829690 -3.071079 -1.050048 +v -0.275129 -0.970814 1.087251 +v -2.117691 -1.044668 -1.087081 +v 2.930343 -1.007635 -0.718237 +v -0.975746 -0.970814 -1.087081 +v -3.039272 -3.107900 -0.681416 +v 3.003998 -2.223354 -1.013227 +v -2.928491 -2.812909 0.976363 +v 0.976999 -0.970814 -1.013015 +v 2.966871 -1.044455 -0.570954 +v 3.003998 -1.081276 0.497482 +v -2.560218 -3.107900 -1.013015 +v 2.303979 -3.034259 1.050217 +v -3.039272 -1.007635 -0.534134 +v 2.303979 -1.118309 1.013184 +v -3.076399 -1.155130 -0.755057 +v -1.085928 -2.444490 1.087251 +v 3.041124 -1.228771 0.939755 +v 3.041124 -1.118309 0.902722 +f 11 48 49 +f 5 6 14 +f 8 12 15 +f 2 13 15 +f 15 12 17 +f 4 9 18 +f 15 10 20 +f 13 2 21 +f 19 13 21 +f 6 11 23 +f 3 17 23 +f 6 12 24 +f 14 6 24 +f 12 16 24 +f 4 18 24 +f 18 14 24 +f 20 10 25 +f 22 9 25 +f 1 13 26 +f 5 14 26 +f 19 5 26 +f 13 19 26 +f 22 1 26 +f 12 8 27 +f 8 20 29 +f 27 8 29 +f 28 4 29 +f 21 7 30 +f 19 21 30 +f 9 22 31 +f 26 14 31 +f 22 26 31 +f 3 2 32 +f 2 15 32 +f 17 3 32 +f 15 17 32 +f 13 1 33 +f 1 22 33 +f 25 10 33 +f 22 25 33 +f 7 2 34 +f 11 7 34 +f 10 15 35 +f 15 13 35 +f 13 33 35 +f 33 10 35 +f 9 4 36 +f 25 9 36 +f 4 28 36 +f 19 30 37 +f 4 24 38 +f 24 16 38 +f 16 27 38 +f 27 29 38 +f 29 4 38 +f 2 7 39 +f 21 2 39 +f 7 21 39 +f 30 7 40 +f 37 30 40 +f 2 11 41 +f 34 2 41 +f 11 34 41 +f 18 9 42 +f 14 18 42 +f 9 31 42 +f 31 14 42 +f 12 6 43 +f 17 12 43 +f 6 23 43 +f 23 17 43 +f 8 15 44 +f 20 8 44 +f 15 20 44 +f 2 3 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-0.932969 1.087251 +v -0.496574 4.409639 -1.013015 +v 1.014046 3.340647 -1.049835 +v -0.496574 -0.970601 -1.086869 +v -0.975704 -0.601334 -1.086869 +v -1.049561 3.635238 1.087251 +v 0.829717 2.971969 -1.087082 +v 0.535125 4.998820 1.013184 +v 1.087903 -0.970601 0.939755 +v 0.977222 2.309288 -1.087082 +v -1.049561 4.962364 0.128850 +v 1.014046 4.888863 -0.939373 +v 0.977222 5.036452 0.976363 +v -0.902056 4.962364 1.050004 +v 1.050870 4.262051 -0.497313 +v -0.312245 4.225006 1.087251 +v -1.012528 1.389061 -1.013228 +v 1.014046 4.998820 0.644765 +v 1.087903 3.561737 0.534303 +f 65 91 92 +f 51 52 53 +f 53 50 56 +f 50 53 57 +f 51 53 64 +f 56 60 64 +f 52 51 68 +f 61 54 68 +f 57 53 69 +f 53 62 69 +f 66 57 69 +f 62 66 69 +f 50 67 70 +f 60 56 71 +f 62 52 72 +f 58 59 73 +f 54 61 73 +f 61 63 73 +f 53 56 74 +f 64 53 74 +f 56 64 74 +f 54 73 75 +f 73 59 75 +f 59 58 76 +f 58 65 76 +f 70 67 76 +f 50 57 77 +f 67 50 77 +f 54 75 78 +f 53 52 79 +f 52 62 79 +f 62 53 79 +f 75 59 80 +f 57 78 80 +f 78 75 80 +f 51 60 81 +f 56 50 82 +f 50 70 82 +f 71 56 82 +f 59 76 83 +f 76 67 83 +f 77 57 83 +f 67 77 83 +f 57 80 83 +f 80 59 83 +f 54 62 84 +f 68 54 84 +f 62 72 84 +f 72 68 84 +f 65 58 85 +f 63 65 85 +f 58 73 85 +f 73 63 85 +f 60 55 86 +f 68 51 86 +f 61 68 86 +f 51 81 86 +f 81 60 86 +f 52 68 87 +f 72 52 87 +f 68 72 87 +f 65 71 88 +f 76 65 88 +f 70 76 88 +f 82 70 88 +f 71 82 88 +f 60 51 89 +f 51 64 89 +f 64 60 89 +f 62 54 90 +f 57 66 90 +f 66 62 90 +f 54 78 90 +f 78 57 90 +f 63 61 91 +f 65 63 91 +f 86 55 91 +f 61 86 91 +f 55 60 92 +f 60 71 92 +f 71 65 92 +f 91 55 92 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf new file mode 100644 index 000000000..a2dc05390 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj new file mode 100644 index 000000000..2ca928564 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj @@ -0,0 +1,525 @@ +o convex_0 +v -3.446372 -0.552165 -0.594334 +v -3.118649 0.594685 0.355870 +v -3.118649 0.594685 0.323077 +v -1.611714 -0.584959 0.323077 +v -1.611714 0.496305 -0.627012 +v -3.610331 -0.584959 0.421458 +v -3.610331 0.496305 -0.659806 +v -1.611714 -0.486578 -0.725393 +v -1.611714 0.496305 0.355870 +v -3.446372 0.594685 0.355870 +v -3.446372 -0.486578 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0.234152 3.632968 +v 1.141014 -0.126132 3.600255 +v 1.730752 -0.322755 4.451764 +v 1.763530 0.201371 2.977546 +v 1.632420 -0.224413 2.977546 +v 1.566929 -0.322755 4.910329 +v 1.239411 -0.289974 3.206924 +f 179 159 181 +f 160 161 164 +f 162 165 166 +f 161 160 168 +f 160 162 168 +f 162 166 171 +f 168 162 171 +f 168 171 172 +f 161 168 172 +f 160 164 173 +f 169 165 173 +f 162 160 175 +f 170 162 175 +f 160 173 175 +f 173 165 175 +f 166 167 176 +f 167 163 176 +f 171 166 176 +f 172 171 176 +f 163 172 176 +f 159 169 177 +f 173 164 177 +f 169 173 177 +f 174 159 177 +f 164 174 177 +f 165 162 178 +f 162 170 178 +f 170 175 178 +f 175 165 178 +f 166 165 179 +f 169 159 179 +f 165 169 179 +f 164 161 180 +f 163 167 180 +f 161 172 180 +f 172 163 180 +f 167 174 180 +f 174 164 180 +f 167 166 181 +f 159 174 181 +f 174 167 181 +f 166 179 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf new file mode 100644 index 000000000..c7253a0f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj new file mode 100644 index 000000000..f91f8162b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj @@ -0,0 +1,471 @@ +o convex_0 +v -2.440366 -1.431335 0.018272 +v -0.586470 -2.379230 0.018272 +v -0.504011 -2.379230 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b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf new file mode 100644 index 000000000..2dadfa0bd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj new file mode 100644 index 000000000..1e4216a39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj @@ -0,0 +1,1191 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf new file mode 100644 index 000000000..43783dd70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj new file mode 100644 index 000000000..46f9d23d3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj @@ -0,0 +1,189 @@ +o convex_0 +v 1.010703 1.050946 0.004654 +v -0.994141 -0.369118 -0.020595 +v -0.994141 -0.369118 0.004654 +v 0.756761 -3.008689 0.029902 +v 0.020841 -0.572669 -0.985023 +v -0.004279 3.030175 0.740312 +v -0.232708 3.004432 -0.832574 +v 0.046156 -2.297460 0.943641 +v -0.588109 -2.932657 -0.629627 +v 0.807589 2.700304 -0.731196 +v -0.714883 2.344689 0.664374 +v -0.562597 -2.957801 0.588245 +v 0.731445 2.116593 0.689814 +v 0.706130 -2.272315 -0.680316 +v -0.740199 2.319544 -0.705756 +v 0.731445 -2.323203 0.689814 +v 0.858416 3.055918 0.207600 +v -0.765711 3.030175 -0.020404 +v -0.689568 -2.297460 0.740503 +v 0.020841 0.593556 0.969081 +v 0.046156 -3.034432 -0.756445 +v -0.689568 -2.221427 -0.756445 +v -0.917997 -2.323203 -0.045844 +v 0.959875 -2.247171 -0.020595 +v 0.096984 -3.008689 0.740503 +v -0.943313 2.370432 -0.020595 +v -0.765711 0.061331 0.740503 +v -0.029791 2.065705 -0.959583 +v 0.782273 -0.217054 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b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj new file mode 100644 index 000000000..b456060fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj @@ -0,0 +1,561 @@ +o convex_0 +v 1.092083 -1.235144 0.289708 +v -1.026596 -1.395607 -0.961962 +v -1.026596 -1.395607 0.931632 +v -1.026596 1.396516 0.931632 +v 1.027586 1.396516 -1.026315 +v 0.995440 1.396516 1.028162 +v -0.994244 1.396516 -1.026315 +v 1.059731 -1.395607 -1.026315 +v 0.995440 -1.395607 1.028162 +v -0.641061 0.273270 0.995985 +v -1.026596 -1.235144 -0.993938 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+f 130 139 150 +f 128 127 129 +f 128 129 132 +f 128 132 133 +f 132 126 136 +f 132 129 137 +f 129 134 137 +f 127 128 138 +f 135 130 138 +f 130 134 139 +f 136 126 140 +f 134 136 140 +f 126 137 140 +f 137 134 140 +f 128 133 141 +f 133 131 141 +f 138 128 141 +f 136 131 142 +f 132 136 142 +f 126 132 143 +f 132 137 143 +f 137 126 143 +f 135 138 144 +f 141 131 144 +f 138 141 144 +f 133 132 145 +f 132 142 145 +f 129 127 146 +f 134 129 146 +f 127 139 146 +f 139 134 146 +f 131 136 147 +f 136 134 147 +f 134 130 148 +f 130 135 148 +f 144 131 148 +f 135 144 148 +f 147 134 148 +f 131 147 148 +f 131 133 149 +f 142 131 149 +f 133 145 149 +f 145 142 149 +f 127 138 150 +f 138 130 150 +f 139 127 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf new file mode 100644 index 000000000..a5093e8ae --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj new file mode 100644 index 000000000..b7445e6f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj @@ -0,0 +1,456 @@ +o convex_0 +v 0.684105 4.555878 -1.044075 +v -1.073233 -1.546164 0.936852 +v -0.529781 -1.802658 -0.532528 +v 1.035700 -1.482979 1.033021 +v -1.073020 4.555878 1.000897 +v -1.073020 4.555878 -0.980030 +v 0.971890 4.555878 0.968976 +v 0.971890 -1.290922 -0.948109 +v -1.073233 -1.386638 -0.916189 +v 1.099723 4.555878 -1.044075 +v 0.524366 -1.802658 0.489755 +v -1.073233 -1.546164 1.033021 +v 0.524366 -1.802658 -0.596573 +v -1.009210 -1.163301 -0.947906 +v 1.003795 4.588409 0.649360 +v 1.099723 3.693184 -1.044075 +v 1.003795 -1.418543 -0.532731 +v -0.497876 -1.802658 0.489552 +v 1.099723 4.555878 -0.756381 +v 1.035700 -0.938713 1.033021 +v -1.073233 0.753519 1.033021 +v -0.657615 4.555878 1.000897 +v 1.035700 -1.450448 0.457631 +v 1.035700 -0.012208 1.000897 +v 0.204889 4.588409 0.968976 +v 0.971890 -1.386638 -0.916189 +v 1.003795 -0.875528 -0.948109 +v 0.748128 3.756995 -1.044075 +v 0.971890 4.588409 0.170139 +v -1.073020 4.140484 -0.980030 +v 0.652200 -0.332512 1.033021 +v -1.073233 -0.811091 -0.948109 +v 0.939772 4.588409 0.968976 +v 1.003795 2.766680 0.968976 +f 20 24 34 +f 3 2 9 +f 2 3 12 +f 9 2 12 +f 11 4 12 +f 3 9 13 +f 11 3 13 +f 4 11 13 +f 8 9 14 +f 1 10 16 +f 8 14 16 +f 3 11 18 +f 12 3 18 +f 11 12 18 +f 10 15 19 +f 4 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+f 130 118 131 +f 110 115 132 +f 115 121 132 +f 125 110 132 +f 121 125 132 +f 115 110 133 +f 110 119 133 +f 120 115 133 +f 119 124 133 +f 124 120 133 +f 114 125 134 +f 125 123 134 +f 123 131 134 +f 131 114 134 +f 110 114 135 +f 119 110 135 +f 114 128 135 +f 128 119 135 +f 113 119 136 +f 122 113 136 +f 114 122 136 +f 128 114 136 +o convex_5 +v 0.332786 -1.834738 -0.596488 +v -0.593903 -2.984877 0.329860 +v -0.593903 -2.984877 0.457669 +v 0.588444 -3.048794 -0.564589 +v 0.588444 -1.994531 0.489568 +v -0.593903 -1.834738 -0.532690 +v -0.497959 -1.802780 0.489568 +v 0.556386 -3.048794 0.457669 +v -0.466016 -3.048794 -0.468786 +v 0.524443 -1.802780 -0.596488 +v 0.524443 -1.802780 0.489568 +v -0.593903 -1.866697 0.489568 +v -0.593903 -2.857043 -0.468786 +v 0.588444 -1.994531 -0.596488 +v -0.561845 -3.048794 0.457669 +v -0.529902 -1.802780 -0.532690 +v 0.588444 -3.048794 0.393764 +v -0.593903 -2.026489 -0.532690 +v 0.588444 -2.282157 0.489568 +v 0.492500 -3.048794 -0.564589 +v -0.274243 -3.048794 -0.500685 +v 0.300843 -2.026489 -0.596488 +f 156 154 158 +f 138 139 142 +f 140 144 145 +f 146 143 147 +f 143 141 147 +f 141 146 147 +f 142 139 148 +f 143 142 148 +f 141 143 148 +f 138 142 149 +f 145 138 149 +f 141 140 150 +f 137 146 150 +f 146 141 150 +f 139 138 151 +f 138 145 151 +f 145 144 151 +f 148 139 151 +f 137 142 152 +f 142 143 152 +f 146 137 152 +f 143 146 152 +f 140 141 153 +f 144 140 153 +f 149 142 154 +f 141 148 155 +f 151 144 155 +f 148 151 155 +f 153 141 155 +f 144 153 155 +f 140 145 156 +f 154 156 157 +f 145 149 157 +f 149 154 157 +f 156 145 157 +f 142 137 158 +f 137 150 158 +f 150 140 158 +f 154 142 158 +f 140 156 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf new file mode 100644 index 000000000..c737f1e98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj new file mode 100644 index 000000000..0c3b7cbd5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj @@ -0,0 +1,501 @@ +o convex_0 +v 1.000989 1.096960 -0.339234 +v 0.064869 0.192029 1.314228 +v 0.002784 0.192029 1.314228 +v 0.064869 3.686406 0.034865 +v -0.839804 0.161041 -0.963339 +v -0.777316 1.689918 0.721277 +v 0.813725 0.160693 -0.963339 +v 0.002784 3.186761 -0.838466 +v 0.907256 0.160693 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b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj new file mode 100644 index 000000000..48213b0b6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj @@ -0,0 +1,438 @@ +o convex_0 +v 1.056499 -1.541670 1.061477 +v -1.097832 -3.271967 -1.092855 +v -1.097832 -3.271967 -0.774639 +v -1.062405 -1.259101 -0.139264 +v 1.056499 -1.259101 -1.092855 +v 0.915000 -3.165954 1.061477 +v -0.956333 -3.271967 1.061477 +v 1.056499 -3.130486 -1.022210 +v -1.062405 -1.259101 0.990833 +v -1.026977 -1.259101 -1.092855 +v 1.056499 -1.259101 1.025838 +v -0.320746 -3.236498 -1.092855 +v 0.985644 -3.165954 0.496323 +v -0.991761 -3.024670 1.061477 +v -1.097832 -1.930253 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0.319822 +v 3.104880 1.954852 0.072596 +f 89 79 92 +f 76 75 77 +f 76 77 78 +f 75 76 81 +f 76 78 81 +f 81 80 83 +f 80 81 84 +f 82 74 84 +f 74 82 85 +f 77 75 86 +f 75 81 86 +f 81 83 86 +f 84 74 87 +f 80 84 87 +f 85 79 87 +f 74 85 87 +f 83 88 89 +f 77 86 89 +f 86 83 89 +f 88 79 89 +f 81 78 90 +f 78 82 90 +f 84 81 90 +f 82 84 90 +f 83 80 91 +f 87 79 91 +f 80 87 91 +f 79 88 91 +f 88 83 91 +f 78 77 92 +f 82 78 92 +f 79 85 92 +f 85 82 92 +f 77 89 92 +o convex_3 +v -1.769013 1.495815 -0.033313 +v -2.157271 2.202153 0.249136 +v -1.097832 2.166754 0.284450 +v -1.097832 2.060831 -0.280507 +v -3.004897 1.884246 -0.245193 +v -3.040262 1.531215 0.319763 +v -1.097832 1.495815 0.213823 +v -2.969342 2.202153 0.143196 +v -2.969342 1.601807 -0.280507 +v -1.097832 1.495815 -0.209880 +v -2.969342 2.131423 -0.209880 +v -2.969342 2.202153 0.249136 +v -1.981014 1.848984 0.319763 +v -3.040262 1.566546 -0.209880 +v -1.239104 1.495815 0.249136 +v -1.168753 2.166754 0.143196 +v -1.133198 1.848984 -0.280507 +v 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+v 1.056450 0.930942 -1.092855 +v -0.921220 2.908340 0.919960 +v -1.097832 2.272656 0.249160 +v 1.091816 2.131371 0.319476 +v 1.091816 2.166446 -0.315648 +v 1.091816 1.531156 0.213484 +v -1.097832 2.837795 -0.633624 +v -0.567996 2.307928 -1.057178 +v 0.985720 0.930942 0.884491 +v 0.632495 2.943809 -0.986862 +v 0.950355 2.943809 -0.527632 +v -0.956371 2.908340 0.778706 +v 1.091816 1.178043 -0.633624 +v 1.021085 2.519954 1.026160 +v 0.809108 2.873068 1.026160 +v -0.214771 2.908340 0.955429 +v -1.097832 1.495884 0.213484 +v -0.179406 2.873068 -1.022124 +v -1.097832 2.802327 -1.021917 +v -1.027102 1.390069 0.990483 +v -0.956371 2.908340 0.566929 +v 0.950355 2.449213 -1.022124 +v -0.391384 0.966214 -1.057178 +v -0.991736 2.131371 0.955222 +v 0.950355 2.378472 1.026160 +v -0.532631 2.908340 0.955222 +v 1.021085 2.873068 0.778706 +v -1.097832 2.201915 0.319683 +f 147 135 151 +f 116 117 124 +f 120 123 124 +f 124 122 128 +f 118 127 128 +f 128 127 129 +f 123 126 130 +f 117 116 131 +f 121 120 132 +f 120 124 132 +f 133 125 134 +f 118 122 134 +f 122 133 134 +f 130 126 135 +f 125 133 135 +f 124 128 136 +f 128 129 136 +f 132 124 136 +f 129 132 136 +f 127 118 137 +f 129 127 137 +f 121 132 137 +f 132 129 137 +f 137 118 138 +f 118 134 139 +f 138 118 139 +f 123 120 140 +f 126 123 140 +f 117 131 141 +f 131 119 141 +f 119 133 141 +f 133 122 141 +f 130 119 142 +f 123 130 142 +f 119 131 142 +f 131 123 142 +f 138 115 143 +f 120 138 143 +f 119 130 144 +f 133 119 144 +f 130 135 144 +f 135 133 144 +f 124 117 145 +f 122 124 145 +f 117 141 145 +f 141 122 145 +f 116 124 146 +f 124 123 146 +f 131 116 146 +f 123 131 146 +f 115 125 147 +f 125 135 147 +f 143 115 147 +f 120 143 147 +f 120 121 148 +f 121 137 148 +f 138 120 148 +f 137 138 148 +f 125 115 149 +f 134 125 149 +f 115 138 149 +f 139 134 149 +f 138 139 149 +f 122 118 150 +f 118 128 150 +f 128 122 150 +f 135 126 151 +f 140 120 151 +f 126 140 151 +f 120 147 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf new file mode 100644 index 000000000..9cda010ba --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj new file mode 100644 index 000000000..79630aa92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj @@ -0,0 +1,375 @@ +o convex_0 +v -0.963898 -0.511159 3.006506 +v 0.965108 -2.577941 0.664232 +v 1.068605 -2.577941 0.664232 +v 0.930609 -0.510947 -2.952427 +v -0.963898 -2.405426 -3.056275 +v -1.032895 -2.474474 3.076138 +v 0.930609 -0.442111 2.937474 +v -0.998396 -0.545577 -2.986643 +v 0.930609 -2.474474 -3.020859 +v 0.965108 -2.543311 3.040722 +v -1.032895 -0.407480 -0.954111 +v 1.034106 -0.476529 -2.435590 +v -1.067394 -2.474474 -1.298669 +v -1.067394 -2.508893 2.455453 +v 0.965108 -0.407480 -0.919895 +v -0.998396 -0.407480 1.042405 +v 1.068605 -2.233336 1.284316 +v 1.034106 -0.993224 -2.952427 +v 0.965108 -0.407480 1.559842 +v -0.688325 -0.752086 3.040722 +v 0.482752 -2.577941 0.905542 +v 1.034106 -2.474474 -1.402516 +v -1.067394 -1.337829 -0.058500 +v -0.860610 -2.439844 -3.056275 +v -0.619537 -2.543311 0.904942 +v -1.032895 -0.511159 -2.297527 +v 0.965108 -2.095451 3.040722 +v -0.998396 -1.131109 -3.021459 +v 0.930609 -2.577941 2.282574 +v -1.067394 -2.440056 2.903259 +v 0.965108 -2.095451 -3.020859 +v -1.032895 -0.407480 -0.230179 +v 0.965108 -0.717667 2.661948 +v -0.826111 -2.508893 3.075538 +v -0.447252 -0.476529 3.006506 +v 1.068605 -2.508893 -0.230779 +v 0.207180 -0.510947 -2.951827 +v -0.998396 -1.062273 3.040722 +v 1.034106 -0.510947 -2.952427 +v -0.137181 -2.474474 3.075538 +v -0.102682 -2.371008 -3.056275 +v -1.067394 -2.508893 0.112579 +v 0.965108 -2.474474 -2.814364 +v 0.517251 -0.442111 2.937474 +v 0.551750 -0.510947 2.971690 +v 1.034106 -0.476529 -2.229095 +v 1.068605 -2.577941 1.353348 +v -0.998396 -1.509707 -3.021459 +v -1.067394 -1.716428 -1.057958 +v 0.172890 -2.543311 3.040722 +v -1.032895 -2.095451 3.076138 +v 1.068605 -2.095451 0.560984 +v -0.447252 -0.545577 -2.986643 +v -0.929399 -1.957566 -3.056275 +v -0.998396 -2.440056 -2.573053 +v -0.963898 -0.648831 3.040722 +v 0.999607 -1.268993 -2.987243 +v -0.963898 -2.439844 -2.951827 +v 0.965108 -0.683249 2.592916 +v 1.068605 -2.164500 1.112037 +f 59 17 60 +f 3 2 9 +f 12 11 15 +f 15 11 16 +f 12 15 19 +f 15 16 19 +f 2 3 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0.172886 3.588923 -0.989169 +v 0.999556 0.351038 1.077936 +v -0.998389 0.350647 1.043336 +v -1.067225 1.693605 -0.989169 +v -0.412858 -0.407480 -0.954569 +v -1.032807 0.385463 0.526559 +v 0.999556 3.588923 -0.058810 +v -0.343809 3.588923 -0.093208 +v 0.965138 1.900545 -0.954569 +v -1.067225 0.695286 -0.885571 +v 0.310558 0.729711 1.077936 +v -1.101856 2.899254 -0.644382 +v 0.138468 1.797270 -0.989169 +v -0.722833 3.554107 -0.989169 +v -1.067225 3.519683 -0.231002 +v 0.999556 0.695286 1.077936 +v -0.102671 3.519683 0.974540 +v -0.619366 3.278709 1.008736 +v 1.068605 3.554107 0.526559 +f 75 92 102 +f 65 66 69 +f 66 65 70 +f 62 63 71 +f 67 62 71 +f 62 67 74 +f 75 64 76 +f 65 75 76 +f 71 63 77 +f 67 72 78 +f 76 64 79 +f 70 61 80 +f 66 70 80 +f 74 67 81 +f 75 65 81 +f 69 66 83 +f 67 71 84 +f 72 67 84 +f 61 70 85 +f 70 65 85 +f 65 76 85 +f 76 79 85 +f 73 68 86 +f 66 80 86 +f 80 73 86 +f 68 82 86 +f 69 62 87 +f 62 74 87 +f 65 69 88 +f 81 65 88 +f 74 81 88 +f 69 87 88 +f 83 66 89 +f 66 86 89 +f 72 64 90 +f 78 72 90 +f 71 77 91 +f 72 84 91 +f 67 78 92 +f 81 67 92 +f 75 81 92 +f 63 62 93 +f 62 69 93 +f 69 83 93 +f 89 63 93 +f 83 89 93 +f 61 73 94 +f 80 61 94 +f 73 80 94 +f 77 63 95 +f 86 82 95 +f 63 89 95 +f 89 86 95 +f 87 74 96 +f 74 88 96 +f 88 87 96 +f 84 71 97 +f 71 91 97 +f 91 84 97 +f 68 72 98 +f 82 68 98 +f 72 91 98 +f 91 77 98 +f 77 95 98 +f 95 82 98 +f 79 61 99 +f 61 85 99 +f 85 79 99 +f 72 68 100 +f 64 72 100 +f 73 64 100 +f 68 73 100 +f 73 61 101 +f 64 73 101 +f 61 79 101 +f 79 64 101 +f 64 75 102 +f 90 64 102 +f 78 90 102 +f 92 78 102 +o convex_2 +v 0.310653 4.932221 0.078754 +v -0.343917 3.589123 -0.231227 +v -0.343917 3.589123 -0.093407 +v -0.309452 5.483507 -0.162317 +v 0.345118 3.589123 -0.265683 +v -0.206056 3.589123 0.319997 +v 0.276187 5.621378 -0.265683 +v -0.137193 5.552343 0.251087 +v 0.345118 3.795830 0.216632 +v 0.276187 5.449089 0.285542 +v -0.240522 5.517925 0.147722 +v 0.345118 3.589123 0.182177 +v 0.103929 5.586761 -0.265683 +v 0.138394 4.897803 0.319997 +v 0.310653 5.207963 -0.231227 +v -0.068263 3.623739 0.319997 +v -0.343917 4.691096 -0.196772 +v -0.206056 5.552343 0.216632 +v 0.172859 3.589123 -0.265683 +v -0.343917 4.105990 -0.093407 +v 0.276187 5.621378 -0.162317 +v 0.276187 4.794549 0.285542 +v -0.309452 5.483507 -0.093407 +v 0.034998 5.483507 0.285542 +v -0.102728 5.586761 0.044299 +v -0.309452 5.104510 -0.196772 +f 119 106 128 +f 105 104 107 +f 105 107 108 +f 111 103 112 +f 108 107 114 +f 107 111 114 +f 109 107 115 +f 107 109 117 +f 103 111 117 +f 111 107 117 +f 112 103 117 +f 108 114 118 +f 114 111 118 +f 116 108 118 +f 104 105 119 +f 108 110 120 +f 113 108 120 +f 107 104 121 +f 104 115 121 +f 115 107 121 +f 105 108 122 +f 108 113 122 +f 119 105 122 +f 110 112 123 +f 117 109 123 +f 112 117 123 +f 111 112 124 +f 112 116 124 +f 118 111 124 +f 116 118 124 +f 106 119 125 +f 120 106 125 +f 113 120 125 +f 122 113 125 +f 119 122 125 +f 110 108 126 +f 112 110 126 +f 108 116 126 +f 116 112 126 +f 115 106 127 +f 109 115 127 +f 120 110 127 +f 106 120 127 +f 110 123 127 +f 123 109 127 +f 115 104 128 +f 106 115 128 +f 104 119 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf new file mode 100644 index 000000000..3670fbda2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj new file mode 100644 index 000000000..27f93817f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj @@ -0,0 +1,648 @@ +o convex_0 +v -0.427433 0.576955 -1.084965 +v 1.057009 -1.723742 1.067940 +v 1.019919 -1.723742 1.067940 +v 1.057009 -3.097830 -1.010574 +v -1.021294 -3.097830 0.956459 +v 1.094310 0.576955 0.993549 +v -1.058594 0.576955 0.956459 +v -1.058594 -3.097830 -1.010574 +v 1.057009 0.576955 -1.010574 +v 1.094310 -3.097830 1.067940 +v -0.984204 0.576955 -1.084965 +v -0.984204 -1.650002 -1.084965 +v 1.094310 0.539545 -0.342322 +v 0.982829 -0.796773 -1.047664 +v -1.058594 0.576955 0.102547 +v 1.019919 0.242785 1.030639 +v 0.834258 -3.097830 1.067729 +v -0.427433 -1.538133 -1.084965 +v -0.835844 -2.874810 -1.047664 +v -1.058594 -0.165484 0.956459 +v 1.094310 -3.097830 0.659529 +v -0.538702 -3.097830 0.993338 +v 0.797168 0.576955 -1.047664 +v 0.129128 -2.763660 -1.047664 +v -0.130502 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diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf new file mode 100644 index 000000000..38cb6d4eb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj new file mode 100644 index 000000000..ee847bdd0 --- /dev/null +++ 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a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj new file mode 100644 index 000000000..cbd9ae169 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj @@ -0,0 +1,546 @@ +o convex_0 +v -2.803419 1.971992 -1.028074 +v -1.697791 2.604017 1.104482 +v -1.105418 2.643564 1.064866 +v -1.105418 0.234584 1.025467 +v -1.105418 2.564231 -0.988458 +v -2.803419 0.234584 -1.107089 +v -2.763861 0.234584 0.985851 +v -1.105418 0.234584 -0.988458 +v -2.763861 2.524924 1.104482 +v 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170 181 +f 170 175 181 +f 180 167 181 +f 154 161 182 +f 161 172 182 +f 166 157 183 +f 168 166 183 +f 168 183 184 +f 157 162 184 +f 162 168 184 +f 183 157 184 +f 157 154 185 +f 162 157 185 +f 151 164 186 +f 174 155 186 +f 164 174 186 +f 175 151 186 +f 155 175 186 +f 151 175 187 +f 175 170 187 +f 176 151 187 +f 170 176 187 +f 172 156 188 +f 178 162 188 +f 156 178 188 +f 154 182 188 +f 182 172 188 +f 185 154 188 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf new file mode 100644 index 000000000..9c963c62a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj new file mode 100644 index 000000000..05bab45f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj @@ -0,0 +1,450 @@ +o convex_0 +v 0.537362 -4.394735 -0.295598 +v -0.628210 -2.861327 -0.571680 +v -0.628210 -2.861327 -0.540906 +v -0.597520 -4.670923 0.471211 +v 0.506671 -2.830492 0.501875 +v -0.444179 -4.763048 -0.540906 +v 0.506671 -2.830492 -0.479579 +v 0.445289 -4.763048 0.501875 +v -0.444179 -2.830492 0.563313 +v 0.537362 -4.732213 -0.571680 +v -0.597520 -4.670923 0.532427 +v -0.014847 -3.628220 0.563313 +v 0.537362 -3.137515 0.471211 +v -0.321415 -2.830492 -0.571680 +v -0.474756 -4.763048 -0.510242 +v 0.383907 -4.640088 0.532538 +v 0.537362 -2.830492 -0.111506 +v -0.505447 -3.444158 0.563313 +v -0.536252 -3.873384 -0.571680 +v -0.076115 -4.732213 0.532427 +v -0.597520 -2.830492 -0.326150 +v -0.106806 -2.830492 0.563313 +v 0.475980 -4.763048 0.195129 +v 0.506671 -3.290742 -0.510242 +v -0.474756 -4.763048 -0.387588 +v 0.537362 -4.609443 -0.571680 +v -0.505447 -3.750802 0.563313 +v -0.137497 -4.763048 -0.540906 +v 0.291834 -4.732213 -0.571680 +v -0.597520 -4.609443 0.532427 +v -0.474756 -2.861327 0.471211 +v 0.230566 -4.763048 0.501764 +v 0.537362 -2.830492 0.471211 +f 13 17 33 +f 3 2 4 +f 5 7 9 +f 3 4 11 +f 5 8 13 +f 1 10 13 +f 9 7 14 +f 10 2 14 +f 4 2 15 +f 6 8 15 +f 11 4 15 +f 8 5 16 +f 5 12 16 +f 7 5 17 +f 13 10 17 +f 12 9 18 +f 2 10 19 +f 15 2 19 +f 6 15 19 +f 8 16 20 +f 2 3 21 +f 14 2 21 +f 9 14 21 +f 5 9 22 +f 9 12 22 +f 12 5 22 +f 8 6 23 +f 10 1 23 +f 1 13 23 +f 13 8 23 +f 14 7 24 +f 15 8 25 +f 11 15 25 +f 20 11 25 +f 10 14 26 +f 7 17 26 +f 17 10 26 +f 24 7 26 +f 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2.281020 +v -0.321519 2.169696 2.986364 +v -0.137457 2.537657 3.017006 +v -0.321519 2.476309 1.422463 +f 94 90 96 +f 72 73 76 +f 76 73 79 +f 71 76 81 +f 77 74 81 +f 81 74 82 +f 74 80 82 +f 80 75 82 +f 72 78 83 +f 73 72 85 +f 80 74 85 +f 78 72 86 +f 74 77 87 +f 73 85 87 +f 85 74 87 +f 72 76 88 +f 76 71 88 +f 86 72 88 +f 86 88 89 +f 83 78 89 +f 75 83 89 +f 78 86 89 +f 87 77 90 +f 71 81 91 +f 81 82 91 +f 82 75 91 +f 88 71 91 +f 89 88 91 +f 75 89 91 +f 75 80 92 +f 72 83 92 +f 83 75 92 +f 85 72 92 +f 80 85 92 +f 81 76 93 +f 77 81 93 +f 76 84 93 +f 84 77 93 +f 76 79 94 +f 84 76 94 +f 79 90 94 +f 79 73 95 +f 73 87 95 +f 90 79 95 +f 87 90 95 +f 77 84 96 +f 90 77 96 +f 84 94 96 +o convex_3 +v -0.321519 2.292262 -3.056037 +v 0.291958 2.016303 -1.430816 +v 0.291958 1.985615 -1.430816 +v -0.290873 2.445643 -1.093163 +v 0.261187 2.568336 -3.087070 +v 0.261187 2.506961 -1.124196 +v 0.291958 2.016303 -3.087070 +v -0.229519 2.016303 -1.093163 +v -0.352227 2.046990 -3.056037 +v -0.229519 2.506961 -3.025394 +v 0.261187 1.985615 -1.093163 +v -0.229519 2.476273 -1.124196 +v -0.290873 2.016303 -2.473245 +v 0.169187 2.568336 -2.902825 +v -0.290873 2.476273 -3.025394 +v 0.291958 2.200314 -2.933467 +v -0.137457 2.016303 -3.056037 +v -0.014875 1.985615 -1.124196 +v -0.321519 2.231001 -1.921681 +v 0.261187 2.476273 -1.093163 +v 0.230604 1.985615 -1.737631 +v 0.107833 2.537648 -3.087070 +f 111 106 118 +f 98 99 103 +f 100 97 105 +f 99 98 107 +f 100 104 107 +f 100 102 108 +f 106 100 108 +f 104 105 109 +f 102 101 110 +f 101 106 110 +f 108 102 110 +f 106 108 110 +f 97 100 111 +f 100 106 111 +f 102 98 112 +f 101 102 112 +f 98 103 112 +f 103 101 112 +f 105 103 113 +f 109 105 113 +f 109 113 114 +f 99 107 114 +f 107 104 114 +f 104 109 114 +f 104 100 115 +f 100 105 115 +f 105 104 115 +f 98 102 116 +f 102 100 116 +f 107 98 116 +f 100 107 116 +f 103 99 117 +f 113 103 117 +f 114 113 117 +f 99 114 117 +f 101 103 118 +f 105 97 118 +f 103 105 118 +f 106 101 118 +f 97 111 118 +o convex_4 +v -0.505629 3.335280 -0.479606 +v 1.028170 3.028420 1.023157 +v 1.028170 1.955018 1.023157 +v -1.027088 3.212319 1.115471 +v -0.996307 1.954883 -1.062464 +v 0.966609 2.537795 -1.031764 +v -1.027088 1.954883 1.084772 +v -0.996307 3.181782 -1.093163 +v 0.936029 3.212455 -1.031764 +v 0.966609 1.955018 -1.031764 +v 0.997389 3.212455 1.023157 +v 0.199911 2.047035 1.115471 +v 0.261069 1.985826 -1.093163 +v -0.536208 3.304337 0.624279 +v 0.567869 3.273664 0.501914 +v -1.027088 1.954883 -0.080728 +v 0.813309 3.243127 -0.970149 +v 0.905450 3.059092 1.054072 +v -1.027088 3.212319 0.194919 +v 1.028170 1.955018 0.563097 +v -0.229408 3.335280 -0.510305 +v 0.261069 2.476585 -1.093163 +v 0.997389 1.955018 1.054072 +v 0.199911 2.445778 1.115471 +v -0.321549 1.954883 1.115471 +v -0.505629 3.335280 0.011154 +v 0.997389 3.212455 0.287017 +v -0.934947 3.243127 0.992673 +v -0.198829 2.016498 -1.093163 +v 0.782730 3.212455 1.054072 +v 0.169130 3.212319 -1.062464 +v -0.720288 3.273664 -0.755469 +v -0.996307 2.813577 -1.093163 +v -0.168048 3.304337 0.532613 +v -1.027088 2.813577 1.115471 +v 0.844090 3.243127 -0.724769 +v 0.966609 3.212455 -0.510089 +f 127 154 155 +f 128 123 131 +f 124 128 131 +f 125 122 134 +f 123 125 134 +f 120 129 136 +f 134 122 137 +f 126 134 137 +f 120 121 138 +f 124 120 138 +f 128 124 138 +f 127 124 140 +f 131 126 140 +f 124 131 140 +f 121 120 141 +f 120 136 141 +f 141 136 142 +f 122 130 142 +f 130 141 142 +f 125 123 143 +f 123 128 143 +f 130 122 143 +f 138 121 143 +f 128 138 143 +f 121 141 143 +f 141 130 143 +f 139 119 144 +f 133 139 144 +f 120 124 145 +f 129 120 145 +f 119 137 146 +f 137 122 146 +f 144 119 146 +f 132 144 146 +f 131 123 147 +f 126 131 147 +f 129 132 148 +f 136 129 148 +f 142 136 148 +f 122 142 148 +f 146 122 148 +f 132 146 148 +f 135 127 149 +f 127 140 149 +f 140 126 149 +f 137 119 150 +f 126 137 150 +f 119 139 150 +f 139 135 150 +f 135 149 150 +f 149 126 150 +f 123 134 151 +f 134 126 151 +f 147 123 151 +f 126 147 151 +f 132 129 152 +f 129 133 152 +f 144 132 152 +f 133 144 152 +f 122 125 153 +f 143 122 153 +f 125 143 153 +f 133 129 154 +f 127 135 154 +f 139 133 154 +f 135 139 154 +f 129 145 154 +f 154 145 155 +f 124 127 155 +f 145 124 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf new file mode 100644 index 000000000..6bcd98dd8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj new file mode 100644 index 000000000..bbe868ef5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj @@ -0,0 +1,531 @@ +o convex_0 +v -0.239633 -3.182474 -0.369934 +v 0.074468 -0.197856 1.860837 +v 0.954390 -0.197496 1.075223 +v -0.773664 -0.197856 -0.715465 +v 0.922800 -0.197856 -0.558169 +v 0.828630 -3.402371 0.384162 +v -0.679494 -3.214145 0.509651 +v -0.836644 -0.197856 1.295265 +v 0.074468 -3.402371 1.106741 +v 0.105858 -0.229167 -1.092513 +v 0.074468 -3.370700 -0.432390 +v 0.797240 -1.894766 1.169486 +v -0.962405 -1.957028 0.258672 +v 1.080150 -1.894766 0.415390 +v 0.011888 -3.873835 0.290189 +v 0.828630 -1.957388 -0.369934 +v -0.710884 -2.020010 1.075223 +v -0.710884 -1.831784 -0.495424 +v -0.710884 -3.371060 0.258672 +v -0.962405 -0.197856 0.227155 +v 0.891410 -0.292149 1.358010 +v 1.048560 -0.197496 0.227155 +v -0.019502 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a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj new file mode 100644 index 000000000..99a2cc647 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj @@ -0,0 +1,411 @@ +o convex_0 +v 0.777643 4.462950 0.663602 +v -1.080219 3.855431 -1.122409 +v -1.080219 3.855431 -1.051217 +v 1.063533 0.568617 0.520597 +v -0.937274 0.568617 0.949611 +v 0.956431 0.568617 -1.158522 +v 0.956431 4.462950 -1.086916 +v -0.937274 4.498275 0.949611 +v -0.972903 0.568617 -1.086916 +v 1.099376 4.427237 0.878006 +v -1.080219 4.534377 -1.158522 +v 1.063533 0.568617 0.842100 +v -1.008533 4.534377 0.234794 +v 1.027691 4.462950 -0.408005 +v 0.277548 0.854714 0.913705 +v -0.329863 4.498275 0.949611 +v 0.884959 4.498663 -1.051010 +v 0.349020 0.568617 -1.158522 +v 0.956431 3.355052 -1.122616 +v 1.099376 3.927246 0.663602 +v 0.992061 0.997568 -0.800907 +v 1.099376 2.890776 0.878006 +v -1.080219 3.998285 -0.836606 +v 0.992061 4.462950 -0.943911 +v -0.972903 4.248280 0.770907 +v -0.972903 0.605107 -0.515104 +v 0.920588 0.640432 0.877800 +v -0.901431 4.534377 -1.158522 +v 0.527595 4.069712 0.913705 +v 0.956431 1.069383 -1.158522 +v -0.258390 4.534377 -1.122616 +v -0.901431 4.534377 0.377799 +v 0.349020 4.498663 -1.122409 +v -1.080219 4.283994 -1.158522 +v -0.436965 2.747922 0.949611 +v -0.972903 1.355092 0.520804 +v -1.080219 4.534377 -0.801113 +v -1.008533 1.462233 -1.015517 +f 26 23 38 +f 4 5 6 +f 6 5 9 +f 2 3 11 +f 5 4 12 +f 8 5 16 +f 10 1 16 +f 1 10 17 +f 10 14 17 +f 6 9 18 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+v -1.151470 -1.503478 1.021074 +v -3.009696 -0.753251 -1.122679 +v -2.402050 0.568617 -0.443582 +v 0.348507 -1.575248 0.949601 +v 3.100260 -0.789136 -1.086836 +v 0.599101 -0.038909 1.021074 +v 0.956154 -1.575248 -0.408166 +v -2.973812 0.246701 0.699340 +v 3.028491 0.532732 -0.479425 +v 2.957320 0.246701 0.949388 +v 0.241451 -0.824601 -1.158522 +v 3.064376 -1.503478 -0.193748 +v -3.009696 -1.539363 0.020457 +v -2.866158 -1.539363 0.877915 +v -2.973812 0.282586 -1.086836 +v 0.956154 0.568617 -1.158522 +v 2.671439 0.496847 0.913545 +v 2.957320 -1.253332 0.985231 +v -3.009696 -0.289055 -1.015363 +v 1.206150 -1.575248 0.913758 +v -1.473236 0.568617 0.913758 +v 3.100260 -1.467803 -0.658213 +v 0.563217 -1.110632 1.021074 +v -2.973812 0.532522 -0.193748 +v 1.456146 0.389821 -1.158522 +v -0.972645 0.568617 -1.087049 +v 3.028491 0.354146 -1.122679 +v -2.937927 0.175351 0.913758 +v 3.064376 0.354146 -1.050993 +v 2.921435 -1.539363 -0.836575 +v -0.579709 0.175351 1.021074 +v -2.973812 0.032441 0.877915 +v 3.100260 -0.717366 -1.015363 +v 2.957320 0.496847 0.699127 +v -2.152054 -1.503478 -1.122679 +f 106 97 141 +f 91 90 97 +f 90 91 103 +f 103 89 105 +f 100 104 107 +f 91 97 108 +f 103 91 108 +f 89 103 109 +f 101 100 110 +f 104 100 112 +f 97 106 113 +f 106 102 113 +f 110 97 113 +f 102 110 113 +f 93 105 115 +f 92 98 116 +f 104 112 116 +f 96 90 117 +f 90 103 117 +f 111 96 117 +f 92 101 118 +f 101 102 118 +f 108 97 119 +f 110 94 119 +f 97 110 119 +f 100 107 120 +f 94 110 120 +f 110 100 120 +f 95 103 121 +f 108 95 121 +f 103 108 121 +f 105 93 122 +f 103 105 122 +f 117 103 122 +f 89 104 123 +f 105 89 123 +f 116 98 123 +f 104 116 123 +f 101 92 124 +f 92 116 124 +f 116 112 124 +f 95 108 125 +f 108 119 125 +f 102 101 126 +f 101 110 126 +f 110 102 126 +f 99 89 127 +f 89 109 127 +f 98 92 128 +f 96 111 128 +f 92 118 128 +f 118 96 128 +f 100 101 129 +f 112 100 129 +f 101 124 129 +f 124 112 129 +f 109 95 130 +f 114 99 130 +f 95 125 130 +f 125 114 130 +f 99 127 130 +f 127 109 130 +f 122 93 131 +f 117 122 131 +f 103 95 132 +f 95 109 132 +f 109 103 132 +f 93 111 133 +f 111 117 133 +f 131 93 133 +f 117 131 133 +f 107 99 134 +f 94 120 134 +f 120 107 134 +f 111 93 135 +f 93 115 135 +f 106 96 136 +f 102 106 136 +f 118 102 136 +f 96 118 136 +f 89 99 137 +f 104 89 137 +f 99 107 137 +f 107 104 137 +f 99 114 138 +f 119 94 138 +f 114 125 138 +f 125 119 138 +f 94 134 138 +f 134 99 138 +f 115 98 139 +f 98 128 139 +f 128 111 139 +f 111 135 139 +f 135 115 139 +f 98 115 140 +f 115 105 140 +f 105 123 140 +f 123 98 140 +f 90 96 141 +f 97 90 141 +f 96 106 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf new file mode 100644 index 000000000..9832671ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj new file mode 100644 index 000000000..0a3a998fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj @@ -0,0 +1,477 @@ +o convex_0 +v 0.600554 -4.925663 0.405806 +v -0.537189 -4.166958 0.026416 +v -0.537189 -4.166958 0.089616 +v 0.474151 -3.061172 -0.415694 +v 0.221232 -5.051982 -0.542285 +v -0.505449 -3.061370 0.437454 +v -0.537189 -3.156010 -0.447437 +v -0.505449 -5.083661 0.437454 +v 0.442522 -3.061172 0.437454 +v -0.473820 -5.051982 -0.478893 +v 0.474151 -5.020303 -0.542285 +v 0.252750 -3.061370 -0.542285 +v 0.474151 -3.061172 -0.542285 +v 0.600554 -4.893984 0.437454 +v -0.537189 -3.061370 -0.415694 +v -0.221013 -5.083661 0.216111 +v -0.537189 -3.061370 0.121360 +v -0.505449 -4.609470 -0.447437 +v 0.474151 -3.282527 0.437454 +v 0.316007 -5.051982 -0.352494 +v -0.473820 -5.083661 -0.257838 +v 0.505668 -4.957342 0.374062 +v -0.505449 -5.083661 0.121360 +v -0.537189 -3.756520 -0.447437 +v 0.158086 -4.388313 -0.542285 +v -0.347416 -5.083661 0.437454 +f 20 22 26 +f 2 3 7 +f 3 2 8 +f 6 8 9 +f 10 7 12 +f 11 5 12 +f 11 12 13 +f 9 4 13 +f 1 11 13 +f 9 8 14 +f 1 13 14 +f 13 4 14 +f 7 3 15 +f 12 7 15 +f 13 12 15 +f 9 13 15 +f 3 8 17 +f 8 6 17 +f 6 9 17 +f 15 3 17 +f 9 15 17 +f 4 9 19 +f 9 14 19 +f 14 4 19 +f 5 11 20 +f 16 5 20 +f 10 5 21 +f 16 8 21 +f 5 16 21 +f 11 1 22 +f 20 11 22 +f 8 2 23 +f 2 18 23 +f 18 10 23 +f 10 21 23 +f 21 8 23 +f 2 7 24 +f 7 10 24 +f 18 2 24 +f 10 18 24 +f 5 10 25 +f 10 12 25 +f 12 5 25 +f 1 14 26 +f 14 8 26 +f 8 16 26 +f 16 20 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file mode 100644 index 000000000..e7b6a852e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj new file mode 100644 index 000000000..9ff5b364d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj @@ -0,0 +1,525 @@ +o convex_0 +v -1.673332 0.698661 1.718489 +v -1.156813 1.731582 3.109057 +v 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179 +f 165 149 180 +f 157 165 180 +f 152 167 180 +f 167 157 180 +f 149 176 180 +f 176 152 180 +f 161 159 181 +f 148 161 181 +f 159 166 181 +f 172 148 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf new file mode 100644 index 000000000..f8bfa2ec9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj new file mode 100644 index 000000000..30e10a740 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj @@ -0,0 +1,687 @@ +o convex_0 +v 0.293083 0.775294 1.098149 +v -0.319748 0.595282 -1.101964 +v -0.968911 0.162452 -1.029818 +v 0.942027 -0.306559 -1.101964 +v -0.968911 -0.306559 0.989823 +v -0.968911 1.208273 0.989823 +v 0.978360 1.208273 -1.029818 +v 1.086480 -0.306559 1.061969 +v 1.050367 1.208273 1.061754 +v -0.968911 1.208273 -1.029818 +v -0.968911 -0.306559 -0.993638 +v -1.113364 0.054207 -0.308364 +v 1.122594 0.414973 -0.596945 +v -1.113364 1.135912 0.448625 +v 1.122594 1.172092 -0.416474 +v -0.391974 0.198484 1.098149 +v 0.942246 1.208273 -1.101964 +v -1.113145 -0.018005 0.628881 +v -1.113364 1.135912 -0.560765 +v -0.428088 1.208273 1.098149 +v 0.905914 -0.306559 1.098149 +v 1.122594 1.027667 0.484590 +v 1.122594 0.126420 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+v 2.601203 1.063865 0.484946 +v 1.952522 0.559154 0.557138 +v 1.375486 0.090338 0.448907 +v 3.106207 0.054225 0.232333 +v 2.745462 0.126451 -0.560867 +v 2.997867 0.739283 0.557138 +v 2.853608 1.172205 -0.452750 +v 2.276571 1.027752 0.557138 +v 3.070093 0.090338 -0.272328 +v 1.159000 0.703170 -0.560867 +v 2.745462 0.054225 0.268486 +v 3.106207 0.234572 0.448907 +v 1.122693 0.451033 0.520873 +v 3.070093 0.739283 -0.488789 +v 1.122693 0.126451 -0.524828 +f 206 198 210 +f 185 187 192 +f 184 189 193 +f 185 192 193 +f 192 184 193 +f 189 184 196 +f 190 189 196 +f 184 192 196 +f 188 187 198 +f 186 185 200 +f 185 195 200 +f 187 188 201 +f 188 190 201 +f 197 187 201 +f 190 197 201 +f 193 189 202 +f 189 194 202 +f 194 195 202 +f 190 196 203 +f 196 192 203 +f 197 190 203 +f 186 200 204 +f 200 191 204 +f 185 193 205 +f 195 185 205 +f 193 202 205 +f 202 195 205 +f 188 198 206 +f 199 188 206 +f 186 204 206 +f 204 199 206 +f 190 188 207 +f 189 190 207 +f 194 189 207 +f 188 199 207 +f 199 194 207 +f 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0.376744 +v -2.123107 0.090391 -0.488761 +v -2.159220 1.100021 -0.560952 +f 228 222 237 +f 212 213 215 +f 211 215 217 +f 215 214 217 +f 215 211 218 +f 213 212 220 +f 214 215 222 +f 215 213 222 +f 218 211 223 +f 220 212 225 +f 218 223 225 +f 212 215 226 +f 215 218 226 +f 225 212 226 +f 218 225 226 +f 211 214 227 +f 221 211 227 +f 219 214 228 +f 214 222 228 +f 213 220 229 +f 220 224 229 +f 219 228 229 +f 228 213 229 +f 214 211 230 +f 211 217 230 +f 217 214 230 +f 227 216 231 +f 221 227 231 +f 214 219 232 +f 219 229 232 +f 211 221 233 +f 223 211 233 +f 224 216 234 +f 227 214 234 +f 216 227 234 +f 229 224 234 +f 214 232 234 +f 232 229 234 +f 216 224 235 +f 221 231 235 +f 231 216 235 +f 233 221 235 +f 223 233 235 +f 224 220 236 +f 220 225 236 +f 225 223 236 +f 223 235 236 +f 235 224 236 +f 222 213 237 +f 213 228 237 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf new file mode 100644 index 000000000..d1588c1fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj new file mode 100644 index 000000000..817cb1ee1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj @@ -0,0 +1,453 @@ +o convex_0 +v 0.622599 -3.888451 0.447389 +v -0.580418 -4.073633 -0.570657 +v -0.580418 -4.073633 0.077170 +v -0.580418 -3.364023 -0.570657 +v -0.549566 -3.364023 0.570872 +v 0.560894 -3.364023 -0.508915 +v 0.560894 -3.364023 0.601743 +v 0.591746 -3.919291 -0.478045 +v -0.580418 -4.042723 0.601743 +v 0.591746 -3.981042 0.601743 +v -0.457008 -4.073633 -0.570657 +v -0.580418 -3.610955 0.601743 +v 0.499188 -3.950132 -0.478045 +v 0.591746 -3.456614 0.601743 +v 0.591746 -3.672567 -0.478045 +v -0.302745 -4.042723 0.601743 +v 0.406630 -3.950132 -0.508915 +v -0.580418 -3.364023 0.447389 +v -0.364450 -4.042723 -0.570657 +f 17 11 19 +f 2 3 4 +f 4 5 6 +f 6 5 7 +f 4 3 9 +f 7 9 10 +f 8 1 10 +f 3 2 11 +f 2 4 11 +f 10 3 11 +f 7 5 12 +f 4 9 12 +f 9 7 12 +f 8 10 13 +f 10 11 13 +f 6 7 14 +f 7 10 14 +f 10 1 14 +f 1 8 15 +f 8 6 15 +f 14 1 15 +f 6 14 15 +f 9 3 16 +f 10 9 16 +f 3 10 16 +f 6 8 17 +f 8 13 17 +f 13 11 17 +f 5 4 18 +f 4 12 18 +f 12 5 18 +f 4 6 19 +f 11 4 19 +f 6 17 19 +o convex_1 +v 0.499218 -2.253379 0.570890 +v -0.580536 -2.592656 -0.570657 +v -0.580536 -2.592656 0.015537 +v -0.580536 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+f 136 140 141 +f 135 137 142 +f 134 135 143 +f 135 134 144 +f 132 131 145 +f 131 139 145 +f 131 134 146 +f 139 131 146 +f 134 136 147 +f 144 134 147 +f 141 138 148 +f 137 141 148 +f 142 137 148 +f 136 132 149 +f 132 138 149 +f 140 136 149 +f 138 140 149 +f 133 132 150 +f 132 145 150 +f 145 133 150 +f 132 133 151 +f 138 132 151 +f 133 142 151 +f 148 138 151 +f 142 148 151 +f 135 144 152 +f 139 143 153 +f 133 145 153 +f 145 139 153 +f 134 143 154 +f 143 139 154 +f 146 134 154 +f 139 146 154 +f 137 135 155 +f 130 141 155 +f 141 137 155 +f 152 130 155 +f 135 152 155 +f 142 133 156 +f 135 142 156 +f 143 135 156 +f 133 153 156 +f 153 143 156 +f 141 130 157 +f 136 141 157 +f 147 136 157 +f 144 147 157 +f 130 152 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf new file mode 100644 index 000000000..a9e426565 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj new file mode 100644 index 000000000..35dee505a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj @@ -0,0 +1,699 @@ +o convex_0 +v 0.312667 -0.698266 -1.072934 +v 0.042214 0.600144 1.469607 +v 0.448092 0.600543 1.307306 +v -0.038803 -3.483369 0.036432 +v -0.904174 0.545777 -0.775338 +v -0.795953 -2.157777 0.766126 +v 0.691341 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b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf new file mode 100644 index 000000000..9b7ecfd5f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj new file mode 100644 index 000000000..fb4e739c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj @@ -0,0 +1,450 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj new file mode 100644 index 000000000..782fc8537 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj @@ -0,0 +1,444 @@ +o convex_0 +v -0.727883 -1.251954 -1.069528 +v 0.320506 3.583406 1.095059 +v 0.591079 3.381271 1.094847 +v 1.030733 4.699601 -0.934135 +v -1.066046 4.835629 -1.001726 +v 1.030733 -1.658132 0.959455 +v -0.964554 -1.658132 0.959455 +v 0.996832 -1.658132 -1.001514 +v -0.998243 4.800669 1.061158 +v 1.064634 4.835629 1.027257 +v -1.099946 -1.454726 -1.069528 +v -1.099946 1.149517 0.824274 +v 1.064634 0.675961 -0.934135 +v -1.099946 -1.658132 -0.054613 +v 1.064634 2.738632 1.095059 +v -1.099946 4.496830 -0.967824 +v -1.066046 -1.658132 -1.069528 +v -0.490999 4.800669 -1.001726 +v -1.066046 3.279567 1.027045 +v 1.064634 4.665912 -0.934135 +v -1.099946 -1.658132 0.621291 +v 1.030733 -1.454726 -1.001514 +v -1.032144 3.989584 1.061158 +v 1.064634 0.777664 0.858175 +v -1.066046 4.835629 -0.223907 +v 1.064634 4.835629 0.756684 +v -1.099946 -0.169449 -1.069528 +v -0.795473 4.835629 -1.001726 +v 0.151425 4.800669 1.060946 +v 0.016033 4.835629 0.993356 +v -1.099946 2.704308 0.317028 +v -1.066046 1.892587 0.993568 +v 0.286605 3.516028 1.095059 +v 1.030733 -1.658132 -0.900234 +v -1.032144 4.395762 0.993356 +v 1.064634 4.056962 1.060946 +f 10 29 36 +f 6 7 8 +f 8 7 14 +f 12 11 14 +f 3 2 15 +f 7 6 15 +f 13 10 15 +f 11 12 16 +f 1 8 17 +f 11 1 17 +f 8 14 17 +f 14 11 17 +f 10 13 20 +f 18 4 20 +f 14 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-1.658298 -1.001749 +v 0.354181 -3.348885 0.215565 +v -1.066079 -1.658132 -1.069528 +v 1.030661 -1.658298 0.959468 +v -1.099946 -2.774045 0.486056 +v 1.132264 -2.875507 -0.562122 +v -1.099946 -1.658132 0.621198 +v -0.321863 -3.348885 0.316921 +v -1.099946 -2.943203 -0.629484 +v 0.320531 -3.348885 -0.426773 +v 1.132264 -1.692229 -0.494343 +v -0.524851 -1.658132 0.993462 +v -1.099946 -1.793690 -0.561914 +v -0.998343 -3.247589 -0.392987 +v 1.132264 -2.774045 0.519842 +v -0.930608 -2.300999 0.993462 +v 0.286664 -3.213658 -1.069528 +v -0.186611 -3.348885 -0.291423 +v 0.963144 -2.807811 -1.069528 +v -0.220478 -3.179892 1.027247 +v 1.098396 -2.672584 1.027247 +v 1.098396 -3.180058 0.621198 +v -0.085226 -3.247589 -1.035534 +v -0.964476 -3.213658 0.587621 +v -0.930608 -1.658132 -1.069528 +v 1.064529 -3.112196 1.061032 +f 122 105 127 +f 99 101 103 +f 99 94 104 +f 99 96 107 +f 98 97 108 +f 97 104 108 +f 106 98 108 +f 103 101 109 +f 94 95 110 +f 104 94 110 +f 98 106 110 +f 106 108 110 +f 99 103 111 +f 103 109 111 +f 96 102 112 +f 102 100 112 +f 107 96 112 +f 100 107 112 +f 100 102 113 +f 104 97 113 +f 93 105 113 +f 105 100 113 +f 108 104 114 +f 104 110 114 +f 110 108 114 +f 95 109 115 +f 110 95 115 +f 98 110 115 +f 100 101 116 +f 101 107 116 +f 107 100 116 +f 97 98 117 +f 113 97 117 +f 95 94 118 +f 99 95 118 +f 94 99 118 +f 109 95 119 +f 95 111 119 +f 111 109 119 +f 96 99 120 +f 99 104 120 +f 98 109 121 +f 109 101 121 +f 117 98 121 +f 101 100 122 +f 100 105 122 +f 101 99 123 +f 99 107 123 +f 107 101 123 +f 95 99 124 +f 111 95 124 +f 99 111 124 +f 109 98 125 +f 115 109 125 +f 98 115 125 +f 102 96 126 +f 113 102 126 +f 104 113 126 +f 96 120 126 +f 120 104 126 +f 105 93 127 +f 93 113 127 +f 113 117 127 +f 121 101 127 +f 117 121 127 +f 101 122 127 +o convex_4 +v 1.335332 -2.807904 0.181801 +v 1.572160 -1.658251 0.452418 +v 2.349632 -1.692096 0.486176 +v 3.026145 -1.759786 -0.494357 +v 3.025957 -2.706488 0.553912 +v 1.132473 -2.875712 -0.562203 +v 1.132473 -1.692096 -0.494357 +v 3.060113 -2.706488 -0.562203 +v 1.132473 -2.774059 0.520044 +v 2.992367 -1.725941 0.520044 +v 1.132473 -1.658251 0.452418 +v 3.026145 -1.725822 -0.460708 +v 2.890843 -2.740214 0.486176 +v 3.026145 -2.199411 0.553912 +v 3.060113 -2.503538 -0.562203 +v 2.924621 -2.740214 -0.562203 +v 2.552491 -1.725941 0.520044 +v 1.132473 -2.604954 -0.562203 +v 1.233997 -2.875712 -0.426731 +v 3.060113 -1.962617 -0.426731 +v 3.060113 -2.706488 0.148042 +v 1.132473 -2.604954 0.520044 +v 3.026145 -1.725822 0.350923 +v 1.673495 -1.692096 -0.494357 +v 2.315853 -2.740214 0.553912 +v 1.166251 -1.658251 0.080306 +f 139 151 153 +f 134 133 136 +f 130 129 137 +f 134 136 138 +f 137 129 138 +f 129 130 139 +f 136 128 140 +f 135 133 142 +f 133 135 143 +f 137 138 144 +f 141 137 144 +f 133 134 145 +f 134 142 145 +f 142 133 145 +f 128 136 146 +f 136 133 146 +f 140 128 146 +f 133 143 146 +f 143 140 146 +f 131 139 147 +f 142 131 147 +f 135 142 147 +f 132 140 148 +f 141 132 148 +f 143 135 148 +f 140 143 148 +f 135 147 148 +f 138 136 149 +f 144 138 149 +f 141 144 149 +f 130 137 150 +f 139 130 150 +f 137 141 150 +f 147 139 150 +f 141 148 150 +f 148 147 150 +f 139 131 151 +f 131 142 151 +f 142 134 151 +f 140 132 152 +f 136 140 152 +f 132 141 152 +f 149 136 152 +f 141 149 152 +f 138 129 153 +f 134 138 153 +f 129 139 153 +f 151 134 153 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf new file mode 100644 index 000000000..53d46bf5e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj new file mode 100644 index 000000000..436658185 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj @@ -0,0 +1,372 @@ +o convex_0 +v 1.971506 -2.967722 -0.917991 +v -0.235395 -4.034708 -1.028480 +v 1.787453 -4.071648 0.479252 +v -0.125007 -0.099615 1.031294 +v 1.897841 -0.099226 -0.991583 +v 1.861117 -0.099226 1.031294 +v -0.088067 -3.961216 1.031294 +v -0.051343 -0.099615 -0.991583 +v 1.971506 -3.997767 -1.028480 +v 1.824177 -4.071648 0.957500 +v -0.161731 -0.099615 0.883908 +v 1.861117 -1.570998 1.031294 +v -0.198455 -2.968111 -1.028480 +v -0.125007 -3.961216 0.920603 +v -0.161731 -0.099615 0.295373 +v 1.456504 -4.071648 0.994196 +v 1.971506 -3.997767 -0.697416 +v -0.198455 -4.034708 -0.292760 +v -0.088067 -0.357030 -0.991583 +v 1.934566 -1.018840 -0.954888 +v 0.757667 -3.997767 1.031294 +v 0.941503 -4.034708 -1.028480 +v 1.971506 -3.299016 -1.028480 +v -0.088067 -2.636817 -1.028480 +v 0.132494 -3.997767 1.031294 +v 1.824177 -3.629922 0.994196 +v -0.125007 -3.261687 1.031294 +v -0.235395 -4.034708 -0.881296 +v 1.861117 -4.071648 0.589540 +v -0.235395 -3.813845 -0.991583 +v 1.934566 -4.034708 -0.439944 +f 17 29 31 +f 6 4 7 +f 4 6 11 +f 6 7 12 +f 9 2 13 +f 6 5 15 +f 5 8 15 +f 11 6 15 +f 2 3 16 +f 3 10 16 +f 1 6 17 +f 9 1 17 +f 6 12 17 +f 7 14 18 +f 8 13 19 +f 15 8 19 +f 13 15 19 +f 5 6 20 +f 6 1 20 +f 12 7 21 +f 3 2 22 +f 2 9 22 +f 1 9 23 +f 9 13 23 +f 5 20 23 +f 20 1 23 +f 8 5 24 +f 13 8 24 +f 5 23 24 +f 23 13 24 +f 7 18 25 +f 18 16 25 +f 21 7 25 +f 16 21 25 +f 10 12 26 +f 16 10 26 +f 12 21 26 +f 21 16 26 +f 7 4 27 +f 4 11 27 +f 14 7 27 +f 2 16 28 +f 18 14 28 +f 16 18 28 +f 27 11 28 +f 14 27 28 +f 10 3 29 +f 12 10 29 +f 17 12 29 +f 13 2 30 +f 11 15 30 +f 15 13 30 +f 2 28 30 +f 28 11 30 +f 9 17 31 +f 3 22 31 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+ + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj new file mode 100644 index 000000000..b76a44c82 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj @@ -0,0 +1,1107 @@ +o convex_0 +v 1.266193 -3.306264 1.154651 +v 1.304060 -1.953272 1.492603 +v 1.304060 -1.953272 1.455420 +v 3.032457 -2.817580 1.567767 +v 1.266193 -2.779989 2.056617 +v 1.266193 -2.667646 0.891407 +v 2.769463 -2.817580 1.981339 +v 2.769463 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b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf new file mode 100644 index 000000000..f76faa3f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj new file mode 100644 index 000000000..f61b29f41 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj @@ -0,0 +1,714 @@ +o convex_0 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193 +f 149 171 194 +f 173 149 194 +f 171 173 194 +f 164 159 195 +f 151 164 195 +f 159 180 195 +f 192 151 195 +f 182 192 195 +f 177 157 196 +f 172 185 196 +f 185 177 196 +f 154 168 197 +f 168 186 197 +f 193 154 197 +f 162 193 197 +f 154 149 198 +f 149 170 198 +f 170 154 198 +f 160 155 199 +f 155 184 199 +f 184 160 199 +f 171 156 200 +f 156 181 200 +f 181 171 200 +f 158 165 201 +f 153 169 201 +f 169 158 201 +f 187 153 201 +f 165 187 201 +f 164 151 202 +f 163 164 202 +f 161 178 202 +f 178 163 202 +f 151 189 202 +f 189 161 202 +f 176 146 203 +f 156 176 203 +f 181 156 203 +f 165 148 204 +f 148 178 204 +f 187 165 204 +f 178 187 204 +f 169 153 205 +f 160 169 205 +f 175 160 205 +f 153 187 205 +f 187 191 205 +f 155 175 206 +f 180 155 206 +f 175 192 206 +f 192 182 206 +f 195 180 206 +f 182 195 206 +f 157 171 207 +f 146 172 207 +f 171 181 207 +f 196 157 207 +f 172 196 207 +f 203 146 207 +f 181 203 207 +f 161 175 208 +f 178 161 208 +f 187 178 208 +f 191 187 208 +f 175 205 208 +f 205 191 208 +f 150 162 209 +f 186 150 209 +f 162 197 209 +o convex_4 +v -0.966356 0.193347 0.157144 +v 1.001652 0.505790 0.250315 +v 1.001652 0.349569 0.250315 +v 0.033062 0.224634 -1.748736 +v -0.810287 0.505790 -0.905065 +v 0.033062 0.193347 1.750630 +v -0.810287 0.505790 1.031986 +v 0.845583 0.193347 -0.998578 +v 0.814177 0.505790 -0.967407 +v 0.876797 0.505790 0.969302 +v 0.876797 0.193347 1.062814 +v -0.778881 0.193347 -1.061263 +v -0.810287 0.193347 1.063157 +v -0.029173 0.505790 -1.342486 +v 0.095490 0.505790 1.344380 +v -0.966356 0.505790 -0.029881 +v 1.001652 0.193347 -0.154908 +v 0.002041 0.193347 -1.748736 +v 1.001652 0.505790 -0.154908 +v 0.064276 0.224634 1.750630 +v -0.966356 0.193347 -0.029881 +v -0.903929 0.505790 0.563052 +v 0.782963 0.224634 -1.092434 +v 0.033062 0.474503 -1.404828 +v 0.908011 0.193347 0.969302 +v 0.033062 0.474503 1.406722 +v -0.747667 0.505790 -0.967065 +v -0.029173 0.224634 1.719117 +v -0.810287 0.193347 -0.967065 +v 0.002041 0.224634 -1.748736 +v 0.876797 0.505790 -0.811210 +v 1.001652 0.193347 0.219486 +v 0.158110 0.224634 1.687946 +v 0.908011 0.505790 0.906617 +f 220 234 243 +f 211 214 216 +f 215 210 217 +f 214 211 218 +f 211 216 219 +f 215 217 220 +f 217 210 221 +f 210 215 222 +f 214 218 223 +f 219 216 224 +f 216 214 225 +f 211 212 226 +f 220 217 226 +f 217 221 227 +f 218 211 228 +f 211 226 228 +f 226 217 228 +f 219 224 229 +f 221 210 230 +f 210 225 230 +f 210 222 231 +f 222 216 231 +f 225 210 231 +f 216 225 231 +f 213 218 232 +f 218 217 232 +f 227 213 232 +f 217 227 232 +f 218 213 233 +f 223 218 233 +f 212 211 234 +f 220 226 234 +f 224 216 235 +f 229 224 235 +f 221 214 236 +f 214 223 236 +f 222 215 237 +f 216 222 237 +f 215 229 237 +f 235 216 237 +f 229 235 237 +f 214 221 238 +f 225 214 238 +f 221 230 238 +f 230 225 238 +f 213 227 239 +f 227 221 239 +f 233 213 239 +f 223 233 239 +f 221 236 239 +f 236 223 239 +f 217 218 240 +f 218 228 240 +f 228 217 240 +f 226 212 241 +f 212 234 241 +f 234 226 241 +f 215 220 242 +f 220 219 242 +f 229 215 242 +f 219 229 242 +f 211 219 243 +f 219 220 243 +f 234 211 243 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf new file mode 100644 index 000000000..c6e040d42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj new file mode 100644 index 000000000..08ae39621 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj @@ -0,0 +1,360 @@ +o convex_0 +v 0.412788 3.915600 0.122929 +v -1.063342 -2.199731 -0.931121 +v -1.063342 -2.199731 -0.509584 +v 1.015386 -1.959088 0.966417 +v -1.063342 3.854837 1.056835 +v 0.924933 3.794677 -1.021539 +v -1.033190 3.824757 -1.051885 +v 0.985235 -2.079410 -0.931121 +v 1.105839 3.854837 0.966417 +v -1.003040 -2.229811 0.996763 +v 0.924933 -2.079410 0.996556 +v 0.473091 -2.230413 -0.449098 +v -1.063342 1.233638 -1.021539 +v 0.955084 2.558977 -1.021539 +v 1.075688 1.263718 0.996763 +v 0.563544 -2.230413 0.574812 +v 1.105839 3.854837 0.725509 +v -0.972888 -2.169651 -0.961467 +v -1.003040 2.167331 1.057041 +v -0.581136 3.854236 1.057041 +v 0.985235 -1.115034 -0.961467 +v -1.003040 3.854236 -0.961467 +v 0.081339 3.704436 -1.051678 +v 0.924933 3.854837 0.996556 +v -0.791982 -2.229811 -0.810770 +v -1.063342 3.824757 0.032511 +v 0.955084 3.794677 -0.961467 +v -1.003040 -0.633147 1.026695 +v 1.105839 2.860382 0.936278 +v 0.111490 3.915600 0.303558 +v -0.972888 2.950623 -1.051885 +v -1.063342 3.282710 1.056835 +v 0.985235 3.884918 0.876205 +v 1.015386 -1.959088 0.996763 +v -1.063342 2.258174 -1.021539 +v 0.985235 -2.079410 0.936484 +v -1.033190 -2.139570 0.333698 +v -0.038841 3.824757 -1.051678 +v 0.714087 -1.325597 -0.961467 +v 0.744238 -2.109490 -0.931121 +v 0.503242 3.915600 0.484394 +v 1.075688 2.077090 0.996763 +v -0.852284 -2.229811 0.996763 +v 0.985235 -0.934552 -0.961467 +v -1.063342 -2.169651 -0.961260 +v -1.033190 0.330626 1.026695 +v 1.075688 3.854837 0.394183 +v 0.834479 3.824757 -0.750285 +v -0.701741 -2.199731 -0.931327 +v -1.063342 3.854837 0.243486 +v 0.081339 3.915600 0.243486 +v 0.955084 3.010783 -1.021539 +v -0.882435 -2.229811 -0.810770 +v 0.382637 3.915600 0.092790 +v -0.701741 3.101626 -1.051885 +v 0.442940 -2.230413 -0.479238 +v -0.581136 3.733915 1.057041 +v 0.894781 -2.109490 -0.870842 +f 56 40 58 +f 2 3 5 +f 3 2 10 +f 2 5 13 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+f 22 51 54 +f 7 23 55 +f 23 21 55 +f 31 7 55 +f 21 39 55 +f 39 31 55 +f 16 10 56 +f 12 16 56 +f 25 49 56 +f 49 40 56 +f 10 53 56 +f 53 25 56 +f 15 20 57 +f 20 19 57 +f 19 34 57 +f 34 15 57 +f 8 16 58 +f 16 12 58 +f 40 8 58 +f 12 56 58 +o convex_1 +v 0.111561 -6.207245 -0.027476 +v 0.262145 -4.248957 0.333981 +v 0.292379 -4.248957 0.303797 +v -0.310089 -4.248957 -0.298653 +v -0.279985 -6.176958 0.303797 +v 0.352587 -4.399816 -0.328768 +v 0.352587 -6.176958 0.213450 +v 0.141664 -6.146863 -0.358952 +v -0.279985 -4.248957 0.273682 +v -0.249881 -6.176958 -0.208306 +v 0.262145 -6.146863 -0.358952 +v 0.352587 -4.248957 -0.117891 +v -0.008855 -5.303243 0.333981 +v 0.352587 -6.207245 0.062804 +v -0.310089 -4.851817 -0.268469 +v -0.310089 -4.248957 0.032688 +v 0.081392 -5.634480 -0.358952 +v 0.352587 -4.248957 -0.298653 +v 0.021249 -6.207245 0.273682 +v -0.279985 -5.965909 -0.208306 +v -0.159504 -4.339625 0.303797 +v 0.292379 -4.399816 0.333981 +v 0.352587 -5.604385 0.213450 +v -0.279985 -5.152959 0.303797 +v 0.081392 -4.309339 0.333981 +v 0.292379 -5.604385 -0.358952 +v -0.249881 -5.845529 -0.238421 +v 0.352587 -4.580386 -0.328768 +v -0.129336 -6.176958 0.303797 +f 80 71 87 +f 60 61 62 +f 60 62 67 +f 68 66 69 +f 59 68 69 +f 62 61 70 +f 65 64 70 +f 64 65 72 +f 59 69 72 +f 62 66 73 +f 67 62 74 +f 62 73 74 +f 73 63 74 +f 62 64 75 +f 66 62 75 +f 69 66 75 +f 64 62 76 +f 62 70 76 +f 70 64 76 +f 68 59 77 +f 63 68 77 +f 59 72 77 +f 72 65 77 +f 68 63 78 +f 63 73 78 +f 61 60 80 +f 60 71 80 +f 70 61 81 +f 65 70 81 +f 61 80 81 +f 80 65 81 +f 63 71 82 +f 67 74 82 +f 74 63 82 +f 79 67 82 +f 79 82 83 +f 60 67 83 +f 71 60 83 +f 67 79 83 +f 82 71 83 +f 72 69 84 +f 75 64 84 +f 69 75 84 +f 66 68 85 +f 73 66 85 +f 68 78 85 +f 78 73 85 +f 64 72 86 +f 84 64 86 +f 72 84 86 +f 71 63 87 +f 63 77 87 +f 77 65 87 +f 65 80 87 +o convex_2 +v 0.563423 -2.230413 0.484486 +v -0.581301 -2.833052 -0.358905 +v -0.581301 -2.833052 -0.268389 +v 0.473138 -4.218726 -0.358905 +v -0.490901 -4.218726 0.484486 +v 0.443004 -2.230413 -0.479438 +v -0.551053 -2.230413 0.484486 +v 0.593672 -4.067967 0.575001 +v -0.490901 -4.098001 -0.599972 +v -0.581301 -2.230413 -0.599972 +v 0.443004 -4.218726 -0.509572 +v 0.382738 -2.230413 0.575001 +v 0.262204 -4.248957 0.333934 +v -0.310101 -4.248957 -0.298523 +v 0.473138 -2.230413 -0.449190 +v -0.520920 -4.158462 0.454352 +v -0.400501 -2.230413 -0.599972 +v 0.593672 -4.007901 0.454352 +v -0.520920 -3.977670 -0.599972 +v 0.563423 -2.230413 0.575001 +v -0.370368 -2.381171 0.514619 +v -0.340119 -4.098001 -0.599972 +v -0.581301 -2.290677 0.002466 +v -0.430519 -4.248957 0.333934 +v 0.352604 -4.248957 -0.298638 +v 0.533290 -3.977670 0.575001 +v -0.551053 -2.682491 0.484486 +v 0.593672 -3.525593 0.514619 +v -0.581301 -2.772985 -0.599972 +v 0.443004 -4.037934 -0.509572 +v -0.490901 -4.218726 0.243418 +v 0.201937 -4.218726 -0.509457 +v -0.189567 -4.037934 0.514619 +v 0.473138 -2.531732 -0.449190 +v 0.292337 -4.248957 0.303800 +v -0.310101 -4.218726 0.484486 +f 92 100 123 +f 88 93 94 +f 89 90 97 +f 94 93 97 +f 88 94 99 +f 93 88 102 +f 90 89 103 +f 97 93 104 +f 96 97 104 +f 95 91 105 +f 97 96 106 +f 103 89 106 +f 96 103 106 +f 88 99 107 +f 99 95 107 +f 99 94 108 +f 98 96 109 +f 96 104 109 +f 97 90 110 +f 94 97 110 +f 90 103 110 +f 100 92 111 +f 101 100 111 +f 98 91 112 +f 101 98 112 +f 100 101 112 +f 92 95 113 +f 95 99 113 +f 99 108 113 +f 103 92 114 +f 92 108 114 +f 108 94 114 +f 94 110 114 +f 110 103 114 +f 102 88 115 +f 95 105 115 +f 105 102 115 +f 88 107 115 +f 107 95 115 +f 89 97 116 +f 97 106 116 +f 106 89 116 +f 93 102 117 +f 102 98 117 +f 104 93 117 +f 98 109 117 +f 109 104 117 +f 96 101 118 +f 92 103 118 +f 103 96 118 +f 111 92 118 +f 101 111 118 +f 96 98 119 +f 98 101 119 +f 101 96 119 +f 108 92 120 +f 92 113 120 +f 113 108 120 +f 91 98 121 +f 98 102 121 +f 105 91 121 +f 102 105 121 +f 91 95 122 +f 95 100 122 +f 112 91 122 +f 100 112 122 +f 95 92 123 +f 100 95 123 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf new file mode 100644 index 000000000..a6ae6b60f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj new file mode 100644 index 000000000..e04683f30 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj @@ -0,0 +1,582 @@ +o convex_0 +v 0.149601 -2.956381 0.303085 +v -0.353917 -4.502615 -0.344410 +v -0.353917 -4.502615 -0.200433 +v 0.329572 -4.466599 -0.344410 +v 0.041685 -2.668258 -0.344410 +v -0.245934 -2.668258 0.339079 +v 0.149601 -4.574646 0.195169 +v -0.210007 -4.538630 0.231096 +v 0.257584 -2.668258 -0.344410 +v -0.245934 -2.812506 -0.236360 +v 0.221523 -2.668258 0.303085 +v 0.221523 -4.574646 0.159175 +v -0.353917 -4.107006 -0.344410 +v 0.257584 -2.848335 0.195169 +v -0.174012 -3.136084 0.339079 +v -0.174012 -2.668258 -0.272422 +v -0.245934 -4.538630 0.195169 +v 0.329572 -4.322725 -0.272422 +v -0.245934 -3.064240 0.339079 +v 0.293578 -4.502615 -0.308416 +f 4 12 20 +f 4 2 5 +f 4 5 9 +f 5 6 9 +f 1 7 11 +f 9 6 11 +f 7 2 12 +f 11 7 12 +f 2 3 13 +f 5 2 13 +f 3 6 13 +f 6 10 13 +f 9 11 14 +f 11 12 14 +f 7 1 15 +f 8 7 15 +f 1 11 15 +f 11 6 15 +f 6 5 16 +f 10 6 16 +f 5 13 16 +f 13 10 16 +f 3 2 17 +f 2 7 17 +f 7 8 17 +f 4 9 18 +f 12 4 18 +f 9 14 18 +f 14 12 18 +f 6 3 19 +f 8 15 19 +f 15 6 19 +f 3 17 19 +f 17 8 19 +f 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127 145 +f 127 126 145 +f 129 121 145 +f 126 140 145 +f 140 129 145 +f 130 123 146 +f 123 135 146 +f 135 133 146 +f 136 130 146 +f 133 136 146 +f 137 125 147 +f 132 137 147 +f 125 143 147 +o convex_5 +v -0.389777 3.051465 -1.063872 +v 0.509297 1.864353 -1.423941 +v 0.581299 1.864353 -1.423941 +v 0.509410 3.051465 -3.078366 +v -0.533782 1.936514 -3.078366 +v -0.497725 1.936514 -1.063872 +v 0.437407 3.051465 -1.063872 +v -0.425722 3.015443 -2.970305 +v 0.473352 2.008326 -3.042083 +v 0.617357 1.864353 -1.063872 +v 0.581299 3.051465 -3.078366 +v -0.461667 2.799541 -1.315881 +v -0.533782 2.116277 -3.078366 +v 0.149622 1.864353 -1.063872 +v -0.209940 1.936514 -3.078366 +v 0.473352 3.051465 -1.315881 +v 0.149622 3.051465 -3.042083 +v 0.581299 2.943514 -3.078366 +v 0.617357 1.936514 -1.063872 +v -0.533782 1.972304 -2.286845 +v -0.425722 3.015443 -1.063872 +v -0.317775 1.900375 -1.063872 +v 0.581299 3.051465 -2.934220 +v 0.149622 1.972304 -3.078366 +v -0.461667 2.799541 -2.970305 +v 0.617357 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+v 1.049027 1.792579 1.094401 +v -0.677549 3.555089 -1.063872 +v -0.605659 1.936306 1.130487 +v -1.037405 1.792407 -0.380175 +v 0.617281 3.446905 -1.063872 +v -0.497825 2.979491 1.130487 +v -1.037405 3.483139 0.554618 +v 0.617281 1.864529 -1.063872 +v -0.929367 3.555089 -1.063872 +v 0.473298 1.828640 1.130487 +v 1.012878 3.483139 0.590704 +v 1.049027 1.828640 0.446790 +v 0.976933 3.195340 -0.632131 +v -1.001256 1.792407 -1.027786 +v 0.221480 3.483139 1.094401 +v -0.965312 3.555089 -0.739959 +v 0.976933 2.296227 -1.027786 +v 0.761060 3.411016 -1.063872 +v -0.497825 3.446905 1.094401 +v 1.012878 3.446905 0.303092 +f 198 194 201 +f 175 176 182 +f 181 177 184 +f 178 174 185 +f 177 181 185 +f 174 183 186 +f 184 176 187 +f 181 184 187 +f 178 185 188 +f 185 181 188 +f 179 174 189 +f 174 186 189 +f 174 178 190 +f 183 174 190 +f 178 183 190 +f 182 176 191 +f 177 182 191 +f 176 184 191 +f 184 177 191 +f 176 175 192 +f 183 176 192 +f 180 186 192 +f 186 183 192 +f 175 182 193 +f 182 179 193 +f 174 179 195 +f 182 177 195 +f 179 182 195 +f 185 174 195 +f 177 185 195 +f 188 181 196 +f 188 196 197 +f 183 178 197 +f 176 183 197 +f 178 188 197 +f 196 176 197 +f 193 179 198 +f 180 194 198 +f 186 180 199 +f 179 189 199 +f 189 186 199 +f 198 179 199 +f 180 198 199 +f 187 176 200 +f 181 187 200 +f 176 196 200 +f 196 181 200 +f 192 175 201 +f 180 192 201 +f 175 193 201 +f 194 180 201 +f 193 198 201 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf new file mode 100644 index 000000000..4c3edea2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj new file mode 100644 index 000000000..1d3758349 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj @@ -0,0 +1,516 @@ +o convex_0 +v -2.063540 1.689756 0.408278 +v -3.244256 -0.443712 0.332142 +v -3.168049 -0.443712 0.332142 +v -1.377875 1.689756 -1.115516 +v -1.377681 -0.329270 1.094148 +v -1.377681 -0.329270 -1.077232 +v -3.358662 1.613531 -1.077232 +v -3.320462 1.651539 1.055863 +v -1.377875 1.651539 0.979728 +v -3.244256 -0.367487 -1.001096 +v -3.244256 -0.443712 1.094148 +v -2.139746 1.689756 -1.115516 +v -3.358662 1.308421 -1.077232 +v -1.415881 -0.367279 1.094148 +v -3.282456 -0.138812 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+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj new file mode 100644 index 000000000..57d523d91 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj @@ -0,0 +1,498 @@ +o convex_0 +v -1.151312 0.315539 0.490171 +v -4.978022 -0.443203 -0.598441 +v -4.978022 -0.245182 -0.598441 +v -5.010961 0.315426 0.589220 +v -1.151312 0.612457 -0.499392 +v -1.151312 -0.509210 0.457154 +v -1.151312 -0.542214 -0.598441 +v -5.110164 0.579341 -0.466376 +v -5.043899 -0.443203 0.391238 +v -1.151312 0.579454 0.325205 +v -1.151312 -0.476207 0.589220 +v -4.911757 0.480443 0.589220 +v -2.207290 -0.542214 -0.367443 +v -4.845879 -0.443203 0.457154 +v -1.712434 0.480443 -0.532408 +v -5.110164 0.579341 -0.268510 +v -4.911757 -0.476094 -0.598441 +v -1.415598 0.447440 0.490171 +v -1.184639 -0.542214 0.226272 +v -1.151312 -0.278185 0.589220 +v -3.493452 0.612457 -0.433475 +v -5.076838 -0.377196 0.391238 +v -4.087125 -0.146171 -0.598441 +v -1.778311 -0.443203 0.589220 +v -1.679495 0.579454 0.325205 +v -1.151312 0.612457 -0.070527 +v -4.516104 0.480443 0.589220 +v -1.151312 -0.443203 -0.598441 +v -5.110164 0.414436 -0.466376 +v -2.735085 0.612457 -0.499392 +v -5.010961 0.447327 0.589220 +v -5.076838 0.414436 -0.499392 +v -2.141413 -0.542214 -0.598441 +v -5.076838 0.579341 -0.235493 +v -5.043899 -0.047274 0.523187 +v -1.250516 0.447440 -0.532408 +v -5.043899 -0.443203 0.061306 +v -2.306107 0.447440 0.523187 +f 27 20 38 +f 5 1 6 +f 5 6 7 +f 2 3 7 +f 3 2 8 +f 1 5 10 +f 6 1 11 +f 4 11 12 +f 6 11 14 +f 2 7 17 +f 13 9 17 +f 1 10 18 +f 7 6 19 +f 13 7 19 +f 9 13 19 +f 14 9 19 +f 6 14 19 +f 11 1 20 +f 12 11 20 +f 1 18 20 +f 8 16 21 +f 7 3 23 +f 11 4 24 +f 14 11 24 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+v -0.128543 3.020102 -1.093300 +v -1.052198 2.987493 -1.060135 +v 0.893992 -3.048895 -1.060135 +v 1.059077 -2.157568 0.819983 +v 0.036326 3.053316 1.017923 +v 1.025973 1.140223 -0.664255 +v 1.025973 3.086529 0.952013 +v 0.959982 -3.048895 0.325237 +v -1.118189 1.107009 1.051088 +v 0.927095 0.678254 -1.093300 +v -1.118189 -3.016286 -0.301329 +v -1.085302 0.479578 -1.060135 +v -1.085302 3.020706 -0.433359 +v 1.025973 1.073796 0.984968 +v -0.062552 -3.049499 -0.994225 +v -0.194533 -3.015682 0.984968 +v -0.557375 2.954279 1.051088 +v 1.059077 -0.310298 -0.235419 +v 1.025973 -3.016286 0.622043 +v 0.729123 -3.016286 1.017923 +v 0.993086 3.086529 0.226162 +v -1.151293 -2.223995 -1.027180 +v -1.151293 2.954279 0.787028 +v 0.959982 2.558134 -0.994225 +v 0.927095 -2.422067 -1.060135 +v 1.025973 -0.112225 -0.631090 +v 0.828001 3.119742 0.919058 +v -0.920217 2.987493 1.051088 +v 1.025973 -2.355640 1.017923 +v -1.052198 -2.983072 0.654998 +v 0.993086 3.119742 0.754073 +v 1.058861 1.799660 0.654998 +v 0.663132 3.086529 0.984968 +v -1.151293 -3.016286 -0.796285 +v 1.059077 -1.399094 0.852938 +v 0.927095 3.020102 -0.796285 +v -1.085302 3.020706 -0.301329 +v -1.052198 -1.993312 0.984758 +v -1.151293 2.360665 1.051088 +v 0.729123 0.974759 -1.093300 +v 0.993086 3.052712 0.127297 +v 0.102317 3.020102 -1.093300 +v 0.498046 -3.048895 -1.060135 +f 92 62 95 +f 40 44 50 +f 44 40 51 +f 42 53 54 +f 52 44 61 +f 53 45 62 +f 41 40 64 +f 54 53 64 +f 42 54 65 +f 54 50 65 +f 55 48 67 +f 48 60 67 +f 63 67 68 +f 43 63 68 +f 67 60 68 +f 44 52 69 +f 70 56 71 +f 56 46 71 +f 46 60 71 +f 60 48 71 +f 48 70 71 +f 46 52 72 +f 60 46 72 +f 61 43 72 +f 52 61 72 +f 43 68 72 +f 68 60 72 +f 40 50 74 +f 50 54 74 +f 64 40 74 +f 54 64 74 +f 50 44 75 +f 44 65 75 +f 65 50 75 +f 62 45 76 +f 48 55 77 +f 55 62 77 +f 76 58 77 +f 62 76 77 +f 58 49 78 +f 70 48 78 +f 49 70 78 +f 48 77 78 +f 77 58 78 +f 57 47 79 +f 42 65 79 +f 44 69 80 +f 69 57 80 +f 57 79 80 +f 52 46 81 +f 69 52 81 +f 43 51 82 +f 51 63 82 +f 63 43 82 +f 53 42 83 +f 47 59 83 +f 59 73 83 +f 79 47 83 +f 42 79 83 +f 49 58 84 +f 59 39 84 +f 70 49 84 +f 47 57 85 +f 59 47 85 +f 66 59 85 +f 57 69 85 +f 81 66 85 +f 69 81 85 +f 51 40 86 +f 63 51 86 +f 40 67 86 +f 67 63 86 +f 46 56 87 +f 39 59 87 +f 59 66 87 +f 56 70 87 +f 81 46 87 +f 66 81 87 +f 84 39 87 +f 70 84 87 +f 73 45 88 +f 65 44 89 +f 79 65 89 +f 44 80 89 +f 80 79 89 +f 51 43 90 +f 43 61 90 +f 90 61 91 +f 44 51 91 +f 61 44 91 +f 51 90 91 +f 53 62 92 +f 41 64 92 +f 64 53 92 +f 45 73 93 +f 73 59 93 +f 58 76 93 +f 76 45 93 +f 84 58 93 +f 59 84 93 +f 45 53 94 +f 53 83 94 +f 83 73 94 +f 88 45 94 +f 73 88 94 +f 40 41 95 +f 62 55 95 +f 67 40 95 +f 55 67 95 +f 41 92 95 +o convex_2 +v 2.510637 -1.334478 0.523239 +v 1.421973 -3.082489 -0.565451 +v 1.553988 -3.082489 -0.565451 +v 1.455090 -0.311550 -0.532308 +v 1.488094 -2.983479 0.457167 +v 2.510637 -2.917291 -0.466450 +v 2.510637 -0.311550 -0.466450 +v 1.488094 -0.311550 0.457167 +v 2.576644 -3.082489 0.523239 +v 2.510637 -0.311550 0.490203 +v 1.421973 -0.311550 -0.268448 +v 1.652998 -3.016301 0.490203 +v 1.488094 -0.872520 -0.565451 +v 2.543641 -0.311550 0.292201 +v 2.576644 -3.049395 0.259166 +v 1.455090 -3.016301 0.226236 +v 1.686002 -2.785458 -0.565451 +v 1.421973 -3.082489 -0.334413 +v 2.543641 -2.983479 -0.202483 +v 2.213719 -2.983479 0.523239 +v 2.576644 -2.158572 0.457167 +v 1.421973 -1.631239 -0.565451 +v 2.081705 -0.311550 0.490203 +v 2.543641 -2.884468 -0.268448 +v 1.982807 -3.016301 -0.532308 +v 1.719005 -0.311550 -0.532308 +v 1.455090 -1.993644 0.226236 +v 1.520984 -3.016301 0.457167 +f 111 113 123 +f 102 99 103 +f 97 98 104 +f 102 103 105 +f 96 104 105 +f 103 99 106 +f 103 100 107 +f 98 97 108 +f 102 105 109 +f 104 98 110 +f 100 103 111 +f 98 108 112 +f 108 102 112 +f 97 104 113 +f 106 97 113 +f 111 106 113 +f 110 98 114 +f 104 96 115 +f 103 107 115 +f 107 104 115 +f 105 104 116 +f 102 109 116 +f 109 105 116 +f 110 102 116 +f 104 110 116 +f 97 106 117 +f 106 99 117 +f 108 97 117 +f 99 108 117 +f 96 105 118 +f 105 103 118 +f 115 96 118 +f 103 115 118 +f 101 102 119 +f 102 110 119 +f 114 101 119 +f 110 114 119 +f 102 101 120 +f 98 112 120 +f 112 102 120 +f 114 98 120 +f 101 114 120 +f 99 102 121 +f 108 99 121 +f 102 108 121 +f 103 106 122 +f 111 103 122 +f 106 111 122 +f 107 100 123 +f 104 107 123 +f 100 111 123 +f 113 104 123 +o convex_3 +v 2.939337 0.150544 0.259298 +v 1.455180 -0.311279 -0.532460 +v 1.059274 -0.311279 -0.235538 +v 1.455180 0.381523 -0.532460 +v 1.488271 0.381523 0.457212 +v 2.510340 -0.311279 0.490248 +v 3.005322 -0.179311 -0.202402 +v 2.543431 0.381523 -0.466389 +v 1.059274 -0.311279 0.259298 +v 1.059274 0.348497 -0.301510 +v 2.477446 0.381523 0.490248 +v 2.510340 -0.311279 -0.466389 +v 3.038215 0.282513 -0.202402 +v 3.071503 -0.212269 0.292234 +v 1.488271 -0.311279 0.457212 +v 1.059274 0.282513 0.193326 +v 1.719118 -0.311279 -0.532460 +v 3.038215 -0.245295 0.193326 +v 2.081540 -0.311279 0.490248 +v 3.038215 0.282513 -0.103395 +v 3.038215 -0.047342 -0.202402 +v 1.653134 0.381523 -0.532460 +v 2.906247 0.249554 0.226262 +v 3.071503 -0.146284 0.292234 +v 2.180615 0.381523 0.490248 +f 142 134 148 +f 126 125 129 +f 127 128 131 +f 126 129 132 +f 125 126 133 +f 127 125 133 +f 128 127 133 +f 126 132 133 +f 131 128 134 +f 129 125 135 +f 128 132 138 +f 132 129 138 +f 132 128 139 +f 128 133 139 +f 133 132 139 +f 125 127 140 +f 135 125 140 +f 131 135 140 +f 129 135 141 +f 135 130 141 +f 137 129 141 +f 130 137 141 +f 129 134 142 +f 128 138 142 +f 138 129 142 +f 131 134 143 +f 136 131 143 +f 130 135 144 +f 135 131 144 +f 131 136 144 +f 137 130 144 +f 136 137 144 +f 127 131 145 +f 140 127 145 +f 131 140 145 +f 134 124 146 +f 143 134 146 +f 143 146 147 +f 134 129 147 +f 124 134 147 +f 129 137 147 +f 137 136 147 +f 136 143 147 +f 146 124 147 +f 134 128 148 +f 128 142 148 +o convex_4 +v 2.477647 1.338431 0.424177 +v 1.388983 0.381523 -0.037524 +v 1.455103 0.381523 -0.532460 +v 1.521110 3.020771 -0.499424 +v 2.543654 0.381523 -0.466389 +v 1.521110 3.020771 0.457212 +v 2.543654 3.020771 -0.499424 +v 1.487993 0.381523 0.457212 +v 2.411640 2.987703 0.457212 +v 2.477647 0.381523 0.490248 +v 1.388983 1.008784 0.259298 +v 1.487993 2.954635 -0.466389 +v 2.510537 0.546605 0.391141 +v 2.543654 3.020771 -0.367381 +v 1.487993 2.855689 0.424177 +v 2.378636 1.602201 0.490248 +v 1.487993 1.602201 -0.532460 +v 1.653011 0.381523 -0.532460 +v 1.388983 1.008784 -0.037524 +v 2.213619 0.381523 0.490248 +v 1.388983 0.381523 0.226262 +v 2.015711 3.020771 0.457212 +v 1.487993 2.888757 -0.499424 +f 167 160 171 +f 150 151 153 +f 152 154 155 +f 150 153 156 +f 149 157 158 +f 156 153 158 +f 154 152 160 +f 149 158 161 +f 158 153 161 +f 155 154 162 +f 153 155 162 +f 157 149 162 +f 149 161 162 +f 161 153 162 +f 156 154 163 +f 159 156 163 +f 154 160 163 +f 160 159 163 +f 158 157 164 +f 152 155 165 +f 153 151 166 +f 155 153 166 +f 165 155 166 +f 151 165 166 +f 151 150 167 +f 150 159 167 +f 159 160 167 +f 154 156 168 +f 156 158 168 +f 164 154 168 +f 158 164 168 +f 150 156 169 +f 159 150 169 +f 156 159 169 +f 162 154 170 +f 157 162 170 +f 154 164 170 +f 164 157 170 +f 160 152 171 +f 152 165 171 +f 165 151 171 +f 151 167 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf new file mode 100644 index 000000000..e71fca867 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj new file mode 100644 index 000000000..b4b5d9b59 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj @@ -0,0 +1,603 @@ +o convex_0 +v -1.073845 -0.984076 2.428273 +v -0.517048 1.069506 3.228732 +v -0.517048 1.069506 3.193955 +v 1.084014 -1.123157 3.193955 +v 1.049026 0.964766 1.245074 +v -0.969526 -1.053616 1.245271 +v -1.039072 0.930211 1.245271 +v 1.084014 -1.053616 1.245074 +v 0.979480 0.929996 3.228929 +v -1.108833 -0.914321 3.263508 +v -1.039072 1.069506 3.228732 +v -1.039072 1.069506 2.741462 +v 0.561775 -1.088387 3.228929 +v -1.108833 -0.357356 3.263508 +v 1.049026 -1.088387 1.419353 +v 0.944707 0.964766 3.228929 +v -1.004299 -1.053616 1.419353 +v 1.084014 -0.844567 3.193955 +v 1.084014 0.025115 1.245074 +v -1.039072 0.964766 1.384576 +v -1.108833 -0.949091 3.124401 +v 1.049026 0.964766 1.593434 +v -1.073845 0.755931 3.193955 +v -1.039072 0.268720 1.245271 +v 1.014253 -0.287816 3.228929 +v -0.621367 -0.600961 3.263508 +v -1.039072 -0.009440 3.263508 +v 1.049026 -1.123157 2.811213 +v -1.108833 -0.949091 2.950320 +v 0.840173 -1.088387 3.228929 +v -1.004299 -1.053616 1.488906 +v 0.944707 -1.123157 3.193955 +v 1.014253 0.373245 3.228929 +v -1.004299 -0.949091 3.263508 +f 30 26 34 +f 3 2 5 +f 2 3 11 +f 3 5 12 +f 11 3 12 +f 8 4 15 +f 6 8 15 +f 4 8 18 +f 8 5 19 +f 18 8 19 +f 5 7 20 +f 12 5 20 +f 10 14 21 +f 5 2 22 +f 2 16 22 +f 16 9 22 +f 19 5 22 +f 18 19 22 +f 11 12 23 +f 7 14 23 +f 14 11 23 +f 20 7 23 +f 12 20 23 +f 7 5 24 +f 5 8 24 +f 8 6 24 +f 6 17 24 +f 17 1 24 +f 4 18 25 +f 14 10 26 +f 2 11 27 +f 11 14 27 +f 16 2 27 +f 9 16 27 +f 14 26 27 +f 26 9 27 +f 15 4 28 +f 6 15 28 +f 14 7 29 +f 1 21 29 +f 21 14 29 +f 7 24 29 +f 24 1 29 +f 13 4 30 +f 4 25 30 +f 25 26 30 +f 1 17 31 +f 21 1 31 +f 13 21 31 +f 4 13 32 +f 17 6 32 +f 28 4 32 +f 6 28 32 +f 13 31 32 +f 31 17 32 +f 22 9 33 +f 18 22 33 +f 25 18 33 +f 9 26 33 +f 26 25 33 +f 10 21 34 +f 21 13 34 +f 26 10 34 +f 13 30 34 +o 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310 354 +f 351 311 354 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf new file mode 100644 index 000000000..f9cfd927c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj new file mode 100644 index 000000000..7be262ed8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj @@ -0,0 +1,438 @@ +o convex_0 +v 1.066418 0.927416 -0.821958 +v -1.100412 -3.375167 0.911124 +v -1.038478 -3.375167 -0.853137 +v 1.035451 -3.468104 1.004025 +v -1.007511 0.927416 1.065958 +v -1.069445 0.927416 -0.946037 +v 1.004272 -3.530062 -1.100871 +v 1.035451 0.927416 1.004025 +v 1.035451 0.927416 -1.100871 +v -0.945578 -3.375167 -0.976792 +v -0.976544 -3.406146 1.004025 +v -0.388387 -3.530062 -0.203045 +v -0.573976 0.927416 -1.007971 +v 1.035451 -3.530062 -0.853137 +v -1.069445 -2.972441 1.034780 +v -1.038478 0.927416 0.756290 +v -0.016997 -3.530062 0.415655 +v 0.818684 -2.601130 -1.100871 +v -0.573976 0.896437 1.065958 +v -1.069445 -1.054364 -0.946037 +v 1.066418 -0.806532 -0.790991 +v -1.038478 -0.434785 1.065958 +v 0.787717 0.927416 -1.100871 +v 1.066418 0.927416 -0.388634 +v -1.100412 -3.127336 1.003813 +v 1.035451 -3.251252 -1.069692 +v -1.007511 0.927416 -0.976792 +v 0.787717 -3.499083 0.848979 +v -1.069445 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109 +f 101 95 109 +f 83 88 110 +f 88 93 110 +f 99 83 110 +o convex_3 +v -1.007475 2.536843 0.787124 +v 0.787799 0.927586 -1.100871 +v 0.787799 2.598777 -1.100871 +v 1.035415 2.567895 1.003761 +v -1.007475 0.927586 1.065719 +v -1.100412 0.989520 -0.945977 +v 1.035415 0.927586 1.003761 +v -1.100412 2.598777 -0.945977 +v 1.066394 2.444028 -0.945761 +v -0.976496 2.536843 1.096913 +v 1.035415 0.927586 -1.100871 +v -0.295389 2.660880 0.446570 +v -1.100412 2.103477 0.601465 +v -1.007475 0.927586 -0.976740 +v 1.097373 0.989520 0.508743 +v 1.035415 2.598777 -1.100871 +v -1.100412 1.051284 0.539507 +v 1.097158 2.227345 -0.667381 +v -1.038454 2.598777 -0.976740 +v 1.097158 2.134529 0.477764 +v 1.097373 1.144269 -0.574444 +v 0.571161 2.629659 -0.760103 +v -0.883559 2.629659 -0.636402 +v 0.632904 2.567895 1.034955 +v -0.914538 2.134529 1.096913 +v 0.013755 2.660880 0.446570 +v -0.914538 2.567895 1.003976 +v 1.035415 2.598777 -0.048232 +v -0.574200 0.927586 1.065719 +v -0.419305 2.660880 -0.017253 +v -1.100412 2.598777 -0.574444 +v 1.066394 0.927586 -0.822061 +v -1.069433 0.927586 -0.791082 +v 0.756820 2.598777 0.849082 +v -1.007475 1.546583 1.065719 +v -0.821601 2.444028 1.096913 +v -0.728879 2.567895 1.034740 +v -1.038454 1.360952 -0.976740 +v 1.066394 2.444028 -0.017253 +v -0.140710 2.598777 -1.038698 +f 148 129 150 +f 115 112 117 +f 112 113 121 +f 117 112 121 +f 118 116 123 +f 120 111 123 +f 112 115 124 +f 114 117 125 +f 121 113 126 +f 119 121 126 +f 115 123 127 +f 123 116 127 +f 121 119 128 +f 116 118 129 +f 114 125 130 +f 128 130 131 +f 121 128 131 +f 130 125 131 +f 126 113 132 +f 132 129 133 +f 129 118 133 +f 117 114 134 +f 120 115 135 +f 122 133 137 +f 119 126 138 +f 126 132 138 +f 132 136 138 +f 115 117 139 +f 135 115 139 +f 117 135 139 +f 132 133 140 +f 133 122 140 +f 122 136 140 +f 136 132 140 +f 111 120 141 +f 123 111 141 +f 118 123 141 +f 133 118 141 +f 120 137 141 +f 137 133 141 +f 117 121 142 +f 125 117 142 +f 121 131 142 +f 131 125 142 +f 124 115 143 +f 116 124 143 +f 115 127 143 +f 127 116 143 +f 134 114 144 +f 136 122 144 +f 114 138 144 +f 138 136 144 +f 115 120 145 +f 123 115 145 +f 120 123 145 +f 117 134 146 +f 134 120 146 +f 135 117 146 +f 120 135 146 +f 120 134 147 +f 137 120 147 +f 122 137 147 +f 134 144 147 +f 144 122 147 +f 112 124 148 +f 124 116 148 +f 116 129 148 +f 128 119 149 +f 114 130 149 +f 130 128 149 +f 138 114 149 +f 119 138 149 +f 113 112 150 +f 132 113 150 +f 129 132 150 +f 112 148 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf new file mode 100644 index 000000000..13e90db02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj new file mode 100644 index 000000000..5eb60be5c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj @@ -0,0 +1,627 @@ +o convex_0 +v -1.727766 -0.183497 -1.555492 +v -1.189301 0.046926 0.829672 +v -1.189301 1.046942 0.483198 +v -3.035699 0.008433 -0.439956 +v -1.189301 -1.414203 -0.593582 +v -1.189301 1.008449 -1.439923 +v -2.804696 -0.798850 -0.516535 +v -2.766195 0.777758 -0.593582 +v -2.804696 0.046926 0.252526 +v -1.227621 -1.145020 0.444674 +v -2.766195 -0.106511 -1.324353 +v -1.189301 -0.914329 -1.363110 +v -1.227621 1.316125 -0.593582 +v -2.035589 -0.760357 -1.324353 +v -1.881768 0.816519 -1.362876 +v -2.573874 0.624054 0.060144 +v -2.573874 -0.606652 0.060144 +v -2.074090 0.046926 -1.555492 +v -1.189301 -0.106511 -1.555492 +v -2.573874 0.585561 -1.131971 +v -2.766195 0.777758 -0.439956 +v -1.227621 -0.106511 0.829672 +v -2.766195 0.046926 -1.324353 +v -2.804696 -0.030060 0.252526 +v -1.266121 1.085435 0.406151 +v -2.573874 -0.606652 -1.131971 +v -1.381623 0.624054 -1.555492 +v -1.227621 -1.414203 -0.478246 +v -3.035699 0.046926 -0.593582 +v -1.189301 -1.183513 0.406151 +v -1.189301 1.316125 -0.439723 +v -2.804696 -0.798850 -0.555058 +v -1.227621 1.046942 0.483198 +v -1.227621 -1.183513 0.406151 +v -1.958769 -0.145004 -1.555492 +v -1.227621 -1.414203 -0.593582 +v -1.227621 0.046926 0.829672 +v -1.997270 -0.837343 0.252526 +v -2.727695 0.816519 -0.555058 +v -1.227621 1.316125 -0.439723 +v -2.997198 -0.183497 -0.593582 +v -1.458443 -0.875836 -1.363110 +v -2.727695 0.046926 0.290816 +v -1.189301 0.624054 -1.555492 +v -1.920269 0.816519 0.290816 +v -1.189301 -0.837343 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b/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj new file mode 100644 index 000000000..5a3d3fe8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj @@ -0,0 +1,303 @@ +o convex_0 +v -0.243658 -7.023753 -0.990401 +v 0.922209 -0.963286 1.108018 +v 0.883291 -0.963286 1.108018 +v -0.593293 1.098075 -1.029434 +v 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/dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj new file mode 100644 index 000000000..05267b3cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj @@ -0,0 +1,435 @@ +o convex_0 +v -2.002518 -0.350328 -0.203542 +v -1.762273 0.340843 -0.233569 +v -1.100860 0.280697 0.187073 +v -3.084115 0.190579 0.217100 +v -1.100860 -0.320221 0.187073 +v -3.114268 -0.350328 -0.293689 +v -3.114268 0.340843 -0.323781 +v -1.100860 0.220619 -0.263661 +v -3.114268 -0.200064 0.187073 +v -1.311345 0.250658 0.337339 +v -1.100860 -0.320221 -0.203542 +v -3.114268 0.340843 -0.203542 +v -1.100860 0.160473 0.337339 +v -2.663341 -0.350328 -0.293689 +v -1.100860 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-3.054801 -0.263655 +v 0.611999 -1.792470 -1.105103 +v -1.070635 -2.723997 0.998199 +f 81 75 108 +f 55 54 59 +f 54 55 69 +f 64 54 69 +f 55 59 75 +f 69 55 75 +f 67 53 77 +f 60 70 77 +f 65 68 78 +f 61 58 79 +f 65 78 79 +f 63 67 80 +f 72 62 81 +f 59 76 81 +f 76 72 81 +f 60 73 82 +f 73 66 82 +f 73 60 83 +f 78 73 83 +f 60 79 83 +f 79 78 83 +f 77 53 84 +f 60 77 84 +f 61 79 84 +f 79 60 84 +f 57 59 85 +f 84 53 87 +f 61 84 87 +f 66 56 88 +f 82 66 88 +f 58 62 89 +f 71 58 89 +f 62 72 89 +f 72 71 89 +f 59 57 90 +f 57 72 90 +f 76 59 90 +f 72 76 90 +f 56 66 91 +f 64 74 92 +f 74 70 92 +f 56 86 92 +f 86 64 92 +f 57 73 93 +f 78 57 93 +f 73 78 93 +f 68 58 94 +f 58 71 94 +f 71 68 94 +f 58 61 95 +f 62 58 95 +f 61 63 95 +f 63 69 95 +f 69 75 95 +f 81 62 95 +f 75 81 95 +f 86 56 96 +f 64 86 96 +f 58 68 97 +f 68 65 97 +f 79 58 97 +f 65 79 97 +f 59 54 98 +f 54 64 98 +f 96 59 98 +f 64 96 98 +f 69 63 99 +f 64 69 99 +f 74 64 99 +f 63 80 99 +f 80 74 99 +f 63 61 100 +f 53 67 100 +f 67 63 100 +f 61 87 100 +f 87 53 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0.131114 0.341113 -1.105103 +v -0.199276 3.044910 1.058560 +v 1.062772 3.105523 -0.804359 +v 0.942476 2.954801 0.938262 +v -0.980563 3.105523 0.427209 +v 1.002624 0.882035 1.028274 +v -0.559740 3.074946 -1.105103 +v -0.920415 0.341113 -1.044955 +v 1.092846 0.341113 -0.924657 +v 1.062772 1.693282 -1.044955 +v -1.040711 0.341113 0.938262 +v -0.950489 2.624403 -1.014880 +v 0.611874 2.984838 1.028486 +v -1.040711 0.341113 -0.534113 +v -0.920415 2.474223 -1.105103 +v 0.311346 3.105523 -1.044955 +v 1.062772 3.074946 -0.624125 +v -1.010637 2.474223 1.058560 +v 0.762244 0.401456 -1.074817 +v -0.950489 3.074946 -0.534113 +v -1.070785 0.341113 0.427209 +v 0.942476 2.353807 1.028274 +v 1.092846 2.714512 -0.924657 +f 129 143 149 +f 111 110 114 +f 113 112 117 +f 117 112 118 +f 113 117 121 +f 123 119 124 +f 110 111 125 +f 112 113 125 +f 111 114 126 +f 109 115 127 +f 117 118 127 +f 110 125 128 +f 125 113 128 +f 114 110 129 +f 129 116 130 +f 124 111 131 +f 111 126 131 +f 121 120 132 +f 113 121 132 +f 128 113 132 +f 122 128 132 +f 115 126 133 +f 127 115 133 +f 109 127 134 +f 127 118 134 +f 121 117 135 +f 120 121 135 +f 126 114 136 +f 133 126 136 +f 135 117 136 +f 118 112 137 +f 112 125 137 +f 115 118 138 +f 118 123 138 +f 110 128 139 +f 129 110 139 +f 116 129 139 +f 123 118 140 +f 119 123 140 +f 118 137 140 +f 115 109 141 +f 118 115 141 +f 109 134 141 +f 134 118 141 +f 126 115 142 +f 115 131 142 +f 131 126 142 +f 130 122 143 +f 129 130 143 +f 132 120 143 +f 122 132 143 +f 124 119 144 +f 111 124 144 +f 125 111 144 +f 137 125 144 +f 117 127 145 +f 127 133 145 +f 136 117 145 +f 133 136 145 +f 123 124 146 +f 131 115 146 +f 124 131 146 +f 115 138 146 +f 138 123 146 +f 119 140 147 +f 140 137 147 +f 144 119 147 +f 137 144 147 +f 128 122 148 +f 130 116 148 +f 122 130 148 +f 116 139 148 +f 139 128 148 +f 114 129 149 +f 120 135 149 +f 136 114 149 +f 135 136 149 +f 143 120 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf new file mode 100644 index 000000000..f155b756b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj new file mode 100644 index 000000000..c6ccef668 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj @@ -0,0 +1,2076 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf new file mode 100644 index 000000000..6e759e1a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj new file mode 100644 index 000000000..4c236986a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj @@ -0,0 +1,804 @@ +o convex_0 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+f 568 563 575 +f 569 568 575 +f 563 571 575 +f 571 569 575 +f 565 568 576 +f 572 565 576 +o convex_38 +v 0.709887 1.474639 0.199539 +v 0.737420 0.731456 0.928766 +v 0.723698 0.772798 0.914946 +v 0.985135 0.703920 0.185646 +v 0.764954 1.460757 0.199539 +v 0.709887 1.020551 0.543531 +v 1.012669 0.731456 0.199539 +v 0.709887 0.703920 0.914946 +v 0.764954 0.717801 0.901198 +v 0.709887 1.447027 0.185646 +v 0.709887 1.419566 0.309596 +v 0.723698 0.827796 0.887450 +v 0.847555 0.731456 0.667263 +v 1.012669 0.703920 0.185646 +f 580 586 590 +f 578 579 584 +f 577 582 584 +f 582 580 584 +f 578 584 585 +f 577 581 586 +f 582 577 586 +f 580 582 586 +f 581 577 587 +f 577 584 587 +f 587 584 588 +f 579 578 588 +f 584 579 588 +f 578 585 588 +f 585 581 588 +f 581 587 588 +f 583 581 589 +f 581 585 589 +f 585 583 589 +f 581 583 590 +f 584 580 590 +f 583 585 590 +f 585 584 590 +f 586 581 590 +o convex_39 +v -0.831563 -0.920128 0.846075 +v -0.955414 -1.250404 0.172171 +v -0.955414 -1.181582 0.172171 +v -0.955414 -1.236605 1.148939 +v -0.914110 -0.892634 0.337132 +v -0.859095 -0.892634 1.162807 +v -0.927894 -1.236605 0.172171 +v -0.831563 -0.892634 0.598683 +v -0.941642 -1.250404 1.135169 +v -0.955414 -1.195346 1.148939 +v -0.831563 -0.906398 1.162807 +v -0.886614 -0.892634 0.364770 +v -0.927894 -1.222840 0.997556 +f 601 599 603 +f 593 592 594 +f 592 593 597 +f 593 595 597 +f 595 596 598 +f 591 597 598 +f 594 592 599 +f 592 597 599 +f 593 594 600 +f 595 593 600 +f 594 596 600 +f 596 595 600 +f 596 594 601 +f 591 598 601 +f 598 596 601 +f 594 599 601 +f 597 595 602 +f 595 598 602 +f 598 597 602 +f 597 591 603 +f 599 597 603 +f 591 601 603 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf new file mode 100644 index 000000000..92c00f54d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj new file mode 100644 index 000000000..309e41b02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj @@ -0,0 +1,240 @@ +o convex_0 +v -0.612141 0.785661 -1.094683 +v 1.014611 2.563664 1.044174 +v 1.014611 2.563664 0.953520 +v 1.014405 -3.581290 0.923581 +v -1.063982 -3.219858 0.923581 +v 1.014405 -3.490780 -1.034387 +v -1.094118 2.563664 0.953729 +v 0.984268 2.382037 -1.004238 +v -1.003709 -3.642035 -1.004238 +v -1.033845 2.382644 -1.094683 +v -1.033845 -3.642035 0.923581 +v -0.310776 2.563664 -0.612519 +v -0.943436 -3.370505 0.953729 +v -1.063982 2.382644 -0.733113 +v 0.863929 -3.098976 -1.064535 +v 1.014611 2.442781 -0.491926 +v 0.562564 2.563664 -0.552432 +v 0.833792 2.111114 1.044174 +v 1.014405 -2.797681 0.953729 +v -0.702344 2.382644 -1.094683 +v 1.014405 -3.520545 -1.004238 +v -1.094118 0.604641 0.893432 +v 1.014611 -0.629088 -1.034387 +v -1.003709 -2.376719 -1.034177 +v -0.582004 2.563664 -0.612519 +v -0.551868 -3.642035 0.923371 +v 1.014405 -3.581290 0.591949 +v -1.094118 2.533291 0.501713 +v -1.033845 1.387643 -1.094683 +v -0.160093 -3.581290 -1.034177 +v -1.003709 2.412409 -1.064326 +v 1.014611 1.056583 -1.004029 +v -1.033845 -0.027714 -1.064326 +v 0.412088 -3.611662 0.893223 +v -0.973572 -3.310368 0.953729 +v -0.943436 -3.642035 -1.004238 +v -1.063982 -3.219858 0.893432 +v -0.371049 0.574268 -1.094683 +v -1.033845 -3.611662 -0.010180 +v 1.014611 2.141487 1.044174 +v -1.094118 2.473154 0.351181 +v 0.532634 1.990839 -1.034177 +v 0.833792 2.563664 1.044174 +v -0.762617 -3.340740 0.953729 +v -1.063982 2.442781 -0.612519 +v 0.773519 -3.039446 -1.064535 +v 0.833792 -2.797681 -1.064535 +f 38 20 47 +f 2 3 7 +f 7 3 12 +f 3 2 16 +f 12 3 17 +f 3 16 17 +f 16 8 17 +f 1 10 20 +f 5 7 22 +f 6 15 23 +f 16 2 23 +f 21 6 23 +f 7 12 25 +f 11 9 26 +f 4 13 26 +f 13 11 26 +f 23 4 27 +f 21 23 27 +f 22 7 28 +f 7 25 28 +f 10 1 29 +f 14 10 29 +f 24 29 30 +f 15 6 30 +f 6 21 30 +f 9 24 30 +f 29 1 30 +f 12 17 31 +f 17 8 31 +f 20 10 31 +f 8 20 31 +f 25 12 31 +f 8 16 32 +f 16 23 32 +f 23 8 32 +f 24 9 33 +f 14 29 33 +f 29 24 33 +f 4 26 34 +f 27 4 34 +f 7 5 35 +f 5 11 35 +f 11 13 35 +f 18 7 35 +f 13 18 35 +f 26 9 36 +f 21 27 36 +f 9 30 36 +f 30 21 36 +f 34 26 36 +f 27 34 36 +f 11 5 37 +f 5 22 37 +f 22 14 37 +f 14 33 37 +f 1 20 38 +f 9 11 39 +f 33 9 39 +f 11 37 39 +f 37 33 39 +f 2 18 40 +f 19 4 40 +f 23 2 40 +f 4 23 40 +f 14 22 41 +f 22 28 41 +f 20 8 42 +f 8 23 42 +f 23 20 42 +f 2 7 43 +f 18 2 43 +f 7 18 43 +f 13 4 44 +f 18 13 44 +f 4 19 44 +f 40 18 44 +f 19 40 44 +f 10 14 45 +f 28 25 45 +f 31 10 45 +f 25 31 45 +f 14 41 45 +f 41 28 45 +f 30 1 46 +f 15 30 46 +f 1 38 46 +f 38 15 46 +f 23 15 47 +f 20 23 47 +f 15 38 47 +o convex_1 +v 0.171074 4.581825 0.260872 +v -0.612004 2.563664 0.110218 +v -0.612004 2.563664 0.501917 +v 0.562672 2.563664 -0.552426 +v -0.612004 4.581825 -0.552426 +v 0.442126 2.563664 0.471786 +v 0.592750 4.521572 -0.612687 +v -0.491458 4.491347 0.562178 +v -0.581927 2.563664 -0.612687 +v 0.562672 4.551600 0.562178 +v -0.371030 2.563664 0.562178 +v -0.612004 4.461320 -0.582557 +v 0.562672 2.594086 -0.311381 +v 0.502399 3.437423 0.532047 +v -0.612004 4.581825 -0.401773 +v -0.280679 2.563664 -0.612687 +v 0.592750 3.708263 -0.522295 +v -0.612004 3.136358 -0.582557 +v -0.581927 2.985629 0.562178 +v -0.551731 3.256666 -0.612687 +v -0.310757 4.581825 -0.582557 +v 0.562672 4.401067 0.562178 +v 0.562672 4.551600 -0.100466 +v 0.592750 4.280562 -0.612687 +v 0.592750 4.521572 -0.190858 +v 0.351893 4.521572 -0.612687 +v -0.521654 4.491347 0.381394 +v 0.532595 4.009328 0.562178 +v 0.472322 2.925376 0.501917 +v 0.171074 4.551600 0.562178 +v -0.521654 4.521572 0.321133 +v 0.351893 2.865124 -0.582557 +v -0.581927 2.563664 0.562178 +v -0.612004 4.431095 -0.311381 +v 0.231347 4.581825 0.200610 +f 70 68 82 +f 50 49 51 +f 49 50 52 +f 50 51 53 +f 51 49 56 +f 57 55 58 +f 50 53 58 +f 49 52 59 +f 53 51 60 +f 48 52 62 +f 52 50 62 +f 51 56 63 +f 56 54 63 +f 60 51 64 +f 56 49 65 +f 49 59 65 +f 59 56 65 +f 58 55 66 +f 54 56 67 +f 56 59 67 +f 52 48 68 +f 59 52 68 +f 57 58 69 +f 61 60 69 +f 60 64 69 +f 57 54 70 +f 54 68 70 +f 63 54 71 +f 64 51 71 +f 54 64 71 +f 54 57 72 +f 64 54 72 +f 57 69 72 +f 69 64 72 +f 54 67 73 +f 67 59 73 +f 68 54 73 +f 59 68 73 +f 66 55 74 +f 58 61 75 +f 69 58 75 +f 61 69 75 +f 58 53 76 +f 53 60 76 +f 60 61 76 +f 61 58 76 +f 57 48 77 +f 55 57 77 +f 48 62 78 +f 74 55 78 +f 62 74 78 +f 77 48 78 +f 55 77 78 +f 51 63 79 +f 71 51 79 +f 63 71 79 +f 50 58 80 +f 58 66 80 +f 66 50 80 +f 62 50 81 +f 50 66 81 +f 74 62 81 +f 66 74 81 +f 48 57 82 +f 68 48 82 +f 57 70 82 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf new file mode 100644 index 000000000..ab615e7bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj new file mode 100644 index 000000000..a350aa127 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj @@ -0,0 +1,549 @@ +o convex_0 +v 1.031981 0.287815 0.285584 +v -1.101741 -3.602418 0.191396 +v -1.070350 -3.665228 -1.000679 +v -1.070350 0.790290 -0.969143 +v 1.094763 -3.539609 -0.937817 +v -1.038959 0.790290 1.038880 +v 0.937808 -3.539609 0.944483 +v 1.094763 0.790290 -1.031796 +v 0.937808 0.790290 1.007344 +v -1.101741 -3.539609 0.975809 +v 0.372987 0.350624 -1.094658 +v 0.372987 -3.696852 0.285584 +v 0.498550 -0.057418 1.038462 +v -1.070350 0.413434 1.038880 +v -0.285792 0.790290 -1.063331 +v 1.000590 0.695417 0.818968 +v -0.568310 -3.665228 -1.000679 +v 0.843635 -2.911953 0.976018 +v -1.101741 -2.221489 0.975809 +v -1.070350 0.695857 -1.000679 +v 1.094763 -3.319556 -0.812093 +v -0.819223 -3.602418 0.818968 +v 0.969199 -1.437469 0.976018 +v -0.536919 -0.496645 1.038880 +v -0.819223 -2.315923 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-0.310094 +v -0.693659 2.076719 1.101637 +v -1.101741 0.884555 -0.592612 +v -1.038744 2.421850 0.944467 +v 0.937805 2.170815 -1.094867 +v -1.007353 2.453102 -1.000479 +v 0.937805 2.421850 0.944467 +v 0.247421 1.731419 1.101422 +v 1.000587 2.390428 -0.969088 +v -0.348575 1.072916 1.101422 +v -1.070135 2.516114 -0.718176 +v -0.191621 1.135759 -1.094652 +v -0.819223 2.516114 -0.969088 +v -1.070135 0.790290 -0.969088 +v -0.411142 2.390428 1.070031 +v 0.969196 0.790290 0.975858 +v -1.101741 2.265079 -0.372876 +v 0.435552 2.390428 -1.063261 +v 1.094545 1.825515 0.662164 +v 1.000587 1.762840 1.007249 +v 1.094545 1.323782 -1.063261 +v 0.592721 0.790290 1.038640 +v 0.812242 2.233489 1.038640 +v 1.063369 2.390428 -0.247527 +v -0.285793 1.794093 -1.094652 +v 0.153249 0.790290 -1.094652 +v -0.568311 2.516114 -0.749567 +f 146 144 160 +f 117 119 120 +f 116 117 120 +f 122 119 123 +f 122 123 126 +f 119 117 130 +f 119 122 132 +f 118 121 133 +f 126 118 133 +f 115 131 133 +f 131 126 133 +f 121 118 135 +f 115 124 136 +f 131 115 136 +f 126 131 136 +f 133 121 137 +f 122 124 139 +f 137 121 140 +f 128 137 140 +f 135 129 141 +f 134 128 142 +f 118 126 143 +f 126 129 143 +f 135 118 143 +f 129 135 143 +f 137 128 144 +f 122 127 145 +f 127 132 145 +f 142 120 146 +f 124 144 146 +f 124 122 147 +f 122 126 147 +f 136 124 147 +f 126 136 147 +f 121 135 148 +f 125 140 148 +f 140 121 148 +f 135 141 148 +f 123 119 149 +f 119 130 149 +f 124 115 150 +f 115 133 150 +f 133 137 150 +f 144 124 150 +f 137 144 150 +f 120 138 151 +f 139 124 151 +f 146 120 151 +f 124 146 151 +f 117 116 152 +f 116 125 152 +f 130 117 152 +f 129 123 153 +f 123 149 153 +f 149 130 153 +f 152 125 153 +f 130 152 153 +f 120 119 154 +f 119 132 154 +f 138 120 154 +f 132 138 154 +f 126 123 155 +f 123 129 155 +f 129 126 155 +f 141 129 156 +f 125 148 156 +f 148 141 156 +f 153 125 156 +f 129 153 156 +f 116 120 157 +f 125 116 157 +f 140 125 157 +f 128 140 157 +f 120 142 157 +f 142 128 157 +f 127 122 158 +f 132 127 158 +f 138 132 158 +f 122 139 158 +f 151 138 158 +f 139 151 158 +f 132 122 159 +f 122 145 159 +f 145 132 159 +f 128 134 160 +f 134 142 160 +f 144 128 160 +f 142 146 160 +o convex_5 +v 3.040053 1.700267 0.536733 +v 1.094919 0.884515 -0.561430 +v 1.094919 0.884515 0.474000 +v 1.094919 1.888465 -0.561430 +v 3.102952 0.821669 -0.529950 +v 1.094919 1.825619 0.599579 +v 3.008801 1.856985 -0.529950 +v 3.102952 0.947362 0.568099 +v 3.008801 1.982678 0.505366 +v 1.094919 0.915882 0.567985 +v 2.506596 1.982678 0.222956 +v 1.973335 1.888465 -0.561430 +v 1.377373 0.853149 -0.561430 +v 3.102952 0.821669 -0.341638 +v 1.220520 1.919832 -0.373118 +v 2.538045 0.915882 0.567985 +v 3.102952 1.041347 -0.404485 +v 2.349743 1.480589 -0.561430 +v 3.071502 1.355124 0.568099 +v 2.349743 1.951198 0.536733 +v 3.008801 1.982678 0.285688 +v 2.506596 0.821669 -0.498584 +v 1.157621 1.856985 0.442634 +v 2.036233 0.853149 -0.561430 +v 3.040053 1.763000 0.191589 +v 1.126368 1.668787 0.599579 +v 3.102952 0.915882 0.474000 +v 1.314671 1.919832 -0.435851 +v 2.977351 1.888465 -0.404485 +f 172 181 189 +f 162 163 164 +f 164 163 166 +f 166 163 170 +f 162 164 172 +f 163 162 173 +f 162 172 173 +f 165 168 174 +f 170 163 176 +f 163 174 176 +f 165 167 177 +f 168 165 177 +f 167 165 178 +f 172 167 178 +f 173 172 178 +f 161 166 179 +f 168 177 179 +f 166 161 180 +f 161 169 180 +f 169 171 180 +f 171 175 180 +f 171 169 181 +f 163 173 182 +f 173 165 182 +f 165 174 182 +f 174 163 182 +f 164 166 183 +f 175 164 183 +f 166 180 183 +f 180 175 183 +f 165 173 184 +f 178 165 184 +f 173 178 184 +f 169 161 185 +f 177 167 185 +f 161 179 185 +f 179 177 185 +f 181 169 185 +f 167 181 185 +f 166 170 186 +f 176 168 186 +f 170 176 186 +f 179 166 186 +f 168 179 186 +f 174 168 187 +f 168 176 187 +f 176 174 187 +f 172 164 188 +f 164 175 188 +f 175 171 188 +f 171 181 188 +f 181 172 188 +f 167 172 189 +f 181 167 189 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf new file mode 100644 index 000000000..6ec909c37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj new file mode 100644 index 000000000..a6825c971 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj @@ -0,0 +1,888 @@ +o convex_0 +v -0.795748 -2.286770 -2.838977 +v 0.393594 -1.626244 -1.088380 +v 0.393594 -1.692319 -1.088380 +v 0.393594 -2.418919 -3.037388 +v -0.729622 -2.617142 -1.088380 +v -0.729622 -1.593262 -2.937992 +v -0.729622 -1.593262 -1.088380 +v 0.261341 -2.584050 -1.088380 +v 0.294405 -1.593262 -2.970997 +v -0.795748 -2.683107 -2.970997 +v 0.393594 -2.617142 -3.037388 +v 0.360531 -1.560170 -1.088380 +v -0.762568 -1.659336 -1.088380 +v -0.465233 -1.560060 -2.475541 +v 0.327468 -2.617142 -1.914266 +v -0.597485 -1.560060 -1.088380 +v -0.002931 -2.650125 -3.037388 +v 0.360531 -1.560170 -1.782246 +v -0.795748 -2.551068 -2.376335 +v -0.300033 -2.617142 -1.088380 +v 0.327468 -1.791486 -3.004002 +v -0.762568 -1.791486 -2.937992 +v 0.393594 -2.617142 -2.772776 +v 0.294405 -2.517976 -1.121575 +v -0.729622 -2.683107 -2.871982 +v 0.294405 -2.220695 -3.037388 +f 21 4 26 +f 2 3 4 +f 3 2 5 +f 5 2 7 +f 3 5 8 +f 4 3 11 +f 7 2 12 +f 5 7 13 +f 7 6 13 +f 9 6 14 +f 6 7 16 +f 7 12 16 +f 14 6 16 +f 12 14 16 +f 10 6 17 +f 4 11 17 +f 2 4 18 +f 12 2 18 +f 9 14 18 +f 14 12 18 +f 1 10 19 +f 10 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2.111429 2.206125 0.927098 +v 2.045351 1.710692 2.149302 +f 300 304 309 +f 291 292 294 +f 289 290 295 +f 292 291 296 +f 294 288 297 +f 288 295 297 +f 295 293 297 +f 293 291 298 +f 297 293 298 +f 291 293 299 +f 296 291 299 +f 292 296 300 +f 291 294 301 +f 298 291 301 +f 294 298 301 +f 295 288 302 +f 292 295 302 +f 288 294 303 +f 294 292 303 +f 302 288 303 +f 292 302 303 +f 289 295 304 +f 290 289 305 +f 289 296 305 +f 296 299 305 +f 305 299 306 +f 295 290 306 +f 293 295 306 +f 299 293 306 +f 290 305 306 +f 294 297 307 +f 298 294 307 +f 297 298 307 +f 296 289 308 +f 300 296 308 +f 289 304 308 +f 304 300 308 +f 295 292 309 +f 292 300 309 +f 304 295 309 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf new file mode 100644 index 000000000..695ea0f90 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj new file mode 100644 index 000000000..f40f283c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj @@ -0,0 +1,435 @@ +o convex_0 +v 0.391670 3.476499 -1.028267 +v -0.555484 0.390939 1.080053 +v -0.585947 0.390939 1.080053 +v 0.850016 -0.923265 -1.028267 +v -1.044493 -0.922832 -0.997487 +v 1.002931 -0.923265 1.019121 +v -1.013830 3.354187 1.018912 +v 0.941805 3.507728 0.957771 +v -0.983167 3.507728 -0.966917 +v -0.952704 -0.923265 1.018912 +v 1.002931 3.446138 -1.058628 +v 1.002931 -0.892471 -0.752923 +v 0.605511 -0.189827 1.080053 +v -1.013830 2.590387 -0.997487 +v -1.044493 1.032860 0.255067 +v 1.002931 0.299421 -1.058628 +v -0.952704 2.987684 1.049482 +v 0.513922 3.446138 -1.058628 +v 0.972268 3.507728 0.621495 +v -0.433232 -0.923265 1.080053 +v -1.013830 3.476499 -0.325145 +v -1.044493 -0.892471 -0.264213 +v 1.002931 3.476499 -0.294784 +v -0.983167 -0.097876 1.018912 +v 0.575048 3.507728 0.957771 +v 1.002931 0.146315 0.988341 +v -0.952704 3.385416 1.018912 +v 0.666637 -0.923265 1.080053 +v 0.972268 -0.923265 -1.028267 +v -0.402569 3.415777 1.018912 +v -0.830452 3.507728 -0.997697 +v -1.013830 1.857382 1.018912 +v -1.013830 3.446138 -0.722352 +v 0.972268 3.507728 0.224287 +v 0.972268 2.620748 0.957771 +v -0.983167 -0.892471 0.804918 +v -1.044493 -0.617485 -0.997487 +v 1.002931 -0.495173 1.019121 +v -0.983167 3.507728 -0.722352 +v -1.044493 1.155172 0.224497 +v -0.555484 3.507728 -0.997697 +v 0.941805 0.360578 -1.058628 +v -1.013830 3.079635 -0.966917 +v 0.788889 1.643119 1.019121 +v 0.911142 3.476499 -0.630641 +f 41 34 45 +f 5 4 10 +f 4 6 10 +f 11 6 12 +f 2 3 13 +f 4 5 16 +f 11 12 16 +f 3 2 17 +f 10 3 17 +f 2 13 17 +f 11 16 18 +f 9 8 19 +f 3 10 20 +f 10 6 20 +f 13 3 20 +f 5 10 22 +f 15 5 22 +f 6 11 23 +f 10 17 24 +f 8 9 25 +f 6 23 26 +f 23 19 26 +f 7 17 27 +f 21 7 27 +f 20 6 28 +f 13 20 28 +f 6 4 29 +f 12 6 29 +f 4 16 29 +f 16 12 29 +f 17 13 30 +f 8 25 30 +f 27 17 30 +f 25 27 30 +f 14 9 31 +f 11 18 31 +f 18 14 31 +f 9 19 31 +f 7 15 32 +f 17 7 32 +f 15 22 32 +f 24 17 32 +f 21 9 33 +f 23 11 34 +f 19 23 34 +f 31 19 34 +f 19 8 35 +f 26 19 35 +f 22 10 36 +f 10 24 36 +f 32 22 36 +f 24 32 36 +f 5 15 37 +f 18 5 37 +f 14 18 37 +f 6 26 38 +f 28 6 38 +f 13 28 38 +f 35 8 38 +f 26 35 38 +f 9 21 39 +f 25 9 39 +f 21 27 39 +f 27 25 39 +f 15 7 40 +f 7 21 40 +f 21 33 40 +f 37 15 40 +f 33 37 40 +f 1 11 41 +f 11 31 41 +f 31 34 41 +f 16 5 42 +f 5 18 42 +f 18 16 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-0.555508 -2.389916 -1.058814 +v 0.238787 -0.953956 -1.089396 +f 98 88 114 +f 80 82 83 +f 83 82 86 +f 83 86 87 +f 82 80 88 +f 80 83 90 +f 85 80 90 +f 82 81 91 +f 92 87 93 +f 86 79 93 +f 87 86 93 +f 81 82 96 +f 88 76 96 +f 82 88 96 +f 76 88 98 +f 92 93 100 +f 93 79 100 +f 77 78 101 +f 83 77 101 +f 90 83 101 +f 91 81 102 +f 81 94 102 +f 78 77 103 +f 77 83 103 +f 83 87 103 +f 87 92 103 +f 85 90 104 +f 78 95 104 +f 101 78 104 +f 90 101 104 +f 85 99 105 +f 79 86 106 +f 86 82 106 +f 82 91 106 +f 94 81 107 +f 81 97 107 +f 97 105 107 +f 80 85 108 +f 96 76 108 +f 76 98 108 +f 98 80 108 +f 85 105 108 +f 84 89 109 +f 95 78 109 +f 100 84 109 +f 92 100 109 +f 78 103 109 +f 103 92 109 +f 99 85 110 +f 89 99 110 +f 85 104 110 +f 104 95 110 +f 109 89 110 +f 95 109 110 +f 94 84 111 +f 100 79 111 +f 84 100 111 +f 91 102 111 +f 102 94 111 +f 79 106 111 +f 106 91 111 +f 89 84 112 +f 84 94 112 +f 99 89 112 +f 105 99 112 +f 94 107 112 +f 107 105 112 +f 81 96 113 +f 97 81 113 +f 105 97 113 +f 96 108 113 +f 108 105 113 +f 88 80 114 +f 80 98 114 +o convex_3 +v 0.483373 -1.015073 2.149594 +v -0.524998 -2.145609 1.080263 +v -0.524998 -1.962150 1.080263 +v -0.463794 -1.412227 3.035736 +v 0.575012 -1.992726 3.096931 +v 0.605670 -1.809381 1.080263 +v -0.433247 -0.984383 1.080263 +v -0.463794 -2.145609 3.005139 +v 0.452826 -0.984383 3.096931 +v 0.544466 -1.137265 1.080263 +v -0.433247 -1.106803 3.035736 +v 0.361186 -2.053766 1.080263 +v 0.575012 -1.748228 3.096931 +v -0.463794 -1.014959 1.538830 +v -0.341607 -2.145609 3.035736 +v 0.513919 -1.076226 1.080263 +v 0.177796 -1.014959 3.096931 +v 0.513919 -2.023303 1.661022 +v -0.311061 -2.145609 1.080263 +v 0.483373 -1.015073 2.882946 +v -0.494340 -2.145609 2.516369 +v -0.463794 -1.198418 2.791351 +v -0.341607 -1.137265 3.066334 +v -0.494340 -1.381764 1.080263 +v 0.513919 -1.045536 1.477832 +v 0.330640 -0.984383 3.035736 +v 0.483373 -2.023303 1.202850 +v -0.372043 -0.984383 1.080263 +v 0.605670 -1.748228 1.141655 +v 0.513919 -2.023303 1.997199 +v -0.524998 -2.115032 1.355640 +v 0.452826 -0.984383 2.852349 +v 0.483373 -1.931573 3.096931 +v -0.463794 -1.931573 3.035736 +v 0.544466 -1.137265 1.172252 +f 127 143 149 +f 116 117 120 +f 120 117 121 +f 120 121 124 +f 116 120 126 +f 123 119 127 +f 122 116 129 +f 124 121 130 +f 119 123 131 +f 120 119 132 +f 116 126 133 +f 129 116 133 +f 126 129 133 +f 123 127 134 +f 116 122 135 +f 118 125 136 +f 125 128 136 +f 125 118 137 +f 131 125 137 +f 121 117 138 +f 128 121 138 +f 117 136 138 +f 136 128 138 +f 124 130 139 +f 123 134 139 +f 123 121 140 +f 121 128 140 +f 128 125 140 +f 131 123 140 +f 125 131 140 +f 126 120 141 +f 120 132 141 +f 132 126 141 +f 121 123 142 +f 130 121 142 +f 115 139 142 +f 139 130 142 +f 119 120 143 +f 120 124 143 +f 127 119 143 +f 119 129 144 +f 129 126 144 +f 132 119 144 +f 126 132 144 +f 117 116 145 +f 116 135 145 +f 135 118 145 +f 136 117 145 +f 118 136 145 +f 139 115 146 +f 123 139 146 +f 115 142 146 +f 142 123 146 +f 129 119 147 +f 119 131 147 +f 131 137 147 +f 147 137 148 +f 122 129 148 +f 118 135 148 +f 135 122 148 +f 137 118 148 +f 129 147 148 +f 134 127 149 +f 124 139 149 +f 139 134 149 +f 143 124 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf new file mode 100644 index 000000000..c65afc540 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj new file mode 100644 index 000000000..d8057e217 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj @@ -0,0 +1,438 @@ +o convex_0 +v -1.818439 1.610180 -0.313443 +v -1.655369 -0.510644 0.379449 +v -1.614745 -0.510644 0.379449 +v -1.614745 -0.469748 -1.006757 +v -3.490343 -0.061817 -0.925303 +v -3.572165 1.528387 1.032142 +v -3.449719 -0.428851 1.072763 +v -1.614745 1.487697 1.031930 +v -3.408903 1.528387 -0.965925 +v -1.614745 1.610180 -1.047590 +v -1.614745 -0.510644 1.113384 +v -3.449719 -0.428851 -0.965925 +v -3.572165 1.569076 0.134662 +v -3.531158 1.528387 -0.925303 +v -2.797245 1.569076 1.032142 +v -3.368088 -0.347472 1.113808 +v -1.614745 1.242731 1.072763 +v -3.572165 1.202042 1.032142 +v -2.838061 1.609973 0.175495 +v -2.022325 -0.510644 1.113384 +v -1.818439 1.161145 -1.047590 +v -1.614745 1.528594 0.991097 +v -3.490343 -0.143403 1.072763 +v -2.144772 1.610180 -0.965925 +v -3.572165 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a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj new file mode 100644 index 000000000..1c5906a9e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj @@ -0,0 +1,522 @@ +o convex_0 +v 0.360111 1.670950 -2.015864 +v -0.317508 0.283283 0.630072 +v -0.414223 0.283283 0.630072 +v 0.005080 3.864964 -0.950803 +v -0.962889 0.250378 -1.725320 +v 1.005492 0.250731 -0.047597 +v -0.769255 2.993515 -0.112340 +v 0.973254 0.250731 -1.822168 +v 0.779619 3.380590 -1.015280 +v 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+f 75 86 94 +f 87 71 94 +f 75 72 95 +f 84 75 95 +f 71 85 96 +f 89 71 96 +f 77 89 96 +f 90 77 96 +f 80 90 96 +f 83 69 97 +f 69 91 97 +f 91 74 97 +f 65 82 98 +f 82 76 98 +f 71 87 99 +f 87 94 99 +f 92 65 100 +f 76 93 100 +f 65 98 100 +f 98 76 100 +f 85 70 101 +f 96 85 101 +f 80 96 101 +f 67 78 102 +f 86 67 102 +f 94 86 102 +f 78 99 102 +f 99 94 102 +f 81 70 103 +f 78 81 103 +f 70 85 103 +f 76 69 104 +f 69 83 104 +f 83 88 104 +f 93 76 104 +f 88 93 104 +f 72 83 105 +f 83 97 105 +f 97 74 105 +f 79 88 106 +f 92 79 106 +f 88 92 106 +f 68 75 107 +f 89 68 107 +f 71 89 107 +f 94 71 107 +f 75 94 107 +f 72 68 108 +f 88 72 108 +f 68 89 108 +f 92 88 108 +f 89 92 108 +f 79 92 109 +f 93 79 109 +f 92 100 109 +f 100 93 109 +f 65 77 110 +f 77 80 110 +f 82 65 110 +f 85 71 111 +f 71 99 111 +f 99 78 111 +f 78 103 111 +f 103 85 111 +f 70 73 112 +f 73 82 112 +f 101 70 112 +f 80 101 112 +f 110 80 112 +f 82 110 112 +f 74 84 113 +f 95 72 113 +f 84 95 113 +f 72 105 113 +o convex_2 +v -0.349827 0.250141 0.760131 +v -0.091496 -2.169868 -1.143985 +v -0.059179 -2.169868 -1.143985 +v -0.027070 -1.846963 3.630781 +v 1.037942 0.250378 -1.338031 +v -0.962813 0.250378 -1.725507 +v -1.092083 -1.201628 2.114141 +v 0.779612 -1.104969 3.566715 +v 0.682868 -1.879420 -1.757540 +v -0.801435 -1.879420 -1.692858 +v -0.123814 -0.395432 3.598748 +v 0.747294 -1.943858 2.082108 +v 0.553808 -0.621205 -2.209698 +v -1.027448 0.250378 0.211258 +v -0.833752 -1.911639 2.082108 +v -0.833752 -1.137189 3.566715 +v 0.973307 0.250378 0.049861 +v 1.037942 -1.234084 2.082108 +v -0.478679 -1.718086 -2.209698 +v 0.973307 -1.201628 -1.628176 +v -0.091496 -2.169868 2.114141 +v -1.059765 -1.201628 -1.143985 +v 0.811929 0.250141 -2.047685 +v 0.650551 -0.395432 3.146590 +v 0.005039 -1.104733 4.083556 +v -0.704692 0.250141 -2.047685 +v 0.747294 -1.976078 -0.079503 +v 0.585916 -1.459857 -2.209698 +v -0.704692 -0.556766 3.050491 +v -0.962813 -1.201628 -1.789573 +v 1.037942 -1.234084 -0.369648 +v -1.059765 0.056587 -0.950555 +v -0.027070 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2.017426 +f 161 148 177 +f 118 119 127 +f 118 127 130 +f 115 116 134 +f 119 118 136 +f 124 129 138 +f 121 137 138 +f 119 136 139 +f 131 125 140 +f 132 126 141 +f 124 127 142 +f 129 124 142 +f 132 123 143 +f 135 119 143 +f 123 135 143 +f 118 131 144 +f 131 140 144 +f 127 119 145 +f 119 135 145 +f 123 132 146 +f 127 114 147 +f 130 127 147 +f 137 130 147 +f 137 121 148 +f 126 132 149 +f 119 139 149 +f 132 143 149 +f 143 119 149 +f 123 115 150 +f 135 123 150 +f 152 117 153 +f 142 127 154 +f 129 142 154 +f 131 121 155 +f 125 131 155 +f 121 138 155 +f 117 152 155 +f 152 125 155 +f 145 135 156 +f 135 150 156 +f 118 133 157 +f 136 118 157 +f 141 122 158 +f 132 141 158 +f 146 132 158 +f 153 134 159 +f 118 130 161 +f 130 137 161 +f 137 148 161 +f 120 129 162 +f 127 145 162 +f 154 127 162 +f 129 154 162 +f 156 120 162 +f 145 156 162 +f 129 120 163 +f 126 149 164 +f 149 139 164 +f 139 136 165 +f 126 164 165 +f 164 139 165 +f 150 128 166 +f 128 151 166 +f 120 156 166 +f 156 150 166 +f 163 120 166 +f 151 163 166 +f 133 122 167 +f 122 141 167 +f 141 126 167 +f 157 133 167 +f 136 157 167 +f 165 136 167 +f 126 165 167 +f 138 129 168 +f 117 155 168 +f 155 138 168 +f 129 163 168 +f 114 124 169 +f 124 138 169 +f 138 137 169 +f 147 114 169 +f 137 147 169 +f 116 115 170 +f 115 123 170 +f 123 146 170 +f 158 122 170 +f 146 158 170 +f 122 160 170 +f 115 134 171 +f 150 115 171 +f 128 150 171 +f 134 116 172 +f 159 134 172 +f 140 159 172 +f 160 140 172 +f 116 170 172 +f 170 160 172 +f 124 114 173 +f 114 127 173 +f 127 124 173 +f 140 125 174 +f 125 152 174 +f 152 153 174 +f 159 140 174 +f 153 159 174 +f 122 133 175 +f 133 118 175 +f 118 144 175 +f 144 140 175 +f 160 122 175 +f 140 160 175 +f 151 128 176 +f 134 153 176 +f 153 117 176 +f 163 151 176 +f 117 168 176 +f 168 163 176 +f 171 134 176 +f 128 171 176 +f 131 118 177 +f 121 131 177 +f 148 121 177 +f 118 161 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf new file mode 100644 index 000000000..6a4c801d7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj new file mode 100644 index 000000000..ca04cfb20 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj @@ -0,0 +1,507 @@ +o convex_0 +v 0.192174 0.558826 -1.447516 +v 0.411297 -0.631167 -1.353679 +v 0.505321 -0.631167 -1.353679 +v 0.567928 -0.537165 -3.357516 +v -0.496613 -0.474497 -3.263281 +v 0.599231 0.464707 -3.232002 +v -0.527916 0.496158 -1.322201 +v -0.496613 0.558826 -3.325839 +v -0.559219 -0.474497 -1.322201 +v 0.442714 0.558826 -1.322201 +v 0.599231 0.496158 -2.887537 +v -0.559219 -0.474497 -1.823260 +v 0.505321 -0.631167 -1.322201 +v 0.599231 -0.192724 -3.263281 +v 0.379994 -0.537165 -3.357516 +v -0.527916 0.527375 -1.604109 +v 0.066961 0.527375 -3.294560 +v -0.559219 0.026264 -1.353679 +v -0.527916 0.527375 -2.480514 +v -0.527916 -0.474497 -2.793501 +v 0.474018 0.527375 -1.510273 +v -0.496613 0.214152 -3.325839 +v 0.567928 -0.380612 -3.357516 +v -0.152049 -0.505831 -3.294560 +v 0.599231 0.496158 -3.137966 +v -0.402589 0.558826 -3.325839 +v 0.567928 -0.537165 -2.918816 +v 0.411297 0.558826 -1.541551 +v -0.402589 0.527375 -1.322201 +f 16 7 29 +f 3 2 4 +f 8 1 10 +f 7 9 10 +f 2 9 12 +f 2 3 13 +f 3 4 13 +f 9 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+v -0.308808 1.247839 1.433770 +v 0.223459 2.938716 1.433770 +v -0.026919 1.842750 2.122713 +v 0.223459 0.558826 1.496487 +v -0.308808 0.558826 1.433770 +v -0.308808 1.874035 1.746951 +v -0.277480 3.063856 1.684368 +v 0.254787 2.625618 1.465129 +v -0.277480 1.404512 2.028638 +v 0.035553 0.558826 2.091355 +v -0.277480 2.186884 1.433770 +v -0.246152 1.185269 2.091355 +v 0.160865 3.001286 2.122713 +v 0.223459 2.594085 1.433770 +v 0.254787 2.750758 2.122713 +v 0.317504 0.558826 1.527778 +f 101 111 113 +f 87 90 93 +f 88 89 94 +f 89 91 94 +f 90 87 95 +f 90 88 96 +f 93 90 96 +f 89 88 97 +f 88 90 97 +f 91 95 98 +f 91 89 99 +f 95 91 99 +f 90 95 101 +f 95 87 102 +f 87 98 102 +f 98 95 102 +f 98 87 103 +f 98 103 104 +f 92 88 104 +f 88 94 104 +f 103 92 104 +f 89 97 105 +f 99 89 105 +f 97 99 105 +f 87 93 106 +f 103 87 106 +f 92 103 106 +f 93 96 107 +f 100 93 107 +f 94 91 108 +f 91 98 108 +f 98 104 108 +f 104 94 108 +f 93 100 109 +f 106 93 109 +f 92 106 109 +f 88 92 110 +f 100 88 110 +f 92 109 110 +f 109 100 110 +f 95 99 111 +f 99 97 111 +f 101 95 111 +f 96 88 112 +f 88 100 112 +f 107 96 112 +f 100 107 112 +f 97 90 113 +f 90 101 113 +f 111 97 113 +o convex_3 +v 0.192223 -2.979542 2.091343 +v -0.371439 -0.694264 1.903431 +v -0.371439 -0.694264 1.934768 +v 0.223557 -0.599851 1.966050 +v 0.223557 -3.042321 1.527717 +v -0.308713 -3.105099 1.559109 +v 0.129555 -0.599851 1.559109 +v -0.277379 -3.073710 2.028669 +v -0.340105 -0.599851 1.559109 +v -0.340105 -0.599851 1.997387 +v 0.223557 -2.416009 2.091343 +v 0.192223 -0.725163 1.559109 +v -0.340105 -2.823087 1.590446 +v 0.004336 -2.916764 2.091343 +v 0.223557 -0.662630 1.997387 +v 0.035611 -2.290697 1.527717 +v -0.308713 -2.447398 2.028669 +v 0.223557 -0.599851 1.746966 +v 0.223557 -2.979542 2.060006 +v -0.214769 -3.042321 2.060006 +v -0.340105 -2.823087 1.653065 +v 0.223557 -1.602098 1.559109 +v 0.066945 -2.416009 2.091343 +v 0.066945 -3.073710 1.590446 +v -0.340105 -2.760554 1.559109 +f 122 129 138 +f 115 116 122 +f 117 120 122 +f 122 116 123 +f 117 122 123 +f 118 117 124 +f 116 115 126 +f 114 124 127 +f 117 123 128 +f 124 117 128 +f 123 124 128 +f 118 119 129 +f 122 120 129 +f 125 118 129 +f 120 125 129 +f 123 116 130 +f 117 118 131 +f 120 117 131 +f 125 120 131 +f 114 121 132 +f 124 114 132 +f 118 124 132 +f 121 114 133 +f 114 127 133 +f 127 123 133 +f 123 130 133 +f 130 121 133 +f 119 121 134 +f 116 126 134 +f 126 119 134 +f 130 116 134 +f 121 130 134 +f 118 125 135 +f 131 118 135 +f 125 131 135 +f 124 123 136 +f 123 127 136 +f 127 124 136 +f 119 118 137 +f 121 119 137 +f 132 121 137 +f 118 132 137 +f 115 122 138 +f 126 115 138 +f 119 126 138 +f 129 119 138 +o convex_4 +v 0.348710 -0.286539 2.748841 +v -0.246082 -0.599625 1.402672 +v -0.183427 -0.599625 1.402672 +v 0.442692 0.464821 0.870090 +v -0.433939 0.464707 2.717394 +v -0.465267 0.433410 0.870273 +v -0.496702 -0.568327 2.686131 +v 0.442692 -0.537030 0.870273 +v 0.568002 0.464821 2.686131 +v -0.433939 -0.474436 0.870273 +v 0.442692 -0.443138 2.748841 +v -0.308737 0.558599 1.433936 +v 0.599329 0.464821 0.870090 +v 0.223400 -0.599625 1.965967 +v 0.348710 0.558599 2.216443 +v 0.474019 -0.411841 2.748841 +v -0.465267 0.370816 2.717394 +v 0.568002 0.308221 2.717578 +v -0.496702 -0.568327 2.185179 +v 0.317382 0.558599 1.527910 +v -0.246082 0.558599 2.091205 +v 0.317382 -0.568327 0.870273 +v -0.496702 -0.130053 2.686131 +v 0.599329 0.402113 1.089486 +v -0.120773 -0.537030 2.717394 +v 0.536674 0.496118 2.623603 +v -0.465267 0.089027 0.870273 +v -0.371285 -0.599625 1.871992 +v -0.402719 -0.505733 0.901721 +v 0.536674 -0.004864 0.870090 +v -0.465267 -0.161350 2.717394 +v 0.442692 -0.537030 1.277434 +v 0.442692 0.464707 2.717394 +v 0.536674 0.496118 1.058038 +v -0.496702 -0.537030 2.059941 +v 0.129418 -0.568327 0.870273 +f 168 160 174 +f 144 143 150 +f 142 144 150 +f 140 141 152 +f 139 149 154 +f 139 143 155 +f 143 144 155 +f 150 153 158 +f 150 143 159 +f 143 153 159 +f 153 150 159 +f 141 140 160 +f 152 141 160 +f 146 152 160 +f 155 144 161 +f 145 155 161 +f 157 145 161 +f 151 147 162 +f 147 156 162 +f 156 154 162 +f 145 152 163 +f 152 149 163 +f 147 151 164 +f 153 143 164 +f 144 142 165 +f 142 148 165 +f 140 152 166 +f 152 145 166 +f 145 157 166 +f 166 157 167 +f 157 148 167 +f 140 166 167 +f 148 142 168 +f 142 151 168 +f 154 146 168 +f 146 160 168 +f 151 162 168 +f 162 154 168 +f 149 139 169 +f 139 155 169 +f 155 145 169 +f 163 149 169 +f 145 163 169 +f 152 146 170 +f 149 152 170 +f 154 149 170 +f 146 154 170 +f 143 139 171 +f 139 154 171 +f 156 147 171 +f 154 156 171 +f 164 143 171 +f 147 164 171 +f 142 150 172 +f 151 142 172 +f 150 158 172 +f 158 153 172 +f 164 151 172 +f 153 164 172 +f 148 157 173 +f 161 144 173 +f 157 161 173 +f 144 165 173 +f 165 148 173 +f 160 140 174 +f 167 148 174 +f 140 167 174 +f 148 168 174 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf new file mode 100644 index 000000000..150089d66 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj new file mode 100644 index 000000000..8a37d11d9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj @@ -0,0 +1,330 @@ +o convex_0 +v -0.350338 3.882914 1.970408 +v -1.094162 -0.048322 0.022741 +v -1.094162 -0.048322 0.306115 +v 1.066247 -0.048322 2.076356 +v 1.066459 3.811717 -0.083630 +v -1.094162 3.775926 -0.048314 +v 1.030928 -0.048322 -0.012787 +v -0.952461 -0.012531 1.934881 +v 0.995608 3.811717 1.970197 +v -1.094162 3.882914 2.005936 +v 0.003702 -0.048322 -0.083630 +v -0.527359 -0.048322 2.005724 +v 1.066247 0.553967 2.076356 +v 0.712207 -0.048322 -0.083630 +v -0.102256 3.775926 -0.083630 +v 1.066247 -0.048322 0.979022 +v -0.704379 -0.048322 -0.048103 +v 0.641356 -0.048322 2.076356 +v -0.881611 3.882914 1.474292 +v -1.094162 3.315646 1.970197 +v -0.987781 -0.048322 1.651507 +v 0.995608 3.067803 2.005724 +v 1.030928 2.642930 2.005724 +v -1.094162 0.093687 -0.012787 +v -0.279488 1.156256 2.041040 +v 0.605825 3.847123 1.970197 +v 1.066459 1.014247 2.041040 +v -0.739910 3.882914 2.005724 +v 1.030928 2.217671 -0.083630 +v -1.094162 3.103594 -0.048314 +v -1.094162 3.599280 2.005936 +v 0.499655 3.811717 -0.012787 +v -0.491828 3.882914 1.403660 +v -0.987781 0.270718 1.828721 +v 1.030928 3.811717 1.120286 +v -0.102256 0.022875 2.041040 +v 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89 95 113 +f 100 89 113 +f 95 107 113 +f 111 100 113 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf new file mode 100644 index 000000000..aee492e9a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj new file mode 100644 index 000000000..deca4e57f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj @@ -0,0 +1,423 @@ +o convex_0 +v -0.101365 -3.166656 -0.957113 +v 1.049778 -1.282620 0.961915 +v 1.049778 -1.422249 0.961915 +v -0.938927 -3.236661 1.101612 +v -1.008657 -1.282812 -1.061612 +v 1.049778 -3.166847 -1.131789 +v -0.973792 -1.282812 0.996675 +v 0.945183 -3.201467 1.066633 +v 0.945183 -1.282812 -1.026852 +v -1.008657 -3.131653 -0.957113 +v -0.869197 -1.352435 1.031654 +v -1.008657 -2.085200 0.193910 +v 0.980048 -3.201467 0.857197 +v -0.659807 -3.236661 0.612782 +v 1.049778 -1.282620 0.473304 +v 0.212418 -1.282812 -1.061831 +v -0.938927 -2.992215 -0.991873 +v -1.008657 -3.166656 -0.747677 +v 0.980048 -1.561878 0.996675 +v -0.276093 -1.910760 -1.096810 +v 1.049778 -3.166847 -0.712698 +v -0.031636 -3.236661 0.996675 +v 1.049778 -2.852586 -1.096810 +v -1.008657 -3.166656 -0.294045 +v -0.973792 -2.015577 1.031654 +v 0.980048 -1.736319 -1.061831 +v 0.945183 -3.096841 1.066633 +v -0.869197 -3.096841 1.101612 +v -1.008657 -1.282812 -0.294045 +v 0.980048 -3.201467 0.298628 +v -1.008657 -1.492064 -1.061612 +v 0.456471 -1.282812 0.996675 +v 0.561267 -3.166656 -1.096810 +v 0.945183 -1.596690 -1.061831 +v -0.206161 -1.840945 -1.096810 +v -0.973792 -3.201467 0.508283 +v -0.973792 -1.352435 1.031654 +v 0.352079 -3.201467 -0.294045 +v 0.980048 -3.027027 1.031654 +v -0.938927 -3.236661 0.682740 +v 1.049778 -3.096841 -1.131789 +f 20 35 41 +f 2 3 6 +f 3 2 8 +f 5 10 12 +f 5 2 15 +f 2 6 15 +f 15 9 16 +f 5 15 16 +f 10 1 18 +f 12 10 18 +f 1 14 18 +f 6 3 21 +f 13 6 21 +f 8 4 22 +f 13 8 22 +f 4 14 22 +f 15 6 23 +f 18 4 24 +f 12 18 24 +f 9 15 26 +f 15 23 26 +f 8 2 27 +f 2 19 27 +f 19 11 27 +f 4 8 28 +f 8 27 28 +f 27 11 28 +f 2 5 29 +f 7 2 29 +f 12 7 29 +f 5 12 29 +f 6 13 30 +f 13 22 30 +f 10 5 31 +f 17 10 31 +f 5 20 31 +f 20 17 31 +f 2 7 32 +f 7 11 32 +f 19 2 32 +f 11 19 32 +f 1 10 33 +f 14 1 33 +f 10 17 33 +f 20 6 33 +f 17 20 33 +f 16 9 34 +f 9 26 34 +f 5 16 35 +f 20 5 35 +f 24 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1.031476 +f 100 119 124 +f 92 93 94 +f 94 93 96 +f 89 96 98 +f 91 90 99 +f 93 92 100 +f 95 93 100 +f 100 92 102 +f 93 95 104 +f 93 104 107 +f 90 101 108 +f 106 90 108 +f 97 106 108 +f 101 90 109 +f 90 102 109 +f 102 92 109 +f 96 93 110 +f 93 107 110 +f 107 98 110 +f 101 94 111 +f 94 103 111 +f 105 97 111 +f 98 99 112 +f 99 106 112 +f 99 98 113 +f 95 99 113 +f 104 95 113 +f 98 107 113 +f 107 104 113 +f 108 101 114 +f 97 108 114 +f 101 111 114 +f 111 97 114 +f 91 99 115 +f 98 96 116 +f 96 110 116 +f 110 98 116 +f 92 94 117 +f 94 101 117 +f 101 109 117 +f 109 92 117 +f 99 90 118 +f 90 106 118 +f 106 99 118 +f 90 91 119 +f 102 90 119 +f 100 102 119 +f 95 91 120 +f 99 95 120 +f 91 115 120 +f 115 99 120 +f 97 105 121 +f 106 97 121 +f 98 112 121 +f 112 106 121 +f 89 98 122 +f 103 89 122 +f 111 103 122 +f 105 111 122 +f 121 105 122 +f 98 121 122 +f 96 89 123 +f 94 96 123 +f 89 103 123 +f 103 94 123 +f 91 95 124 +f 95 100 124 +f 119 91 124 +o convex_3 +v -0.345896 2.905377 -0.329160 +v -0.206199 4.754448 0.333880 +v -0.241123 4.754448 0.333880 +v -0.310972 4.824518 -0.259326 +v 0.282248 2.905377 -0.329160 +v -0.276048 2.905377 0.264046 +v 0.282248 4.754448 0.229128 +v 0.282248 2.905377 0.194276 +v 0.247324 4.789389 -0.189556 +v -0.345896 2.940319 -0.049951 +v 0.282248 3.254415 -0.329160 +v -0.276048 4.161197 0.298963 +v 0.282248 4.789389 0.194276 +v -0.171336 4.824518 -0.259326 +v -0.310972 4.161197 -0.294243 +v -0.345896 3.708088 -0.224408 +v -0.066625 4.196138 0.298963 +v -0.310972 2.905377 0.229128 +v 0.282248 4.789389 0.019754 +v -0.276048 4.789389 0.124441 +v -0.206199 2.905377 0.264046 +f 132 141 145 +f 126 127 130 +f 125 129 130 +f 130 129 132 +f 129 131 132 +f 129 125 135 +f 131 129 135 +f 130 127 136 +f 127 126 137 +f 126 131 137 +f 131 135 137 +f 133 135 138 +f 128 137 138 +f 125 128 139 +f 135 125 139 +f 128 138 139 +f 138 135 139 +f 128 125 140 +f 125 134 140 +f 134 136 140 +f 131 126 141 +f 132 131 141 +f 125 130 142 +f 134 125 142 +f 130 136 142 +f 136 134 142 +f 135 133 143 +f 137 135 143 +f 133 138 143 +f 138 137 143 +f 136 127 144 +f 127 137 144 +f 137 128 144 +f 128 140 144 +f 140 136 144 +f 126 130 145 +f 130 132 145 +f 141 126 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf new file mode 100644 index 000000000..c639e5805 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.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 diff --git 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b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj new file mode 100644 index 000000000..ad482f20e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj @@ -0,0 +1,489 @@ +o convex_0 +v -3.006715 -2.253530 0.163500 +v -1.072490 -1.649089 0.344859 +v -1.072490 -1.649089 0.254146 +v -1.072490 -2.313961 -0.229299 +v -2.976780 -1.649089 -0.350228 +v -3.097707 -1.800233 0.314644 +v -2.976780 -2.253530 -0.259514 +v -1.072490 -2.193100 0.193783 +v -1.072490 -1.800233 -0.199083 +v -2.976780 -2.344312 0.223998 +v -1.707650 -1.679372 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-2.193076 0.284429 +v 2.735859 -2.283858 -0.319945 +v 1.134322 -2.283858 0.042639 +v 1.104057 -1.709599 -0.259514 +v 3.007859 -2.283858 -0.229299 +f 139 141 145 +f 126 127 129 +f 126 129 132 +f 127 128 134 +f 125 132 135 +f 132 129 135 +f 132 125 136 +f 128 126 137 +f 130 128 137 +f 126 133 137 +f 131 125 138 +f 129 134 138 +f 134 131 138 +f 125 135 138 +f 135 129 138 +f 128 130 139 +f 136 125 140 +f 133 136 140 +f 137 133 140 +f 130 137 140 +f 125 139 140 +f 139 130 140 +f 125 131 141 +f 139 125 141 +f 127 126 142 +f 128 127 142 +f 126 128 142 +f 129 127 143 +f 127 134 143 +f 134 129 143 +f 126 132 144 +f 133 126 144 +f 132 136 144 +f 136 133 144 +f 134 128 145 +f 131 134 145 +f 128 139 145 +f 141 131 145 +o convex_5 +v 2.917257 2.159471 0.223913 +v 1.104057 1.706179 -0.350231 +v 1.104057 1.675985 -0.017798 +v 1.104057 2.280435 0.254175 +v 2.917257 1.645728 0.254175 +v 3.007859 2.280435 -0.199113 +v 3.068390 1.645728 -0.259508 +v 1.104057 2.189665 -0.259508 +v 1.104057 1.675985 0.314635 +v 3.098655 2.219922 0.193715 +v 1.497118 1.827082 0.314635 +v 3.068390 1.645728 0.223913 +v 1.225119 1.796887 -0.350231 +v 1.255189 2.219922 -0.259508 +v 1.829454 1.645728 0.254175 +v 3.068390 1.827082 -0.259508 +v 2.917257 2.280435 0.012400 +v 1.104057 2.280435 0.103057 +v 2.735859 2.219922 -0.229311 +v 2.342992 2.280435 -0.199113 +v 1.376251 2.280435 0.254175 +v 3.098655 2.038568 0.223913 +v 2.010852 1.675985 -0.319968 +v 1.104057 1.887533 0.314635 +f 166 149 169 +f 147 148 149 +f 147 149 153 +f 149 148 154 +f 154 150 156 +f 150 152 157 +f 147 153 158 +f 158 153 159 +f 148 152 160 +f 152 150 160 +f 154 148 160 +f 150 154 160 +f 151 155 161 +f 155 152 161 +f 151 149 162 +f 155 151 162 +f 149 151 163 +f 153 149 163 +f 159 153 163 +f 158 159 164 +f 159 151 164 +f 151 161 164 +f 161 158 164 +f 151 159 165 +f 163 151 165 +f 159 163 165 +f 146 155 166 +f 156 146 166 +f 162 149 166 +f 155 162 166 +f 155 146 167 +f 152 155 167 +f 146 156 167 +f 156 150 167 +f 150 157 167 +f 157 152 167 +f 148 147 168 +f 152 148 168 +f 147 158 168 +f 161 152 168 +f 158 161 168 +f 149 154 169 +f 154 156 169 +f 156 166 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf new file mode 100644 index 000000000..6a247fb9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj new file mode 100644 index 000000000..105a35eab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj @@ -0,0 +1,393 @@ +o convex_0 +v -0.363633 0.244959 -3.115904 +v 0.341578 -0.184228 -3.667706 +v 0.341578 -0.214865 -3.667706 +v -0.332914 -0.245503 -4.709849 +v 0.280211 0.306299 -4.771118 +v -0.363633 -0.337547 -2.931906 +v 0.249492 0.337003 -2.931906 +v 0.341578 -0.245503 -4.894040 +v -0.240966 0.214321 -4.740388 +v 0.310860 -0.214865 -2.962636 +v -0.332914 0.337003 -2.931906 +v -0.332914 0.337003 -3.269171 +v -0.240966 -0.337547 -3.085366 +v 0.280211 0.275662 -2.931906 +v -0.363633 -0.337547 -3.330632 +v 0.310860 0.183618 -4.801848 +v 0.341578 -0.245503 -4.158047 +v 0.249492 -0.184228 -4.894040 +v -0.332914 -0.153525 -4.679119 +v -0.332914 -0.276206 -4.464583 +v 0.004298 0.337003 -3.790435 +v -0.179598 0.244959 -4.709849 +v 0.310860 -0.000272 -2.931906 +v 0.218912 0.275662 -4.801848 +v -0.240966 -0.337547 -2.931906 +v -0.179598 0.183618 -4.771118 +v 0.341578 -0.092250 -4.863117 +v -0.363633 0.306299 -3.023905 +f 19 1 28 +f 2 3 8 +f 6 7 11 +f 11 7 12 +f 5 7 14 +f 7 6 14 +f 6 1 15 +f 13 6 15 +f 8 13 15 +f 14 2 16 +f 5 14 16 +f 8 3 17 +f 3 10 17 +f 13 8 17 +f 8 4 18 +f 9 4 19 +f 15 1 19 +f 4 15 19 +f 4 8 20 +f 15 4 20 +f 8 15 20 +f 7 5 21 +f 5 12 21 +f 12 7 21 +f 12 5 22 +f 9 12 22 +f 3 2 23 +f 10 3 23 +f 2 14 23 +f 14 6 23 +f 5 16 24 +f 22 5 24 +f 9 22 24 +f 6 13 25 +f 17 10 25 +f 13 17 25 +f 10 23 25 +f 23 6 25 +f 4 9 26 +f 18 4 26 +f 24 18 26 +f 9 24 26 +f 2 8 27 +f 16 2 27 +f 8 18 27 +f 24 16 27 +f 18 24 27 +f 1 6 28 +f 6 11 28 +f 12 9 28 +f 11 12 28 +f 9 19 28 +o convex_1 +v -0.608923 -0.030741 -2.839406 +v 0.586869 -0.398750 -2.379450 +v 0.494750 0.428891 -1.000175 +v -0.578139 -0.552176 -0.908065 +v -0.578139 0.551632 -0.908065 +v 0.433532 0.490261 -2.778197 +v 0.525417 -0.490806 -0.908263 +v -0.578139 -0.460120 -2.839406 +v -0.578139 0.428891 -2.901011 +v 0.586869 -0.429435 -2.870109 +v 0.464200 0.551632 -0.908263 +v 0.280079 0.275680 -2.931714 +v -0.363467 -0.337487 -2.931714 +v -0.608923 -0.521383 -1.950395 +v -0.578139 0.551632 -1.214703 +v -0.363467 -0.552176 -1.000373 +v 0.586869 -0.276116 -2.839604 +v 0.065524 -0.460120 -2.839406 +v -0.608923 0.030305 -1.858879 +v 0.556085 -0.460120 -2.195626 +v 0.310863 -0.184060 -2.931714 +v -0.608923 -0.490698 -2.624878 +v 0.464200 0.551632 -1.153692 +v -0.240915 0.459576 -2.839406 +v -0.363467 0.336943 -2.931714 +v -0.608923 -0.521383 -1.705362 +v 0.464200 0.520839 -1.643955 +v 0.249528 0.336943 -2.931714 +v 0.556085 -0.184168 -2.870109 +v -0.547472 -0.552176 -1.245604 +f 50 46 58 +f 30 31 35 +f 33 32 35 +f 36 29 37 +f 30 35 38 +f 35 31 39 +f 33 35 39 +f 36 37 41 +f 38 36 41 +f 37 29 43 +f 33 39 43 +f 35 32 44 +f 31 30 45 +f 30 38 45 +f 36 38 46 +f 29 42 47 +f 43 29 47 +f 33 43 47 +f 38 35 48 +f 35 44 48 +f 46 38 48 +f 40 38 49 +f 38 41 49 +f 41 40 49 +f 29 36 50 +f 42 29 50 +f 36 46 50 +f 39 31 51 +f 34 43 51 +f 43 39 51 +f 34 37 52 +f 37 43 52 +f 43 34 52 +f 40 41 53 +f 41 37 53 +f 32 33 54 +f 42 32 54 +f 33 47 54 +f 47 42 54 +f 31 45 55 +f 45 34 55 +f 51 31 55 +f 34 51 55 +f 37 34 56 +f 34 40 56 +f 53 37 56 +f 40 53 56 +f 40 34 57 +f 38 40 57 +f 34 45 57 +f 45 38 57 +f 32 42 58 +f 44 32 58 +f 48 44 58 +f 46 48 58 +f 42 50 58 +o convex_2 +v -0.332803 -0.551741 -0.908065 +v -0.240759 0.581858 1.330213 +v -0.455460 0.581858 1.330213 +v -0.547504 -3.035745 1.299539 +v 0.985406 -3.035745 1.238193 +v 0.985406 2.911769 -0.816045 +v 0.954589 -3.035745 -0.693352 +v -1.007521 2.911769 -0.754480 +v 1.077450 2.973287 1.207519 +v -0.976703 -3.035745 -0.907846 +v -0.915477 3.065862 1.207300 +v -0.946090 -3.004687 1.299539 +v 0.494777 -0.490223 -0.908065 +v 0.494777 -0.582201 1.330213 +v -0.578118 0.551398 -0.908065 +v -1.007521 2.850251 -0.355945 +v 1.077450 2.268520 1.145953 +v -1.007521 -0.183829 -0.785153 +v -0.946090 0.919310 1.237973 +v -0.976703 -3.035745 0.165283 +v -0.700775 -1.072552 1.330213 +v 1.016020 2.942826 -0.263925 +v 0.862749 -3.035745 -0.724025 +v 0.464164 0.551398 -0.908065 +v 0.464164 0.520340 1.330213 +v -1.007521 2.942826 -0.632005 +v -0.823433 3.065862 1.053933 +v 0.985406 -3.035745 0.778092 +v 0.985406 2.145484 -0.816045 +v 1.077450 2.911769 0.931240 +v -0.946090 3.034804 1.023479 +v 0.525390 2.911769 -0.816045 +v 0.954793 2.482936 1.238193 +v 0.954793 -2.636775 -0.723806 +v -0.608731 -3.035745 -0.877392 +v -0.884863 2.360498 1.237973 +v -0.946090 -1.992332 1.299539 +v -1.007521 0.704296 -0.815826 +v 1.016020 -1.594557 1.207519 +v -0.700775 3.065862 1.146173 +v -0.670162 -1.286968 1.330213 +v -0.302190 2.911769 -0.785372 +v -0.946090 -3.035745 0.931459 +v 0.985406 1.808033 -0.785372 +v -0.884863 3.065862 1.023479 +v -0.639549 -0.398245 1.330213 +f 94 79 104 +f 63 62 65 +f 65 62 68 +f 68 59 71 +f 60 61 72 +f 62 63 72 +f 59 68 73 +f 71 59 73 +f 74 66 76 +f 68 62 78 +f 70 74 78 +f 76 68 78 +f 74 76 78 +f 72 61 79 +f 65 68 81 +f 64 71 82 +f 73 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0.582293 1.361036 +v -0.516869 -0.613499 3.323199 +v 0.464176 0.520842 1.330408 +v -0.608923 0.428957 3.323199 +v -0.608923 -0.521380 1.330408 +v 0.433492 0.551509 3.230924 +v 0.494861 -0.521380 3.261748 +v 0.494861 -0.582715 1.330408 +v 0.464176 0.490174 3.139039 +v 0.494861 -0.030819 1.330408 +v -0.271500 0.582293 1.330408 +v -0.332869 -0.613499 3.323199 +v 0.464176 -0.613382 1.361036 +v -0.578131 -0.552047 1.575629 +v -0.516869 0.551626 1.912931 +v -0.516869 -0.613499 2.924446 +v -0.608923 -0.184039 1.882303 +v -0.148977 0.490174 3.292376 +v 0.280176 -0.552047 3.292376 +v -0.608923 0.336955 3.323199 +v 0.464176 0.183501 3.261748 +v -0.547554 -0.582715 2.832561 +v -0.608923 0.428957 3.169863 +v 0.494861 -0.061487 2.188976 +v -0.424923 0.336955 3.323199 +v 0.157438 0.551626 1.330408 +v -0.486185 0.551626 1.330408 +v -0.578131 0.459624 3.108411 +f 125 122 135 +f 107 112 115 +f 112 110 115 +f 110 113 116 +f 115 110 117 +f 114 115 117 +f 110 116 117 +f 110 112 118 +f 108 113 118 +f 109 106 119 +f 111 109 119 +f 106 107 120 +f 107 115 120 +f 115 114 120 +f 119 106 120 +f 112 107 121 +f 113 108 122 +f 107 106 123 +f 106 109 123 +f 109 112 123 +f 121 107 123 +f 112 121 123 +f 112 111 124 +f 108 112 124 +f 113 122 125 +f 120 114 126 +f 119 120 126 +f 109 111 127 +f 111 112 127 +f 116 113 128 +f 114 116 128 +f 113 125 128 +f 105 126 128 +f 126 114 128 +f 112 109 129 +f 109 127 129 +f 127 112 129 +f 122 108 130 +f 111 122 130 +f 108 124 130 +f 124 111 130 +f 116 114 131 +f 114 117 131 +f 117 116 131 +f 111 119 132 +f 125 111 132 +f 126 105 132 +f 119 126 132 +f 105 128 132 +f 128 125 132 +f 113 110 133 +f 110 118 133 +f 118 113 133 +f 112 108 134 +f 118 112 134 +f 108 118 134 +f 122 111 135 +f 111 125 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf new file mode 100644 index 000000000..3b71d9440 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj new file mode 100644 index 000000000..6ff98ea3d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj @@ -0,0 +1,384 @@ +o convex_0 +v 1.074592 3.498250 0.160970 +v -1.088267 -0.918482 0.221849 +v -1.088267 -0.918482 0.587122 +v 1.105079 -0.918921 0.404486 +v 1.013618 -0.918921 -0.935612 +v -1.057780 3.528496 -0.935421 +v -1.088267 3.375953 0.983503 +v -1.027293 -0.918921 -0.965956 +v 1.044105 3.559180 -0.935612 +v 1.013618 -0.918921 0.952968 +v 1.105079 3.437320 0.922433 +v -1.027293 -0.918921 0.983312 +v 1.074592 3.559180 -0.844007 +v 0.160626 0.817790 -0.966147 +v -1.088267 3.467566 0.008678 +v 1.105079 -0.887799 0.800675 +v 1.105079 0.391283 0.069366 +v 1.044105 0.360599 -0.935612 +v -1.027293 1.031262 -0.965956 +v -0.265547 3.559180 -0.905077 +v -1.057780 1.913644 -0.935612 +v 0.160626 -0.918921 -0.966147 +v 1.105079 3.467128 0.252193 +v 0.221600 3.375953 0.952968 +v 0.800424 3.437320 0.922433 +v -1.088267 1.822469 0.983503 +v 1.105079 0.452651 0.922433 +v -1.088267 2.888955 -0.143424 +v -1.057780 3.528496 -0.661180 +v -0.813884 -0.522660 0.983312 +v 1.074592 3.559180 -0.691906 +v -1.088267 0.574510 -0.021666 +v 1.074592 3.162919 -0.844007 +v 1.074592 -0.918921 0.922433 +v -1.057780 3.375953 0.983503 +v 1.013618 -0.797062 0.952968 +v 1.013618 3.467128 0.587313 +f 31 20 37 +f 2 3 7 +f 3 2 8 +f 5 4 8 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122 129 152 +f 139 120 152 +f 129 139 152 +f 120 146 152 +f 146 122 152 +f 136 127 153 +f 144 136 153 +f 127 144 153 +f 134 126 154 +f 137 122 154 +f 126 138 154 +f 138 137 154 +f 148 134 154 +f 122 148 154 +f 121 125 155 +f 125 140 155 +f 140 130 155 +f 130 151 155 +f 151 133 155 +f 141 121 156 +f 133 147 156 +f 147 141 156 +f 121 155 156 +o convex_5 +v 3.001867 1.638200 0.559923 +v 1.101790 1.700450 -0.592816 +v 2.098574 0.890538 -0.561642 +v 1.101790 0.952898 0.559923 +v 3.095358 2.012140 -0.592816 +v 1.101790 2.012140 0.466286 +v 3.033096 0.921828 0.310648 +v 3.033096 0.921828 -0.592816 +v 1.101790 0.890538 -0.499294 +v 2.877342 1.980850 0.591097 +v 1.101790 1.918600 -0.592816 +v 3.033096 0.952898 0.435228 +v 3.001867 1.980850 0.528749 +v 1.257544 2.012140 0.497575 +v 1.382069 1.949670 -0.592816 +v 1.288578 0.890538 -0.250019 +v 3.033096 0.890538 -0.436946 +v 2.098574 1.544660 0.591097 +v 3.095358 2.012140 -0.436946 +v 1.101790 0.921828 0.310648 +v 1.101790 1.170939 0.559923 +v 3.033096 1.077618 0.466286 +v 3.095358 1.793990 -0.530468 +v 1.101790 2.012140 0.372996 +v 2.659327 0.890538 -0.592816 +v 1.226510 0.952898 0.559923 +v 2.877342 1.762810 0.591097 +v 2.659327 1.980850 0.591097 +f 177 174 184 +f 158 160 162 +f 158 161 164 +f 158 159 165 +f 160 158 165 +f 161 158 167 +f 158 162 167 +f 166 157 169 +f 161 162 170 +f 166 169 170 +f 161 167 171 +f 165 159 172 +f 172 159 173 +f 163 172 173 +f 161 170 175 +f 170 169 175 +f 163 160 176 +f 160 165 176 +f 172 163 176 +f 165 172 176 +f 162 160 177 +f 170 162 177 +f 160 174 177 +f 169 157 178 +f 168 175 178 +f 175 169 178 +f 164 161 179 +f 168 163 179 +f 163 173 179 +f 173 164 179 +f 175 168 179 +f 161 175 179 +f 162 161 180 +f 167 162 180 +f 161 171 180 +f 171 167 180 +f 159 158 181 +f 158 164 181 +f 164 173 181 +f 173 159 181 +f 160 163 182 +f 163 168 182 +f 174 160 182 +f 168 178 182 +f 182 178 183 +f 157 166 183 +f 166 174 183 +f 178 157 183 +f 174 182 183 +f 166 170 184 +f 174 166 184 +f 170 177 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf new file mode 100644 index 000000000..bfa48fa80 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj new file mode 100644 index 000000000..64a39b91a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj @@ -0,0 +1,402 @@ +o convex_0 +v 1.053336 3.947922 -0.798913 +v -1.089274 0.119689 0.676079 +v -1.089274 0.119689 0.957256 +v 1.053336 0.119689 1.062671 +v -0.983780 4.053359 0.957256 +v -0.983780 0.119689 -0.974262 +v -0.983780 4.123910 -1.009538 +v 0.947841 0.119689 -1.044814 +v 1.053336 4.123910 0.992119 +v 1.018101 3.947922 -0.974468 +v 0.666802 0.154964 1.062671 +v 0.175193 1.630287 -1.044814 +v -1.018805 3.596730 0.957256 +v 0.983076 0.752305 -1.009538 +v -0.000562 4.053359 -1.009538 +v 1.053336 0.119689 0.746219 +v 1.018101 0.998062 1.062671 +v -1.089274 0.787189 0.957256 +v -0.983780 2.156291 -1.009538 +v -0.983780 4.123910 -0.482666 +v 1.018101 2.402048 -1.009538 +v 0.420997 4.088634 0.992119 +v 1.053336 4.123910 0.816564 +v -0.456936 4.088634 0.957050 +v -0.632481 0.119689 0.992326 +v 0.666802 0.190241 -1.044814 +v -0.737766 4.123910 -1.009538 +v 0.947841 2.754025 -1.009538 +v 1.053336 3.983198 -0.693498 +v 0.983076 0.119689 -0.693498 +v 0.772087 4.123910 0.992119 +v 0.210218 3.983198 -1.009538 +v -0.246157 0.154964 -1.009538 +v -0.983780 4.088634 0.500524 +v 0.947841 0.400721 -1.044814 +v 1.053336 2.754025 1.027189 +f 31 22 36 +f 3 2 4 +f 4 2 6 +f 4 6 8 +f 4 1 9 +f 11 5 13 +f 1 4 16 +f 4 8 16 +f 11 4 17 +f 5 11 17 +f 2 3 18 +f 7 2 18 +f 13 7 18 +f 6 2 19 +f 2 7 19 +f 7 12 19 +f 9 7 20 +f 7 13 20 +f 10 1 21 +f 14 8 21 +f 1 16 21 +f 16 14 21 +f 5 17 22 +f 9 1 23 +f 7 9 23 +f 3 4 25 +f 4 11 25 +f 11 13 25 +f 18 3 25 +f 13 18 25 +f 12 8 26 +f 19 12 26 +f 12 7 27 +f 15 12 27 +f 7 23 27 +f 10 21 28 +f 1 10 29 +f 10 15 29 +f 23 1 29 +f 15 27 29 +f 27 23 29 +f 8 14 30 +f 16 8 30 +f 14 16 30 +f 9 20 31 +f 5 22 31 +f 24 5 31 +f 20 24 31 +f 15 10 32 +f 12 15 32 +f 10 28 32 +f 8 6 33 +f 6 19 33 +f 26 8 33 +f 19 26 33 +f 13 5 34 +f 20 13 34 +f 5 24 34 +f 24 20 34 +f 8 12 35 +f 21 8 35 +f 28 21 35 +f 12 32 35 +f 32 28 35 +f 4 9 36 +f 17 4 36 +f 22 17 36 +f 9 31 36 +o convex_1 +v 0.456013 -3.954721 -0.588192 +v -0.246190 -2.058046 0.570925 +v 0.280491 -2.058046 0.535639 +v -0.421713 -4.060157 0.570925 +v -0.456885 -2.058046 -0.482787 +v 0.561531 -2.058242 -0.588192 +v 0.491186 -3.919445 0.465406 +v -0.527117 -4.060157 -0.447614 +v -0.562403 -2.058046 0.570925 +v 0.596703 -2.058242 0.500579 +v 0.491186 -3.989801 0.149304 +v -0.491944 -4.060157 0.570925 +v 0.210259 -3.989801 -0.588192 +v -0.491944 -2.058046 -0.447614 +v 0.280491 -2.058046 -0.588192 +v -0.527117 -3.146704 -0.447614 +v -0.527117 -4.060157 0.008726 +v 0.596703 -2.198759 0.500579 +v 0.139914 -4.024881 0.500579 +v 0.561531 -2.163482 -0.588192 +v -0.386654 -4.060157 -0.447614 +v -0.562403 -2.058046 0.430233 +v -0.562403 -2.303999 0.570925 +v 0.561531 -2.620111 0.500579 +v 0.526358 -3.568057 0.430233 +v 0.385781 -3.989801 -0.588192 +v -0.246190 -4.060157 0.395174 +v 0.491186 -3.989801 0.430233 +f 47 61 64 +f 39 38 40 +f 38 39 41 +f 40 38 45 +f 38 41 45 +f 44 40 48 +f 40 45 48 +f 42 37 49 +f 44 41 49 +f 45 41 50 +f 41 39 51 +f 39 46 51 +f 46 42 51 +f 42 49 51 +f 49 41 51 +f 41 44 52 +f 50 41 52 +f 44 48 53 +f 46 39 54 +f 42 46 54 +f 43 40 55 +f 37 42 56 +f 47 37 56 +f 42 54 56 +f 40 44 57 +f 44 49 57 +f 45 50 58 +f 52 44 58 +f 50 52 58 +f 48 45 59 +f 44 53 59 +f 53 48 59 +f 58 44 59 +f 45 58 59 +f 39 40 60 +f 40 43 60 +f 54 39 60 +f 43 54 60 +f 54 43 61 +f 47 56 61 +f 56 54 61 +f 37 47 62 +f 49 37 62 +f 57 49 62 +f 57 62 63 +f 55 40 63 +f 47 55 63 +f 40 57 63 +f 62 47 63 +f 43 55 64 +f 55 47 64 +f 61 43 64 +o convex_2 +v 0.982925 -0.020983 -1.255782 +v -0.983757 -1.741745 -3.117174 +v -0.983757 -1.601156 -3.117174 +v -0.983757 -1.917430 -1.044814 +v 1.053271 -1.987625 -3.046784 +v -1.089274 -0.056080 -3.011690 +v 0.947753 -2.022922 -1.044814 +v -0.983757 0.014314 -1.044814 +v 1.088443 -0.020983 -2.976393 +v -0.948584 -1.952328 -3.117174 +v 0.772103 0.014314 -1.044814 +v 0.701971 0.014314 -2.660346 +v 0.982925 -2.022922 -1.220689 +v -0.421847 -1.987625 -3.081878 +v -0.702802 -0.020983 -3.011690 +v -0.983757 -1.952328 -2.028455 +v 0.947966 -0.020983 -1.044814 +v -1.018929 0.014314 -1.888080 +v -1.018929 -0.196668 -3.046784 +v -0.492193 -1.917430 -3.117174 +v 0.737143 -2.022922 -1.044814 +v 1.088443 -0.126274 -2.871112 +v -1.089274 -0.161571 -2.976596 +v -1.018929 0.014314 -1.571830 +v 0.947966 -2.022922 -1.571830 +v 1.053271 -0.793920 -3.011487 +v -0.000416 -0.020983 -3.011487 +v -0.983757 -1.952328 -2.484674 +v 1.053271 -1.987625 -2.941300 +v 1.053271 -1.811939 -3.046784 +v -1.089274 -0.091177 -2.906409 +v -0.843279 -1.636254 -3.117174 +v -1.054102 -0.020983 -2.835815 +f 82 79 97 +f 67 66 70 +f 68 71 72 +f 66 67 74 +f 72 71 75 +f 65 73 75 +f 75 73 76 +f 72 75 76 +f 74 69 78 +f 65 75 81 +f 75 71 81 +f 77 65 81 +f 71 77 81 +f 72 76 82 +f 76 79 82 +f 67 70 83 +f 70 79 83 +f 74 67 84 +f 69 74 84 +f 71 68 85 +f 77 71 85 +f 68 80 85 +f 80 78 85 +f 69 73 86 +f 73 65 86 +f 65 77 86 +f 70 66 87 +f 80 68 87 +f 68 72 88 +f 82 70 88 +f 72 82 88 +f 69 77 89 +f 78 69 89 +f 77 85 89 +f 85 78 89 +f 84 73 90 +f 76 73 91 +f 79 76 91 +f 83 79 91 +f 66 74 92 +f 74 78 92 +f 78 80 92 +f 87 66 92 +f 80 87 92 +f 77 69 93 +f 69 86 93 +f 86 77 93 +f 73 69 94 +f 69 84 94 +f 90 73 94 +f 84 90 94 +f 70 87 95 +f 87 68 95 +f 68 88 95 +f 88 70 95 +f 67 83 96 +f 84 67 96 +f 73 84 96 +f 91 73 96 +f 83 91 96 +f 79 70 97 +f 70 82 97 +o convex_3 +v 0.140068 -0.055963 3.099907 +v 0.104895 -2.058046 -0.693064 +v 0.280545 -2.058046 -0.693064 +v 0.947762 0.119689 -1.044814 +v -0.983756 0.119689 -0.939330 +v -1.054102 -1.917355 3.029314 +v 1.088454 -2.058046 3.029314 +v -1.018929 -1.917355 -1.009111 +v -1.018929 0.049129 3.029314 +v 1.088454 0.084302 3.099501 +v 0.947762 -2.022660 -1.044814 +v -1.089274 0.119689 0.957765 +v 1.053281 0.119689 0.746796 +v -0.562322 -2.058046 0.571124 +v -0.983756 0.014170 -1.044814 +v -1.054102 -1.952314 0.395452 +v -1.018929 -1.847009 3.064610 +v 0.982935 -1.741917 -0.658173 +v -0.597282 0.084302 3.064610 +v -1.089274 -0.372306 0.536233 +v 1.088454 -2.058046 2.643079 +v -0.983756 -1.917355 -1.044814 +v 0.982935 -0.688435 3.099907 +v -0.562322 -2.058046 -0.517798 +v 0.842457 -2.058046 3.029314 +v -1.089274 -0.969179 0.922468 +v -1.089274 0.084302 1.448672 +v 1.088454 0.049343 2.221548 +v 0.982935 0.119689 -0.693064 +v 1.053281 -0.372306 0.746796 +v -1.054102 -1.285095 3.029314 +v 0.561501 -2.058046 -0.587580 +v 1.053281 0.119689 1.062438 +v 0.034549 -0.899046 3.099907 +v -1.054102 -1.952314 1.729423 +v -1.054102 0.049129 2.502298 +v -1.089274 0.084302 0.641718 +v -0.772933 -0.055963 3.064610 +v -0.632455 -1.952528 3.029314 +v 0.737152 -2.022660 -1.044814 +v -0.808105 -1.847009 3.064610 +f 120 131 138 +f 99 100 104 +f 100 99 108 +f 101 102 109 +f 101 109 110 +f 99 104 111 +f 102 101 112 +f 101 108 112 +f 98 107 116 +f 109 106 116 +f 104 100 118 +f 107 104 118 +f 108 115 118 +f 112 108 119 +f 105 112 119 +f 104 107 120 +f 107 98 120 +f 99 111 121 +f 113 105 121 +f 111 113 121 +f 105 119 121 +f 111 104 122 +f 104 114 122 +f 105 113 123 +f 109 117 123 +f 117 105 123 +f 123 103 124 +f 109 123 124 +f 110 107 125 +f 107 118 125 +f 108 101 126 +f 101 110 126 +f 115 108 126 +f 115 126 127 +f 118 115 127 +f 110 125 127 +f 125 118 127 +f 126 110 127 +f 103 114 128 +f 114 106 128 +f 124 103 128 +f 100 108 129 +f 118 100 129 +f 108 118 129 +f 107 110 130 +f 110 109 130 +f 116 107 130 +f 109 116 130 +f 98 114 131 +f 120 98 131 +f 111 103 132 +f 113 111 132 +f 103 123 132 +f 123 113 132 +f 106 109 133 +f 109 124 133 +f 128 106 133 +f 124 128 133 +f 109 102 134 +f 102 112 134 +f 112 105 134 +f 117 109 134 +f 105 117 134 +f 114 98 135 +f 106 114 135 +f 98 116 135 +f 116 106 135 +f 103 111 136 +f 114 103 136 +f 111 122 136 +f 122 114 136 +f 108 99 137 +f 119 108 137 +f 99 121 137 +f 121 119 137 +f 114 104 138 +f 104 120 138 +f 131 114 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf new file mode 100644 index 000000000..46f19b8ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj new file mode 100644 index 000000000..4e5efd4f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj @@ -0,0 +1,609 @@ +o convex_0 +v 3.007545 -1.529822 0.227785 +v 1.281507 -0.345210 0.600238 +v 1.281507 -0.345210 0.532403 +v 1.112441 -1.495847 0.600238 +v 1.112441 -1.461988 -0.584375 +v 3.109180 -0.379069 -0.448937 +v 3.007545 -0.480763 0.600238 +v 1.112441 -0.379185 -0.482797 +v 3.109180 -1.495847 -0.584375 +v 2.939919 -1.529822 0.498544 +v 1.112441 -0.345210 0.600238 +v 1.112441 -1.495847 -0.482797 +v 1.213880 -0.480763 -0.516656 +v 3.109180 -1.292807 -0.584375 +v 3.041358 -0.446788 0.430825 +v 2.973732 -1.394385 0.532403 +v 3.109180 -1.292807 -0.313500 +v 2.262872 -1.529822 0.126207 +v 3.075172 -0.379069 -0.110460 +v 2.567387 -0.379185 -0.482797 +v 1.112441 -0.345210 0.126207 +v 1.416955 -1.495847 0.600238 +v 2.939919 -0.446788 0.600238 +v 1.315516 -1.326550 -0.584375 +v 3.041358 -0.616084 0.464685 +v 2.195050 -1.529822 0.532403 +v 2.872097 -0.683803 0.600238 +v 3.109180 -0.480763 -0.482797 +f 14 20 28 +f 3 2 6 +f 2 4 7 +f 5 4 8 +f 2 3 11 +f 4 2 11 +f 8 4 11 +f 4 5 12 +f 5 9 12 +f 5 8 13 +f 6 9 14 +f 9 5 14 +f 10 1 16 +f 9 6 17 +f 1 9 17 +f 16 1 17 +f 9 1 18 +f 1 10 18 +f 12 9 18 +f 6 2 19 +f 15 6 19 +f 13 8 20 +f 14 13 20 +f 3 6 21 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index 000000000..761e2565b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj new file mode 100644 index 000000000..cad04386d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj @@ -0,0 +1,459 @@ +o convex_0 +v -0.250384 -2.769783 -1.399980 +v 0.936491 -0.001136 0.793912 +v -0.969606 -0.001136 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b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf new file mode 100644 index 000000000..9249a9f40 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj new file mode 100644 index 000000000..321dafca5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj @@ -0,0 +1,477 @@ +o convex_0 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+f 140 145 149 +f 135 137 150 +f 132 136 151 +f 136 146 151 +f 129 139 152 +f 139 148 152 +f 146 130 153 +f 132 151 153 +f 151 146 153 +f 139 129 154 +f 145 139 154 +f 129 149 154 +f 149 145 154 +f 136 132 156 +f 150 137 157 +f 129 152 157 +f 132 148 158 +f 141 152 159 +f 137 144 160 +f 149 129 160 +f 144 149 160 +f 129 157 160 +f 157 137 160 +f 138 135 161 +f 143 138 161 +f 136 156 162 +f 139 145 163 +f 145 133 163 +f 148 139 163 +f 132 158 163 +f 158 148 163 +f 138 131 164 +f 131 146 164 +f 146 136 164 +f 136 147 164 +f 142 155 165 +f 134 138 166 +f 147 142 166 +f 138 164 166 +f 164 147 166 +f 165 134 166 +f 142 165 166 +f 147 136 167 +f 142 147 167 +f 155 142 167 +f 136 162 167 +f 162 133 167 +f 135 150 168 +f 150 143 168 +f 161 135 168 +f 143 161 168 +f 132 153 169 +f 159 132 169 +f 141 159 169 +f 152 141 170 +f 153 130 170 +f 150 157 170 +f 157 152 170 +f 141 169 170 +f 169 153 170 +f 148 132 171 +f 152 148 171 +f 132 159 171 +f 159 152 171 +f 130 143 172 +f 143 150 172 +f 170 130 172 +f 150 170 172 +f 137 134 173 +f 134 144 173 +f 144 137 173 +f 156 132 174 +f 133 162 174 +f 162 156 174 +f 132 163 174 +f 163 133 174 +f 133 144 175 +f 144 134 175 +f 134 165 175 +f 165 155 175 +f 167 133 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf new file mode 100644 index 000000000..f77af24b2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj new file mode 100644 index 000000000..76125b7b1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj @@ -0,0 +1,444 @@ +o convex_0 +v 0.699096 -0.046732 0.048578 +v -1.454422 -3.824116 -1.045490 +v -1.454422 -3.824116 -0.586526 +v 0.663824 -3.930172 -0.586526 +v -1.418933 -3.753283 1.108028 +v -1.277847 0.024101 -1.116251 +v -1.348390 0.024101 1.001996 +v 0.699096 -3.824116 0.931235 +v 0.522521 0.024101 -1.010219 +v 0.769857 0.024101 0.966507 +v 0.663824 -3.930172 -0.939458 +v 0.663824 -0.081955 1.001996 +v 0.593282 0.024101 -0.974730 +v -1.136544 -3.294609 1.108028 +v 0.275403 -3.894175 -0.974730 +v -1.313119 -0.188011 -1.080762 +v -1.348390 -0.470570 1.037050 +v -1.242576 -3.788506 0.931453 +v 0.416707 -3.824116 0.966507 +v 0.734367 -2.552602 0.895964 +v -1.348390 0.024101 0.507542 +v -1.454422 -3.576393 -1.045490 +v -1.207087 -0.082342 -1.116251 +v -1.383662 -1.353469 1.037050 +v 0.275403 -3.930172 -0.904187 +v 0.628553 -1.282249 -0.974730 +v 0.628553 -2.588212 -0.974730 +v -1.242576 -3.824116 -1.045490 +v 0.699096 -2.588212 -0.374462 +v 0.699096 -3.859339 0.260424 +v -1.171815 -3.647226 1.108028 +v 0.734367 -2.058317 0.966507 +v 0.769857 -0.081955 0.895964 +v -1.418933 -3.505947 1.108028 +v 0.593282 -3.859339 0.578303 +v 0.628553 -0.011509 -0.763101 +v 0.487250 0.024101 1.001996 +v 0.699096 -3.011663 -0.233376 +v -1.454422 -3.753283 -0.551255 +v 0.451978 -3.930172 -0.657069 +v -0.924697 -3.788506 1.072539 +v -1.030512 -3.859339 -1.010219 +v -1.313119 -2.199597 -1.080762 +v -1.313119 -3.188165 1.108028 +f 37 17 44 +f 6 7 9 +f 9 7 10 +f 9 10 13 +f 5 3 18 +f 7 6 21 +f 6 16 21 +f 21 16 22 +f 2 3 22 +f 6 2 22 +f 16 6 22 +f 7 21 22 +f 6 9 23 +f 17 7 24 +f 7 22 24 +f 11 4 25 +f 18 3 25 +f 9 13 26 +f 11 15 27 +f 23 9 27 +f 15 23 27 +f 26 11 27 +f 9 26 27 +f 11 2 28 +f 15 11 28 +f 26 1 29 +f 11 26 29 +f 8 4 30 +f 4 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-1.080834 +v -3.431407 1.118699 -1.116251 +v -2.831320 2.142214 1.037416 +v -1.807606 0.165685 1.001999 +v -2.442736 0.165685 -1.116251 +v -1.348729 0.271437 -1.116251 +v -1.348729 0.906987 1.001999 +v -3.007780 2.177672 -0.692517 +v -1.666397 2.142421 -0.974795 +v -3.466658 0.553858 -1.116251 +v -1.348729 2.248173 0.542848 +v -3.431407 0.553858 0.966794 +v -3.325449 2.106963 1.001999 +v -2.760612 0.130020 0.966794 +v -3.360699 2.142214 -0.022131 +f 93 108 110 +f 83 81 84 +f 80 79 86 +f 80 86 87 +f 83 84 88 +f 79 81 90 +f 81 83 90 +f 86 79 90 +f 89 78 91 +f 87 86 92 +f 92 93 94 +f 93 82 94 +f 89 85 95 +f 81 87 97 +f 94 82 97 +f 82 96 97 +f 88 78 98 +f 78 89 98 +f 95 83 98 +f 89 95 98 +f 83 95 99 +f 79 80 100 +f 81 79 100 +f 80 87 100 +f 87 81 100 +f 84 81 101 +f 81 97 101 +f 97 96 101 +f 83 88 102 +f 88 98 102 +f 98 83 102 +f 82 93 103 +f 96 82 103 +f 96 103 104 +f 84 101 104 +f 101 96 104 +f 103 84 104 +f 87 92 105 +f 92 94 105 +f 97 87 105 +f 94 97 105 +f 78 88 106 +f 88 84 106 +f 91 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+v -0.430465 2.212694 -1.010001 +v 2.323252 2.248301 1.037416 +v 0.769801 0.024541 0.966583 +v 0.346461 2.283686 0.931166 +v -0.924763 0.518611 -1.116251 +v 2.746993 0.448061 -0.974795 +v -1.171712 0.024319 -1.116251 +v 2.676036 2.248301 0.719299 +v 0.522853 2.283686 -1.045418 +v 2.605479 2.036430 -1.080834 +v -1.277547 1.930494 -0.974795 +v 0.946193 2.283686 0.966583 +v 2.605479 2.248301 -0.692517 +v 2.181738 0.059705 0.966583 +v -1.348504 0.165419 -1.116251 +v 2.640757 1.895109 1.037416 +v 2.746993 1.612688 -0.621683 +v 2.711314 1.577302 1.001788 +f 131 132 152 +f 116 114 117 +f 113 112 120 +f 117 114 122 +f 114 118 122 +f 119 115 123 +f 111 122 124 +f 112 113 125 +f 114 116 126 +f 112 125 127 +f 117 122 130 +f 122 111 130 +f 119 123 131 +f 131 123 132 +f 116 117 133 +f 125 126 135 +f 116 133 135 +f 127 117 136 +f 117 130 136 +f 130 111 136 +f 115 119 137 +f 119 124 137 +f 124 122 137 +f 129 115 137 +f 117 127 138 +f 127 125 138 +f 133 117 138 +f 113 121 139 +f 125 113 139 +f 118 126 139 +f 126 125 139 +f 123 115 140 +f 115 134 140 +f 122 118 141 +f 115 129 141 +f 134 115 141 +f 128 134 141 +f 137 122 141 +f 129 137 141 +f 118 139 141 +f 139 128 141 +f 113 120 142 +f 120 132 142 +f 132 123 142 +f 125 135 143 +f 135 133 143 +f 138 125 143 +f 133 138 143 +f 134 128 144 +f 139 121 144 +f 128 139 144 +f 140 134 144 +f 126 116 145 +f 116 135 145 +f 135 126 145 +f 120 112 146 +f 112 127 146 +f 136 120 146 +f 127 136 146 +f 121 113 147 +f 123 121 147 +f 113 142 147 +f 142 123 147 +f 124 119 148 +f 119 131 148 +f 118 114 149 +f 114 126 149 +f 126 118 149 +f 111 124 150 +f 131 120 150 +f 136 111 150 +f 120 136 150 +f 124 148 150 +f 148 131 150 +f 121 123 151 +f 123 140 151 +f 144 121 151 +f 140 144 151 +f 120 131 152 +f 132 120 152 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf new file mode 100644 index 000000000..9e6d2e76c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj new file mode 100644 index 000000000..ceb35c49c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj @@ -0,0 +1,1383 @@ +o convex_0 +v -0.034647 -2.202470 -1.309298 +v -0.186431 -2.900780 -1.339641 +v -0.095373 -2.900780 -1.339641 +v -0.247095 -2.536310 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b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj new file mode 100644 index 000000000..789109e5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj @@ -0,0 +1,558 @@ +o convex_0 +v 1.064008 -2.980445 1.030291 +v -1.027933 -2.017270 -0.596289 +v -1.027933 -2.017270 -0.463566 +v -0.928079 -4.408045 0.100609 +v 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+f 75 122 128 +o convex_2 +v 2.124728 -0.366356 -0.321747 +v 2.124728 0.178549 0.223336 +v 2.097461 0.178549 0.223336 +v 2.097461 -0.584401 0.168822 +v 2.479040 -0.121055 0.005280 +v 2.097461 0.287571 -0.294518 +v 2.424508 0.042271 0.168822 +v 2.424508 -0.039496 -0.239948 +v 2.124728 0.423850 0.005280 +v 2.124728 -0.638912 -0.103635 +v 2.424508 0.124038 -0.049234 +v 2.451774 -0.230078 -0.103635 +v 2.097461 -0.475379 -0.294518 +v 2.179298 -0.039496 -0.349032 +v 2.397204 -0.039496 0.196051 +v 2.097461 0.342083 0.196051 +v 2.124728 -0.611657 0.141537 +v 2.370013 -0.230078 -0.239948 +v 2.206489 -0.121055 0.223336 +v 2.124728 0.314827 -0.267177 +v 2.451774 -0.230078 -0.022005 +v 2.397204 0.151293 0.059794 +v 2.479040 0.015015 -0.049234 +v 2.424508 -0.148311 0.114308 +v 2.097461 0.042271 -0.349032 +v 2.342746 -0.066752 -0.294518 +v 2.124728 0.423850 -0.076406 +f 139 148 155 +f 132 131 134 +f 132 134 141 +f 138 132 141 +f 143 135 144 +f 131 130 144 +f 134 131 144 +f 130 143 144 +f 132 138 145 +f 143 132 145 +f 136 140 146 +f 140 138 146 +f 138 141 146 +f 141 129 146 +f 130 131 147 +f 131 132 147 +f 143 130 147 +f 132 143 147 +f 136 134 148 +f 139 136 148 +f 140 133 149 +f 138 140 149 +f 145 138 149 +f 139 137 150 +f 144 135 150 +f 137 144 150 +f 135 133 151 +f 136 139 151 +f 133 140 151 +f 140 136 151 +f 150 135 151 +f 139 150 151 +f 133 135 152 +f 135 143 152 +f 143 145 152 +f 149 133 152 +f 145 149 152 +f 141 134 153 +f 129 141 153 +f 142 129 153 +f 134 142 153 +f 134 136 154 +f 129 142 154 +f 142 134 154 +f 136 146 154 +f 146 129 154 +f 137 139 155 +f 134 144 155 +f 144 137 155 +f 148 134 155 +o convex_3 +v -2.563367 -0.230152 -0.103675 +v -2.536093 0.314931 0.059784 +v -2.536093 0.314931 -0.021901 +v -3.517104 0.069590 0.005358 +v -2.536093 -0.148410 0.223334 +v -3.271731 0.015132 -0.212754 +v -3.244553 -0.175638 0.005358 +v -3.271731 0.096875 0.196075 +v -2.536093 0.096875 -0.212754 +v -3.299005 0.260417 -0.021901 +v -2.536093 0.151389 0.223334 +v -2.699643 0.233132 -0.158237 +v -2.808644 -0.175638 -0.185496 +v -2.726917 0.260417 0.168817 +v -2.536093 -0.257437 0.032525 +v -2.917645 -0.148410 0.168817 +v -2.536093 -0.121125 -0.212754 +v -3.244553 -0.175638 -0.049159 +v -3.299005 0.260417 0.032525 +v -3.271731 0.042361 0.196075 +v -2.617916 0.069590 0.250592 +v -3.517104 0.015132 -0.049159 +v -3.462555 0.015132 0.059784 +v -3.162730 0.151389 -0.158237 +v -3.271731 -0.012097 -0.212754 +v -2.699643 -0.175638 0.196075 +f 175 171 181 +f 158 157 160 +f 158 160 164 +f 157 158 165 +f 160 157 166 +f 158 164 167 +f 164 161 167 +f 165 158 167 +f 166 157 169 +f 164 160 170 +f 161 164 172 +f 156 168 172 +f 170 156 172 +f 164 170 172 +f 168 156 173 +f 156 170 173 +f 170 162 173 +f 159 163 174 +f 157 165 174 +f 165 159 174 +f 169 157 174 +f 163 169 174 +f 162 171 175 +f 160 166 176 +f 169 163 176 +f 166 169 176 +f 175 160 176 +f 163 175 176 +f 165 161 177 +f 159 165 177 +f 173 162 177 +f 163 159 178 +f 162 175 178 +f 175 163 178 +f 159 177 178 +f 177 162 178 +f 161 165 179 +f 167 161 179 +f 165 167 179 +f 161 172 180 +f 172 168 180 +f 168 173 180 +f 177 161 180 +f 173 177 180 +f 162 170 181 +f 170 160 181 +f 171 162 181 +f 160 175 181 +o convex_4 +v -1.827441 0.450990 0.250501 +v -2.535848 -0.257355 -0.021949 +v -1.800178 -0.584505 0.005296 +v -1.772839 0.478326 -0.239970 +v -2.535848 0.069419 0.250501 +v -1.772839 -0.475413 0.277807 +v -2.508659 0.042460 -0.239970 +v -2.535848 0.342024 0.005296 +v -1.772839 -0.420867 -0.212725 +v -1.772839 0.696510 0.032480 +v -1.772839 0.069419 0.332359 +v -2.535848 -0.202809 0.196011 +v -1.772839 0.015124 -0.294521 +v -2.535848 -0.202809 -0.185480 +v -2.508659 0.287603 0.168705 +v -2.535848 0.260268 -0.158235 +v -1.800178 0.696510 -0.021949 +v -1.800178 0.560208 -0.212725 +v -2.127267 -0.257355 0.277807 +v -2.072739 -0.339111 -0.212725 +v -1.800178 -0.584505 0.059725 +v -1.881968 -0.012086 0.332359 +v -2.045476 0.423780 0.223256 +v -1.772839 0.505536 0.223256 +v -1.800178 0.696510 0.032480 +v -2.535848 -0.175598 0.223256 +v -1.827441 0.069419 -0.294521 +f 194 188 208 +f 183 186 189 +f 187 184 190 +f 185 187 190 +f 187 185 191 +f 182 186 192 +f 187 191 192 +f 186 183 193 +f 185 190 194 +f 184 183 195 +f 183 189 195 +f 189 186 196 +f 195 189 197 +f 188 195 197 +f 197 189 198 +f 197 198 199 +f 185 188 199 +f 191 185 199 +f 188 197 199 +f 198 191 199 +f 190 184 201 +f 188 194 201 +f 194 190 201 +f 184 195 201 +f 195 188 201 +f 183 184 202 +f 184 187 202 +f 193 183 202 +f 187 193 202 +f 192 186 203 +f 187 192 203 +f 186 200 203 +f 200 187 203 +f 186 182 204 +f 196 186 204 +f 182 192 205 +f 192 191 205 +f 204 182 205 +f 204 205 206 +f 189 196 206 +f 191 198 206 +f 198 189 206 +f 196 204 206 +f 205 191 206 +f 186 193 207 +f 193 187 207 +f 200 186 207 +f 187 200 207 +f 188 185 208 +f 185 194 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf new file mode 100644 index 000000000..50c8f57e2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj new file mode 100644 index 000000000..c2164ae2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj @@ -0,0 +1,384 @@ +o convex_0 +v -2.295653 -2.493844 -1.114356 +v 1.368207 0.105562 1.012701 +v 1.368207 0.027066 1.052223 +v -2.807743 0.105562 1.012701 +v -0.995414 -2.887830 1.091745 +v 1.368207 0.105562 -0.956701 +v 1.368207 -2.927229 -1.075050 +v -2.689727 0.105562 -1.035528 +v -2.847357 -2.887830 1.012701 +v 1.368207 -2.887830 1.052223 +v -2.650114 -2.966628 -1.114356 +v -2.847357 -2.257452 -0.562777 +v 0.028354 0.105562 -1.035744 +v -2.807743 -0.012333 1.052223 +v -2.650114 -2.966628 -0.602299 +v -0.877398 -2.769634 -1.114572 +v -0.247291 -2.375648 1.091745 +v 1.328593 -2.415047 -1.075050 +v -2.807743 -1.824068 1.052223 +v -2.807743 0.105562 0.579471 +v 1.368207 -2.927229 -0.326293 +v 1.170964 0.105562 -0.996222 +v -2.689727 -2.887830 -1.075050 +v -2.728928 0.105562 -0.720433 +v -2.847357 -2.415047 1.012701 +v -2.768542 -2.927229 0.303466 +v -2.847357 -2.336250 -0.562777 +v -2.334854 -2.966628 -1.114356 +v -2.847357 -2.887830 0.855261 +v -2.098409 -2.887830 1.052223 +v -0.326106 -2.888131 1.091745 +v -2.650114 -2.612040 -1.114356 +v -2.689727 -2.966628 -0.917395 +f 29 27 33 +f 3 2 4 +f 2 3 6 +f 4 2 6 +f 6 3 7 +f 4 6 8 +f 7 3 10 +f 1 8 13 +f 8 6 13 +f 3 4 14 +f 1 13 16 +f 10 3 17 +f 3 14 17 +f 14 5 17 +f 6 7 18 +f 7 16 18 +f 16 13 18 +f 5 14 19 +f 14 9 19 +f 4 8 20 +f 12 4 20 +f 7 10 21 +f 10 15 21 +f 13 6 22 +f 6 18 22 +f 18 13 22 +f 12 8 23 +f 8 12 24 +f 20 8 24 +f 12 20 24 +f 12 9 25 +f 4 12 25 +f 14 4 25 +f 9 14 25 +f 15 10 26 +f 9 12 27 +f 12 23 27 +f 15 11 28 +f 16 7 28 +f 11 16 28 +f 7 21 28 +f 21 15 28 +f 26 9 29 +f 9 27 29 +f 5 19 30 +f 19 9 30 +f 26 5 30 +f 9 26 30 +f 10 17 31 +f 17 5 31 +f 5 26 31 +f 26 10 31 +f 8 1 32 +f 16 11 32 +f 1 16 32 +f 23 8 32 +f 11 23 32 +f 11 15 33 +f 23 11 33 +f 15 26 33 +f 27 23 33 +f 26 29 33 +o convex_1 +v -2.728928 1.288112 -1.074908 +v 1.328593 3.258037 1.052346 +v 1.328593 2.233429 1.052346 +v -2.847357 0.421468 1.012894 +v 1.368207 0.106156 -0.956762 +v -2.807743 3.179055 -0.996215 +v 1.210577 3.258037 -1.114572 +v -2.807743 3.258037 1.012894 +v 1.368207 0.106156 1.012894 +v -2.689727 0.106156 -1.035455 +v -2.807743 0.106156 1.012894 +v -0.601752 0.500141 -1.075119 +v -2.689727 1.406585 -1.114572 +v 1.368207 1.130764 -0.996215 +v -1.271472 3.258037 -1.035455 +v 1.249779 2.903235 -1.114572 +v 1.170964 0.106156 -0.996215 +v -2.532098 0.894126 -1.114572 +v -2.847357 1.878935 0.185452 +v 1.368207 1.839135 1.012894 +v -2.728928 0.106156 -0.720471 +v 1.249779 3.258037 -1.035667 +v 0.776889 3.258037 -1.114572 +v 0.737688 2.666905 1.052346 +v -2.768542 2.745579 -1.035455 +v -2.847357 1.997100 1.012894 +v 1.328593 3.258037 0.776391 +v -2.689727 0.303303 -1.074908 +v 0.067968 0.106156 -1.035667 +v -2.807743 3.218546 -0.405063 +v -2.807743 2.903235 -0.996215 +v 0.501244 2.351285 -1.114572 +v -2.807743 3.258037 0.736938 +v -2.847357 0.460959 0.933989 +v -2.807743 0.106156 0.539888 +v -1.901578 1.091582 -1.114572 +v 1.368207 0.618614 -0.996215 +v -2.256452 3.218546 -0.996215 +v 0.855704 3.179055 1.052346 +f 41 57 72 +f 35 40 41 +f 35 36 42 +f 38 42 43 +f 42 36 44 +f 43 42 44 +f 42 38 47 +f 41 40 48 +f 46 40 49 +f 38 43 50 +f 46 49 51 +f 35 42 53 +f 42 47 53 +f 43 44 54 +f 40 35 55 +f 49 40 55 +f 47 49 55 +f 40 46 56 +f 39 48 56 +f 48 40 56 +f 36 35 57 +f 44 36 57 +f 37 44 57 +f 46 39 58 +f 39 56 58 +f 56 46 58 +f 39 52 59 +f 52 37 59 +f 57 41 59 +f 37 57 59 +f 35 53 60 +f 53 47 60 +f 55 35 60 +f 47 55 60 +f 43 34 61 +f 34 46 61 +f 51 45 61 +f 46 51 61 +f 45 49 62 +f 50 43 62 +f 49 50 62 +f 43 61 62 +f 61 45 62 +f 39 59 63 +f 34 43 64 +f 46 34 64 +f 39 46 64 +f 52 39 64 +f 43 54 64 +f 49 45 65 +f 51 49 65 +f 41 48 66 +f 59 41 66 +f 48 63 66 +f 63 59 66 +f 37 52 67 +f 52 64 67 +f 64 54 67 +f 44 37 68 +f 54 44 68 +f 37 67 68 +f 67 54 68 +f 45 51 69 +f 65 45 69 +f 51 65 69 +f 47 38 70 +f 49 47 70 +f 38 50 70 +f 50 49 70 +f 48 39 71 +f 39 63 71 +f 63 48 71 +f 35 41 72 +f 57 35 72 +o convex_2 +v 1.486611 -2.415179 0.421870 +v 3.298484 -1.233513 0.461237 +v 3.298484 -1.233513 0.421870 +v 3.377543 -2.454747 0.421870 +v 1.368612 -1.430517 -0.562993 +v 3.259151 -2.336401 -0.484146 +v 1.368612 -1.391188 0.540084 +v 3.377543 -1.312410 -0.484146 +v 1.368612 -2.296953 -0.562993 +v 3.377543 -2.454747 0.579564 +v 1.368612 -2.375731 0.500717 +v 3.062093 -2.336401 -0.523513 +v 1.683669 -1.391188 -0.562993 +v 1.604806 -1.351740 0.540084 +v 3.377543 -2.296953 0.579564 +v 2.471115 -2.336401 -0.523513 +v 2.077589 -1.351740 0.540084 +v 1.368612 -1.785077 0.540084 +v 1.368612 -1.391188 -0.168981 +v 3.101426 -2.454747 0.579564 +v 1.998923 -2.296953 -0.562993 +v 3.062093 -1.312410 -0.484146 +v 3.259151 -2.454747 0.382502 +v 1.447278 -2.336401 -0.326563 +v 3.337817 -1.272962 0.185440 +v 1.801865 -1.391188 -0.562993 +v 2.825701 -1.272962 0.500717 +v 3.298484 -2.375731 -0.247716 +v 2.786369 -1.272962 0.224808 +v 3.377543 -1.391188 -0.484146 +f 100 78 102 +f 75 74 80 +f 79 77 81 +f 76 80 82 +f 81 73 83 +f 79 81 83 +f 81 77 85 +f 74 75 86 +f 82 80 87 +f 86 79 87 +f 81 84 88 +f 86 87 89 +f 79 83 90 +f 77 79 91 +f 85 77 91 +f 79 86 91 +f 76 82 92 +f 83 73 92 +f 87 79 92 +f 82 87 92 +f 79 90 92 +f 90 83 92 +f 84 81 93 +f 81 85 93 +f 75 80 94 +f 80 85 94 +f 92 73 95 +f 76 92 95 +f 73 81 96 +f 81 88 96 +f 95 73 96 +f 88 95 96 +f 80 74 97 +f 74 87 97 +f 87 80 97 +f 80 84 98 +f 85 80 98 +f 84 93 98 +f 93 85 98 +f 74 86 99 +f 87 74 99 +f 86 89 99 +f 89 87 99 +f 84 78 100 +f 88 84 100 +f 76 95 100 +f 95 88 100 +f 86 75 101 +f 85 91 101 +f 91 86 101 +f 75 94 101 +f 94 85 101 +f 80 76 102 +f 78 84 102 +f 84 80 102 +f 76 100 102 +o convex_3 +v 1.407714 -0.957604 -0.838559 +v 3.219756 1.169650 1.091745 +v 3.259251 1.169650 0.303713 +v 3.298746 -0.957604 1.091745 +v 1.368408 1.209314 1.012817 +v 3.259251 1.169650 -0.956847 +v 3.298746 -0.800006 -1.035775 +v 1.368408 1.130409 -0.996207 +v 1.368408 -0.917939 1.052176 +v 1.368408 -0.917939 -0.956847 +v 3.298746 0.657404 -0.917487 +v 2.195534 -0.957604 1.091745 +v 3.022848 -0.839246 -1.035775 +v 1.368408 1.169650 -0.720271 +v 2.077427 1.209314 1.052176 +v 1.604810 -0.917939 -0.996207 +v 3.298746 -0.957604 0.737089 +v 1.368408 0.066889 1.052176 +v 1.368408 1.209314 0.382433 +v 2.550043 1.209314 0.973457 +v 3.298746 -0.484810 -1.035775 +v 3.259251 0.499806 1.091745 +v 2.235029 1.169650 -0.956847 +v 2.825941 -0.760341 -1.035775 +v 3.062154 1.130409 1.091745 +v 1.368408 -0.957604 -0.484111 +v 3.298746 -0.800006 1.052176 +v 1.565315 1.130409 -0.996207 +v 3.140955 -0.839246 -0.956847 +v 1.368408 0.697068 -0.996207 +f 126 118 132 +f 107 110 111 +f 111 110 112 +f 108 105 113 +f 106 109 113 +f 106 104 114 +f 103 106 114 +f 110 107 116 +f 103 112 118 +f 115 103 118 +f 106 103 119 +f 109 106 119 +f 107 111 120 +f 111 114 120 +f 117 107 120 +f 116 107 121 +f 107 117 121 +f 121 117 122 +f 104 105 122 +f 105 108 122 +f 117 104 122 +f 108 121 122 +f 108 113 123 +f 113 109 123 +f 109 115 123 +f 105 104 124 +f 104 106 124 +f 108 110 125 +f 110 116 125 +f 116 121 125 +f 121 108 125 +f 115 118 126 +f 110 123 126 +f 123 115 126 +f 114 104 127 +f 104 117 127 +f 120 114 127 +f 117 120 127 +f 112 103 128 +f 111 112 128 +f 103 114 128 +f 114 111 128 +f 113 105 129 +f 106 113 129 +f 105 124 129 +f 124 106 129 +f 110 108 130 +f 108 123 130 +f 123 110 130 +f 103 115 131 +f 115 109 131 +f 119 103 131 +f 109 119 131 +f 112 110 132 +f 118 112 132 +f 110 126 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf new file mode 100644 index 000000000..8f0a66f33 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj new file mode 100644 index 000000000..3ddd5ec6d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj @@ -0,0 +1,837 @@ +o convex_0 +v -0.210485 -5.015450 -0.323518 +v 0.138205 -3.241755 0.548741 +v 0.225486 -3.241755 0.519658 +v -0.007046 -3.241755 -0.585262 +v 0.487219 -4.782801 -0.032691 +v -0.530406 -3.241755 0.083418 +v -0.094219 -4.957114 0.374245 +v 0.574500 -3.241928 -0.061774 +v 0.429032 -4.753459 0.403216 +v 0.341752 -4.724638 -0.381683 +v -0.326751 -4.724638 0.345162 +v -0.355844 -4.782801 -0.381683 +v -0.414031 -3.241755 0.461493 +v -0.414031 -3.241755 -0.410766 +v 0.400047 -3.241928 -0.439848 +v 0.400047 -5.015450 -0.003830 +v 0.022047 -4.724638 0.490575 +v 0.487219 -3.241928 0.403216 +v -0.443125 -4.782801 -0.003830 +v -0.007046 -4.782801 -0.498014 +v 0.341752 -5.015450 0.345162 +v 0.283565 -4.986109 -0.323518 +v 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263 270 +f 246 250 271 +f 269 246 271 +f 241 257 272 +f 264 241 272 +f 259 264 272 +f 235 252 273 +f 252 258 273 +f 238 244 274 +f 244 242 274 +f 242 268 274 +f 268 246 274 +f 257 253 275 +f 258 238 275 +f 253 258 275 +f 238 272 275 +f 272 257 275 +f 243 244 276 +f 244 252 276 +f 261 243 276 +f 252 261 276 +f 242 255 277 +f 255 243 277 +f 243 263 277 +f 263 242 277 +f 249 259 278 +f 236 260 278 +f 262 236 278 +f 259 262 278 +f 266 249 278 +f 260 266 278 +f 257 256 279 +f 248 257 279 +f 267 248 279 +f 256 267 279 +f 248 235 280 +f 253 248 280 +f 258 253 280 +f 235 273 280 +f 273 258 280 +f 251 245 281 +f 250 251 281 +f 271 250 281 +f 271 281 282 +f 260 237 282 +f 245 260 282 +f 237 269 282 +f 269 271 282 +f 281 245 282 +f 246 259 283 +f 272 238 283 +f 259 272 283 +f 238 274 283 +f 274 246 283 +f 247 240 284 +f 240 254 284 +f 266 247 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf new file mode 100644 index 000000000..e4419ebec --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj new file mode 100644 index 000000000..223b2e00a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj @@ -0,0 +1,423 @@ +o convex_0 +v 1.109272 -0.495585 1.109048 +v -1.098989 -5.024114 0.584867 +v -1.061378 -5.024114 0.247878 +v -1.061378 -0.308628 -0.986596 +v 1.109272 -4.873625 -1.061386 +v 1.034266 -4.986261 1.109048 +v -1.061378 -0.308628 0.996430 +v 1.109272 -0.308628 -0.986596 +v -0.986588 -4.985799 -0.986596 +v -1.098989 -5.024114 0.996430 +v 0.173528 -0.308628 -1.098998 +v 0.734888 -0.308628 1.109048 +v -1.098989 -0.346481 -0.612428 +v -0.874186 -4.461856 1.034041 +v 0.809678 -3.114838 -1.099214 +v -1.023983 -4.461856 -0.986596 +v -1.098989 -2.404861 0.996430 +v 1.109272 -0.308628 1.109048 +v 0.772283 -4.911478 -1.061386 +v 1.071661 -4.948870 0.285489 +v 1.034266 -4.986261 0.772059 +v 0.360504 -0.458194 -1.098998 +v 1.109272 -4.687129 -0.724613 +v -0.163245 -5.024114 0.996646 +v -1.098989 -0.308628 -0.200865 +v -0.836791 -4.985799 -0.986812 +v 0.734888 -3.114838 -1.099214 +v 0.959475 -4.986261 1.109048 +v -0.836791 -5.024114 1.034041 +v -1.061378 -1.693499 -0.986596 +v -1.023983 -4.985799 -0.837015 +v 1.071661 -3.264405 1.034041 +v 1.109272 -4.013158 -1.061386 +v 1.071661 -4.911478 -0.762009 +v -0.050843 -1.955701 1.071436 +v 0.697493 -4.911478 -1.061386 +f 27 19 36 +f 4 7 8 +f 1 5 8 +f 2 3 10 +f 4 8 11 +f 6 1 12 +f 8 7 12 +f 2 10 13 +f 11 9 16 +f 13 10 17 +f 10 14 17 +f 14 7 17 +f 1 8 18 +f 12 1 18 +f 8 12 18 +f 15 5 19 +f 20 6 21 +f 11 8 22 +f 8 15 22 +f 15 11 22 +f 5 1 23 +f 20 5 23 +f 10 3 24 +f 21 6 24 +f 7 4 25 +f 4 13 25 +f 17 7 25 +f 13 17 25 +f 3 9 26 +f 19 21 26 +f 24 3 26 +f 21 24 26 +f 9 11 27 +f 11 15 27 +f 15 19 27 +f 6 12 28 +f 12 14 28 +f 14 10 29 +f 10 24 29 +f 24 6 29 +f 6 28 29 +f 28 14 29 +f 4 11 30 +f 13 4 30 +f 2 13 30 +f 16 2 30 +f 11 16 30 +f 3 2 31 +f 9 3 31 +f 2 16 31 +f 16 9 31 +f 1 6 32 +f 6 20 32 +f 23 1 32 +f 20 23 32 +f 8 5 33 +f 5 15 33 +f 15 8 33 +f 19 5 34 +f 5 20 34 +f 21 19 34 +f 20 21 34 +f 12 7 35 +f 7 14 35 +f 14 12 35 +f 26 9 36 +f 19 26 36 +f 9 27 36 +o convex_1 +v -1.061338 1.862777 -1.809719 +v 1.109053 1.114331 2.269020 +v 1.109053 1.076741 2.269020 +v 1.034255 2.798126 -3.082906 +v -0.986540 3.060207 2.979664 +v 0.959458 3.097796 2.980262 +v -1.023939 1.001980 3.017884 +v 1.034255 1.039570 -2.970039 +v -0.986540 3.060207 -3.045284 +v -1.023939 1.001980 -3.007064 +v 1.071654 1.039570 2.942042 +v 1.034255 3.022617 -2.783122 +v 1.109053 0.964600 -0.949182 +v -1.061338 0.964600 0.958807 +v 1.109053 0.964600 1.108700 +v -1.023939 2.611014 2.568207 +v -1.061338 0.964600 -0.986208 +v 0.772253 3.060207 -1.585179 +v 1.071654 1.488554 2.980262 +v 1.109053 1.376203 1.407887 +v 0.248249 3.097796 2.980262 +v 0.248249 3.022617 -3.082906 +v -1.023939 2.161821 3.017884 +v 0.959458 3.097796 1.819941 +v -0.462536 1.001980 3.017884 +v 1.034255 1.151711 -3.007064 +v -1.023939 2.648395 -2.595608 +v -1.061338 1.451173 1.370862 +v 0.996857 2.760536 2.642855 +v -0.462536 1.600904 -3.045284 +v 1.109053 1.226681 -1.136100 +v 1.071654 1.039570 -2.558582 +v 1.034255 2.985446 -3.082906 +v -0.986540 1.899948 -3.045284 +v -0.574944 1.001980 -3.007064 +v 1.034255 3.022617 -2.408093 +v -1.061338 1.039361 -2.071881 +v -0.724538 3.060207 -3.045284 +v -1.061338 1.076950 1.781721 +v 1.071654 2.199410 -2.221773 +v 0.959458 1.039570 2.980262 +v -1.023939 1.600904 -3.007064 +v 0.809652 3.022617 -3.082906 +v -0.350340 1.076741 3.017884 +v 0.660058 1.039570 -3.007064 +v 0.996857 3.060207 0.696645 +f 65 72 82 +f 38 39 49 +f 50 49 51 +f 39 47 51 +f 49 39 51 +f 43 50 51 +f 50 37 53 +f 49 50 53 +f 39 38 55 +f 47 39 55 +f 38 49 56 +f 55 38 56 +f 45 41 57 +f 41 52 59 +f 57 41 59 +f 42 57 59 +f 48 54 60 +f 57 42 60 +f 45 57 60 +f 51 47 61 +f 43 51 61 +f 59 43 61 +f 41 45 63 +f 52 41 63 +f 37 52 63 +f 37 50 64 +f 52 37 64 +f 42 55 65 +f 55 56 65 +f 58 40 66 +f 56 49 67 +f 49 44 68 +f 44 62 68 +f 62 40 68 +f 67 49 68 +f 40 58 69 +f 68 40 69 +f 46 45 70 +f 45 58 70 +f 66 46 70 +f 58 66 70 +f 44 49 71 +f 53 46 71 +f 49 53 71 +f 46 66 71 +f 65 56 72 +f 53 37 73 +f 46 53 73 +f 58 45 74 +f 45 60 74 +f 60 54 74 +f 50 43 75 +f 43 59 75 +f 59 52 75 +f 64 50 75 +f 52 64 75 +f 56 67 76 +f 67 68 76 +f 68 69 76 +f 69 48 76 +f 48 72 76 +f 72 56 76 +f 47 55 77 +f 61 47 77 +f 45 46 78 +f 63 45 78 +f 37 63 78 +f 73 37 78 +f 46 73 78 +f 54 48 79 +f 69 58 79 +f 48 69 79 +f 74 54 79 +f 58 74 79 +f 55 42 80 +f 42 59 80 +f 59 61 80 +f 77 55 80 +f 61 77 80 +f 62 44 81 +f 40 62 81 +f 66 40 81 +f 44 71 81 +f 71 66 81 +f 60 42 82 +f 48 60 82 +f 42 65 82 +f 72 48 82 +o convex_2 +v 0.023856 0.402969 -2.072518 +v -0.238141 -0.270738 -3.007768 +v -0.238141 -0.195823 -3.007768 +v -0.238141 0.140898 -1.099602 +v 0.285853 -0.233281 -1.099602 +v 0.210916 0.290662 -3.082906 +v -0.163256 0.402969 -3.082906 +v 0.210916 0.327988 -1.099602 +v -0.238141 -0.233281 -1.099602 +v 0.210916 -0.158432 -2.932823 +v -0.200699 0.365445 -1.099602 +v 0.210916 0.402969 -3.082906 +v -0.200699 0.290662 -3.082906 +v 0.285853 -0.120974 -1.623435 +v 0.285853 -0.046125 -1.099602 +v 0.248410 -0.158432 -2.670907 +v -0.163256 -0.270738 -3.007768 +v -0.200699 -0.270738 -2.521213 +v 0.285853 -0.233281 -1.324046 +v -0.200699 0.365445 -2.670907 +f 89 95 102 +f 85 84 86 +f 86 87 90 +f 86 84 91 +f 87 86 91 +f 83 89 93 +f 90 83 93 +f 86 90 93 +f 89 83 94 +f 88 89 94 +f 83 90 94 +f 84 85 95 +f 88 84 95 +f 89 88 95 +f 96 94 97 +f 90 87 97 +f 94 90 97 +f 87 96 97 +f 92 88 98 +f 88 94 98 +f 94 96 98 +f 84 88 99 +f 88 92 99 +f 91 84 100 +f 87 91 100 +f 84 99 100 +f 99 87 100 +f 96 87 101 +f 92 98 101 +f 98 96 101 +f 87 99 101 +f 99 92 101 +f 85 86 102 +f 86 93 102 +f 93 89 102 +f 95 85 102 +o convex_3 +v 0.959475 0.739720 -0.986812 +v -0.238251 -0.233193 -1.099214 +v -1.061378 -0.307917 -0.986812 +v 1.109272 -0.307917 1.109048 +v -1.023983 0.964142 0.996646 +v 1.109272 0.964142 1.109048 +v -1.061378 0.964142 -0.986812 +v -1.061378 -0.307917 0.996646 +v 1.109272 -0.307917 -0.986812 +v 1.109272 0.964142 -0.949201 +v -0.350437 0.365475 1.109048 +v 0.210923 0.328112 -1.099214 +v -1.098989 0.739720 -0.799404 +v -1.061378 0.964142 0.959251 +v -1.098989 -0.307917 -0.238044 +v -0.238251 -0.158344 1.109048 +v 0.323109 -0.307917 -1.099214 +v 0.921864 0.926780 -0.986812 +v -0.200640 0.365475 -1.099214 +v 0.135917 -0.307917 1.109048 +v -1.098989 -0.307917 -0.612428 +v 0.959475 0.964142 1.109048 +f 107 113 124 +f 107 108 109 +f 104 105 109 +f 105 106 110 +f 106 105 111 +f 108 106 111 +f 108 111 112 +f 109 108 112 +f 111 103 112 +f 106 108 113 +f 107 110 113 +f 109 105 115 +f 107 109 116 +f 110 107 116 +f 109 115 116 +f 105 110 117 +f 110 116 117 +f 116 115 117 +f 106 113 118 +f 113 110 118 +f 105 104 119 +f 103 111 119 +f 111 105 119 +f 104 114 119 +f 114 103 119 +f 109 112 120 +f 112 103 120 +f 103 114 120 +f 120 114 121 +f 104 109 121 +f 114 104 121 +f 109 120 121 +f 110 106 122 +f 106 118 122 +f 118 110 122 +f 115 105 123 +f 105 117 123 +f 117 115 123 +f 108 107 124 +f 113 108 124 +o convex_4 +v 0.023819 0.103536 3.092546 +v 0.173517 -0.308166 1.109242 +v 0.061276 -0.270643 1.109242 +v 0.248300 0.290626 1.109242 +v -0.350426 0.365541 1.109242 +v -0.275445 -0.233251 3.092546 +v 0.323281 -0.270643 3.017601 +v 0.248300 0.253234 3.055074 +v -0.275445 0.253234 3.017601 +v -0.238120 -0.158336 1.109242 +v 0.248300 -0.270643 1.521047 +v 0.285823 0.215777 3.055074 +v -0.350426 0.215777 1.259130 +v -0.312968 0.290626 2.605991 +v -0.050964 0.328083 1.895185 +v 0.323281 -0.195860 2.643269 +v -0.275445 -0.233251 2.830435 +v 0.323281 -0.046096 2.980129 +v -0.350426 0.290626 1.745491 +v 0.248300 0.103536 1.109242 +v -0.013573 -0.233251 3.092546 +v 0.210974 -0.308166 1.109242 +f 144 135 146 +f 126 127 128 +f 128 127 129 +f 130 126 131 +f 130 125 133 +f 125 132 133 +f 129 127 134 +f 128 132 136 +f 132 125 136 +f 129 134 137 +f 133 132 138 +f 130 133 138 +f 128 129 139 +f 132 128 139 +f 129 138 139 +f 138 132 139 +f 131 135 140 +f 127 126 141 +f 126 130 141 +f 134 127 141 +f 130 137 141 +f 137 134 141 +f 136 131 142 +f 128 136 142 +f 140 128 142 +f 131 140 142 +f 129 137 143 +f 137 130 143 +f 138 129 143 +f 130 138 143 +f 126 128 144 +f 128 140 144 +f 140 135 144 +f 125 130 145 +f 130 131 145 +f 136 125 145 +f 131 136 145 +f 131 126 146 +f 135 131 146 +f 126 144 146 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf new file mode 100644 index 000000000..ff30a5e55 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj new file mode 100644 index 000000000..cb3ed1cd5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj @@ -0,0 +1,480 @@ +o convex_0 +v -0.804327 0.134442 -0.936003 +v -0.056427 0.165935 1.432057 +v -0.087662 0.165935 1.432057 +v 0.036890 3.749385 -0.001040 +v 0.878302 0.134442 -0.936268 +v -0.991350 1.692803 0.154212 +v 0.753554 1.786219 0.746294 +v -0.025191 3.219316 -0.749170 +v 0.753554 3.281594 -0.032356 +v -0.025191 3.250455 0.777344 +v -0.897839 0.134442 1.026809 +v -0.773091 3.188178 -0.001305 +v 0.847066 0.134442 0.777344 +v 0.005849 0.165935 -1.279150 +v 1.003049 1.786219 0.029745 +v 0.784790 1.661664 -0.780220 +v -0.773091 1.786219 0.777344 +v -0.742050 1.755080 -0.717854 +v -0.991350 0.134442 -0.125772 +v 0.971814 0.134442 0.154212 +v 0.566726 2.876435 0.590511 +v 0.784790 0.321983 0.964443 +v -0.991350 1.692803 -0.063406 +v 0.566726 2.876435 -0.562336 +v -0.586262 2.814157 0.590245 +v -0.586262 2.751879 -0.562336 +v 0.753554 3.250455 0.091846 +v 0.722514 1.692803 0.808660 +v 0.068126 3.188178 0.777344 +v 0.068126 0.165935 -1.279150 +v -0.991350 0.134442 0.341311 +v 0.971814 0.134442 -0.281821 +v 0.036890 3.188178 -0.749170 +v -0.118703 3.686754 -0.001040 +v 1.003049 1.786219 -0.032356 +v 0.816025 0.165935 -0.998369 +v -0.742050 3.219316 0.061061 +v 0.753554 0.134442 0.995493 +v 0.036890 3.281594 -0.686538 +v -0.835367 1.038532 0.902077 +v -0.056427 3.250455 -0.717854 +v -0.928879 0.165935 0.933127 +v 0.909537 0.290490 -0.811536 +v -0.773091 3.157039 0.061061 +v -0.056427 0.134442 1.432057 +v 0.036890 3.313087 0.683662 +v 1.003049 0.664511 0.029745 +v -0.866603 0.384261 -0.717854 +v -0.025191 3.717893 0.091581 +v -0.056427 3.219316 0.777344 +v 0.068126 0.134442 -1.279150 +v 0.473214 3.468781 0.061061 +v -0.617303 2.907573 -0.437338 +v -0.773091 1.661664 0.808395 +v 0.784790 1.755080 -0.749170 +v -0.773091 1.381413 -0.749170 +v 0.940578 1.225719 0.341046 +v -0.991350 1.256504 0.309730 +v -0.835367 1.692803 0.652877 +v 0.036890 3.717893 0.091581 +v 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184 +f 174 169 184 +f 169 167 185 +f 163 177 186 +f 177 170 186 +f 164 179 187 +f 181 164 187 +f 179 181 187 +f 170 167 188 +f 180 163 188 +f 174 180 188 +f 162 178 189 +f 178 173 189 +f 173 182 189 +f 183 169 190 +f 169 185 190 +f 185 183 190 +f 168 166 191 +f 172 168 191 +f 166 175 191 +f 175 172 191 +f 167 178 192 +f 178 183 192 +f 185 167 192 +f 183 185 192 +f 165 168 193 +f 168 172 193 +f 176 165 193 +f 172 176 193 +f 166 162 194 +f 182 166 194 +f 162 189 194 +f 189 182 194 +f 163 186 195 +f 186 170 195 +f 188 163 195 +f 170 188 195 +f 167 169 196 +f 169 174 196 +f 188 167 196 +o convex_6 +v 3.106323 -0.105187 0.246378 +v 1.068026 -0.722973 -0.340278 +v 1.068026 -0.599307 -0.340278 +v 1.068026 -0.228792 0.308162 +v 2.766307 -0.599307 0.277303 +v 3.106323 -0.197891 -0.309419 +v 1.098755 -0.105187 -0.247634 +v 2.951679 -0.630269 -0.340278 +v 1.068026 -0.661170 0.215519 +v 3.106323 -0.506724 0.308162 +v 1.870973 -0.105187 0.339021 +v 1.068026 -0.105187 0.246378 +v 3.106323 -0.105187 0.339021 +v 1.593015 -0.661170 0.246378 +v 3.106323 -0.568526 0.246378 +v 1.500429 -0.105187 -0.247634 +v 1.685601 -0.475822 -0.340278 +v 3.013337 -0.321497 0.339021 +v 3.013337 -0.383299 -0.340278 +v 2.488349 -0.197891 -0.309419 +v 1.068026 -0.105187 -0.216775 +f 208 203 217 +f 199 198 200 +f 198 199 204 +f 200 198 205 +f 202 197 206 +f 197 203 207 +f 199 200 208 +f 207 203 208 +f 200 207 208 +f 206 197 209 +f 197 207 209 +f 198 204 210 +f 204 201 210 +f 205 198 210 +f 200 205 210 +f 201 206 210 +f 201 204 211 +f 204 202 211 +f 206 201 211 +f 202 206 211 +f 197 202 212 +f 203 197 212 +f 202 203 212 +f 199 203 213 +f 204 199 213 +f 207 200 214 +f 206 209 214 +f 209 207 214 +f 200 210 214 +f 210 206 214 +f 202 204 215 +f 204 213 215 +f 215 213 216 +f 203 202 216 +f 213 203 216 +f 202 215 216 +f 203 199 217 +f 199 208 217 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf new file mode 100644 index 000000000..98b4aa81b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj new file mode 100644 index 000000000..6935ecff2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj @@ -0,0 +1,486 @@ +o convex_0 +v -0.381385 -3.371934 0.616431 +v 1.786607 -1.858833 -0.446835 +v 1.786607 -1.899577 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+v -0.258722 -1.858452 1.270231 +v -0.422409 0.186952 -1.469329 +v -0.176771 0.145908 -2.982447 +v 1.418366 -0.099557 3.112024 +v 1.786607 -0.590486 -3.023836 +v 0.927521 -1.776564 -3.106004 +v 1.786607 -1.735520 2.784567 +v -0.381325 -1.776564 2.579450 +v -0.299590 0.145908 -2.778548 +v -0.422409 -1.735520 2.702399 +v 1.745523 -1.571944 -3.106004 +v -0.299590 -1.449211 -3.064616 +v -0.422409 -0.426709 3.029855 +v 1.704656 -1.817408 -2.369531 +v -0.013300 -1.776564 -3.064616 +v 1.786607 -1.817408 -2.042074 +v 0.722967 -1.735520 2.989075 +v 0.150387 -1.285635 3.029247 +v 0.273206 0.186952 3.070635 +v -0.217638 -1.285635 -3.064616 +v 1.295547 -0.017669 -2.982447 +v -0.381325 -0.754062 -2.041465 +f 57 43 67 +f 34 33 35 +f 35 33 39 +f 33 38 39 +f 34 35 40 +f 37 40 42 +f 43 32 44 +f 39 38 45 +f 41 44 45 +f 44 41 46 +f 40 35 47 +f 42 40 47 +f 35 39 48 +f 33 34 49 +f 38 33 49 +f 39 45 50 +f 45 38 52 +f 41 45 52 +f 46 41 53 +f 44 46 53 +f 47 35 54 +f 37 42 55 +f 43 44 55 +f 53 37 55 +f 44 53 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1.704706 0.391472 -1.060152 +v -0.217693 0.350552 3.029647 +v 0.191391 0.350552 -2.942372 +v 1.786327 0.391472 1.107128 +v 1.622890 0.227892 -2.942372 +v -0.217693 0.391472 0.983859 +v -0.217693 0.350552 -2.942372 +v 0.273208 0.350552 3.070539 +v 1.786327 0.227892 -2.696427 +v 1.622890 0.186972 -2.942372 +f 131 136 141 +f 127 128 129 +f 129 128 130 +f 130 126 131 +f 129 130 131 +f 126 130 133 +f 126 132 134 +f 127 129 135 +f 132 126 135 +f 131 134 136 +f 134 132 136 +f 126 133 137 +f 135 126 137 +f 131 126 138 +f 126 134 138 +f 134 131 138 +f 128 127 139 +f 130 128 139 +f 133 130 139 +f 127 135 139 +f 137 133 139 +f 135 137 139 +f 135 129 140 +f 132 135 140 +f 129 136 140 +f 136 132 140 +f 129 131 141 +f 136 129 141 +o convex_5 +v 0.068608 0.882581 -1.101508 +v 1.827431 1.250658 0.329954 +v 1.827431 1.046150 0.329954 +v -0.217889 2.313948 1.066444 +v 1.745546 2.191127 -1.060424 +v -0.217889 0.391684 0.984708 +v 1.704704 0.391684 -1.060424 +v 1.745546 2.314140 1.107528 +v -0.217889 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b/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj new file mode 100644 index 000000000..a5c80133c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj @@ -0,0 +1,522 @@ +o convex_0 +v -1.404245 0.879413 -0.844503 +v -0.092409 3.103018 0.212241 +v 2.642180 3.066447 1.014381 +v -3.336624 1.061394 1.050997 +v 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+v 2.131891 -2.365924 0.358422 +f 164 162 165 +f 163 162 164 +f 161 163 164 +f 161 164 165 +f 163 161 165 +f 162 163 165 +o convex_5 +v 2.678725 -2.292976 -0.334311 +v 2.277791 -1.709679 0.358422 +v 2.131892 -1.709679 0.358422 +v 2.131892 -2.365924 0.358422 +v 2.131892 -1.673205 -0.261349 +v 2.642265 -1.746224 0.321941 +v 2.715184 -1.636731 -0.261349 +v 2.131892 -2.329378 -0.261349 +v 2.678725 -2.329378 0.212565 +v 2.751644 -2.147152 -0.334311 +v 2.241331 -1.673205 0.285460 +v 2.204872 -1.636731 -0.261349 +v 2.678725 -2.292976 0.248979 +v 2.678725 -2.329378 -0.042598 +v 2.678725 -1.709679 0.139603 +f 178 175 180 +f 167 168 169 +f 169 168 170 +f 167 169 171 +f 170 166 173 +f 169 170 173 +f 166 170 175 +f 168 167 176 +f 167 171 176 +f 176 172 177 +f 170 168 177 +f 175 170 177 +f 172 175 177 +f 168 176 177 +f 171 169 178 +f 169 174 178 +f 174 175 178 +f 173 166 179 +f 169 173 179 +f 174 169 179 +f 166 175 179 +f 175 174 179 +f 175 172 180 +f 176 171 180 +f 172 176 180 +f 171 178 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf new file mode 100644 index 000000000..46cc7c4ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj new file mode 100644 index 000000000..add3b945e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj @@ -0,0 +1,834 @@ +o convex_0 +v -0.041963 -0.995273 2.170266 +v 0.650664 -3.073713 -0.344489 +v 0.687096 -3.073713 -0.344489 +v 0.030690 -1.250722 -2.714366 +v -0.880738 -2.818265 0.310407 +v 1.088267 -2.016167 2.097827 +v 0.978761 -0.776703 -0.746143 +v -1.063108 -0.776703 -0.052966 +v -0.552430 -2.635898 2.571332 +v -0.588862 -2.526613 -2.604824 +v 0.978761 -2.125452 -2.094806 +v -0.807874 -1.906882 2.717387 +v 0.067122 -2.818265 -2.787394 +v 0.067122 -3.073713 2.061313 +v 0.796391 -1.870453 2.790416 +v 0.942329 -0.776703 0.967071 +v -0.953602 -2.016167 -2.058292 +v -1.063108 -2.089023 1.987696 +v 0.905897 -2.927775 1.149052 +v -0.917170 -0.776703 -0.964049 +v -0.005531 -3.037060 -2.058881 +v -0.990033 -0.776703 0.894043 +v 0.723528 -1.943310 -2.787983 +v -0.041963 -1.177640 2.753901 +v 0.759959 -2.818265 -2.058881 +v -0.734800 -2.016167 -2.750880 +v 0.395430 -2.672552 2.680285 +v -0.041963 -2.052370 3.009500 +v 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+ + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj new file mode 100644 index 000000000..8485bfe77 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj @@ -0,0 +1,543 @@ +o convex_0 +v -0.728316 -1.486391 1.102045 +v 0.815747 -2.152743 -1.108953 +v 0.815747 -2.012933 -1.108953 +v -1.114386 -1.170740 -0.968277 +v -0.973897 -3.100675 -0.968277 +v 1.061329 -2.995327 0.961369 +v 1.131684 -1.100247 0.996646 +v -1.008855 -3.065428 1.102045 +v 1.096506 -2.960081 -1.108953 +v 1.061329 -1.100247 -1.003554 +v -0.973897 -1.100247 0.891247 +v -1.079209 -1.100247 0.575483 +v -0.552869 -3.065428 1.102045 +v 0.359542 -1.100247 -1.073460 +v -0.271890 -1.100247 1.102045 +v -1.114386 -1.100247 -0.968277 +v -0.657961 -3.100675 -0.792973 +v -1.008855 -3.030182 -0.968277 +v -1.008855 -3.100675 0.926308 +v 1.096506 -1.872535 -1.038615 +v 0.921060 -2.889980 0.996646 +v 1.096506 -2.960081 -0.161011 +v -1.044032 -2.468590 0.961369 +v -0.201756 -1.521637 1.102045 +v 0.815747 -2.995327 -1.038615 +v 1.096506 -2.468786 0.961369 +v -0.623004 -1.100247 1.102045 +v 0.745613 -1.100247 -1.073460 +v 0.885882 -2.960081 -1.108953 +v -1.008855 -2.714335 1.102045 +v -0.938720 -1.205595 0.961369 +v -1.008855 -3.100675 -0.617452 +v -0.587826 -2.784632 -1.003554 +v 1.096506 -2.714531 -1.108953 +v 1.061329 -2.995327 0.610544 +v -0.271890 -3.065233 0.996646 +v 0.289407 -1.626789 -1.073460 +f 33 4 37 +f 2 3 9 +f 7 10 11 +f 11 10 12 +f 1 8 13 +f 12 10 14 +f 7 11 15 +f 1 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1.075849 1.031807 +v -1.079291 1.075849 0.996664 +v -1.079291 3.040796 0.680800 +v -0.412493 1.075849 -1.038667 +v 0.956098 3.040796 0.505296 +v -0.938681 2.865172 -0.968380 +v -0.447489 2.303676 1.066950 +v 1.026299 1.391702 -1.073597 +v -0.377288 1.111050 1.031594 +v 1.061503 1.075849 0.364936 +v 0.850903 2.865172 -1.108953 +v 1.026299 2.935383 -0.722803 +v -0.798281 3.005594 1.066950 +v -1.079291 2.128245 0.329793 +v -1.079291 2.654731 1.066950 +v 0.956098 1.075849 0.996451 +v 0.956098 2.794961 0.891234 +v -0.728290 1.918189 -1.003310 +v -1.044086 1.075849 -0.477013 +v -1.008881 1.181261 -0.968380 +v 0.991303 2.584520 -1.108953 +f 50 57 67 +f 43 45 47 +f 42 38 48 +f 43 47 48 +f 38 42 49 +f 42 46 49 +f 45 43 50 +f 41 44 51 +f 44 49 51 +f 49 46 51 +f 49 44 52 +f 45 50 54 +f 48 47 55 +f 47 53 55 +f 41 39 56 +f 47 45 56 +f 54 41 56 +f 45 54 56 +f 44 41 57 +f 52 44 57 +f 40 39 58 +f 39 41 58 +f 41 51 58 +f 46 42 59 +f 47 46 59 +f 42 53 59 +f 53 47 59 +f 38 49 60 +f 42 48 61 +f 53 42 61 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+f 70 71 75 +f 74 70 77 +f 70 75 77 +f 75 71 79 +f 69 73 80 +f 73 72 80 +f 68 73 81 +f 73 74 81 +f 78 68 81 +f 74 78 81 +f 70 69 82 +f 71 70 82 +f 76 71 82 +f 69 80 82 +f 80 72 82 +f 72 73 83 +f 73 68 83 +f 79 72 83 +f 79 83 84 +f 68 75 84 +f 75 79 84 +f 83 68 84 +f 74 77 85 +f 77 75 85 +f 71 76 86 +f 72 79 86 +f 79 71 86 +f 76 82 86 +f 82 72 86 +f 75 68 87 +f 68 78 87 +f 78 74 87 +f 74 85 87 +o convex_3 +v 2.009249 -0.293037 0.259654 +v 1.658386 0.338657 -0.196395 +v 2.219498 0.303541 -0.231511 +v 1.131900 -0.293037 -0.336859 +v 1.131900 0.338657 0.329951 +v 3.096847 -0.293037 0.189487 +v 2.991434 0.233309 0.259654 +v 3.026636 -0.222805 -0.266562 +v 1.131900 -0.328152 0.259654 +v 1.131900 0.338657 -0.266562 +v 2.991434 0.233309 -0.196395 +v 2.640572 -0.187689 -0.301743 +v 1.202111 0.092976 0.329951 +v 1.553166 -0.293037 -0.336859 +v 2.710783 0.268360 0.259654 +v 3.096847 -0.187689 0.224603 +v 2.956425 0.198193 -0.231511 +v 1.167102 0.163143 -0.301743 +v 1.412744 0.338657 0.329951 +v 3.061646 -0.293037 0.084270 +v 1.623185 -0.328152 0.259654 +v 1.553166 0.338657 -0.266562 +f 105 97 109 +f 92 91 96 +f 91 92 97 +f 92 89 97 +f 92 96 100 +f 96 91 101 +f 99 95 101 +f 90 89 102 +f 98 90 102 +f 94 98 102 +f 88 93 103 +f 93 95 103 +f 98 94 103 +f 95 98 103 +f 100 88 103 +f 94 100 103 +f 90 98 104 +f 98 95 104 +f 95 99 104 +f 91 97 105 +f 101 91 105 +f 99 101 105 +f 89 92 106 +f 100 94 106 +f 92 100 106 +f 102 89 106 +f 94 102 106 +f 95 93 107 +f 101 95 107 +f 101 107 108 +f 93 88 108 +f 88 100 108 +f 100 96 108 +f 96 101 108 +f 107 93 108 +f 89 90 109 +f 97 89 109 +f 90 104 109 +f 104 99 109 +f 99 105 109 +o convex_4 +v -0.166588 -1.029906 -2.933887 +v 0.640212 1.040561 -1.073858 +v 1.026361 1.005315 -1.073858 +v -0.693095 1.040561 -3.074286 +v -1.114387 -0.959619 -1.073858 +v 1.026361 -1.065152 -3.074286 +v 1.026361 -0.959619 -1.073858 +v 0.991217 0.970068 -2.968938 +v -1.008957 1.005109 -1.073858 +v -1.044100 -0.959619 -2.968938 +v -1.008957 1.040561 -3.074286 +v 0.570139 -1.065152 -1.073858 +v 1.061503 -1.065152 -2.828344 +v 1.061503 -0.012295 -1.144351 +v 1.026361 0.408600 -3.003793 +v -1.079243 -0.959619 -2.863395 +v -1.008957 1.040561 -1.249503 +v 0.710286 -1.065152 -3.074286 +v -1.114387 -0.749171 -1.109105 +v 1.061503 -0.959619 -1.109105 +v -0.833455 -0.994865 -2.968938 +v -1.008957 0.759621 -3.074286 +v 1.026361 -0.012295 -3.039039 +v 0.464710 1.005315 -2.968938 +v 1.026361 0.970068 -1.951493 +v -1.044100 0.233192 -3.003793 +v 0.675355 0.970274 -3.003793 +v 1.026361 -0.713925 -3.074286 +v -0.412377 1.040561 -3.003793 +v -0.623022 -0.994865 -1.073858 +v 0.534996 -1.065152 -3.039039 +v 0.640212 -1.065152 -1.109105 +f 122 129 141 +f 112 111 114 +f 112 114 116 +f 111 112 117 +f 114 111 118 +f 111 113 120 +f 113 115 120 +f 116 114 121 +f 121 115 122 +f 123 122 124 +f 118 111 126 +f 111 120 126 +f 120 115 127 +f 115 121 127 +f 114 118 128 +f 125 114 128 +f 118 126 128 +f 126 120 128 +f 112 116 129 +f 123 112 129 +f 122 123 129 +f 110 121 130 +f 114 125 130 +f 125 119 130 +f 119 127 130 +f 127 119 131 +f 120 127 131 +f 124 122 132 +f 117 124 132 +f 111 117 133 +f 117 113 133 +f 117 112 134 +f 112 123 134 +f 123 124 134 +f 124 117 134 +f 119 125 135 +f 125 128 135 +f 128 120 135 +f 131 119 135 +f 120 131 135 +f 113 117 136 +f 132 113 136 +f 117 132 136 +f 115 113 137 +f 122 115 137 +f 113 132 137 +f 132 122 137 +f 113 111 138 +f 111 133 138 +f 133 113 138 +f 121 114 139 +f 130 121 139 +f 114 130 139 +f 121 110 140 +f 127 121 140 +f 110 130 140 +f 130 127 140 +f 116 121 141 +f 121 122 141 +f 129 116 141 +o convex_5 +v -1.114146 -0.257873 0.224909 +v 1.131474 -1.065104 1.031068 +v 1.131474 -1.100247 1.031068 +v -1.079189 0.549146 3.102473 +v 1.026382 1.075656 -1.038292 +v 0.991205 1.075656 3.031750 +v -0.938700 -0.959674 3.102473 +v -1.114146 -1.100247 -0.968387 +v -1.009054 1.075656 -0.968387 +v 1.026382 -1.100247 -1.003135 +v 1.061340 -0.924744 3.032159 +v -1.079189 1.005370 3.067316 +v -1.114146 -0.749240 -1.073450 +v 1.131474 0.338499 -0.266064 +v -1.079189 -1.100247 0.575662 +v -1.079189 1.075656 1.487292 +v 1.061340 -0.924744 -1.073858 +v -1.009054 1.005370 -1.073450 +v 1.096517 -0.959674 2.786059 +v -1.114146 0.233282 -0.336787 +v 0.429690 1.075656 3.067316 +v 0.710448 -1.100247 1.347073 +v 1.131474 0.338499 0.330380 +v 1.061340 1.075656 0.576070 +v 1.026382 1.005370 -1.073858 +v 1.026382 0.724649 3.032159 +v -0.693120 -0.994817 2.856782 +v 0.359556 -1.100247 -1.073858 +v -0.973877 -0.819314 3.102473 +v 0.570179 -0.924744 3.067316 +v 1.131474 -0.293016 -0.336378 +v -0.903743 -1.100247 0.961980 +v -1.079189 1.075656 0.435442 +v -0.798431 1.005370 3.102473 +v -0.587808 -0.959674 3.102473 +v -1.114146 -0.959674 -1.073450 +v 1.061340 0.022635 -1.073858 +v 0.956028 -0.959674 2.891531 +v 1.026382 -1.100247 1.312325 +v 1.061340 -1.100247 -0.968387 +v 1.061340 -0.152656 3.032159 +v -1.114146 0.303355 0.189752 +v 0.184110 1.075656 2.961844 +v -1.044012 1.075656 -0.477006 +v -0.622985 -1.100247 1.101791 +v -0.938700 -0.994817 2.751311 +f 186 168 187 +f 145 142 149 +f 147 146 150 +f 144 149 151 +f 149 142 154 +f 143 144 155 +f 149 144 156 +f 145 149 156 +f 147 150 157 +f 150 146 159 +f 144 143 160 +f 154 142 161 +f 159 154 161 +f 147 157 162 +f 156 144 163 +f 143 155 164 +f 160 143 164 +f 146 147 165 +f 155 146 165 +f 164 155 165 +f 146 155 166 +f 159 146 166 +f 147 162 167 +f 165 147 167 +f 164 165 167 +f 151 149 169 +f 158 151 169 +f 154 159 169 +f 166 158 169 +f 159 166 169 +f 148 145 170 +f 145 156 170 +f 156 148 170 +f 167 162 171 +f 155 144 172 +f 156 163 173 +f 157 150 174 +f 145 148 175 +f 153 145 175 +f 162 153 175 +f 148 168 176 +f 152 171 176 +f 171 162 176 +f 175 148 176 +f 162 175 176 +f 149 154 177 +f 169 149 177 +f 154 169 177 +f 166 155 178 +f 158 166 178 +f 155 172 178 +f 172 158 178 +f 160 152 179 +f 152 176 179 +f 176 168 179 +f 144 160 180 +f 163 144 180 +f 168 163 180 +f 160 179 180 +f 179 168 180 +f 144 151 181 +f 151 158 181 +f 172 144 181 +f 158 172 181 +f 152 160 182 +f 160 164 182 +f 164 167 182 +f 171 152 182 +f 167 171 182 +f 142 145 183 +f 145 153 183 +f 153 157 183 +f 161 142 183 +f 157 174 183 +f 174 161 183 +f 157 153 184 +f 153 162 184 +f 162 157 184 +f 150 159 185 +f 159 161 185 +f 174 150 185 +f 161 174 185 +f 163 168 186 +f 173 163 186 +f 173 186 187 +f 148 156 187 +f 168 148 187 +f 156 173 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf new file mode 100644 index 000000000..6df2e60ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj new file mode 100644 index 000000000..1df05c6c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj @@ -0,0 +1,894 @@ +o convex_0 +v 0.507086 -1.086353 -0.959204 +v -0.012779 -2.278939 -1.234498 +v -0.410243 -2.095322 -1.632290 +v 0.384684 -1.728353 -2.457511 +v -0.471330 -0.963986 -0.959204 +v -0.073866 -1.300397 -2.396591 +v 0.476485 -2.125881 -0.959204 +v -0.410243 -1.697662 -2.396591 +v -0.471330 -2.003514 -0.959204 +v 0.048308 -2.095322 -2.396591 +v -0.563245 -1.636544 -1.448706 +v 0.568287 -1.697794 -1.540251 +v 0.445885 -2.125881 -1.632290 +v 0.445885 -0.994544 -0.989829 +v -0.043266 -1.728353 -2.641259 +v 0.292997 -1.392073 -2.243467 +v -0.043266 -2.278939 -0.959204 +v 0.598887 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0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj new file mode 100644 index 000000000..f06b2e1c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj @@ -0,0 +1,552 @@ +o convex_0 +v -0.101783 -2.191124 -1.499253 +v -0.555213 -2.191124 -3.053198 +v -0.555213 -1.932070 -3.053198 +v 0.545605 -2.158843 -2.956028 +v -0.458019 -1.025894 -1.110957 +v 0.480737 -1.155364 -2.988165 +v 0.513171 -1.122854 -1.110576 +v -0.555213 -1.090572 -2.988165 +v 0.513171 -2.094050 -1.110576 +v -0.490345 -2.191124 -1.110957 +v -0.555213 -1.090572 -2.502509 +v 0.383543 -1.122968 -2.793827 +v 0.254130 -2.191124 -2.988165 +v 0.545605 -1.770204 -2.276035 +v 0.545605 -2.158843 -2.502509 +v -0.490345 -1.058176 -1.305105 +v -0.360824 -1.025894 -1.175419 +v -0.555213 -2.191124 -2.697038 +v 0.513171 -1.122854 -1.693591 +v -0.360824 -1.090572 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-0.522761 -1.608458 3.033637 +v 0.448387 -1.090512 2.030146 +f 110 107 114 +f 96 95 97 +f 95 96 98 +f 97 95 98 +f 98 96 99 +f 96 97 102 +f 99 96 102 +f 98 99 104 +f 98 104 105 +f 97 98 105 +f 97 101 106 +f 103 94 107 +f 101 103 107 +f 106 101 107 +f 100 106 107 +f 106 100 108 +f 103 101 109 +f 104 103 109 +f 105 104 109 +f 101 105 109 +f 99 100 110 +f 100 107 110 +f 100 99 111 +f 99 102 111 +f 108 100 111 +f 102 108 111 +f 101 97 112 +f 97 105 112 +f 105 101 112 +f 102 97 113 +f 97 106 113 +f 108 102 113 +f 106 108 113 +f 94 103 114 +f 103 104 114 +f 104 99 114 +f 107 94 114 +f 99 110 114 +o convex_4 +v -3.112998 -0.183654 -0.236267 +v -2.594683 0.949332 0.540515 +v -2.497648 0.916851 0.540515 +v -1.073280 0.819640 -0.462948 +v -1.073280 -0.118926 0.443432 +v -2.983219 0.884486 -0.560031 +v -1.073280 -0.248500 -0.592544 +v -3.112998 -0.118926 0.572914 +v -1.073280 0.916851 0.475831 +v -3.080453 -0.216136 -0.592430 +v -2.951074 0.916851 0.540515 +v -1.235204 -0.086678 0.508230 +v 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138 +f 124 121 139 +f 133 124 139 +f 127 133 139 +f 121 136 139 +f 136 127 139 +f 119 126 140 +f 126 134 140 +f 134 127 140 +f 136 119 140 +f 127 136 140 +f 117 116 141 +f 116 125 141 +f 125 132 141 +f 132 134 141 +f 135 117 141 +f 134 135 141 +f 125 116 142 +f 129 125 142 +f 116 137 142 +o convex_5 +v -0.198927 -0.151461 1.058684 +v -0.684468 0.625492 -1.045823 +v -0.684468 0.981709 -1.045823 +v 1.063524 0.981709 -0.916042 +v 1.031197 -0.280994 -1.045823 +v 0.966329 0.981709 1.026135 +v -1.040704 0.981709 1.026135 +v -1.008377 -0.280994 -0.948590 +v 0.966329 -0.280994 1.026135 +v -1.040704 -0.280994 1.026135 +v -1.073245 0.981709 -0.560072 +v 1.128392 -0.216228 0.443359 +v 1.128392 0.852176 0.540591 +v 1.031197 0.981709 -1.013274 +v 1.128392 -0.183844 -0.560072 +v -0.976051 0.981709 -1.013274 +v -0.587489 -0.280994 -1.045823 +v -1.073245 -0.248611 -0.592414 +v -1.073245 -0.086694 0.475701 +v 1.128392 0.884559 -0.560072 +v -0.976051 -0.280994 -1.013274 +v -1.073245 0.916819 0.475701 +v 1.095850 0.981709 0.475701 +v 0.998655 0.107606 -1.045823 +v 1.095850 -0.280994 -0.236239 +v -0.296121 -0.280994 1.058684 +f 149 152 168 +f 144 145 147 +f 146 145 148 +f 143 148 149 +f 148 145 149 +f 148 143 151 +f 150 147 151 +f 150 151 152 +f 149 145 153 +f 151 154 155 +f 148 151 155 +f 145 146 156 +f 146 147 156 +f 147 146 157 +f 155 154 157 +f 145 144 158 +f 153 145 158 +f 150 153 158 +f 144 147 159 +f 147 150 159 +f 150 152 160 +f 153 150 160 +f 153 160 161 +f 152 149 161 +f 160 152 161 +f 157 146 162 +f 155 157 162 +f 158 144 163 +f 150 158 163 +f 144 159 163 +f 159 150 163 +f 149 153 164 +f 153 161 164 +f 161 149 164 +f 146 148 165 +f 148 155 165 +f 162 146 165 +f 155 162 165 +f 147 145 166 +f 145 156 166 +f 156 147 166 +f 151 147 167 +f 154 151 167 +f 147 157 167 +f 157 154 167 +f 143 149 168 +f 151 143 168 +f 152 151 168 +o convex_6 +v 1.290395 -0.054229 -0.560167 +v 3.006124 0.949332 0.540544 +v 3.038602 0.754918 0.508217 +v 1.128392 -0.216240 0.443457 +v 1.128392 0.852125 0.540651 +v 1.128392 0.884527 -0.560167 +v 2.941361 -0.054229 -0.527733 +v 3.103364 0.916930 -0.527733 +v 3.070887 -0.183838 0.443457 +v 1.128392 -0.216240 -0.527733 +v 3.070887 -0.119033 0.475783 +v 2.261449 0.916930 -0.560167 +v 3.070887 -0.183838 0.281502 +v 1.322873 0.884527 0.540651 +v 1.387636 -0.216240 -0.527733 +v 3.006124 0.690113 0.540544 +v 3.103364 0.366546 -0.106737 +v 1.225632 0.398720 0.508110 +v 2.779358 -0.086631 -0.527733 +v 1.646493 -0.216240 0.443457 +v 3.103364 0.884527 -0.268692 +v 1.128392 -0.151436 -0.560167 +v 3.103364 0.787320 -0.527733 +f 185 175 191 +f 172 173 174 +f 172 174 178 +f 174 170 180 +f 169 174 180 +f 175 169 180 +f 170 176 180 +f 170 174 182 +f 174 173 182 +f 172 178 183 +f 171 170 184 +f 179 171 184 +f 170 182 184 +f 182 173 184 +f 179 177 185 +f 181 175 185 +f 177 181 185 +f 173 172 186 +f 172 179 186 +f 179 184 186 +f 184 173 186 +f 175 181 187 +f 181 183 187 +f 179 172 188 +f 177 179 188 +f 181 177 188 +f 172 183 188 +f 183 181 188 +f 170 171 189 +f 176 170 189 +f 171 179 189 +f 185 176 189 +f 179 185 189 +f 174 169 190 +f 169 175 190 +f 178 174 190 +f 183 178 190 +f 175 187 190 +f 187 183 190 +f 175 180 191 +f 180 176 191 +f 176 185 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf new file mode 100644 index 000000000..0673f01a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj new file mode 100644 index 000000000..f4b74f3a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj @@ -0,0 +1,1695 @@ +o convex_0 +v -2.725967 1.744708 1.327636 +v -2.087618 2.099517 1.919017 +v -2.063721 2.099449 1.919079 +v -2.134927 1.484596 1.800641 +v -2.063721 2.075809 1.280235 +v -2.773414 2.075809 1.919017 +v -2.773275 1.413406 1.351336 +v -2.063721 1.484395 1.374911 +v -2.726037 1.579158 1.871679 +v -2.702348 2.052169 1.327698 +v -2.063721 1.484395 1.777003 +v -2.205924 1.862911 1.280298 +f 10 5 12 +f 2 3 5 +f 3 2 6 +f 2 5 6 +f 5 3 8 +f 4 3 9 +f 3 6 9 +f 7 4 9 +f 6 7 9 +f 6 5 10 +f 1 7 10 +f 7 6 10 +f 3 4 11 +f 4 7 11 +f 8 3 11 +f 7 8 11 +f 7 1 12 +f 5 8 12 +f 8 7 12 +f 1 10 12 +o convex_1 +v -0.218129 -5.306273 -0.967449 +v 0.775587 -5.188001 0.073529 +v 0.775587 -5.235318 0.073529 +v -0.241831 -5.306287 0.073529 +v 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-0.691373 2.667135 0.617628 +v -0.715040 1.389745 0.451913 +f 594 597 601 +f 593 596 597 +f 595 593 598 +f 594 595 598 +f 593 597 598 +f 597 594 599 +f 594 598 599 +f 598 597 599 +f 593 595 600 +f 595 596 600 +f 596 593 600 +f 595 594 601 +f 596 595 601 +f 597 596 601 +o convex_50 +v -0.194182 2.762055 -0.329031 +v 1.296102 2.785720 0.191666 +v 1.295914 2.809400 0.570204 +v -0.620218 2.691100 0.617730 +v 1.272277 2.667434 -1.511752 +v 1.296102 2.667434 0.191666 +v -0.620406 2.738403 -1.487781 +v -0.620406 2.667434 -1.487781 +v -0.596393 2.738417 0.617730 +v 1.272277 2.691128 -1.511752 +v 0.964615 2.809400 0.239192 +v 1.272277 2.738417 0.593967 +v -0.265094 2.762055 -1.085689 +v 0.586229 2.691100 0.593967 +v 1.295914 2.809400 0.357381 +f 614 612 616 +f 603 604 607 +f 606 603 607 +f 608 606 609 +f 607 605 609 +f 606 607 609 +f 605 608 609 +f 608 605 610 +f 603 606 611 +f 606 608 611 +f 602 610 612 +f 610 604 612 +f 607 604 613 +f 604 610 613 +f 610 605 613 +f 610 602 614 +f 608 610 614 +f 611 608 614 +f 602 612 614 +f 605 607 615 +f 607 613 615 +f 613 605 615 +f 604 603 616 +f 603 611 616 +f 612 604 616 +f 611 614 616 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf new file mode 100644 index 000000000..6bf40677b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj new file mode 100644 index 000000000..f294b7483 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj @@ -0,0 +1,567 @@ +o convex_0 +v 2.057945 -0.134707 -1.067589 +v 1.294807 0.595002 1.056106 +v 1.261482 0.595002 1.056106 +v 1.294807 -1.130280 0.823697 +v 3.019979 -0.134954 0.757383 +v 1.261482 1.125497 -0.868441 +v 3.019979 0.760889 -0.071847 +v 1.261482 -1.097201 -0.901494 +v 2.854057 -0.964392 -0.237735 +v 2.953681 -0.002392 -0.868233 +v 1.294807 1.159069 0.790436 +v 2.721284 -0.897988 0.790436 +v 2.688135 0.860126 -0.835180 +v 2.721284 0.661159 0.790436 +v 2.489063 -0.068302 1.022637 +v 2.787758 -0.765179 -0.768867 +v 1.294807 1.291878 0.425400 +v 1.261482 -0.964392 0.989584 +v 1.261482 0.528350 -1.067589 +v 3.019979 -0.798504 -0.105108 +v 1.294807 -1.230010 -0.204682 +v 2.024796 0.727564 -1.034329 +v 2.787758 0.893451 0.093624 +v 2.754609 -0.068302 -1.001068 +v 3.053129 0.395788 -0.503197 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-0.802050 +v -1.293678 -0.831473 0.890153 +v -1.260629 1.225499 0.591197 +v -2.853012 -0.035185 0.923089 +v -2.687235 0.727661 -0.802050 +v -2.919465 -0.964230 0.126781 +v -3.052193 0.594651 0.558261 +v -2.886238 -0.698969 0.724109 +v -1.293678 1.291878 -0.271178 +v -1.260629 0.196633 -1.001224 +v -2.753510 -0.068374 -0.967898 +v -3.052193 -0.665780 -0.403701 +v -1.293678 -1.296375 -0.636201 +v -1.924271 -0.831726 -0.967898 +v -1.360131 1.026111 0.956414 +v -2.023594 -0.068374 0.989740 +v -2.985919 0.594651 -0.536614 +v -1.326904 0.893607 -0.901637 +v -2.023594 0.794039 0.956414 +v -3.085420 0.030687 0.757240 +v -2.355325 1.059553 -0.370570 +v -1.260629 -0.897851 -0.967898 +v -1.293678 -1.296375 0.292630 +v -1.260629 0.030687 0.989740 +v -2.687235 -0.964230 -0.768724 +v -1.658814 -0.831726 0.856827 +v -2.819963 0.196633 0.923089 +v -3.085420 -0.731905 0.126781 +v -2.786737 0.926543 0.757240 +v -2.554507 -0.997419 0.325956 +v -3.018967 0.727661 0.027389 +v -3.018967 -0.333888 -0.702267 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122 +f 89 74 123 +f 93 89 123 +f 101 93 123 +f 74 103 123 +f 103 101 123 +f 103 74 124 +f 81 103 124 +f 71 105 124 +f 105 81 124 +f 121 71 124 +f 74 121 124 +f 82 69 125 +f 80 82 125 +f 69 102 125 +f 102 80 125 +f 74 77 126 +f 121 74 126 +f 77 121 126 +f 85 72 127 +f 72 106 127 +f 106 75 127 +f 75 107 127 +f 107 85 127 +f 65 84 128 +f 84 96 128 +o convex_2 +v 0.066650 2.950109 0.425608 +v -1.260451 -1.329012 0.159938 +v -1.260451 -1.329012 0.325826 +v 1.261437 -1.262439 -0.304257 +v -0.862024 2.054935 -0.934754 +v 1.261190 -0.764922 1.022637 +v 0.033572 -2.822752 -0.801920 +v 1.261190 0.826894 -1.034329 +v -1.260451 1.059307 0.956324 +v -0.065665 -2.789465 0.724122 +v -1.260451 -0.897474 -0.967807 +v 0.730448 2.585144 0.890010 +v 0.730448 2.651717 -0.835180 +v 0.796606 -2.623032 -0.702553 +v -0.862024 -2.523766 0.690862 +v -0.828946 2.618431 0.690862 +v 1.261190 1.390985 0.458453 +v 0.863010 -2.058941 -1.034329 +v 0.796606 -2.556458 0.657601 +v -0.762541 -2.557053 -0.801920 +v -0.862024 -1.925795 0.923271 +v -1.260451 1.091999 -0.835180 +v -0.795867 2.618431 -0.702345 +v -0.331282 2.253466 1.022845 +v -0.098990 -3.021877 -0.005742 +v -0.331282 2.386018 -1.001068 +v 1.261190 0.594482 1.056106 +v -1.260451 0.030392 0.989584 +v 1.261190 -0.333384 -1.067589 +v 0.033572 3.050563 -0.105108 +v 0.796606 2.817556 -0.038795 +v 0.730448 -1.959081 0.956531 +v -1.260451 0.229517 -1.001068 +v 0.265864 -2.357927 -1.034329 +v -0.828946 -2.755584 -0.071847 +v 0.630718 -0.267405 1.056106 +v -0.795867 2.817556 0.027311 +v -0.098990 2.884130 -0.768659 +v -0.132069 2.884130 0.757175 +v 0.763527 -2.788871 0.027103 +v -1.094316 1.955075 0.027311 +v 1.261190 1.158572 -0.835180 +v 1.261437 -1.096600 -0.934754 +v -1.260451 -1.229747 -0.868233 +v -1.260451 -0.831495 0.890010 +v 1.261437 -1.163173 0.723915 +v -0.430766 -1.992368 0.956324 +v 0.664044 -0.465936 -1.067589 +v 0.863010 1.523537 -1.034329 +v -1.094316 -1.992368 0.591288 +v 1.062223 1.955075 0.691070 +v 0.730448 1.855215 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+f 132 142 171 +f 142 146 171 +f 157 136 171 +f 146 157 171 +f 136 170 171 +f 170 145 171 +f 130 139 172 +f 139 148 172 +f 148 163 172 +f 143 149 173 +f 156 131 173 +f 149 156 173 +f 134 147 174 +f 155 134 174 +f 168 132 174 +f 147 168 174 +f 132 171 174 +f 171 145 174 +f 149 138 175 +f 156 149 175 +f 138 160 175 +f 157 162 176 +f 162 161 176 +f 163 143 178 +f 173 131 178 +f 143 173 178 +f 159 140 179 +f 145 159 179 +f 140 152 180 +f 155 140 180 +f 152 155 180 +f 144 137 181 +f 137 152 181 +f 151 150 182 +f 165 151 182 +f 169 165 182 +f 169 182 183 +f 150 137 183 +f 137 169 183 +f 182 150 183 +f 135 142 184 +f 153 135 184 +f 138 153 184 +f 142 168 184 +f 131 130 185 +f 130 172 185 +f 172 163 185 +f 178 131 185 +f 163 178 185 +f 154 141 186 +f 141 159 186 +f 170 136 186 +f 136 177 186 +f 177 154 186 +f 160 134 187 +f 134 164 187 +f 164 156 187 +f 156 175 187 +f 175 160 187 +f 147 160 188 +f 160 138 188 +f 168 147 188 +f 138 184 188 +f 184 168 188 +f 136 157 189 +f 161 154 189 +f 157 176 189 +f 176 161 189 +f 177 136 189 +f 154 177 189 +f 152 140 190 +f 140 167 190 +f 167 144 190 +f 144 181 190 +f 181 152 190 +f 159 145 191 +f 145 170 191 +f 186 159 191 +f 170 186 191 +f 140 155 192 +f 155 174 192 +f 174 145 192 +f 145 179 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf new file mode 100644 index 000000000..7b5f4f4fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj new file mode 100644 index 000000000..4aee39a42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj @@ -0,0 +1,546 @@ +o convex_0 +v -3.135504 -0.879803 0.597888 +v -3.566737 0.217608 -0.499523 +v -3.566737 0.217608 -0.538774 +v -1.764128 0.099971 -0.107591 +v -1.764128 -0.919054 -0.460388 +v -3.684328 -0.958305 -0.460388 +v -3.762983 0.099971 0.558637 +v -1.764128 0.021584 0.519386 +v -1.764128 -0.879803 0.480250 +v -1.764128 0.099971 -0.578025 +v -3.723460 -0.958305 0.597888 +v -3.488278 -0.840667 -0.499523 +v -1.764128 0.060720 0.480250 +v -2.038638 -0.213575 0.558637 +v -3.645196 0.139106 -0.382001 +v -3.762983 -0.409369 0.597888 +v -3.292423 -0.958305 0.597888 +v -2.743990 -0.958305 -0.460388 +v -1.764128 -0.919054 0.127338 +v -3.762983 -0.096053 0.284227 +v -1.921046 -0.017667 -0.578025 +v 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181 190 +f 183 180 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf new file mode 100644 index 000000000..9f6b5c914 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj new file mode 100644 index 000000000..022fc4e50 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj @@ -0,0 +1,603 @@ +o convex_0 +v 0.524758 2.262712 -1.549767 +v -0.602035 0.771903 -1.258969 +v -0.602035 0.771903 -1.040928 +v -0.565712 4.697557 -2.022056 +v 0.524758 4.770356 -1.040814 +v 0.415677 0.881492 -2.022170 +v 0.452113 4.697557 -2.094927 +v 0.452113 0.771903 -1.004493 +v -0.529276 4.624759 -1.113570 +v -0.565712 0.771903 -2.022056 +v -0.492953 2.262712 -2.167683 +v -0.456631 3.098333 -1.004607 +v -0.129501 3.389136 -2.167683 +v 0.561195 2.662714 -1.077249 +v 0.524758 2.735513 -1.804129 +v 0.452113 0.771903 -1.731259 +v 0.306710 4.370355 -1.004493 +v -0.565712 4.661158 -1.477124 +v 0.197629 4.733957 -2.094927 +v 0.524758 4.770356 -1.258969 +v 0.488436 1.971909 -1.985735 +v -0.565712 4.443153 -2.058491 +v -0.093065 0.808694 -1.004607 +v 0.124870 4.733957 -1.040814 +v 0.233951 0.771903 -2.022170 +v -0.274791 2.299112 -2.167683 +v -0.492953 3.061542 -2.167683 +v 0.233951 4.152349 -2.131248 +v 0.488436 1.135897 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a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf new file mode 100644 index 000000000..3bbe32287 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj new file mode 100644 index 000000000..a8ca27a29 --- /dev/null +++ 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0.829396 +v -1.013806 -0.921760 1.056523 +f 117 121 131 +f 105 104 106 +f 105 106 108 +f 106 104 112 +f 104 107 112 +f 105 108 113 +f 111 109 113 +f 103 111 114 +f 103 114 115 +f 106 112 116 +f 112 107 116 +f 108 106 117 +f 111 113 117 +f 107 104 118 +f 115 107 118 +f 114 107 119 +f 107 115 119 +f 115 114 119 +f 116 107 120 +f 113 108 121 +f 117 113 121 +f 109 115 122 +f 115 118 122 +f 109 111 123 +f 115 109 123 +f 106 110 124 +f 117 106 124 +f 110 117 124 +f 107 114 125 +f 114 110 125 +f 120 107 125 +f 110 120 125 +f 105 113 126 +f 113 109 126 +f 110 106 127 +f 106 116 127 +f 120 110 127 +f 116 120 127 +f 104 105 128 +f 118 104 128 +f 109 122 128 +f 122 118 128 +f 105 126 128 +f 126 109 128 +f 111 103 129 +f 103 115 129 +f 123 111 129 +f 115 123 129 +f 110 114 130 +f 114 111 130 +f 117 110 130 +f 111 117 130 +f 108 117 131 +f 121 108 131 +o convex_4 +v 0.380296 -1.278334 1.186576 +v 0.574909 -0.176068 3.066537 +v 0.509927 -0.175960 3.066537 +v 0.509927 -0.240812 1.056720 +v -0.495017 -0.338144 1.056720 +v -0.462470 -1.116150 2.936681 +v -0.462470 -0.175960 3.066537 +v 0.477602 -1.148630 3.034073 +v -0.559888 -1.180894 1.056720 +v 0.542473 -1.278334 1.056720 +v -0.462470 -0.240812 1.089184 +v 0.574909 -0.176068 2.126261 +v 0.574909 -0.435476 3.066537 +v -0.559888 -0.954075 1.380966 +v 0.542473 -0.208548 1.186576 +v 0.509927 -1.213482 2.353116 +v 0.574909 -0.824371 1.834872 +v 0.218119 -1.148630 3.034073 +v -0.559888 -1.180894 1.380966 +v -0.332840 -0.175960 2.644898 +v 0.509927 -0.954075 3.066537 +v -0.495017 -1.116150 2.612631 +v 0.445056 -1.180894 2.904413 +v 0.509927 -1.116150 2.871949 +v 0.542473 -0.240920 1.056720 +v -0.495017 -0.402996 2.580167 +v 0.542473 -1.278334 1.316235 +f 148 155 158 +f 133 134 138 +f 136 135 140 +f 132 140 141 +f 140 135 141 +f 135 136 142 +f 136 138 142 +f 134 133 143 +f 133 138 144 +f 143 133 144 +f 136 140 145 +f 135 142 146 +f 143 144 148 +f 138 137 149 +f 132 137 150 +f 140 132 150 +f 145 140 150 +f 138 134 151 +f 142 138 151 +f 134 143 151 +f 146 142 151 +f 143 146 151 +f 144 138 152 +f 138 149 152 +f 149 139 152 +f 137 138 153 +f 150 137 153 +f 145 150 153 +f 137 132 154 +f 147 139 154 +f 149 137 154 +f 139 149 154 +f 139 147 155 +f 148 144 155 +f 144 152 155 +f 152 139 155 +f 141 135 156 +f 135 146 156 +f 146 143 156 +f 143 148 156 +f 148 141 156 +f 138 136 157 +f 136 145 157 +f 153 138 157 +f 145 153 157 +f 132 141 158 +f 141 148 158 +f 154 132 158 +f 147 154 158 +f 155 147 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf new file mode 100644 index 000000000..017b9b820 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj new file mode 100644 index 000000000..d9004dfdb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj @@ -0,0 +1,552 @@ +o convex_0 +v -0.241100 -4.407976 -0.211983 +v 0.289211 -3.594783 0.282987 +v 0.253849 -3.594783 0.282987 +v -0.205738 -2.463562 -0.353465 +v 0.359994 -2.746706 -0.353465 +v -0.241100 -2.463562 0.247601 +v 0.324632 -4.443441 0.282987 +v 0.289211 -4.443441 -0.211983 +v -0.241100 -4.301966 0.212153 +v 0.253849 -2.463562 0.247601 +v 0.359994 -2.463562 -0.211983 +v 0.359994 -3.983743 0.141443 +v -0.241100 -4.195956 -0.247369 +v 0.147822 -4.407976 0.282987 +v 0.359994 -2.463562 -0.353465 +v 0.324632 -4.443441 -0.105949 +v -0.241100 -2.534493 0.000023 +v 0.324632 -3.806996 0.282987 +f 7 12 18 +f 3 2 6 +f 2 3 7 +f 7 1 8 +f 6 1 9 +f 6 2 10 +f 4 6 10 +f 4 10 11 +f 5 11 12 +f 4 5 13 +f 1 6 13 +f 8 1 13 +f 5 8 13 +f 3 6 14 +f 7 3 14 +f 1 7 14 +f 9 1 14 +f 6 9 14 +f 5 4 15 +f 4 11 15 +f 11 5 15 +f 8 5 16 +f 7 8 16 +f 5 12 16 +f 12 7 16 +f 6 4 17 +f 4 13 17 +f 13 6 17 +f 2 7 18 +f 10 2 18 +f 11 10 18 +f 12 11 18 +o convex_1 +v -1.089703 0.365114 0.601078 +v 0.960894 -0.235952 1.131590 +v 0.925701 -0.235952 1.131590 +v -0.559243 -0.271338 -1.095992 +v 1.102521 2.274471 -0.954479 +v -1.018889 2.274471 1.025400 +v -1.018889 2.274471 -1.060451 +v 1.067114 2.274471 1.060724 +v 1.031708 -0.271338 -0.954479 +v -1.089703 -0.271338 0.954535 +v -1.054296 -0.271338 -1.095992 +v -0.771470 -0.271338 1.096048 +v -0.276202 2.274471 1.096048 +v 1.067114 -0.129793 -0.883613 +v 0.996301 -0.271338 0.954535 +v -0.276202 1.885472 -1.060451 +v -1.089703 -0.235952 -0.317778 +v -1.054296 1.708542 0.989859 +v -0.488429 0.223819 -1.095992 +v -1.054296 0.860520 -1.060451 +v 1.067114 2.132926 1.060724 +v 1.102521 1.956244 -0.883613 +v 1.067114 -0.129793 -0.954479 +v 0.996301 -0.165179 1.096048 +v -1.089703 0.542045 0.883887 +v -0.099382 2.274471 1.096048 +v -0.028783 2.274471 -1.025127 +f 34 25 45 +f 24 23 25 +f 23 24 26 +f 22 27 28 +f 22 28 29 +f 20 21 30 +f 24 28 30 +f 28 27 30 +f 21 20 31 +f 26 24 31 +f 30 21 31 +f 24 30 31 +f 27 32 33 +f 20 30 33 +f 30 27 33 +f 28 19 35 +f 29 28 35 +f 24 25 36 +f 28 24 36 +f 29 25 37 +f 22 29 37 +f 34 23 37 +f 25 34 37 +f 25 29 38 +f 35 19 38 +f 29 35 38 +f 26 20 39 +f 23 26 40 +f 26 39 40 +f 39 32 40 +f 27 22 41 +f 32 27 41 +f 22 37 41 +f 37 23 41 +f 23 40 41 +f 40 32 41 +f 33 32 42 +f 20 33 42 +f 39 20 42 +f 32 39 42 +f 19 28 43 +f 36 25 43 +f 28 36 43 +f 38 19 43 +f 25 38 43 +f 20 26 44 +f 31 20 44 +f 26 31 44 +f 25 23 45 +f 23 34 45 +o convex_2 +v -2.150290 -1.897695 -1.095992 +v -2.822232 -0.271338 1.096232 +v -1.514253 -0.377558 0.990011 +v -2.998996 -2.463562 1.096232 +v -1.089900 -2.463562 1.060825 +v -1.089900 -0.448372 -1.095992 +v -3.069623 -0.342152 -0.919172 +v -3.105134 -2.392748 -1.095992 +v -1.089900 -2.427940 -0.954365 +v -1.089900 -0.412965 0.954604 +v -2.963683 -0.306745 0.990011 +v -3.034310 -2.463562 1.025418 +v -1.089900 -0.412965 -1.060371 +v -1.089900 -2.392533 -1.025179 +v -3.105134 -1.685468 -1.060585 +v -1.089900 -2.003701 1.060825 +v -1.938212 -2.463562 1.096232 +v -2.716094 -0.271338 0.848598 +v -3.069623 -0.377558 -0.706946 +v -1.301978 -0.377558 0.954604 +v -2.963683 -0.377558 -0.954365 +v -2.680781 -2.463562 0.636156 +v -3.105134 -2.357341 -0.636132 +v -2.963683 -0.483565 1.096232 +v -1.231154 -0.483779 -1.095992 +v -1.089900 -2.463562 0.636371 +v -3.069623 -2.428155 -0.282706 +v -2.892859 -1.897695 -1.095992 +v -2.610154 -2.392748 -1.095992 +v -1.089900 -0.696006 -1.095992 +v -2.928172 -0.271338 0.671563 +v -2.928172 -0.342152 -0.919172 +v -3.034310 -2.109922 0.884005 +f 69 64 78 +f 51 46 53 +f 51 50 54 +f 50 51 55 +f 50 49 57 +f 51 52 58 +f 55 51 58 +f 51 54 59 +f 48 47 61 +f 55 48 61 +f 50 55 61 +f 47 49 62 +f 49 50 62 +f 61 47 62 +f 50 61 62 +f 56 52 64 +f 52 60 64 +f 47 48 65 +f 48 55 65 +f 55 58 65 +f 63 47 65 +f 58 63 65 +f 52 51 66 +f 60 52 66 +f 50 57 67 +f 53 57 68 +f 60 53 68 +f 64 60 68 +f 49 47 69 +f 47 56 69 +f 57 49 69 +f 56 64 69 +f 51 53 70 +f 66 51 70 +f 54 50 71 +f 67 54 71 +f 50 67 71 +f 53 54 72 +f 57 53 72 +f 54 67 72 +f 67 57 72 +f 53 60 73 +f 60 66 73 +f 70 53 73 +f 66 70 73 +f 53 46 74 +f 54 53 74 +f 46 59 74 +f 59 54 74 +f 46 51 75 +f 59 46 75 +f 51 59 75 +f 56 47 76 +f 52 56 76 +f 47 63 76 +f 63 58 76 +f 58 52 77 +f 52 76 77 +f 76 58 77 +f 68 57 78 +f 64 68 78 +f 57 69 78 +o convex_3 +v 2.163237 -0.519186 1.131590 +v -1.089298 -0.660385 -1.095992 +v -1.089298 -2.357341 -1.025127 +v 3.046832 -2.286527 -1.060450 +v -1.089298 -2.463562 1.060724 +v 3.011601 -0.377773 -0.989803 +v -1.089298 -0.271338 0.954535 +v 3.046832 -2.321934 0.954753 +v 3.046832 -0.342366 1.096048 +v -1.054067 -0.271338 -1.095992 +v 0.360008 -2.463562 -0.353319 +v -0.771414 -0.271338 1.096048 +v 1.208372 -2.357126 1.095830 +v 1.031815 -0.271338 -0.954479 +v 1.067045 -2.321934 -1.095992 +v 0.961354 -0.271338 1.131590 +v -1.089298 -2.428155 -0.989585 +v -1.018837 -2.039108 1.096048 +v 2.940735 -0.377773 1.131590 +v -0.559222 -0.271338 -1.095992 +v 3.011601 -0.342366 -0.742318 +v 3.046832 -2.321934 -0.140940 +v 2.445890 -2.357341 0.989859 +v 3.046832 -1.261658 -1.025127 +v 0.218681 -2.463562 0.247404 +v -0.347030 -2.428155 1.096048 +v 1.491025 -2.251120 -1.095992 +v 3.046832 -0.342366 0.212080 +v 0.926124 -0.660385 1.131590 +v 2.835044 -0.978832 1.096048 +v -0.205298 -2.463562 -0.353319 +v 0.855258 -2.321934 -1.095992 +v -0.841875 -2.463562 1.060724 +v 2.976371 -1.120245 -1.025127 +v 3.046832 -2.180521 -1.060450 +v -1.089298 -0.271338 -0.388643 +v -1.089298 -2.463562 0.636184 +f 95 109 115 +f 80 81 83 +f 80 83 85 +f 86 82 87 +f 88 85 90 +f 88 90 92 +f 80 88 93 +f 87 92 94 +f 92 90 94 +f 83 81 95 +f 82 89 95 +f 93 82 95 +f 85 83 96 +f 90 85 96 +f 94 90 96 +f 86 87 97 +f 79 91 97 +f 94 79 97 +f 87 94 97 +f 92 84 98 +f 88 92 98 +f 93 88 98 +f 84 92 99 +f 82 86 100 +f 89 82 100 +f 89 100 101 +f 86 91 101 +f 100 86 101 +f 87 82 102 +f 83 89 103 +f 89 101 103 +f 96 83 104 +f 101 91 104 +f 82 93 105 +f 93 98 105 +f 92 87 106 +f 84 99 106 +f 99 92 106 +f 87 102 106 +f 102 84 106 +f 91 79 107 +f 79 94 107 +f 94 96 107 +f 104 91 107 +f 96 104 107 +f 91 86 108 +f 86 97 108 +f 97 91 108 +f 89 83 109 +f 95 89 109 +f 81 80 110 +f 80 93 110 +f 95 81 110 +f 93 95 110 +f 83 103 111 +f 103 101 111 +f 104 83 111 +f 101 104 111 +f 98 84 112 +f 84 102 112 +f 112 102 113 +f 102 82 113 +f 82 105 113 +f 105 98 113 +f 98 112 113 +f 80 85 114 +f 88 80 114 +f 85 88 114 +f 83 95 115 +f 109 83 115 +o convex_4 +v 0.395131 3.582609 -0.989744 +v 1.102276 3.688795 1.025342 +v -0.347136 3.724167 1.060873 +v -0.983423 3.016998 1.025342 +v 1.102276 3.016998 -0.954417 +v -0.983423 3.653423 -1.025275 +v 1.066949 3.016998 1.025342 +v -0.983423 3.016998 -1.025275 +v 1.102276 3.618050 -0.954417 +v -0.983423 3.724167 1.060873 +v -0.912770 3.688795 -0.494753 +v 1.066949 3.688795 0.742519 +v -0.983423 3.193929 1.060873 +v -0.382258 3.653423 -1.025275 +v 1.102276 3.264535 0.990014 +v -0.912770 3.724167 0.530147 +v -0.064319 3.653423 -0.954417 +v -0.665279 3.016998 -1.025275 +f 123 129 133 +f 117 118 122 +f 119 120 122 +f 120 119 123 +f 119 121 123 +f 120 116 124 +f 117 120 124 +f 121 119 125 +f 118 117 127 +f 117 124 127 +f 122 118 128 +f 119 122 128 +f 118 125 128 +f 125 119 128 +f 116 120 129 +f 123 121 129 +f 124 116 129 +f 121 126 129 +f 120 117 130 +f 117 122 130 +f 122 120 130 +f 125 118 131 +f 121 125 131 +f 126 121 131 +f 127 126 131 +f 118 127 131 +f 127 124 132 +f 126 127 132 +f 124 129 132 +f 129 126 132 +f 120 123 133 +f 129 120 133 +o convex_5 +v -0.276361 2.804806 1.626861 +v 0.359925 2.628114 2.969908 +v 0.324622 2.910843 3.076111 +v 0.324622 2.946281 1.096425 +v 0.077085 2.415984 1.096425 +v -0.241058 2.415984 2.969908 +v -0.347106 2.910843 2.969908 +v -0.205617 2.415984 1.131891 +v 0.324622 2.451367 1.485386 +v -0.241058 2.875516 1.096425 +v 0.324622 2.451367 2.934636 +v -0.099569 2.380601 2.969908 +v -0.099569 2.946281 2.121443 +v 0.289180 2.451367 1.096425 +v -0.205617 2.380601 1.450114 +v -0.347106 2.840133 2.934636 +v 0.359925 2.486694 2.616413 +v 0.324622 2.946281 1.980356 +v 0.112388 2.946281 1.131891 +f 143 146 152 +f 139 136 140 +f 137 138 143 +f 134 140 143 +f 141 134 143 +f 138 141 143 +f 135 136 144 +f 142 144 145 +f 136 139 145 +f 138 142 145 +f 144 136 145 +f 140 136 146 +f 143 140 146 +f 138 137 147 +f 137 142 147 +f 142 138 147 +f 141 138 148 +f 145 139 148 +f 138 145 148 +f 139 140 149 +f 140 134 149 +f 134 141 149 +f 148 139 149 +f 141 148 149 +f 137 135 150 +f 142 137 150 +f 135 144 150 +f 144 142 150 +f 136 135 151 +f 135 137 151 +f 146 136 151 +f 137 146 151 +f 137 143 152 +f 146 137 152 +o convex_6 +v -0.064273 2.981640 -2.969776 +v -0.241037 2.274471 -1.131566 +v -0.205724 2.274471 -1.131566 +v -0.276417 2.910895 -1.096294 +v 0.324635 2.840081 -1.060634 +v 0.218432 2.416029 -3.040514 +v -0.347175 2.840081 -2.934310 +v 0.253811 2.981640 -2.934310 +v 0.289190 2.451401 -1.060634 +v -0.205724 2.451401 -2.934310 +v -0.347175 2.946267 -2.439340 +v -0.276417 2.522077 -1.060634 +v 0.253811 2.416029 -2.474806 +v 0.324635 2.875453 -1.273041 +v 0.183119 2.981640 -3.040514 +v 0.112360 2.416029 -3.040514 +v -0.276417 2.380657 -1.414516 +v 0.324635 2.698730 -1.273041 +v -0.347175 2.946267 -2.934310 +v 0.253811 2.981640 -2.757563 +v -0.241037 2.486704 -2.899038 +f 169 159 173 +f 155 154 158 +f 154 155 161 +f 156 153 163 +f 157 156 164 +f 154 161 164 +f 161 157 164 +f 156 163 164 +f 155 158 165 +f 158 160 165 +f 161 155 165 +f 156 157 166 +f 153 160 167 +f 160 158 167 +f 158 154 168 +f 154 162 168 +f 162 159 168 +f 167 158 168 +f 163 159 169 +f 164 163 169 +f 154 164 169 +f 157 161 170 +f 165 160 170 +f 161 165 170 +f 166 157 170 +f 160 166 170 +f 163 153 171 +f 159 163 171 +f 153 167 171 +f 168 159 171 +f 167 168 171 +f 153 156 172 +f 160 153 172 +f 156 166 172 +f 166 160 172 +f 162 154 173 +f 159 162 173 +f 154 169 173 +o convex_7 +v -1.018986 2.910809 0.989824 +v 1.102521 3.016998 0.105839 +v 1.102521 2.981529 0.105839 +v -1.018986 2.274471 -1.060634 +v 1.067011 2.274471 1.060763 +v -0.983475 3.016998 -1.025165 +v 1.102521 2.274471 -0.954437 +v -1.018986 2.274471 1.025504 +v 1.102521 3.016998 -0.954437 +v 1.067011 3.016998 1.025293 +v -0.983475 3.016998 1.025504 +v 0.324400 2.840161 -1.060634 +v -0.205769 2.875557 1.096232 +v -0.241072 2.274471 1.096232 +v 0.289097 2.451308 -1.060634 +v 0.324400 2.946205 1.096232 +v -1.018986 2.628145 -1.060634 +v -0.948172 2.981529 -1.060634 +v -0.170258 2.274471 -1.060634 +f 188 180 192 +f 176 175 178 +f 175 176 180 +f 178 177 180 +f 176 178 180 +f 174 177 181 +f 177 178 181 +f 179 175 182 +f 175 180 182 +f 178 175 183 +f 175 179 183 +f 179 174 184 +f 174 181 184 +f 183 179 184 +f 182 180 185 +f 186 184 187 +f 181 178 187 +f 184 181 187 +f 177 185 188 +f 185 180 188 +f 178 183 189 +f 183 184 189 +f 184 186 189 +f 186 187 189 +f 187 178 189 +f 177 174 190 +f 174 179 190 +f 185 177 190 +f 185 190 191 +f 179 182 191 +f 182 185 191 +f 190 179 191 +f 180 177 192 +f 177 188 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf new file mode 100644 index 000000000..f45d75202 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl @@ -0,0 +1,10 @@ +# Blender MTL 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--git a/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj new file mode 100644 index 000000000..9ed5e1e18 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj @@ -0,0 +1,165 @@ +o convex_0 +v 1.112663 -1.287628 0.312795 +v -1.093136 0.740459 0.900972 +v -1.093136 0.740459 0.930616 +v 1.024551 3.035747 0.989495 +v -1.005025 3.094724 -0.951879 +v -0.975655 -2.934771 -1.099077 +v 1.053922 2.917191 -1.040198 +v -1.063766 -3.023839 0.960056 +v 1.024551 -2.993748 -1.099077 +v 1.112663 -3.023839 0.959851 +v -1.093136 3.005657 0.930616 +v -1.063766 1.799637 -0.981319 +v -0.446125 -3.053327 0.018399 +v -0.063663 -0.052120 0.989495 +v 1.083292 2.358715 -0.863561 +v -1.093136 3.064634 -0.481051 +v 1.024551 1.799637 -1.069638 +v 1.083292 -0.141187 0.989495 +v 0.671460 2.947282 -1.040198 +v -0.122619 3.094724 0.283355 +v 1.053922 2.976770 -0.451816 +v 0.406911 3.035145 0.989495 +v 1.083292 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a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj new file mode 100644 index 000000000..e9d19795d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj @@ -0,0 +1,591 @@ +o convex_0 +v -2.203382 -1.695569 -0.507847 +v -2.738480 -1.374433 1.062426 +v -3.059731 -1.374433 1.062426 +v -1.097064 0.409820 -0.971635 +v -3.024185 0.338219 -1.007498 +v -1.097064 0.338219 0.955242 +v -1.097256 -1.767169 0.990700 +v -1.097256 -1.624395 -1.007498 +v -2.952711 0.266832 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+v 1.900921 -1.767120 -1.043176 +v 2.364737 0.302608 -1.114563 +v 2.971309 -1.160237 0.990826 +f 127 144 148 +f 120 117 122 +f 118 119 125 +f 120 122 125 +f 119 118 128 +f 123 119 129 +f 119 128 129 +f 120 125 130 +f 117 120 131 +f 120 126 131 +f 118 125 132 +f 125 122 132 +f 128 118 132 +f 127 128 132 +f 131 121 133 +f 125 119 134 +f 119 130 134 +f 130 125 134 +f 124 133 135 +f 133 121 135 +f 136 127 137 +f 132 122 137 +f 127 132 137 +f 117 131 138 +f 119 123 139 +f 139 126 140 +f 126 120 140 +f 130 119 140 +f 120 130 140 +f 119 139 140 +f 123 129 141 +f 129 121 141 +f 121 131 141 +f 121 129 142 +f 129 128 142 +f 135 121 142 +f 135 142 143 +f 124 135 143 +f 142 128 143 +f 127 136 144 +f 144 136 145 +f 122 117 145 +f 117 133 145 +f 133 124 145 +f 136 137 145 +f 137 122 145 +f 124 144 145 +f 133 117 146 +f 131 133 146 +f 117 138 146 +f 138 131 146 +f 131 126 147 +f 139 123 147 +f 126 139 147 +f 123 141 147 +f 141 131 147 +f 128 127 148 +f 124 143 148 +f 143 128 148 +f 144 124 148 +o convex_4 +v 0.508814 3.193748 0.598477 +v -0.597427 2.765251 -0.579238 +v -0.597427 2.765251 0.027373 +v -0.561690 4.299573 -0.543501 +v 0.544551 2.765251 -0.400782 +v 0.544551 4.263916 0.598477 +v -0.525953 4.299573 0.455644 +v 0.437454 4.335384 -0.472142 +v -0.418971 2.765251 0.562740 +v 0.473192 2.765251 0.598477 +v 0.580288 3.585974 -0.329308 +v 0.580288 3.122281 0.241566 +v -0.597427 3.550317 0.170207 +v -0.418971 2.765251 -0.579238 +v -0.525953 2.765251 0.455644 +v 0.330358 4.263916 0.598477 +v 0.330358 2.765251 -0.472142 +v -0.169157 4.335384 0.098732 +v -0.525953 3.835726 -0.579238 +v 0.580288 2.836872 -0.365045 +v 0.580288 3.871383 0.420022 +v 0.009184 3.265062 0.598477 +v -0.597427 3.764412 -0.365045 +v -0.561690 4.299573 0.098732 +v -0.525953 3.800069 0.491381 +v 0.116280 4.335384 -0.507764 +v 0.508814 4.299573 0.134469 +v -0.597427 2.943842 0.205829 +v 0.044921 4.299573 0.527003 +v 0.401832 4.335384 -0.150967 +v -0.561690 3.978508 0.384284 +v 0.437454 3.871383 -0.472142 +f 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+v 0.580288 3.586026 0.312970 +v 3.078472 3.050785 0.241538 +v 0.580288 3.621743 -0.329420 +v 2.935418 3.086501 -0.186555 +v 0.580288 3.086501 0.205884 +v 0.580288 3.015069 -0.329420 +v 2.578640 3.550373 -0.257924 +v 3.042770 3.550373 0.205884 +v 1.044663 3.015069 -0.329420 +v 0.687395 3.086501 0.241538 +v 2.935418 3.657459 -0.222271 +v 3.042770 3.371855 0.241538 +v 0.937311 3.621743 -0.329420 +v 1.829380 3.050785 0.241538 +v 1.864593 3.015069 -0.043815 +v 2.864258 3.050785 -0.079531 +v 0.580288 3.514657 0.312970 +v 3.042770 3.550373 0.063145 +v 1.222685 3.264957 -0.329420 +v 2.578640 3.657459 -0.186555 +f 194 186 203 +f 183 182 184 +f 184 186 188 +f 188 186 189 +f 181 188 189 +f 183 184 191 +f 189 186 192 +f 181 189 192 +f 190 187 192 +f 188 181 193 +f 182 183 194 +f 187 190 194 +f 184 185 195 +f 191 184 195 +f 185 191 195 +f 192 186 196 +f 186 194 196 +f 194 190 196 +f 193 181 197 +f 181 192 198 +f 197 181 198 +f 185 197 198 +f 187 185 199 +f 192 187 199 +f 185 198 199 +f 198 192 199 +f 185 184 200 +f 184 188 200 +f 188 193 200 +f 197 185 200 +f 193 197 200 +f 185 187 201 +f 183 191 201 +f 191 185 201 +f 194 183 201 +f 187 194 201 +f 190 192 202 +f 192 196 202 +f 196 190 202 +f 184 182 203 +f 186 184 203 +f 182 194 203 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf new file mode 100644 index 000000000..f6baf01f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj new file mode 100644 index 000000000..6b7098a45 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj @@ -0,0 +1,606 @@ +o convex_0 +v 1.717984 -0.386234 1.064337 +v -2.801432 1.437493 -1.076456 +v -2.801432 1.556255 -1.076456 +v 3.343682 -0.386234 -0.997049 +v 3.263859 1.516667 1.064550 +v -2.761826 -0.386234 0.985143 +v -2.881255 1.556255 0.985143 +v 3.224253 1.556448 -0.957346 +v -2.881255 -0.386234 -0.997049 +v 3.263859 -0.386234 0.945439 +v 0.766207 1.596230 1.104254 +v -0.184960 1.596230 -1.076456 +v -2.524186 -0.346453 -1.036539 +v -2.326153 1.596230 0.469850 +v 1.242095 0.367281 1.104254 +v -0.779668 1.001452 -1.076456 +v 1.281702 1.596230 -1.036753 +v 1.400522 1.596230 1.104254 +v -2.841039 -0.148129 0.667941 +v -2.841039 1.556255 -0.798745 +v 3.263859 1.120213 1.064550 +v 3.263859 1.358124 -0.759041 +v 2.589938 1.477274 1.104254 +v -2.286546 1.596230 -0.521246 +v 3.224253 1.556448 0.152434 +v -2.881255 0.010608 -1.036539 +v -2.881255 1.120213 0.985143 +v 3.343682 -0.187716 -0.997049 +v 0.885027 -0.386234 1.064550 +v -2.881255 1.556255 0.390443 +v 1.479735 1.556255 -1.036753 +v -2.881255 -0.386234 -0.639930 +v 1.599164 1.596230 0.231628 +v 2.907400 -0.386234 0.985143 +v -0.779668 1.596230 0.985143 +v -0.065531 1.437493 -1.076456 +v 0.726601 1.516861 1.104254 +v 3.343682 -0.386234 -0.877938 +v 3.263859 1.516667 0.112731 +v -0.819275 -0.108542 -1.036753 +v 3.303466 0.089588 -0.997049 +v -2.801432 -0.346453 0.866032 +v -1.374376 0.961477 -1.076456 +v -0.779668 1.596230 -1.076456 +f 24 12 44 +f 4 1 6 +f 4 6 9 +f 1 4 10 +f 2 3 12 +f 4 9 13 +f 11 12 14 +f 2 12 16 +f 12 11 17 +f 11 15 18 +f 17 11 18 +f 15 1 23 +f 5 18 23 +f 18 15 23 +f 21 5 23 +f 1 21 23 +f 14 12 24 +f 3 20 24 +f 20 14 24 +f 5 8 25 +f 18 5 25 +f 3 2 26 +f 9 7 26 +f 2 13 26 +f 13 9 26 +f 20 3 26 +f 7 9 27 +f 8 22 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+v -0.224738 1.636205 -1.076456 +v -0.859141 1.596230 0.747135 +v 1.321569 2.429113 -0.996836 +v 0.687165 3.499131 -0.996836 +v 1.242161 1.873922 -1.036753 +v -0.303931 3.578694 0.945439 +v -0.819438 2.864960 -0.521246 +v -0.581430 3.459738 -1.036539 +v -0.779734 2.389526 0.985143 +v -0.779734 2.072246 -1.076456 +f 172 165 174 +f 148 147 149 +f 149 147 152 +f 148 149 154 +f 149 150 155 +f 154 149 156 +f 149 155 159 +f 150 149 161 +f 160 151 162 +f 155 150 163 +f 146 158 163 +f 158 159 163 +f 159 155 163 +f 156 149 164 +f 159 158 164 +f 149 159 164 +f 152 147 165 +f 148 154 166 +f 157 148 166 +f 151 157 166 +f 158 151 166 +f 149 152 167 +f 161 149 167 +f 152 161 167 +f 153 160 168 +f 150 161 168 +f 162 150 168 +f 160 162 168 +f 161 152 169 +f 152 165 169 +f 168 161 169 +f 158 146 170 +f 151 158 170 +f 150 162 170 +f 162 151 170 +f 146 163 170 +f 163 150 170 +f 147 148 171 +f 148 157 171 +f 157 151 171 +f 151 160 171 +f 160 153 171 +f 153 168 172 +f 169 165 172 +f 168 169 172 +f 154 156 173 +f 156 164 173 +f 164 158 173 +f 166 154 173 +f 158 166 173 +f 165 147 174 +f 147 171 174 +f 171 153 174 +f 153 172 174 +o convex_6 +v -0.383055 -0.544808 -3.098570 +v 1.321569 -0.505205 -1.036807 +v 0.885318 -0.465564 -1.036807 +v -0.700544 -0.624091 -1.036807 +v 1.281784 -0.624091 -3.019256 +v -0.700544 -0.425883 -1.036807 +v -0.700544 -0.465564 -3.098570 +v 1.321569 -0.624091 -1.036807 +v -0.700544 -0.624091 -3.098570 +v 1.281784 -0.544808 -3.019256 +v -0.303683 -0.425883 -1.155879 +v 1.321569 -0.505205 -1.829948 +v -0.541800 -0.465564 -2.979498 +f 177 186 187 +f 176 177 178 +f 178 177 180 +f 178 180 181 +f 176 178 182 +f 178 179 182 +f 175 179 183 +f 179 178 183 +f 178 181 183 +f 181 175 183 +f 179 175 184 +f 175 181 184 +f 180 177 185 +f 181 180 185 +f 177 176 186 +f 176 182 186 +f 182 179 186 +f 179 184 186 +f 186 184 187 +f 184 181 187 +f 185 177 187 +f 181 185 187 +o convex_7 +v 1.677725 -0.386257 1.064604 +v -0.700476 -0.624106 -1.036807 +v -2.206730 -0.624106 -0.481628 +v -2.880646 -0.386257 -0.996902 +v 3.343014 -0.386257 -0.997107 +v 3.263802 -0.584477 0.945505 +v -2.761827 -0.465564 0.985205 +v -0.779688 -0.624106 1.064604 +v 3.343014 -0.544800 -0.997107 +v -2.761827 -0.386257 0.985205 +v 3.263802 -0.386257 0.945505 +v 1.321269 -0.624106 -1.036807 +v -2.880646 -0.584453 -0.996902 +v -2.246337 -0.624106 0.430026 +v 2.471068 -0.624106 0.826612 +v 3.343014 -0.584477 -0.560822 +v 1.440088 -0.624106 1.064604 +v -0.700476 -0.425910 -1.036807 +v -2.841039 -0.584453 -0.402229 +v -2.563796 -0.505170 0.985205 +v -2.801433 -0.505170 0.588619 +v 0.884992 -0.386257 1.064604 +v 3.303408 -0.584477 0.707512 +f 203 192 210 +f 191 188 192 +f 190 189 195 +f 188 191 197 +f 194 195 197 +f 192 188 198 +f 188 193 198 +f 195 189 199 +f 192 196 199 +f 189 190 200 +f 191 189 200 +f 190 195 201 +f 200 190 201 +f 195 199 202 +f 202 199 203 +f 196 192 203 +f 199 196 203 +f 193 188 204 +f 188 195 204 +f 202 193 204 +f 195 202 204 +f 189 191 205 +f 191 192 205 +f 199 189 205 +f 192 199 205 +f 200 201 206 +f 195 194 207 +f 201 195 207 +f 201 207 208 +f 197 191 208 +f 194 197 208 +f 191 200 208 +f 200 206 208 +f 206 201 208 +f 207 194 208 +f 195 188 209 +f 188 197 209 +f 197 195 209 +f 192 198 210 +f 198 193 210 +f 193 202 210 +f 202 203 210 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf new file mode 100644 index 000000000..5c38469c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj new file mode 100644 index 000000000..370ba1cd7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj @@ -0,0 +1,1050 @@ +o convex_0 +v -1.284643 -0.528866 -0.160896 +v 1.201977 -0.468922 0.407843 +v 1.201977 -0.528866 0.407843 +v 0.063331 -0.498835 -1.419483 +v -0.955074 0.669548 0.887056 +v 0.512656 0.669548 -1.029796 +v -0.925135 0.669548 -0.969764 +v 0.842469 0.669548 0.977104 +v -0.445871 -0.528866 1.246727 +v 0.992163 0.669548 -0.790190 +v 0.992163 -0.528866 -0.820206 +v 0.872407 -0.528866 0.977104 +v -0.895196 -0.528866 -0.969764 +v -1.014951 -0.528866 0.857301 +v -1.104767 0.669548 0.197992 +v 0.992163 0.669548 0.647449 +v -0.655443 0.669548 1.007120 +v -1.254704 -0.378947 -0.400764 +v -0.116058 0.639517 -1.089828 +v 0.362962 0.579573 1.067152 +v 0.003453 -0.498835 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b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj new file mode 100644 index 000000000..d3de4ca9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj @@ -0,0 +1,384 @@ +o convex_0 +v -0.988790 2.691680 -1.016186 +v 0.963551 0.088812 1.107334 +v 0.997773 1.013891 1.072898 +v 0.963551 0.226090 -1.119278 +v 1.100650 3.754035 -1.119278 +v -1.057445 3.685011 0.935805 +v -0.920346 -0.151037 1.038461 +v 1.100650 3.787969 0.935805 +v -0.954568 -0.151037 -0.981968 +v -1.057445 3.651078 -1.016186 +v 0.929329 -0.151037 -1.119278 +v 0.963551 -0.151037 1.107334 +v 1.100650 3.068806 -1.119278 +v -1.023012 3.376909 0.970024 +v -0.954568 3.719716 0.901586 +v 0.620909 0.294343 -1.119278 +v -0.954568 0.192156 1.038461 +v 1.100650 3.719716 0.970242 +v -0.714803 -0.116332 1.072898 +v 0.655131 3.754035 -1.050623 +v 1.100650 3.240017 0.970242 +v -1.057445 3.240017 -0.913530 +v 0.655131 3.788355 0.936023 +v -0.988790 0.911319 -0.331158 +v -0.749025 3.685011 -1.016404 +v -1.057445 3.513800 0.901586 +v 0.963551 -0.151037 0.490526 +v 0.997773 0.568511 1.072898 +v 1.066217 3.787969 -0.159847 +v -0.440605 3.582439 -1.050623 +v 0.620909 -0.082398 1.107334 +v -0.954568 -0.151037 -0.125846 +v 0.689353 -0.151037 -1.119278 +v -0.954568 0.945638 1.038461 +v -1.057445 3.685011 -0.365377 +v -0.988790 0.842680 -0.981968 +v 1.031995 3.616758 -1.119278 +v -0.577704 -0.082013 -1.016404 +v -0.543482 2.520469 -1.050623 +f 30 16 39 +f 1 9 10 +f 5 4 11 +f 7 9 11 +f 7 11 12 +f 4 5 13 +f 5 8 13 +f 2 3 14 +f 5 11 16 +f 3 2 18 +f 2 12 18 +f 13 8 18 +f 14 3 18 +f 6 14 18 +f 7 12 19 +f 17 7 19 +f 18 12 21 +f 13 18 21 +f 6 10 22 +f 15 6 23 +f 6 18 23 +f 18 8 23 +f 5 10 25 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1.107334 +v -0.474973 -2.274652 2.957089 +v 0.997749 -2.308850 1.415688 +v -0.954584 -0.322315 1.621503 +v -0.988887 -1.281686 2.991391 +v -1.023189 -2.274652 2.237658 +v -1.023189 -1.760868 1.107334 +v 1.100657 -1.829265 2.957089 +v 1.100657 -0.322717 2.854181 +v -0.372273 -2.343250 1.107334 +v 1.100657 -2.377449 2.785761 +v 1.066354 -2.377449 2.546012 +v 0.826444 -2.377449 2.922602 +v -0.954584 -0.527909 1.176124 +v 0.757839 -2.308850 1.141637 +v -0.132363 -0.322717 1.107334 +v -0.988887 -0.322315 2.340381 +v -1.023189 -2.240453 2.374684 +v -0.988887 -2.240453 2.888299 +v -0.954584 -2.343250 1.176124 +v 0.997749 -2.034859 1.415688 +f 60 62 72 +f 42 41 43 +f 45 44 46 +f 44 45 48 +f 41 42 50 +f 43 41 50 +f 45 46 52 +f 46 44 54 +f 42 44 55 +f 50 42 55 +f 43 50 56 +f 47 53 56 +f 51 45 57 +f 48 45 58 +f 45 51 58 +f 49 43 59 +f 53 49 59 +f 43 56 59 +f 56 53 59 +f 42 43 60 +f 44 42 60 +f 43 49 60 +f 40 52 61 +f 52 46 61 +f 49 40 62 +f 60 49 62 +f 40 61 63 +f 62 40 63 +f 54 62 63 +f 40 49 64 +f 49 53 64 +f 55 48 65 +f 48 58 65 +f 58 51 65 +f 46 54 66 +f 61 46 66 +f 63 61 66 +f 54 63 66 +f 44 48 67 +f 55 44 67 +f 48 55 67 +f 51 50 68 +f 50 55 68 +f 55 65 68 +f 65 51 68 +f 50 51 69 +f 56 50 69 +f 47 56 69 +f 51 57 69 +f 69 57 70 +f 53 47 70 +f 40 64 70 +f 64 53 70 +f 47 69 70 +f 52 40 71 +f 45 52 71 +f 57 45 71 +f 70 57 71 +f 40 70 71 +f 54 44 72 +f 44 60 72 +f 62 54 72 +o convex_2 +v 1.066388 -2.274498 -2.181134 +v -1.057445 -0.664951 -2.934743 +v -1.023143 -1.452615 -3.003187 +v -0.988840 -2.206060 -1.187971 +v 0.929179 -0.151248 -1.187971 +v 1.032085 -0.185678 -2.968965 +v -0.954538 -0.219686 -1.187971 +v 1.032085 -2.309139 -2.968965 +v 1.066388 -2.206060 -1.187971 +v -0.988840 -2.206060 -3.037591 +v -1.057445 -0.219686 -2.934743 +v 0.620874 -2.309139 -2.557939 +v 1.066388 -1.795013 -1.187971 +v -1.057445 -0.219686 -2.592161 +v 0.963481 -0.151248 -1.461928 +v -0.577836 -2.240490 -1.427706 +v -0.509232 -2.206060 -3.037591 +v -0.988840 -1.863662 -3.037591 +v -0.988840 -0.219686 -1.461928 +v 0.655176 -0.151248 -1.256415 +v 1.066388 -2.240279 -1.461928 +v 0.792177 -0.185678 -2.968965 +v 0.620874 -2.309139 -2.968965 +v 1.032085 -0.185678 -2.763452 +v -1.023143 -0.664951 -2.968965 +v 0.929179 -0.151248 -1.633400 +v 0.347079 -2.274498 -3.003006 +v 1.032085 -2.309139 -2.557758 +v -0.235229 -0.185678 -1.187971 +v -0.509232 -2.240490 -2.797674 +f 95 88 102 +f 74 75 76 +f 76 77 79 +f 78 73 80 +f 77 76 81 +f 76 75 82 +f 75 74 83 +f 73 78 85 +f 81 73 85 +f 77 81 85 +f 74 76 86 +f 83 74 86 +f 77 85 87 +f 81 76 88 +f 76 82 88 +f 89 82 90 +f 82 75 90 +f 75 83 90 +f 78 89 90 +f 76 79 91 +f 86 76 91 +f 77 87 92 +f 73 81 93 +f 81 88 93 +f 78 90 94 +f 80 84 95 +f 84 88 95 +f 85 78 96 +f 78 87 96 +f 87 85 96 +f 90 83 97 +f 83 94 97 +f 94 90 97 +f 87 78 98 +f 83 92 98 +f 92 87 98 +f 78 94 98 +f 94 83 98 +f 78 80 99 +f 89 78 99 +f 82 89 99 +f 80 95 99 +f 95 82 99 +f 80 73 100 +f 84 80 100 +f 88 84 100 +f 73 93 100 +f 93 88 100 +f 79 77 101 +f 83 86 101 +f 91 79 101 +f 86 91 101 +f 77 92 101 +f 92 83 101 +f 88 82 102 +f 82 95 102 +o convex_3 +v 0.552390 -0.151459 1.107110 +v -1.023189 -2.343394 0.798713 +v -0.851784 -2.343394 0.798713 +v 0.929154 -0.151245 -1.187565 +v -0.954464 -0.151459 -0.982041 +v 1.066401 -2.206278 -1.187565 +v 0.963517 -2.274729 1.107110 +v -0.988826 -2.206063 -1.187565 +v -0.920305 -0.151459 1.038602 +v 0.963517 -0.151245 1.107110 +v -1.023189 -2.308847 1.107110 +v -0.954464 -0.219911 -1.187565 +v 1.066401 -1.726477 -0.502487 +v -0.954464 -0.630831 1.107110 +v -1.023189 -1.760810 1.072744 +v 0.620911 -2.309062 1.072744 +v 1.032038 -1.315556 -1.153199 +v -1.023189 -2.240396 0.079493 +v -0.954464 -0.151459 -0.262822 +v 1.066401 -2.206278 -0.570994 +v -0.920305 -0.356813 1.107110 +v 0.963517 -0.151245 0.593189 +v -0.440861 -2.343394 1.072744 +v 0.963517 -0.425264 -1.153199 +v 1.066401 -1.760810 -1.119057 +v 0.963517 -2.274729 0.524681 +v -0.988826 -2.274514 -0.228455 +v -0.988826 -2.343394 1.107110 +v -0.749104 -0.151459 1.072744 +v -0.988826 -2.034828 -1.187565 +f 120 114 132 +f 106 108 110 +f 103 109 112 +f 109 103 113 +f 107 106 114 +f 106 110 114 +f 112 109 115 +f 113 103 116 +f 113 116 117 +f 104 113 117 +f 107 114 117 +f 108 106 119 +f 110 104 120 +f 104 117 120 +f 117 114 120 +f 106 107 121 +f 112 106 121 +f 111 112 121 +f 116 111 121 +f 117 116 121 +f 107 117 121 +f 109 108 122 +f 108 115 122 +f 115 109 122 +f 116 103 123 +f 111 116 123 +f 106 112 124 +f 112 115 124 +f 104 105 125 +f 105 108 125 +f 108 118 125 +f 119 106 126 +f 106 124 126 +f 124 119 126 +f 115 108 127 +f 108 119 127 +f 124 115 127 +f 119 124 127 +f 108 109 128 +f 118 108 128 +f 109 118 128 +f 105 104 129 +f 108 105 129 +f 104 110 129 +f 110 108 129 +f 113 104 130 +f 109 113 130 +f 118 109 130 +f 104 125 130 +f 125 118 130 +f 103 112 131 +f 112 111 131 +f 123 103 131 +f 111 123 131 +f 114 110 132 +f 110 120 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf new file mode 100644 index 000000000..aabedc88c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj new file mode 100644 index 000000000..c8beb29e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj @@ -0,0 +1,480 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf new file mode 100644 index 000000000..816f4ef55 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj new file mode 100644 index 000000000..2233b9ab3 --- /dev/null +++ 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index 000000000..ff2c3a1a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj new file mode 100644 index 000000000..f3ed506a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj @@ -0,0 +1,555 @@ +o convex_0 +v -0.142824 -3.488301 -1.080700 +v -0.842098 -1.457355 1.083802 +v -1.008572 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diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj new file mode 100644 index 000000000..97e04c906 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj @@ -0,0 +1,561 @@ +o convex_0 +v -3.389834 -0.590300 0.012515 +v -3.195494 0.070528 0.323419 +v -2.962250 0.109432 0.284435 +v -3.312116 0.070528 -0.259691 +v -2.962250 -0.512491 -0.259691 +v -2.962250 -0.512491 0.323419 +v -3.428738 -0.201666 0.284435 +v -2.962250 0.070528 -0.220706 +v -3.312116 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+f 67 96 98 +f 96 77 98 +f 64 81 99 +f 82 64 99 +f 81 93 99 +o convex_4 +v 0.264290 4.657375 0.284537 +v -0.940804 4.618566 -0.415092 +v -0.940804 4.618566 -0.376282 +v 0.225362 2.869674 0.556556 +v 0.147626 2.869674 -0.531755 +v -0.785095 2.869674 0.634411 +v -0.901876 4.813183 0.556556 +v -0.901876 2.869674 -0.531755 +v 0.186435 4.735184 -0.531755 +v 0.264290 4.696374 0.556556 +v -0.824140 4.735184 -0.454019 +v -0.862949 2.947483 -0.570683 +v -0.824140 2.908674 0.556556 +v -0.163438 4.735184 -0.531755 +v -0.901876 4.463138 0.556556 +v 0.225362 2.908674 0.245610 +v 0.225362 4.735184 -0.259618 +v -0.668667 4.813183 0.556556 +v -0.901876 4.813183 0.284537 +v 0.186435 3.918857 -0.531755 +v -0.590930 3.336147 -0.570683 +v 0.147626 4.735184 0.556556 +v 0.264290 3.918857 0.556556 +f 103 115 122 +f 104 103 105 +f 101 102 106 +f 102 101 107 +f 104 105 107 +f 107 101 111 +f 104 107 111 +f 101 110 111 +f 107 105 112 +f 111 110 113 +f 106 102 114 +f 105 106 114 +f 102 107 114 +f 112 105 114 +f 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0.109249 0.750557 +v 1.780308 0.847825 -2.980314 +v 2.674336 -1.212131 -0.647399 +v 2.635523 0.809042 -1.580565 +v 1.352796 0.731050 3.083471 +v 2.169007 0.264593 3.044042 +v 2.635523 -1.251127 -2.319570 +v 1.197354 -1.173135 3.083471 +v 2.324639 -1.251127 -2.941482 +v 2.713339 -1.134353 2.966377 +v 2.635523 0.342371 -2.980314 +v 2.480081 -1.212131 2.966377 +v 0.769651 -1.328692 0.013344 +v 2.635523 0.031471 3.005209 +v 0.769651 0.458932 -2.980314 +f 142 139 155 +f 125 124 126 +f 125 126 130 +f 126 124 131 +f 130 126 133 +f 130 133 134 +f 124 129 135 +f 133 126 136 +f 134 133 136 +f 126 131 138 +f 125 130 139 +f 129 125 140 +f 125 139 140 +f 139 128 140 +f 123 132 141 +f 134 128 142 +f 130 134 142 +f 128 139 142 +f 127 129 143 +f 137 127 143 +f 129 137 143 +f 132 123 144 +f 128 134 144 +f 136 132 144 +f 134 136 144 +f 137 128 144 +f 123 141 144 +f 141 137 144 +f 132 136 145 +f 136 126 145 +f 126 138 145 +f 145 138 146 +f 132 145 146 +f 129 127 147 +f 127 135 147 +f 135 129 147 +f 131 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0.730928 3.083402 +v 0.691892 -1.328905 1.061645 +v 0.769632 0.886850 -0.492397 +f 181 172 195 +f 174 173 175 +f 174 175 176 +f 175 177 179 +f 174 176 182 +f 181 180 182 +f 179 172 183 +f 172 181 183 +f 178 173 185 +f 173 178 186 +f 178 177 186 +f 175 173 187 +f 173 186 187 +f 176 175 188 +f 183 176 188 +f 179 183 188 +f 175 184 188 +f 182 176 189 +f 181 182 189 +f 183 181 189 +f 176 183 189 +f 173 174 190 +f 181 178 190 +f 180 181 190 +f 185 173 190 +f 178 185 190 +f 177 175 191 +f 175 187 191 +f 174 182 192 +f 182 180 192 +f 190 174 192 +f 180 190 192 +f 175 179 193 +f 184 175 193 +f 179 188 193 +f 188 184 193 +f 186 177 194 +f 187 186 194 +f 177 191 194 +f 191 187 194 +f 177 178 195 +f 179 177 195 +f 172 179 195 +f 178 181 195 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf new file mode 100644 index 000000000..84d6526b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj new file mode 100644 index 000000000..667fca276 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj @@ -0,0 +1,708 @@ +o convex_0 +v -0.788767 -3.324503 -0.500088 +v -0.994289 -3.776473 -2.594818 +v -0.994289 -3.776473 -2.430168 +v 1.100447 -3.776473 -0.910791 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-2.718050 +v -1.035477 -0.654689 -0.746447 +v -1.035477 -0.654689 -0.705269 +v 0.977227 -1.763692 -2.594713 +v 1.059458 0.413397 -0.705269 +v 0.977227 -1.763692 -0.705269 +v -0.994259 -1.763692 -2.594713 +v -1.035477 0.413397 -0.705269 +v 0.977227 0.413397 -2.635694 +v -0.994259 -1.763692 -0.705269 +v -1.035477 0.413397 -2.553733 +v -0.583516 -0.367210 -2.718050 +v -1.035477 -0.531514 -2.594713 +v -0.665746 0.125704 -2.718050 +v 1.059458 0.084575 -0.787624 +v 1.059458 0.413397 -0.992922 +v -0.337029 -0.408339 -2.718050 +v 0.977227 -0.161776 -2.635694 +v -0.706759 0.413397 -2.676872 +f 109 106 114 +f 100 98 101 +f 99 101 102 +f 98 97 102 +f 97 98 103 +f 100 96 103 +f 98 100 103 +f 96 100 104 +f 101 98 105 +f 102 101 105 +f 98 102 105 +f 97 103 106 +f 103 96 106 +f 102 97 108 +f 97 106 108 +f 102 108 109 +f 96 107 109 +f 107 102 109 +f 108 106 109 +f 100 101 110 +f 101 99 110 +f 104 100 111 +f 100 110 111 +f 110 99 111 +f 99 102 112 +f 107 96 112 +f 102 107 112 +f 96 104 113 +f 111 99 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0.413397 0.650036 +v -1.117824 -0.818741 -0.622978 +v -3.048032 -0.777760 1.389569 +v -3.048032 -1.640445 -0.089064 +v -2.267727 0.331227 -0.664015 +f 144 131 147 +f 120 122 123 +f 122 120 125 +f 116 117 126 +f 124 116 126 +f 121 119 127 +f 120 123 128 +f 119 124 132 +f 124 127 132 +f 127 119 132 +f 124 126 133 +f 127 124 133 +f 117 125 134 +f 126 117 134 +f 130 126 134 +f 128 130 134 +f 123 122 135 +f 125 118 136 +f 131 125 136 +f 120 128 137 +f 129 120 137 +f 128 134 137 +f 134 129 137 +f 121 127 138 +f 128 121 138 +f 126 130 138 +f 130 128 138 +f 121 115 139 +f 119 121 139 +f 115 121 140 +f 123 115 140 +f 128 123 140 +f 121 128 140 +f 118 124 141 +f 124 119 141 +f 119 136 141 +f 136 118 141 +f 125 120 142 +f 120 129 142 +f 134 125 142 +f 129 134 142 +f 115 123 143 +f 123 135 143 +f 139 115 143 +f 135 139 143 +f 122 125 144 +f 125 131 144 +f 133 126 145 +f 127 133 145 +f 126 138 145 +f 138 127 145 +f 117 116 146 +f 116 124 146 +f 124 118 146 +f 125 117 146 +f 118 125 146 +f 135 122 147 +f 136 119 147 +f 131 136 147 +f 119 139 147 +f 139 135 147 +f 122 144 147 +o convex_5 +v 3.072238 -1.558045 -0.211957 +v -1.076208 0.372268 -0.705269 +v -1.117631 -1.599174 -0.622978 +v -0.583234 -0.120646 1.512897 +v 2.989803 0.413397 -0.622978 +v 2.948790 -1.763692 1.430606 +v 2.989803 0.331138 1.471643 +v -1.117631 -1.640304 1.430606 +v -1.117631 0.413397 1.389569 +v 3.072238 -1.722563 -0.705052 +v -0.994183 -1.763692 -0.705269 +v 0.525752 -1.106261 1.512897 +v 1.058919 0.413397 -0.705269 +v 0.936291 0.413397 1.348532 +v 3.072238 -1.763692 -0.458613 +v 2.989803 -0.941956 1.471643 +v 3.072238 -1.106261 -0.705052 +v -1.076208 0.413397 -0.705269 +v -1.117631 0.331138 -0.581941 +v 2.989803 0.413397 0.075519 +v -0.542221 -1.106261 1.512897 +v 1.839803 -1.640304 1.471643 +v -0.953170 0.413397 1.430606 +v 2.661290 -1.763692 1.430606 +v 2.989803 0.084575 -0.664015 +v 2.989803 -1.763692 1.348315 +v -0.994183 -1.763692 -0.581941 +v 0.525752 -0.161776 1.512897 +v -0.008234 -1.599174 1.471643 +v -1.117631 0.043658 1.430606 +v 3.072238 -1.763692 -0.129883 +v 0.977304 -1.763692 -0.705269 +v 2.948790 0.372268 0.896475 +f 154 167 180 +f 150 155 156 +f 150 149 158 +f 155 150 158 +f 156 152 160 +f 158 149 160 +f 152 156 161 +f 157 148 162 +f 153 158 162 +f 154 159 163 +f 154 148 164 +f 148 157 164 +f 157 160 164 +f 149 150 165 +f 160 149 165 +f 156 160 165 +f 150 156 166 +f 165 150 166 +f 156 165 166 +f 152 161 167 +f 154 164 167 +f 164 152 167 +f 151 155 168 +f 159 151 168 +f 159 168 169 +f 153 163 169 +f 163 159 169 +f 151 154 170 +f 154 161 170 +f 161 156 170 +f 158 153 171 +f 153 169 171 +f 160 152 172 +f 152 164 172 +f 164 160 172 +f 153 162 173 +f 163 153 173 +f 155 158 174 +f 158 171 174 +f 171 155 174 +f 154 151 175 +f 151 159 175 +f 159 154 175 +f 168 155 176 +f 169 168 176 +f 155 171 176 +f 171 169 176 +f 155 151 177 +f 156 155 177 +f 151 170 177 +f 170 156 177 +f 148 154 178 +f 162 148 178 +f 154 163 178 +f 173 162 178 +f 163 173 178 +f 160 157 179 +f 158 160 179 +f 157 162 179 +f 162 158 179 +f 161 154 180 +f 167 161 180 +o convex_6 +v 0.607782 -0.654541 2.745143 +v 0.525455 -0.531418 2.046968 +v 0.525455 -0.284915 2.046968 +v 3.113316 -0.367125 2.170200 +v 2.948915 -0.900979 2.088046 +v 3.113316 -0.284915 2.662989 +v 3.113316 -0.859874 2.621912 +v 0.525455 -0.942085 2.129123 +v 0.566745 -0.367125 2.745143 +v 0.525455 -0.900979 2.704066 +v 3.030988 -0.900979 2.375586 +v 1.141769 -0.326084 2.046968 +v 2.538038 -0.859874 2.662989 +v 1.470318 -0.942085 2.170200 +v 2.784513 -0.284915 2.457603 +v 1.141769 -0.408230 2.745143 +v 2.989952 -0.736687 2.088046 +v 1.141769 -0.900979 2.704066 +v 2.702440 -0.284915 2.662989 +v 1.758083 -0.900979 2.088046 +f 185 188 200 +f 185 184 187 +f 184 186 187 +f 183 182 188 +f 183 188 190 +f 181 189 190 +f 189 183 190 +f 185 187 191 +f 182 183 192 +f 183 184 192 +f 185 182 192 +f 187 186 193 +f 188 185 194 +f 190 188 194 +f 185 191 194 +f 184 183 195 +f 183 186 195 +f 186 184 195 +f 189 181 196 +f 186 189 196 +f 181 193 196 +f 193 186 196 +f 184 185 197 +f 192 184 197 +f 185 192 197 +f 181 190 198 +f 191 187 198 +f 193 181 198 +f 187 193 198 +f 190 194 198 +f 194 191 198 +f 186 183 199 +f 189 186 199 +f 183 189 199 +f 182 185 200 +f 188 182 200 +o convex_7 +v -1.692957 -0.983154 2.416526 +v -2.349612 -0.325992 2.621912 +v -2.349612 -0.325992 2.539758 +v -0.624705 -0.408222 2.580835 +v -3.048257 -0.325992 2.046968 +v -3.048257 -0.901060 2.704066 +v -0.624705 -1.024303 2.088046 +v -2.965701 -0.942073 2.088046 +v -0.624705 -0.901060 2.745143 +v -0.748303 -0.408222 2.088046 +v -3.048257 -0.325992 2.662989 +v -0.624705 -0.408222 2.129123 +v -2.144407 -0.901060 2.745143 +v -0.624705 -0.818897 2.745143 +v -3.048257 -0.572479 2.046968 +v -2.021284 -0.367073 2.046968 +v -2.308808 -0.983154 2.170200 +v -2.678177 -0.942073 2.621912 +v -1.446711 -0.367073 2.621912 +v -0.624705 -0.942073 2.621912 +f 209 218 220 +f 202 203 205 +f 207 204 209 +f 202 205 211 +f 205 206 211 +f 205 203 212 +f 204 207 212 +f 210 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b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf new file mode 100644 index 000000000..35faba0f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj new file mode 100644 index 000000000..54c0a9bce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj @@ -0,0 +1,756 @@ +o convex_0 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262 +f 252 243 263 +f 255 252 263 +f 243 258 263 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf new file mode 100644 index 000000000..4adbb5412 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj new file mode 100644 index 000000000..2e2364000 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj @@ -0,0 +1,600 @@ +o convex_0 +v -3.199211 -1.225558 0.588136 +v -3.072724 -1.193924 -0.518463 +v -3.072724 -1.162616 -0.518463 +v -4.621890 -1.257191 -0.044158 +v -3.167547 -0.624958 0.050658 +v -2.882909 -1.731582 0.177117 +v -4.400410 -0.814758 -0.012516 +v -4.273923 -1.636683 0.019127 +v -2.882909 -0.751491 0.461677 +v -2.882909 -0.719858 -0.391893 +v -4.400410 -1.193924 -0.391893 +v -2.882909 -1.636683 -0.360362 +v -4.368916 -1.193924 0.366750 +v -2.882909 -1.605049 0.493209 +v -3.641830 -0.783125 -0.391893 +v -3.767976 -1.573416 0.398392 +v -3.705158 -1.605049 -0.328719 +v -3.610336 -0.814758 0.398392 +v -3.610336 -1.731582 0.082189 +v -2.914573 -1.130983 0.619779 +v -4.210765 -1.541782 -0.233791 +v -4.242429 -1.541782 0.240291 +v -2.882909 -0.624958 -0.075801 +v -3.673494 -1.193924 0.524851 +v -2.882909 -1.130983 -0.518463 +v -4.273923 -0.878025 -0.233791 +v -3.610336 -1.225558 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71 +f 53 54 72 +f 57 53 72 +f 54 53 79 +f 53 61 79 +f 77 54 79 +f 57 62 80 +f 62 73 80 +f 74 59 81 +f 61 74 81 +f 73 62 82 +f 78 69 82 +f 77 64 83 +f 69 78 85 +f 56 67 86 +f 67 63 86 +f 60 68 86 +f 61 57 87 +f 59 74 87 +f 74 61 87 +f 57 80 87 +f 76 70 88 +f 57 72 89 +f 72 58 89 +f 68 60 90 +f 55 83 90 +f 83 64 90 +f 55 60 92 +f 79 61 93 +f 68 90 93 +f 90 64 93 +f 64 91 93 +f 91 79 93 +f 61 56 94 +f 56 86 94 +f 86 68 94 +f 93 61 94 +f 68 93 94 +f 55 65 95 +f 58 65 96 +f 65 70 96 +f 70 76 96 +f 89 58 96 +f 76 89 96 +f 56 61 97 +f 61 81 97 +f 81 69 97 +f 52 63 98 +f 63 67 98 +f 78 52 98 +f 67 85 98 +f 85 78 98 +f 86 63 99 +f 80 73 100 +f 73 82 100 +f 59 87 100 +f 87 80 100 +f 71 55 101 +f 84 71 101 +f 55 92 101 +f 99 84 101 +f 92 99 101 +f 58 72 102 +f 72 66 102 +f 75 58 102 +f 66 75 102 +f 62 57 103 +f 88 62 103 +f 76 88 103 +f 57 89 103 +f 89 76 103 +f 60 55 104 +f 55 90 104 +f 90 60 104 +f 64 77 105 +f 77 79 105 +f 91 64 105 +f 79 91 105 +f 63 52 106 +f 52 78 106 +f 62 88 106 +f 69 81 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-1.024559 +v -0.985074 0.323871 -0.075451 +v -1.238289 0.134127 -0.044062 +v 0.311338 0.134127 1.031003 +v 1.924114 0.165776 0.019118 +v 1.386418 0.134127 0.904241 +v -0.510837 0.292222 0.872852 +v -1.238289 0.165776 0.018916 +v -0.415804 0.260592 -0.929588 +v 1.228236 0.323871 -0.866408 +v 1.892230 0.197406 0.082096 +f 134 129 140 +f 118 117 119 +f 116 120 122 +f 118 119 123 +f 119 117 124 +f 116 119 125 +f 120 116 125 +f 116 122 126 +f 118 123 127 +f 124 117 128 +f 120 125 129 +f 122 120 130 +f 128 117 130 +f 122 121 131 +f 126 122 131 +f 121 126 131 +f 121 122 132 +f 122 127 132 +f 127 123 132 +f 119 116 133 +f 123 119 133 +f 128 120 134 +f 124 128 134 +f 120 129 134 +f 119 124 135 +f 124 125 135 +f 125 119 135 +f 116 126 136 +f 126 123 136 +f 133 116 136 +f 123 133 136 +f 126 121 137 +f 123 126 137 +f 121 132 137 +f 132 123 137 +f 117 118 138 +f 118 127 138 +f 127 122 138 +f 130 117 138 +f 122 130 138 +f 120 128 139 +f 130 120 139 +f 128 130 139 +f 125 124 140 +f 129 125 140 +f 124 134 140 +o convex_3 +v 1.417900 1.779065 -0.075652 +v -0.953673 0.324212 -0.107242 +v -0.257659 0.323871 -0.929588 +v 0.311437 3.802174 -0.012472 +v 1.228286 0.324212 0.936032 +v -0.416052 1.842053 0.777881 +v 1.323220 0.324212 -0.834617 +v 0.342912 3.327550 -0.739847 +v 0.437592 3.264562 0.777679 +v -0.416052 3.327891 0.018916 +v 1.165081 3.327891 -0.044062 +v -0.605666 0.324212 0.841061 +v -0.479257 1.747401 -0.771437 +v 0.342912 1.526092 1.031003 +v 1.639497 0.387200 0.145477 +v 0.374388 1.937046 -0.992567 +v 1.165081 1.842053 0.777881 +v 1.165081 1.905042 -0.739847 +v -0.668871 0.387540 -0.866207 +v 0.374388 0.323871 -1.024559 +v 0.311437 0.323871 1.031003 +v -0.953673 0.482193 0.018916 +v -0.226184 2.916596 0.588140 +v -0.257659 2.916596 -0.550106 +v 0.943738 2.979924 0.588140 +v 0.975213 2.916596 -0.581494 +v 1.639497 0.324212 -0.044062 +v 0.406117 2.000375 0.999212 +v 1.354695 0.418864 0.872651 +v 0.342912 3.327550 0.746291 +v 1.165081 3.296226 0.050506 +v 0.501051 3.770509 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197 180 204 +f 144 148 150 +f 142 143 161 +f 152 142 161 +f 143 160 161 +f 150 148 164 +f 149 157 165 +f 151 158 166 +f 160 147 167 +f 161 160 167 +f 155 157 169 +f 165 157 171 +f 151 166 173 +f 142 152 174 +f 152 146 174 +f 162 142 174 +f 158 141 175 +f 167 147 175 +f 146 163 177 +f 163 170 177 +f 154 168 178 +f 143 142 180 +f 142 159 180 +f 160 143 180 +f 149 165 181 +f 170 149 181 +f 163 146 183 +f 168 149 183 +f 149 170 183 +f 170 163 183 +f 146 178 183 +f 178 168 183 +f 174 146 184 +f 162 174 184 +f 146 177 184 +f 166 158 185 +f 156 173 185 +f 173 166 185 +f 158 175 185 +f 182 156 185 +f 164 148 186 +f 148 173 186 +f 173 156 186 +f 156 176 186 +f 155 167 187 +f 175 141 187 +f 167 175 187 +f 144 150 188 +f 172 144 188 +f 150 177 188 +f 177 170 188 +f 170 181 188 +f 181 172 188 +f 153 159 189 +f 148 144 190 +f 144 172 190 +f 172 151 190 +f 173 148 190 +f 151 173 190 +f 161 145 191 +f 154 161 191 +f 168 154 191 +f 159 142 192 +f 142 162 192 +f 189 159 192 +f 179 189 192 +f 147 160 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new file mode 100644 index 000000000..b2c458d95 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj new file mode 100644 index 000000000..2d2d1a365 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj @@ -0,0 +1,3735 @@ +o convex_0 +v 0.537757 -2.234875 2.721851 +v -1.000236 -2.442701 1.952668 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-1.789967 +v 0.163912 -0.446885 -1.935474 +v 0.621270 -0.800278 -2.413275 +v 0.579705 -0.446885 -1.540490 +v 0.642100 -0.654716 -2.226231 +v 0.351049 -0.426080 -1.893809 +f 1344 1341 1349 +f 1339 1338 1340 +f 1341 1337 1342 +f 1340 1341 1342 +f 1337 1341 1343 +f 1342 1337 1343 +f 1338 1343 1344 +f 1339 1340 1345 +f 1340 1342 1345 +f 1343 1338 1346 +f 1342 1343 1346 +f 1338 1339 1347 +f 1339 1345 1347 +f 1345 1342 1347 +f 1342 1346 1347 +f 1346 1338 1347 +f 1343 1341 1348 +f 1341 1344 1348 +f 1344 1343 1348 +f 1340 1338 1349 +f 1341 1340 1349 +f 1338 1344 1349 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf new file mode 100644 index 000000000..6476013bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj new file mode 100644 index 000000000..5f827c2dd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj @@ -0,0 +1,306 @@ +o convex_0 +v 1.092634 -1.415325 -0.784269 +v -1.113054 -2.484974 0.934553 +v -0.950693 -4.009846 -0.849040 +v -0.983295 0.206673 -1.076173 +v 1.027646 0.206673 0.934553 +v 1.060032 -4.009424 1.096914 +v 1.060032 -3.977330 -1.011401 +v -1.048067 0.206250 1.031926 +v 0.995261 0.206673 -1.076173 +v -1.015681 -4.009846 0.966939 +v -0.918308 -4.042362 -0.946414 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-0.983219 0.206673 -1.076173 +v 0.930424 4.065919 0.999325 +v -1.015700 2.509267 1.096914 +v -1.015700 1.018143 -1.108774 +v -0.107286 0.206673 1.031926 +v -0.950739 4.098682 1.096914 +v 0.995176 2.931003 0.966939 +v 1.092618 3.741712 -1.011185 +v -1.048181 0.206673 -0.524751 +v -1.015700 2.185060 -1.108774 +v 1.027657 0.206673 -0.654294 +v -0.885777 1.699321 1.096914 +v -1.048181 1.407115 1.064312 +v -0.075014 4.098682 -0.103088 +v 0.930424 2.121057 -1.076173 +v 1.092618 3.968771 -0.719497 +v 0.962695 3.709329 0.999541 +v -1.048181 1.147673 -0.686895 +v 1.027657 1.634175 0.934553 +v -1.048181 0.272200 1.064312 +v -1.015700 4.065919 -0.622124 +v 1.027657 4.033917 0.123613 +v 0.962695 3.839241 -1.011185 +v 0.508592 4.033917 1.031926 +v -0.723792 4.098682 -0.979015 +v 0.768229 4.001534 -0.978799 +v -0.983219 3.644564 0.902167 +v 0.962695 4.065919 0.934553 +v 0.962695 4.065919 0.642649 +v -0.950739 0.888232 -1.108774 +v -0.658831 2.217443 -1.108774 +v -1.015700 0.206673 -0.946414 +v -0.950739 2.217443 -1.108774 +v 0.670787 0.206673 0.966939 +v -0.983219 4.098682 0.383131 +v 1.092618 3.709329 -1.011185 +v -0.042534 4.098682 0.058841 +v -1.015700 1.569409 1.096914 +v 1.027657 4.001534 -0.622124 +f 79 94 104 +f 61 63 64 +f 59 60 65 +f 64 63 66 +f 60 59 67 +f 63 61 70 +f 59 65 71 +f 68 59 71 +f 66 63 74 +f 61 64 76 +f 59 68 77 +f 74 63 78 +f 65 60 79 +f 64 58 80 +f 73 64 80 +f 73 62 81 +f 69 74 83 +f 75 69 83 +f 65 75 83 +f 78 65 83 +f 74 78 83 +f 61 81 84 +f 81 72 84 +f 82 61 84 +f 72 82 84 +f 63 70 85 +f 70 77 85 +f 68 78 85 +f 78 63 85 +f 65 78 86 +f 78 68 86 +f 81 62 87 +f 72 81 87 +f 62 73 88 +f 73 80 88 +f 67 59 89 +f 59 77 89 +f 77 70 89 +f 82 67 89 +f 70 82 89 +f 65 79 90 +f 88 65 90 +f 88 90 91 +f 62 88 91 +f 90 79 91 +f 68 71 92 +f 86 68 92 +f 67 82 93 +f 82 72 93 +f 72 87 93 +f 93 87 94 +f 58 64 95 +f 64 66 95 +f 66 69 95 +f 69 75 95 +f 95 75 96 +f 80 58 96 +f 88 80 96 +f 58 95 96 +f 69 66 97 +f 66 74 97 +f 74 69 97 +f 75 65 98 +f 65 88 98 +f 96 75 98 +f 88 96 98 +f 70 61 99 +f 61 82 99 +f 82 70 99 +f 71 65 100 +f 65 86 100 +f 92 71 100 +f 86 92 100 +f 64 73 101 +f 61 76 101 +f 76 64 101 +f 81 61 101 +f 73 81 101 +f 60 67 102 +f 79 60 102 +f 67 93 102 +f 93 94 102 +f 94 79 102 +f 77 68 103 +f 68 85 103 +f 85 77 103 +f 87 62 104 +f 62 91 104 +f 91 79 104 +f 94 87 104 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf new file mode 100644 index 000000000..966060021 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj new file mode 100644 index 000000000..cecc0a697 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj @@ -0,0 +1,603 @@ +o convex_0 +v -1.064108 0.912935 -0.193014 +v 1.047106 0.512412 1.117213 +v 0.974153 0.512412 1.117213 +v -0.518329 2.332548 0.570929 +v 0.937782 2.150512 -1.067069 +v 0.937782 0.075659 -0.957812 +v -0.954994 0.075880 0.971395 +v -0.954994 2.113840 -1.066855 +v -0.991366 0.075880 -1.066855 +v 1.047106 2.113840 1.044304 +v -1.100690 1.968256 1.044304 +v 1.047106 0.075659 1.117213 +v 0.464535 2.332548 -0.447875 +v -0.554700 2.332548 -0.593694 +v 1.047106 0.075659 0.571143 +v 0.537278 2.332548 0.461886 +v 0.937782 1.567954 -1.067069 +v 0.974153 2.113840 -0.739084 +v -1.027737 0.075880 -0.993946 +v 0.719344 0.112111 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+v 1.010523 -1.962883 2.318430 +v 0.865018 -0.033872 2.973586 +v 1.010523 -1.417083 3.082875 +v 1.010523 -1.489828 1.117213 +v -1.064367 -1.999466 2.536815 +v 0.355338 -1.926721 3.082875 +f 143 140 155 +f 130 133 135 +f 135 133 136 +f 130 135 137 +f 135 126 138 +f 137 135 141 +f 138 132 141 +f 135 138 141 +f 133 127 142 +f 136 133 142 +f 128 127 143 +f 132 140 143 +f 138 131 144 +f 127 128 145 +f 126 135 146 +f 135 136 146 +f 136 129 146 +f 138 126 146 +f 138 146 147 +f 129 134 147 +f 146 129 147 +f 127 133 148 +f 133 130 148 +f 143 127 148 +f 130 143 148 +f 134 129 149 +f 129 136 149 +f 128 139 149 +f 139 134 149 +f 145 128 149 +f 136 145 149 +f 130 137 150 +f 141 132 150 +f 143 130 150 +f 132 143 150 +f 131 138 151 +f 134 139 151 +f 144 131 151 +f 139 144 151 +f 138 147 151 +f 147 134 151 +f 132 138 152 +f 140 132 152 +f 139 140 152 +f 138 144 152 +f 144 139 152 +f 137 141 153 +f 150 137 153 +f 141 150 153 +f 142 127 154 +f 136 142 154 +f 127 145 154 +f 145 136 154 +f 139 128 155 +f 140 139 155 +f 128 143 155 +o convex_5 +v 0.355399 3.897886 0.534738 +v -0.518296 4.079913 -0.557403 +v -0.518296 4.116329 -0.557403 +v 0.610250 3.970717 -0.448146 +v -0.518296 3.606713 -0.448146 +v 0.537340 3.606713 -0.520948 +v -0.481731 3.606713 0.498177 +v -0.445276 4.007082 0.534738 +v 0.464542 3.606713 0.461829 +v 0.464542 3.970717 0.498177 +v -0.336134 4.116329 -0.484494 +v 0.428198 3.606713 -0.557403 +v 0.537340 3.606713 0.097711 +v -0.481731 3.752374 0.534738 +v 0.464542 3.643178 0.498177 +f 156 169 170 +f 158 157 160 +f 160 161 162 +f 162 161 164 +f 163 156 165 +f 159 158 166 +f 158 163 166 +f 165 159 166 +f 163 165 166 +f 157 158 167 +f 158 159 167 +f 160 157 167 +f 161 160 167 +f 159 161 167 +f 161 159 168 +f 164 161 168 +f 159 165 168 +f 158 160 169 +f 160 162 169 +f 163 158 169 +f 156 163 169 +f 162 164 170 +f 165 156 170 +f 164 168 170 +f 168 165 170 +f 169 162 170 +o convex_6 +v -1.064225 -0.616647 -3.069327 +v 1.119908 -1.744494 -0.666656 +v 1.119908 -1.817403 -0.666656 +v -0.991406 -1.125514 1.117213 +v 1.047089 0.075456 1.117213 +v 1.010571 -0.033801 -2.959910 +v -0.955105 -1.999569 -3.069327 +v -0.955105 0.075456 0.898379 +v 0.974271 -2.108826 0.971324 +v 1.010571 -2.108826 -2.959910 +v -0.991406 -2.108826 1.007796 +v -1.100743 0.075456 -3.032855 +v 0.974271 -1.926660 1.117213 +v -0.955105 0.002547 1.117213 +v -0.955105 -2.108826 -1.103096 +v 0.937752 0.075456 -0.958026 +v 1.083390 -0.252314 0.862316 +v 1.119908 -2.072264 -1.103096 +v -0.991406 -2.035917 1.117213 +v -0.591010 -1.599103 -3.069327 +v -0.627311 0.075456 -3.032855 +v -1.100743 0.075456 -2.668540 +v 0.682995 -0.397919 -2.995973 +v 1.010571 -2.108826 0.789371 +v -0.991406 -2.108826 -0.193744 +v -1.100743 -0.143058 -3.032855 +v 1.047089 -2.072264 -2.595596 +v -0.518191 -2.035917 -3.032855 +v 1.119908 -2.108826 -0.812136 +v -0.918587 0.075456 1.117213 +v -0.299735 0.002547 -3.032855 +v 1.047089 -0.725476 1.117213 +v 0.573658 -2.072264 -2.995973 +v -1.027924 0.075456 -0.703129 +v 0.500839 0.002547 -2.995973 +v 1.047089 0.075456 0.570537 +v 0.901452 -2.108826 -2.959910 +v -0.591010 -1.999569 -3.069327 +f 193 203 208 +f 180 179 181 +f 178 175 182 +f 175 174 183 +f 174 175 184 +f 180 181 185 +f 182 175 186 +f 173 172 187 +f 172 176 187 +f 172 173 188 +f 176 172 188 +f 181 179 189 +f 183 174 189 +f 179 183 189 +f 177 171 190 +f 171 182 191 +f 182 186 191 +f 178 182 192 +f 181 189 192 +f 189 174 192 +f 176 180 193 +f 179 180 194 +f 183 179 194 +f 171 177 195 +f 177 185 195 +f 185 181 195 +f 182 171 196 +f 192 182 196 +f 181 192 196 +f 171 195 196 +f 195 181 196 +f 180 176 197 +f 176 188 197 +f 185 177 198 +f 173 187 199 +f 188 173 199 +f 194 180 199 +f 180 197 199 +f 197 188 199 +f 175 178 200 +f 184 175 200 +f 178 184 200 +f 190 171 201 +f 171 191 201 +f 193 190 201 +f 175 183 202 +f 187 175 202 +f 183 194 202 +f 199 187 202 +f 194 199 202 +f 193 180 203 +f 174 184 204 +f 184 178 204 +f 178 192 204 +f 192 174 204 +f 186 176 205 +f 191 186 205 +f 176 193 205 +f 201 191 205 +f 193 201 205 +f 186 175 206 +f 176 186 206 +f 187 176 206 +f 175 187 206 +f 177 180 207 +f 180 185 207 +f 198 177 207 +f 185 198 207 +f 180 177 208 +f 177 190 208 +f 190 193 208 +f 203 180 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf new file mode 100644 index 000000000..8164cd964 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.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 diff --git 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285 286 +f 269 274 287 +f 277 269 287 +f 274 277 287 +f 262 268 288 +f 281 266 288 +f 271 281 288 +f 266 279 290 +f 262 288 290 +f 288 266 290 +f 260 261 291 +f 273 260 291 +f 267 273 291 +f 261 275 291 +f 275 267 291 +f 269 277 292 +f 285 269 292 +f 279 285 292 +f 262 290 292 +f 290 279 292 +f 275 266 293 +f 266 281 293 +f 281 275 293 +f 274 259 294 +f 259 283 294 +f 283 268 294 +f 289 274 294 +f 264 271 295 +f 271 272 295 +f 284 264 295 +f 272 284 295 +f 268 262 296 +f 277 274 296 +f 274 289 296 +f 262 292 296 +f 292 277 296 +f 294 268 296 +f 289 294 296 +f 270 263 297 +f 297 280 298 +f 269 265 298 +f 280 269 298 +f 286 270 298 +f 265 286 298 +f 270 297 298 +f 275 261 299 +f 266 275 299 +f 261 282 299 +f 282 266 299 +f 272 271 300 +f 268 278 300 +f 283 272 300 +f 278 283 300 +f 288 268 300 +f 271 288 300 +f 263 274 301 +f 274 269 301 +f 269 280 301 +f 297 263 301 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf new file mode 100644 index 000000000..2c99e3986 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj new file mode 100644 index 000000000..1203a5eb8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj @@ -0,0 +1,435 @@ +o convex_0 +v -3.572412 -1.582582 -0.099274 +v -3.148240 4.568716 0.355255 +v -3.148240 4.568716 0.112776 +v -3.057295 -1.552324 0.112776 +v -3.542157 4.507596 -0.341753 +v -3.663298 3.416520 0.294601 +v -3.087670 -0.976226 -0.281099 +v -3.572412 -1.613444 0.324894 +v -3.663298 -1.552324 -0.311392 +v -3.178555 4.537853 -0.341753 +v -3.057295 -1.552324 0.324894 +v -3.663298 4.477339 0.173362 +v -3.148240 3.507292 -0.341753 +v -3.117985 -1.522067 -0.250806 +v -3.057295 -0.188933 0.294601 +v -3.663298 4.477339 0.294601 +v -3.602727 -0.673049 0.324894 +v -3.117985 3.932103 0.355255 +v -3.360326 1.901237 -0.341753 +v -3.239126 4.568716 0.355255 +v -3.057295 -1.460948 -0.038620 +v -3.148240 2.689136 0.355255 +v -3.663298 -1.552324 -0.250738 +v -3.148240 4.537853 -0.068913 +v -3.602727 -1.613444 0.233948 +v -3.572412 -1.491205 -0.311392 +v -3.602727 0.569313 0.324894 +v -3.663298 -1.400433 -0.311392 +v -3.572412 4.507596 -0.220445 +v -3.087670 -0.369871 -0.281099 +v -3.390641 -1.613444 0.294601 +v -3.148240 3.022571 -0.341753 +f 26 19 32 +f 5 3 10 +f 9 6 12 +f 5 10 13 +f 1 9 14 +f 11 4 15 +f 12 6 16 +f 16 6 17 +f 3 2 18 +f 11 15 18 +f 9 5 19 +f 5 13 19 +f 2 3 20 +f 3 5 20 +f 17 8 20 +f 18 2 20 +f 4 14 21 +f 14 7 21 +f 15 4 21 +f 13 15 21 +f 8 11 22 +f 11 18 22 +f 20 8 22 +f 18 20 22 +f 6 9 23 +f 10 3 24 +f 13 10 24 +f 15 13 24 +f 3 18 24 +f 18 15 24 +f 9 1 25 +f 8 17 25 +f 17 6 25 +f 6 23 25 +f 23 9 25 +f 7 14 26 +f 14 9 26 +f 9 19 26 +f 16 17 27 +f 20 16 27 +f 17 20 27 +f 5 9 28 +f 9 12 28 +f 28 12 29 +f 12 16 29 +f 20 5 29 +f 16 20 29 +f 5 28 29 +f 7 13 30 +f 21 7 30 +f 13 21 30 +f 4 11 31 +f 11 8 31 +f 1 14 31 +f 14 4 31 +f 25 1 31 +f 8 25 31 +f 13 7 32 +f 19 13 32 +f 7 26 32 +o convex_1 +v -1.935689 1.144284 -0.129590 +v -1.784204 1.810988 0.233977 +v -0.814928 1.780576 0.294604 +v -0.481396 1.780576 -0.341753 +v -0.481396 1.204911 0.233977 +v -2.420707 1.719949 -0.250779 +v -2.359961 1.265604 0.324951 +v -0.481396 1.235323 -0.311407 +v -2.238849 1.144284 -0.311407 +v -0.481396 1.750360 0.324951 +v -2.299405 1.810988 0.233977 +v -2.390334 1.174696 -0.281126 +v -0.754372 1.235323 0.294604 +v -0.663443 1.204911 -0.311407 +v -1.481234 1.750360 -0.311407 +v -2.299405 1.810988 0.112788 +v -2.359961 1.356512 0.324951 +v -2.299405 1.235323 0.264323 +v -0.481396 1.538133 -0.341753 +v -2.359961 1.144284 -0.159871 +v -2.390334 1.568544 -0.281126 +v -0.814928 1.750360 -0.341753 +v -1.814577 1.265604 0.324951 +f 45 42 55 +f 34 35 36 +f 36 37 40 +f 36 35 42 +f 37 36 42 +f 35 34 43 +f 42 35 43 +f 39 38 44 +f 37 42 45 +f 37 33 46 +f 40 37 46 +f 33 41 46 +f 34 36 48 +f 43 34 48 +f 38 43 48 +f 36 47 48 +f 47 38 48 +f 38 39 49 +f 39 42 49 +f 42 43 49 +f 43 38 49 +f 33 37 50 +f 37 45 50 +f 45 39 50 +f 36 40 51 +f 40 46 51 +f 46 41 51 +f 41 33 52 +f 39 44 52 +f 44 41 52 +f 33 50 52 +f 50 39 52 +f 44 38 53 +f 41 44 53 +f 38 47 53 +f 53 47 54 +f 47 36 54 +f 36 51 54 +f 51 41 54 +f 41 53 54 +f 42 39 55 +f 39 45 55 +o convex_2 +v 1.700543 1.174589 0.234001 +v 3.730958 1.810988 -0.159877 +v 3.730958 1.810988 -0.190194 +v 3.639931 1.174589 0.112794 +v 1.700543 1.174589 -0.281143 +v 1.700543 1.659425 0.264318 +v 3.609721 1.659425 0.324951 +v 1.700543 1.659425 -0.250827 +v 3.730958 1.235201 -0.250827 +v 3.579114 1.235201 0.264318 +v 1.761161 1.689763 0.234001 +v 1.761161 1.204926 0.264318 +v 2.276715 1.386763 -0.281143 +v 3.700550 1.780650 -0.220510 +v 3.215603 1.538139 0.324951 +v 2.488780 1.174589 -0.281143 +v 1.882596 1.689763 -0.250827 +v 3.518695 1.810988 -0.129620 +v 3.639931 1.689763 0.264318 +v 3.579114 1.174589 0.234001 +v 3.730958 1.235201 -0.159877 +v 3.730958 1.386763 -0.250827 +v 3.700550 1.204926 -0.159877 +f 76 59 78 +f 59 56 60 +f 60 56 61 +f 60 61 63 +f 58 57 64 +f 59 62 65 +f 61 62 66 +f 63 61 66 +f 61 56 67 +f 60 63 68 +f 62 61 70 +f 65 62 70 +f 61 67 70 +f 67 65 70 +f 59 60 71 +f 60 68 71 +f 63 66 72 +f 68 63 72 +f 69 68 72 +f 58 69 72 +f 57 58 73 +f 58 72 73 +f 72 66 73 +f 62 59 74 +f 66 62 74 +f 57 73 74 +f 73 66 74 +f 56 59 75 +f 59 65 75 +f 67 56 75 +f 65 67 75 +f 64 57 76 +f 74 59 76 +f 57 74 76 +f 58 64 77 +f 68 69 77 +f 69 58 77 +f 64 71 77 +f 71 68 77 +f 59 71 78 +f 71 64 78 +f 64 76 78 +o convex_3 +v 1.700543 0.568207 0.173095 +v -0.451091 -3.583250 0.658160 +v -0.420762 -3.552903 0.294569 +v -0.360106 1.113979 -0.977897 +v 1.609558 -3.583250 -1.069054 +v -0.360106 1.113979 1.021751 +v 1.670214 -3.583250 0.991642 +v 1.670214 1.113979 -1.099163 +v -0.299449 -3.522557 -1.008421 +v 1.639886 1.113979 1.021959 +v -0.451091 -3.583250 0.930801 +v 1.639886 -3.461865 -1.069054 +v -0.390434 -0.068144 1.021751 +v -0.329777 -0.522878 -1.008421 +v -0.451091 -2.522511 0.961118 +v 0.336817 -3.552903 -1.038737 +v -0.390434 0.659246 0.991435 +v 1.670214 -1.038304 -1.069054 +v 1.700543 1.113979 0.354994 +v 1.639886 -0.340801 1.021959 +v 1.579229 1.113979 -1.099370 +v 1.397469 -3.583250 0.991642 +v -0.451091 -2.552397 0.627843 +v -0.390434 0.416936 -0.099131 +v -0.329777 -1.552811 -1.008421 +v -0.026703 -3.552903 -1.008421 +v 1.700543 -0.098491 0.445944 +v -0.026703 1.053287 -1.008421 +v 1.064067 -3.583250 -1.038530 +v 1.639886 0.416936 -1.099163 +v 1.670214 -3.583250 0.870376 +v 1.700543 1.113979 0.021720 +v -0.329777 -3.522557 -0.735572 +v -0.360106 0.931902 -0.977897 +v -0.329777 -3.552903 -0.674938 +v 1.548901 -3.583250 -1.069054 +f 94 108 114 +f 80 83 85 +f 82 84 86 +f 86 84 88 +f 80 85 89 +f 88 84 91 +f 80 89 93 +f 84 82 95 +f 91 84 95 +f 93 91 95 +f 90 86 96 +f 86 88 97 +f 85 88 98 +f 88 91 98 +f 82 86 99 +f 89 85 100 +f 93 89 100 +f 91 93 100 +f 85 98 100 +f 98 91 100 +f 80 93 101 +f 93 95 101 +f 101 95 102 +f 95 82 102 +f 82 101 102 +f 82 92 103 +f 94 87 103 +f 92 99 103 +f 99 94 103 +f 87 94 104 +f 88 85 105 +f 96 79 105 +f 79 97 105 +f 97 88 105 +f 92 82 106 +f 82 99 106 +f 99 92 106 +f 83 80 107 +f 104 94 107 +f 90 83 108 +f 86 90 108 +f 99 86 108 +f 94 99 108 +f 85 83 109 +f 83 90 109 +f 90 96 109 +f 105 85 109 +f 96 105 109 +f 79 96 110 +f 96 86 110 +f 97 79 110 +f 86 97 110 +f 80 81 111 +f 81 103 111 +f 103 87 111 +f 81 80 112 +f 80 101 112 +f 101 82 112 +f 103 81 112 +f 82 103 112 +f 87 104 113 +f 107 80 113 +f 104 107 113 +f 80 111 113 +f 111 87 113 +f 83 107 114 +f 107 94 114 +f 108 83 114 +o convex_4 +v 0.912406 2.507812 -1.069042 +v 1.700504 1.356583 0.355113 +v 1.670177 1.871404 0.657970 +v -0.360084 1.144447 1.052026 +v -0.329756 2.538280 1.082568 +v -0.360084 1.114122 -0.977843 +v 1.670177 1.113980 -1.099370 +v 1.609521 2.507812 1.021911 +v -0.360084 2.477629 -0.977843 +v 1.700504 2.568463 -1.099370 +v 1.639849 1.113980 1.021911 +v -0.481396 1.750530 0.324784 +v -0.481396 1.235281 -0.311258 +v -0.360084 1.114122 1.021698 +v 1.700504 1.386909 -1.099370 +v -0.481396 1.780713 -0.341587 +v 1.185144 2.507812 1.052240 +v 1.670177 2.538137 0.051829 +v -0.481396 1.205098 0.233799 +v -0.360084 2.507812 -0.068844 +v 1.700504 1.113980 0.355113 +v 0.003637 1.114122 -1.008385 +v 1.579193 2.568463 -1.099370 +v -0.117674 2.477629 -1.008385 +v -0.147789 2.538280 1.082568 +v 1.548865 1.144447 -1.099370 +v -0.360084 2.235168 1.052026 +v 1.700504 2.568463 -0.917400 +v 1.639849 2.538137 0.233799 +v 1.639849 2.295676 0.961254 +v -0.360084 2.507812 0.567198 +v 1.700504 1.659553 0.264128 +v -0.329756 2.538280 0.870269 +v 1.427767 2.265351 -1.099370 +v 0.094407 2.538280 1.052026 +v -0.299428 2.356327 1.082568 +f 125 139 150 +f 116 117 125 +f 120 121 125 +f 125 118 128 +f 120 125 128 +f 124 116 129 +f 121 124 129 +f 123 120 130 +f 127 126 130 +f 120 127 130 +f 125 122 131 +f 118 126 133 +f 126 127 133 +f 127 120 133 +f 120 128 133 +f 128 118 133 +f 123 130 134 +f 116 125 135 +f 125 121 135 +f 129 116 135 +f 121 129 135 +f 121 120 136 +f 124 121 137 +f 123 134 137 +f 120 123 138 +f 136 120 138 +f 137 115 138 +f 123 137 138 +f 131 122 139 +f 125 131 139 +f 121 136 140 +f 137 121 140 +f 118 119 141 +f 126 118 141 +f 119 126 141 +f 116 124 142 +f 124 137 142 +f 137 119 142 +f 119 139 142 +f 122 132 143 +f 132 142 143 +f 125 117 144 +f 122 125 144 +f 132 122 144 +f 126 119 145 +f 130 126 145 +f 119 134 145 +f 134 130 145 +f 117 116 146 +f 116 142 146 +f 142 132 146 +f 144 117 146 +f 132 144 146 +f 134 119 147 +f 119 137 147 +f 137 134 147 +f 115 137 148 +f 138 115 148 +f 136 138 148 +f 140 136 148 +f 137 140 148 +f 139 122 149 +f 142 139 149 +f 143 142 149 +f 122 143 149 +f 119 118 150 +f 118 125 150 +f 139 119 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf new file mode 100644 index 000000000..a423c64ae --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj new file mode 100644 index 000000000..0fe774dbd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj @@ -0,0 +1,4500 @@ +o convex_0 +v -1.885267 1.315751 0.042016 +v -1.909335 0.642498 -0.559161 +v -1.909335 0.666553 -0.559161 +v -2.101712 0.642498 0.042016 +v -1.885267 0.642498 0.523064 +v -2.101712 0.714661 -0.029913 +v -1.885267 0.642498 -0.559161 +v -1.909335 1.315751 0.042016 +v -1.909335 0.666553 0.523064 +v -1.909335 1.243588 -0.078007 +f 6 8 10 +f 4 2 5 +f 3 2 6 +f 2 4 6 +f 2 3 7 +f 1 5 7 +f 5 2 7 +f 6 4 8 +f 5 1 9 +f 4 5 9 +f 1 8 9 +f 8 4 9 +f 3 6 10 +f 1 7 10 +f 7 3 10 +f 8 1 10 +o convex_1 +v 1.385475 2.277578 -0.222422 +v 1.409529 1.796829 0.234471 +v 1.385475 1.796829 0.234471 +v 1.433555 0.955212 -0.246452 +v 1.505704 1.580554 -0.270535 +v 1.505704 0.955212 0.042019 +v 1.457581 2.349806 -0.006043 +v 1.361407 1.291777 0.210388 +v 1.361407 1.291777 -0.246504 +v 1.361407 2.349806 0.138245 +v 1.481635 2.037135 -0.294617 +v 1.505704 1.051334 -0.270535 +v 1.433555 0.955212 0.138245 +v 1.361407 2.277578 -0.222422 +f 21 19 24 +f 12 16 17 +f 16 15 17 +f 12 13 18 +f 14 18 19 +f 19 18 20 +f 13 12 20 +f 12 17 20 +f 18 13 20 +f 11 17 21 +f 17 15 21 +f 19 21 22 +f 15 16 22 +f 16 14 22 +f 14 19 22 +f 21 15 22 +f 16 12 23 +f 14 16 23 +f 12 18 23 +f 18 14 23 +f 17 11 24 +f 19 20 24 +f 20 17 24 +f 11 21 24 +o convex_2 +v 1.265247 -3.253426 -0.078076 +v 1.457539 -2.075154 0.306619 +v 1.409487 -2.075154 0.306619 +v 1.217110 -2.075154 -0.246518 +v 1.217110 -2.556237 0.306619 +v 1.457539 -2.123319 -0.054036 +v 1.385419 -3.349756 0.114136 +v 1.265247 -3.277438 0.258485 +v 1.385391 -2.219507 -0.174290 +v 1.505704 -2.075154 0.066110 +v 1.265247 -3.518121 0.066110 +v 1.217110 -2.532225 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a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj new file mode 100644 index 000000000..b80b58ab2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj @@ -0,0 +1,900 @@ +o convex_0 +v 0.014147 -1.223652 -1.005917 +v 0.040788 -1.545258 1.051942 +v -0.012495 -1.545258 1.051942 +v 0.014147 -4.831582 0.009920 +v 1.029707 -0.716554 0.036308 +v -0.814326 1.180790 0.036308 +v -0.760844 -4.028835 0.009718 +v 0.548568 1.635975 0.062897 +v 0.762297 -4.082647 0.036308 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj new file mode 100644 index 000000000..cb2f1e8e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj @@ -0,0 +1,1002 @@ +o convex_0 +v -1.901029 -1.788089 1.759937 +v -0.742477 -1.729152 1.092257 +v -0.742477 -1.709516 1.092257 +v -5.454997 -1.513186 1.131548 +v 0.612155 -1.493521 1.700933 +v -5.454997 -1.788089 1.720579 +v -5.435269 -1.493550 1.720579 +v 0.514115 -1.493521 1.131548 +v 0.514115 -1.768424 1.779583 +v -5.199733 -1.748788 1.151261 +v 0.533842 -1.748788 1.151194 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b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf new file mode 100644 index 000000000..796dc02f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj new file mode 100644 index 000000000..fde3ff0e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj @@ -0,0 +1,744 @@ +o convex_0 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171 +f 169 167 173 +f 165 170 174 +f 170 171 175 +f 169 173 176 +f 167 169 177 +f 171 165 178 +f 177 169 179 +f 173 167 181 +f 182 168 183 +f 172 180 184 +f 182 183 185 +f 175 171 186 +f 180 172 187 +f 171 178 188 +f 168 182 189 +f 188 178 189 +f 182 188 189 +f 177 179 190 +f 176 173 191 +f 184 180 192 +f 186 171 193 +f 187 172 194 +f 167 177 195 +f 173 181 197 +f 181 185 197 +f 185 183 197 +f 178 165 198 +f 183 168 199 +f 168 189 200 +f 189 178 200 +f 199 168 200 +f 176 199 200 +f 182 185 201 +f 188 182 201 +f 185 181 202 +f 174 170 203 +f 170 192 203 +f 192 180 203 +f 166 167 204 +f 175 186 204 +f 193 166 204 +f 186 193 204 +f 167 195 204 +f 179 169 205 +f 174 196 205 +f 196 179 205 +f 172 184 206 +f 184 177 206 +f 190 172 206 +f 177 190 206 +f 167 166 207 +f 181 167 207 +f 166 193 207 +f 193 171 207 +f 202 181 207 +f 171 202 207 +f 169 176 208 +f 176 200 208 +f 200 178 208 +f 172 190 209 +f 190 179 209 +f 194 172 209 +f 187 194 209 +f 179 196 209 +f 196 187 209 +f 180 187 210 +f 196 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+v 1.244250 0.945943 -0.297051 +v 1.926678 0.679054 -0.207978 +v 2.668356 1.153669 0.088572 +v 1.273875 0.382278 0.266591 +v 2.786858 0.886692 0.177581 +v 2.519881 1.094244 -0.118968 +v 1.600276 1.153669 0.266591 +v 1.214450 1.272431 0.118284 +v 2.757058 0.886692 -0.148681 +v 1.244250 0.708766 0.355728 +v 2.994758 0.945943 -0.029959 +v 2.519881 1.094244 0.177581 +v 1.214450 0.411990 -0.029959 +v 1.363100 1.213007 -0.207978 +v 2.668356 1.005368 -0.148681 +v 1.303501 1.034993 -0.297051 +v 2.549507 0.738392 -0.148681 +v 2.757058 1.153669 0.058923 +v 2.638382 0.768017 0.147933 +v 1.273875 0.560465 -0.207978 +f 226 246 253 +f 219 223 224 +f 224 223 225 +f 221 220 228 +f 226 222 232 +f 230 226 232 +f 224 225 233 +f 221 228 233 +f 219 224 234 +f 234 229 235 +f 230 232 237 +f 222 227 238 +f 227 231 238 +f 232 222 238 +f 223 237 238 +f 225 231 240 +f 231 227 240 +f 240 236 241 +f 220 221 241 +f 221 233 241 +f 233 225 241 +f 236 220 241 +f 225 240 241 +f 225 223 243 +f 231 225 243 +f 223 238 243 +f 238 231 243 +f 222 226 244 +f 226 242 244 +f 240 227 245 +f 236 240 245 +f 223 219 246 +f 226 230 246 +f 237 223 246 +f 230 237 246 +f 224 233 247 +f 233 228 247 +f 228 239 247 +f 247 239 248 +f 239 228 248 +f 242 229 248 +f 228 244 248 +f 244 242 248 +f 224 247 248 +f 234 224 249 +f 229 234 249 +f 224 248 249 +f 248 229 249 +f 235 229 250 +f 226 235 250 +f 242 226 250 +f 229 242 250 +f 227 222 251 +f 228 220 251 +f 220 236 251 +f 222 244 251 +f 244 228 251 +f 245 227 251 +f 236 245 251 +f 237 232 252 +f 232 238 252 +f 238 237 252 +f 219 234 253 +f 234 235 253 +f 235 226 253 +f 246 219 253 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf new file mode 100644 index 000000000..dba694c6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj new file mode 100644 index 000000000..9c4ff10a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj @@ -0,0 +1,303 @@ +o convex_0 +v 1.052765 -1.971483 -0.148849 +v -0.787793 -3.534568 1.066439 +v -0.926910 -3.395429 1.066225 +v -0.996257 -3.777576 -1.017372 +v -1.065816 0.146608 -0.808969 +v 1.052765 0.146608 0.962131 +v 1.052765 0.146608 -1.121680 +v 0.948427 -3.707813 0.996829 +v 1.017986 -3.707813 -1.086768 +v -1.100595 0.146608 0.927219 +v -0.961689 -3.812458 1.066225 +v -1.031036 0.146608 -0.947761 +v 0.913648 -3.742695 -1.086768 +v 1.017986 -0.582806 0.996829 +v -1.100595 -0.339797 0.614722 +v -0.996257 -3.812458 -0.357252 +v -0.614318 -3.812458 1.066439 +v -0.162821 0.146608 0.961917 +v -0.996257 -3.291171 1.031527 +v 1.017986 -3.707813 -0.530956 +v 1.052765 -0.374291 0.962131 +v 0.670615 -3.707813 -1.086768 +v 1.052765 -1.694367 -1.086768 +v 0.323245 -0.999447 -1.086768 +v -1.031036 -2.839260 -0.565654 +v 0.392592 -3.742695 1.031527 +v 0.635836 -3.742695 0.962131 +v -1.065816 -0.478936 0.962131 +v -0.926910 -3.812458 -0.635265 +v -1.031036 -1.763743 -0.982459 +v 0.983207 -2.700509 0.996829 +v -0.197600 -3.777576 -1.052070 +v -0.544760 -3.812458 0.580024 +v 0.948427 -3.742695 -0.878365 +v -1.100595 -0.235540 0.927219 +v 0.566489 0.146608 -1.086768 +v -0.996257 -3.499686 -1.017372 +v -0.371075 -2.700897 -1.052070 +v 1.017986 0.077232 -1.121680 +v -1.031036 -2.006364 -0.982459 +v -1.100595 0.076845 0.406319 +v 0.983207 -3.568674 0.406319 +v -0.579539 -3.742695 1.066439 +f 17 26 43 +f 6 1 7 +f 5 6 7 +f 6 5 10 +f 2 3 11 +f 5 7 12 +f 3 2 14 +f 2 11 17 +f 11 16 17 +f 6 10 18 +f 3 14 18 +f 14 6 18 +f 16 11 19 +f 9 1 20 +f 1 6 21 +f 6 14 21 +f 7 1 23 +f 1 9 23 +f 9 7 23 +f 4 16 25 +f 26 17 27 +f 8 26 27 +f 11 3 28 +f 3 18 28 +f 18 10 28 +f 16 4 29 +f 17 16 29 +f 5 12 30 +f 21 14 31 +f 26 8 31 +f 14 26 31 +f 22 13 32 +f 29 4 32 +f 13 29 32 +f 29 13 33 +f 17 29 33 +f 13 9 34 +f 20 8 34 +f 9 20 34 +f 27 17 34 +f 8 27 34 +f 17 33 34 +f 33 13 34 +f 10 15 35 +f 19 11 35 +f 16 19 35 +f 15 25 35 +f 25 16 35 +f 11 28 35 +f 28 10 35 +f 12 7 36 +f 24 12 36 +f 12 24 37 +f 30 12 37 +f 4 30 37 +f 22 32 38 +f 32 4 38 +f 4 37 38 +f 37 24 38 +f 7 9 39 +f 9 13 39 +f 13 22 39 +f 36 7 39 +f 24 36 39 +f 22 38 39 +f 38 24 39 +f 4 25 40 +f 25 15 40 +f 5 30 40 +f 30 4 40 +f 10 5 41 +f 15 10 41 +f 5 40 41 +f 40 15 41 +f 20 1 42 +f 8 20 42 +f 1 21 42 +f 31 8 42 +f 21 31 42 +f 14 2 43 +f 2 17 43 +f 26 14 43 +o convex_1 +v -0.961603 2.369847 1.274131 +v 1.017887 0.147427 -1.121089 +v 1.052585 0.147427 -1.121089 +v 0.427381 2.334819 -3.031576 +v 0.983189 2.265416 3.115025 +v -1.065696 0.182020 3.115630 +v -0.961603 0.355636 -2.997082 +v 0.983189 0.286016 3.045432 +v -0.926905 2.265416 -2.961377 +v 1.052585 0.494442 -3.066675 +v -1.100608 2.334819 2.941344 +v 0.948492 2.334819 -3.030971 +v 1.087283 2.334819 1.413318 +v -1.065696 0.147427 -0.842715 +v 1.052585 0.147427 0.961264 +v 1.052585 0.320826 -2.961983 +v -1.100608 0.147427 0.926770 +v 1.087283 2.300226 0.371839 +v 1.087497 1.085129 0.961264 +v -1.100608 2.334819 2.420302 +v 1.017887 0.286016 2.906850 +v -0.961603 2.334819 -1.398857 +v -1.100608 1.848563 3.010333 +v 0.635997 0.251423 3.079926 +v -1.065696 0.390447 -0.912914 +v 0.983189 1.918183 -3.066675 +v -0.787900 0.321044 -2.822796 +v 0.323288 2.300009 3.080531 +v -0.510103 2.369847 0.996363 +v 0.601085 0.355419 -3.066675 +v -1.030999 2.369847 0.579408 +v -0.753202 0.182020 3.115025 +v -0.961603 1.327714 -2.961377 +v -1.065696 0.459850 3.115630 +v -1.100608 0.321044 0.336740 +v 1.087497 1.154315 -0.183697 +v -0.926905 2.334819 2.975839 +v -0.961603 2.300009 -1.954393 +v 0.983189 1.848563 3.115025 +v -1.100608 0.216830 1.621492 +v -0.996301 0.147427 -0.947408 +v -0.996301 0.355636 -2.545633 +v -0.544801 2.300009 -2.961983 +v 0.913794 2.300009 2.767664 +v 0.983189 0.459850 3.079926 +v 0.288590 2.230606 -3.031576 +v -0.405795 0.216830 3.115025 +v 0.983189 1.987586 -3.030971 +v 1.017887 2.334819 1.586393 +v 1.052585 0.251423 1.586393 +v -1.100608 1.570733 3.010333 +v 0.913794 1.918183 -3.066675 +v 0.809486 2.265416 3.115025 +v -1.065696 2.334819 2.976444 +v -0.510103 0.321044 -2.857895 +v 0.983189 2.300009 -2.440335 +v 1.087283 2.334819 0.545520 +v -0.926905 2.300009 -2.510534 +v 1.052585 0.355419 -3.066675 +v -0.961603 0.425257 -2.997082 +f 89 95 103 +f 45 46 57 +f 57 46 58 +f 46 45 59 +f 58 49 60 +f 57 58 60 +f 58 46 62 +f 60 54 63 +f 56 48 64 +f 51 58 64 +f 62 56 64 +f 54 60 66 +f 58 51 67 +f 47 55 69 +f 59 50 73 +f 69 53 73 +f 54 44 74 +f 55 47 74 +f 63 54 74 +f 47 65 74 +f 44 72 74 +f 72 55 74 +f 49 58 75 +f 58 67 75 +f 49 48 77 +f 66 49 77 +f 71 66 77 +f 57 60 78 +f 60 63 78 +f 68 57 78 +f 63 68 78 +f 46 59 79 +f 53 61 79 +f 56 62 79 +f 62 46 79 +f 72 44 80 +f 68 63 81 +f 63 74 81 +f 74 65 81 +f 52 76 81 +f 76 68 81 +f 48 49 82 +f 64 48 82 +f 60 49 83 +f 66 60 83 +f 45 57 84 +f 57 50 84 +f 50 70 84 +f 50 57 85 +f 57 68 85 +f 68 76 85 +f 47 52 86 +f 65 47 86 +f 48 56 87 +f 71 48 87 +f 80 71 87 +f 51 64 88 +f 67 51 88 +f 64 82 88 +f 52 47 89 +f 49 75 90 +f 75 67 90 +f 82 49 90 +f 67 88 90 +f 88 82 90 +f 61 53 91 +f 53 69 91 +f 69 55 91 +f 56 72 92 +f 72 80 92 +f 87 56 92 +f 80 87 92 +f 58 62 93 +f 64 58 93 +f 62 64 93 +f 49 66 94 +f 83 49 94 +f 66 83 94 +f 47 69 95 +f 69 73 95 +f 89 47 95 +f 48 71 96 +f 77 48 96 +f 71 77 96 +f 44 54 97 +f 54 66 97 +f 66 71 97 +f 80 44 97 +f 71 80 97 +f 59 45 98 +f 50 59 98 +f 70 50 98 +f 45 84 98 +f 84 70 98 +f 61 91 99 +f 91 55 99 +f 55 72 100 +f 72 56 100 +f 79 61 100 +f 56 79 100 +f 99 55 100 +f 61 99 100 +f 52 81 101 +f 81 65 101 +f 86 52 101 +f 65 86 101 +f 59 73 102 +f 73 53 102 +f 79 59 102 +f 53 79 102 +f 73 50 103 +f 76 52 103 +f 50 85 103 +f 85 76 103 +f 52 89 103 +f 95 73 103 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf new file mode 100644 index 000000000..300b70763 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj new file mode 100644 index 000000000..3ba78b5ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj @@ -0,0 +1,372 @@ +o convex_0 +v -0.574252 -0.494341 -3.731143 +v 0.600381 0.616837 -4.461249 +v 0.600381 0.584984 -4.461249 +v 0.473304 -0.494341 -2.620086 +v -0.447293 0.426294 -2.620086 +v 0.473304 -0.557932 -4.588618 +v -0.542601 0.553131 -4.525030 +v 0.473304 0.489770 -2.620086 +v -0.479062 -0.462603 -2.620086 +v -0.606139 -0.494341 -4.556824 +v 0.377997 0.616837 -4.525030 +v 0.473304 -0.526079 -2.778863 +v -0.320216 0.457917 -2.620086 +v -0.510713 0.521508 -4.556824 +v -0.415524 -0.494341 -2.715661 +v -0.479062 0.299111 -2.747455 +v -0.606139 -0.335651 -4.302857 +v 0.505074 -0.303797 -4.588618 +v 0.346346 -0.557932 -4.461249 +v -0.510713 -0.399127 -2.747455 +v -0.066299 -0.494341 -4.588618 +v 0.473304 0.616837 -4.366253 +v 0.600381 0.616837 -4.525030 +v -0.510713 0.521508 -3.858126 +v -0.225027 -0.526079 -4.461249 +v -0.479062 0.457917 -2.969435 +v 0.314459 0.489655 -2.620086 +f 22 13 27 +f 3 2 4 +f 4 2 8 +f 5 4 8 +f 4 5 9 +f 3 4 12 +f 5 8 13 +f 10 7 14 +f 7 11 14 +f 9 1 15 +f 4 9 15 +f 12 4 15 +f 10 1 17 +f 7 10 17 +f 3 12 18 +f 12 6 18 +f 6 12 19 +f 12 15 19 +f 1 9 20 +f 9 5 20 +f 5 16 20 +f 17 1 20 +f 16 17 20 +f 6 10 21 +f 10 14 21 +f 18 6 21 +f 14 18 21 +f 8 2 22 +f 2 11 22 +f 11 7 22 +f 2 3 23 +f 11 2 23 +f 14 11 23 +f 3 18 23 +f 18 14 23 +f 22 7 24 +f 13 22 24 +f 1 10 25 +f 10 6 25 +f 15 1 25 +f 6 19 25 +f 19 15 25 +f 5 13 26 +f 16 5 26 +f 7 17 26 +f 17 16 26 +f 13 24 26 +f 24 7 26 +f 13 8 27 +f 8 22 27 +o convex_1 +v 0.314446 0.585087 -0.746935 +v -0.447324 -0.557932 -1.096092 +v -0.415518 -0.557932 -1.096092 +v 0.441566 0.489761 -2.620086 +v 0.536880 -0.526157 -0.651553 +v -0.542638 0.521536 -0.651553 +v 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+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj new file mode 100644 index 000000000..c0631245c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj @@ -0,0 +1,1080 @@ +o convex_0 +v 0.922204 2.969931 -0.033102 +v -1.220277 -0.829116 -0.290305 +v -1.220277 -0.829116 -0.033295 +v 1.236518 -0.829116 0.052375 +v -0.077492 2.741747 0.909266 +v -0.877345 2.769934 -0.747211 +v 0.836351 -0.828669 -0.861630 +v -0.048874 -0.829116 0.937823 +v -0.591649 3.541734 0.594950 +v 0.579272 3.484465 -0.633177 +v 0.893586 2.655395 0.737926 +v -0.791732 -0.829116 0.823596 +v -0.106110 0.428135 -1.004606 +v 0.807974 -0.657307 0.823596 +v -0.763115 -0.771846 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90 91 97 +f 88 93 97 +f 90 97 98 +f 95 92 99 +f 89 90 100 +f 90 98 100 +f 89 100 102 +f 97 91 103 +f 92 94 104 +f 93 95 105 +f 97 93 105 +f 99 92 106 +f 92 104 106 +f 104 101 106 +f 95 99 107 +f 99 102 107 +f 102 100 107 +f 91 96 108 +f 101 91 108 +f 93 88 109 +f 94 93 109 +f 96 89 110 +f 89 102 110 +f 102 99 110 +f 108 96 110 +f 88 97 111 +f 97 103 111 +f 94 91 112 +f 91 101 112 +f 104 94 112 +f 101 104 112 +f 109 88 113 +f 94 109 113 +f 88 111 113 +f 113 111 114 +f 91 94 114 +f 103 91 114 +f 111 103 114 +f 94 113 114 +f 98 97 115 +f 97 105 115 +f 105 98 115 +f 99 106 116 +f 106 101 116 +f 101 108 116 +f 110 99 116 +f 108 110 116 +f 100 98 117 +f 105 95 117 +f 98 105 117 +f 95 107 117 +o convex_4 +v -1.158923 1.577021 -0.545314 +v 1.140462 2.406013 0.586037 +v 1.140462 2.028743 0.586037 +v -1.121110 1.802556 2.997548 +v 0.914260 0.709933 3.110965 +v 1.064836 2.896049 2.997548 +v -1.045710 2.782629 -0.997774 +v 0.989661 0.672054 -0.959968 +v -1.008122 0.672054 -0.997774 +v 1.027249 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126 +f 126 124 127 +f 123 127 130 +f 126 125 131 +f 126 131 132 +f 129 126 132 +f 119 120 133 +f 124 118 134 +f 128 124 134 +f 120 119 135 +f 119 123 135 +f 125 126 136 +f 126 127 136 +f 134 118 137 +f 133 120 138 +f 131 133 138 +f 120 135 138 +f 127 124 139 +f 130 127 139 +f 128 121 140 +f 119 133 141 +f 122 131 142 +f 131 138 142 +f 138 135 142 +f 123 130 143 +f 118 126 144 +f 126 129 144 +f 137 118 144 +f 129 137 144 +f 123 119 145 +f 127 123 145 +f 119 141 145 +f 141 127 145 +f 129 132 146 +f 140 122 147 +f 122 142 147 +f 142 135 147 +f 123 143 148 +f 135 123 149 +f 128 140 149 +f 140 147 149 +f 147 135 149 +f 123 148 149 +f 148 128 149 +f 136 127 150 +f 127 141 150 +f 141 133 150 +f 121 128 151 +f 129 121 151 +f 128 134 151 +f 137 129 151 +f 134 137 151 +f 121 129 152 +f 140 121 152 +f 129 146 152 +f 131 125 153 +f 133 131 153 +f 124 128 154 +f 139 124 154 +f 130 139 154 +f 131 122 155 +f 132 131 155 +f 122 140 155 +f 146 132 155 +f 140 152 155 +f 152 146 155 +f 133 136 156 +f 136 150 156 +f 150 133 156 +f 143 130 157 +f 128 148 157 +f 148 143 157 +f 154 128 157 +f 130 154 157 +f 125 136 158 +f 136 133 158 +f 153 125 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf new file mode 100644 index 000000000..e00cf3e8b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj new file mode 100644 index 000000000..f7e0cf9fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj @@ -0,0 +1,618 @@ +o convex_0 +v 1.011351 -2.793144 -1.073222 +v -1.070449 -3.020248 0.975812 +v -1.070449 -3.020248 1.008514 +v -1.070449 -1.491968 0.975812 +v 1.076296 -3.833923 1.041009 +v -1.038082 -4.094050 -1.040727 +v 1.043928 -1.491697 -1.073222 +v 0.946196 -1.491697 1.041009 +v -0.972927 -1.491968 -0.943242 +v 0.946196 -4.257001 -1.008025 +v -1.005504 -4.159014 1.008514 +v 1.076296 -4.224249 1.041009 +v -0.582419 -4.191767 1.041009 +v -0.614996 -3.671242 -1.073222 +v 0.588476 -4.257001 -0.715365 +v 1.043928 -2.467782 -1.073222 +v 0.978774 -1.491697 0.845626 +v 1.011351 -4.257001 -0.292312 +v -1.038082 -4.126532 -0.650375 +v -0.745306 -4.191767 0.650658 +v -0.452529 -1.491697 1.008307 +v -1.038082 -3.768688 -1.040727 +v 0.393221 -4.191767 -1.040520 +v 1.076296 -4.224249 0.715647 +v 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+f 110 122 137 +f 128 110 137 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf new file mode 100644 index 000000000..07362cf43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj new file mode 100644 index 000000000..74b750e17 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj @@ -0,0 +1,486 @@ +o convex_0 +v 2.994893 -0.600781 -1.540592 +v -3.104535 -2.620257 -1.705732 +v -3.104535 -2.620257 -1.046041 +v 3.036319 -2.661611 0.107766 +v -3.063109 -0.600781 0.519964 +v -3.021682 -0.600781 -1.623162 +v 2.994893 -0.600781 0.355041 +v 3.077746 -2.537953 -1.623162 +v -2.980865 -2.620257 0.355041 +v 3.036319 -2.661611 0.355041 +v -1.373155 -0.889450 -1.664338 +v -1.538252 -2.620257 0.437176 +v 3.119172 -0.600781 -1.210964 +v 1.593706 -2.620257 -1.581986 +v 3.119172 -2.001968 -1.623162 +v 0.975356 -2.661611 -0.798765 +v -3.104535 -2.084272 -1.705732 +v -3.063109 -2.578904 0.355041 +v 0.357615 -2.661611 0.355041 +v -0.383795 -2.620257 0.437176 +v -2.486185 -2.001968 -1.705732 +v -3.063109 -1.013108 -1.664338 +v 3.119172 -2.537953 -1.293316 +v -0.301552 -0.600781 -1.622944 +v -2.939439 -0.642135 0.519964 +v 3.119172 -0.642135 -1.540810 +v -3.063109 -0.600781 -0.469355 +v 2.129812 -2.661611 -0.592884 +v 3.036319 -2.290637 0.355041 +v -3.063109 -0.683287 0.519964 +v 3.119172 -1.260424 -1.581986 +v 3.077746 -2.620257 -0.387003 +f 29 10 32 +f 5 1 6 +f 1 5 7 +f 1 7 13 +f 2 8 14 +f 4 10 16 +f 2 14 16 +f 2 3 17 +f 3 5 17 +f 3 9 18 +f 9 12 18 +f 3 2 19 +f 9 3 19 +f 12 9 19 +f 10 12 19 +f 2 16 19 +f 16 10 19 +f 12 10 20 +f 8 2 21 +f 15 8 21 +f 11 15 21 +f 2 17 21 +f 21 17 22 +f 6 11 22 +f 11 21 22 +f 8 15 23 +f 15 13 23 +f 6 1 24 +f 11 6 24 +f 7 5 25 +f 20 10 25 +f 1 13 26 +f 13 15 26 +f 24 1 26 +f 5 6 27 +f 17 5 27 +f 22 17 27 +f 6 22 27 +f 8 4 28 +f 14 8 28 +f 4 16 28 +f 16 14 28 +f 13 7 29 +f 7 25 29 +f 25 10 29 +f 5 3 30 +f 3 18 30 +f 18 12 30 +f 12 20 30 +f 25 5 30 +f 20 25 30 +f 15 11 31 +f 11 24 31 +f 26 15 31 +f 24 26 31 +f 4 8 32 +f 10 4 32 +f 8 23 32 +f 23 13 32 +f 13 29 32 +o convex_1 +v 1.099559 3.520880 -0.098430 +v -1.084922 2.572769 -1.664516 +v -1.084922 3.397056 -1.664516 +v -1.084922 1.583889 0.478695 +v 0.975751 1.583699 -1.581978 +v 1.099559 1.583699 0.519964 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-0.600781 -1.540592 +v -1.084397 -0.435947 -1.623299 +v 3.077831 -0.559552 -0.922101 +v -3.021841 -0.518356 -1.623299 +v -0.260247 -0.600781 -1.623299 +v 2.994875 -0.600781 0.355630 +v 1.140387 -0.435947 2.498361 +v 2.459267 -0.559552 -1.499036 +v -3.063319 -0.600781 0.519432 +v 0.563302 -0.435947 -1.623299 +v 3.077831 -0.559552 2.456806 +f 95 102 107 +f 86 85 84 +f 88 87 90 +f 86 84 91 +f 87 86 93 +f 88 90 94 +f 91 84 95 +f 89 93 95 +f 93 91 95 +f 86 87 96 +f 87 88 96 +f 84 85 97 +f 96 88 98 +f 92 96 98 +f 90 84 99 +f 88 94 99 +f 94 90 99 +f 85 86 100 +f 86 96 100 +f 96 92 100 +f 98 85 100 +f 92 98 100 +f 97 85 101 +f 85 98 101 +f 95 84 102 +f 90 87 103 +f 89 90 103 +f 87 93 103 +f 93 89 103 +f 84 97 104 +f 97 88 104 +f 99 84 104 +f 88 99 104 +f 86 91 105 +f 93 86 105 +f 91 93 105 +f 88 97 106 +f 98 88 106 +f 97 101 106 +f 101 98 106 +f 84 90 107 +f 90 89 107 +f 89 95 107 +f 102 84 107 +o convex_4 +v -0.013209 -0.394597 -1.664516 +v 1.099559 1.583699 0.313881 +v 1.099559 1.212633 0.313881 +v -1.084922 1.583699 0.313881 +v 0.934482 1.583699 -1.623073 +v 0.934482 -0.435915 0.313881 +v -1.084922 -0.435915 0.313881 +v -1.043439 1.583699 -1.664516 +v 0.934482 -0.435915 -1.582018 +v -0.961114 -0.435915 -1.623073 +v 0.687296 -0.106166 -1.664516 +v 0.975751 1.294872 -1.540769 +v 0.975751 -0.229723 -1.293276 +v 0.522433 1.006639 -1.664516 +v -1.084922 1.542382 -0.345714 +v -0.590121 -0.435915 -1.664516 +v 0.975751 -0.188603 0.313881 +v 1.099559 1.294872 0.148692 +v -1.084922 -0.394597 0.190135 +v 0.975751 1.583699 -1.540769 +v -1.002383 0.388458 -1.623073 +v 0.687296 -0.312160 -1.664516 +f 118 112 129 +f 110 109 111 +f 111 109 112 +f 110 111 113 +f 113 111 114 +f 111 112 115 +f 113 114 116 +f 116 114 117 +f 108 115 118 +f 116 112 119 +f 116 119 120 +f 113 116 120 +f 115 112 121 +f 118 115 121 +f 112 118 121 +f 114 111 122 +f 111 115 122 +f 115 108 123 +f 108 116 123 +f 116 117 123 +f 117 115 123 +f 110 113 124 +f 120 110 124 +f 113 120 124 +f 109 110 125 +f 120 119 125 +f 110 120 125 +f 117 114 126 +f 114 122 126 +f 122 115 126 +f 112 109 127 +f 119 112 127 +f 109 125 127 +f 125 119 127 +f 115 117 128 +f 117 126 128 +f 126 115 128 +f 116 108 129 +f 112 116 129 +f 108 118 129 +o convex_5 +v 3.077944 -0.270842 1.879967 +v -1.084457 -0.435915 0.313881 +v -2.774714 -0.435915 0.437688 +v -1.084457 1.583699 0.313881 +v -2.939322 1.377310 2.374554 +v 2.912731 1.459944 0.437688 +v 3.077944 1.542382 2.374554 +v -3.062778 -0.435915 2.457092 +v 2.953883 -0.435915 0.355150 +v -3.104535 1.418627 0.355150 +v 2.706971 -0.435915 2.498361 +v 1.099018 1.583699 0.313881 +v -0.961001 0.141146 2.498361 +v -3.062778 -0.435915 0.478957 +v 3.077944 -0.435915 2.457092 +v 0.852106 1.006639 2.457092 +v 1.923873 1.542382 2.374554 +v -2.857018 1.294872 2.415609 +v 2.459454 -0.394597 0.313881 +v 2.953883 0.882884 0.396419 +v -2.238528 1.418627 2.374554 +v -3.104535 0.347338 1.550242 +v 2.665214 1.418627 2.415823 +v -1.084457 1.583699 0.478957 +v 3.036187 1.542382 1.715105 +v 2.995035 -0.435915 0.437688 +v -3.104535 1.418627 0.643820 +v -1.414278 -0.312160 2.498361 +v -3.104535 0.553332 0.396633 +v 3.077944 1.336190 2.086098 +v 0.686893 0.223583 2.498361 +v 1.305383 1.583699 0.726144 +v 3.077944 0.388656 2.457092 +v 2.953883 0.182464 0.355150 +v -2.980474 1.006639 2.374554 +v 2.953883 1.418627 0.520013 +v -3.062778 -0.270842 2.457092 +v 2.830427 1.501064 0.726144 +v -2.609501 1.418627 2.044616 +f 153 156 168 +f 132 131 137 +f 137 131 138 +f 133 131 139 +f 137 138 140 +f 131 133 141 +f 132 137 143 +f 130 136 144 +f 140 138 144 +f 142 145 147 +f 138 131 148 +f 131 141 148 +f 141 135 149 +f 134 147 150 +f 147 146 150 +f 143 137 151 +f 136 146 152 +f 147 145 152 +f 146 147 152 +f 133 139 153 +f 141 133 153 +f 150 146 153 +f 130 144 155 +f 144 138 155 +f 139 151 156 +f 153 139 156 +f 137 140 157 +f 140 142 157 +f 131 132 158 +f 139 131 158 +f 132 143 158 +f 151 139 158 +f 143 151 158 +f 136 130 159 +f 154 136 159 +f 130 155 159 +f 142 140 160 +f 145 142 160 +f 152 145 160 +f 146 136 161 +f 141 153 161 +f 153 146 161 +f 136 154 161 +f 154 141 161 +f 144 136 162 +f 140 144 162 +f 136 152 162 +f 160 140 162 +f 152 160 162 +f 138 148 163 +f 148 141 163 +f 141 149 163 +f 149 155 163 +f 155 138 163 +f 134 156 164 +f 156 151 164 +f 149 135 165 +f 135 154 165 +f 155 149 165 +f 154 159 165 +f 159 155 165 +f 147 134 166 +f 142 147 166 +f 151 137 166 +f 137 157 166 +f 157 142 166 +f 134 164 166 +f 164 151 166 +f 135 141 167 +f 141 154 167 +f 154 135 167 +f 134 150 168 +f 150 153 168 +f 156 134 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf new file mode 100644 index 000000000..a1820d1a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj new file mode 100644 index 000000000..222627f8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj @@ -0,0 +1,636 @@ +o convex_0 +v 1.827414 1.319221 0.991109 +v -3.647462 -0.518897 -1.126954 +v -3.647462 -0.518897 -0.567205 +v 2.547170 -0.518897 -0.367405 +v 0.508569 1.479423 -1.046771 +v -3.607442 1.279512 1.030981 +v -1.808961 -0.518897 1.111164 +v -3.527401 1.439323 -0.967026 +v 2.547170 -0.518897 1.071073 +v 2.507150 1.279512 -1.086863 +v 2.186989 -0.518897 -1.046771 +v -3.567421 -0.518897 1.071073 +v 0.548589 1.479423 1.071073 +v 2.427110 1.319416 0.911145 +v 2.027514 1.479423 -0.607078 +v -1.608860 1.479423 0.991109 +v 0.428528 1.439323 -1.086863 +v 2.507150 -0.518897 -1.006898 +v -2.728211 1.279512 1.071073 +v 1.947474 1.479423 0.511543 +v 0.748689 -0.518897 -1.086863 +v -1.568840 1.479423 -1.006679 +v 2.507150 -0.119077 1.071073 +v -3.647462 -0.398795 -1.126954 +v 2.507150 1.279512 -0.447369 +v -3.567421 1.359516 0.311523 +v -3.527401 1.119702 -1.006679 +v -3.567421 0.519971 1.071073 +v 2.547170 0.120737 0.231778 +v -3.647462 0.120737 -0.327532 +v 0.948184 1.319221 1.071073 +v -3.527401 1.439323 -0.727134 +v 2.507150 1.079602 -1.086863 +v -3.607442 0.839788 1.030981 +v -0.490722 1.479423 1.071073 +v -3.607442 1.279512 0.711344 +v 2.507150 -0.358891 -1.046771 +v -3.327301 -0.518897 -1.126954 +v 2.467130 0.919791 0.871272 +v -3.567421 1.319416 0.831180 +v -1.728921 -0.478798 1.111164 +v 2.427110 1.119506 0.951017 +f 23 14 42 +f 3 2 4 +f 3 4 7 +f 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a/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf new file mode 100644 index 000000000..635edf2a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj new file mode 100644 index 000000000..c02ee3953 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf new file mode 100644 index 000000000..dd7d9eb1e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj new file mode 100644 index 000000000..8e74dbb4a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj @@ -0,0 +1,510 @@ +o convex_0 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-0.193844 1.979196 2.901480 +v -0.347427 1.579903 2.133652 +v 0.205450 1.487776 3.024293 +v -0.316698 1.641360 3.055046 +v 0.143992 1.426319 1.151150 +v -0.132386 1.487776 2.041790 +v -0.040260 2.009865 1.120397 +v 0.266907 2.040653 2.625102 +f 166 175 176 +f 153 154 155 +f 152 157 158 +f 157 152 159 +f 152 158 160 +f 158 153 160 +f 157 159 163 +f 156 161 163 +f 161 157 163 +f 155 154 164 +f 160 155 164 +f 160 153 165 +f 158 157 166 +f 154 153 167 +f 155 160 168 +f 160 165 168 +f 161 154 169 +f 157 161 169 +f 154 167 169 +f 167 157 169 +f 159 162 170 +f 156 163 170 +f 163 159 170 +f 153 155 171 +f 165 153 171 +f 155 168 171 +f 168 165 171 +f 154 161 172 +f 161 156 172 +f 164 154 172 +f 162 164 172 +f 156 170 172 +f 170 162 172 +f 152 160 173 +f 160 164 173 +f 173 164 174 +f 159 152 174 +f 162 159 174 +f 164 162 174 +f 152 173 174 +f 166 157 175 +f 157 167 175 +f 175 167 176 +f 153 158 176 +f 158 166 176 +f 167 153 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf new file mode 100644 index 000000000..1e97a17e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj new file mode 100644 index 000000000..84c7de4c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj @@ -0,0 +1,486 @@ +o convex_0 +v 0.004686 4.262467 1.024971 +v -1.065212 -0.250281 -1.013834 +v 0.037867 -0.250281 -1.047009 +v -1.065212 4.195272 -1.113998 +v 1.074157 4.128967 -1.113998 +v 0.973974 -0.250281 0.991583 +v -0.964816 -0.250281 1.024971 +v 1.107764 4.195718 1.024971 +v -0.998210 4.295843 0.991796 +v 0.973974 -0.250281 -1.013621 +v 1.040763 -0.250281 -0.512160 +v -1.031604 -0.082516 0.657489 +v 0.973974 2.022781 1.058572 +v 1.040763 -0.250281 0.757653 +v -0.998210 4.161898 1.024971 +v -1.065212 4.229093 -0.545761 +v 1.107764 4.162343 -0.244842 +v -0.831025 4.295843 0.690877 +v -1.065212 1.020640 -0.244842 +v 0.271841 -0.250281 1.024971 +v 0.539421 2.256406 1.058572 +v 1.107764 3.828147 1.024971 +v -0.396473 4.195272 -1.080610 +v 1.074157 3.928272 -1.113785 +v 0.840184 4.161898 -0.846467 +v -1.065212 3.995022 -1.113998 +v -0.998210 1.120765 1.024971 +v -1.031604 2.256406 0.523724 +v 1.007369 2.591046 1.058572 +v 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5.890116 -0.524763 +v 0.599022 4.396192 -0.524763 +v 0.113206 3.984844 0.521079 +v -0.559164 4.545485 0.521079 +v 0.524236 5.927439 0.446385 +v -0.596615 5.852792 0.633181 +v 0.374781 6.002284 0.483672 +v -0.484495 4.209377 -0.524763 +v 0.262661 3.984844 -0.562171 +v 0.187992 6.002284 0.408977 +v -0.484495 5.964763 0.558366 +v -0.521829 3.984844 0.072792 +v 0.524236 5.927439 -0.450069 +v 0.561570 5.292348 -0.225986 +v -0.447161 5.553810 -0.524763 +v -0.447161 3.984844 -0.599578 +v 0.449567 6.002284 0.222181 +f 139 152 156 +f 128 130 132 +f 132 130 134 +f 127 126 136 +f 126 128 136 +f 128 132 136 +f 129 125 138 +f 129 138 140 +f 136 132 141 +f 130 128 142 +f 139 133 144 +f 128 126 145 +f 126 135 145 +f 142 128 145 +f 130 142 145 +f 143 130 145 +f 135 143 145 +f 127 136 146 +f 144 133 146 +f 136 144 146 +f 134 135 147 +f 137 131 147 +f 135 137 147 +f 125 129 148 +f 132 134 148 +f 129 141 148 +f 141 132 148 +f 146 133 149 +f 146 149 150 +f 126 127 150 +f 135 126 150 +f 137 135 150 +f 127 146 150 +f 149 137 150 +f 134 130 151 +f 135 134 151 +f 130 143 151 +f 143 135 151 +f 131 137 152 +f 140 131 152 +f 129 140 152 +f 141 129 152 +f 141 152 153 +f 136 141 153 +f 144 136 153 +f 139 144 153 +f 152 139 153 +f 131 140 154 +f 140 138 154 +f 147 131 154 +f 138 147 154 +f 138 125 155 +f 134 147 155 +f 147 138 155 +f 125 148 155 +f 148 134 155 +f 133 139 156 +f 137 149 156 +f 149 133 156 +f 152 137 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf new file mode 100644 index 000000000..81a958779 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj new file mode 100644 index 000000000..41cb00a32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj @@ -0,0 +1,528 @@ +o convex_0 +v 0.806378 -1.447866 1.046519 +v 0.732870 -1.998363 -1.082097 +v 0.732870 -1.925053 -1.082097 +v 1.943919 -3.172668 -1.045005 +v -0.184794 -3.356040 1.046727 +v 1.943919 -3.209228 1.046519 +v 1.870411 -1.410926 -1.082097 +v -0.258302 -1.447676 -0.971863 +v -0.221440 -3.356040 -1.008330 +v 1.943919 -1.410926 0.972960 +v -0.111286 -1.411116 0.973169 +v 1.833765 -3.319479 -1.008330 +v -0.258302 -1.411116 -0.678045 +v 1.870195 -3.245978 1.046519 +v -0.258302 -2.732042 -1.008330 +v -0.001132 -1.411116 1.046727 +v 0.145668 -3.356040 1.046727 +v 0.916316 -1.411116 -1.082097 +v 0.035514 -2.988915 -1.045213 +v 1.796903 -1.411116 1.009636 +v 0.439053 -3.356040 -1.008330 +v -0.184794 -1.484427 0.349067 +v 1.907057 -2.035114 -1.045005 +v 1.943919 -3.282539 -0.091035 +v -0.221440 -3.356040 -0.017685 +v -0.184794 -3.135727 1.046727 +v 1.870195 -2.548670 1.046519 +v 1.466656 -2.071864 -1.082097 +v 1.943919 -2.952355 -1.045005 +v 1.943919 -1.410926 0.826260 +f 10 29 30 +f 2 3 7 +f 6 4 10 +f 10 7 13 +f 11 10 13 +f 13 8 15 +f 10 11 16 +f 5 9 17 +f 14 6 17 +f 6 16 17 +f 16 5 17 +f 7 3 18 +f 3 8 18 +f 13 7 18 +f 8 13 18 +f 3 2 19 +f 8 3 19 +f 4 9 19 +f 15 8 19 +f 9 15 19 +f 16 1 20 +f 10 16 20 +f 9 4 21 +f 4 12 21 +f 17 9 21 +f 12 17 21 +f 11 13 22 +f 4 6 24 +f 12 4 24 +f 6 14 24 +f 17 12 24 +f 14 17 24 +f 9 5 25 +f 5 13 25 +f 15 9 25 +f 13 15 25 +f 13 5 26 +f 5 16 26 +f 16 11 26 +f 11 22 26 +f 22 13 26 +f 6 10 27 +f 1 16 27 +f 16 6 27 +f 20 1 27 +f 10 20 27 +f 2 7 28 +f 7 4 28 +f 19 2 28 +f 4 19 28 +f 4 7 29 +f 10 4 29 +f 7 23 29 +f 29 23 30 +f 7 10 30 +f 23 7 30 +o convex_1 +v 0.402554 2.222599 -1.118801 +v 0.512590 1.121752 -1.632877 +v 1.136272 1.158503 -2.880241 +v 1.356668 1.158503 -1.118801 +v 1.356668 2.259461 -3.100615 +v 0.292410 2.222599 -2.990428 +v 1.319809 2.259461 -1.118801 +v 0.255660 1.268643 -2.990428 +v 0.255660 1.121752 -1.118801 +v 1.356668 1.158503 -2.990428 +v 0.292410 1.268643 -3.063757 +v 0.696128 2.259461 -1.118801 +v 0.255660 1.342033 -1.118801 +v 1.356668 1.929040 -1.118801 +v 1.136272 2.259461 -3.100615 +v 0.255660 1.231893 -2.806912 +v 1.356668 2.002429 -3.100615 +v 0.365804 2.222599 -1.449362 +v 1.356668 1.268643 -3.027092 +f 41 47 49 +f 31 34 37 +f 32 34 39 +f 34 31 39 +f 32 33 40 +f 34 32 40 +f 35 34 40 +f 38 36 41 +f 40 33 41 +f 31 37 42 +f 37 35 42 +f 36 38 43 +f 38 39 43 +f 39 31 43 +f 34 35 44 +f 37 34 44 +f 35 37 44 +f 41 36 45 +f 42 35 45 +f 36 42 45 +f 33 32 46 +f 39 38 46 +f 32 39 46 +f 41 33 46 +f 38 41 46 +f 35 40 47 +f 45 35 47 +f 41 45 47 +f 42 36 48 +f 31 42 48 +f 43 31 48 +f 36 43 48 +f 40 41 49 +f 47 40 49 +o convex_2 +v -2.680757 -0.566550 1.083431 +v 1.943929 0.791306 -0.824972 +v 1.943929 0.791306 -1.082097 +v 1.943929 -1.410925 0.972992 +v -4.222319 -1.410925 -0.971870 +v -4.148682 0.754444 0.973204 +v 1.870292 -1.410925 -1.082097 +v -4.075044 0.717582 -1.045213 +v 1.796654 0.791306 1.009876 +v -4.111862 -1.337201 1.046548 +v 0.328730 0.791306 1.083431 +v 0.769349 -1.410925 1.046548 +v -2.864247 0.791306 0.385824 +v -4.111862 0.754444 -0.861644 +v 1.943929 0.277179 0.569394 +v -4.111862 0.057085 -1.045213 +v 0.952839 -1.410925 -1.081885 +v -3.854734 0.717582 1.009664 +v 1.943929 -0.970307 -0.678074 +v -1.285866 0.717582 1.083431 +v -4.222319 -1.410925 -0.751629 +v 0.034783 -0.529903 1.083431 +v -0.075070 0.791306 -1.045213 +v 1.759835 -1.410925 1.009876 +v -0.002036 -1.410925 1.046548 +v -4.148682 -0.713351 1.009664 +v -4.222319 -1.080246 -0.971870 +v -4.111862 -1.373848 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+f 57 63 84 +f 63 72 84 +f 84 72 85 +f 72 52 85 +f 52 80 85 +f 57 84 85 +f 71 50 86 +f 61 71 86 +f 59 74 86 +f 74 61 86 +f 50 79 86 +f 79 59 86 +f 63 57 87 +f 78 63 87 +f 76 78 87 +f 80 65 87 +f 65 83 87 +f 83 76 87 +f 85 80 87 +f 57 85 87 +f 58 53 88 +f 53 64 88 +f 64 58 88 +f 56 52 89 +f 52 68 89 +f 68 56 89 +f 70 59 90 +f 59 75 90 +f 81 70 90 +f 75 81 90 +f 62 55 91 +f 60 62 91 +f 55 67 91 +f 69 60 91 +f 67 69 91 +f 67 55 92 +f 79 67 92 +f 75 79 92 +f 55 81 92 +o convex_3 +v 1.980982 -0.860206 -0.054274 +v 3.815557 0.313919 0.092380 +v 3.815557 0.313919 -0.017638 +v 3.815557 -0.896834 -0.531427 +v 1.943930 0.313919 -0.531427 +v 1.943930 -0.896834 0.606170 +v 1.943930 0.277291 0.569423 +v 3.925744 -0.713455 0.459293 +v 1.943930 -0.786830 -0.494680 +v 3.815557 0.277291 -0.421298 +v 3.778893 0.313919 0.496040 +v 3.705370 -0.750083 0.496040 +v 2.971501 0.313919 -0.494680 +v 2.898366 -0.860206 -0.531427 +v 3.852221 0.203915 -0.384551 +v 3.815557 -0.603333 -0.531427 +v 1.943930 0.313919 0.019109 +v 3.815557 -0.896834 -0.421298 +v 3.925744 -0.493210 0.275892 +v 1.980982 -0.896834 0.275892 +v 3.265010 -0.016329 0.532676 +v 1.943930 -0.273203 -0.531427 +v 3.815557 -0.713455 0.496040 +v 2.311155 -0.896834 0.459293 +v 2.384678 0.313919 -0.531427 +v 2.971501 0.313919 0.496040 +f 103 109 118 +f 94 95 97 +f 97 98 99 +f 98 97 101 +f 94 97 103 +f 97 95 105 +f 95 102 105 +f 97 96 106 +f 93 101 106 +f 95 94 107 +f 102 95 107 +f 102 107 108 +f 96 97 108 +f 105 102 108 +f 107 96 108 +f 97 99 109 +f 103 97 109 +f 98 96 110 +f 96 100 110 +f 100 104 110 +f 100 96 111 +f 94 103 111 +f 103 100 111 +f 107 94 111 +f 96 107 111 +f 96 98 112 +f 101 93 112 +f 98 101 112 +f 93 106 112 +f 106 96 112 +f 99 98 113 +f 103 99 113 +f 101 97 114 +f 97 106 114 +f 106 101 114 +f 100 103 115 +f 104 100 115 +f 98 104 115 +f 113 98 115 +f 103 113 115 +f 104 98 116 +f 98 110 116 +f 110 104 116 +f 97 105 117 +f 108 97 117 +f 105 108 117 +f 99 103 118 +f 109 99 118 +o convex_4 +v -0.258302 0.974840 0.752967 +v 1.943919 2.699785 -0.384364 +v 1.943919 2.662923 -0.384364 +v -0.221440 1.305239 -1.008430 +v 1.943919 0.791500 -1.045077 +v 1.796903 0.791306 1.009923 +v -0.221440 2.773315 1.046569 +v -0.184794 2.663117 -0.935138 +v 1.870411 2.736453 0.973276 +v -0.221440 0.791306 -1.008430 +v 1.319856 2.259188 -1.118801 +v -0.111286 0.791306 1.083431 +v 1.943919 2.662923 -0.935138 +v 1.356502 2.296050 1.083431 +v 0.182315 1.085038 -1.118801 +v -0.221440 2.736453 -0.127624 +v 0.402407 2.222714 -1.118801 +v 1.870411 0.864836 0.569520 +v 0.475915 2.773315 0.459365 +v 1.907057 0.791500 -1.081939 +v 1.907057 2.699785 -0.824983 +v 1.282994 1.195235 1.083431 +v -0.258302 2.406247 0.936414 +v 1.246348 2.773315 1.009923 +v -0.184794 1.708975 1.083431 +v -0.258302 0.791306 0.349210 +v 1.540164 1.011702 -1.118801 +v 1.943919 0.791500 -0.824983 +v 0.182315 2.406247 1.083431 +v 1.870411 1.525635 0.789613 +v 1.796903 2.699591 1.009923 +v -0.221440 1.708975 -0.971784 +v 0.035514 2.699591 -0.751690 +v -0.147932 0.791306 -1.045292 +v 1.907057 2.736453 0.275702 +v -0.147932 2.773315 0.459365 +v 0.365761 0.791306 1.083431 +v 1.943919 1.305433 -1.045077 +v -0.147932 2.479583 -0.971784 +f 135 133 157 +f 120 121 123 +f 121 120 127 +f 128 124 130 +f 120 123 131 +f 129 126 131 +f 126 129 135 +f 129 133 135 +f 120 131 139 +f 131 126 139 +f 124 132 140 +f 132 130 140 +f 125 134 141 +f 137 125 142 +f 119 130 143 +f 130 132 143 +f 141 119 143 +f 125 141 143 +f 122 128 144 +f 130 119 144 +f 128 130 144 +f 119 141 144 +f 133 129 145 +f 129 138 145 +f 138 133 145 +f 123 121 146 +f 124 123 146 +f 136 124 146 +f 132 125 147 +f 125 143 147 +f 143 132 147 +f 121 127 148 +f 127 124 148 +f 124 136 148 +f 146 121 148 +f 136 146 148 +f 124 127 149 +f 132 124 149 +f 125 132 149 +f 127 142 149 +f 142 125 149 +f 126 122 150 +f 134 126 150 +f 141 134 150 +f 122 144 150 +f 144 141 150 +f 126 134 151 +f 139 126 151 +f 123 124 152 +f 128 122 152 +f 124 128 152 +f 122 133 152 +f 138 123 152 +f 133 138 152 +f 127 120 153 +f 120 139 153 +f 139 137 153 +f 142 127 153 +f 137 142 153 +f 134 125 154 +f 125 137 154 +f 137 139 154 +f 151 134 154 +f 139 151 154 +f 130 124 155 +f 124 140 155 +f 140 130 155 +f 131 123 156 +f 129 131 156 +f 123 138 156 +f 138 129 156 +f 122 126 157 +f 133 122 157 +f 126 135 157 +o convex_5 +v 1.062940 2.296165 2.331111 +v 0.292364 1.158345 1.083618 +v 0.732831 1.158345 1.083618 +v 0.989547 1.195099 2.918430 +v 0.365865 2.149259 2.992032 +v 0.329114 2.296165 1.083618 +v 1.356513 2.296165 1.083618 +v 1.393372 1.195099 2.918430 +v 1.283120 2.259410 2.955044 +v 1.283120 1.195099 1.083618 +v 0.365865 1.268496 2.918430 +v 0.329114 1.231853 2.661385 +v 0.329114 2.259410 1.780966 +v 1.026189 1.158345 2.367912 +v 1.319763 2.149259 2.955044 +v 1.393372 1.195099 2.551356 +v 1.026189 2.259410 2.955044 +v 1.393372 1.452155 2.918430 +v 0.292364 1.708989 1.120419 +v 0.292364 1.158345 1.377278 +v 0.329114 2.186013 2.074252 +v 1.356513 2.149259 1.083618 +v 1.356513 2.296165 1.340663 +v 0.365865 1.525552 2.955044 +v 0.439258 2.296165 1.524107 +f 170 174 182 +f 160 159 163 +f 160 163 164 +f 163 158 164 +f 160 164 167 +f 161 168 169 +f 159 160 171 +f 165 161 171 +f 160 167 171 +f 161 169 171 +f 162 165 172 +f 166 162 172 +f 165 171 173 +f 171 167 173 +f 162 166 174 +f 166 158 174 +f 170 162 174 +f 172 165 175 +f 173 164 175 +f 165 173 175 +f 163 159 176 +f 170 163 176 +f 159 171 177 +f 171 169 177 +f 176 159 177 +f 169 176 177 +f 169 162 178 +f 162 170 178 +f 176 169 178 +f 170 176 178 +f 167 164 179 +f 164 173 179 +f 173 167 179 +f 164 158 180 +f 158 166 180 +f 166 172 180 +f 175 164 180 +f 172 175 180 +f 161 165 181 +f 165 162 181 +f 168 161 181 +f 162 169 181 +f 169 168 181 +f 158 163 182 +f 163 170 182 +f 174 158 182 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf new file mode 100644 index 000000000..8d9c15cc8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj new file mode 100644 index 000000000..4d1640200 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj @@ -0,0 +1,519 @@ +o convex_0 +v 0.945639 0.865202 -1.410162 +v -0.311370 -1.318339 -0.252290 +v -0.245265 -1.318339 -0.252290 +v -0.079800 -0.788517 -3.560187 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128 +o convex_2 +v 0.350130 -0.193400 2.427904 +v -0.410760 -0.325784 2.262513 +v -0.410760 -0.325784 2.295607 +v -0.046670 0.402067 2.295607 +v 0.416358 -0.358836 2.262513 +v -0.311500 0.203491 2.427904 +v -0.112897 -0.358836 2.427904 +v 0.317097 0.137299 2.427904 +v 0.317097 0.170351 2.262513 +v -0.311500 0.203491 2.262513 +v 0.085462 -0.491221 2.295607 +v 0.019315 0.335875 2.427904 +v -0.344452 -0.160347 2.427904 +v -0.311500 -0.458081 2.262513 +v 0.052348 0.402067 2.262513 +v 0.184723 -0.325784 2.427904 +f 135 139 144 +f 130 131 134 +f 129 134 135 +f 129 133 136 +f 134 129 136 +f 133 130 137 +f 136 133 137 +f 130 134 138 +f 134 132 138 +f 137 130 138 +f 132 134 140 +f 134 136 140 +f 134 131 141 +f 131 135 141 +f 135 134 141 +f 131 130 142 +f 130 133 142 +f 135 131 142 +f 133 139 142 +f 139 135 142 +f 136 137 143 +f 138 132 143 +f 137 138 143 +f 132 140 143 +f 140 136 143 +f 133 129 144 +f 129 135 144 +f 139 133 144 +o convex_3 +v -0.344523 -0.028034 2.461261 +v 0.350120 -0.094165 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+f 150 149 156 +f 150 156 158 +f 149 150 159 +f 149 159 161 +f 149 151 162 +f 151 155 162 +f 159 154 163 +f 145 161 163 +f 161 159 163 +f 151 149 164 +f 149 161 164 +f 161 153 164 +f 157 148 165 +f 151 164 165 +f 164 153 165 +f 150 158 166 +f 148 160 167 +f 160 152 167 +f 152 160 168 +f 166 158 168 +f 160 166 168 +f 146 147 169 +f 156 146 169 +f 158 156 169 +f 168 158 169 +f 155 146 170 +f 146 156 170 +f 156 149 170 +f 149 162 170 +f 162 155 170 +f 153 157 171 +f 157 165 171 +f 165 153 171 +f 147 155 172 +f 155 167 172 +f 167 152 172 +f 148 154 173 +f 159 150 173 +f 154 159 173 +f 160 148 173 +f 150 166 173 +f 166 160 173 +f 155 151 174 +f 165 148 174 +f 151 165 174 +f 148 167 174 +f 167 155 174 +f 157 153 175 +f 153 161 175 +f 161 145 175 +f 145 163 175 +f 152 168 176 +f 169 147 176 +f 168 169 176 +f 147 172 176 +f 172 152 176 +f 154 148 177 +f 148 157 177 +f 163 154 177 +f 157 175 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf new file mode 100644 index 000000000..3aa4c77c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj new file mode 100644 index 000000000..ed21291ae --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj @@ -0,0 +1,555 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf new file mode 100644 index 000000000..d01751e09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj new file mode 100644 index 000000000..9cce41631 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj @@ -0,0 +1,522 @@ +o convex_0 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-1.016214 -3.649428 -0.987473 +v 0.596646 -3.327035 -1.023583 +v -0.657729 -4.259029 1.126718 +f 14 29 34 +f 3 2 6 +f 5 4 6 +f 7 1 9 +f 1 8 9 +f 6 4 10 +f 4 5 11 +f 2 3 12 +f 3 6 12 +f 7 9 12 +f 10 4 13 +f 12 9 14 +f 11 5 16 +f 10 13 18 +f 9 8 20 +f 14 9 20 +f 8 16 20 +f 19 7 21 +f 13 4 22 +f 4 11 23 +f 16 8 23 +f 11 16 23 +f 22 4 23 +f 6 10 24 +f 15 6 24 +f 10 18 24 +f 5 17 25 +f 20 5 25 +f 14 20 25 +f 12 6 26 +f 6 15 26 +f 15 21 26 +f 1 7 27 +f 8 1 27 +f 7 8 27 +f 8 7 28 +f 7 19 28 +f 19 13 28 +f 13 22 28 +f 6 2 29 +f 5 6 29 +f 17 5 29 +f 25 17 29 +f 14 25 29 +f 7 12 30 +f 21 7 30 +f 12 26 30 +f 26 21 30 +f 16 5 31 +f 5 20 31 +f 20 16 31 +f 18 13 32 +f 13 19 32 +f 21 15 32 +f 19 21 32 +f 15 24 32 +f 24 18 32 +f 23 8 33 +f 22 23 33 +f 8 28 33 +f 28 22 33 +f 2 12 34 +f 12 14 34 +f 29 2 34 +o convex_1 +v 1.098746 2.622781 0.302532 +v 0.596739 2.443630 -0.378496 +v 0.596739 2.515303 -0.378496 +v 2.962362 2.730196 -0.270902 +v 2.998219 2.371956 0.159140 +v 3.105792 3.017015 0.194938 +v 0.596739 2.909411 -0.270902 +v 0.596739 2.981084 0.266668 +v 0.596739 2.407761 0.302532 +v 2.998219 2.371956 -0.199240 +v 2.962362 2.873543 -0.270902 +v 0.991173 2.873543 -0.342632 +v 2.926504 2.371956 0.194938 +v 2.424497 2.371956 -0.235104 +v 0.632597 2.873543 0.302532 +v 2.603539 2.909411 -0.235104 +v 2.675255 2.909411 0.230736 +v 2.818931 2.371956 -0.235104 +v 3.105792 3.017015 0.159140 +v 0.596739 2.407761 0.051613 +v 1.994451 2.371956 0.230736 +v 1.027277 2.407761 0.302532 +v 0.596739 2.981084 0.194938 +f 53 41 57 +f 36 37 38 +f 37 36 41 +f 41 36 42 +f 42 36 43 +f 40 39 44 +f 38 37 45 +f 44 38 45 +f 37 41 46 +f 45 37 46 +f 39 40 47 +f 44 39 47 +f 44 47 48 +f 40 42 49 +f 43 35 49 +f 42 43 49 +f 46 41 50 +f 45 46 50 +f 47 40 51 +f 49 35 51 +f 40 49 51 +f 36 38 52 +f 38 44 52 +f 44 48 52 +f 48 36 52 +f 42 40 53 +f 40 44 53 +f 44 45 53 +f 50 41 53 +f 45 50 53 +f 43 36 54 +f 36 48 54 +f 54 48 55 +f 48 47 55 +f 43 54 55 +f 55 47 56 +f 35 43 56 +f 51 35 56 +f 47 51 56 +f 43 55 56 +f 41 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-1.087911 -0.244733 1.091092 +v 0.954930 1.726421 1.091092 +v -0.944302 1.798332 1.091092 +v -1.087911 -0.352173 2.954813 +v -1.087911 1.798332 2.811242 +v -0.514332 1.654723 3.062491 +v -1.087911 1.224750 3.062491 +v 0.775794 -0.316217 2.954813 +v 1.062583 1.762377 2.632164 +v -1.016000 -0.280475 1.162878 +v -1.087911 0.078014 1.091092 +v 1.062583 1.224536 2.954813 +v 0.847491 1.762163 2.990513 +v 1.098539 0.113970 1.198771 +v 1.026842 -0.280475 2.596272 +v 0.668141 1.762163 1.091092 +v 0.990886 1.475585 1.091092 +v 0.094989 1.798118 2.059038 +v 1.098539 0.293107 1.593012 +v 1.026842 -0.280475 1.951553 +v -1.016000 1.798332 2.954813 +v -0.980258 1.798332 1.449634 +v -0.442634 1.762377 3.062491 +v -1.016000 -0.388129 2.954813 +f 104 103 120 +f 91 95 97 +f 93 97 98 +f 98 97 99 +f 91 92 100 +f 95 91 100 +f 97 95 101 +f 95 100 103 +f 102 95 103 +f 96 102 103 +f 96 103 104 +f 92 91 106 +f 93 92 106 +f 91 97 106 +f 97 93 106 +f 99 97 107 +f 97 101 107 +f 108 94 109 +f 96 108 109 +f 96 104 111 +f 108 96 111 +f 98 99 112 +f 99 90 112 +f 90 105 112 +f 105 98 112 +f 93 98 113 +f 98 105 113 +f 110 93 113 +f 105 110 113 +f 90 99 114 +f 105 90 114 +f 94 105 114 +f 105 94 115 +f 94 108 115 +f 93 110 115 +f 110 105 115 +f 111 93 115 +f 108 111 115 +f 92 93 116 +f 104 92 116 +f 93 111 116 +f 111 104 116 +f 101 95 117 +f 99 101 117 +f 109 94 117 +f 114 99 117 +f 94 114 117 +f 101 99 118 +f 99 107 118 +f 107 101 118 +f 95 102 119 +f 102 96 119 +f 96 109 119 +f 117 95 119 +f 109 117 119 +f 100 92 120 +f 103 100 120 +f 92 104 120 +o convex_4 +v -3.023467 2.443584 0.159116 +v -1.554015 2.981172 0.015815 +v -1.554015 2.981172 -0.055865 +v -0.621944 2.371830 0.159116 +v -2.843870 2.443584 -0.270906 +v -2.987500 2.981172 0.266636 +v -0.621944 2.730242 -0.270906 +v -0.621944 2.945265 0.230796 +v -2.772172 2.909418 -0.199226 +v -2.234556 2.443584 0.338316 +v -0.621944 2.945265 -0.270906 +v -0.621944 2.479372 -0.199226 +v -0.621944 2.371830 0.302476 +v -2.951769 2.407737 -0.235066 +v -2.987500 2.443584 0.338316 +v -2.951769 2.945265 -0.055865 +v -1.231493 2.945265 -0.270906 +v -1.231493 2.371830 0.302476 +v -2.772172 2.586973 0.338316 +v -2.306489 2.407737 -0.235066 +v -2.951769 2.658607 -0.235066 +v -2.951769 2.981172 0.051596 +v -2.987500 2.407737 -0.055865 +f 141 134 143 +f 122 123 126 +f 123 122 128 +f 122 126 128 +f 124 127 128 +f 127 125 131 +f 123 128 131 +f 128 127 131 +f 127 124 132 +f 125 127 132 +f 124 128 133 +f 126 121 135 +f 133 130 135 +f 121 126 136 +f 131 125 137 +f 123 131 137 +f 124 133 138 +f 134 124 138 +f 133 135 138 +f 128 126 139 +f 133 128 139 +f 130 133 139 +f 126 135 139 +f 135 130 139 +f 132 124 140 +f 125 132 140 +f 134 125 140 +f 124 134 140 +f 125 134 141 +f 121 136 141 +f 136 129 141 +f 137 125 141 +f 129 137 141 +f 126 123 142 +f 136 126 142 +f 129 136 142 +f 137 129 142 +f 123 137 142 +f 135 121 143 +f 134 138 143 +f 138 135 143 +f 121 141 143 +o convex_5 +v -0.263599 1.798332 -0.485999 +v -0.442638 1.906176 0.553438 +v -0.586016 1.906176 0.553438 +v -0.012704 3.661973 -0.593558 +v 0.059018 1.798332 0.517398 +v -0.514294 3.697673 0.409951 +v -0.621944 2.945188 -0.270881 +v 0.059018 3.661973 0.481694 +v 0.059018 1.798332 -0.521815 +v -0.442638 3.626087 -0.593558 +v -0.442638 1.798332 -0.450183 +v 0.059018 3.661973 -0.557630 +v -0.586016 1.798332 0.445767 +v -0.621944 2.945188 0.230649 +v -0.621944 2.479603 -0.199250 +v -0.442638 3.303487 -0.593558 +v -0.478499 3.697673 0.445767 +v -0.156082 1.798332 0.553438 +v -0.191877 3.661973 0.481694 +v -0.442638 1.977761 -0.485999 +v -0.621944 2.372132 0.302392 +f 157 158 164 +f 146 145 151 +f 148 144 152 +f 151 148 152 +f 149 147 153 +f 150 149 153 +f 144 148 154 +f 147 149 155 +f 152 147 155 +f 151 152 155 +f 154 148 156 +f 146 149 157 +f 149 150 157 +f 154 156 158 +f 157 150 158 +f 147 152 159 +f 153 147 159 +f 150 153 159 +f 149 146 160 +f 155 149 160 +f 151 155 160 +f 145 146 161 +f 151 145 161 +f 148 151 161 +f 146 156 161 +f 156 148 161 +f 146 151 162 +f 160 146 162 +f 151 160 162 +f 152 144 163 +f 144 154 163 +f 158 150 163 +f 154 158 163 +f 159 152 163 +f 150 159 163 +f 156 146 164 +f 146 157 164 +f 158 156 164 +o convex_6 +v 0.453301 1.798522 -0.593558 +v 0.489134 3.661899 0.553438 +v 0.381635 3.661899 0.553438 +v 0.560801 3.733509 -0.557630 +v 0.059190 3.697704 -0.557630 +v 0.059190 1.798522 0.517398 +v 0.596634 1.798522 0.517398 +v 0.059190 1.798522 -0.521815 +v 0.059190 3.661899 0.481694 +v 0.596634 2.049536 -0.485999 +v 0.560801 3.590289 0.553438 +v 0.596634 3.196055 -0.414256 +v 0.560801 1.798522 -0.593558 +v 0.524967 2.515380 0.553438 +v 0.596634 2.981035 0.266577 +v 0.095023 3.661899 0.517398 +v 0.560801 3.733509 -0.306809 +f 180 167 181 +f 168 165 169 +f 170 165 171 +f 169 165 172 +f 170 169 172 +f 165 170 172 +f 169 170 173 +f 166 167 175 +f 174 168 176 +f 171 174 176 +f 165 168 177 +f 171 165 177 +f 168 174 177 +f 174 171 177 +f 167 170 178 +f 170 171 178 +f 171 175 178 +f 175 167 178 +f 175 171 179 +f 171 176 179 +f 176 175 179 +f 170 167 180 +f 173 170 180 +f 173 180 181 +f 167 166 181 +f 168 169 181 +f 169 173 181 +f 166 175 181 +f 176 168 181 +f 175 176 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf new file mode 100644 index 000000000..0d108db2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.obj 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b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj new file mode 100644 index 000000000..a930fe88b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj @@ -0,0 +1,387 @@ +o convex_0 +v -1.008337 0.350476 -1.002674 +v -0.484714 3.430078 1.091580 +v -0.546221 3.430078 1.091580 +v -0.299786 -0.912839 1.091580 +v 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+v 1.055396 -1.066945 -0.540678 +v 1.055396 -2.175692 -0.571691 +v 3.026365 -2.021635 0.444689 +v 1.055396 -1.066945 0.567958 +v 3.057131 -1.282581 -0.571691 +v 3.026365 -1.036044 0.444689 +v 1.055396 -2.083213 0.506268 +v 2.964833 -1.990734 -0.479211 +v 3.057131 -1.066945 -0.571691 +v 2.256437 -1.036044 0.506268 +v 1.486704 -1.066945 -0.571691 +v 1.424977 -1.097846 0.567958 +v 3.057131 -1.805998 0.167474 +v 1.886855 -1.036044 0.475478 +v 1.086161 -2.175692 -0.509889 +v 2.934068 -2.083213 -0.448422 +v 1.240186 -2.083213 0.506268 +v 1.147693 -1.374949 0.567958 +v 2.348734 -2.021635 0.475478 +v 2.964833 -2.052424 -0.448422 +f 129 121 133 +f 110 114 115 +f 114 110 117 +f 112 111 118 +f 111 112 119 +f 110 115 120 +f 115 118 121 +f 112 118 122 +f 118 115 122 +f 119 112 123 +f 116 119 123 +f 114 112 124 +f 115 114 124 +f 112 122 124 +f 122 115 124 +f 123 117 125 +f 116 123 125 +f 118 111 126 +f 111 119 126 +f 119 116 126 +f 112 114 127 +f 114 117 127 +f 123 112 127 +f 117 123 127 +f 113 116 128 +f 120 115 128 +f 116 113 129 +f 115 121 129 +f 113 128 129 +f 128 115 129 +f 110 120 130 +f 128 116 130 +f 120 128 130 +f 117 110 131 +f 116 125 131 +f 125 117 131 +f 110 130 132 +f 130 116 132 +f 131 110 132 +f 116 131 132 +f 121 118 133 +f 118 126 133 +f 126 116 133 +f 116 129 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf new file mode 100644 index 000000000..48570cab8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj new file mode 100644 index 000000000..1e28327d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj @@ -0,0 +1,3354 @@ +o convex_0 +v -0.010968 1.953267 1.045957 +v -0.672593 1.826036 1.020500 +v -0.672593 1.826036 1.045957 +v 0.218059 1.826036 1.020500 +v -0.087340 1.826036 1.198630 +f 3 4 5 +f 1 2 3 +f 3 2 4 +f 2 1 4 +f 4 1 5 +f 1 3 5 +o convex_1 +v -1.741368 0.350076 -0.124475 +v -1.206984 0.273779 0.689552 +v -1.257948 0.273779 0.689552 +v -1.206984 0.248309 -0.684329 +v -2.046742 0.248309 -0.022806 +v -1.206984 0.375545 -0.429886 +v -1.232466 0.375545 0.409558 +v -1.206984 0.248309 0.689552 +v -1.690404 0.375545 -0.022806 +v -1.257948 0.273779 -0.684329 +v -2.046742 0.273779 -0.022806 +f 15 10 16 +f 7 9 11 +f 8 7 12 +f 7 11 12 +f 7 8 13 +f 9 7 13 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a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj new file mode 100644 index 000000000..ebcfed864 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj @@ -0,0 +1,651 @@ +o convex_0 +v -1.943985 -3.437937 -0.491139 +v -2.233959 -2.024716 0.596252 +v -2.306509 -2.024716 0.596252 +v -1.654238 -0.792643 -0.599913 +v -1.219277 -3.401444 0.487361 +v -1.255495 -0.756151 0.487361 +v -1.183058 -3.365215 -0.527319 +v -2.306509 -0.756151 -0.563616 +v -2.342841 -3.437937 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-0.346125 +v -1.219380 -0.103435 0.378597 +v -2.052727 0.512772 -0.563666 +v -1.183087 0.512772 0.016293 +f 219 221 224 +f 207 210 211 +f 208 209 212 +f 211 208 213 +f 209 208 214 +f 207 212 214 +f 211 210 215 +f 208 211 215 +f 214 208 216 +f 210 214 216 +f 215 210 216 +f 208 215 216 +f 211 213 217 +f 210 207 218 +f 214 210 218 +f 207 214 218 +f 207 211 219 +f 208 212 220 +f 212 213 220 +f 213 208 220 +f 213 212 221 +f 217 213 221 +f 219 217 221 +f 211 217 222 +f 219 211 222 +f 217 219 222 +f 212 209 223 +f 209 214 223 +f 214 212 223 +f 212 207 224 +f 207 219 224 +f 221 212 224 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf new file mode 100644 index 000000000..98c07ae37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj new file mode 100644 index 000000000..2c3d50f2e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj @@ -0,0 +1,528 @@ +o convex_0 +v 0.588567 -4.242019 -0.489833 +v -0.552656 -4.211151 -0.582420 +v -0.583519 -4.272815 0.404491 +v 0.495980 -3.625228 0.558803 +v -0.552656 -3.625228 -0.551558 +v 0.526842 -3.625228 -0.582420 +v -0.552656 -3.625228 0.527941 +v 0.465117 -4.242019 0.589666 +v 0.588567 -4.365493 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-0.244182 -2.915808 -0.582402 +v -0.275051 -2.761574 0.558821 +v 0.249171 -2.360609 -0.613265 +v -0.583519 -2.545766 -0.489815 +v 0.526878 -2.360609 0.250311 +v -0.120817 -2.915808 0.558821 +v -0.429285 -2.422346 0.497096 +f 86 82 91 +f 76 78 79 +f 74 80 81 +f 81 80 82 +f 75 76 82 +f 76 79 83 +f 80 74 84 +f 78 80 84 +f 77 83 85 +f 83 79 85 +f 75 82 86 +f 81 77 87 +f 74 81 87 +f 85 74 87 +f 77 85 87 +f 79 78 88 +f 78 84 88 +f 84 74 88 +f 74 85 88 +f 85 79 88 +f 77 81 89 +f 81 82 89 +f 82 76 89 +f 76 83 89 +f 83 77 89 +f 76 75 90 +f 78 76 90 +f 75 86 90 +f 86 78 90 +f 80 78 91 +f 82 80 91 +f 78 86 91 +o convex_4 +v 1.020352 3.345115 -0.859724 +v -1.046184 1.617517 1.021251 +v -1.046184 1.617517 1.052108 +v 1.020352 -2.360609 -1.014006 +v 1.020352 -1.712684 1.052108 +v -0.922758 -2.360609 -1.075930 +v -0.953615 3.808264 -1.014217 +v 1.112921 3.807660 1.021251 +v -1.015328 -2.267617 1.021251 +v -1.046184 3.746068 1.082964 +v 0.989496 3.746068 -0.921437 +v 0.989496 -2.206025 1.052108 +v 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+v -0.984471 -2.298413 0.712898 +v 0.989496 3.098747 -0.952293 +v 1.020352 3.746068 -0.828867 +v -1.046184 3.560687 0.712898 +v 0.989496 -2.236821 0.774611 +v 1.112921 3.067347 0.651185 +v -0.429267 -2.267617 1.021251 +v -0.429267 1.895889 1.083176 +f 135 128 143 +f 94 93 100 +f 93 94 101 +f 97 95 105 +f 93 101 110 +f 101 98 110 +f 103 96 111 +f 98 109 112 +f 109 104 112 +f 106 97 113 +f 97 105 114 +f 105 100 114 +f 104 109 115 +f 95 97 116 +f 111 96 117 +f 94 100 118 +f 100 108 118 +f 110 98 119 +f 112 106 119 +f 98 112 119 +f 117 99 120 +f 111 117 120 +f 99 107 121 +f 95 116 122 +f 116 104 122 +f 109 98 123 +f 107 99 124 +f 117 96 124 +f 99 117 124 +f 122 107 124 +f 97 106 125 +f 112 104 125 +f 106 112 125 +f 116 97 125 +f 104 116 125 +f 96 103 126 +f 95 122 126 +f 124 96 126 +f 122 124 126 +f 100 93 127 +f 97 100 127 +f 93 113 127 +f 113 97 127 +f 101 94 128 +f 94 118 128 +f 118 108 128 +f 105 103 129 +f 108 100 129 +f 115 109 130 +f 109 123 130 +f 102 92 131 +f 122 104 131 +f 102 115 132 +f 115 130 132 +f 130 121 132 +f 98 101 133 +f 123 98 133 +f 101 123 133 +f 99 121 134 +f 123 101 134 +f 121 130 134 +f 130 123 134 +f 120 99 135 +f 111 120 135 +f 101 128 135 +f 99 134 135 +f 134 101 135 +f 100 97 136 +f 97 114 136 +f 114 100 136 +f 115 102 137 +f 104 115 137 +f 102 131 137 +f 131 104 137 +f 92 102 138 +f 102 132 138 +f 132 121 138 +f 93 110 139 +f 113 93 139 +f 106 113 139 +f 110 119 139 +f 119 106 139 +f 105 95 140 +f 103 105 140 +f 95 126 140 +f 126 103 140 +f 121 107 141 +f 107 122 141 +f 131 92 141 +f 122 131 141 +f 92 138 141 +f 138 121 141 +f 100 105 142 +f 129 100 142 +f 105 129 142 +f 103 111 143 +f 128 108 143 +f 129 103 143 +f 108 129 143 +f 111 135 143 +o convex_5 +v -0.120790 -3.532602 0.589666 +v 0.526878 -3.563431 -0.304773 +v 0.526878 -3.625159 -0.304773 +v -0.552674 -3.625159 -0.551558 +v -0.552674 -2.915878 -0.489833 +v 0.496022 -2.915878 0.527941 +v 0.496022 -2.915878 -0.582420 +v -0.552674 -2.915878 0.497078 +v 0.496022 -3.625159 0.558803 +v -0.552674 -3.625159 0.527941 +v 0.526878 -3.625159 -0.582420 +v -0.213359 -2.946776 0.589666 +v -0.244216 -2.915878 -0.582420 +v 0.249276 -3.039264 0.589666 +v -0.305823 -3.532602 -0.582420 +v 0.526878 -3.224309 -0.582420 +v 0.310883 -3.625159 0.589666 +v -0.552674 -2.946776 -0.520695 +f 148 156 161 +f 148 149 150 +f 148 147 151 +f 149 148 151 +f 146 145 152 +f 147 146 152 +f 145 149 152 +f 151 147 153 +f 147 152 153 +f 145 146 154 +f 146 147 154 +f 149 151 155 +f 153 144 155 +f 151 153 155 +f 148 150 156 +f 150 154 156 +f 152 149 157 +f 149 155 157 +f 155 144 157 +f 154 147 158 +f 147 156 158 +f 156 154 158 +f 149 145 159 +f 150 149 159 +f 145 154 159 +f 154 150 159 +f 144 153 160 +f 153 152 160 +f 157 144 160 +f 152 157 160 +f 147 148 161 +f 156 147 161 +o convex_6 +v 0.064189 -2.946652 3.026057 +v 0.187578 -3.625228 0.589666 +v -0.120793 -3.532635 0.589666 +v -0.213386 -3.532635 2.995381 +v -0.213386 -2.946652 0.589666 +v 0.310968 -2.977605 3.057215 +v 0.249273 -3.008359 0.620582 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171 176 182 +f 167 165 183 +f 169 167 183 +f 165 175 183 +f 178 169 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf new file mode 100644 index 000000000..3ff7014b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj new file mode 100644 index 000000000..a3a04c5ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj @@ -0,0 +1,426 @@ +o convex_0 +v 0.306745 -5.347852 -0.349198 +v -0.204289 0.551952 1.735403 +v 0.975558 0.551952 1.735191 +v -0.833710 -5.387648 1.696011 +v -1.030457 0.551952 -0.310018 +v 0.975558 0.472360 -0.270626 +v 0.975558 -5.270015 1.577835 +v -1.030457 -5.348437 -0.428194 +v -1.069849 0.551952 1.735403 +v 1.093733 -3.617297 -0.349410 +v 1.014950 -5.348437 -0.270626 +v -1.030457 -3.774727 1.696011 +v 0.936166 -5.270015 1.696011 +v -1.069849 -4.482282 -0.388802 +v -0.283072 -4.600500 -0.428194 +v 1.014950 0.237093 1.499263 +v 0.542884 -5.426859 0.240624 +v -0.951673 -5.387648 1.656619 +v -1.030457 -2.045342 1.735403 +v 0.936166 0.551952 -0.270626 +v 1.093733 -2.712516 0.004695 +v -1.069849 -2.241398 -0.310018 +v 1.014950 -0.825117 -0.310018 +v -1.030457 -5.348437 0.240624 +v -0.518999 0.551952 -0.310018 +v 0.896986 -5.308640 1.617227 +v 0.975558 -4.836352 1.696011 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154 143 173 +f 142 154 173 +f 161 155 174 +f 155 167 174 +f 167 161 174 +f 147 157 175 +f 161 147 175 +f 159 161 175 +f 157 163 175 +f 163 159 175 +f 145 152 176 +f 153 145 176 +f 152 156 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf new file mode 100644 index 000000000..e4736f7d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj new file mode 100644 index 000000000..2ab9ad6f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj @@ -0,0 +1,279 @@ +o convex_0 +v 0.627310 -0.932166 -1.110251 +v -0.467512 -3.195065 -0.452670 +v -0.431039 -3.195065 -0.452670 +v -1.051500 -0.968496 3.050809 +v 0.992251 -3.121739 2.977745 +v -1.051500 -1.151035 -3.044954 +v 1.028932 -3.012305 -3.008120 +v -1.015027 -3.121961 2.940307 +v 0.919304 -1.041600 2.977745 +v -1.088181 -3.085187 -3.118019 +v 0.955778 -1.041600 -3.008120 +v 0.992251 -0.931944 -0.161619 +v -0.978554 -0.932166 -1.000352 +v 0.444736 -3.158513 -0.927288 +v 1.028932 -1.297243 -1.365675 +v 0.919304 -0.932166 1.116107 +v -1.051500 -3.121961 -2.971889 +v 1.028932 -3.085409 0.166266 +v -0.029625 -3.195065 0.787014 +v 0.955778 -1.333573 2.977745 +v -1.051500 -1.443007 3.050809 +v -0.394565 -0.968718 3.050809 +v 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/dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj new file mode 100644 index 000000000..2daf49595 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj @@ -0,0 +1,786 @@ +o convex_0 +v -1.054380 -2.294513 -0.062464 +v 1.002895 -1.962616 0.169582 +v 0.903213 -1.962616 0.733693 +v 0.040511 -3.721255 -0.029458 +v 0.040511 -1.962616 -1.323212 +v -0.821990 -1.962616 0.932732 +v -0.058768 -3.455634 0.766699 +v 0.770505 -3.455634 -0.095721 +v -0.788763 -3.488858 -0.062464 +v -0.025742 -3.455634 -0.858621 +v -0.888243 -1.962616 -0.991397 +v 0.869986 -2.029065 -0.991397 +v 0.073738 -1.995841 1.231291 +v 0.737278 -2.759134 0.733443 +v -0.788763 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b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj new file mode 100644 index 000000000..8e1e5dd16 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj @@ -0,0 +1,1017 @@ +o convex_0 +v 1.337907 0.576696 0.462052 +v 1.066425 -0.720456 -0.201392 +v 1.096653 -0.720456 -0.201392 +v 1.066425 0.727770 -0.503013 +v 1.428413 0.003732 -0.774687 +v 1.428413 -0.478859 0.522407 +v 1.066425 -0.478859 0.582762 +v 1.428413 0.667371 -0.382457 +v 1.066425 0.546572 0.492306 +v 1.428413 0.124079 0.794234 +v 1.428413 -0.508984 -0.533267 +v 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diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf new file mode 100644 index 000000000..920bac32e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj new file mode 100644 index 000000000..999861b34 --- /dev/null +++ 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537 545 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf new file mode 100644 index 000000000..977864b50 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj new file mode 100644 index 000000000..868ea55e3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj @@ -0,0 +1,492 @@ +o convex_0 +v 0.901863 -3.257577 1.012292 +v -0.956308 -2.971475 -1.060324 +v -0.956308 -1.399744 -1.060324 +v 1.044799 -1.399552 -0.952999 +v -1.063562 -1.399744 0.940673 +v -1.063562 -3.364745 0.940673 +v 0.937544 -3.329150 -0.988499 +v 0.973436 -1.399552 1.048204 +v 1.080690 -3.221790 1.048204 +v -0.920416 -3.257385 -1.024411 +v -0.813161 -3.364745 0.976585 +v -0.991989 -1.399744 -0.988705 +v -0.491608 -1.399744 -1.060324 +v 0.544417 -1.506720 1.048204 +v -0.956308 -3.293171 -0.774261 +v 1.009117 -1.578293 1.048204 +v 0.973436 -2.900094 -0.988499 +v -1.063562 -1.399744 0.440372 +v 0.544417 -3.257577 1.048204 +v -0.348671 -3.364745 0.261840 +v 1.044799 -1.721248 -0.952999 +v 1.044799 -1.399552 -0.416785 +v -1.063562 -3.364745 0.833760 +v 0.115819 -3.293171 -1.024411 +v -0.670225 -1.542314 0.976585 +v 1.044799 -3.257577 0.440372 +v -0.956308 -3.186003 -1.024411 +v 1.080690 -3.114622 1.048204 +v -0.991989 -3.364745 0.547697 +v -0.706117 -3.364745 0.940673 +v 0.973436 -2.649972 -0.988499 +v 0.866181 -3.329150 -0.774261 +f 30 20 32 +f 5 6 11 +f 3 2 12 +f 4 3 12 +f 2 3 13 +f 3 4 13 +f 8 5 14 +f 9 8 14 +f 10 7 15 +f 8 9 16 +f 7 13 17 +f 6 5 18 +f 8 4 18 +f 5 8 18 +f 4 12 18 +f 1 9 19 +f 11 1 19 +f 9 14 19 +f 14 11 19 +f 11 6 20 +f 4 9 21 +f 17 4 21 +f 4 8 22 +f 8 16 22 +f 6 18 23 +f 18 12 23 +f 20 6 23 +f 10 2 24 +f 7 10 24 +f 2 13 24 +f 13 7 24 +f 5 11 25 +f 14 5 25 +f 11 14 25 +f 1 7 26 +f 9 1 26 +f 7 17 26 +f 21 9 26 +f 17 21 26 +f 2 10 27 +f 12 2 27 +f 10 15 27 +f 23 12 27 +f 15 23 27 +f 9 4 28 +f 16 9 28 +f 4 22 28 +f 22 16 28 +f 15 7 29 +f 7 20 29 +f 23 15 29 +f 20 23 29 +f 1 11 30 +f 11 20 30 +f 13 4 31 +f 4 17 31 +f 17 13 31 +f 7 1 32 +f 20 7 32 +f 1 30 32 +o convex_1 +v -0.170093 0.816382 2.226490 +v -0.956217 -1.399360 -1.059698 +v -0.491670 -1.399360 -1.059698 +v 0.687516 0.744809 -3.097377 +v 1.116428 -1.399360 3.085257 +v 1.080579 -1.327786 -2.953341 +v -1.027702 0.780595 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2.174263 0.011809 +v 3.081862 1.138211 0.297620 +v 1.223854 1.102508 0.547869 +v 3.117551 1.209616 0.190456 +v 3.081862 1.209616 0.619351 +v 3.117551 1.495463 -0.559813 +v 2.903020 1.138211 0.619351 +v 1.080900 1.173914 -0.274002 +f 91 98 108 +f 80 81 86 +f 85 82 87 +f 82 85 88 +f 81 80 89 +f 85 87 89 +f 85 83 91 +f 80 86 92 +f 83 85 94 +f 89 80 94 +f 85 89 94 +f 80 92 94 +f 92 86 95 +f 93 90 96 +f 95 86 96 +f 86 81 97 +f 81 89 97 +f 96 86 97 +f 93 96 97 +f 79 90 99 +f 93 87 99 +f 90 93 99 +f 90 79 100 +f 96 90 100 +f 95 96 100 +f 89 87 101 +f 87 93 101 +f 97 89 101 +f 93 97 101 +f 83 84 102 +f 91 83 102 +f 84 98 102 +f 98 91 102 +f 82 88 103 +f 98 84 103 +f 88 98 103 +f 84 83 104 +f 95 100 104 +f 104 100 105 +f 79 99 105 +f 99 87 105 +f 100 79 105 +f 84 104 105 +f 83 94 106 +f 94 92 106 +f 92 95 106 +f 104 83 106 +f 95 104 106 +f 87 82 107 +f 82 103 107 +f 103 84 107 +f 84 105 107 +f 105 87 107 +f 88 85 108 +f 85 91 108 +f 98 88 108 +o convex_3 +v -2.635940 1.173914 0.440543 +v -1.099300 2.245781 0.476246 +v -1.099300 1.781197 0.511949 +v -1.170803 1.316837 -0.488401 +v -3.028916 2.209966 -0.595621 +v -3.100615 2.138561 0.511949 +v -2.957608 1.245431 -0.559806 +v -1.099300 2.138561 -0.488401 +v -1.099300 1.102508 0.547764 +v -3.028916 1.245431 0.476246 +v -1.099300 1.245431 -0.416883 +v -1.314006 2.174263 -0.524104 +v -2.135611 2.209966 0.511949 +v -1.206653 1.102508 0.333323 +v -2.492933 1.245431 -0.559806 +v -3.064569 2.209966 -0.309663 +v -3.064569 1.566980 0.511949 +v -1.099300 2.245781 0.297620 +v -1.599629 1.102508 0.476246 +v -2.778947 2.209966 -0.595621 +v -2.993262 1.209616 0.047477 +v -2.993262 1.459760 -0.524104 +v -3.100615 2.174263 0.226103 +v -1.242307 1.245431 -0.488401 +v -1.420968 2.245781 0.476246 +v -1.314006 1.102508 0.547764 +v -2.921562 1.817012 -0.595621 +f 128 120 135 +f 110 111 116 +f 116 111 117 +f 112 116 119 +f 116 117 119 +f 116 112 120 +f 111 110 121 +f 117 111 121 +f 119 117 122 +f 120 112 123 +f 122 115 123 +f 110 116 126 +f 116 120 126 +f 115 122 127 +f 122 117 127 +f 113 126 128 +f 126 120 128 +f 109 118 129 +f 118 115 129 +f 127 109 129 +f 115 127 129 +f 113 115 130 +f 115 118 130 +f 124 113 130 +f 118 125 130 +f 130 125 131 +f 114 121 131 +f 121 124 131 +f 125 114 131 +f 124 130 131 +f 112 119 132 +f 119 122 132 +f 122 123 132 +f 123 112 132 +f 121 110 133 +f 113 124 133 +f 124 121 133 +f 110 126 133 +f 126 113 133 +f 118 109 134 +f 121 114 134 +f 117 121 134 +f 114 125 134 +f 125 118 134 +f 109 127 134 +f 127 117 134 +f 115 113 135 +f 123 115 135 +f 120 123 135 +f 113 128 135 +o convex_4 +v 1.044841 2.388676 0.654809 +v 0.615927 0.995239 -1.131800 +v -0.991965 1.531221 -1.095908 +v -0.956115 0.816382 0.976365 +v -1.099300 2.745998 1.012467 +v 0.973355 2.745998 -0.952971 +v 1.044841 0.816382 0.940683 +v -1.027601 2.638840 -1.095908 +v -1.063450 0.816382 -1.060016 +v 0.937719 2.817697 0.976575 +v 0.973355 0.816578 -1.095908 +v 1.080690 2.674494 -0.952971 +v -1.099300 1.066742 0.547764 +v 1.080690 1.209749 -0.523950 +v -1.099300 2.138512 -0.488268 +v -0.991965 1.245403 1.012467 +v 0.365621 2.745998 1.012467 +v 1.080690 2.067008 0.619127 +v -1.099300 2.745998 0.654809 +v 1.009205 1.424064 0.976575 +v -0.670386 2.638840 -1.095908 +v 0.901869 0.852232 -1.131800 +v 0.401470 0.816578 0.976575 +v 1.080690 2.745998 -0.702778 +v -1.063450 2.674494 -0.631415 +v 0.687413 2.817697 0.940893 +v -1.063450 2.174165 -1.095908 +v 1.080690 1.102396 0.512082 +v -1.099300 1.281057 -0.452586 +v -1.063450 0.816382 -0.309649 +v 0.901869 2.745998 -0.952971 +v -0.384444 0.816382 -1.095908 +v 1.044841 1.852498 -1.024334 +v -0.455930 2.781847 0.940683 +f 161 166 169 +f 142 139 144 +f 142 146 149 +f 148 140 150 +f 148 139 151 +f 140 148 151 +f 145 140 152 +f 140 151 152 +f 136 145 153 +f 149 147 153 +f 150 140 154 +f 145 152 155 +f 152 151 155 +f 153 145 155 +f 142 153 155 +f 137 143 156 +f 143 141 156 +f 141 147 156 +f 156 147 157 +f 137 156 157 +f 139 142 158 +f 151 139 158 +f 142 155 158 +f 155 151 158 +f 141 145 159 +f 145 136 159 +f 147 141 159 +f 136 153 159 +f 153 147 159 +f 150 154 160 +f 140 145 161 +f 145 141 161 +f 137 138 162 +f 143 137 162 +f 138 144 162 +f 144 150 162 +f 160 143 162 +f 150 160 162 +f 142 149 163 +f 153 142 163 +f 149 153 163 +f 144 148 164 +f 150 144 164 +f 148 150 164 +f 144 139 165 +f 139 148 165 +f 148 144 165 +f 141 143 166 +f 143 160 166 +f 160 154 166 +f 161 141 166 +f 138 137 167 +f 144 138 167 +f 142 144 167 +f 146 142 167 +f 137 157 167 +f 157 146 167 +f 149 146 168 +f 147 149 168 +f 157 147 168 +f 146 157 168 +f 154 140 169 +f 140 161 169 +f 166 154 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf new file mode 100644 index 000000000..d008147b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj new file mode 100644 index 000000000..352133c9e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj @@ -0,0 +1,1359 @@ +o convex_0 +v 0.361126 -3.077169 -0.036869 +v -0.322259 -3.225754 -0.096183 +v -0.322259 -3.225754 -0.066494 +v 0.004583 -4.800150 -0.007244 +v -0.054818 -3.077169 0.289903 +v 0.063918 -3.077169 -0.363641 +v -0.262791 -4.473297 -0.096183 +v 0.242189 -4.502980 0.022445 +v 0.063918 -4.502980 -0.215132 +v 0.242189 -3.107021 0.289903 +v -0.054818 -4.532663 0.171083 +v -0.233090 -3.077169 -0.333952 +v -0.262791 -3.077169 0.200708 +v 0.271890 -3.107021 -0.244821 +v -0.203389 -3.938660 -0.274446 +v -0.233090 -4.473297 0.022445 +v 0.301591 -3.077169 0.260214 +v 0.153020 -4.384247 0.141394 +v -0.025118 -4.592198 -0.215132 +v 0.212489 -4.502980 -0.066494 +v -0.025118 -3.255437 -0.363641 +v 0.361126 -3.107021 0.081887 +v -0.233090 -4.592198 -0.096183 +v -0.233090 -3.314973 -0.333952 +v -0.322259 -3.077169 -0.125937 +v -0.203389 -4.265345 0.111640 +v 0.004583 -4.532663 0.171083 +v -0.025118 -3.255437 0.289903 +v 0.004583 -4.800150 -0.066494 +f 23 19 29 +f 5 1 6 +f 3 2 7 +f 5 6 12 +f 5 12 13 +f 6 1 14 +f 9 6 14 +f 3 7 16 +f 4 11 16 +f 13 3 16 +f 1 5 17 +f 5 10 17 +f 17 10 18 +f 8 17 18 +f 1 8 20 +f 14 1 20 +f 9 14 20 +f 6 9 21 +f 12 6 21 +f 9 19 21 +f 19 15 21 +f 8 1 22 +f 1 17 22 +f 17 8 22 +f 7 15 23 +f 16 7 23 +f 4 16 23 +f 15 19 23 +f 15 7 24 +f 12 21 24 +f 21 15 24 +f 2 3 25 +f 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-0.827277 -1.294256 -0.957919 +v 0.064020 -2.779818 -0.719923 +v -0.916449 -2.155962 0.765057 +v 0.598840 -1.353762 1.003053 +v -0.054664 -2.839150 0.586917 +v 1.014764 -1.294431 0.675885 +v 0.539179 -2.839150 0.527469 +v 0.776972 -1.294431 -0.957715 +v -1.065069 -1.294256 0.170984 +v -0.470801 -2.809309 -0.571506 +v -0.916449 -2.482461 -0.215021 +v 0.064020 -3.077000 -0.393162 +v 0.687800 -2.809484 -0.007157 +v -0.292457 -2.423130 -0.957715 +v -0.648933 -1.443109 0.913881 +v 0.539179 -2.690646 -0.601027 +v 0.004784 -2.304466 -0.987439 +v 0.866144 -2.215120 0.913677 +v 1.103936 -1.324097 0.081812 +v -0.322181 -3.077000 -0.125849 +v -0.857001 -2.304466 0.735537 +v -0.708381 -1.858955 -0.957919 +v 0.064020 -1.383428 1.032777 +v 0.925592 -2.512302 0.111536 +v -0.114112 -2.839150 -0.660475 +v 0.123468 -2.482461 0.913881 +v -0.946173 -2.393289 -0.036677 +v 0.806696 -2.155788 -0.868747 +v -1.065069 -1.324271 -0.244542 +v -1.005621 -1.353937 0.616641 +v 0.390772 -3.077000 -0.036474 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj new file mode 100644 index 000000000..e7e8f4ed3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj @@ -0,0 +1,456 @@ +o convex_0 +v -2.154932 0.238568 -1.960059 +v -3.061761 -0.249696 -2.169338 +v -3.061761 -0.214870 -2.169338 +v -3.061761 -0.319523 -1.576529 +v -1.108770 -0.354408 -2.169338 +v -1.108770 0.203684 -1.471787 +v -2.957262 0.203684 -1.611420 +v -1.108770 -0.214870 -1.541638 +v -1.108770 0.168800 -2.099555 +v -2.922234 0.203684 -2.099555 +v -3.096595 -0.319523 -1.820563 +v -1.841434 -0.354408 -1.890277 +v -2.294459 -0.110159 -2.169338 +v -1.248492 -0.214870 -1.506747 +v -2.922234 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b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf new file mode 100644 index 000000000..cffcbea8a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj new file mode 100644 index 000000000..6038fecf5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj @@ -0,0 +1,681 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf new file mode 100644 index 000000000..c7b4c6785 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj new file mode 100644 index 000000000..62e4386cb --- /dev/null +++ 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160 +f 123 141 161 +f 141 134 161 +f 154 123 161 +f 133 154 161 +f 155 133 161 +f 134 155 161 +f 134 131 162 +f 135 134 162 +f 131 138 162 +f 138 135 162 +f 139 133 163 +f 150 139 163 +f 133 155 163 +f 155 134 163 +f 134 159 163 +f 159 150 163 +f 130 142 164 +f 153 130 164 +f 142 157 164 +f 157 153 164 +f 149 128 165 +f 136 149 165 +f 128 154 165 +o convex_5 +v 0.246990 1.553296 2.519903 +v -0.284445 1.021860 2.486639 +v 0.213814 1.121652 2.088106 +v -0.284445 1.719401 2.088106 +v -0.217969 1.652873 2.586382 +v 0.246990 1.752665 2.088106 +v 0.180576 1.121652 2.586382 +v -0.217969 1.154773 2.088106 +v 0.346704 1.121652 2.154585 +v 0.280228 1.752665 2.453473 +v -0.284445 1.021860 2.586382 +v 0.346704 1.254493 2.088106 +f 175 174 177 +f 168 169 171 +f 166 170 172 +f 168 167 173 +f 169 168 173 +f 167 169 173 +f 167 168 174 +f 166 172 174 +f 170 166 175 +f 169 170 175 +f 171 169 175 +f 166 174 175 +f 169 167 176 +f 170 169 176 +f 172 170 176 +f 167 174 176 +f 174 172 176 +f 168 171 177 +f 174 168 177 +f 171 175 177 +o convex_6 +v -0.217969 1.121516 0.692986 +v 0.346704 1.719446 0.925463 +v 0.346704 1.254493 0.925463 +v 0.346704 1.254493 0.626497 +v -0.317664 1.719446 0.925463 +v -0.251201 1.686202 0.626497 +v -0.317664 1.121516 0.925463 +v 0.213778 1.619713 0.626497 +v -0.217969 1.154760 0.626497 +v 0.280241 1.188004 0.925463 +f 180 184 187 +f 179 180 181 +f 180 179 182 +f 182 179 183 +f 180 182 184 +f 182 183 184 +f 179 181 185 +f 183 179 185 +f 181 183 185 +f 181 178 186 +f 183 181 186 +f 178 184 186 +f 184 183 186 +f 181 180 187 +f 178 181 187 +f 184 178 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf new file mode 100644 index 000000000..b5087962b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj new file mode 100644 index 000000000..8c846a75e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.988787 0.008292 0.218191 +v -1.016716 -0.467588 -0.007088 +v -1.016716 -0.467588 0.017727 +v -0.515239 2.991190 -0.458229 +v 0.011190 -2.297759 -0.884554 +v -0.013763 -2.071746 0.895193 +v 0.011190 2.288700 0.945406 +v 0.763203 2.690634 -0.784322 +v 0.938680 -2.272712 -0.057301 +v -0.665561 -3.024698 0.042737 +v 0.738049 2.313746 0.744748 +v -0.740823 -0.017351 -0.759312 +v -0.765977 0.208066 0.744748 +v 0.713096 -2.297759 0.669526 +v -0.891346 2.239204 0.067746 +v -0.038917 2.264250 -0.934767 +v 0.713096 -2.272712 -0.658886 +v 0.036143 2.991190 0.669526 +v -0.740823 -2.247666 -0.684090 +v 0.437405 -3.049149 -0.483238 +v -0.715669 -2.297759 0.644322 +v 0.462358 -3.024102 0.519081 +v 0.763203 3.016832 0.168172 +v -0.665561 2.239204 0.694729 +v 0.086250 -0.016754 0.995425 +v -0.690716 2.239204 -0.658886 +v 0.011190 -0.292264 -0.984979 +v 0.988787 1.837866 0.017727 +v -0.966407 -2.247070 -0.007088 +v -0.540192 -3.024698 -0.508442 +v 0.788357 -0.267218 0.769758 +v 1.039095 -0.016754 -0.032098 +v -0.013763 -3.024698 0.644516 +v -0.490085 2.966143 0.418655 +v -0.113978 2.991190 -0.734109 +v 0.763203 -0.091297 -0.759118 +v 0.662988 -3.024698 -0.007088 +v -1.016716 0.032742 -0.057301 +v -0.038917 -0.041801 0.995619 +v 0.963834 2.314343 0.092950 +v 0.537619 2.990593 0.569294 +v -0.465132 -3.024698 0.494071 +v 0.938680 -2.272712 0.067940 +v -0.013763 -2.999652 -0.658886 +v -0.790930 0.008292 -0.709099 +v 0.011190 -3.075387 0.343627 +v 0.788357 0.835417 0.769952 +v -0.740823 -1.419945 0.694535 +v 0.211619 3.016832 -0.583664 +v -0.063870 -0.017351 -0.984979 +v -0.640608 2.941097 0.042737 +v 0.111405 2.263654 0.945406 +v -1.016716 0.133524 0.042737 +v 0.161512 0.534265 -0.959582 +v -0.089025 -2.272712 -0.884554 +v 0.061297 -2.272712 0.870183 +v -0.891346 2.214157 -0.032098 +v 0.813310 -0.016754 -0.658886 +v 0.011190 -2.071746 -0.909757 +v 0.537619 -3.049149 0.393840 +v 0.713096 2.614899 -0.809331 +v -0.966407 -2.197574 -0.057301 +v 0.813310 -0.141390 0.744748 +v -0.113978 -3.075387 -0.282968 +f 20 46 64 +f 13 7 24 +f 15 13 24 +f 7 18 24 +f 16 12 26 +f 3 2 29 +f 10 21 29 +f 10 29 30 +f 8 28 32 +f 18 4 34 +f 24 18 34 +f 26 4 35 +f 16 26 35 +f 17 9 37 +f 20 17 37 +f 2 3 38 +f 7 13 39 +f 25 7 39 +f 6 25 39 +f 8 23 40 +f 23 11 40 +f 28 8 40 +f 1 32 40 +f 32 28 40 +f 11 23 41 +f 23 18 41 +f 21 10 42 +f 33 21 42 +f 32 1 43 +f 9 32 43 +f 37 9 43 +f 5 17 44 +f 17 20 44 +f 20 30 44 +f 12 19 45 +f 26 12 45 +f 38 26 45 +f 42 10 46 +f 33 42 46 +f 25 31 47 +f 1 40 47 +f 40 11 47 +f 13 3 48 +f 21 6 48 +f 3 29 48 +f 29 21 48 +f 39 13 48 +f 6 39 48 +f 4 18 49 +f 23 8 49 +f 18 23 49 +f 8 35 49 +f 35 4 49 +f 12 16 50 +f 19 12 50 +f 15 24 51 +f 34 4 51 +f 24 34 51 +f 18 7 52 +f 7 25 52 +f 11 41 52 +f 41 18 52 +f 47 11 52 +f 25 47 52 +f 3 13 53 +f 13 15 53 +f 38 3 53 +f 36 27 54 +f 50 16 54 +f 27 50 54 +f 30 19 55 +f 5 44 55 +f 44 30 55 +f 19 50 55 +f 6 21 56 +f 22 14 56 +f 25 6 56 +f 14 31 56 +f 31 25 56 +f 21 33 56 +f 33 22 56 +f 4 26 57 +f 26 38 57 +f 51 4 57 +f 15 51 57 +f 53 15 57 +f 38 53 57 +f 9 17 58 +f 32 9 58 +f 8 32 58 +f 17 36 58 +f 36 8 58 +f 17 5 59 +f 36 17 59 +f 27 36 59 +f 50 27 59 +f 5 55 59 +f 55 50 59 +f 14 22 60 +f 22 33 60 +f 20 37 60 +f 43 14 60 +f 37 43 60 +f 46 20 60 +f 33 46 60 +f 35 8 61 +f 16 35 61 +f 8 36 61 +f 54 16 61 +f 36 54 61 +f 29 2 62 +f 19 30 62 +f 30 29 62 +f 2 38 62 +f 45 19 62 +f 38 45 62 +f 31 14 63 +f 43 1 63 +f 14 43 63 +f 1 47 63 +f 47 31 63 +f 10 30 64 +f 30 20 64 +f 46 10 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf new file mode 100644 index 000000000..009755b37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj new file mode 100644 index 000000000..aa32ec2e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj @@ -0,0 +1,453 @@ +o convex_0 +v -1.908417 0.321429 -0.584712 +v -4.279701 -0.191270 -0.809140 +v -4.279701 -0.191270 -0.712868 +v -1.876185 -0.319508 -0.648893 +v -4.279701 0.289370 -0.168222 +v -2.196858 -0.287449 -0.136200 +v -1.876185 0.321429 -0.104109 +v -4.119011 0.225188 -0.680915 +v -4.183475 -0.191270 -0.264356 +v -2.100632 0.321429 -0.712868 +v -2.132629 -0.255327 -0.777049 +v -1.876185 -0.319508 -0.232334 +v -2.549292 -0.287449 -0.136200 +v -3.414379 0.321429 -0.424603 +v -1.876185 0.129073 -0.712868 +v -2.164626 -0.127152 -0.104109 +v -2.677749 0.225188 -0.744959 +v -2.164626 -0.319508 -0.168222 +v -4.279701 0.193192 -0.168222 +v -4.247469 0.064954 -0.744959 +v -2.164626 -0.095155 -0.777049 +v -4.279701 0.289370 -0.328538 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+f 137 128 156 +f 128 145 156 +f 145 147 156 +f 149 137 156 +f 147 149 156 +f 140 132 157 +f 145 140 157 +f 132 155 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf new file mode 100644 index 000000000..b542e891a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj new file mode 100644 index 000000000..628237ebc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj @@ -0,0 +1,594 @@ +o convex_0 +v -0.700904 1.047234 1.564818 +v 0.460829 -1.131243 -1.085136 +v 0.932730 -1.131243 -1.085136 +v -0.664440 1.047234 -3.045716 +v 1.005445 1.047234 2.980422 +v -0.954873 -1.131243 3.016674 +v 1.041696 0.974305 -3.081967 +v -1.027588 -0.913097 -3.045716 +v 1.041696 -1.058528 3.052925 +v -1.100303 0.974518 2.871065 +v 1.041696 -1.022063 -3.045716 +v -1.027588 1.047234 -3.009465 +v -1.063839 -1.131243 0.293009 +v 1.078160 1.047234 -1.375145 +v -0.918622 -0.767879 3.089780 +v -0.591938 -0.985599 -3.082571 +v -1.100303 -0.477444 1.601069 +v -0.991337 -1.131243 -0.939528 +v 0.969194 -1.131243 1.237350 +v -1.100303 0.865552 2.943567 +v 1.041696 0.248217 3.016674 +v -1.027588 -0.658913 -3.081967 +v 0.787513 1.010769 -3.081967 +v -0.809656 -1.131243 3.089780 +v -0.954873 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b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf new file mode 100644 index 000000000..541172683 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj new file mode 100644 index 000000000..76e68ac92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj @@ -0,0 +1,792 @@ +o convex_0 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diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj new file mode 100644 index 000000000..cc1bf812a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj @@ -0,0 +1,477 @@ +o convex_0 +v 1.098282 0.517935 1.055077 +v -1.076567 0.977178 -1.027861 +v -1.076567 0.977178 -0.966574 +v -0.953944 -4.045569 0.809927 +v 1.036971 -4.076306 -0.966364 +v 1.098282 1.988477 -1.058505 +v -0.984600 1.957741 1.055077 +v 1.006315 -3.983493 0.993790 +v -0.984600 -3.952756 -0.997008 +v 1.098282 1.927004 1.085721 +v -1.076567 2.080688 -1.027861 +v -1.045911 -4.014832 0.963146 +v 0.516250 2.080085 0.503489 +v 0.975660 -3.034270 1.024434 +v 1.067627 0.578805 -1.058505 +v -1.076567 2.080688 -0.629492 +v -1.015256 -3.983493 -0.690570 +v 0.209907 -4.045569 -0.997008 +v -1.015256 1.987875 0.809927 +v 0.087284 2.049951 -1.058295 +v -1.045911 -1.226828 -1.027861 +v 0.975660 -4.014832 0.993790 +v -0.984600 1.559368 1.055077 +v -0.433224 2.080085 0.472845 +v 0.454939 2.080085 -0.537561 +v 1.067627 -1.472119 -1.027652 +v -0.004470 -3.952756 0.993580 +v 1.036971 -4.076306 -0.659926 +v 0.975660 1.467158 1.085721 +v -1.045911 -2.942662 0.963146 +v -1.045911 -4.014832 0.564777 +v 1.067627 2.018611 -1.058505 +v -1.015256 -2.635897 0.993580 +v 1.036971 -3.554986 -0.997218 +v 0.332316 -4.076306 -0.323054 +v 1.098282 1.620842 -1.058505 +v -1.015256 -1.472119 -1.027861 +v -1.015256 0.793360 1.024224 +v 1.006315 -4.044967 0.350480 +v 1.098282 1.957741 0.656708 +v 0.577349 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2.953815 +v 0.363119 2.785327 2.678227 +v -0.341413 2.938426 3.015216 +v 0.179262 2.693336 0.595852 +v -0.341413 2.662692 2.739629 +v 0.271191 3.244684 1.514956 +f 95 103 112 +f 91 90 97 +f 93 94 97 +f 93 95 98 +f 91 97 99 +f 97 92 99 +f 99 92 100 +f 89 98 100 +f 93 92 101 +f 94 93 101 +f 98 95 102 +f 97 90 103 +f 93 97 103 +f 92 93 104 +f 98 89 104 +f 93 98 104 +f 89 100 104 +f 99 100 105 +f 100 96 105 +f 96 102 105 +f 95 93 106 +f 103 95 106 +f 93 103 106 +f 91 99 107 +f 105 91 107 +f 99 105 107 +f 90 91 108 +f 95 90 108 +f 102 95 108 +f 91 105 108 +f 105 102 108 +f 92 97 109 +f 97 94 109 +f 101 92 109 +f 94 101 109 +f 100 98 110 +f 96 100 110 +f 102 96 110 +f 98 102 110 +f 100 92 111 +f 92 104 111 +f 104 100 111 +f 90 95 112 +f 103 90 112 +o convex_4 +v -0.341412 2.969085 -0.782849 +v 0.240520 2.632060 -1.089227 +v 0.271224 2.632060 -1.089227 +v -0.218837 3.275214 -2.957665 +v -0.341412 2.693437 -3.018941 +v 0.209876 3.213974 -0.629660 +v 0.209876 3.122115 -2.988303 +v -0.310769 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133 +f 129 116 133 +f 120 129 133 +f 124 122 134 +f 122 128 134 +f 128 124 134 +f 123 131 135 +f 131 126 135 +f 123 116 136 +f 116 129 136 +f 129 125 136 +f 125 131 136 +f 131 123 136 +f 124 115 137 +f 115 126 137 +f 126 124 137 +f 119 123 138 +f 126 115 138 +f 115 130 138 +f 130 119 138 +f 123 135 138 +o convex_5 +v -0.249439 2.754692 -0.629660 +v 0.516278 3.336520 0.564909 +v 0.485490 3.336520 0.564909 +v 0.516278 2.601428 0.534325 +v -0.463934 2.938465 0.473037 +v 0.454907 3.336520 -0.568252 +v -0.525203 3.336520 -0.537549 +v 0.454907 2.601428 -0.568252 +v -0.494518 2.601428 -0.261934 +v -0.341395 3.275214 0.595612 +v -0.433248 2.601428 0.473037 +v -0.463934 3.336520 0.473037 +v -0.494518 2.601428 -0.537549 +v -0.188169 2.693458 0.595612 +v -0.126900 3.336520 -0.629660 +v 0.271098 2.632153 -0.629660 +v 0.485490 3.336520 -0.506965 +v -0.525203 3.275214 -0.108775 +v 0.516278 2.601428 0.197303 +v 0.209828 2.785273 0.595612 +v -0.341395 2.938465 -0.629660 +v 0.240412 3.183328 -0.629660 +v -0.463934 2.601428 0.381166 +v 0.301682 3.244561 0.595612 +v 0.516278 3.336520 0.258590 +v -0.525203 3.060788 -0.537549 +v -0.310709 3.305867 -0.629660 +f 153 159 165 +f 141 140 144 +f 141 144 145 +f 146 142 147 +f 140 141 148 +f 147 142 149 +f 148 143 149 +f 141 145 150 +f 148 141 150 +f 143 148 150 +f 146 147 151 +f 149 142 152 +f 148 149 152 +f 145 144 153 +f 144 146 154 +f 151 139 154 +f 146 151 154 +f 139 153 154 +f 144 140 155 +f 146 144 155 +f 143 150 156 +f 150 145 156 +f 140 142 157 +f 142 146 157 +f 146 155 157 +f 142 140 158 +f 152 142 158 +f 148 152 158 +f 139 151 159 +f 153 139 159 +f 153 144 160 +f 144 154 160 +f 154 153 160 +f 147 149 161 +f 149 143 161 +f 143 156 161 +f 156 147 161 +f 140 148 162 +f 158 140 162 +f 148 158 162 +f 155 140 163 +f 140 157 163 +f 157 155 163 +f 151 147 164 +f 147 156 164 +f 156 145 164 +f 159 151 164 +f 145 159 164 +f 145 153 165 +f 159 145 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf new file mode 100644 index 000000000..a0a5592d5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj new file mode 100644 index 000000000..f58fa71a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj @@ -0,0 +1,534 @@ +o convex_0 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a/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf new file mode 100644 index 000000000..768c466a7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj new file mode 100644 index 000000000..044fc2b2d --- /dev/null +++ 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1.952266 +v 2.983347 0.876830 1.555809 +v 2.550692 1.273431 1.627909 +f 170 189 191 +f 175 173 177 +f 173 175 178 +f 173 171 180 +f 171 172 181 +f 176 174 183 +f 180 176 183 +f 174 175 184 +f 175 177 184 +f 183 174 184 +f 175 174 185 +f 174 176 185 +f 176 181 185 +f 181 179 185 +f 182 175 185 +f 179 182 185 +f 172 171 186 +f 171 173 186 +f 173 178 186 +f 181 172 186 +f 178 175 187 +f 175 182 187 +f 182 170 187 +f 186 178 187 +f 177 173 188 +f 173 180 188 +f 180 183 188 +f 183 184 188 +f 184 177 188 +f 179 181 189 +f 170 182 189 +f 182 179 189 +f 180 171 190 +f 176 180 190 +f 171 181 190 +f 181 176 190 +f 181 186 191 +f 187 170 191 +f 186 187 191 +f 189 181 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf new file mode 100644 index 000000000..0207ec3b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj new file mode 100644 index 000000000..dee7e13bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj @@ -0,0 +1,582 @@ +o convex_0 +v -3.895205 -1.269553 -0.003456 +v -1.938493 -0.291322 0.485722 +v -1.938493 -0.291322 0.335176 +v -1.938493 -1.307260 -0.040997 +v -3.819933 -0.291322 -0.492634 +v -3.857473 -0.667639 0.485722 +v -1.938493 -1.307260 -0.454998 +v -1.938493 -1.269553 0.448085 +v -1.938493 -0.366628 -0.417362 +v -3.895205 -1.382566 0.448085 +v -3.857473 -1.269553 -0.454998 +v -3.819933 -0.366628 0.448085 +v -1.938493 -1.156754 0.485722 +v -3.330755 -0.291322 -0.492634 +v -3.857473 -0.404228 0.485722 +v -3.895205 -1.382566 0.259903 +v -3.819933 -0.291322 -0.229179 +v -3.556382 -1.382566 0.448085 +v -3.819933 -0.667639 -0.492634 +v -2.202235 -0.366628 -0.454998 +v -2.691413 -1.307260 -0.454998 +f 19 7 21 +f 3 2 4 +f 2 3 5 +f 3 4 7 +f 4 2 8 +f 3 7 9 +f 1 5 11 +f 2 6 13 +f 8 2 13 +f 6 10 13 +f 5 3 14 +f 3 9 14 +f 5 1 15 +f 6 2 15 +f 1 10 15 +f 10 6 15 +f 2 12 15 +f 10 1 16 +f 1 11 16 +f 2 5 17 +f 12 2 17 +f 5 15 17 +f 15 12 17 +f 7 4 18 +f 4 8 18 +f 8 13 18 +f 13 10 18 +f 10 16 18 +f 16 7 18 +f 11 5 19 +f 5 14 19 +f 14 7 19 +f 9 7 20 +f 7 14 20 +f 14 9 20 +f 7 16 21 +f 16 11 21 +f 11 19 21 +o convex_1 +v -1.863220 -0.892725 -0.943907 +v 0.018028 4.148715 1.087787 +v 0.018028 4.148715 -1.019280 +v 0.018028 -1.947002 1.012205 +v -1.863028 4.110291 1.049996 +v -1.900761 -1.871353 1.049996 +v 0.018028 -1.908577 -0.981698 +v -1.863028 4.186540 -1.057071 +v -1.825488 -1.909178 -1.019280 +v -1.938493 -0.892725 -0.454932 +v -0.358145 4.110891 -1.057071 +v -1.336309 4.148115 1.087787 +v -1.938493 -0.290537 0.485438 +v -0.245331 4.186540 0.636183 +v -1.825488 1.627095 -1.057071 +v -1.336309 -1.909178 -1.019280 +v -1.938493 -1.532736 0.748927 +v 0.018028 3.621577 1.087787 +v -1.863220 -1.909178 -0.605256 +v -1.863028 4.186540 -0.379559 +v -1.938493 -1.306390 -0.454932 +v -0.019512 -1.947002 0.335113 +v -1.863220 -1.909178 0.071415 +v -1.148031 4.186540 -1.057071 +v -1.712674 -1.870753 1.049996 +v -1.938493 -0.366186 -0.417140 +v -1.863028 4.148115 0.861880 +v -1.900761 0.348873 1.049996 +v -1.900761 -1.871353 0.372695 +v -1.863220 3.094438 -1.057071 +f 42 31 51 +f 24 23 25 +f 24 25 28 +f 24 28 32 +f 23 24 35 +f 33 23 35 +f 29 32 36 +f 36 32 37 +f 32 28 37 +f 30 36 37 +f 26 34 38 +f 34 31 38 +f 25 23 39 +f 23 33 39 +f 33 27 39 +f 29 34 41 +f 35 29 41 +f 22 30 42 +f 38 31 42 +f 30 40 42 +f 28 25 43 +f 37 28 43 +f 30 37 43 +f 40 30 43 +f 40 43 44 +f 25 27 44 +f 27 40 44 +f 43 25 44 +f 24 32 45 +f 32 29 45 +f 35 24 45 +f 29 35 45 +f 27 25 46 +f 25 39 46 +f 39 27 46 +f 29 31 47 +f 34 29 47 +f 31 34 47 +f 26 33 48 +f 34 26 48 +f 33 35 48 +f 41 34 48 +f 35 41 48 +f 27 33 49 +f 33 26 49 +f 26 38 49 +f 38 27 49 +f 27 38 50 +f 40 27 50 +f 38 42 50 +f 42 40 50 +f 30 22 51 +f 31 29 51 +f 29 36 51 +f 36 30 51 +f 22 42 51 +o convex_2 +v 0.958977 -5.935686 -0.266801 +v 1.147034 -3.941344 0.335206 +v 0.808519 -3.941344 0.335206 +v 0.958977 -3.941344 -0.342118 +v 1.335150 -5.860137 0.259888 +v 1.372867 -4.242564 -0.229209 +v 0.770802 -5.860137 0.259888 +v 1.335150 -5.747496 -0.342118 +v 1.372867 -3.941344 0.297547 +v 0.883718 -3.941344 -0.266801 +v 1.372867 -3.941344 -0.191484 +v 1.184692 -5.935686 -0.342118 +v 0.921318 -5.822655 -0.266801 +v 0.846060 -4.543590 0.335206 +v 1.372867 -5.069896 0.259888 +v 0.770802 -5.521434 0.184571 +v 0.770802 -4.694102 0.259888 +v 1.335150 -5.898009 0.222296 +v 0.921318 -4.167406 -0.342118 +v 0.808519 -5.898009 0.071795 +f 69 58 71 +f 54 53 55 +f 55 57 59 +f 55 53 60 +f 53 56 60 +f 54 55 61 +f 57 55 62 +f 55 60 62 +f 60 57 62 +f 55 59 63 +f 63 52 64 +f 53 54 65 +f 56 53 65 +f 54 58 65 +f 58 56 65 +f 59 57 66 +f 60 56 66 +f 57 60 66 +f 58 54 68 +f 54 61 68 +f 67 58 68 +f 61 67 68 +f 56 58 69 +f 52 63 69 +f 63 59 69 +f 66 56 69 +f 59 66 69 +f 61 55 70 +f 55 63 70 +f 64 61 70 +f 63 64 70 +f 64 52 71 +f 61 64 71 +f 58 67 71 +f 67 61 71 +f 52 69 71 +o convex_3 +v 1.786706 -1.983953 -1.094700 +v 0.921499 0.799457 1.087787 +v 2.200707 0.799457 1.049974 +v 2.200707 -3.828114 1.049974 +v 0.733173 -3.940880 -1.094700 +v 0.733173 0.799457 -1.019287 +v 0.733173 -3.790061 1.087787 +v 2.050161 0.799457 -1.019287 +v 2.050161 -3.940880 -1.056887 +v 0.733173 0.799457 1.087787 +v 2.162927 -1.796011 -0.605264 +v 1.109681 0.799457 -1.094700 +v 0.808446 -3.940880 0.335154 +v 2.200707 0.799457 0.447953 +v 2.200707 -3.865703 0.560752 +v 2.125434 0.536337 -0.755876 +v 2.050161 0.460696 -1.056887 +v 2.087798 -3.639707 -0.981687 +v 1.372849 -3.940880 0.297554 +v 1.636160 0.799457 -1.094700 +v 0.733173 0.460696 -1.056887 +v 0.959135 -3.790061 1.087787 +v 2.162927 -0.479946 -0.567878 +v 2.200707 -0.329592 0.297341 +v 2.087798 -3.940880 -0.906274 +v 2.200707 -3.865703 0.824163 +v 1.034264 -3.940880 -1.094700 +v 2.162927 -1.983953 -0.605264 +v 2.087798 -1.720833 -0.981687 +v 1.560887 -3.827650 1.049974 +v 2.087798 -3.940880 -0.643077 +f 96 97 102 +f 73 74 77 +f 77 76 78 +f 77 74 79 +f 73 77 81 +f 78 73 81 +f 77 78 81 +f 72 76 83 +f 77 79 83 +f 78 76 84 +f 76 80 84 +f 74 75 85 +f 79 74 85 +f 85 75 86 +f 79 85 87 +f 80 72 88 +f 79 87 88 +f 80 88 89 +f 84 80 90 +f 72 83 91 +f 83 79 91 +f 88 72 91 +f 79 88 91 +f 76 77 92 +f 83 76 92 +f 77 83 92 +f 74 73 93 +f 75 74 93 +f 73 78 93 +f 78 75 93 +f 82 87 94 +f 87 85 94 +f 85 86 95 +f 82 94 95 +f 94 85 95 +f 80 89 96 +f 90 80 96 +f 86 75 97 +f 84 90 97 +f 96 86 97 +f 76 72 98 +f 72 80 98 +f 80 76 98 +f 89 82 99 +f 82 95 99 +f 95 86 99 +f 86 96 99 +f 96 89 99 +f 87 82 100 +f 88 87 100 +f 89 88 100 +f 82 89 100 +f 75 78 101 +f 78 84 101 +f 97 75 101 +f 84 97 101 +f 90 96 102 +f 97 90 102 +o convex_4 +v 1.824343 2.003920 -1.057071 +v 2.200707 2.229827 1.050158 +v 1.560887 2.229827 1.050158 +v 2.200707 1.514874 1.050158 +v 0.733173 1.514874 -0.981783 +v 0.733173 1.514874 1.050158 +v 0.733173 2.154525 -0.981783 +v 2.050161 1.514874 -1.019324 +v 0.733173 2.192176 1.012411 +v 2.050161 2.192176 -1.019324 +v 2.125434 2.229827 -0.266860 +v 0.996628 2.229827 0.861836 +v 2.200707 1.514874 0.560892 +v 1.260227 1.514874 -1.057071 +v 1.410773 2.192176 -1.019324 +v 0.733173 2.192176 -0.341941 +v 2.087798 1.514874 -0.793667 +v 2.200707 2.229827 0.598432 +v 2.050161 2.229827 -0.492517 +v 1.974888 1.514874 -1.057071 +f 110 116 122 +f 104 105 106 +f 106 105 108 +f 107 106 108 +f 107 108 109 +f 106 107 110 +f 108 105 111 +f 109 108 111 +f 105 104 113 +f 111 105 114 +f 105 113 114 +f 104 106 115 +f 106 110 115 +f 109 103 116 +f 107 109 116 +f 110 107 116 +f 103 109 117 +f 112 103 117 +f 109 111 118 +f 111 114 118 +f 117 109 118 +f 110 112 119 +f 112 113 119 +f 115 110 119 +f 115 119 120 +f 113 104 120 +f 104 115 120 +f 119 113 120 +f 113 112 121 +f 114 113 121 +f 112 117 121 +f 118 114 121 +f 117 118 121 +f 103 112 122 +f 112 110 122 +f 116 103 122 +o convex_5 +v 0.168754 -3.941344 -0.981687 +v 0.620216 1.627235 1.087787 +v 0.544914 1.627235 1.087787 +v 0.733169 2.154373 -0.981687 +v 0.018220 2.191597 -0.944088 +v 0.733099 -3.790647 1.087787 +v 0.018220 -1.946262 1.012375 +v 0.733099 -3.941344 -1.094700 +v 0.018220 2.191597 0.974775 +v 0.168754 -3.752823 1.087787 +v 0.055871 -3.903519 -1.094700 +v 0.733169 2.192198 1.012375 +v 0.695518 0.309988 -1.056887 +v 0.018220 -1.908437 -0.981474 +v 0.055871 -3.903519 -0.680677 +v 0.695518 -3.941344 -0.417052 +v 0.733099 1.551586 1.087787 +v 0.733169 2.192198 -0.304253 +v 0.018220 0.949399 -0.981474 +v 0.168754 -3.790647 0.824376 +v 0.055871 -3.639950 -1.094700 +v 0.168754 2.041501 1.012375 +v 0.168754 -3.376381 1.087787 +v 0.469682 2.116549 -0.981687 +f 135 127 146 +f 124 125 128 +f 127 129 131 +f 128 125 132 +f 130 123 133 +f 125 124 134 +f 130 126 134 +f 128 130 134 +f 127 131 134 +f 126 130 135 +f 129 127 136 +f 133 129 136 +f 132 129 137 +f 129 133 137 +f 133 123 137 +f 123 130 138 +f 130 128 138 +f 124 128 139 +f 134 124 139 +f 128 134 139 +f 126 127 140 +f 134 126 140 +f 127 134 140 +f 127 135 141 +f 136 127 141 +f 133 136 141 +f 128 132 142 +f 132 137 142 +f 137 123 142 +f 123 138 142 +f 138 128 142 +f 130 133 143 +f 135 130 143 +f 141 135 143 +f 133 141 143 +f 125 134 144 +f 134 131 144 +f 131 129 145 +f 129 132 145 +f 132 125 145 +f 144 131 145 +f 125 144 145 +f 127 126 146 +f 126 135 146 +o convex_6 +v 0.168722 4.148911 1.125416 +v 0.018220 2.192198 -0.944069 +v 0.018220 2.305203 -0.981651 +v 0.243994 2.192198 -0.944069 +v 0.131107 4.148911 -1.019442 +v 0.018220 2.192198 0.974882 +v 0.018220 4.148911 1.087625 +v 0.206336 2.229930 0.485696 +v 0.018220 4.148911 -1.019442 +v 0.206336 4.148911 1.125416 +v 0.168722 4.111178 -1.019442 +v 0.131107 2.192198 0.974882 +v 0.206336 4.148911 0.147045 +v 0.243994 2.192198 -0.041071 +v 0.206336 3.584460 1.087625 +v 0.243994 2.342744 -0.944069 +v 0.168722 3.320909 -1.019442 +v 0.018220 2.418016 1.012463 +f 158 161 164 +f 148 149 150 +f 149 148 152 +f 148 150 152 +f 147 151 153 +f 149 152 153 +f 153 151 155 +f 149 153 155 +f 151 147 156 +f 155 151 157 +f 152 150 158 +f 151 156 159 +f 157 151 159 +f 158 150 160 +f 154 158 160 +f 158 154 161 +f 160 156 161 +f 154 160 161 +f 150 157 162 +f 159 156 162 +f 157 159 162 +f 160 150 162 +f 156 160 162 +f 150 149 163 +f 149 155 163 +f 157 150 163 +f 155 157 163 +f 147 153 164 +f 153 152 164 +f 156 147 164 +f 152 158 164 +f 161 156 164 +o convex_7 +v 0.808513 0.875224 -3.013588 +v 1.485681 0.875224 2.442118 +v 1.448040 0.950456 3.005881 +v 1.485681 1.514874 -1.056931 +v 0.883795 1.477223 3.005881 +v 0.733232 0.799922 1.087047 +v 0.733232 1.514874 -0.981282 +v 1.372832 0.837573 -3.051413 +v 1.372832 1.364339 -3.051413 +v 1.485681 1.514874 1.011399 +v 0.770872 1.364339 -3.013588 +v 0.883795 0.988177 3.082129 +v 1.485681 0.799922 -1.094155 +v 1.297550 1.364339 3.082129 +v 0.733232 0.799922 -1.019106 +v 1.448040 0.837573 3.005881 +v 0.733232 1.514874 1.087047 +v 1.485681 0.799922 1.011399 +v 1.034211 1.477223 3.005881 +v 1.335191 0.837573 3.005881 +v 0.770872 0.950456 -3.013588 +v 0.808513 0.837573 -2.750019 +v 1.297550 1.401921 -2.674971 +v 1.335191 1.289037 3.082129 +f 176 180 188 +f 167 166 174 +f 166 168 174 +f 168 171 174 +f 173 172 175 +f 168 166 177 +f 173 168 177 +f 172 173 177 +f 169 176 178 +f 170 171 179 +f 171 175 179 +f 177 170 179 +f 172 177 179 +f 166 167 180 +f 171 170 181 +f 174 171 181 +f 176 169 181 +f 170 176 181 +f 177 166 182 +f 170 177 182 +f 166 180 182 +f 180 170 182 +f 178 174 183 +f 169 178 183 +f 181 169 183 +f 174 181 183 +f 176 170 184 +f 170 180 184 +f 180 176 184 +f 172 165 185 +f 175 172 185 +f 179 175 185 +f 179 185 186 +f 165 172 186 +f 172 179 186 +f 185 165 186 +f 171 168 187 +f 168 173 187 +f 175 171 187 +f 173 175 187 +f 167 174 188 +f 174 178 188 +f 178 176 188 +f 180 167 188 +o convex_8 +v 2.200707 1.439572 0.523182 +v 1.485824 0.799922 -1.094700 +v 1.485824 1.326688 -1.094700 +v 1.485824 0.799922 1.012367 +v 2.087695 0.799922 -0.906374 +v 1.485824 1.514874 1.012367 +v 2.200707 0.799922 1.050158 +v 2.050117 1.514874 -1.019118 +v 2.200707 1.514874 1.050158 +v 1.485824 1.514874 -1.056909 +v 2.012470 0.799922 -1.056909 +v 2.200707 0.799922 0.448019 +v 2.087695 1.514874 -0.906374 +v 1.861950 0.837573 1.050158 +v 1.974822 1.514874 -1.056909 +f 196 199 203 +f 191 190 192 +f 192 190 193 +f 191 192 194 +f 192 193 195 +f 196 194 197 +f 195 189 197 +f 191 194 198 +f 194 196 198 +f 190 191 199 +f 193 190 199 +f 196 193 199 +f 189 195 200 +f 195 193 200 +f 193 196 201 +f 196 197 201 +f 197 189 201 +f 189 200 201 +f 200 193 201 +f 194 192 202 +f 192 195 202 +f 197 194 202 +f 195 197 202 +f 191 198 203 +f 198 196 203 +f 199 191 203 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf new file mode 100644 index 000000000..931557fbc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj new file mode 100644 index 000000000..127e859ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj @@ -0,0 +1,657 @@ +o convex_0 +v 0.999450 -0.437498 0.005016 +v -0.993087 -0.567254 -0.016591 +v -0.993087 -0.567254 0.005016 +v -0.018273 2.551014 0.005016 +v 0.046481 -0.394050 -1.012845 +v -0.018273 -2.710880 0.697995 +v -0.039922 1.793024 0.763010 +v 0.024831 -2.689156 -0.796000 +v 0.024831 1.857609 -0.731178 +v 0.761110 -2.710880 -0.103021 +v 0.782760 -0.351189 -0.796193 +v 0.717811 -0.479771 0.741403 +v 0.761110 1.793024 0.026623 +v -0.754747 -2.710880 -0.038199 +v -0.776397 -0.437498 0.719795 +v -0.733098 -0.372913 -0.731178 +v -0.733098 1.793024 0.004823 +v -0.018273 -3.447146 -0.081414 +v -0.061767 -0.609528 0.958055 +v -0.581551 -2.147819 0.524750 +v 0.587914 1.251687 -0.579540 +v 0.544615 1.229963 0.567965 +v 0.544615 -2.147232 0.503143 +v 0.587914 -2.126095 -0.622755 +v -0.559901 -2.082647 -0.579348 +v -0.559901 1.229963 0.567965 +v -0.538252 1.251687 -0.536133 +v 0.761110 -2.710880 -0.038199 +v 0.782760 -0.523219 -0.796193 +v 0.046481 -0.502082 0.958055 +v 0.999450 -0.415774 -0.081414 +v 0.003182 1.793024 0.763010 +v -0.776397 -2.667432 -0.016591 +v -0.733098 1.793024 0.048231 +v 0.739461 1.793024 -0.059613 +v 0.046481 2.551014 0.026623 +v -0.993087 -0.351189 -0.016591 +v 0.089780 1.814748 -0.731178 +v -0.733098 -0.480358 -0.731178 +v -0.061767 -0.308328 0.958055 +v 0.024831 -3.447146 -0.038199 +v 0.003182 -2.689156 -0.796000 +v -0.061767 -2.732604 0.676195 +v -0.776397 -0.502082 0.719795 +v -0.018273 1.814748 -0.731178 +v -0.105066 -0.394637 -0.969438 +v 0.761110 -0.479771 0.654587 +v -0.039922 -3.338526 0.070031 +v -0.018273 2.551014 0.048231 +v -0.776397 -2.602260 -0.059613 +v -0.061767 -2.668019 0.697995 +v -0.993087 -0.351189 0.026816 +v 0.024831 -3.447146 -0.081414 +v 0.717811 -0.307741 0.719795 +v -0.754747 -2.667432 0.026816 +v 0.761110 1.793024 -0.016784 +v 0.739461 1.814748 0.048231 +v -0.733098 1.771300 -0.016591 +v 0.609564 -1.584757 0.589765 +v 0.003182 -2.732017 0.676388 +v 0.999450 -0.544943 -0.059806 +v 0.046481 -2.667432 -0.796000 +v 0.046481 2.551014 0.005016 +v -0.711448 1.814748 -0.016591 +f 58 17 64 +f 15 7 26 +f 5 11 29 +f 10 24 29 +f 6 12 30 +f 19 6 30 +f 13 1 31 +f 29 11 31 +f 30 12 32 +f 3 2 33 +f 4 17 34 +f 26 7 34 +f 15 26 34 +f 2 3 37 +f 16 2 37 +f 34 17 37 +f 5 9 38 +f 11 5 38 +f 21 11 38 +f 35 21 38 +f 2 16 39 +f 7 15 40 +f 15 19 40 +f 19 30 40 +f 32 7 40 +f 30 32 40 +f 10 28 41 +f 5 8 42 +f 8 18 42 +f 18 14 42 +f 14 25 42 +f 25 39 42 +f 41 6 43 +f 19 15 44 +f 3 33 44 +f 4 9 45 +f 9 5 45 +f 16 27 45 +f 39 16 46 +f 5 42 46 +f 42 39 46 +f 45 5 46 +f 16 45 46 +f 1 13 47 +f 28 1 47 +f 12 28 47 +f 14 18 48 +f 18 41 48 +f 41 43 48 +f 7 32 49 +f 4 34 49 +f 34 7 49 +f 36 4 49 +f 32 36 49 +f 25 14 50 +f 33 2 50 +f 14 33 50 +f 2 39 50 +f 39 25 50 +f 6 19 51 +f 43 6 51 +f 20 43 51 +f 19 44 51 +f 44 20 51 +f 15 34 52 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3.547911 -3.092003 +f 69 73 74 +f 67 66 68 +f 67 68 69 +f 67 69 70 +f 66 67 70 +f 68 66 71 +f 66 70 72 +f 70 65 72 +f 71 66 72 +f 65 71 72 +f 69 68 73 +f 71 65 73 +f 68 71 73 +f 70 69 74 +f 65 70 74 +f 73 65 74 +o convex_2 +v 0.068188 3.374615 -2.182242 +v 0.284728 3.526208 -1.944175 +v 0.284728 3.504543 -1.944175 +v 0.068188 3.439609 -0.969529 +v 0.068188 3.526208 -2.940429 +v 0.219756 3.396295 -2.073820 +v 0.263064 3.526208 -0.991329 +v 0.219756 3.504543 -2.766799 +v 0.089853 3.396295 -2.766799 +v 0.241399 3.439609 -1.229589 +v 0.111517 3.417944 -0.969529 +v 0.219756 3.526208 -0.991329 +v 0.241399 3.417944 -2.182242 +v 0.068188 3.374615 -1.835946 +v 0.089853 3.461229 -0.969529 +f 81 86 89 +f 75 78 79 +f 77 76 81 +f 76 79 81 +f 76 77 82 +f 79 76 82 +f 75 79 83 +f 80 75 83 +f 79 82 83 +f 77 81 84 +f 84 81 85 +f 80 84 85 +f 81 79 86 +f 82 77 87 +f 80 83 87 +f 83 82 87 +f 77 84 87 +f 84 80 87 +f 78 75 88 +f 75 80 88 +f 85 78 88 +f 80 85 88 +f 79 78 89 +f 85 81 89 +f 78 85 89 +f 86 79 89 +o convex_3 +v 0.198116 3.699441 2.712428 +v -0.213390 3.569606 2.669088 +v -0.191679 3.526310 2.669088 +v -0.018432 3.591279 2.993930 +v -0.061774 3.894398 2.972213 +v -0.213390 3.851001 2.669088 +v 0.089802 3.417944 2.669088 +v 0.154734 3.916020 2.669088 +v -0.213390 3.569606 2.755736 +v -0.040103 3.396322 2.734114 +v 0.003199 3.851001 2.972213 +v 0.198116 3.591279 2.755736 +v 0.024870 3.569606 2.972213 +v -0.213390 3.851001 2.755736 +v 0.198116 3.569606 2.669088 +v 0.024870 3.417944 2.799044 +v 0.133104 3.916020 2.755736 +f 100 101 106 +f 92 91 95 +f 92 95 96 +f 95 94 97 +f 96 95 97 +f 91 92 98 +f 93 94 98 +f 95 91 98 +f 92 96 99 +f 98 92 99 +f 93 98 99 +f 94 93 100 +f 101 100 102 +f 100 93 102 +f 94 95 103 +f 98 94 103 +f 95 98 103 +f 97 90 104 +f 96 97 104 +f 101 96 104 +f 90 101 104 +f 99 96 105 +f 93 99 105 +f 96 101 105 +f 101 102 105 +f 102 93 105 +f 90 97 106 +f 97 94 106 +f 94 100 106 +f 101 90 106 +o convex_4 +v -0.018445 3.352971 0.979713 +v 0.198116 3.417923 2.170805 +v 0.068192 3.417923 2.712242 +v 0.068192 3.331307 2.019301 +v 0.176431 3.417923 0.979713 +v -0.018445 3.417923 2.755529 +v 0.176431 3.374619 1.153037 +v -0.018445 3.331307 2.192448 +v 0.024884 3.331307 0.979713 +v 0.198116 3.374619 2.040944 +v 0.024884 3.374619 2.712242 +v 0.133123 3.417923 0.979713 +v 0.003220 3.374619 0.979713 +f 118 107 119 +f 109 108 111 +f 109 111 112 +f 112 107 114 +f 107 111 115 +f 113 110 115 +f 111 113 115 +f 110 114 115 +f 114 107 115 +f 108 109 116 +f 111 108 116 +f 110 113 116 +f 113 111 116 +f 109 112 117 +f 114 110 117 +f 112 114 117 +f 116 109 117 +f 110 116 117 +f 111 107 118 +f 112 111 118 +f 112 118 119 +f 107 112 119 +o convex_5 +v -0.213382 3.656189 -1.078062 +v -0.170070 3.569539 -2.745333 +v -0.148422 3.569539 -2.745333 +v -0.126757 3.829438 -2.745333 +v -0.170070 3.569539 -0.991530 +v -0.213382 3.742788 -2.074029 +v -0.170070 3.786113 -1.337827 +v -0.213382 3.569539 -2.225631 +v -0.191717 3.829438 -2.203826 +v -0.191717 3.612864 -2.680263 +v -0.126757 3.699489 -2.680263 +v -0.126757 3.829438 -2.463763 +v -0.213382 3.742788 -1.446163 +v -0.213382 3.591214 -1.121327 +v -0.148422 3.829438 -2.745333 +f 129 128 134 +f 122 121 123 +f 121 122 124 +f 120 124 126 +f 121 124 127 +f 120 125 127 +f 121 127 129 +f 127 125 129 +f 125 128 129 +f 122 123 130 +f 124 122 130 +f 124 130 131 +f 126 124 131 +f 123 128 131 +f 128 126 131 +f 130 123 131 +f 125 120 132 +f 120 126 132 +f 128 125 132 +f 126 128 132 +f 124 120 133 +f 120 127 133 +f 127 124 133 +f 123 121 134 +f 128 123 134 +f 121 129 134 +o convex_6 +v 0.263091 3.634556 -2.485606 +v 0.068186 3.526223 -2.983655 +v 0.068186 3.547919 -3.027062 +v 0.198085 3.829438 -2.529014 +v 0.198085 3.807742 -2.853697 +v 0.241397 3.547919 -2.788718 +v 0.198085 3.526223 -2.507283 +v 0.068186 3.807742 -2.962030 +v 0.068186 3.547919 -2.875374 +v 0.089861 3.807742 -3.027062 +v 0.241397 3.829438 -2.550638 +f 139 144 145 +f 136 137 140 +f 140 135 141 +f 135 138 141 +f 136 140 141 +f 137 136 142 +f 136 141 143 +f 141 138 143 +f 138 142 143 +f 142 136 143 +f 140 137 144 +f 139 140 144 +f 142 138 144 +f 137 142 144 +f 138 135 145 +f 140 139 145 +f 135 140 145 +f 144 138 145 +o convex_7 +v 0.328055 3.807725 -1.229481 +v 0.219785 3.526223 -2.485606 +v 0.219785 3.829379 -2.485606 +v 0.241450 3.526223 -0.991187 +v 0.306391 3.569594 -2.073822 +v 0.284737 3.851065 -1.316080 +v 0.284737 3.851065 -2.182217 +v 0.306391 3.612902 -0.991187 +v 0.263104 3.547940 -2.485606 +v 0.241450 3.591248 -0.991187 +v 0.284737 3.526223 -1.662622 +v 0.328055 3.851065 -1.337876 +v 0.219785 3.829379 -2.355415 +f 155 151 158 +f 148 151 152 +f 150 146 153 +f 147 148 154 +f 148 152 154 +f 152 150 154 +f 146 151 155 +f 153 146 155 +f 149 153 155 +f 149 147 156 +f 150 153 156 +f 153 149 156 +f 147 154 156 +f 154 150 156 +f 146 150 157 +f 151 146 157 +f 150 152 157 +f 152 151 157 +f 148 147 158 +f 147 149 158 +f 151 148 158 +f 149 155 158 +o convex_8 +v -0.235042 3.786067 2.560528 +v -0.235042 3.547881 0.958055 +v -0.235042 3.612911 0.958055 +v -0.170074 3.547881 2.669057 +v -0.256698 3.547881 2.062603 +v -0.213386 3.786067 1.196383 +v -0.191747 3.851096 2.669057 +v -0.256698 3.829400 1.824107 +v -0.213386 3.547881 0.958055 +v -0.256698 3.612911 1.023038 +v -0.213386 3.547881 2.669057 +v -0.170074 3.569577 2.495712 +f 167 164 170 +f 160 162 163 +f 159 165 166 +f 163 159 166 +f 165 164 166 +f 160 161 167 +f 162 160 167 +f 161 164 167 +f 161 160 168 +f 160 163 168 +f 164 161 168 +f 163 166 168 +f 166 164 168 +f 159 163 169 +f 163 162 169 +f 162 165 169 +f 165 159 169 +f 165 162 170 +f 164 165 170 +f 162 167 170 +o convex_9 +v 0.241433 3.721096 1.997473 +v 0.154800 3.417931 0.979940 +v 0.154800 3.461307 0.979940 +v 0.154800 3.417931 2.214111 +v 0.176475 3.894413 2.214111 +v 0.219775 3.786066 1.153177 +v 0.219775 3.417931 1.975834 +v 0.219775 3.526278 0.958055 +v 0.241433 3.591248 2.170709 +v 0.219775 3.894413 1.997473 +v 0.198116 3.786066 1.153177 +v 0.241433 3.569607 1.391330 +v 0.176475 3.894413 1.954195 +v 0.198116 3.439666 0.979940 +f 178 177 184 +f 173 172 174 +f 173 174 175 +f 174 172 177 +f 172 173 178 +f 175 174 179 +f 174 177 179 +f 171 176 180 +f 179 171 180 +f 175 179 180 +f 178 173 181 +f 176 178 181 +f 176 171 182 +f 178 176 182 +f 177 178 182 +f 179 177 182 +f 171 179 182 +f 173 175 183 +f 175 180 183 +f 180 176 183 +f 181 173 183 +f 176 181 183 +f 177 172 184 +f 172 178 184 +o convex_10 +v -0.040145 3.374634 -2.030526 +v 0.068167 3.439600 -0.969703 +v -0.148403 3.569530 -0.991600 +v -0.126740 3.569530 -2.745157 +v -0.170010 3.439600 -1.532961 +v 0.068167 3.417944 -2.745157 +v -0.148375 3.439600 -2.441891 +v -0.213390 3.569530 -2.117249 +v -0.148375 3.461236 -0.969703 +v 0.068167 3.396308 -1.143147 +v -0.018483 3.396308 -2.745157 +v 0.068167 3.374634 -2.377067 +v -0.191700 3.547856 -0.991600 +v -0.170038 3.547856 -2.745157 +v -0.191728 3.461236 -2.095525 +v 0.024842 3.396308 -1.078149 +v -0.148375 3.417944 -2.117249 +f 199 191 201 +f 187 186 188 +f 188 186 190 +f 187 188 192 +f 186 187 193 +f 190 186 194 +f 188 190 195 +f 190 194 196 +f 194 185 196 +f 185 195 196 +f 195 190 196 +f 187 192 197 +f 193 187 197 +f 189 193 197 +f 192 188 198 +f 188 195 198 +f 195 191 198 +f 189 197 199 +f 197 192 199 +f 198 191 199 +f 192 198 199 +f 189 185 200 +f 186 193 200 +f 193 189 200 +f 194 186 200 +f 185 194 200 +f 185 189 201 +f 195 185 201 +f 191 195 201 +f 189 199 201 +o convex_11 +v 0.219775 3.547927 2.322597 +v 0.154766 3.916071 2.669057 +v 0.133142 3.916071 2.669057 +v 0.046509 3.417931 2.669057 +v 0.154766 3.894373 2.257552 +v 0.198100 3.569577 2.669057 +v 0.154766 3.417931 2.214234 +v 0.198100 3.894373 2.214234 +v 0.089842 3.439630 2.322597 +v 0.176458 3.417931 2.409234 +v 0.046509 3.439630 2.560693 +v 0.219775 3.634526 2.495782 +v 0.219775 3.547927 2.214234 +v 0.176458 3.872723 2.669057 +f 213 209 215 +f 203 204 205 +f 203 205 207 +f 208 206 209 +f 204 203 209 +f 206 204 209 +f 208 205 210 +f 206 208 210 +f 202 207 211 +f 207 205 211 +f 205 208 211 +f 205 204 212 +f 204 206 212 +f 210 205 212 +f 206 210 212 +f 207 202 213 +f 209 213 214 +f 208 209 214 +f 202 211 214 +f 211 208 214 +f 213 202 214 +f 203 207 215 +f 209 203 215 +f 207 213 215 +o convex_12 +v -0.256707 3.526174 1.629366 +v -0.018466 3.417978 2.668989 +v -0.040131 3.461201 2.668989 +v -0.018466 3.353005 0.958275 +v -0.213377 3.396313 2.019267 +v -0.213377 3.547881 0.936397 +v -0.213377 3.396313 0.936397 +v -0.191713 3.547881 2.668989 +v -0.061795 3.331319 2.019267 +v -0.126766 3.417978 2.603864 +v -0.105101 3.526174 2.647281 +v -0.061795 3.331319 0.958275 +v -0.018466 3.331319 2.084392 +v -0.256707 3.547881 1.997728 +v -0.191713 3.504509 2.647281 +v -0.061795 3.396313 2.668989 +v -0.235042 3.547881 0.936397 +f 229 221 232 +f 218 217 219 +f 220 216 222 +f 221 219 222 +f 217 218 223 +f 220 222 224 +f 218 219 226 +f 219 221 226 +f 223 218 226 +f 221 223 226 +f 222 219 227 +f 224 222 227 +f 224 227 228 +f 219 217 228 +f 227 219 228 +f 216 220 229 +f 223 221 229 +f 223 229 230 +f 220 225 230 +f 229 220 230 +f 217 223 231 +f 220 224 231 +f 225 220 231 +f 224 228 231 +f 228 217 231 +f 223 230 231 +f 230 225 231 +f 222 216 232 +f 221 222 232 +f 216 229 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf new file mode 100644 index 000000000..765a95244 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.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 diff --git 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--- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj new file mode 100644 index 000000000..f380fe444 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj @@ -0,0 +1,402 @@ +o convex_0 +v 0.998667 -1.789261 1.022874 +v -1.100689 0.371180 -0.366451 +v -1.100689 0.371180 -0.335418 +v -1.039124 -3.487932 -0.798663 +v 0.967779 0.896058 -1.045700 +v -1.008236 0.896493 0.991840 +v 1.029556 -3.426131 -1.045700 +v -0.946459 -3.549733 0.930184 +v 1.060233 0.896058 1.022874 +v -1.100689 0.896493 -1.045700 +v 0.936890 -3.425695 0.991840 +v -1.039124 -3.487932 -1.076733 +v 1.060233 0.896058 -0.644111 +v 0.257556 -3.487932 0.991840 +v -0.236236 -1.203452 -1.076733 +v 0.195779 -3.457031 -1.076733 +v -0.977347 -3.117123 0.775631 +v -0.174459 0.834257 1.022874 +v 1.060233 -1.511154 -0.798663 +v 0.967779 -2.839016 1.022874 +v 1.060233 0.402081 1.022874 +v -1.008236 0.463883 0.991840 +v 0.658894 -3.457031 -1.045700 +v 1.029556 -3.395230 -0.829491 +v -0.853793 -3.549733 0.528595 +v -1.008236 -0.493170 0.961012 +v -1.039124 -1.789696 -1.076733 +v -1.100689 0.896493 -0.335418 +v 0.782448 -3.456596 0.991840 +v -0.668463 -3.549733 0.868322 +v 0.998667 -0.276865 -1.045700 +v -0.576009 -3.178925 0.961012 +v -0.977347 -3.518833 -0.520798 +v -1.070012 -1.758795 -1.045700 +v -0.977347 -3.549733 0.590251 +v 0.967779 -3.425695 0.621285 +v 0.844225 -2.622711 1.022874 +v -0.514232 -3.487932 -1.076733 +v 1.029556 -2.561345 -1.045700 +v -0.977347 -1.912864 0.961012 +v -0.977347 -2.561345 0.930184 +v -0.298013 -1.142086 -1.076733 +v 1.060233 0.711089 -0.675144 +v 0.319333 -3.487932 0.930184 +f 14 30 44 +f 2 3 10 +f 6 9 13 +f 5 10 13 +f 10 6 13 +f 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1.091321 2.131435 0.590602 +v 3.005508 0.958482 0.497954 +v 1.091321 0.989244 -0.489936 +v 1.091321 2.162433 -0.520819 +v 3.036355 2.162433 -0.551702 +v 1.091321 1.081882 0.497836 +v 2.912969 2.069676 0.497954 +v 2.943815 1.051003 -0.613585 +v 2.048510 0.958482 0.065597 +v 3.036355 2.162433 -0.397288 +v 1.338472 0.989244 -0.520819 +v 1.338472 2.069676 0.590602 +v 3.005508 0.958482 0.281658 +v 1.307626 1.051003 0.497836 +v 1.091321 1.977037 0.590602 +v 2.943815 2.100555 0.312658 +v 2.635162 0.958482 0.497954 +v 3.036355 1.977037 -0.551702 +v 2.542432 2.069676 0.528718 +v 1.091321 2.162433 -0.273876 +v 3.005508 1.174521 0.497954 +v 1.091321 0.989244 -0.335641 +v 2.882123 0.958482 0.158245 +v 2.789393 2.162433 -0.551702 +v 1.091321 1.946158 -0.520819 +v 2.326127 2.100555 0.528718 +f 48 66 73 +f 50 48 51 +f 47 46 51 +f 48 50 53 +f 46 47 55 +f 47 52 55 +f 52 51 57 +f 56 50 58 +f 46 55 60 +f 49 56 60 +f 48 53 62 +f 59 48 62 +f 49 59 62 +f 53 61 62 +f 54 45 63 +f 45 57 63 +f 56 49 64 +f 61 56 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2.007920 -0.459015 +v -2.798941 0.989247 -0.459015 +v -3.107540 2.007920 -0.088623 +v -1.224516 2.069679 -0.551699 +v -3.107540 1.267163 0.590602 +v -3.107540 1.822642 -0.428235 +v -1.131995 2.131556 0.127296 +v -1.131995 1.514200 -0.582708 +v -2.212386 0.989247 -0.489909 +v -3.107540 0.927605 0.528697 +v -2.397624 0.958367 0.590602 +v -1.100958 1.020126 -0.489909 +v -3.076896 2.038799 0.405233 +v -1.595188 2.131556 0.497803 +f 85 103 104 +f 75 76 77 +f 77 76 80 +f 75 77 82 +f 80 76 89 +f 79 80 89 +f 77 80 90 +f 80 79 90 +f 88 78 91 +f 87 83 92 +f 88 84 92 +f 78 79 93 +f 91 78 93 +f 85 91 93 +f 88 91 94 +f 76 81 95 +f 86 76 95 +f 79 86 95 +f 93 79 95 +f 81 93 95 +f 79 78 96 +f 83 74 96 +f 78 88 96 +f 92 83 96 +f 88 92 96 +f 75 82 97 +f 85 75 97 +f 91 85 97 +f 82 94 97 +f 94 91 97 +f 82 77 98 +f 77 84 98 +f 84 88 98 +f 94 82 98 +f 88 94 98 +f 90 87 99 +f 87 92 99 +f 92 84 99 +f 74 83 100 +f 83 87 100 +f 90 79 100 +f 87 90 100 +f 79 96 100 +f 96 74 100 +f 76 86 101 +f 86 79 101 +f 89 76 101 +f 79 89 101 +f 84 77 102 +f 77 90 102 +f 99 84 102 +f 90 99 102 +f 93 81 103 +f 85 93 103 +f 76 75 104 +f 81 76 104 +f 75 85 104 +f 103 81 104 +o convex_3 +v 0.905916 2.594442 -0.273930 +v -1.100916 0.896493 -1.045857 +v -1.100916 0.896493 -0.335693 +v 1.060420 0.896493 1.022874 +v -1.039114 2.532840 0.991891 +v 0.967718 0.896493 -1.045857 +v -1.100916 2.563641 -1.014874 +v 1.091321 2.501869 1.022874 +v -1.008214 0.896493 0.991891 +v 0.936817 2.625412 -1.045857 +v 1.091321 2.162212 -0.520777 +v 1.091321 0.989404 -0.489997 +v -1.100916 2.007869 0.528776 +v -0.637619 2.532840 1.022874 +v 0.319231 2.625412 -1.045857 +v -1.100916 0.958434 0.528776 +v -0.730321 2.563641 0.652300 +v -0.174537 0.896493 1.022874 +v -0.853710 2.594611 -0.984095 +v 1.091321 1.483405 1.022874 +v 0.967718 2.625412 -0.767825 +v -1.100916 2.563641 -0.397252 +v -1.100916 1.421464 -1.045857 +v 0.967718 1.976898 -1.045857 +v 0.998618 0.896493 -0.953112 +v 1.091321 2.501869 0.652300 +v -1.039114 1.575977 0.991891 +v -0.267025 2.532670 1.022874 +v 0.566437 2.625412 -0.675283 +v -1.039114 2.563641 0.281727 +v 0.967718 2.594442 -0.984095 +v 1.091321 1.081976 0.497794 +v 1.060420 0.896493 -0.644301 +v -1.100916 2.162212 0.497794 +f 109 126 138 +f 107 106 108 +f 108 106 110 +f 106 107 111 +f 107 108 113 +f 110 106 114 +f 115 112 116 +f 111 107 117 +f 108 112 118 +f 114 106 119 +f 107 113 120 +f 117 107 120 +f 109 117 120 +f 109 118 121 +f 113 108 122 +f 108 118 122 +f 118 113 122 +f 119 111 123 +f 112 108 124 +f 116 112 124 +f 105 112 125 +f 114 119 125 +f 111 117 126 +f 123 111 126 +f 106 111 127 +f 119 106 127 +f 111 119 127 +f 110 114 128 +f 128 115 129 +f 108 110 129 +f 110 128 129 +f 112 115 130 +f 125 112 130 +f 118 109 131 +f 113 118 131 +f 120 113 131 +f 109 120 131 +f 112 105 132 +f 118 112 132 +f 121 118 132 +f 105 125 132 +f 125 121 132 +f 119 123 133 +f 125 119 133 +f 121 125 133 +f 109 121 134 +f 126 109 134 +f 123 126 134 +f 133 123 134 +f 121 133 134 +f 114 125 135 +f 128 114 135 +f 115 128 135 +f 130 115 135 +f 125 130 135 +f 108 116 136 +f 124 108 136 +f 116 124 136 +f 115 116 137 +f 116 108 137 +f 129 115 137 +f 108 129 137 +f 117 109 138 +f 126 117 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf new file mode 100644 index 000000000..1e65c7e86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj new file mode 100644 index 000000000..6f57d714d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj @@ -0,0 +1,363 @@ +o convex_0 +v 1.056648 -3.679270 -0.472184 +v -1.111274 -0.288265 -0.996854 +v -1.076222 -1.511992 -0.996854 +v -1.041171 -3.784629 1.101180 +v 1.056648 0.166731 0.996159 +v 1.126750 0.166731 -0.961920 +v -0.971288 0.166731 1.031094 +v -1.006339 -3.784629 -0.996854 +v 0.916881 -3.819749 0.926074 +v 1.091699 -3.679270 -1.101875 +v -1.111274 0.166731 -0.996854 +v 1.091699 0.131611 0.926290 +v 0.951713 -3.365143 0.961009 +v 0.462090 -3.714389 -1.101875 +v 1.091699 -2.875418 -1.101875 +v -1.006339 -0.987537 1.066029 +v 1.091699 -3.714389 -0.996854 +v 0.077622 0.166731 -0.996639 +v -0.796469 -3.749509 -1.031789 +v -0.901404 -3.784629 1.101180 +v 1.056648 -0.707750 0.996159 +v -1.111274 0.166731 -0.821964 +v 0.042570 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b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf new file mode 100644 index 000000000..78d50d188 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj new file mode 100644 index 000000000..869aa1ee9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj @@ -0,0 +1,969 @@ +o convex_0 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2.517519 4.019786 -0.079457 +v 2.289726 3.525902 -0.269461 +v 1.340242 3.943721 0.186422 +f 194 192 196 +f 183 181 184 +f 181 180 184 +f 185 182 186 +f 185 186 188 +f 186 179 188 +f 179 187 188 +f 183 184 189 +f 184 185 189 +f 187 183 189 +f 179 186 190 +f 186 183 190 +f 183 187 190 +f 187 179 190 +f 186 182 191 +f 182 185 192 +f 181 191 192 +f 191 182 192 +f 185 188 193 +f 188 187 193 +f 189 185 193 +f 187 189 193 +f 180 181 194 +f 184 180 194 +f 181 192 194 +f 181 183 195 +f 183 186 195 +f 191 181 195 +f 186 191 195 +f 185 184 196 +f 192 185 196 +f 184 194 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf new file mode 100644 index 000000000..c14b0dff1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj new file mode 100644 index 000000000..5fa38e752 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj @@ -0,0 +1,459 @@ +o convex_0 +v -0.461134 -1.859231 -1.750133 +v 0.478324 -3.067151 -1.649165 +v 0.511927 -3.067151 -1.649165 +v -0.360435 -3.033571 -3.058463 +v 0.511927 -1.859349 -2.957688 +v 0.511927 -2.027129 -1.078624 +v -0.461134 -2.899371 -1.078624 +v -0.528122 -1.859231 -2.957688 +v 0.545529 -3.000110 -3.058463 +v -0.494628 -1.892929 -1.078624 +v -0.561833 -3.033571 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-3.033712 3.048649 +v -0.561704 -3.033600 2.612459 +v -0.427425 -1.893011 3.048649 +v 0.545407 -1.960012 1.337603 +v -0.561704 -2.999988 2.981411 +v -0.595274 -1.993625 1.337603 +v 0.511953 -2.966487 1.438365 +v -0.125528 -3.033600 1.136461 +v -0.595274 -2.228465 1.102746 +v 0.545407 -2.295578 1.102746 +v 0.578977 -3.033712 2.813792 +v -0.494680 -3.033600 1.304080 +v -0.461110 -1.893011 2.813792 +v 0.545407 -1.960012 1.572460 +v -0.494680 -2.329191 3.048649 +v -0.595274 -1.993625 1.471889 +v -0.158982 -1.993625 1.102746 +v -0.125528 -3.033600 3.014935 +v 0.511953 -2.932986 1.270556 +v 0.578977 -3.000100 2.645983 +v -0.393971 -2.999988 3.014935 +v 0.444698 -1.893011 2.914363 +f 140 149 158 +f 131 132 134 +f 132 131 135 +f 129 130 136 +f 129 136 137 +f 136 133 139 +f 137 136 139 +f 129 131 140 +f 132 135 144 +f 135 143 144 +f 134 132 145 +f 138 141 145 +f 142 134 145 +f 135 131 146 +f 129 137 147 +f 137 138 147 +f 144 143 147 +f 132 144 147 +f 145 132 148 +f 138 145 148 +f 132 147 148 +f 147 138 148 +f 133 136 149 +f 142 133 149 +f 130 129 150 +f 136 130 150 +f 129 140 150 +f 140 136 150 +f 133 128 151 +f 139 133 151 +f 137 139 151 +f 128 133 152 +f 141 128 152 +f 133 142 152 +f 145 141 152 +f 142 145 152 +f 131 134 153 +f 140 131 153 +f 134 142 153 +f 149 140 153 +f 142 149 153 +f 138 137 154 +f 141 138 154 +f 143 135 155 +f 135 146 155 +f 147 143 155 +f 147 155 156 +f 131 129 156 +f 146 131 156 +f 129 147 156 +f 155 146 156 +f 128 141 157 +f 151 128 157 +f 137 151 157 +f 154 137 157 +f 141 154 157 +f 136 140 158 +f 149 136 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf new file mode 100644 index 000000000..ccfaa6b2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj new file mode 100644 index 000000000..a7ca85262 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj @@ -0,0 +1,972 @@ +o convex_0 +v 0.019195 -1.119540 -2.152923 +v -0.013691 0.003819 -0.963973 +v -0.079656 0.003819 -0.963973 +v -0.079656 -2.473778 -1.558642 +v -0.509113 0.003819 -1.756520 +v 0.448749 0.003819 -2.053854 +v 0.316623 -1.449369 -1.162239 +v -0.443050 -1.317194 -1.195219 +v -0.376988 -1.548560 -1.987766 +v 0.349606 -1.482594 -1.987766 +v -0.277845 0.003819 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313 329 330 +f 329 318 330 +f 310 309 331 +f 309 319 331 +f 321 310 331 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf new file mode 100644 index 000000000..ded983204 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj new file mode 100644 index 000000000..b9ec7ca8f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj @@ -0,0 +1,675 @@ +o convex_0 +v -0.023914 -1.514115 1.611140 +v -0.299623 -2.156993 3.049816 +v -0.268893 -2.156993 3.049816 +v -0.146503 -2.034497 1.090503 +v 0.343390 -1.544722 3.049816 +v 0.282129 -2.003891 1.090503 +v -0.207632 -1.514115 3.019155 +v -0.238296 -1.544722 1.090503 +v 0.374054 -1.575328 1.090503 +v 0.190270 -2.065104 2.988494 +v 0.343390 -1.452764 2.835389 +v -0.238296 -2.034497 1.090503 +v -0.299623 -2.065104 3.111335 +v -0.238296 -1.514115 2.253628 +v 0.220933 -2.065104 2.651821 +v 0.220933 -1.452764 3.049816 +v -0.299623 -2.065104 2.468055 +v 0.374054 -1.544722 1.213145 +v -0.299623 -1.973215 3.080476 +v -0.268893 -2.156993 3.111335 +v 0.374054 -1.605935 1.304929 +v -0.268893 -2.065104 1.549819 +f 17 8 22 +f 3 4 6 +f 6 4 8 +f 6 8 9 +f 8 4 12 +f 3 6 15 +f 6 5 15 +f 5 10 15 +f 1 8 16 +f 5 11 16 +f 11 1 16 +f 13 5 16 +f 7 13 16 +f 14 7 16 +f 8 14 16 +f 2 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-0.501779 +v 0.986311 -2.248531 0.845140 +v 1.078346 -0.166920 0.079637 +v -0.574985 -2.891982 0.967722 +v -1.034543 -1.177181 -0.501779 +v -0.360718 -0.166654 -1.083833 +v 1.016920 -1.177447 -1.052975 +v -1.003726 -1.789419 0.722557 +v -0.942507 -2.891982 0.446959 +v -1.003726 -0.228011 -1.022329 +v 0.129035 -0.166654 1.090305 +v 0.772043 -2.830625 -1.052975 +v 1.078346 -0.962964 -0.134457 +v -0.973117 -2.003903 0.998155 +v 1.047530 -2.830625 -0.961038 +v 0.955701 -2.799946 0.967510 +v 0.986311 -0.166654 0.875785 +v -1.034543 -0.840783 -0.991684 +v -0.238280 -1.544524 1.090305 +v 1.078346 -0.840516 -0.165102 +v -1.003726 -2.095672 -0.961251 +f 116 108 119 +f 82 81 83 +f 81 82 84 +f 81 84 85 +f 85 84 88 +f 85 88 95 +f 83 81 96 +f 87 83 96 +f 81 92 96 +f 92 87 96 +f 81 85 97 +f 86 93 98 +f 93 91 98 +f 83 87 102 +f 94 83 102 +f 95 88 103 +f 89 99 103 +f 88 84 104 +f 98 91 104 +f 98 104 105 +f 84 86 105 +f 86 98 105 +f 104 84 105 +f 87 85 106 +f 85 95 106 +f 99 87 106 +f 95 103 106 +f 103 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-2.963393 0.384482 -0.226367 +v -2.994054 0.568266 0.202265 +v -1.249167 0.537537 -0.257030 +v -2.136743 -0.074747 -0.318292 +v -3.055573 -0.105410 0.202265 +v -1.279828 0.415080 0.355385 +v -1.034741 0.415080 0.324655 +v -3.024714 -0.074747 -0.287628 +v -2.810288 0.537537 0.232796 +v -1.279828 -0.074747 0.355385 +v -1.065401 0.506939 -0.103910 +v -1.279828 0.506939 -0.318292 +v -2.994054 0.506939 0.018547 +v -1.034741 0.200830 -0.318292 +f 133 124 143 +f 123 124 125 +f 120 123 127 +f 123 125 127 +f 123 120 128 +f 124 123 128 +f 121 122 131 +f 126 121 131 +f 122 121 132 +f 129 124 133 +f 120 127 134 +f 127 131 134 +f 125 126 135 +f 126 131 135 +f 125 124 136 +f 126 125 136 +f 128 120 137 +f 130 129 137 +f 133 128 137 +f 129 133 137 +f 120 134 137 +f 131 127 138 +f 127 135 138 +f 135 131 138 +f 127 125 139 +f 125 135 139 +f 135 127 139 +f 121 126 140 +f 132 121 140 +f 124 132 140 +f 136 124 140 +f 126 136 140 +f 124 129 141 +f 129 130 141 +f 132 124 141 +f 132 141 142 +f 131 122 142 +f 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190 209 +f 201 186 209 +f 190 201 209 +f 191 199 210 +f 199 196 210 +f 204 191 210 +f 196 204 210 +f 194 197 211 +f 203 194 211 +f 197 203 211 +f 199 191 212 +f 191 202 212 +f 202 192 212 +f 192 207 212 +f 207 199 212 +f 195 190 213 +f 197 189 213 +f 190 203 213 +f 203 197 213 +f 200 195 214 +f 189 200 214 +f 195 213 214 +o convex_8 +v -0.299623 0.108989 2.927326 +v 0.374054 0.507023 1.243626 +v 0.374054 0.476293 1.243626 +v -0.268893 0.415032 1.090494 +v 0.282129 -0.166654 1.090494 +v 0.312792 0.507023 2.957915 +v 0.312792 -0.166654 2.927326 +v -0.268893 -0.074729 1.090494 +v -0.207632 0.507023 3.019092 +v -0.299623 -0.044131 2.927326 +v 0.251531 0.507023 1.090494 +v -0.268893 0.445696 1.335581 +v 0.251531 -0.166654 2.835560 +v 0.374054 0.445696 1.090494 +v -0.207632 0.507023 2.406752 +v 0.343390 0.476293 2.468118 +v -0.299623 -0.013533 2.131265 +v 0.312792 -0.166654 2.345575 +v -0.085175 0.415032 3.019092 +v 0.220933 -0.166654 1.090494 +f 227 222 234 +f 218 219 222 +f 220 216 223 +f 223 215 224 +f 219 218 225 +f 223 216 225 +f 218 215 226 +f 215 223 226 +f 225 218 226 +f 219 221 227 +f 221 224 227 +f 224 222 227 +f 216 217 228 +f 217 221 228 +f 219 225 228 +f 225 216 228 +f 223 225 229 +f 226 223 229 +f 225 226 229 +f 217 216 230 +f 216 220 230 +f 221 217 230 +f 220 221 230 +f 215 218 231 +f 218 222 231 +f 224 215 231 +f 222 224 231 +f 221 219 232 +f 219 228 232 +f 228 221 232 +f 221 220 233 +f 220 223 233 +f 224 221 233 +f 223 224 233 +f 222 219 234 +f 219 227 234 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf new file mode 100644 index 000000000..9c3ccc514 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj new file mode 100644 index 000000000..827cb9c12 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj @@ -0,0 +1,522 @@ +o convex_0 +v -1.124323 -1.396235 0.363493 +v 1.094861 -1.355094 -2.347749 +v 1.094861 -1.396235 -2.347749 +v 1.053588 -1.971360 1.514579 +v -0.959883 -3.409384 -3.047113 +v 1.012532 -3.450525 1.514579 +v -1.000939 -3.450525 1.514579 +v 1.094861 -3.327102 -3.128744 +v -0.918827 -1.437377 -3.170477 +v -1.083050 -1.313953 1.391215 +v 0.971476 -1.355094 1.514579 +v 1.094861 -1.313953 -3.170477 +v -1.083050 -1.272812 -1.197122 +v 0.930421 -1.272812 1.020667 +v -1.041995 -3.409384 -1.115491 +v -1.083050 -1.355094 1.514579 +v 1.053588 -3.450525 0.486398 +v -0.138116 -3.409384 -3.087929 +v -1.124323 -1.272812 0.939036 +v 1.012532 -1.272812 -1.238396 +v -0.959883 -1.519446 -3.170477 +v -1.000939 -3.450525 -0.006138 +v 1.053588 -3.409384 1.391215 +v -1.124323 -1.601728 0.980310 +v 1.012532 -3.450525 -0.047412 +v -1.041995 -3.203891 0.980310 +v 1.094861 -2.300063 -3.170477 +v 1.053588 -3.368243 -2.677023 +v -1.083050 -1.478305 -1.238396 +v 0.683652 -3.327102 -3.128744 +v 1.094861 -3.327102 -2.677023 +v -1.000939 -1.396235 -2.594934 +v 1.012532 -1.272812 -0.253324 +v -1.041995 -2.751977 1.514579 +v 1.053588 -3.162750 1.514579 +f 23 31 35 +f 3 2 4 +f 6 4 7 +f 2 3 8 +f 4 2 11 +f 7 4 11 +f 2 8 12 +f 12 9 13 +f 10 11 14 +f 7 11 16 +f 11 10 16 +f 6 7 17 +f 13 1 19 +f 10 14 19 +f 14 13 19 +f 16 10 19 +f 12 13 20 +f 13 14 20 +f 9 12 21 +f 18 5 21 +f 7 15 22 +f 15 5 22 +f 17 7 22 +f 5 18 22 +f 6 17 23 +f 1 15 24 +f 19 1 24 +f 16 19 24 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-1.000694 -1.437196 2.829537 +v -1.124364 -2.628694 2.172195 +v 1.053458 -1.971561 1.514579 +v 1.135757 -2.259344 2.254260 +v -1.000694 -3.491417 1.637950 +v -1.082993 -1.355420 1.925452 +v -1.124364 -2.628694 1.637950 +v 1.094829 -2.094747 1.596781 +v 0.971159 -3.491417 2.048960 +v 0.971159 -1.355420 1.514579 +v 0.806783 -1.437196 2.911739 +v -1.124364 -2.135949 2.213227 +v 1.012530 -3.450425 1.966621 +v -0.425266 -3.121649 2.870707 +v 1.094829 -2.669478 1.596781 +v 1.012530 -1.396203 1.596781 +v 0.971159 -3.203843 2.911739 +f 68 81 85 +f 64 63 65 +f 59 66 68 +f 67 59 68 +f 62 66 69 +f 64 65 71 +f 63 64 73 +f 68 66 73 +f 61 60 74 +f 60 65 74 +f 69 61 74 +f 62 69 74 +f 65 63 75 +f 66 70 75 +f 63 73 75 +f 73 66 75 +f 67 72 76 +f 73 64 77 +f 68 73 77 +f 60 61 78 +f 65 60 78 +f 71 65 78 +f 67 61 79 +f 59 67 79 +f 61 69 79 +f 66 62 80 +f 70 66 80 +f 74 65 80 +f 62 74 80 +f 65 75 80 +f 75 70 80 +f 77 64 81 +f 68 77 81 +f 66 59 82 +f 69 66 82 +f 59 79 82 +f 79 69 82 +f 64 71 83 +f 71 76 83 +f 76 72 83 +f 81 64 83 +f 72 81 83 +f 61 67 84 +f 67 76 84 +f 76 71 84 +f 78 61 84 +f 71 78 84 +f 67 68 85 +f 72 67 85 +f 81 72 85 +o convex_3 +v 0.396039 -0.039939 -1.238919 +v 1.094873 0.494571 0.939108 +v -0.425747 0.494571 0.980261 +v 0.930429 -1.272599 1.021415 +v -1.083090 -1.272599 -1.197544 +v 1.012542 -1.272599 -1.238919 +v -1.124364 -1.272599 0.938887 +v -1.000976 0.494571 -1.074306 +v 1.012542 0.494571 -1.238919 +v -1.124364 0.494571 0.980261 +v 1.053599 -1.067098 -0.827607 +v -1.000976 -0.039939 -1.156391 +v 0.971486 -1.190260 1.021415 +v 1.094873 -0.039939 0.240387 +v -1.124364 0.494571 0.733342 +v 1.053599 0.124566 0.980261 +v -0.507644 0.494571 -1.156391 +v 1.053599 0.453402 -0.704368 +v 0.067151 -1.272599 -1.238919 +v -1.124364 -1.272599 0.322694 +v -1.124364 0.083569 0.980261 +v -1.042033 -0.779258 -1.197544 +v 1.012542 -1.272599 -0.128886 +v 1.094873 0.247901 0.897955 +v -0.302360 -1.272599 0.980261 +f 106 92 110 +f 89 90 91 +f 90 89 92 +f 88 87 93 +f 91 86 94 +f 93 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0.651256 +v 3.066990 2.508090 -1.074306 +v 1.629063 0.576902 0.939108 +v 1.094442 2.713808 -1.156612 +v -1.000598 0.494571 -1.115459 +v -3.055210 1.645246 -1.197544 +v 3.025958 2.672317 -0.704590 +v 0.806615 2.302806 1.021415 +v -3.055210 0.617959 -0.786675 +v -3.014178 0.535845 -0.622283 +v 3.025958 1.070235 0.897955 +v -3.055210 2.631477 -0.663436 +v 3.108022 0.576902 -0.581130 +v 3.066990 0.700289 0.856802 +v 1.094442 1.152131 0.980261 +v -3.014178 0.617959 0.281541 +v 3.025958 2.590203 0.034842 +v 3.108022 1.111291 -1.238698 +v -2.973146 0.494571 0.692410 +v 2.984926 2.056031 0.938887 +v -3.014178 2.713808 0.528018 +v 0.642488 2.343645 1.021415 +f 132 122 146 +f 113 112 115 +f 112 114 116 +f 115 112 117 +f 112 113 119 +f 117 112 120 +f 111 121 122 +f 116 114 123 +f 118 122 123 +f 115 117 124 +f 115 118 125 +f 118 123 125 +f 124 117 127 +f 116 123 128 +f 123 122 128 +f 113 115 129 +f 119 113 129 +f 114 112 130 +f 112 119 130 +f 119 114 130 +f 122 121 131 +f 126 116 131 +f 116 128 131 +f 128 122 131 +f 111 122 132 +f 115 124 132 +f 114 119 133 +f 119 115 133 +f 119 129 134 +f 127 117 135 +f 123 114 136 +f 114 133 136 +f 133 125 136 +f 117 120 137 +f 137 126 138 +f 121 135 138 +f 135 117 138 +f 117 137 138 +f 124 127 139 +f 111 132 139 +f 132 124 139 +f 115 125 140 +f 133 115 140 +f 125 133 140 +f 131 121 141 +f 126 131 141 +f 138 126 141 +f 121 138 141 +f 112 116 142 +f 120 112 142 +f 116 126 142 +f 137 120 142 +f 126 137 142 +f 115 119 143 +f 129 115 143 +f 119 134 143 +f 134 129 143 +f 121 111 144 +f 135 121 144 +f 127 135 144 +f 111 139 144 +f 139 127 144 +f 125 123 145 +f 123 136 145 +f 136 125 145 +f 118 115 146 +f 122 118 146 +f 115 132 146 +o convex_5 +v 2.491905 -2.628731 1.555740 +v 3.067234 -2.053442 2.089852 +v 3.067234 -2.053442 1.884484 +v 1.095267 -2.094607 1.802298 +v 1.095267 -2.710925 2.213227 +v 3.067234 -2.752022 2.172038 +v 1.095267 -2.669828 1.596865 +v 2.944048 -2.053442 1.555740 +v 1.095267 -2.135704 2.213227 +v 3.108625 -2.587634 1.555740 +v 1.095267 -2.094607 1.596865 +v 1.629403 -2.135704 2.213227 +v 3.067234 -2.752022 2.048791 +v 1.916969 -2.053442 1.637990 +v 1.547213 -2.710925 1.761237 +v 1.999159 -2.710925 2.213227 +v 3.108625 -2.094607 2.048791 +v 2.656285 -2.053442 2.089852 +f 160 150 164 +f 151 150 153 +f 148 149 154 +f 150 151 155 +f 154 149 156 +f 147 154 156 +f 147 153 157 +f 153 150 157 +f 154 147 157 +f 152 148 158 +f 148 155 158 +f 155 151 158 +f 152 151 159 +f 156 152 159 +f 147 156 159 +f 148 154 160 +f 157 150 160 +f 154 157 160 +f 153 147 161 +f 151 153 161 +f 159 151 161 +f 147 159 161 +f 151 152 162 +f 152 158 162 +f 158 151 162 +f 149 148 163 +f 148 152 163 +f 156 149 163 +f 152 156 163 +f 155 148 164 +f 150 155 164 +f 148 160 164 +o convex_6 +v -3.055544 -2.669896 1.884516 +v -1.124364 -2.053441 1.802338 +v -1.124364 -2.053441 1.679071 +v -1.124364 -2.628743 1.637982 +v -1.124364 -2.628743 2.172018 +v -3.014519 -2.176780 2.089840 +v -3.014519 -2.382185 1.596773 +v -1.124364 -2.135748 2.213167 +v -3.055544 -2.669896 2.172018 +v -2.850232 -2.176780 1.637982 +v -3.014519 -2.628743 1.596773 +v -1.617793 -2.546557 1.596773 +v -1.823294 -2.669896 2.172018 +v -2.069820 -2.382185 2.213167 +v -3.055544 -2.300059 2.130929 +v -1.124364 -2.464310 2.213167 +v -1.412292 -2.135748 2.213167 +f 179 178 181 +f 167 166 168 +f 168 166 169 +f 166 167 170 +f 169 166 172 +f 170 167 174 +f 167 171 174 +f 171 170 174 +f 168 165 175 +f 165 171 175 +f 175 171 176 +f 167 168 176 +f 171 167 176 +f 168 175 176 +f 165 168 177 +f 168 169 177 +f 173 165 177 +f 170 171 179 +f 171 165 179 +f 165 173 179 +f 173 178 179 +f 169 172 180 +f 177 169 180 +f 173 177 180 +f 178 173 180 +f 172 178 180 +f 166 170 181 +f 172 166 181 +f 178 172 181 +f 170 179 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf new file mode 100644 index 000000000..b4178cfe9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj new file mode 100644 index 000000000..91ba7c198 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj @@ -0,0 +1,615 @@ +o convex_0 +v 1.024363 -0.483292 0.862930 +v -1.091820 -2.019115 -1.116899 +v -1.057606 -2.121663 -1.082586 +v -1.091820 -1.097842 1.033652 +v -1.023391 -0.244198 -1.082586 +v 1.092792 -2.121663 -1.048273 +v 1.024363 -2.121663 0.930924 +v 1.058578 -0.244198 -1.082586 +v -1.057606 -0.244198 1.033652 +v -1.091820 -2.121663 1.033652 +v 0.785501 -0.244198 0.999339 +v -1.091820 -1.370567 -1.116899 +v 1.092792 -1.677842 -0.297391 +v -0.545667 -2.121663 1.033652 +v 1.092792 -0.346746 -1.082586 +v 0.990362 -0.244198 0.965237 +v 1.058578 -1.746023 -1.082586 +v -1.057606 -0.244198 -0.877551 +v 0.205347 -0.244198 1.033652 +v 1.058578 -2.121663 0.623792 +v -0.511452 -1.780205 -1.116899 +v 0.683071 -2.121663 0.965237 +v -1.023391 -0.995478 -1.116899 +v 0.409780 -2.121663 -1.082586 +v 1.024363 -0.892931 0.965237 +v 1.024363 -0.244198 0.726310 +v -1.091820 -1.131840 -0.741353 +f 18 12 27 +f 3 6 7 +f 8 5 9 +f 2 3 10 +f 4 2 10 +f 3 7 10 +f 9 4 10 +f 8 9 11 +f 2 4 12 +f 10 7 14 +f 9 10 14 +f 13 6 15 +f 8 11 16 +f 15 6 17 +f 4 9 18 +f 9 5 18 +f 5 12 18 +f 11 9 19 +f 9 14 19 +f 7 6 20 +f 13 1 20 +f 6 13 20 +f 2 12 21 +f 8 15 21 +f 15 17 21 +f 14 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a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf new file mode 100644 index 000000000..b6fb1c60f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj new file mode 100644 index 000000000..7ebe2b32a --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj new file mode 100644 index 000000000..87be8f39a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj @@ -0,0 +1,420 @@ +o convex_0 +v 1.002557 0.745177 -1.466478 +v 0.636048 -1.127606 -5.009071 +v 0.595391 -0.801427 -5.009071 +v -0.951759 -1.046061 -1.099898 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf new file mode 100644 index 000000000..2d5f19951 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj new file mode 100644 index 000000000..2cd99ad60 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj @@ -0,0 +1,327 @@ +o convex_0 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+f 101 89 110 +f 74 79 111 +f 79 83 111 +f 85 74 111 +f 83 101 111 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf new file mode 100644 index 000000000..5ba3521d8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj new file mode 100644 index 000000000..b5c3f1280 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj @@ -0,0 +1,3921 @@ +o convex_0 +v 0.837441 -0.998812 1.552413 +v -0.136372 -1.197891 1.729401 +v -0.003493 -2.127413 1.485964 +v 0.837441 -0.932452 1.729401 +v 0.040737 -1.197891 1.840079 +v 0.616007 -1.042971 1.485964 +v 0.195731 -2.016652 1.508114 +v 0.837441 -0.976732 1.485964 +v 0.815231 -0.888172 1.707182 +v -0.003493 -2.016652 1.485964 +v -0.025608 -1.175812 1.840079 +v -0.136372 -1.175812 1.729401 +v -0.003493 -2.127413 1.508114 +f 5 11 13 +f 1 4 7 +f 4 5 7 +f 4 1 8 +f 3 6 8 +f 1 7 8 +f 7 3 8 +f 4 8 9 +f 8 6 9 +f 3 2 10 +f 6 3 10 +f 5 4 11 +f 4 9 11 +f 11 9 12 +f 9 6 12 +f 10 2 12 +f 6 10 12 +f 2 11 12 +f 2 3 13 +f 3 7 13 +f 7 5 13 +f 11 2 13 +o convex_1 +v -0.778322 0.882571 -0.528281 +v -1.132386 1.015607 -0.771617 +v -1.132386 1.015607 -0.749486 +v -0.733981 1.856400 -0.417624 +v -1.110235 0.351459 -0.395419 +v -0.756171 1.082052 -0.771617 +v -0.800472 0.794028 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b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj new file mode 100644 index 000000000..9bb0dac48 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj @@ -0,0 +1,423 @@ +o convex_0 +v 0.629095 4.557966 0.619262 +v -1.114447 -1.644342 -1.056710 +v -1.114447 -1.644342 -0.721431 +v 1.065194 -1.846203 -0.956294 +v 0.495108 -1.846203 1.055586 +v -1.080737 4.557966 0.954751 +v -0.946749 4.659215 -1.056710 +v 0.997987 4.557966 -0.989906 +v 1.065194 4.524217 1.055376 +v -1.047240 -1.846203 1.021764 +v 0.964490 -1.846203 0.921349 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj new file mode 100644 index 000000000..28435a6b2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj @@ -0,0 +1,648 @@ +o convex_0 +v -0.593154 -3.971111 -0.494372 +v 0.530954 -3.717337 0.593339 +v 0.494643 -3.644757 0.593339 +v 0.458331 -3.644757 -0.530698 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj new file mode 100644 index 000000000..d7296ddc6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj @@ -0,0 +1,285 @@ +o convex_0 +v 1.028759 -2.378946 -0.171359 +v -1.114176 -3.726211 -1.035476 +v -1.079565 -4.935925 -1.035476 +v -0.975942 -4.970722 1.038239 +v -1.044954 -0.823307 0.969102 +v 0.994148 -4.935925 1.072705 +v 0.752082 -0.823307 -0.966132 +v 0.924926 -5.005519 -1.000804 +v 0.924926 -0.823307 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a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf new file mode 100644 index 000000000..e3096c8ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj new file mode 100644 index 000000000..d2cb448ad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj @@ -0,0 +1,474 @@ +o convex_0 +v 0.176136 -4.813977 -0.027131 +v -0.344497 -4.813977 0.146371 +v -0.205640 -4.744275 -0.304845 +v 0.314993 -2.904929 0.319935 +v -0.309766 -2.904929 -0.200695 +v 0.314993 -2.904929 -0.304845 +v 0.314993 -4.779219 0.285197 +v -0.344497 -2.904929 0.181047 +v 0.280262 -4.779219 -0.235371 +v -0.344497 -4.813977 0.215784 +v 0.176136 -2.904929 0.319935 +v -0.032053 -4.813977 -0.304845 +v 0.314993 -4.779219 -0.096544 +v -0.344497 -2.939686 -0.096544 +v -0.309766 -3.321458 0.215784 +v 0.280262 -4.605618 -0.270108 +v 0.245532 -3.599145 0.319935 +v -0.309766 -3.356216 -0.200695 +v 0.245532 -2.904929 -0.304845 +v -0.205640 -4.397447 0.250460 +v 0.176136 -4.744275 0.285197 +v -0.205640 -4.570861 -0.304845 +f 5 19 22 +f 5 4 6 +f 6 4 7 +f 4 5 8 +f 2 1 10 +f 1 7 10 +f 8 2 10 +f 4 8 11 +f 1 2 12 +f 2 3 12 +f 3 6 12 +f 9 1 12 +f 7 1 13 +f 6 7 13 +f 1 9 13 +f 2 8 14 +f 8 5 14 +f 8 10 15 +f 11 8 15 +f 12 6 16 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204 +f 189 165 205 +f 165 190 205 +f 190 189 205 +f 160 158 206 +f 158 180 206 +f 180 160 206 +f 164 150 207 +f 165 164 207 +f 175 165 207 +f 150 183 207 +f 183 175 207 +f 160 152 208 +f 152 167 208 +f 167 179 208 +f 185 160 208 +f 184 185 208 +f 179 193 208 +f 193 184 208 +f 151 166 209 +f 169 151 209 +f 157 169 209 +f 184 157 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf new file mode 100644 index 000000000..2ed563a39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj new file mode 100644 index 000000000..d2fa0fac4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj @@ -0,0 +1,567 @@ +o convex_0 +v 0.601422 -3.942440 0.672263 +v -1.497812 0.417081 -0.974589 +v -1.497812 0.417081 -0.942249 +v 0.666023 0.546711 1.027589 +v -1.400804 -3.748215 0.930568 +v 0.504414 -3.813250 -0.974589 +v 0.601422 0.546711 -0.942249 +v -1.465405 0.546711 0.995249 +v -1.336202 -3.942440 -0.909908 +v 0.666023 -3.231892 0.995249 +v -1.045601 0.546711 -1.071610 +v 0.181406 -0.680599 1.059929 +v 0.407617 -3.942440 0.962909 +v -1.368609 -3.683619 -0.942249 +v 0.601422 -0.260949 -0.974589 +v -1.433210 -2.746768 0.962909 +v -0.884203 -3.813250 0.962909 +v 0.633617 -3.909923 0.510770 +v -1.400804 -3.812810 0.220125 +v -1.465405 0.546711 -1.006929 +v -0.141390 0.546711 1.059929 +v 0.536820 -3.360643 -0.974589 +v -0.109196 -3.845327 -0.974589 +v -0.980999 0.191217 -1.071610 +v 0.666023 0.546711 0.769075 +v 0.601422 -3.586946 0.995249 +v -0.851796 0.546711 -1.071610 +v -1.465405 -0.035086 0.995249 +v -1.400804 -3.780293 0.898228 +v 0.633617 -3.942440 0.962909 +v 0.407617 0.482116 1.059929 +v 0.213812 -3.845327 -0.974589 +v -1.400804 -3.134779 0.962909 +v 0.666023 -3.425239 0.930568 +v -1.433210 -0.616443 0.995249 +v 0.569015 0.546711 -0.974589 +v -1.368609 -3.909923 -0.877568 +v -1.336202 -3.942440 -0.813096 +v -1.433210 -2.876399 0.865888 +v -1.336202 -3.813250 -0.942249 +v -1.142397 -3.942440 -0.845228 +v 0.536820 -3.813250 -0.845228 +f 22 15 42 +f 2 3 8 +f 4 7 8 +f 8 7 11 +f 9 1 13 +f 2 8 20 +f 8 11 20 +f 14 2 20 +f 11 14 20 +f 4 8 21 +f 14 11 24 +f 7 4 25 +f 4 10 25 +f 15 7 25 +f 12 17 26 +f 17 13 26 +f 11 7 27 +f 22 6 27 +f 15 22 27 +f 24 11 27 +f 6 24 27 +f 8 3 28 +f 21 8 28 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-0.522577 +v -1.756469 1.773961 0.413933 +v -1.562445 1.741561 -0.425651 +v -1.982439 0.643691 0.607785 +v -3.370792 1.644593 0.543167 +v -1.530304 0.869675 0.607785 +v -3.080147 1.644593 -0.457960 +v -3.176964 0.675974 0.575476 +v -1.562445 0.579007 -0.328614 +v -3.467608 0.675974 -0.167181 +v -3.532283 1.612427 0.413933 +v -2.854177 0.966642 -0.522577 +v -3.499946 0.869792 0.543167 +f 63 62 65 +f 44 45 47 +f 47 45 48 +f 47 48 52 +f 43 49 52 +f 52 49 53 +f 44 47 55 +f 54 44 55 +f 45 44 57 +f 44 54 57 +f 48 45 58 +f 46 56 58 +f 56 48 58 +f 45 57 58 +f 57 46 58 +f 53 51 59 +f 54 55 59 +f 55 47 59 +f 51 57 59 +f 57 54 59 +f 56 46 60 +f 50 56 60 +f 50 43 61 +f 52 48 61 +f 43 52 61 +f 48 56 61 +f 56 50 61 +f 49 43 62 +f 43 50 62 +f 53 49 63 +f 51 53 63 +f 46 57 63 +f 57 51 63 +f 49 62 63 +f 47 52 64 +f 52 53 64 +f 53 59 64 +f 59 47 64 +f 60 46 65 +f 50 60 65 +f 62 50 65 +f 46 63 65 +o convex_2 +v 0.730976 1.612354 0.607785 +v 2.571352 1.773961 -0.264133 +v 2.571352 1.773961 -0.457928 +v 2.603616 0.643738 -0.425575 +v 0.730976 0.708267 -0.490281 +v 2.603616 0.708267 0.543186 +v 0.730976 0.611303 0.607785 +v 0.730976 1.741640 -0.457928 +v 2.474372 1.773961 0.543186 +v 2.635880 1.354011 0.317038 +v 0.827769 0.675946 -0.490281 +v 0.859847 1.644676 0.607785 +v 2.312864 0.675946 -0.457928 +v 1.150599 1.418654 0.607785 +v 2.635880 1.418654 -0.296378 +v 1.118335 0.611303 0.575432 +v 0.730976 0.611303 0.349391 +v 2.119277 1.773961 0.381637 +v 2.635880 0.837553 0.220087 +v 0.730976 1.741640 -0.328731 +v 2.539087 1.676997 0.510833 +v 2.054562 1.773961 -0.457928 +f 85 83 87 +f 66 70 72 +f 70 66 73 +f 67 68 74 +f 70 68 76 +f 66 72 77 +f 68 69 78 +f 76 68 78 +f 69 76 78 +f 72 71 79 +f 71 74 79 +f 77 72 79 +f 74 77 79 +f 68 67 80 +f 69 68 80 +f 67 75 80 +f 69 71 81 +f 71 72 81 +f 81 72 82 +f 72 70 82 +f 76 69 82 +f 70 76 82 +f 69 81 82 +f 74 68 83 +f 77 74 83 +f 71 69 84 +f 75 71 84 +f 69 80 84 +f 80 75 84 +f 73 66 85 +f 66 77 85 +f 77 83 85 +f 67 74 86 +f 74 71 86 +f 75 67 86 +f 71 75 86 +f 68 70 87 +f 70 73 87 +f 83 68 87 +f 73 85 87 +o convex_3 +v 3.217766 0.966661 0.349416 +v 6.446660 1.160304 -0.296505 +v 6.446660 1.418648 -0.296505 +v 2.636478 1.257155 -0.296441 +v 6.091406 1.386383 0.252490 +v 2.636478 1.354062 0.317108 +v 6.543870 0.902018 0.058701 +v 2.636478 0.902018 -0.167207 +v 2.636478 1.418704 -0.296441 +v 2.636478 0.837376 0.349416 +v 6.543870 0.902018 0.220182 +v 6.672694 0.998925 -0.296505 +v 6.672694 1.386383 0.220182 +v 3.153354 0.934340 -0.231887 +v 6.640686 1.418648 -0.070344 +v 3.056538 1.418704 -0.134961 +v 3.766650 0.837376 0.284799 +v 5.897380 0.869697 0.252490 +v 6.640686 0.966604 -0.231887 +v 6.285037 1.289419 0.252490 +v 6.608282 1.418648 -0.296505 +v 4.961234 1.386383 0.252490 +v 6.059002 0.869697 0.187936 +f 105 104 110 +f 90 89 91 +f 88 92 93 +f 93 91 95 +f 90 91 96 +f 91 93 96 +f 88 93 97 +f 93 95 97 +f 89 90 99 +f 91 89 99 +f 98 99 100 +f 95 91 101 +f 91 99 101 +f 100 99 102 +f 92 100 102 +f 96 93 103 +f 97 95 104 +f 88 97 105 +f 97 104 105 +f 94 95 106 +f 98 94 106 +f 99 98 106 +f 95 101 106 +f 101 99 106 +f 92 88 107 +f 98 100 107 +f 100 92 107 +f 88 105 107 +f 105 98 107 +f 90 96 108 +f 99 90 108 +f 102 99 108 +f 96 103 108 +f 103 102 108 +f 93 92 109 +f 92 102 109 +f 103 93 109 +f 102 103 109 +f 95 94 110 +f 94 98 110 +f 104 95 110 +f 98 105 110 +o convex_4 +v -0.528766 1.257076 3.062117 +v 0.020039 0.579007 2.383966 +v -0.109195 0.611407 1.802808 +v 0.181583 1.676994 1.060129 +v -0.884051 0.675974 1.060129 +v -0.916360 1.773961 1.286378 +v 0.181583 1.773961 2.965324 +v -0.948779 0.579007 3.094581 +v -0.884051 1.773961 3.029853 +v 0.084657 0.579007 3.029654 +v 0.052348 0.675974 1.060129 +v -0.916360 1.741561 1.060129 +v 0.116965 0.708375 3.029654 +v -0.948779 1.063492 3.094581 +v -0.948779 0.611407 2.480561 +v 0.181583 1.547860 1.060129 +v 0.181583 1.773961 2.513024 +v 0.020039 0.611407 3.062117 +v -0.916360 1.612427 3.062117 +v 0.052348 0.643691 1.124657 +v -0.464259 1.741561 1.060129 +v -0.916360 0.579007 2.835868 +v 0.181583 1.580144 2.965324 +v 0.084657 0.611407 2.061123 +v -0.044578 1.773961 2.997588 +f 119 129 135 +f 117 116 119 +f 118 112 120 +f 115 114 121 +f 114 115 122 +f 116 122 124 +f 122 115 125 +f 124 122 125 +f 118 124 125 +f 114 117 126 +f 121 114 126 +f 117 114 127 +f 116 117 127 +f 118 120 128 +f 123 117 128 +f 120 123 128 +f 111 124 128 +f 124 118 128 +f 119 116 129 +f 124 111 129 +f 116 124 129 +f 112 113 130 +f 115 121 130 +f 121 126 130 +f 114 122 131 +f 122 116 131 +f 127 114 131 +f 116 127 131 +f 113 112 132 +f 112 118 132 +f 125 115 132 +f 118 125 132 +f 130 113 132 +f 115 130 132 +f 117 123 133 +f 126 117 133 +f 123 126 133 +f 120 112 134 +f 123 120 134 +f 126 123 134 +f 112 130 134 +f 130 126 134 +f 117 119 135 +f 111 128 135 +f 128 117 135 +f 129 111 135 +o convex_5 +v -0.981075 1.095839 -1.071610 +v 0.181583 1.741608 -2.815439 +v 0.181583 1.644657 -2.815439 +v -0.916318 1.644764 -3.041625 +v 0.052297 0.740601 -3.073965 +v 0.052297 1.773854 -1.071610 +v 0.052297 0.740601 -1.071610 +v -0.948640 0.708248 -2.750758 +v -0.948640 1.644764 -1.071610 +v -0.981075 0.676003 -1.071610 +v 0.181583 1.741608 -3.041429 +v -0.916318 0.740601 -2.976944 +v -0.399746 1.741608 -1.879138 +v 0.116940 1.773854 -2.815439 +v 0.084619 0.902044 -1.265456 +v -0.690297 0.676003 -1.103950 +v -0.948640 1.644764 -2.331118 +v -0.851790 1.676902 -2.944604 +v -0.884111 1.676902 -1.071610 +v -0.173724 1.773854 -1.071610 +v 0.084619 0.902044 -3.073965 +v -0.981075 0.676003 -1.523786 +v 0.084619 1.773854 -1.362477 +v -0.948640 1.450861 -2.653933 +v -0.109195 0.740601 -3.073965 +v -0.916318 0.676003 -1.717828 +f 151 157 161 +f 141 136 142 +f 136 141 144 +f 142 136 145 +f 137 138 146 +f 143 139 147 +f 137 146 149 +f 138 137 150 +f 142 140 150 +f 141 142 150 +f 140 142 151 +f 142 145 151 +f 136 144 152 +f 146 139 153 +f 149 146 153 +f 148 149 153 +f 139 152 153 +f 153 152 154 +f 144 141 154 +f 152 144 154 +f 148 153 154 +f 148 154 155 +f 141 149 155 +f 149 148 155 +f 154 141 155 +f 146 138 156 +f 139 146 156 +f 138 150 156 +f 150 140 156 +f 145 136 157 +f 151 145 157 +f 137 149 158 +f 149 141 158 +f 150 137 158 +f 141 150 158 +f 139 143 159 +f 136 152 159 +f 152 139 159 +f 143 157 159 +f 157 136 159 +f 140 143 160 +f 147 139 160 +f 143 147 160 +f 139 156 160 +f 156 140 160 +f 143 140 161 +f 140 151 161 +f 157 143 161 +o convex_6 +v 0.730616 0.611540 0.607582 +v -1.207021 1.741559 -1.071610 +v -1.207021 1.838393 -1.071610 +v -1.465490 1.903062 1.027589 +v 0.665777 2.258402 1.027380 +v -1.465490 0.547040 0.995249 +v 0.569072 0.547040 -0.974589 +v 0.633690 2.096731 -0.942249 +v -1.497578 0.547040 -0.974589 +v -1.530108 2.129065 -1.006929 +v 0.407529 0.547040 1.059929 +v -1.303947 2.193733 1.027589 +v 0.052133 0.740709 -1.071610 +v 0.730616 1.741391 -0.457770 +v -1.530108 0.643707 0.607582 +v 0.730616 0.708375 -0.490110 +v 0.665777 0.547040 1.027380 +v -1.497578 2.129065 0.962909 +v 0.052133 1.773725 -1.071610 +v 0.665777 2.258402 0.672263 +v -1.045477 0.547040 -1.071610 +v -0.916464 1.741559 1.059929 +v 0.633690 2.225900 1.059929 +v -0.884155 0.676041 1.059929 +v 0.052133 2.258402 0.995249 +v 0.730616 1.612222 0.607582 +v 0.633690 2.128898 -0.813096 +v -1.530108 1.870560 0.639923 +v -1.530108 0.579206 -0.490110 +v 0.569072 2.064397 -0.974589 +v -1.497578 0.708375 -1.006929 +v 0.601381 0.547040 -0.942249 +v -1.497578 2.161399 0.090972 +v -1.271638 2.129065 -1.006929 +v -1.530108 1.483221 -1.006929 +f 192 170 196 +f 168 167 170 +f 164 163 171 +f 167 168 172 +f 163 164 174 +f 175 162 177 +f 169 175 177 +f 162 166 178 +f 172 168 178 +f 167 165 179 +f 165 173 179 +f 176 167 179 +f 174 164 180 +f 168 174 180 +f 166 175 181 +f 168 170 182 +f 163 174 182 +f 174 168 182 +f 173 165 183 +f 173 183 184 +f 166 173 184 +f 178 166 184 +f 172 178 184 +f 183 172 184 +f 165 167 185 +f 167 172 185 +f 183 165 185 +f 172 183 185 +f 173 166 186 +f 181 171 186 +f 166 181 186 +f 166 162 187 +f 162 175 187 +f 175 166 187 +f 175 169 188 +f 181 175 188 +f 171 176 189 +f 179 171 189 +f 176 179 189 +f 170 167 190 +f 167 176 190 +f 176 171 190 +f 169 168 191 +f 168 180 191 +f 163 182 192 +f 182 170 192 +f 168 169 193 +f 177 162 193 +f 169 177 193 +f 162 178 193 +f 178 168 193 +f 179 173 194 +f 171 179 194 +f 186 171 194 +f 173 186 194 +f 164 171 195 +f 180 164 195 +f 171 181 195 +f 188 169 195 +f 181 188 195 +f 169 191 195 +f 191 180 195 +f 171 163 196 +f 170 190 196 +f 190 171 196 +f 163 192 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf new file mode 100644 index 000000000..6ab338534 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj new file mode 100644 index 000000000..389564e58 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj @@ -0,0 +1,618 @@ +o convex_0 +v -0.035142 3.931316 0.050826 +v -2.049505 -0.750591 -0.053571 +v -1.604545 -1.274038 -0.001372 +v -0.819590 1.655719 1.071118 +v 0.540644 -0.619878 -0.263173 +v -1.657028 3.513034 -0.733968 +v -0.715386 1.447172 -0.995768 +v -1.499834 3.748317 0.312221 +v -0.035142 -0.541450 0.756918 +v 0.095684 3.460155 0.757120 +v -1.657028 -0.802877 0.783017 +v -1.526202 -0.646021 -0.681770 +v -0.244311 3.303298 -0.603068 +v 0.017340 -0.829614 -0.760067 +v -0.819590 4.638355 -0.001372 +v -0.087371 -1.326324 0.050826 +v -0.819590 3.879625 0.809116 +v -1.578431 1.759695 0.861516 +v 0.540644 -0.567593 0.312221 +v -2.049505 0.086567 0.233722 +v -0.793476 3.879625 -0.760269 +v -0.061257 1.707410 -0.838769 +v -0.009028 1.290316 0.966317 +v -1.526202 1.290316 -0.917066 +v -2.049505 -0.201596 -0.419969 +v -1.578431 3.983601 0.102822 +v 0.540644 -0.175454 -0.236871 +v -0.035142 3.931316 -0.079872 +v -2.049505 -0.593736 0.416820 +v -0.819590 -1.431488 -0.001372 +v -2.049505 0.583277 -0.184673 +v -1.840082 1.917145 0.338321 +v -0.584560 -0.646021 0.809116 +v -0.636789 -0.750591 -0.760067 +v -0.819590 1.760289 -0.995768 +v -1.369262 3.277156 0.652319 +v -1.840082 -0.960327 0.495320 +v -0.793476 -1.431488 0.076723 +v -0.767361 4.638355 0.050624 +v 0.540644 -0.070289 0.207623 +v 0.069569 3.538582 0.757120 +v -1.526202 -1.352466 0.024524 +v 0.174281 2.074001 -0.315371 +v -2.049505 -0.567593 -0.341672 +v -0.061257 1.394887 0.992619 +v -0.061257 -0.619878 0.756918 +v -0.793476 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+1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj new file mode 100644 index 000000000..0ca053de3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj @@ -0,0 +1,372 @@ +o convex_0 +v -0.181647 -1.258737 -3.811783 +v 0.602768 -0.511693 -1.832310 +v 0.602768 -1.370739 -1.832310 +v -0.555264 -0.399581 -1.832310 +v 0.415959 -0.474395 -3.774384 +v -0.443156 -1.482850 -1.832310 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf new file mode 100644 index 000000000..2fba70b87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj new file mode 100644 index 000000000..5efa4dec6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj @@ -0,0 +1,1323 @@ +o convex_0 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b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj new file mode 100644 index 000000000..50f71cbf9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj @@ -0,0 +1,393 @@ +o convex_0 +v -0.802414 3.350294 -1.004636 +v 0.660479 0.050954 1.112134 +v 0.629397 0.050954 1.112134 +v 0.785011 -0.914400 -1.098099 +v -1.020190 -0.914400 1.018671 +v 1.065364 3.506066 1.049825 +v -1.020190 3.443757 0.956146 +v -1.051479 -0.914400 -0.973481 +v 1.065364 3.381448 -1.098099 +v 1.065364 -0.914400 1.080980 +v -1.020190 3.443757 -0.973481 +v 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+v 0.753975 -2.315024 1.112134 +v 1.034036 -2.595216 -0.226424 +v 1.065364 -0.945738 0.084687 +v -1.051281 -0.914568 0.396015 +v -0.802338 -2.532876 1.049825 +v -0.615631 -2.626553 -0.662154 +v 1.002918 -2.626553 -0.662154 +v -1.082609 -1.101418 -0.506598 +v -0.522277 -2.595216 -0.973481 +v -1.051281 -2.532876 0.427170 +v 1.034036 -1.225929 -0.973481 +v 1.065364 -2.470705 0.831961 +v 1.002918 -1.008077 -1.004636 +v 0.131198 -2.501874 1.080980 +v -0.366478 -2.532876 1.049825 +v 1.034036 -2.595216 -0.288517 +f 100 77 104 +f 73 72 78 +f 73 78 79 +f 79 78 81 +f 71 80 81 +f 79 76 83 +f 71 81 84 +f 81 78 84 +f 82 71 84 +f 80 71 85 +f 71 82 85 +f 82 80 85 +f 81 80 87 +f 73 79 88 +f 83 73 88 +f 79 83 88 +f 72 73 89 +f 77 72 89 +f 73 83 89 +f 77 86 90 +f 72 77 91 +f 78 72 91 +f 79 81 92 +f 76 74 93 +f 83 76 93 +f 75 74 94 +f 74 76 94 +f 76 87 94 +f 87 80 94 +f 74 75 95 +f 86 74 95 +f 75 90 95 +f 90 86 95 +f 81 87 96 +f 92 81 96 +f 82 75 97 +f 80 82 97 +f 75 94 97 +f 94 80 97 +f 76 79 98 +f 87 76 98 +f 79 92 98 +f 96 87 98 +f 92 96 98 +f 78 91 99 +f 99 91 100 +f 91 77 100 +f 75 82 101 +f 84 78 101 +f 82 84 101 +f 99 75 101 +f 78 99 101 +f 77 89 102 +f 89 83 102 +f 83 93 102 +f 93 77 102 +f 74 86 103 +f 86 77 103 +f 93 74 103 +f 77 93 103 +f 90 75 104 +f 77 90 104 +f 75 99 104 +f 99 100 104 +o convex_3 +v 0.255867 -1.194712 3.104457 +v 0.380451 -2.159602 1.112521 +v 0.442687 -2.159602 1.112521 +v 0.536153 -0.976779 1.112521 +v -0.553310 -1.007913 1.112521 +v -0.615658 -2.066084 3.104457 +v 0.473805 -1.972684 2.948651 +v -0.522192 -0.976779 2.979656 +v -0.584428 -2.003818 1.112521 +v 0.536153 -0.945765 3.073256 +v -0.553310 -0.976779 1.579353 +v 0.504923 -1.848152 2.824045 +v 0.473805 -2.128350 1.517148 +v -0.304254 -2.066084 3.073061 +v 0.504923 -0.945765 1.579353 +v -0.179783 -0.945646 3.010856 +v -0.584428 -2.034951 1.454748 +v -0.553310 -1.163460 3.010856 +v 0.536153 -1.163579 3.073256 +v 0.442687 -2.003818 2.948651 +v -0.584428 -1.630219 1.112521 +v -0.273136 -0.976779 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+f 112 122 133 +f 133 122 134 +f 128 105 134 +f 122 128 134 +f 105 133 134 +f 106 110 135 +f 113 121 135 +f 125 113 135 +f 127 106 135 +f 121 127 135 +f 110 128 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf new file mode 100644 index 000000000..cc77fbbaf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj new file mode 100644 index 000000000..5ae2b2a25 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj @@ -0,0 +1,849 @@ +o convex_0 +v -0.704364 0.678164 2.237997 +v -0.600431 -1.575521 0.989266 +v -0.877655 -1.471211 0.989266 +v -0.011201 -1.020524 4.248481 +v 0.994382 0.643229 0.989616 +v 0.925024 -1.298022 0.989616 +v 0.716951 0.608542 3.693334 +v -0.808504 -0.223458 4.040126 +v -0.981795 0.608790 0.989266 +v 0.751733 -0.292833 4.040475 +v -1.051153 -1.089898 2.549830 +v -0.114927 0.470040 4.213871 +v -0.288218 0.955663 1.058834 +v -0.773722 -1.159273 3.762902 +v 0.301012 -1.263335 3.311933 +v 1.028957 -0.257898 2.584439 +v -0.011201 -0.223458 4.560663 +v -0.357576 0.747539 3.208105 +v 0.682169 0.920976 0.989616 +v 0.821091 -0.985836 2.861313 +v 0.301012 -1.575521 1.024575 +v -0.877655 0.470040 2.757835 +v -1.085728 -0.258146 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272 +f 260 265 272 +f 272 265 273 +f 250 249 273 +f 259 250 273 +f 251 259 273 +f 265 251 273 +f 249 272 273 +f 264 257 274 +f 258 264 274 +f 257 267 274 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf new file mode 100644 index 000000000..b06babeb7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.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 diff --git 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b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj new file mode 100644 index 000000000..5a4e44aa7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.085723 3.042225 -1.008275 +v 0.087437 -1.638311 1.043972 +v 0.058713 -1.638311 1.043972 +v 0.116365 -3.777825 -0.950419 +v 1.041445 2.869697 0.003385 +v -1.010803 3.013603 0.032109 +v -0.895091 -3.777825 -0.083195 +v 0.781298 -3.806448 0.494547 +v 0.665586 3.794355 0.754694 +v 0.810022 -3.082940 -0.776852 +v -0.750452 3.013603 0.754694 +v 0.781298 3.939056 -0.747924 +v -0.721728 3.678276 -0.747924 +v -0.692800 -3.863692 0.697042 +v -0.692800 -2.910412 -0.776852 +v -0.056795 3.765733 0.928261 +v 0.781298 -2.910412 0.783622 +v 1.041445 -2.822955 0.003385 +v -0.577089 3.967679 0.234400 +v 0.607731 -4.037811 -0.574561 +v 0.001061 -3.863692 0.928261 +v 0.087437 -3.083735 -1.037203 +v 0.838950 0.961545 0.754694 +v -0.779380 1.048207 -0.777056 +v -0.606017 -4.008394 -0.516705 +v -0.721728 -3.228437 0.754694 +v 0.029785 3.043020 1.015045 +v 0.058713 -4.067228 0.754898 +v 0.752370 4.054341 0.176545 +v -0.114651 3.997096 -0.776852 +v -0.952947 -3.083735 -0.025543 +v 1.070372 1.308193 -0.054267 +v 0.925733 -3.835865 -0.083195 +v -0.924019 3.737110 -0.025543 +v -0.692800 3.707693 0.668114 +v 0.752370 3.129682 0.783622 +v -0.692800 -4.067228 0.321184 +v -0.952947 3.013603 -0.285486 +v 0.058713 3.128887 -1.008275 +v 0.810225 -2.245739 -0.805780 +v 0.116365 4.025718 0.639186 +v 0.925733 3.822977 0.089965 +v 0.607731 -3.979771 0.638983 +v 0.001061 -3.025696 -1.036999 +v -0.750452 3.071643 -0.805780 +v 0.723442 -3.806448 -0.776852 +v -0.663872 -3.777030 -0.690272 +v 1.070372 -0.048980 0.061037 +v -0.519233 3.997096 -0.516705 +v -0.027867 -3.083735 1.014841 +v -0.085723 3.765733 -0.950419 +v -0.721728 1.857581 0.783622 +v 0.810225 -2.302984 0.783622 +v -1.010803 1.394855 0.032109 +v 1.070372 -1.581066 -0.025339 +v 0.781298 -4.037811 0.003385 +v 0.116365 -1.666933 -1.037203 +v 0.665586 3.794355 -0.805780 +v 0.694514 -3.806448 0.725766 +v -0.952947 -3.113153 0.032109 +v 0.001061 -4.008394 -0.776852 +v 0.087437 -3.055113 1.015045 +v -0.634944 -2.158282 0.812550 +v -0.692800 -1.291663 -0.805780 +f 45 44 64 +f 17 8 18 +f 3 2 27 +f 9 16 27 +f 16 11 27 +f 21 14 28 +f 29 12 30 +f 15 7 31 +f 24 15 31 +f 12 5 32 +f 10 18 33 +f 18 8 33 +f 6 11 35 +f 11 16 35 +f 34 6 35 +f 19 34 35 +f 23 5 36 +f 27 2 36 +f 9 27 36 +f 14 7 37 +f 7 25 37 +f 20 28 37 +f 28 14 37 +f 24 31 38 +f 6 34 38 +f 34 13 38 +f 10 22 40 +f 12 32 40 +f 16 9 41 +f 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17 62 +f 21 59 62 +f 50 3 63 +f 26 50 63 +f 52 26 63 +f 3 52 63 +f 15 24 64 +f 44 15 64 +f 24 45 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf new file mode 100644 index 000000000..1088bfc2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj new file mode 100644 index 000000000..c33a1d9b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj @@ -0,0 +1,561 @@ +o convex_0 +v -0.957592 -1.960203 3.085102 +v 1.107002 -3.245538 0.046021 +v 1.067923 -2.155075 1.019684 +v -1.035537 -1.375784 -2.952692 +v -1.035537 -3.362616 -3.070182 +v 1.067923 -1.375784 -2.991855 +v -1.035537 -3.284628 3.006775 +v 0.989978 -1.375784 3.006775 +v 1.067923 -3.284628 -2.991855 +v 0.951112 -3.245538 2.967612 +v -0.996672 -1.375784 2.773000 +v -1.074617 -3.362616 0.007460 +v 1.029057 -3.323330 -1.004763 +v -1.074617 -2.349751 0.007460 +v 1.067923 -3.284628 1.526398 +v -0.957592 -3.362616 1.098011 +v -0.957592 -1.375784 3.085102 +v -1.074617 -3.323525 -2.445977 +v -0.568078 -3.362616 -3.070182 +v -1.035537 -1.375784 1.214898 +v 1.107002 -3.284628 -1.706090 +v -1.035537 -3.089563 3.045938 +v -1.035537 -3.011964 -3.070182 +v 0.483652 -3.284434 2.539224 +v 1.029057 -1.375784 1.058847 +v 0.989978 -3.245538 2.772397 +v 1.067923 -2.583325 1.643286 +v 0.249816 -1.375784 -2.991855 +v 0.327761 -3.323330 1.058847 +v -0.606944 -1.453771 3.085102 +v -0.490133 -3.284628 3.006775 +v 0.444573 -3.245538 -3.031018 +v -0.957592 -3.245538 3.045938 +v -0.996672 -1.531759 3.085102 +v 1.067923 -1.375784 -2.602028 +v 1.029057 -1.882410 2.383776 +v -1.035537 -1.804423 -2.991252 +v 0.094138 -3.245538 3.006775 +v 1.029057 -3.284434 1.798734 +f 16 29 39 +f 6 4 8 +f 8 4 11 +f 12 5 16 +f 7 12 16 +f 8 11 17 +f 5 12 18 +f 14 4 18 +f 12 14 18 +f 9 13 19 +f 13 16 19 +f 16 5 19 +f 11 4 20 +f 4 14 20 +f 6 2 21 +f 9 6 21 +f 13 9 21 +f 2 15 21 +f 15 13 21 +f 12 7 22 +f 14 12 22 +f 20 14 22 +f 5 18 23 +f 19 5 23 +f 6 19 23 +f 6 8 25 +f 8 10 26 +f 2 3 27 +f 15 2 27 +f 4 6 28 +f 6 23 28 +f 16 13 29 +f 10 8 30 +f 17 1 30 +f 8 17 30 +f 7 16 31 +f 24 10 31 +f 16 24 31 +f 6 9 32 +f 19 6 32 +f 9 19 32 +f 1 22 33 +f 22 7 33 +f 7 31 33 +f 1 17 34 +f 17 11 34 +f 11 20 34 +f 22 1 34 +f 20 22 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143 123 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf new file mode 100644 index 000000000..54d022563 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj new file mode 100644 index 000000000..b4765ed02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj @@ -0,0 +1,330 @@ +o convex_0 +v 0.013658 -5.838611 -0.061404 +v 0.207014 -3.808702 0.357536 +v 0.045964 -3.808702 0.357536 +v 0.271566 -3.808702 -0.222514 +v -0.243950 -3.808702 -0.222514 +v -0.243950 -5.387122 0.260816 +v 0.239320 -5.838611 0.260816 +v 0.207014 -5.773828 -0.319233 +v -0.179578 -5.806021 -0.222514 +v -0.340748 -3.808702 0.293078 +v -0.211824 -5.741636 0.228621 +v -0.340748 -4.163017 0.164164 +v 0.239320 -4.066440 0.357536 +v 0.239320 -5.483898 -0.319233 +v 0.110396 -5.419314 -0.319233 +v -0.147332 -5.806021 -0.254776 +v -0.147332 -4.130825 -0.254776 +v -0.276196 -3.873087 0.325274 +v 0.045964 -5.806021 0.260816 +v 0.271566 -4.066440 -0.125861 +v 0.239320 -5.806021 -0.125861 +v -0.211824 -5.097192 -0.222514 +v -0.340748 -4.227601 0.293078 +v -0.211824 -5.741636 0.099706 +v -0.340748 -3.808702 0.131836 +v 0.239320 -3.808702 0.325274 +v 0.142642 -4.034247 0.357536 +v -0.276196 -3.840894 -0.125861 +f 12 25 28 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-0.940150 1.034304 +v 0.948172 -3.807766 0.872948 +v 0.819316 -1.809174 0.969761 +v 1.109243 0.219627 -1.060203 +v -1.081753 -0.875958 0.679529 +v -1.049539 1.605425 0.969761 +v -0.598324 -1.680249 1.034304 +v -1.081753 1.701984 0.872948 +v -0.469467 1.701984 -0.995869 +v -1.049539 -3.775939 0.099479 +v 1.109243 1.701984 -0.738115 +v 1.044815 -3.775939 -0.770178 +v -0.695184 -3.743574 1.034304 +v -1.113967 1.701984 -0.866784 +v 1.044815 -1.068535 -1.092474 +v -0.662969 -3.420994 -0.995869 +v -0.372825 -3.807766 0.292898 +v -1.049539 -2.615084 1.034304 +v 1.012601 1.670157 0.711800 +v 1.109243 1.540694 -0.738115 +v 0.851530 -3.775939 -1.060203 +v 1.077029 -2.422507 -1.092474 +v 0.626031 -3.807766 -0.576967 +v 0.980387 0.606399 0.937490 +v 1.109243 0.251993 -0.995869 +v -0.340611 -3.775939 1.001825 +v 1.109243 1.701984 -0.995869 +v -1.113967 1.701984 -0.383548 +v 1.012601 -2.550891 -1.092683 +v -1.017325 -3.775939 0.292898 +v 0.819316 -1.648423 0.969761 +v -1.017325 -0.940150 1.034304 +v 0.690459 -3.807766 0.937490 +v -0.695184 -3.807766 -0.963598 +v 1.044815 0.316724 -1.060203 +f 56 50 76 +f 31 30 34 +f 34 32 37 +f 29 36 39 +f 36 29 40 +f 37 32 43 +f 39 36 47 +f 42 33 48 +f 36 40 49 +f 31 46 49 +f 42 47 49 +f 47 36 49 +f 40 29 50 +f 41 40 50 +f 31 34 51 +f 46 31 51 +f 45 35 52 +f 50 29 52 +f 32 38 53 +f 43 32 53 +f 37 44 54 +f 48 33 54 +f 44 48 54 +f 30 31 55 +f 34 30 55 +f 40 34 55 +f 49 40 55 +f 35 45 56 +f 41 50 56 +f 34 40 57 +f 40 41 57 +f 34 37 58 +f 33 42 59 +f 49 46 59 +f 42 49 59 +f 51 33 59 +f 46 51 59 +f 29 39 60 +f 52 29 61 +f 45 52 61 +f 29 60 61 +f 60 43 61 +f 38 34 62 +f 34 57 62 +f 53 38 63 +f 56 45 63 +f 32 34 64 +f 38 32 64 +f 37 43 65 +f 44 37 65 +f 39 44 65 +f 60 39 65 +f 43 60 65 +f 43 53 66 +f 45 61 66 +f 61 43 66 +f 53 63 66 +f 63 45 66 +f 54 33 67 +f 37 54 67 +f 33 58 67 +f 35 50 68 +f 52 35 68 +f 50 52 68 +f 31 49 69 +f 55 31 69 +f 49 55 69 +f 41 56 70 +f 57 41 70 +f 38 62 70 +f 62 57 70 +f 63 38 70 +f 56 63 70 +f 51 34 71 +f 33 51 71 +f 34 58 71 +f 58 33 71 +f 44 39 72 +f 39 48 72 +f 48 44 72 +f 47 42 73 +f 39 47 73 +f 42 48 73 +f 48 39 73 +f 58 37 74 +f 37 67 74 +f 67 58 74 +f 34 38 75 +f 64 34 75 +f 38 64 75 +f 50 35 76 +f 35 56 76 +o convex_2 +v 0.271459 4.377370 0.712008 +v -1.114197 1.702523 -0.899295 +v -1.081765 1.702523 -0.963698 +v 0.980395 1.702523 0.937320 +v 0.948180 4.280231 -0.996001 +v -1.049551 4.377370 1.066531 +v 1.109470 1.702785 -0.996001 +v -0.985122 4.344903 -0.963698 +v -1.049551 1.702523 0.937320 +v 0.948180 4.344903 1.066531 +v -1.114197 2.540900 -0.996001 +v 1.109470 2.508433 -0.673579 +v 0.980395 3.410173 1.034026 +v -1.081765 2.057302 0.905219 +v -0.179543 4.344903 -0.996001 +v 0.980395 4.216083 0.969623 +v 1.012609 2.315203 0.840815 +v 0.948180 4.312436 -0.834689 +v -0.985122 4.377370 -0.351359 +v 0.819322 3.925714 1.066531 +v -1.114197 2.282999 -0.319056 +v -1.049551 4.183616 1.066531 +v 1.109470 1.702785 -0.705680 +v -0.501688 1.702523 -0.996001 +v 1.109470 2.444023 -0.996001 +v 0.593604 4.377370 1.001724 +v -0.791835 4.344903 -0.996001 +v -1.081765 1.702523 0.873118 +v 0.948180 4.344903 0.131567 +v 1.012609 1.702785 0.711806 +v -1.017336 4.377370 0.003164 +v 0.980395 4.216083 0.744109 +v -1.114197 1.702523 -0.383662 +v -1.114197 2.186122 -0.996001 +v 0.819322 4.312436 -0.996001 +v -1.081765 2.218327 0.905219 +v 1.109470 2.057302 -0.641276 +f 93 99 113 +f 78 79 80 +f 78 80 85 +f 81 83 87 +f 81 87 91 +f 86 89 92 +f 92 89 93 +f 89 80 93 +f 88 92 93 +f 88 81 94 +f 82 77 95 +f 77 91 95 +f 85 80 96 +f 86 82 96 +f 89 86 96 +f 80 89 96 +f 87 78 97 +f 82 87 97 +f 90 85 98 +f 82 90 98 +f 85 96 98 +f 96 82 98 +f 80 83 99 +f 83 88 99 +f 80 79 100 +f 83 80 100 +f 87 83 100 +f 83 81 101 +f 88 83 101 +f 81 88 101 +f 77 82 102 +f 82 86 102 +f 91 77 102 +f 87 84 103 +f 91 87 103 +f 84 95 103 +f 95 91 103 +f 78 85 104 +f 85 90 104 +f 90 97 104 +f 86 92 105 +f 102 86 105 +f 91 102 105 +f 93 80 106 +f 80 99 106 +f 99 93 106 +f 87 82 107 +f 84 87 107 +f 82 95 107 +f 95 84 107 +f 92 88 108 +f 88 94 108 +f 105 92 108 +f 94 105 108 +f 97 78 109 +f 78 104 109 +f 104 97 109 +f 79 78 110 +f 78 87 110 +f 100 79 110 +f 87 100 110 +f 81 91 111 +f 94 81 111 +f 91 105 111 +f 105 94 111 +f 90 82 112 +f 82 97 112 +f 97 90 112 +f 88 93 113 +f 99 88 113 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf new file mode 100644 index 000000000..c28769eb0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.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 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a/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf new file mode 100644 index 000000000..1d2b3447a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj new file mode 100644 index 000000000..944844cf6 --- /dev/null +++ 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new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj new file mode 100644 index 000000000..60b7ed65b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj @@ -0,0 +1,525 @@ +o convex_0 +v -0.992026 -4.206064 -1.051846 +v -0.617150 -1.785686 1.096097 +v -0.685290 -1.785686 1.096097 +v 0.269094 -1.785686 -1.120183 +v 0.951133 -4.342277 0.993483 +v -1.094556 -4.342531 1.027543 +v 1.053450 -4.376774 -0.949449 +v 1.019273 -1.785432 1.027543 +v -1.026203 -1.785686 -1.085906 +v 1.087626 -1.819676 -1.017569 +v -1.094556 -1.785686 1.027543 +v -1.060380 -4.240054 -1.017569 +v 1.087626 -4.172074 -0.983509 +v 0.916956 -4.342277 1.027543 +v 1.053450 -2.297309 0.516428 +v 0.030498 -1.956396 1.095880 +v -1.094556 -2.297309 0.448091 +v -0.344164 -4.308288 -1.017569 +v 1.019273 -2.672211 1.027543 +v 0.712537 -1.785432 -1.085906 +v 1.053450 -4.376774 -0.472177 +v 0.746500 -4.376774 -0.983509 +v -1.026203 -2.945144 -1.085906 +v 1.087626 -2.229075 -0.472177 +v 0.405587 -1.819929 -1.120183 +v 1.053450 -2.263065 -1.051846 +v -1.060380 -4.274298 -0.778933 +v 0.985096 -4.376774 -0.097084 +v 0.951133 -4.376774 -0.983509 +v -1.094556 -4.308288 0.584331 +v -1.060380 -2.228822 -0.540296 +v 1.053450 -1.785432 -1.017569 +v -0.719467 -1.956396 1.096097 +v -1.094556 -1.785686 0.721004 +v -1.094556 -4.342531 0.925364 +v -1.094556 -2.842667 0.311635 +v 1.087626 -4.137831 -0.915389 +v -0.958063 -2.092355 1.061820 +v 0.576044 -2.126599 1.061820 +f 19 8 39 +f 3 2 8 +f 3 8 11 +f 8 2 16 +f 6 11 17 +f 12 1 18 +f 14 5 19 +f 15 8 19 +f 4 9 20 +f 11 8 20 +f 7 13 21 +f 19 5 21 +f 7 21 22 +f 9 4 23 +f 12 9 23 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100 107 117 +f 99 108 118 +f 108 103 118 +f 103 110 118 +f 114 99 118 +f 110 114 118 +f 109 112 119 +f 112 102 119 +f 102 113 119 +f 119 113 120 +f 106 109 120 +f 113 106 120 +f 109 119 120 +f 106 101 121 +f 109 106 121 +f 101 115 121 +f 115 109 121 +f 107 103 122 +f 103 111 122 +f 117 107 122 +f 117 122 123 +f 108 105 123 +f 111 108 123 +f 105 117 123 +o convex_4 +v -0.548820 -1.239937 -2.858932 +v 0.507874 -0.796818 -1.120183 +v 0.098785 -0.762678 -1.120183 +v -0.344331 -1.717096 -1.120183 +v 0.473737 -1.751336 -3.097592 +v 0.507874 -0.830858 -2.995199 +v 0.473737 -1.751336 -1.120183 +v -0.446631 -0.728538 -1.120183 +v -0.617094 -0.864998 -2.927065 +v -0.412494 -1.717096 -3.063332 +v -0.480657 -1.682956 -1.120183 +v -0.037652 -0.830858 -2.995199 +v -0.173868 -1.751336 -2.415680 +v 0.507874 -1.410236 -1.734155 +v 0.507874 -1.205897 -3.063332 +v -0.514794 -0.762678 -1.666022 +v -0.446631 -1.682956 -3.063332 +v 0.507874 -0.796818 -1.938748 +v -0.378357 -0.830858 -2.961132 +v -0.514794 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+v -1.094556 -1.307913 0.959423 +v -0.958093 -0.728635 1.027760 +v 0.883003 -0.660244 -1.051846 +v 0.916856 -1.785322 -1.051846 +f 180 173 181 +f 157 156 160 +f 160 159 161 +f 160 161 162 +f 157 160 163 +f 161 155 164 +f 157 163 164 +f 156 157 165 +f 157 164 165 +f 164 163 166 +f 166 158 168 +f 164 166 168 +f 163 160 169 +f 164 155 170 +f 165 164 170 +f 155 167 170 +f 166 169 171 +f 166 163 172 +f 163 169 172 +f 169 166 172 +f 160 156 173 +f 159 160 173 +f 156 165 173 +f 155 161 174 +f 167 155 174 +f 161 164 175 +f 168 158 175 +f 164 168 175 +f 160 162 176 +f 169 160 176 +f 171 169 176 +f 162 161 177 +f 158 162 178 +f 175 158 178 +f 161 175 178 +f 162 177 178 +f 177 161 178 +f 162 158 179 +f 158 166 179 +f 166 171 179 +f 176 162 179 +f 171 176 179 +f 161 159 180 +f 159 173 180 +f 174 161 180 +f 167 174 180 +f 165 170 181 +f 170 167 181 +f 173 165 181 +f 167 180 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf new file mode 100644 index 000000000..16c812d28 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj new file mode 100644 index 000000000..4a48d3f27 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj @@ -0,0 +1,477 @@ +o convex_0 +v 1.015792 1.454315 -0.013321 +v -1.005907 0.416189 -0.041617 +v -1.005907 0.416189 -0.013516 +v 0.060947 6.143610 0.042491 +v 0.060947 1.117893 0.997344 +v 0.004943 -1.155430 -0.968174 +v 0.060947 -2.280136 0.716528 +v -0.079163 3.419251 -0.911972 +v 0.734979 -1.156255 -0.687163 +v -0.696992 2.660652 0.688232 +v -0.725093 3.391216 -0.715459 +v -0.640790 -1.914029 -0.574758 +v -0.696992 -1.212325 0.744434 +v 0.678777 3.391216 0.688427 +v 0.763080 -1.128220 0.688232 +v 0.678777 3.419251 -0.659062 +v 0.510368 -2.280136 -0.266036 +v -0.921603 3.391216 -0.041617 +v 0.004943 3.363181 0.884940 +v -0.781097 0.584400 -0.799568 +v 0.903388 3.475321 0.042491 +v 0.987691 -1.128220 -0.041422 +v -0.809198 -1.886819 0.070592 +v -0.051061 -2.280136 -0.631156 +v -0.668891 3.447286 0.632029 +v 0.734979 1.398245 -0.743560 +v 0.060947 -1.211501 0.941142 +v 0.790983 1.230033 0.744434 +v 0.285559 5.889645 -0.013321 +v -0.752996 -1.212325 -0.743365 +v 0.089048 5.890470 -0.181928 +v -0.022960 1.763526 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a/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf new file mode 100644 index 000000000..0f6f3dddc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj new file mode 100644 index 000000000..f7b1641c5 --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj new file mode 100644 index 000000000..1175bbe92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj @@ -0,0 +1,636 @@ +o convex_0 +v 0.000939 -2.556751 1.850363 +v 0.588819 -2.463954 3.118694 +v 0.526845 -2.463954 3.118694 +v 0.000939 -1.938023 1.107320 +v 0.495925 -2.525840 1.107320 +v -0.091954 -2.402069 3.087390 +v 0.495925 -2.030883 2.932835 +v 0.495925 -2.061794 1.107320 +v 0.062779 -2.061794 2.870816 +v 0.062779 -2.587725 1.138428 +v 0.588819 -2.525840 3.118694 +v 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-0.952281 +v 1.661522 -1.148423 -2.837075 +v 2.132487 -1.658631 -2.955024 +v 2.250366 -1.776498 1.048676 +v 2.250366 -1.069914 -1.030913 +v 1.661522 -1.619341 3.052015 +v 2.132487 -1.737140 3.091331 +v 1.583005 -1.697851 -2.955024 +v 1.661522 -1.187643 2.973382 +v 2.014677 -1.109134 -2.523141 +v 2.171780 -1.462322 -2.994340 +v 1.818557 -1.776498 1.991669 +v 1.936229 -1.148423 -2.994340 +v 2.132487 -1.697851 -2.837075 +v 2.093194 -1.776498 -1.227494 +v 2.211073 -1.423172 3.051419 +v 1.740040 -1.462322 3.091331 +v 1.622298 -1.305442 -2.955024 +f 130 141 146 +f 117 118 126 +f 124 127 128 +f 118 117 128 +f 117 123 128 +f 123 124 128 +f 123 119 129 +f 120 124 129 +f 124 123 129 +f 120 117 132 +f 124 120 132 +f 117 120 133 +f 123 117 133 +f 124 116 134 +f 127 124 134 +f 132 122 135 +f 134 116 135 +f 129 119 136 +f 126 118 137 +f 127 126 137 +f 128 127 137 +f 118 128 137 +f 130 123 138 +f 133 121 138 +f 123 133 138 +f 120 131 139 +f 131 125 139 +f 133 120 139 +f 121 133 139 +f 125 136 139 +f 116 124 140 +f 124 132 140 +f 135 116 140 +f 132 135 140 +f 136 119 141 +f 138 121 141 +f 130 138 141 +f 121 139 141 +f 139 136 141 +f 131 120 142 +f 125 131 142 +f 120 129 143 +f 136 125 143 +f 129 136 143 +f 142 120 143 +f 125 142 143 +f 117 126 144 +f 126 122 144 +f 132 117 144 +f 122 132 144 +f 122 126 145 +f 126 127 145 +f 127 134 145 +f 134 135 145 +f 135 122 145 +f 119 123 146 +f 123 130 146 +f 141 119 146 +o convex_5 +v 2.407481 -1.501612 1.088949 +v 2.799974 -1.776498 -1.031220 +v 2.917827 -1.776498 -1.031220 +v 2.917827 -1.069914 -1.031220 +v 2.250432 -1.069914 -1.031220 +v 2.917827 -1.069914 1.010293 +v 2.250432 -1.776498 -0.991581 +v 2.878499 -1.776498 1.010293 +v 2.250432 -1.069914 1.088949 +v 2.250432 -1.776498 1.049517 +v 2.917827 -1.305442 1.010293 +v 2.839236 -1.069914 1.049517 +f 157 152 158 +f 149 148 150 +f 150 148 151 +f 149 150 152 +f 150 151 152 +f 148 149 153 +f 151 148 153 +f 153 149 154 +f 152 151 155 +f 151 153 155 +f 155 153 156 +f 154 147 156 +f 153 154 156 +f 147 155 156 +f 149 152 157 +f 154 149 157 +f 154 157 158 +f 147 154 158 +f 155 147 158 +f 152 155 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf new file mode 100644 index 000000000..dbfe7f201 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj new file mode 100644 index 000000000..4a7c4dd9a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj @@ -0,0 +1,450 @@ +o convex_0 +v 2.889705 -1.123141 0.601490 +v 2.225928 1.007876 1.090992 +v 1.737000 1.007876 1.090992 +v 1.073031 1.077897 -1.110045 +v 1.073031 -1.053120 0.986068 +v 2.994462 -1.052904 -1.074927 +v 3.029509 0.972757 -1.040024 +v 1.073031 -0.983098 -1.110045 +v 2.959607 1.077681 1.020971 +v 1.073031 0.937854 1.090992 +v 3.029509 -1.123141 0.916262 +v 1.457394 1.077897 -1.110045 +v 2.959607 -1.052904 0.950949 +v 1.562150 -1.018217 -1.110045 +v 1.317782 -1.088022 0.916262 +v 3.029509 1.007660 -0.865294 +v 2.959607 -1.088022 -0.725683 +v 1.142933 0.518588 1.090992 +v 1.073031 1.077897 -0.725683 +v 2.959607 0.728221 1.055874 +v 3.029509 0.099323 -1.040024 +v 3.029509 1.007660 -0.480931 +v 2.994462 -0.424221 -1.074927 +v 1.142933 0.972757 1.090992 +v 2.854659 1.077681 1.055874 +v 1.073031 -1.053120 0.252245 +v 1.317782 -1.053120 0.986068 +v 3.029509 -0.983314 0.916262 +v 1.701953 -0.948195 -1.110045 +v 2.365540 -1.053120 -1.074927 +v 2.575053 -1.123141 0.950949 +v 2.225928 1.042778 -1.074927 +v 2.086125 0.902951 1.090992 +v 2.330493 1.007876 -1.074927 +v 2.959607 1.077681 0.950949 +v 1.073031 -1.018217 -0.620758 +v 3.029509 -1.123141 0.776435 +f 21 11 37 +f 5 4 8 +f 2 3 10 +f 4 5 10 +f 8 4 12 +f 8 12 14 +f 11 7 16 +f 1 15 17 +f 2 10 18 +f 10 5 18 +f 4 10 19 +f 12 4 19 +f 9 12 19 +f 13 11 20 +f 6 7 21 +f 7 11 21 +f 11 16 22 +f 16 9 22 +f 7 6 23 +f 10 3 24 +f 19 10 24 +f 19 24 25 +f 3 2 25 +f 9 19 25 +f 2 20 25 +f 20 9 25 +f 24 3 25 +f 5 8 26 +f 15 5 26 +f 18 5 27 +f 13 18 27 +f 9 20 28 +f 20 11 28 +f 22 9 28 +f 11 22 28 +f 6 14 29 +f 14 12 29 +f 23 6 29 +f 12 23 29 +f 14 6 30 +f 6 17 30 +f 17 15 30 +f 15 26 30 +f 1 11 31 +f 11 13 31 +f 5 15 31 +f 15 1 31 +f 27 5 31 +f 13 27 31 +f 16 7 32 +f 2 18 33 +f 18 13 33 +f 20 2 33 +f 13 20 33 +f 7 23 34 +f 23 12 34 +f 32 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107 +f 78 101 107 +f 101 94 107 +f 94 106 107 +f 106 96 107 +f 77 90 108 +f 90 78 108 +f 92 77 108 +f 78 107 108 +f 107 92 108 +f 95 90 109 +f 90 105 109 +f 105 95 109 +f 82 93 110 +f 98 82 110 +f 93 98 110 +f 81 80 111 +f 91 81 111 +f 80 94 111 +f 101 91 111 +f 94 101 111 +f 83 80 112 +f 80 85 112 +f 85 84 112 +f 84 86 112 +f 92 83 112 +f 86 103 112 +o convex_3 +v 0.933204 3.104249 0.846025 +v -1.128007 -1.088204 -0.970003 +v -0.743428 -1.088204 -1.005121 +v 0.933204 -1.088204 0.986068 +v -1.092888 2.999191 1.090992 +v 0.968107 2.999191 -0.970218 +v -0.918158 3.104249 -1.074927 +v 1.073031 -1.088204 -1.110045 +v -1.128007 -1.018029 1.020971 +v 1.073031 1.321964 1.090992 +v -1.128007 0.973550 -1.074927 +v 1.073031 3.068956 0.951165 +v 1.073031 1.077377 -1.110045 +v 1.073031 -1.052501 0.986068 +v 0.199381 0.065377 1.090992 +v -0.953277 -1.088204 1.020971 +v -0.918158 -1.018029 1.055874 +v -1.128007 1.112259 1.020971 +v -0.568914 3.104249 -1.074927 +v -0.953061 3.104249 -0.865294 +v 0.269402 1.042905 -1.110045 +v 1.003010 3.034073 -0.620758 +v -0.638720 2.999191 1.090992 +v 0.758474 -1.088204 -1.110045 +v 1.073031 0.484376 1.090992 +v 1.073031 3.068956 0.566587 +v 1.003010 1.322374 -1.110045 +v -0.953061 3.034073 0.776435 +v 0.793377 3.068956 0.986068 +v -1.057985 2.160372 1.090992 +v -1.092888 2.999191 0.950949 +v -1.128007 -0.703267 -1.005121 +v 0.583744 3.034073 -1.005121 +v -0.953061 3.104249 -0.690564 +v 0.129575 -1.088204 1.020755 +v 1.003010 3.104249 0.811338 +v 0.234284 3.068956 1.020755 +v -1.128007 0.903786 -1.074927 +v 1.003010 2.999191 -0.690780 +v 0.059769 3.068956 -1.040024 +v -1.128007 -1.088204 -0.341104 +v 1.003010 2.230547 -1.040024 +f 152 145 154 +f 114 115 116 +f 116 115 120 +f 114 121 123 +f 122 120 124 +f 124 120 125 +f 116 120 126 +f 120 122 126 +f 122 117 127 +f 114 116 128 +f 121 128 129 +f 121 117 130 +f 123 121 130 +f 119 113 131 +f 113 119 132 +f 119 123 132 +f 123 119 133 +f 125 120 133 +f 117 122 135 +f 120 115 136 +f 133 120 136 +f 126 122 137 +f 122 127 137 +f 124 125 138 +f 119 131 139 +f 133 119 139 +f 125 133 139 +f 124 113 141 +f 122 124 141 +f 135 122 141 +f 117 121 142 +f 127 117 142 +f 121 129 142 +f 129 127 142 +f 130 117 143 +f 123 130 143 +f 117 132 143 +f 132 123 143 +f 115 114 144 +f 114 123 144 +f 136 115 144 +f 134 118 145 +f 113 132 146 +f 132 117 146 +f 117 140 146 +f 116 126 147 +f 128 116 147 +f 127 129 147 +f 129 128 147 +f 126 137 147 +f 137 127 147 +f 113 124 148 +f 131 113 148 +f 134 131 148 +f 124 138 148 +f 138 134 148 +f 117 135 149 +f 140 117 149 +f 141 113 149 +f 135 141 149 +f 113 146 149 +f 146 140 149 +f 123 133 150 +f 133 136 150 +f 144 123 150 +f 136 144 150 +f 125 118 151 +f 118 134 151 +f 138 125 151 +f 134 138 151 +f 131 134 152 +f 139 131 152 +f 134 145 152 +f 121 114 153 +f 114 128 153 +f 128 121 153 +f 118 125 154 +f 125 139 154 +f 145 118 154 +f 139 152 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf new file mode 100644 index 000000000..aa1b6d979 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj new file mode 100644 index 000000000..8b4ebb047 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj @@ -0,0 +1,1530 @@ +o convex_0 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+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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj new file mode 100644 index 000000000..0aa2f83e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj @@ -0,0 +1,450 @@ +o convex_0 +v 2.918616 -0.180586 1.130350 +v 2.281976 -2.053781 -1.117253 +v 1.682338 -2.053781 -1.079628 +v 0.633351 0.119133 -0.967413 +v 4.454713 -0.030835 -1.079628 +v 4.492476 -2.091219 1.092945 +v 0.595588 -2.053781 1.092945 +v 0.595588 0.006603 1.055540 +v 4.454713 0.006603 1.018135 +v 4.417331 -1.941467 -1.079628 +v 0.595588 -2.053781 -1.004818 +v 2.656178 0.081695 1.130350 +v 2.881233 0.081695 -0.892383 +v 3.667783 -0.817680 -1.117253 +v 0.595588 0.119133 -0.630108 +v 3.031143 -2.053781 -1.117253 +v 1.382518 0.006603 1.130570 +v 4.454713 -1.978905 -0.779948 +v 3.405727 -0.855118 1.130350 +v 4.492476 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140 141 154 +f 133 144 154 +f 144 145 154 +f 145 140 154 +f 130 125 155 +f 125 131 155 +f 138 130 155 +f 131 146 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf new file mode 100644 index 000000000..20d881ded --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.obj 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+v -0.462555 0.853393 -3.319347 +v -0.483984 0.853393 -1.248338 +v -0.483984 0.767996 -3.340872 +v 0.391680 0.789368 -3.148591 +v 0.391680 0.832035 -1.248131 +v -0.483984 0.874765 -1.931775 +v 0.391680 0.746650 -3.084635 +v -0.483984 0.874765 -1.248338 +v 0.306222 0.853393 -1.953094 +f 476 473 481 +f 473 470 475 +f 470 474 475 +f 470 473 476 +f 471 474 477 +f 476 471 477 +f 472 471 478 +f 471 473 478 +f 473 475 478 +f 475 474 478 +f 474 470 479 +f 470 476 479 +f 477 474 479 +f 476 477 479 +f 471 472 480 +f 474 471 480 +f 472 478 480 +f 478 474 480 +f 473 471 481 +f 471 476 481 +o convex_36 +v 0.477132 0.191356 -1.184169 +v 0.434430 -0.171680 -3.127116 +v 0.391707 0.234175 -3.234250 +v 0.498498 0.767871 -3.191438 +v 0.391738 0.874712 -1.226776 +v 0.455776 -0.171680 -1.141561 +v 0.391707 0.767871 -3.212741 +v 0.477132 -0.171680 -2.230103 +v 0.455765 0.853201 -1.611269 +v 0.477132 0.234175 -3.234250 +v 0.477132 -0.171680 -1.141561 +v 0.434430 -0.171680 -2.144888 +v 0.498498 0.789280 -2.892365 +v 0.498498 0.554290 -3.212741 +v 0.434430 0.853201 -1.226776 +v 0.455776 -0.171680 -3.127116 +v 0.391738 0.831791 -1.226776 +f 493 487 498 +f 487 483 489 +f 483 484 491 +f 484 488 491 +f 486 487 492 +f 487 489 492 +f 484 483 493 +f 483 487 493 +f 485 488 494 +f 488 486 494 +f 490 482 494 +f 486 490 494 +f 482 492 494 +f 494 492 495 +f 488 485 495 +f 491 488 495 +f 492 489 495 +f 485 494 495 +f 482 490 496 +f 490 486 496 +f 492 482 496 +f 486 492 496 +f 489 483 497 +f 483 491 497 +f 491 495 497 +f 495 489 497 +f 487 486 498 +f 488 484 498 +f 486 488 498 +f 484 493 498 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf new file mode 100644 index 000000000..194f05821 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj new file mode 100644 index 000000000..1dcd2f420 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj @@ -0,0 +1,276 @@ +o convex_0 +v 0.249771 -2.987588 0.499017 +v -0.585462 -4.538300 -0.455410 +v -0.257228 -4.538300 -0.485266 +v -0.495913 -2.569683 -0.515121 +v 0.548156 -2.569683 -0.485266 +v 0.488457 -4.568430 0.409556 +v -0.555502 -4.538300 0.558833 +v -0.495913 -2.569683 0.439306 +v 0.518306 -4.568430 -0.485266 +v 0.458607 -2.569683 0.469267 +v 0.040935 -4.568430 0.499017 +v 0.548156 -3.166411 -0.216672 +v -0.585462 -4.180459 -0.336094 +v 0.011085 -3.494514 -0.515121 +v -0.495913 -2.629355 0.469162 +v -0.287077 -4.031178 0.558833 +v 0.488457 -4.150720 0.439411 +v 0.488457 -2.569683 0.349950 +v -0.525652 -2.838504 -0.485266 +v 0.548156 -3.762944 -0.485266 +v -0.555502 -4.299609 0.558833 +v -0.525652 -2.987588 0.170818 +v 0.518306 -4.538300 -0.097355 +v -0.048503 -2.569683 -0.515121 +v 0.130484 -4.568430 -0.485266 +v 0.548156 -2.689028 -0.216672 +v -0.316816 -4.449084 0.558833 +v -0.555502 -4.031178 -0.485266 +v -0.078241 -4.568430 0.439306 +v -0.585462 -4.538300 -0.037750 +v 0.458607 -2.987588 0.469267 +v -0.495913 -4.061113 0.558833 +v 0.518306 -3.912029 0.141067 +v 0.428757 -4.568430 0.439411 +v -0.197529 -2.569683 0.469162 +f 15 32 35 +f 5 4 8 +f 5 8 10 +f 9 6 11 +f 5 10 18 +f 10 17 18 +f 8 4 19 +f 2 13 19 +f 5 12 20 +f 14 5 20 +f 9 14 20 +f 15 8 21 +f 7 16 21 +f 8 19 22 +f 19 13 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1.065765 +v 0.846390 -1.674394 -1.022231 +v -1.032934 -2.419658 -0.992174 +v 0.667329 3.515121 -0.992387 +v -0.973247 -2.569075 0.588478 +v 0.935921 3.396074 1.065765 +v -0.495955 3.605015 -1.081705 +v 0.637486 -1.882728 -1.022231 +v 0.935921 3.605015 0.916546 +v 0.995608 3.396074 -0.634262 +v 1.055295 -1.584501 -0.902856 +v 1.025451 -2.509551 0.349728 +v -1.003091 2.113272 -1.081918 +v -1.032934 -1.077332 -0.902643 +v 0.697173 2.351975 1.065765 +f 67 78 94 +f 44 39 52 +f 43 47 55 +f 50 41 56 +f 47 43 59 +f 45 47 59 +f 56 45 59 +f 40 54 60 +f 39 48 63 +f 52 39 63 +f 61 52 63 +f 54 40 64 +f 52 61 64 +f 61 54 64 +f 37 47 65 +f 47 45 65 +f 57 37 65 +f 45 57 65 +f 36 54 66 +f 44 51 67 +f 59 43 68 +f 40 60 69 +f 64 40 69 +f 52 64 69 +f 58 53 70 +f 48 45 71 +f 45 56 71 +f 56 41 71 +f 41 61 71 +f 61 63 71 +f 39 44 72 +f 48 39 72 +f 45 48 72 +f 57 45 72 +f 44 67 72 +f 43 55 73 +f 68 43 73 +f 42 60 74 +f 66 46 75 +f 36 66 75 +f 60 42 76 +f 70 53 76 +f 42 70 76 +f 49 67 77 +f 67 51 77 +f 67 49 78 +f 46 66 79 +f 66 61 79 +f 37 38 80 +f 47 37 80 +f 55 47 80 +f 38 58 80 +f 58 55 80 +f 54 36 81 +f 60 54 81 +f 74 60 81 +f 36 75 81 +f 41 50 82 +f 61 41 82 +f 50 79 82 +f 79 61 82 +f 70 42 83 +f 62 70 83 +f 42 74 83 +f 75 62 83 +f 74 81 83 +f 81 75 83 +f 63 48 84 +f 48 71 84 +f 71 63 84 +f 38 37 85 +f 58 38 85 +f 49 77 85 +f 37 78 85 +f 78 49 85 +f 55 70 86 +f 70 62 86 +f 73 55 86 +f 46 73 86 +f 62 75 86 +f 75 46 86 +f 54 61 87 +f 66 54 87 +f 61 66 87 +f 55 58 88 +f 58 70 88 +f 70 55 88 +f 53 58 89 +f 51 76 89 +f 76 53 89 +f 77 51 89 +f 58 85 89 +f 85 77 89 +f 51 69 90 +f 69 60 90 +f 76 51 90 +f 60 76 90 +f 51 44 91 +f 44 52 91 +f 69 51 91 +f 52 69 91 +f 50 68 92 +f 73 46 92 +f 68 73 92 +f 46 79 92 +f 79 50 92 +f 50 56 93 +f 56 59 93 +f 68 50 93 +f 59 68 93 +f 37 57 94 +f 57 72 94 +f 72 67 94 +f 78 37 94 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf new file mode 100644 index 000000000..1e8b5427b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj new file mode 100644 index 000000000..12b8112c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj @@ -0,0 +1,390 @@ +o convex_0 +v -1.049254 -5.149893 -0.442582 +v 1.075236 0.664605 1.085421 +v 1.075236 0.664605 0.302690 +v -1.012008 0.664605 0.973264 +v 1.000533 -5.187365 1.047963 +v 1.037778 0.664605 -0.927376 +v 1.000533 -5.224837 -1.113801 +v -0.974762 0.664605 -1.001645 +v -1.086711 -5.187365 1.047963 +v -1.012008 -5.224837 -1.076344 +v -0.937517 -2.988048 1.085421 +v 1.037778 -4.255177 -1.076129 +v -1.012008 -1.162298 -0.964402 +v -0.974762 0.664605 1.010506 +v -0.341161 0.627133 -1.001645 +v 1.037778 -4.329545 0.153507 +v -1.086711 -5.149893 0.414201 +v 0.441423 0.627133 1.085421 +v 1.075236 -0.006431 1.085421 +v 0.963287 0.105408 -0.964618 +v -1.049254 -5.224837 -0.330856 +v -0.900271 -3.397934 1.085421 +v -1.012008 0.664605 0.675112 +v 0.851550 -5.149893 -1.113801 +v -1.086711 -4.814375 1.047963 +v 1.000533 -5.112998 -1.113801 +v 0.963287 -5.224837 -0.740735 +v 0.665109 0.589661 -0.964618 +v -1.012008 -5.074949 -1.076344 +v -0.229212 -5.224837 -0.330856 +v 1.075236 -0.118271 1.047963 +v 1.037778 -0.043903 -0.964618 +f 26 20 32 +f 2 3 4 +f 4 3 6 +f 4 6 8 +f 2 4 14 +f 8 6 15 +f 5 7 16 +f 7 12 16 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-1.385020 2.714454 -1.113801 +v -2.652098 2.826552 1.085421 +v -2.763876 0.813771 -1.038887 +f 82 67 93 +f 62 63 64 +f 61 60 65 +f 63 62 67 +f 64 66 69 +f 64 63 70 +f 66 64 72 +f 64 70 72 +f 65 60 73 +f 67 62 74 +f 60 61 75 +f 61 65 75 +f 67 74 75 +f 70 63 77 +f 60 71 78 +f 71 69 78 +f 73 60 78 +f 69 73 78 +f 59 66 79 +f 76 59 79 +f 66 59 80 +f 68 73 80 +f 62 71 81 +f 74 62 81 +f 63 67 82 +f 62 64 83 +f 64 69 83 +f 72 70 84 +f 70 76 84 +f 79 72 84 +f 76 79 84 +f 71 60 85 +f 75 74 85 +f 60 75 85 +f 65 73 86 +f 73 68 86 +f 77 65 86 +f 68 77 86 +f 70 68 87 +f 59 76 87 +f 76 70 87 +f 80 59 87 +f 68 80 87 +f 69 66 88 +f 73 69 88 +f 66 80 88 +f 80 73 88 +f 71 62 89 +f 69 71 89 +f 62 83 89 +f 83 69 89 +f 81 71 90 +f 74 81 90 +f 71 85 90 +f 85 74 90 +f 68 70 91 +f 77 68 91 +f 70 77 91 +f 66 72 92 +f 79 66 92 +f 72 79 92 +f 75 65 93 +f 67 75 93 +f 77 63 93 +f 65 77 93 +f 63 82 93 +o convex_3 +v 1.932204 0.813990 1.085421 +v -1.012078 2.341628 -1.113801 +v -1.012078 1.149351 -1.038887 +v 3.088083 2.341843 -1.076344 +v -1.012078 2.714443 1.085421 +v 2.976107 2.863827 1.010506 +v 3.013433 0.813990 -0.964618 +v -1.012078 0.664820 0.973479 +v 2.081505 2.863612 -1.076344 +v 2.938782 0.702059 1.047963 +v -0.974752 0.664820 -1.001860 +v -0.490327 2.863827 -0.517067 +v -1.012078 2.714443 -1.113801 +v 3.088083 2.863827 -1.076344 +v 1.038003 0.664820 -0.927376 +v -0.527250 2.863827 0.600843 +v 0.478926 0.664820 1.085421 +v 3.013433 2.826158 0.936237 +v 2.491682 2.379081 1.047963 +v 3.013433 0.776751 -0.629008 +v 3.088083 2.714443 -0.480040 +v -0.974752 0.664820 1.010721 +v 3.013433 1.149351 -1.001860 +v 2.938782 0.702059 0.563385 +v 1.410453 2.826374 1.047963 +v 1.671730 1.484928 1.085421 +v 1.074927 0.664820 1.085421 +v -0.415676 2.751681 -1.113801 +v 3.088083 2.080958 -1.001860 +v -0.378351 0.664820 -1.001860 +v -1.012078 0.813990 -1.001860 +v 2.976107 0.739513 0.376959 +v 2.976107 1.633882 1.010506 +v 2.938782 1.261282 1.047963 +v -1.012078 2.565274 1.085421 +v -0.900102 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129 +f 97 116 129 +f 123 96 129 +f 116 123 129 +f 118 98 130 +f 112 118 130 +f 98 119 130 +f 119 112 130 +f 105 102 131 +f 102 121 131 +f 121 105 131 +f 97 95 132 +f 107 97 132 +f 95 121 132 +f 121 107 132 +f 107 99 133 +f 99 111 133 +f 114 107 133 +f 111 114 133 +f 99 109 134 +f 109 118 134 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf new file mode 100644 index 000000000..0d4bd3d0c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj new file mode 100644 index 000000000..f4fd3715a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj @@ -0,0 +1,492 @@ +o convex_0 +v -1.068921 -3.791312 -1.044487 +v 1.056130 -1.543959 1.080692 +v 1.097266 -0.563388 1.039645 +v -0.987074 -1.135420 1.039645 +v 0.974495 -0.562996 -1.085319 +v 1.056130 -4.568398 0.998813 +v -1.068921 -0.562996 -1.003440 +v -1.068921 -4.486455 1.080692 +v 0.933572 -4.568398 -0.921777 +v -1.027998 -4.445288 -1.126366 +v -0.946151 -0.562996 0.998813 +v 1.097266 -2.892292 -0.921777 +v 0.851937 -4.568398 -0.962608 +v -0.987074 -1.830171 1.080692 +v 1.097266 -1.952889 -0.962608 +v 1.015419 -2.688023 1.080692 +v 1.097266 -3.587435 0.058826 +v 0.524973 -0.562996 -1.085319 +v 0.524973 -4.568398 -0.962608 +v -1.068921 -3.750537 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b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf new file mode 100644 index 000000000..2020a2915 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj new file mode 100644 index 000000000..d9280487a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj @@ -0,0 +1,498 @@ +o convex_0 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-1.096224 +v 0.622039 -0.893067 -3.066332 +v -0.535260 -1.925078 -2.221776 +v 0.309151 -1.987802 -3.097880 +v -0.566677 -1.299720 -1.158733 +v -0.535260 -1.393530 -3.034979 +v -0.159888 -2.019108 -1.815566 +v 0.496837 -0.986876 -1.283751 +v -0.566677 -1.393530 -2.096954 +v 0.528138 -1.581038 -3.097880 +v 0.465537 -0.893067 -3.066332 +v -0.316390 -0.893067 -1.189890 +v -0.503960 -1.862686 -3.034979 +v 0.622039 -0.955570 -2.972470 +v 0.465537 -1.987802 -2.628377 +v -0.535260 -1.800073 -1.096224 +v -0.535260 -0.893067 -2.628377 +f 120 123 131 +f 108 107 106 +f 112 109 113 +f 106 107 114 +f 108 106 115 +f 112 113 115 +f 114 107 116 +f 110 111 118 +f 115 106 119 +f 111 109 121 +f 109 112 121 +f 112 117 121 +f 118 111 121 +f 107 108 122 +f 108 113 122 +f 113 109 122 +f 110 117 123 +f 119 106 123 +f 117 119 123 +f 120 110 123 +f 111 110 124 +f 116 124 125 +f 114 116 125 +f 110 120 125 +f 120 114 125 +f 124 110 125 +f 113 108 126 +f 108 115 126 +f 115 113 126 +f 117 110 127 +f 110 118 127 +f 121 117 127 +f 118 121 127 +f 116 107 128 +f 107 122 128 +f 122 109 128 +f 124 116 128 +f 124 128 129 +f 109 111 129 +f 111 124 129 +f 128 109 129 +f 112 115 130 +f 117 112 130 +f 115 119 130 +f 119 117 130 +f 106 114 131 +f 114 120 131 +f 123 106 131 +o convex_5 +v -0.629223 -2.457013 -1.001950 +v 1.091269 -1.987814 0.718376 +v 1.059761 -0.767997 1.062612 +v -1.035823 -2.425688 1.000024 +v -0.973236 -0.768165 -0.970656 +v 0.934802 -0.767997 -1.095833 +v -1.067116 -0.768165 1.000024 +v 0.934802 -2.394363 -1.095833 +v 1.059761 -2.363039 1.062612 +v -0.973236 -2.488338 -0.908067 +v -1.098409 -1.643409 -0.219808 +v -0.566637 -1.268521 -1.095833 +v -0.629223 -2.112777 1.093907 +v 1.091269 -1.143390 -0.313477 +v -0.347583 -0.893128 1.093907 +v -1.098409 -0.768165 0.155080 +v -1.035823 -2.457013 0.906141 +v -0.660517 -2.488338 -0.908067 +v -0.504050 -2.018802 -1.095833 +v 0.966095 -2.363039 -1.064324 +v -1.098409 -1.581433 0.624493 +v 0.465401 -2.206583 1.093907 +v 0.653162 -2.394363 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134 160 +f 151 137 160 +f 145 151 160 +f 133 140 161 +f 140 139 161 +f 139 151 161 +f 155 133 161 +f 151 155 161 +f 141 142 162 +f 147 136 162 +f 142 147 162 +f 134 145 163 +f 160 134 163 +f 145 160 163 +f 148 141 164 +f 141 149 164 +f 154 148 164 +f 149 154 164 +f 142 141 165 +f 141 148 165 +f 159 142 165 +f 148 159 165 +f 134 137 166 +f 138 134 166 +f 137 147 166 +f 147 152 166 +f 159 138 166 +f 152 159 166 +f 135 148 167 +f 140 153 167 +f 153 144 167 +f 154 140 167 +f 148 154 167 +f 134 133 168 +f 145 134 168 +f 133 145 168 +f 136 143 169 +f 157 141 169 +f 143 157 169 +f 162 136 169 +f 141 162 169 +f 138 135 170 +f 144 138 170 +f 135 167 170 +f 167 144 170 +f 136 137 171 +f 156 136 171 +f 137 156 171 +f 139 140 172 +f 149 139 172 +f 140 154 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf new file mode 100644 index 000000000..fc47782a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj new file mode 100644 index 000000000..79eebaffd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj @@ -0,0 +1,486 @@ +o convex_0 +v -2.248409 -1.305624 0.545885 +v -1.263241 -1.459498 -0.624012 +v -1.263241 -1.397949 -0.624012 +v -3.018089 -2.352084 -0.562303 +v -1.078700 -2.352307 0.484410 +v -2.987332 -2.321309 0.453497 +v -2.925819 -1.336399 -0.500711 +v -1.078700 -2.352307 -0.439236 +v -1.078700 -1.336287 0.484410 +v -3.018089 -1.213187 0.576798 +v -1.078700 -1.274849 -0.624012 +v -2.771845 -2.228984 -0.593216 +v -3.018089 -1.213187 0.361226 +v -2.648628 -1.213187 0.545885 +v -1.140214 -2.321420 -0.470032 +v -1.078700 -1.274849 -0.285256 +v -2.987332 -1.951898 -0.562303 +v -1.540432 -1.274849 -0.593216 +v -1.447972 -2.352307 0.484410 +v -2.987332 -2.352084 -0.192868 +v -3.018089 -1.521160 0.545885 +v -2.710141 -1.367174 -0.531507 +v -1.509676 -1.305624 0.515089 +v -1.355702 -1.305512 0.484410 +v -2.586924 -2.352084 -0.562303 +v -1.201728 -1.459498 -0.624012 +v -1.786867 -2.352084 0.453497 +f 20 19 27 +f 5 8 9 +f 5 1 10 +f 2 3 11 +f 9 8 11 +f 3 2 12 +f 4 10 13 +f 11 13 14 +f 13 10 14 +f 11 8 15 +f 9 11 16 +f 11 14 16 +f 3 12 17 +f 12 4 17 +f 4 13 17 +f 13 7 17 +f 7 13 18 +f 13 11 18 +f 4 8 19 +f 8 5 19 +f 5 10 19 +f 6 4 20 +f 4 19 20 +f 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-0.285123 +v 0.799615 3.159048 -0.962392 +v 1.076833 1.711790 1.069201 +v 0.491594 3.313058 1.100015 +v 1.076833 -0.627848 -0.962606 +v -1.016864 -0.381432 0.976758 +v 1.076833 3.282256 0.607417 +v -0.401033 3.313058 0.484160 +v -0.401033 -1.151484 -1.024021 +v -0.247023 -0.473838 1.007573 +v -0.924458 2.973795 1.038601 +v -0.339429 3.220652 -1.055049 +v -1.078468 -1.182286 0.514974 +v -1.016864 -0.904627 -1.024021 +v 1.076833 2.388996 1.100229 +v 0.738011 -1.182286 -0.993421 +v -0.955260 2.204183 -1.085863 +v -0.924458 3.251014 -0.069638 +v -0.739645 3.282256 0.853716 +v 0.892021 3.220652 -0.808536 +v 0.953625 -0.689452 1.007787 +v 0.738011 -0.781859 -0.993421 +v -1.047666 -1.058637 0.853716 +v -0.801250 3.251014 -0.900978 +v 1.015229 3.189850 -0.746907 +v -0.955260 2.635413 -1.085649 +v 0.430201 3.220652 1.100015 +f 34 59 75 +f 30 29 31 +f 32 31 35 +f 31 32 37 +f 30 31 38 +f 31 37 38 +f 29 30 41 +f 32 35 42 +f 35 31 43 +f 34 44 46 +f 44 39 46 +f 41 30 49 +f 31 29 51 +f 43 31 51 +f 29 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-0.254499 +v -0.339508 3.313254 -0.162096 +v 0.368663 3.313254 -0.192943 +v 0.214704 3.313254 0.361268 +v -0.185479 5.252511 0.207240 +v -0.185479 5.221757 -0.346902 +v 0.307038 5.252511 0.299574 +v -0.216257 3.313254 0.330352 +v 0.214704 5.067792 -0.254499 +v -0.093076 5.006284 -0.346902 +v -0.216257 5.098546 0.176393 +v 0.307038 5.252511 0.145615 +v -0.216257 3.559677 0.330352 +v -0.277813 3.590431 -0.285277 +v 0.122300 5.314215 -0.285277 +v 0.307038 4.698354 0.299574 +v -0.339508 3.528923 -0.162096 +v 0.368663 3.313254 -0.131318 +v 0.183856 5.129300 0.299574 +v -0.247105 3.344204 0.268865 +v -0.123854 5.283265 0.145615 +v 0.183856 4.390423 0.330352 +v -0.185479 4.975530 0.238018 +v 0.276260 4.144588 0.330352 +v -0.185479 5.252511 -0.285277 +f 97 91 101 +f 78 77 79 +f 78 79 80 +f 78 80 84 +f 76 83 88 +f 83 79 88 +f 85 76 88 +f 79 85 88 +f 84 80 89 +f 79 77 90 +f 77 82 90 +f 86 79 90 +f 82 86 90 +f 76 85 91 +f 85 79 91 +f 79 86 91 +f 86 82 91 +f 77 78 93 +f 82 77 93 +f 80 79 94 +f 79 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-1.078408 -2.321260 0.761183 +v -0.893528 -2.413742 0.946116 +v -0.185465 -2.844760 -0.993330 +v 1.107624 -1.274767 -0.500828 +v -0.985968 -2.906190 -0.716322 +v 0.768891 -1.182286 -0.993330 +v 0.830518 -2.783331 -0.962573 +v 0.091427 -2.783162 0.915163 +v -1.078408 -2.659966 0.545689 +v -1.047595 -1.428847 0.946116 +v -0.493384 -1.213338 -1.024283 +v -0.678049 -1.182454 0.977069 +v 1.015184 -1.705785 0.977069 +v -1.047595 -2.136635 0.946116 +v 1.107624 -2.752447 -0.808593 +v -1.078408 -1.182454 0.514932 +v 1.107624 -2.352144 -0.962573 +f 107 125 138 +f 104 103 110 +f 107 111 112 +f 105 112 115 +f 108 114 115 +f 104 110 119 +f 113 104 119 +f 110 116 119 +f 116 113 119 +f 106 110 120 +f 102 111 121 +f 113 116 122 +f 108 102 123 +f 106 108 123 +f 102 121 123 +f 110 103 124 +f 117 105 124 +f 112 105 125 +f 107 112 125 +f 110 118 126 +f 118 114 126 +f 120 110 126 +f 111 107 127 +f 104 113 127 +f 107 117 127 +f 118 110 128 +f 114 118 128 +f 110 124 128 +f 124 105 128 +f 108 106 129 +f 114 108 129 +f 106 120 129 +f 126 114 129 +f 120 126 129 +f 110 106 130 +f 116 110 130 +f 106 122 130 +f 122 116 130 +f 103 104 132 +f 124 103 132 +f 117 124 132 +f 104 127 132 +f 127 117 132 +f 111 109 133 +f 121 111 133 +f 109 131 133 +f 102 108 134 +f 111 102 134 +f 112 111 134 +f 115 112 134 +f 108 115 134 +f 122 106 135 +f 106 123 135 +f 123 121 135 +f 131 122 135 +f 121 133 135 +f 133 131 135 +f 105 115 136 +f 115 114 136 +f 128 105 136 +f 114 128 136 +f 109 111 137 +f 113 122 137 +f 111 127 137 +f 127 113 137 +f 131 109 137 +f 122 131 137 +f 117 107 138 +f 105 117 138 +f 125 105 138 +o convex_4 +v 1.200088 -2.413887 -0.531498 +v 2.616244 -1.213076 0.515110 +v 2.616244 -1.213076 0.484302 +v 2.924197 -2.259789 -0.593114 +v 1.107819 -1.243872 -0.469882 +v 1.107819 -2.259907 0.484302 +v 2.924197 -2.229110 0.515110 +v 2.954953 -1.305464 -0.377566 +v 1.107819 -1.213076 0.515110 +v 3.108930 -1.243872 0.515110 +v 1.107819 -2.413887 -0.469882 +v 2.893245 -1.305464 -0.439182 +v 1.107819 -1.274668 -0.500690 +v 1.908264 -2.259907 0.515110 +v 2.924197 -2.259789 0.268754 +v 2.862489 -2.290703 -0.593114 +v 3.108930 -1.367056 0.484302 +v 2.924197 -2.167518 -0.593114 +v 1.723727 -2.321499 -0.562306 +v 3.077978 -1.243872 0.268754 +v 1.107819 -1.213076 0.022506 +v 2.308290 -2.259907 0.515110 +v 1.354065 -1.274668 -0.500690 +v 2.554535 -2.259907 -0.593114 +v 1.107819 -2.321499 -0.531498 +v 3.108930 -1.243872 0.391878 +v 1.107819 -1.551950 0.515110 +v 2.924197 -1.798083 -0.531498 +v 2.954953 -2.136605 0.515110 +f 155 148 167 +f 140 141 147 +f 143 144 147 +f 145 140 147 +f 141 140 148 +f 140 145 148 +f 144 143 149 +f 149 143 151 +f 145 147 152 +f 144 149 152 +f 149 139 153 +f 153 139 154 +f 142 153 154 +f 142 154 156 +f 143 141 158 +f 150 143 158 +f 146 150 158 +f 141 143 159 +f 147 141 159 +f 143 147 159 +f 145 152 160 +f 152 149 160 +f 153 145 160 +f 149 153 160 +f 143 150 161 +f 151 143 161 +f 156 151 161 +f 154 139 162 +f 151 156 162 +f 156 154 162 +f 139 157 162 +f 157 151 162 +f 139 149 163 +f 149 151 163 +f 157 139 163 +f 151 157 163 +f 141 148 164 +f 155 142 164 +f 148 155 164 +f 156 146 164 +f 142 156 164 +f 158 141 164 +f 146 158 164 +f 147 144 165 +f 144 152 165 +f 152 147 165 +f 150 146 166 +f 146 156 166 +f 161 150 166 +f 156 161 166 +f 148 145 167 +f 153 142 167 +f 145 153 167 +f 142 155 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf new file mode 100644 index 000000000..b75688104 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj new file mode 100644 index 000000000..9a9917784 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj @@ -0,0 +1,693 @@ +o convex_0 +v 1.223301 0.575042 -0.400610 +v -1.263956 0.546225 -0.114765 +v -1.263956 0.546225 -0.000544 +v 0.165593 -3.513746 0.485530 +v -0.005810 -2.770111 -0.915484 +v 0.737362 0.574642 0.914200 +v -0.720712 -2.741695 0.771375 +v -0.005810 0.575042 -1.001297 +v -0.835066 -2.684061 -0.772268 +v 0.909020 -2.941411 0.056468 +v -0.806287 0.575042 0.828387 +v 0.765886 -2.684061 0.799783 +v 0.794666 -2.770111 -0.743859 +v 1.252081 0.517408 0.513938 +v -0.034335 -2.712478 0.971604 +v -0.720712 -3.484929 -0.028953 +v -0.949420 0.575042 -0.772268 +v 0.823191 0.574642 -0.943892 +v 0.136813 -3.456512 -0.715059 +v -0.920640 -2.855761 0.113676 +v 0.765886 -3.456112 0.113480 +v -0.034335 -3.484929 0.799979 +v -0.063115 0.288875 1.000208 +v -0.691933 -0.225826 -0.944088 +v -1.149348 0.460175 0.456730 +v 1.337910 0.545825 -0.000544 +v 0.708837 -0.225826 0.971604 +v -0.577579 -3.513746 0.570950 +v 0.794666 -0.511993 -0.943892 +v -0.520530 -3.456512 -0.572235 +v -1.206652 0.575042 -0.457818 +v -0.777762 -0.368709 0.856991 +v 0.594483 -3.456112 -0.543631 +v 0.537179 -3.456512 0.628354 +v 0.051239 -0.854993 -1.001297 +v 1.023373 0.517408 -0.772268 +v -0.063115 -1.455744 1.000208 +v 1.023373 0.575042 0.742771 +v -0.377396 -3.513746 -0.085965 +v 0.823191 -2.455528 -0.772464 +v 0.708837 -0.283059 -0.972692 +v 0.108289 -2.712478 -0.915484 +v 0.909020 -2.884178 -0.086161 +v -0.749237 0.575042 -0.886684 +v -0.920640 -2.741294 0.199489 +v -0.148689 0.575042 0.971604 +v -0.063115 -3.456512 -0.715059 +v -0.863591 -2.655644 -0.657851 +v 0.794666 -2.512761 0.799783 +v 0.765886 -3.456112 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a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf new file mode 100644 index 000000000..976fe6480 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj new file mode 100644 index 000000000..c63fc6361 --- /dev/null +++ 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2.116762 +v -3.023506 -0.683413 1.956311 +v -1.140277 -0.683413 2.196862 +v -1.701235 -0.723526 2.477336 +v -1.861670 -1.084210 2.597612 +v -1.140277 -1.164389 2.357061 +v -2.943288 -0.803751 2.517449 +v -2.983397 -0.683413 2.196862 +v -2.342221 -0.763591 1.956311 +f 179 175 186 +f 172 171 173 +f 170 173 175 +f 173 170 177 +f 172 173 178 +f 173 174 178 +f 176 172 178 +f 171 172 179 +f 170 175 180 +f 175 179 180 +f 180 176 181 +f 170 180 181 +f 177 170 182 +f 174 177 182 +f 174 173 183 +f 173 177 183 +f 177 174 183 +f 178 174 184 +f 176 178 184 +f 170 181 184 +f 181 176 184 +f 182 170 184 +f 174 182 184 +f 172 176 185 +f 179 172 185 +f 176 180 185 +f 180 179 185 +f 173 171 186 +f 175 173 186 +f 171 179 186 +o convex_7 +v -1.139900 -1.164259 2.357457 +v 1.064571 0.158294 2.317086 +v 1.064571 0.158294 1.435254 +v 1.024434 -2.046177 1.435254 +v 0.984298 -2.046177 3.318879 +v -1.059628 0.118158 3.238712 +v -0.979356 0.078022 1.435446 +v -1.099764 -2.006041 3.318879 +v -1.059628 -2.006041 1.435446 +v 1.064571 0.118158 3.399238 +v -1.019492 -1.845496 3.359058 +v -1.139900 -0.683704 1.996612 +v 1.064571 -1.204180 2.437047 +v -1.099764 -0.402966 3.278892 +v 0.102596 -2.046177 1.435254 +v 0.423254 0.158294 1.435254 +v 1.024434 -1.364509 3.358866 +v -1.059628 0.118158 2.557393 +v 0.142517 -2.046177 3.318879 +v -0.819026 0.118158 3.278892 +v 1.064571 -0.924089 1.435254 +v -1.019492 0.078022 1.555600 +v -1.099764 -2.006041 2.196932 +v 1.024434 -2.046177 2.397444 +v 1.064571 -0.683704 3.358866 +v 1.024434 -1.645247 3.318879 +v -1.139900 -0.963794 2.557393 +v -1.139900 -1.164259 2.076778 +f 195 209 214 +f 189 188 196 +f 189 196 199 +f 194 197 200 +f 192 198 200 +f 189 190 201 +f 190 191 201 +f 195 193 201 +f 188 189 202 +f 192 188 202 +f 189 201 202 +f 201 193 202 +f 197 191 203 +f 196 197 203 +f 198 192 204 +f 192 202 204 +f 202 193 204 +f 191 197 205 +f 197 194 205 +f 201 191 205 +f 194 201 205 +f 188 192 206 +f 196 188 206 +f 197 196 206 +f 192 200 206 +f 200 197 206 +f 190 189 207 +f 189 199 207 +f 199 190 207 +f 193 195 208 +f 195 198 208 +f 198 204 208 +f 204 193 208 +f 194 187 209 +f 201 194 209 +f 195 201 209 +f 191 190 210 +f 190 199 210 +f 199 196 211 +f 196 203 211 +f 199 211 212 +f 203 191 212 +f 191 210 212 +f 210 199 212 +f 211 203 212 +f 187 194 213 +f 198 187 213 +f 194 200 213 +f 200 198 213 +f 187 198 214 +f 198 195 214 +f 209 187 214 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf new file mode 100644 index 000000000..84d79c7f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj new file mode 100644 index 000000000..57820a372 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj @@ -0,0 +1,432 @@ +o convex_0 +v 1.050466 -3.647463 0.957698 +v -1.117734 -2.324639 -1.026680 +v -1.117734 -1.736431 -1.026680 +v -1.007435 -3.353260 1.105013 +v 1.087376 -1.736629 1.068080 +v 0.976862 -3.720865 -1.026471 +v 1.087376 -1.736629 -0.953022 +v -0.970741 -1.736431 0.994631 +v -1.080824 -3.647265 -0.953022 +v -1.007435 -3.757666 1.105013 +v 0.793174 -3.757666 0.957906 +v -1.044130 -3.757666 0.847733 +v 1.050466 -3.721063 0.222789 +v 1.087376 -3.059255 0.994631 +v -0.272470 -1.736431 -1.026680 +v -0.713449 -3.757666 1.105013 +v -1.117734 -1.736431 -0.769400 +v 1.013772 -3.353260 -1.026471 +v 0.646181 -3.720865 -1.026471 +v -1.007435 -2.765250 1.068080 +v 1.087376 -2.067434 -0.953022 +v -1.117734 -2.655444 -0.953022 +v 1.050466 -2.214436 -0.989747 +v 0.829869 -1.736431 1.068080 +v 0.352196 -3.684065 -1.026471 +v -1.080824 -3.647265 -0.328079 +v -1.044130 -3.757666 0.773866 +v 1.087376 -1.883631 1.068080 +v -1.007435 -1.736431 0.663901 +v 1.050466 -3.721063 0.921182 +v 0.940167 -2.949053 -1.026471 +v 1.087376 -3.132855 0.921182 +f 14 30 32 +f 11 10 12 +f 10 4 12 +f 11 6 13 +f 7 5 14 +f 2 3 15 +f 6 2 15 +f 3 8 15 +f 5 4 16 +f 4 10 16 +f 11 1 16 +f 10 11 16 +f 1 14 16 +f 3 2 17 +f 8 3 17 +f 13 6 18 +f 6 15 18 +f 2 6 19 +f 12 4 20 +f 17 12 20 +f 7 14 21 +f 13 18 21 +f 18 7 21 +f 2 9 22 +f 17 2 22 +f 12 17 22 +f 15 7 23 +f 7 18 23 +f 4 5 24 +f 5 7 24 +f 7 15 24 +f 15 8 24 +f 20 4 24 +f 8 20 24 +f 9 2 25 +f 2 19 25 +f 19 9 25 +f 9 12 26 +f 22 9 26 +f 12 22 26 +f 6 11 27 +f 11 12 27 +f 12 9 27 +f 19 6 27 +f 9 19 27 +f 14 5 28 +f 5 16 28 +f 16 14 28 +f 8 17 29 +f 20 8 29 +f 17 20 29 +f 1 11 30 +f 11 13 30 +f 14 1 30 +f 18 15 31 +f 15 23 31 +f 23 18 31 +f 21 14 32 +f 13 21 32 +f 30 13 32 +o convex_1 +v -1.117824 0.137860 0.516758 +v 1.087376 -1.662812 2.354137 +v 1.087376 -1.699519 2.354137 +v 1.013769 -0.670710 -3.084867 +v -0.970609 -1.736430 -2.974261 +v 0.977073 0.248185 3.015956 +v -0.933913 -1.625901 3.015351 +v -1.080912 0.248185 -3.011130 +v 1.013769 0.321598 -3.084867 +v -1.044216 0.284891 3.089693 +v 0.977073 -1.662607 -3.047394 +v -1.117824 -1.736430 -0.768802 +v 1.050464 -1.662607 3.015956 +v -1.117824 0.358509 1.251105 +v 1.087376 -1.736430 -0.952540 +v 0.940161 0.358509 1.067972 +v -1.007520 0.358509 -1.099410 +v -0.970609 -1.736430 1.398579 +v 1.013769 0.358509 -0.401327 +v -1.080912 0.248185 2.868482 +v 1.087376 -1.148305 -0.952540 +v 1.013769 0.064447 2.868482 +v -1.117824 -1.736430 -1.283147 +v 1.087376 -1.736430 1.472316 +v 0.609468 -1.258425 3.052824 +v -1.007520 0.321598 2.685349 +v 0.977073 -1.699314 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84 +f 77 57 84 +f 60 77 84 +f 37 43 85 +f 47 37 85 +f 43 75 85 +f 75 47 85 +f 40 33 86 +f 33 46 86 +f 46 49 86 +o convex_2 +v 1.050623 1.681457 0.994606 +v -1.007449 0.358510 -1.100187 +v -1.080891 0.358510 0.149387 +v -1.007449 1.754999 -1.026533 +v 1.013690 0.358510 -0.952878 +v -1.007449 1.754999 1.068260 +v 0.976969 0.358510 1.068260 +v 0.940248 1.754999 -1.026533 +v -1.117824 0.358510 0.994606 +v 1.050623 1.754999 0.553530 +v -1.044170 1.718228 -0.401640 +v 0.976969 1.203703 -1.026533 +v -0.933794 0.762994 -1.100187 +v 1.050623 1.754999 0.957885 +v -0.676535 0.358510 -1.100187 +v 1.050623 1.313880 0.994606 +v -1.044170 1.644686 1.031327 +v 0.976969 0.726223 1.068260 +v 0.499172 0.358510 1.068260 +v 0.976969 1.534371 -1.026533 +v -1.117824 0.505732 0.810789 +v -0.970728 1.424194 -1.063254 +v 1.013690 0.689451 -0.952878 +v 1.013690 0.358510 -0.475082 +v 0.976969 0.652680 -0.989599 +v -1.007449 1.644686 1.068260 +v -0.897073 1.754999 1.068260 +f 92 104 113 +f 88 89 90 +f 89 88 91 +f 89 91 93 +f 90 92 94 +f 89 93 95 +f 94 92 96 +f 90 89 97 +f 92 90 97 +f 87 96 100 +f 96 92 100 +f 91 88 101 +f 88 99 101 +f 99 94 101 +f 87 93 102 +f 96 87 102 +f 91 96 102 +f 95 92 103 +f 92 97 103 +f 93 87 104 +f 92 93 104 +f 93 92 105 +f 95 93 105 +f 94 96 106 +f 91 98 106 +f 98 101 106 +f 101 94 106 +f 89 95 107 +f 97 89 107 +f 95 103 107 +f 103 97 107 +f 88 90 108 +f 90 94 108 +f 99 88 108 +f 94 99 108 +f 96 91 109 +f 91 106 109 +f 106 96 109 +f 93 91 110 +f 102 93 110 +f 91 102 110 +f 98 91 111 +f 91 101 111 +f 101 98 111 +f 92 95 112 +f 105 92 112 +f 95 105 112 +f 87 100 113 +f 100 92 113 +f 104 87 113 +o convex_3 +v 1.087222 3.629491 1.031147 +v -1.117604 4.217238 0.847542 +v -1.117604 4.217238 0.957705 +v -1.007440 1.755391 1.068080 +v 0.940190 1.755136 -1.063433 +v -1.080956 4.290803 -0.952846 +v 1.123871 4.364623 -0.989567 +v -1.007440 1.755391 -1.026500 +v 1.087222 1.791918 0.957705 +v 1.050574 4.254276 1.068080 +v 0.462445 2.747742 -1.063433 +v -1.007440 2.637396 1.104801 +v -1.117604 4.254021 0.957705 +v -0.676727 2.343394 1.104801 +v 1.123871 2.306612 0.847542 +v 1.050574 1.755136 0.957705 +v 1.013706 4.364623 -0.622145 +v 1.087222 3.813146 -1.026500 +v -1.080956 4.290803 0.075765 +v 1.087222 4.291059 0.627004 +v 0.646125 4.364623 -0.989779 +v -0.162114 3.041999 1.105013 +v -1.007440 2.086175 -1.026500 +v 0.977058 4.291059 0.737167 +v 0.903542 3.004961 -1.063433 +v 1.123871 2.490267 0.920984 +v 0.131732 2.233048 -1.063433 +v 0.866674 4.217238 1.068080 +v 1.123871 4.364623 -0.695587 +v 1.123871 4.254276 -0.989567 +v -0.933924 2.086175 1.104801 +v 1.050574 4.143930 1.068080 +v 1.013706 3.886711 -1.026500 +v -1.080956 4.217238 -0.952846 +v -0.382662 3.041999 1.105013 +f 144 135 148 +f 116 115 117 +f 117 115 121 +f 118 117 121 +f 116 117 125 +f 115 116 126 +f 119 115 126 +f 116 125 126 +f 122 118 128 +f 117 118 129 +f 118 122 129 +f 122 127 129 +f 119 126 132 +f 126 130 132 +f 123 114 133 +f 130 120 134 +f 119 132 134 +f 132 130 134 +f 127 122 135 +f 121 119 136 +f 119 124 136 +f 126 123 137 +f 130 126 137 +f 123 133 137 +f 118 124 138 +f 131 118 138 +f 114 122 139 +f 128 120 139 +f 122 128 139 +f 133 114 139 +f 118 121 140 +f 124 118 140 +f 121 136 140 +f 136 124 140 +f 123 126 141 +f 120 130 142 +f 130 137 142 +f 137 133 142 +f 139 120 142 +f 133 139 142 +f 128 118 143 +f 120 128 143 +f 131 120 143 +f 118 131 143 +f 125 117 144 +f 117 129 144 +f 129 127 144 +f 127 135 144 +f 122 114 145 +f 114 123 145 +f 135 122 145 +f 123 135 145 +f 124 119 146 +f 120 131 146 +f 119 134 146 +f 134 120 146 +f 138 124 146 +f 131 138 146 +f 115 119 147 +f 121 115 147 +f 119 121 147 +f 126 125 148 +f 135 123 148 +f 123 141 148 +f 141 126 148 +f 125 144 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf new file mode 100644 index 000000000..b4983e8f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj new file mode 100644 index 000000000..e2c8ed9ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj @@ -0,0 +1,1218 @@ +o convex_0 +v 1.255556 -2.256648 -1.735685 +v 1.443001 -1.582374 -1.848020 +v 1.443001 -1.582374 -1.885443 +v 3.053619 -1.994357 -1.848020 +v 1.255556 -1.994357 -2.185157 +v 1.255556 -1.769753 -1.510884 +v 2.828861 -1.769753 -1.885443 +v 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214 +f 204 176 214 +f 189 204 214 +f 177 181 215 +f 197 177 215 +f 181 197 215 +f 171 200 216 +f 211 171 216 +f 200 211 216 +f 192 186 217 +f 201 192 217 +f 186 212 217 +o convex_4 +v -1.028769 -0.043377 -1.558367 +v 1.065458 -0.007777 0.996363 +v 1.065458 -0.043377 0.996363 +v -0.780336 0.382741 2.807508 +v 0.781661 1.802770 -0.955250 +v -1.064355 1.802770 -0.138143 +v 0.035915 0.453760 -3.085587 +v 0.710489 1.341233 2.132662 +v 0.994509 -0.043377 -1.700629 +v -1.099719 -0.043377 1.884003 +v -0.638215 1.128175 -2.623535 +v 0.107086 -0.043377 2.842774 +v -0.070398 1.341233 2.700512 +v 1.030094 1.802770 0.038190 +v 0.817024 1.163414 -2.303746 +v -0.922457 1.802770 0.925232 +v -0.070398 1.305633 -2.836928 +v -0.638215 -0.043377 -2.658802 +v 0.746075 0.595980 2.487718 +v -1.028769 0.595980 -2.126816 +v -1.206254 -0.043377 -0.174007 +v -0.886871 1.802770 -0.989919 +v 0.675126 -0.007777 -2.623535 +v 0.675126 1.802770 1.068091 +v -0.780336 1.128175 2.558849 +v 0.000551 0.595980 3.020900 +v -0.815922 0.489180 -2.801064 +v 1.065458 -0.007777 -1.487236 +v 0.746075 0.453760 -2.729933 +v 0.603954 -0.043377 2.452451 +v -1.028769 0.950536 1.707073 +v 0.000551 1.802770 -1.345573 +v -0.035035 1.802770 1.352017 +v -0.673801 -0.043377 2.665246 +v 0.142450 -0.043377 -2.872194 +v -0.815922 1.341233 -2.090951 +v 0.035915 1.305633 2.771643 +v 0.781661 1.234614 2.026265 +v -1.206254 -0.007777 0.286251 +v 0.000551 1.270214 -2.872194 +v 1.030094 1.802770 -0.103474 +v -1.064355 1.802770 0.109320 +v -0.105761 0.489180 -3.085587 +v 0.817024 1.234614 -2.232615 +v -0.780336 1.021555 2.629979 +v 0.781661 1.802770 0.996363 +v -0.780336 0.631219 -2.801064 +v 0.746075 0.311721 -2.729933 +v -0.105761 0.560199 3.020900 +v 0.746075 0.489180 2.487718 +v -1.064355 0.737838 1.564811 +v -0.105761 1.270214 -2.872194 +v -0.922457 -0.043377 -1.983956 +v 0.923559 -0.043377 1.564811 +v -1.028769 0.489180 -2.126816 +v -1.206254 0.098662 -0.067610 +v -0.070398 1.305633 2.771643 +v -0.957820 1.802770 -0.741858 +v 0.746075 1.305633 2.132662 +v 1.065458 0.134263 0.925830 +v 0.000551 0.453760 3.020900 +v 0.781661 0.453760 -2.659400 +v -0.957820 1.802770 0.818835 +v 0.284571 1.270214 -2.659400 +f 261 232 281 +f 220 218 226 +f 218 220 227 +f 227 220 229 +f 222 223 231 +f 231 223 233 +f 226 218 235 +f 220 219 236 +f 218 227 238 +f 223 222 239 +f 231 233 241 +f 230 233 242 +f 219 220 245 +f 220 226 245 +f 229 220 247 +f 222 234 249 +f 239 222 249 +f 234 239 249 +f 233 230 250 +f 241 233 250 +f 221 227 251 +f 227 229 251 +f 226 235 252 +f 240 226 252 +f 239 234 253 +f 243 236 254 +f 250 230 254 +f 241 250 254 +f 236 219 255 +f 238 227 256 +f 246 224 257 +f 222 231 258 +f 245 232 258 +f 233 223 259 +f 235 244 260 +f 252 235 260 +f 224 252 260 +f 257 224 260 +f 222 258 261 +f 258 232 261 +f 227 221 262 +f 248 227 262 +f 242 248 262 +f 231 241 263 +f 254 225 263 +f 241 254 263 +f 244 237 264 +f 253 228 264 +f 237 253 264 +f 260 244 264 +f 226 240 265 +f 245 226 265 +f 224 246 265 +f 252 224 265 +f 240 252 265 +f 262 221 266 +f 220 236 267 +f 236 243 267 +f 229 247 267 +f 227 248 268 +f 256 227 268 +f 248 259 268 +f 259 256 268 +f 228 253 269 +f 253 234 269 +f 234 257 269 +f 257 260 269 +f 264 228 269 +f 260 264 269 +f 235 218 270 +f 244 235 270 +f 247 220 271 +f 220 267 271 +f 267 247 271 +f 218 238 272 +f 238 237 272 +f 237 244 272 +f 270 218 272 +f 244 270 272 +f 223 237 273 +f 237 238 273 +f 238 256 273 +f 259 223 273 +f 256 259 273 +f 230 242 274 +f 254 230 274 +f 243 254 274 +f 242 262 274 +f 266 243 274 +f 262 266 274 +f 237 223 275 +f 223 239 275 +f 253 237 275 +f 239 253 275 +f 225 254 276 +f 254 236 276 +f 255 231 276 +f 236 255 276 +f 263 225 276 +f 231 263 276 +f 219 245 277 +f 255 219 277 +f 231 255 277 +f 258 231 277 +f 245 258 277 +f 221 251 278 +f 251 229 278 +f 266 221 278 +f 243 266 278 +f 229 267 278 +f 267 243 278 +f 232 245 279 +f 246 232 279 +f 245 265 279 +f 265 246 279 +f 242 233 280 +f 248 242 280 +f 233 259 280 +f 259 248 280 +f 234 222 281 +f 232 246 281 +f 257 234 281 +f 246 257 281 +f 222 261 281 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf new file mode 100644 index 000000000..ea31e87cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj new file mode 100644 index 000000000..d0218c75f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj @@ -0,0 +1,333 @@ +o convex_0 +v -0.374381 0.463767 -3.015853 +v 0.611131 -0.552267 -2.677042 +v 0.580209 -0.552267 -1.322384 +v -0.528287 -0.614015 -3.015853 +v -0.497482 0.556331 -1.106634 +v 0.611131 0.463881 -3.046814 +v -0.528287 -0.583083 -1.106634 +v 0.549404 0.433065 -1.106634 +v -0.590013 0.556331 -2.985284 +v 0.611131 -0.613900 -3.108541 +v 0.549404 -0.583083 -1.106634 +v -0.004843 -0.614015 -1.691961 +v -0.343459 0.556331 -1.106634 +v -0.559091 -0.490748 -3.015853 +v -0.528287 0.556331 -1.322384 +v 0.426303 -0.429115 -3.108541 +v -0.374381 0.556331 -2.985284 +v 0.364694 0.494583 -2.461684 +v 0.549404 0.340615 -3.077580 +v 0.580209 -0.613900 -1.876945 +v -0.590013 0.494583 -2.800299 +v -0.374381 -0.490748 -3.046814 +v -0.528287 -0.614015 -2.030772 +v 0.611131 0.463881 -2.892792 +v -0.528287 0.155829 -1.106634 +v 0.364694 0.494583 -3.046814 +v 0.395499 0.463881 -1.229892 +v -0.590013 0.340615 -2.954322 +v -0.559091 0.032563 -3.015853 +f 16 22 29 +f 5 7 8 +f 2 3 10 +f 6 2 10 +f 8 7 11 +f 3 8 11 +f 4 10 12 +f 11 7 12 +f 5 8 13 +f 9 5 13 +f 5 9 15 +f 9 13 17 +f 6 10 19 +f 16 1 19 +f 10 16 19 +f 10 3 20 +f 3 11 20 +f 12 10 20 +f 11 12 20 +f 15 9 21 +f 10 4 22 +f 4 14 22 +f 16 10 22 +f 4 12 23 +f 12 7 23 +f 14 4 23 +f 7 14 23 +f 3 2 24 +f 2 6 24 +f 8 3 24 +f 6 18 24 +f 7 5 25 +f 5 15 25 +f 21 7 25 +f 15 21 25 +f 1 9 26 +f 9 17 26 +f 17 13 26 +f 13 18 26 +f 18 6 26 +f 19 1 26 +f 6 19 26 +f 13 8 27 +f 18 13 27 +f 8 24 27 +f 24 18 27 +f 14 7 28 +f 9 14 28 +f 7 21 28 +f 21 9 28 +f 9 1 29 +f 14 9 29 +f 1 16 29 +f 22 14 29 +o convex_1 +v -0.097182 -3.046891 -0.705978 +v 0.919012 3.081815 1.110647 +v 0.919012 3.081815 0.679388 +v -1.082673 3.020006 -0.274937 +v -0.928760 -3.108699 0.925729 +v 0.949915 -3.077795 1.110647 +v 0.919012 2.958198 -1.075814 +v -1.113577 -2.954179 -0.921716 +v -1.051971 2.958198 1.080044 +v 0.919012 -3.077795 -1.044994 +v -1.082673 3.020006 -0.983355 +v -0.528423 -0.582441 -1.106200 +v -0.497519 -0.552143 1.110647 +v 0.949915 2.157116 1.049007 +v 0.949915 -3.077795 -0.244117 +v 0.610982 -0.335814 -1.106200 +v -0.497519 0.555557 -1.106200 +v -1.113577 -2.954179 -0.736798 +v -0.374307 3.081209 0.340589 +v -1.051971 2.342540 1.080044 +v -0.867154 -3.108699 0.956765 +v -1.113577 0.340440 -0.921716 +v -0.743942 3.019400 -1.013958 +v 0.549376 -3.046285 -1.044777 +v 0.857406 -2.492435 -1.075814 +v -0.959462 -2.184000 0.956765 +v -1.082673 2.989102 0.217527 +v 0.734194 -3.046285 1.110647 +v -1.113577 -1.352620 -0.952535 +v 0.641886 3.081815 1.110647 +v -0.066480 -3.108093 0.987368 +v 0.641886 1.079108 -1.106200 +v -0.374307 3.020006 -1.013958 +v -0.928760 -3.108699 0.741028 +v -0.559125 0.555557 1.110647 +v -0.836250 -2.954179 -0.952318 +v -0.158788 3.081209 0.094248 +v -1.082673 1.356639 -0.983355 +v -0.928760 -2.892370 0.956765 +v 0.919012 2.988496 -0.767617 +v -0.928760 2.988496 0.956765 +v -1.051971 2.095913 1.049007 +v -1.021068 -3.046891 0.155888 +v 0.949915 2.188020 1.110647 +v -0.836250 -2.985083 -0.859859 +v 0.857406 2.958198 -1.075814 +v 0.826704 -3.077795 -1.044777 +v 0.549376 -0.582441 -1.106200 +v 0.919012 1.263927 -1.075814 +v -0.405211 -3.108699 0.648569 +v 0.518675 3.081815 1.079827 +v 0.949915 -2.923275 -0.244117 +v -0.959462 -3.077189 0.741028 +v -0.897856 2.741870 -1.014175 +v -1.082673 -2.985083 -0.428818 +f 47 72 84 +f 35 31 42 +f 43 35 44 +f 45 41 46 +f 41 40 46 +f 40 33 48 +f 33 40 51 +f 37 47 51 +f 53 41 54 +f 38 33 56 +f 49 38 56 +f 47 49 56 +f 33 51 56 +f 51 47 56 +f 35 42 57 +f 50 35 57 +f 42 50 57 +f 41 37 58 +f 37 51 58 +f 51 40 58 +f 31 32 59 +f 42 31 59 +f 44 35 60 +f 39 44 60 +f 35 50 60 +f 45 46 61 +f 54 45 61 +f 50 34 63 +f 49 42 64 +f 38 49 64 +f 42 59 64 +f 59 38 64 +f 37 41 65 +f 53 37 65 +f 41 53 65 +f 40 48 66 +f 52 40 66 +f 32 62 66 +f 62 52 66 +f 40 41 67 +f 58 40 67 +f 41 58 67 +f 42 49 68 +f 34 50 68 +f 50 42 68 +f 55 34 68 +f 49 55 68 +f 62 32 69 +f 36 62 69 +f 33 38 70 +f 48 33 70 +f 49 47 71 +f 55 49 71 +f 47 37 72 +f 37 63 72 +f 63 34 72 +f 32 31 73 +f 31 35 73 +f 35 43 73 +f 43 36 73 +f 69 32 73 +f 36 69 73 +f 30 63 74 +f 63 37 74 +f 46 52 75 +f 61 46 75 +f 36 61 75 +f 62 36 75 +f 52 62 75 +f 37 53 76 +f 53 54 76 +f 54 39 76 +f 63 30 76 +f 30 74 76 +f 74 37 76 +f 41 45 77 +f 54 41 77 +f 45 54 77 +f 44 39 78 +f 36 44 78 +f 39 54 78 +f 61 36 78 +f 54 61 78 +f 39 60 79 +f 60 50 79 +f 50 63 79 +f 76 39 79 +f 63 76 79 +f 59 32 80 +f 38 59 80 +f 32 66 80 +f 66 48 80 +f 70 38 80 +f 48 70 80 +f 36 43 81 +f 44 36 81 +f 43 44 81 +f 34 55 82 +f 55 72 82 +f 72 34 82 +f 46 40 83 +f 52 46 83 +f 40 52 83 +f 71 47 84 +f 55 71 84 +f 72 55 84 +o convex_2 +v -0.590014 0.248243 2.311891 +v 0.580333 0.525433 1.603698 +v 0.580333 0.494647 1.603698 +v 0.487883 0.432962 3.112771 +v 0.487883 -0.552206 1.110864 +v -0.497563 -0.583216 3.112771 +v -0.559082 0.556331 1.110864 +v -0.497563 -0.552318 1.110864 +v 0.487883 -0.429060 2.958748 +v -0.559082 0.463860 3.020083 +v 0.580333 0.556220 1.110864 +v -0.590014 0.494647 2.804529 +v 0.580333 0.556220 1.542364 +v -0.590014 0.556331 1.603698 +v 0.487883 -0.552206 1.511402 +v 0.518699 0.463860 2.866060 +v -0.497563 -0.583216 1.850410 +v -0.405113 -0.583216 3.112771 +v 0.580333 0.309816 1.141825 +v -0.590014 0.217457 3.020083 +v -0.528266 -0.367487 1.388144 +v 0.487883 -0.459847 2.804529 +v -0.559082 0.155772 1.110864 +v 0.179830 0.309816 3.112771 +v 0.487883 0.309816 3.112771 +v -0.343480 -0.583216 3.081810 +v 0.056678 0.463860 3.051044 +v 0.364730 -0.459847 2.989514 +v -0.497563 -0.459958 3.112771 +v -0.590014 0.494647 1.419106 +f 107 105 114 +f 91 89 92 +f 86 87 95 +f 89 91 95 +f 95 91 97 +f 86 95 97 +f 96 97 98 +f 85 96 98 +f 97 91 98 +f 87 86 100 +f 93 87 100 +f 86 97 100 +f 92 89 101 +f 88 90 102 +f 90 101 102 +f 87 93 103 +f 95 87 103 +f 89 95 103 +f 99 89 103 +f 96 85 104 +f 94 96 104 +f 101 90 105 +f 92 101 105 +f 104 85 105 +f 90 104 105 +f 103 93 106 +f 99 103 106 +f 91 92 107 +f 92 105 107 +f 90 88 108 +f 88 94 108 +f 93 100 109 +f 100 88 109 +f 88 102 109 +f 89 99 110 +f 101 89 110 +f 102 101 110 +f 99 106 110 +f 94 88 111 +f 96 94 111 +f 97 96 111 +f 88 100 111 +f 100 97 111 +f 106 93 112 +f 93 109 112 +f 109 102 112 +f 102 110 112 +f 110 106 112 +f 104 90 113 +f 94 104 113 +f 90 108 113 +f 108 94 113 +f 85 98 114 +f 98 91 114 +f 105 85 114 +f 91 107 114 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf new file mode 100644 index 000000000..3927db59c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj new file mode 100644 index 000000000..d5e4aa200 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj @@ -0,0 +1,612 @@ +o convex_0 +v 1.948698 -1.861857 -0.544398 +v 3.030146 -0.710486 0.502314 +v 3.030146 -0.710486 0.327721 +v 1.111184 -0.780283 0.502208 +v 2.960256 -1.861857 0.467269 +v 2.925408 -0.710486 -0.474625 +v 1.111184 -1.861857 0.502208 +v 1.111184 -0.780283 -0.544398 +v 2.995298 -1.896930 -0.474625 +v 1.111184 -1.861857 -0.579338 +v 3.100036 -1.861973 0.223113 +v 2.018588 -0.710486 0.048520 +v 1.146032 -0.745559 0.502208 +v 3.100036 -1.757219 0.467269 +v 1.948698 -1.861857 0.502208 +v 1.460245 -0.745559 -0.509459 +v 2.122742 -1.896930 -0.474625 +v 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b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf new file mode 100644 index 000000000..8f92dc6f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj new file mode 100644 index 000000000..d94e97b76 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj @@ -0,0 +1,540 @@ +o convex_0 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198 201 210 +f 177 193 211 +f 184 209 211 +f 194 181 212 +f 200 177 212 +f 177 211 212 +f 204 172 213 +f 178 204 213 +f 207 178 213 +f 176 187 214 +f 187 183 214 +f 183 202 214 +f 205 176 214 +f 200 188 215 +f 193 200 215 +f 202 193 215 +f 198 184 216 +f 184 211 216 +f 186 174 217 +f 180 186 217 +f 197 180 217 +f 174 189 218 +f 199 174 218 +f 178 190 219 +f 204 178 219 +f 190 205 219 +f 205 204 219 +f 189 179 220 +f 179 195 220 +f 195 189 220 +f 193 182 221 +f 211 193 221 +f 182 216 221 +f 216 211 221 +f 188 205 222 +f 214 202 222 +f 205 214 222 +f 215 188 222 +f 202 215 222 +f 174 199 223 +f 199 197 223 +f 217 174 223 +f 197 217 223 +f 175 194 224 +f 209 175 224 +f 179 192 225 +f 192 187 225 +f 211 209 226 +f 194 212 226 +f 212 211 226 +f 224 194 226 +f 209 224 226 +f 180 191 227 +f 191 194 227 +f 206 180 227 +f 194 206 227 +f 187 190 228 +f 195 179 228 +f 190 195 228 +f 188 200 229 +f 181 203 229 +f 208 188 229 +f 203 208 229 +f 212 181 229 +f 200 212 229 +f 189 178 230 +f 178 199 230 +f 218 189 230 +f 199 218 230 +f 172 173 231 +f 173 196 231 +f 196 207 231 +f 213 172 231 +f 207 213 231 +f 182 198 232 +f 216 182 232 +f 198 216 232 +f 179 225 233 +f 225 187 233 +f 228 179 233 +f 187 228 233 +f 178 185 234 +f 199 178 234 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf new file mode 100644 index 000000000..482438faf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj new file mode 100644 index 000000000..28a466fed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj @@ -0,0 +1,420 @@ +o convex_0 +v 0.355379 -2.568622 -0.245056 +v 1.015260 -0.379085 1.005741 +v 1.050076 -0.379299 1.005526 +v -3.085312 -0.379299 -1.114141 +v -2.980865 -2.464246 1.040461 +v 1.050076 -0.379299 -1.044271 +v -2.946049 -2.498967 -1.009551 +v -2.980865 -0.518181 1.005741 +v 1.050480 -2.394805 0.971020 +v 1.050480 -2.464032 -1.079206 +v -1.104051 -0.379085 1.075396 +v -0.895966 -2.429312 1.075396 +v -1.382172 -2.498967 -1.079206 +v 0.563464 -2.533688 0.553945 +v 0.667911 -2.568622 -0.627196 +v 1.050076 -1.248170 -1.078992 +v -3.085312 -0.379299 -0.766507 +v -2.042458 -1.421987 1.075396 +v -0.340127 -0.448740 1.075396 +v 0.911217 -1.943010 1.005741 +v -3.085312 -0.692213 -0.940324 +v 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-0.826096 3.443318 1.075396 +v 0.737683 3.443318 0.970990 +v 0.737683 3.513127 0.727585 +v 1.050270 3.548031 -0.766378 +v 0.841878 3.235056 -1.079176 +v -0.478707 -0.378697 -1.044585 +v -0.999896 3.478223 0.831992 +v -0.965094 2.887565 -0.974769 +v 0.181480 3.582935 -0.801180 +v 1.050270 2.783240 -1.079387 +v 0.459476 -0.274372 1.040383 +v 0.216283 3.582935 0.310592 +v 1.015678 2.192583 0.970779 +v -0.235302 3.582935 0.206396 +v 0.946074 3.478223 0.901385 +v -0.965094 -0.378697 -0.870574 +v -0.826096 3.547643 -0.905587 +v -1.104302 -0.239856 1.040383 +v -0.965094 0.976751 -1.009571 +v 1.050270 3.443706 -0.627380 +v 0.980876 2.609495 0.970779 +v 1.050480 0.837910 0.970779 +v -0.999896 3.513127 -0.245189 +v 0.390083 3.547643 -1.044374 +f 111 103 118 +f 79 78 81 +f 77 81 83 +f 81 78 84 +f 81 77 85 +f 79 81 85 +f 78 80 90 +f 89 84 90 +f 79 85 93 +f 85 77 94 +f 92 79 95 +f 82 92 95 +f 79 93 95 +f 87 82 97 +f 82 95 97 +f 77 83 98 +f 89 88 99 +f 89 99 100 +f 81 84 100 +f 84 89 100 +f 82 87 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0.251098 5.633253 0.241246 +v 0.216317 3.583136 0.310796 +v 0.285880 3.618057 -0.245151 +v 0.216317 5.563612 -0.349541 +v -0.235418 3.583136 0.206471 +v -0.339702 5.077123 0.241246 +v 0.077312 5.181485 -0.349541 +v 0.285880 4.660075 0.067500 +v 0.251098 5.528891 0.276021 +v 0.285880 3.583136 -0.036631 +v -0.304920 4.069826 -0.210441 +v 0.042591 3.583136 0.310796 +v -0.339702 5.355088 0.276021 +v -0.270138 3.583136 -0.002050 +v 0.251098 5.633253 0.102211 +v 0.285880 4.104546 -0.245151 +v -0.270138 5.598332 -0.245151 +v -0.200636 3.896022 -0.245151 +v 0.251098 4.556314 0.276021 +v 0.216317 4.451952 0.310796 +f 126 133 144 +f 121 120 122 +f 124 122 125 +f 120 121 126 +f 127 119 128 +f 123 126 129 +f 128 119 131 +f 122 120 133 +f 125 122 133 +f 132 125 133 +f 126 123 134 +f 123 127 134 +f 127 132 134 +f 130 124 135 +f 126 121 136 +f 129 126 136 +f 129 136 137 +f 121 122 137 +f 122 124 137 +f 124 130 137 +f 130 129 137 +f 136 121 137 +f 123 129 138 +f 129 130 138 +f 130 135 138 +f 135 123 138 +f 124 125 139 +f 128 124 139 +f 125 132 139 +f 139 132 140 +f 127 128 140 +f 132 127 140 +f 128 139 140 +f 124 128 141 +f 128 131 141 +f 135 124 141 +f 135 141 142 +f 119 127 142 +f 127 123 142 +f 131 119 142 +f 123 135 142 +f 141 131 142 +f 133 126 143 +f 132 133 143 +f 126 134 143 +f 134 132 143 +f 120 126 144 +f 133 120 144 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf new file mode 100644 index 000000000..450eb65b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj new file mode 100644 index 000000000..18368f5d6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj @@ -0,0 +1,2118 @@ +o convex_0 +v -1.043195 0.304839 -2.421863 +v -1.068703 -0.485909 -2.957601 +v -1.068703 -0.460339 -2.957601 +v -1.068703 0.049780 -0.049754 +v -1.043195 -0.485909 -2.600347 +v -1.068703 0.330409 -2.396243 +v -1.043195 0.330409 -0.049754 +v -1.043195 0.049780 -0.049754 +v -1.068703 0.330409 -0.049754 +f 7 6 9 +f 3 2 4 +f 3 1 5 +f 2 3 5 +f 4 2 5 +f 1 3 6 +f 3 4 6 +f 5 1 7 +f 1 6 7 +f 5 7 8 +f 4 5 8 +f 7 4 8 +f 6 4 9 +f 4 7 9 +o convex_1 +v 0.181174 5.126134 -1.070151 +v -0.941153 3.672495 -1.197681 +v 0.181284 3.672495 -1.197681 +v -0.099326 5.126134 -1.172175 +v -0.915444 4.871124 -1.070151 +v -0.915444 3.672495 -1.121188 +v -0.915444 5.126134 -1.095670 +v 0.181284 3.698109 -1.146681 +v 0.181284 5.126134 -1.172175 +v -0.941153 3.927646 -1.197681 +v 0.130194 4.029679 -1.121188 +f 15 17 20 +f 14 11 15 +f 11 12 15 +f 10 14 15 +f 10 13 16 +f 14 10 16 +f 15 12 17 +f 13 10 18 +f 10 17 18 +f 17 12 18 +f 12 11 19 +f 11 14 19 +f 16 13 19 +f 14 16 19 +f 18 12 19 +f 13 18 19 +f 10 15 20 +f 17 10 20 +o convex_2 +v 0.972091 5.151781 -0.100774 +v 0.181269 5.100770 -1.146681 +v -0.915536 5.075256 -0.534555 +v -0.915536 5.126268 -1.070101 +v -0.736862 5.126268 -0.100774 +v 0.436253 5.100770 -0.100774 +v 0.972091 5.151781 -1.146681 +v 0.844414 5.100770 -1.070101 +v -0.915536 5.075256 -0.100774 +v 0.410755 5.151781 -0.100774 +v 0.972091 5.126268 -0.100774 +v -0.915536 5.100770 -1.070101 +f 24 22 32 +f 21 25 26 +f 22 24 27 +f 23 22 28 +f 22 27 28 +f 24 23 29 +f 25 24 29 +f 26 25 29 +f 23 28 29 +f 28 26 29 +f 25 21 30 +f 24 25 30 +f 21 27 30 +f 27 24 30 +f 21 26 31 +f 27 21 31 +f 26 28 31 +f 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1.611240 -0.322033 +v 1.108747 1.551460 -0.292093 +v 1.587038 1.372311 -0.292093 +v 1.138699 1.222892 -0.172603 +v 2.961070 1.760595 0.275555 +f 150 168 172 +f 145 146 147 +f 148 151 152 +f 146 145 154 +f 152 151 154 +f 151 148 155 +f 145 147 156 +f 148 149 160 +f 155 148 160 +f 150 155 160 +f 158 150 160 +f 150 153 161 +f 144 155 161 +f 155 150 161 +f 151 153 162 +f 154 151 162 +f 159 154 162 +f 149 152 163 +f 160 149 164 +f 158 160 164 +f 162 153 165 +f 159 162 165 +f 153 151 166 +f 155 144 166 +f 151 155 166 +f 144 161 166 +f 161 153 166 +f 147 146 167 +f 146 154 167 +f 157 147 167 +f 154 159 167 +f 165 157 167 +f 159 165 167 +f 156 147 168 +f 147 157 168 +f 150 158 168 +f 149 163 168 +f 163 156 168 +f 164 149 168 +f 158 164 168 +f 154 145 169 +f 152 154 169 +f 145 156 170 +f 163 152 170 +f 156 163 170 +f 169 145 170 +f 152 169 170 +f 149 148 171 +f 148 152 171 +f 152 149 171 +f 153 150 172 +f 165 153 172 +f 157 165 172 +f 168 157 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf new file mode 100644 index 000000000..78b710345 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj new file mode 100644 index 000000000..581996374 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj @@ -0,0 +1,249 @@ +o convex_0 +v 0.579321 -3.265494 -0.155404 +v -0.606585 -4.481552 0.179088 +v -0.606585 -4.481552 0.483143 +v -0.485022 -2.565607 -0.489897 +v 0.579321 -4.542266 -0.611647 +v 0.548901 -2.565607 0.483250 +v 0.548901 -4.572918 0.483250 +v -0.454486 -2.565607 0.483143 +v 0.488178 -2.565607 -0.520334 +v -0.576165 -4.481552 -0.429021 +v 0.579321 -2.565607 0.452705 +v -0.576165 -4.177193 -0.459459 +v -0.515326 -2.809054 -0.277048 +v 0.579321 -3.690691 0.483250 +v 0.305659 -4.542266 -0.581209 +v 0.335963 -4.572918 0.422375 +v -0.485022 -2.687429 0.483143 +v -0.059262 -2.565607 -0.520334 +v 0.579321 -4.359926 -0.611647 +v -0.515326 -2.869769 -0.489897 +v 0.579321 -2.565607 0.178981 +v -0.606585 -4.359926 0.452812 +v 0.579321 -4.542266 -0.094529 +v 0.518482 -3.052305 -0.550772 +v -0.271968 -4.511810 -0.489897 +v 0.518482 -4.572918 -0.094529 +v 0.518482 -4.390382 -0.611647 +v -0.515326 -3.265494 -0.489897 +v -0.363343 -4.511810 0.483143 +v -0.576165 -4.055568 -0.429021 +v -0.485022 -2.565607 0.179088 +f 13 22 31 +f 6 3 7 +f 6 4 8 +f 4 6 9 +f 5 1 11 +f 9 6 11 +f 10 2 12 +f 6 7 14 +f 5 11 14 +f 11 6 14 +f 3 6 17 +f 6 8 17 +f 4 9 18 +f 1 5 19 +f 13 4 20 +f 11 1 21 +f 9 11 21 +f 2 3 22 +f 3 17 22 +f 13 20 22 +f 7 5 23 +f 5 14 23 +f 14 7 23 +f 18 9 24 +f 19 18 24 +f 1 19 24 +f 21 1 24 +f 9 21 24 +f 10 12 25 +f 12 15 25 +f 16 25 26 +f 5 7 26 +f 15 5 26 +f 7 16 26 +f 25 15 26 +f 5 15 27 +f 4 18 27 +f 18 19 27 +f 19 5 27 +f 20 4 27 +f 20 27 28 +f 15 12 28 +f 12 20 28 +f 27 15 28 +f 3 2 29 +f 7 3 29 +f 2 10 29 +f 16 7 29 +f 10 25 29 +f 25 16 29 +f 12 2 30 +f 20 12 30 +f 2 22 30 +f 22 20 30 +f 8 4 31 +f 4 13 31 +f 17 8 31 +f 22 17 31 +o convex_1 +v 1.065847 1.661191 -1.037179 +v -1.032441 -0.709660 1.091526 +v -1.062878 -0.709660 1.091526 +v -0.697839 3.608395 1.091312 +v -1.032441 3.486317 -0.976517 +v -1.062878 -2.534785 -1.037393 +v 1.005183 -2.443529 1.091312 +v 0.944308 3.577573 0.908686 +v 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+ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj new file mode 100644 index 000000000..1d138199a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj @@ -0,0 +1,654 @@ +o convex_0 +v 0.315529 -6.316641 0.093861 +v -0.107872 -2.407151 0.615311 +v -0.466178 -2.407151 0.615311 +v -0.335874 -2.407151 -0.590095 +v -0.466178 -6.283730 0.549994 +v 0.543646 -2.407534 0.582592 +v 0.576250 -5.990595 -0.459702 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+f 161 166 170 +f 165 150 171 +f 167 171 172 +f 150 149 172 +f 171 150 172 +f 149 155 173 +f 169 149 173 +f 151 158 174 +f 158 153 174 +f 162 151 174 +f 157 159 175 +f 152 160 175 +f 160 157 175 +f 156 161 176 +f 150 165 176 +f 165 156 176 +f 168 150 176 +f 161 170 176 +f 170 168 176 +f 152 156 177 +f 156 165 177 +f 167 152 177 +f 165 171 177 +f 171 167 177 +f 149 158 178 +f 172 149 178 +f 164 172 178 +f 154 155 179 +f 166 154 179 +f 155 168 179 +f 170 166 179 +f 168 170 179 +f 160 152 180 +f 151 162 180 +f 162 160 180 +f 158 151 181 +f 151 164 181 +f 178 158 181 +f 164 178 181 +f 156 152 182 +f 163 156 182 +f 159 163 182 +f 175 159 182 +f 152 175 182 +f 155 169 183 +f 173 155 183 +f 169 173 183 +f 164 151 184 +f 152 167 184 +f 167 172 184 +f 172 164 184 +f 180 152 184 +f 151 180 184 +f 153 157 185 +f 157 160 185 +f 160 162 185 +f 174 153 185 +f 162 174 185 +f 156 163 186 +f 163 159 186 +f 159 166 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf new file mode 100644 index 000000000..e83301648 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj new file mode 100644 index 000000000..ab10401e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj @@ -0,0 +1,369 @@ +o convex_0 +v 0.983937 -3.484304 -0.233967 +v 0.891997 -3.115997 1.085671 +v 0.769205 -3.115997 1.085671 +v -1.072470 0.964714 -1.093673 +v -1.041619 -3.791615 -1.032234 +v 0.953290 0.965179 -1.062953 +v -1.072470 0.964714 1.054952 +v -1.041619 -3.791615 1.054952 +v 0.953290 0.934448 0.962795 +v 0.953290 -3.791615 -1.062953 +v 1.014788 -3.760884 1.085671 +v -1.072470 -3.515035 1.054952 +v 0.983937 0.965179 -0.725258 +v 0.799851 0.964714 0.993514 +v -0.734741 -3.760884 -1.062953 +v 0.400829 -3.760884 1.085671 +v -0.028841 -3.791615 1.024233 +v -1.072470 0.504679 -1.093673 +v 0.983937 0.965179 -0.387562 +v -0.857533 0.964714 -1.093673 +v -1.041619 -3.361846 -1.062953 +v 0.953290 0.780793 0.993514 +v -1.072470 -0.017283 -1.062953 +v 1.014788 -3.484304 0.993301 +v 0.953290 -3.791615 -0.510438 +v -1.010972 0.964714 1.054952 +v 0.983937 -3.208190 1.085671 +v 0.953290 0.965179 0.932076 +v 1.014788 -3.607694 0.962795 +f 13 24 29 +f 3 2 7 +f 6 4 7 +f 8 5 10 +f 2 3 11 +f 10 1 11 +f 7 4 12 +f 5 8 12 +f 1 10 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0.996397 -1.093673 +v 0.216683 1.088509 -3.027192 +v 0.216683 1.548769 -1.093673 +v -0.212975 0.996397 -3.027192 +v -0.305096 1.610237 -3.058151 +v -0.212975 1.088509 -1.093673 +v 0.308804 1.456717 -3.027192 +v -0.305096 1.395309 -1.431341 +v 0.247390 0.996397 -1.492876 +v 0.308804 1.579473 -3.027192 +v -0.059500 1.579473 -1.830352 +v 0.032501 0.996397 -1.124632 +v -0.059500 0.996397 -2.935275 +v -0.274389 1.333901 -3.058151 +v 0.247390 1.149857 -3.027192 +v -0.182268 1.027101 -1.554217 +v 0.063208 1.548769 -1.093673 +v 0.032501 1.518065 -3.058151 +v -0.305096 1.610237 -2.873934 +v -0.305096 1.395309 -1.093673 +v -0.182268 1.119213 -3.058151 +f 72 76 79 +f 56 57 61 +f 58 59 61 +f 59 56 61 +f 59 55 62 +f 59 58 64 +f 56 59 65 +f 58 63 66 +f 59 62 67 +f 65 59 67 +f 57 56 68 +f 63 57 68 +f 56 65 68 +f 61 57 69 +f 55 59 70 +f 59 64 70 +f 62 60 71 +f 67 62 71 +f 60 67 71 +f 62 66 72 +f 66 63 72 +f 67 60 73 +f 65 67 73 +f 62 55 74 +f 64 62 74 +f 55 70 74 +f 70 64 74 +f 58 61 75 +f 61 69 75 +f 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2.408138 -1.093673 +v -0.980273 2.315981 1.054976 +f 91 99 106 +f 84 82 85 +f 83 84 85 +f 85 82 88 +f 84 83 89 +f 87 84 89 +f 82 84 90 +f 83 85 91 +f 80 89 93 +f 92 80 93 +f 80 92 94 +f 84 87 95 +f 90 84 95 +f 91 85 96 +f 92 86 97 +f 87 94 97 +f 94 92 97 +f 82 81 98 +f 88 82 98 +f 86 92 99 +f 93 83 99 +f 92 93 99 +f 81 82 100 +f 82 90 100 +f 95 87 100 +f 90 95 100 +f 87 97 100 +f 97 86 101 +f 98 81 101 +f 86 98 101 +f 81 100 101 +f 100 97 101 +f 88 98 102 +f 98 86 102 +f 86 99 102 +f 99 91 102 +f 85 88 103 +f 96 85 103 +f 91 96 103 +f 88 102 103 +f 102 91 103 +f 89 83 104 +f 83 93 104 +f 93 89 104 +f 89 80 105 +f 87 89 105 +f 94 87 105 +f 80 94 105 +f 83 91 106 +f 99 83 106 +o convex_4 +v -0.274368 1.426013 2.374611 +v 0.339499 1.303317 1.392648 +v 0.339499 1.088509 1.392648 +v -0.366486 1.456717 1.054976 +v -0.182181 1.027101 3.050150 +v 0.216698 1.518065 2.988631 +v -0.335734 0.996397 1.054976 +v 0.339499 1.610237 1.054976 +v -0.213002 1.518065 3.019293 +v 0.216698 1.057805 2.927307 +v -0.366486 1.579473 1.054976 +v 0.339499 1.088509 1.054976 +v -0.151498 1.548769 2.742945 +v -0.182181 0.996397 1.054976 +v -0.335734 1.579473 1.577011 +v 0.339499 1.610237 1.239339 +v 0.247381 1.548769 2.620297 +v -0.305051 0.996397 1.546349 +v -0.120884 1.027101 3.050150 +v -0.243685 1.426013 2.804464 +v 0.124511 1.610237 1.147158 +v -0.213002 0.996397 1.699854 +f 116 125 128 +f 108 109 114 +f 113 110 114 +f 114 110 117 +f 114 109 118 +f 113 114 118 +f 109 116 118 +f 115 112 119 +f 113 118 120 +f 118 116 120 +f 110 107 121 +f 117 110 121 +f 115 119 121 +f 108 114 122 +f 109 108 123 +f 116 109 123 +f 112 116 123 +f 119 112 123 +f 122 119 123 +f 108 122 123 +f 107 110 124 +f 110 113 124 +f 113 120 124 +f 115 111 125 +f 112 115 125 +f 116 112 125 +f 111 115 126 +f 121 107 126 +f 115 121 126 +f 107 124 126 +f 124 111 126 +f 114 117 127 +f 117 121 127 +f 121 119 127 +f 119 122 127 +f 122 114 127 +f 120 116 128 +f 111 124 128 +f 124 120 128 +f 125 111 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf new file mode 100644 index 000000000..8ed55e0c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj new file mode 100644 index 000000000..be72a5fe0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj @@ -0,0 +1,474 @@ +o convex_0 +v 1.118596 1.725143 -0.855679 +v -1.073713 -0.499785 0.812633 +v -1.008262 -0.499785 -0.986743 +v -1.073713 4.212044 0.714335 +v 0.987693 -0.499324 1.041782 +v 1.020311 4.081058 1.041782 +v -1.008262 4.048311 -1.085040 +v 0.987693 4.113804 -1.052274 +v 0.987693 -0.499324 -1.052274 +v -1.040880 2.510140 1.009016 +v -0.419197 -0.499785 1.074548 +v -1.073713 1.824305 -1.085040 +v -1.073713 4.212044 0.943485 +v 0.562149 -0.499324 -1.085040 +v 1.085763 -0.041332 -1.019297 +v -1.073713 -0.499785 0.976250 +v 1.118596 2.281375 -1.052274 +v 0.856789 4.146551 -0.921211 +v 1.020311 -0.467038 0.681780 +v -0.124771 4.048311 -1.085040 +v 1.020311 1.300359 1.009016 +v 1.020311 4.113804 0.256247 +v -1.040880 -0.204604 -0.986743 +v -1.040880 4.081058 -0.725038 +v -0.746455 4.212044 0.878164 +v -0.811907 1.202580 1.041782 +v 1.053144 -0.499324 -0.201419 +v -1.073713 2.314122 -1.085040 +v 0.791338 3.917324 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--git a/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf new file mode 100644 index 000000000..7cf0a6933 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj new file mode 100644 index 000000000..c7e256b6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj @@ -0,0 +1,447 @@ +o convex_0 +v -0.863795 -2.888208 0.607391 +v 1.271765 -2.438760 1.057056 +v 0.821909 -2.438760 1.057056 +v 1.196719 -2.438760 -1.003234 +v 1.084255 -4.311742 0.982183 +v -0.788749 -4.274148 -1.078320 +v -0.826167 -4.274148 1.094705 +v -0.826167 -2.438760 -0.928361 +v 1.084255 -4.349336 -1.003234 +v -0.863795 -2.438760 0.982183 +v 1.121882 -4.236740 -0.928148 +v 1.159301 -3.787292 1.019619 +v 1.234137 -2.476167 -0.965797 +v -0.226848 -4.311742 -1.078320 +v -0.788749 -3.862106 -1.078320 +v -0.826167 -4.274148 -0.216427 +v 1.271765 -2.625983 0.757350 +v 1.009418 -4.349336 -0.216427 +v -0.863795 -3.449878 1.056843 +v -0.264266 -2.438760 -0.965797 +v 0.634818 -4.349336 -0.928148 +v 0.672236 -4.311742 1.019619 +v -0.863795 -2.700984 1.019619 +v 1.234137 -2.850988 1.057056 +v 0.597399 -4.311742 -1.040671 +v -0.863795 -3.787105 1.019619 +v 1.121882 -4.199146 0.719914 +v 0.821909 -2.438760 -1.003234 +v -0.788749 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-2.848969 1.757452 0.607589 +v 3.145062 0.296588 -1.077939 +v 2.994751 -0.340435 0.982102 +v 1.608679 1.757232 -1.077939 +v -2.924422 0.708288 0.419892 +v -2.924422 0.259181 -1.115786 +v -2.848969 -0.415030 0.195229 +v 3.145062 1.795080 -1.003124 +v 1.646109 -0.190366 1.094544 +v -1.650044 -0.377623 1.094544 +v 3.107038 -0.190586 -1.115786 +v -0.676289 1.607603 -1.115786 +v -2.811540 -0.190366 0.944694 +v -2.886398 1.682418 -0.553357 +v -2.924422 0.970579 0.232856 +v -2.924422 -0.452877 -1.003124 +v -2.774110 1.719825 1.132171 +v -2.811540 0.559099 1.094324 +v -2.886398 1.682418 -0.253658 +f 134 150 154 +f 117 118 125 +f 123 119 127 +f 121 123 127 +f 119 125 127 +f 125 121 127 +f 119 123 128 +f 117 125 129 +f 117 126 130 +f 128 120 130 +f 126 128 130 +f 122 118 131 +f 117 130 131 +f 130 122 131 +f 123 121 132 +f 125 118 133 +f 123 116 134 +f 118 117 135 +f 131 118 135 +f 117 131 135 +f 122 130 136 +f 125 119 137 +f 129 125 137 +f 121 125 138 +f 125 133 138 +f 134 116 140 +f 120 128 141 +f 128 123 141 +f 134 120 141 +f 123 134 141 +f 132 124 142 +f 126 117 143 +f 117 129 143 +f 139 126 143 +f 129 139 143 +f 121 138 144 +f 138 133 144 +f 124 132 145 +f 119 128 146 +f 137 119 146 +f 129 137 146 +f 139 129 146 +f 139 146 147 +f 128 126 147 +f 126 139 147 +f 146 128 147 +f 140 116 148 +f 122 140 148 +f 116 142 148 +f 142 124 148 +f 130 120 149 +f 120 134 149 +f 122 136 149 +f 136 130 149 +f 140 122 150 +f 134 140 150 +f 116 123 151 +f 123 132 151 +f 142 116 151 +f 132 142 151 +f 118 122 152 +f 132 121 152 +f 133 118 152 +f 121 144 152 +f 144 133 152 +f 122 145 152 +f 145 132 152 +f 145 122 153 +f 124 145 153 +f 122 148 153 +f 148 124 153 +f 122 149 154 +f 149 134 154 +f 150 122 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf new file mode 100644 index 000000000..2cb415a2e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj new file mode 100644 index 000000000..281bdcb52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj @@ -0,0 +1,909 @@ +o convex_0 +v 1.286532 -0.476238 0.135209 +v -1.190503 -0.606761 -0.059954 +v -1.190503 -0.606761 0.004966 +v 0.048015 -3.930712 -0.059954 +v 0.764987 -0.476576 -1.037980 +v -0.668958 -0.476238 1.015151 +v 0.764987 -3.050863 0.754464 +v 0.699764 -3.083324 -0.809453 +v -0.766672 -1.943105 -0.842214 +v -0.668958 -3.018401 0.721904 +v 0.993148 -0.476238 0.949828 +v -0.994833 -0.476238 -0.874775 +v -0.734181 -3.376495 -0.125277 +v -0.114923 -3.311233 -0.809654 +v -0.342841 -1.975904 -1.037779 +v 0.797478 -3.409295 -0.027394 +v 0.112996 -2.008366 0.982389 +v 1.123353 -0.509038 -0.809654 +v -1.027323 -0.476238 0.787025 +v -0.017209 -3.474218 0.721703 +v -0.571244 -0.476576 -1.037779 +v -0.571244 -1.715196 0.982389 +v 0.797478 -0.802546 1.015352 +v 1.090862 -0.932732 0.852146 +v 1.286532 -0.607099 0.004966 +v -0.734181 -3.376495 0.069886 +v 0.732254 -2.920339 -0.842214 +v -0.603735 -3.018401 -0.614089 +v -0.831895 -1.878181 -0.809654 +v -0.897119 -1.714858 0.721904 +v -0.114923 -3.441757 -0.744532 +v 0.993148 -1.845381 0.754464 +v 0.048015 -3.930712 0.037326 +v 0.667031 -1.715196 0.982590 +v 0.145729 -3.408957 0.754464 +v 0.732254 -1.584672 -0.972658 +v 0.764987 -2.855078 -0.809453 +v 0.797478 -3.409295 0.070087 +v 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100644 index 000000000..ff9b24826 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj new file mode 100644 index 000000000..7105ccc53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj @@ -0,0 +1,2391 @@ +o convex_0 +v -0.340604 0.326616 0.675656 +v -0.019551 0.336349 1.531768 +v -0.029312 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-0.229106 +v 0.428053 0.054201 -0.394693 +v 0.398878 0.219566 0.646389 +v 0.457255 0.005534 0.714578 +v 0.379429 0.209850 0.714578 +v 0.359951 0.209850 -0.394693 +f 835 831 842 +f 828 827 829 +f 827 828 830 +f 830 826 834 +f 829 831 834 +f 832 829 834 +f 828 829 836 +f 829 832 836 +f 827 830 837 +f 830 831 837 +f 835 827 837 +f 831 835 837 +f 833 828 838 +f 828 836 838 +f 836 833 838 +f 826 833 839 +f 834 826 839 +f 832 834 839 +f 836 832 839 +f 833 836 839 +f 826 830 840 +f 830 828 840 +f 833 826 840 +f 828 833 840 +f 831 830 841 +f 830 834 841 +f 834 831 841 +f 829 827 842 +f 831 829 842 +f 827 835 842 +o convex_56 +v -0.360103 -0.510183 -0.462873 +v -0.399014 -0.539377 -0.803372 +v -0.389293 -0.539377 -0.803372 +v -0.408754 -0.364246 -0.803372 +v -0.399014 -0.383737 -0.462873 +v -0.369844 -0.383737 -0.667106 +v -0.340641 -0.500446 -0.482306 +v -0.379552 -0.364246 -0.501773 +v -0.389293 -0.364246 -0.803372 +v -0.379552 -0.539377 -0.783872 +v -0.379552 -0.539377 -0.628272 +v -0.340641 -0.529640 -0.462873 +f 843 853 854 +f 845 844 846 +f 846 844 847 +f 846 847 850 +f 849 848 850 +f 845 846 851 +f 846 850 851 +f 850 848 851 +f 844 845 852 +f 848 849 852 +f 845 851 852 +f 851 848 852 +f 843 847 853 +f 847 844 853 +f 844 852 853 +f 853 852 854 +f 847 843 854 +f 850 847 854 +f 849 850 854 +f 852 849 854 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf new file mode 100644 index 000000000..12c0a5f09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj new file mode 100644 index 000000000..83ec5c499 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj @@ -0,0 +1,399 @@ +o convex_0 +v -0.108355 -0.055109 2.818039 +v 0.259144 -0.723514 2.851427 +v 0.292531 -0.723514 2.851427 +v 0.025313 -0.690081 1.114115 +v 0.359424 -0.088542 1.114115 +v -0.242141 -0.690081 1.114115 +v -0.208694 -0.656647 3.085719 +v -0.208694 -0.155409 1.414989 +v 0.292531 -0.222210 2.985170 +v -0.242141 -0.055109 3.085719 +v 0.292531 -0.623214 1.181083 +v -0.141801 -0.155409 1.114115 +v 0.292531 -0.723514 3.018558 +v 0.325978 -0.188842 2.684489 +v 0.359424 -0.255643 1.548539 +v 0.259144 -0.656647 1.114115 +v 0.192310 -0.088542 1.214471 +v -0.041521 -0.222210 3.085719 +v -0.208694 -0.690081 2.049932 +v -0.242141 -0.222210 3.085719 +v 0.359424 -0.255643 1.147695 +v -0.242141 -0.055109 2.985170 +v 0.359424 -0.088542 1.247858 +f 15 5 23 +f 3 2 4 +f 4 2 6 +f 5 4 6 +f 9 1 10 +f 5 6 12 +f 6 8 12 +f 2 3 13 +f 1 9 14 +f 9 13 14 +f 14 13 15 +f 13 3 15 +f 3 4 16 +f 4 5 16 +f 11 3 16 +f 1 5 17 +f 5 12 17 +f 10 7 18 +f 9 10 18 +f 7 13 18 +f 13 9 18 +f 6 2 19 +f 7 6 19 +f 2 13 19 +f 13 7 19 +f 6 7 20 +f 7 10 20 +f 10 6 20 +f 3 11 21 +f 15 3 21 +f 5 15 21 +f 16 5 21 +f 11 16 21 +f 8 6 22 +f 10 1 22 +f 6 10 22 +f 12 8 22 +f 1 17 22 +f 17 12 22 +f 5 1 23 +f 1 14 23 +f 14 15 23 +o convex_1 +v -0.275548 -0.088529 -2.562018 +v 0.325991 -0.790355 -2.996446 +v 0.359424 -0.790355 -2.996446 +v 0.225691 -0.756898 -1.125423 +v 0.225691 -0.188829 -1.125423 +v -0.275548 -0.689986 -1.125423 +v 0.292558 -0.188829 -3.030006 +v -0.208681 -0.623211 -2.963071 +v -0.208681 -0.121985 -1.158984 +v -0.308981 -0.088529 -2.996446 +v -0.308981 -0.255673 -2.996446 +v 0.359424 -0.689986 -2.829387 +v -0.308981 -0.088529 -2.562018 +v -0.108447 -0.121985 -1.125423 +v 0.192323 -0.155373 -3.030006 +v -0.175248 -0.656667 -2.963071 +v 0.292558 -0.188829 -2.528643 +v 0.092023 -0.756898 -1.125423 +v -0.275548 -0.689986 -1.292669 +v -0.275548 -0.589754 -1.125423 +v 0.292558 -0.790355 -2.896322 +v 0.292558 -0.522911 -3.030006 +v -0.242115 -0.656667 -2.328210 +f 39 42 46 +f 27 28 29 +f 27 26 35 +f 28 27 35 +f 26 30 35 +f 24 33 36 +f 34 29 36 +f 33 34 36 +f 29 28 37 +f 24 36 37 +f 36 32 37 +f 33 24 38 +f 34 33 38 +f 37 28 38 +f 24 37 38 +f 31 34 39 +f 28 35 40 +f 35 30 40 +f 30 38 40 +f 38 28 40 +f 27 29 41 +f 41 29 42 +f 29 34 42 +f 32 36 43 +f 36 29 43 +f 29 37 43 +f 37 32 43 +f 25 26 44 +f 26 27 44 +f 39 25 44 +f 27 41 44 +f 41 42 44 +f 42 39 44 +f 26 25 45 +f 30 26 45 +f 38 30 45 +f 34 38 45 +f 25 39 45 +f 39 34 45 +f 34 31 46 +f 31 39 46 +f 42 34 46 +o convex_2 +v -0.275473 -5.468913 -0.456825 +v -0.075000 -4.633420 0.612618 +v -0.141716 -4.633420 0.612618 +v 0.493060 -3.531011 -0.523561 +v -0.576344 -3.531207 -0.490193 +v 0.526526 -5.368818 0.478812 +v 0.493060 -3.531011 0.579139 +v 0.526526 -5.502474 -0.523561 +v -0.442587 -5.368622 0.612618 +v -0.542770 -3.531207 0.512291 +v -0.442587 -5.401987 -0.490193 +v -0.275473 -5.536035 0.378597 +v -0.576344 -3.865247 -0.189436 +v 0.526526 -4.566691 -0.523561 +v 0.526526 -5.335454 0.512180 +v -0.576344 -3.564572 0.445444 +v -0.375763 -5.502277 -0.323131 +v 0.225655 -3.764956 -0.523672 +v 0.526526 -5.502474 -0.289540 +v 0.125365 -5.468913 0.445444 +v 0.259121 -3.531207 0.579139 +v -0.275473 -5.368622 0.612618 +v -0.576344 -3.865247 -0.490193 +v -0.308831 -5.536035 0.077841 +v 0.526526 -5.068143 0.512180 +v -0.442587 -5.067947 0.612618 +v 0.493060 -3.664666 0.579139 +f 68 61 73 +f 49 48 53 +f 50 51 53 +f 48 49 55 +f 53 51 56 +f 54 47 57 +f 57 55 59 +f 50 53 60 +f 52 54 60 +f 52 60 61 +f 56 51 62 +f 55 56 62 +f 51 59 62 +f 59 55 62 +f 47 54 63 +f 57 47 63 +f 55 57 63 +f 51 50 64 +f 54 57 64 +f 50 60 64 +f 60 54 64 +f 54 52 65 +f 58 54 65 +f 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0.994273 -3.530023 -0.924467 +v -0.977192 4.289028 1.080387 +v -1.111055 -3.363085 0.812766 +v 1.094671 2.583877 0.178017 +v -1.111055 -2.594376 1.080387 +v -0.576249 -3.530818 0.478734 +v 1.094671 1.247579 -1.091483 +v 1.027739 2.818385 1.080387 +v -1.044123 1.715800 -0.556899 +v -0.509317 -3.029209 -1.058387 +v 1.027739 4.188865 -0.991317 +v 0.593330 -3.029209 1.046852 +v -0.242022 -0.688900 1.113922 +v 0.994273 -3.463248 0.111166 +v 0.225637 -0.756470 -1.125237 +v 1.094671 -1.525179 0.578900 +v -0.141840 4.556129 1.113922 +v -0.977192 -3.396473 -0.723916 +v 1.094671 2.651447 -1.125237 +v 1.094671 0.313522 1.013317 +v -1.010657 3.253218 0.345033 +v 0.359285 -0.221474 1.113922 +v -1.111055 -1.056958 0.846301 +v 1.061205 -1.157121 -1.091702 +v -0.208556 -0.188086 -1.125237 +v 0.292569 4.556129 -1.058387 +v 1.027739 -3.429860 -0.757450 +v 0.994273 -3.061802 1.013317 +v 1.094671 2.951935 -1.091483 +v 0.726978 -3.530023 -0.958001 +v -0.275488 -3.362290 1.047071 +v -1.010657 3.185648 -0.958001 +v -0.977192 3.954357 -1.058387 +v 0.994273 4.521946 -0.323032 +v -1.010657 3.118873 1.046852 +v -0.242022 -2.293888 1.080387 +v -0.977192 4.590311 -0.389883 +v 0.927557 -3.396473 0.946686 +v -0.576249 -3.429860 -1.024633 +v 1.027739 2.617265 -1.125237 +v 0.994273 -3.530023 -0.657065 +v 1.027739 3.653869 -1.091702 +v 1.027739 -2.560988 1.013317 +f 122 121 137 +f 76 75 77 +f 76 77 84 +f 75 76 87 +f 83 74 92 +f 89 76 96 +f 80 89 97 +f 94 80 97 +f 86 85 98 +f 76 89 99 +f 89 80 99 +f 91 80 100 +f 80 94 100 +f 94 95 100 +f 85 86 101 +f 90 81 102 +f 93 97 103 +f 82 88 104 +f 92 74 104 +f 90 98 105 +f 79 87 106 +f 87 76 107 +f 76 99 107 +f 99 87 107 +f 88 85 109 +f 85 92 109 +f 104 88 109 +f 92 104 109 +f 101 86 110 +f 81 75 111 +f 75 87 111 +f 93 82 112 +f 82 94 112 +f 97 93 112 +f 94 97 112 +f 85 88 113 +f 98 85 113 +f 86 98 114 +f 98 90 114 +f 90 102 114 +f 87 79 116 +f 79 102 116 +f 102 81 116 +f 81 111 116 +f 111 87 116 +f 97 89 117 +f 103 97 117 +f 89 115 117 +f 83 92 118 +f 92 85 118 +f 85 101 118 +f 110 83 118 +f 101 110 118 +f 88 84 119 +f 113 88 119 +f 77 75 120 +f 75 81 120 +f 95 83 121 +f 83 110 121 +f 110 86 121 +f 102 79 122 +f 79 108 122 +f 108 121 122 +f 78 105 123 +f 105 98 123 +f 113 78 123 +f 98 113 123 +f 74 83 124 +f 95 94 124 +f 83 95 124 +f 80 91 125 +f 99 80 125 +f 79 106 125 +f 84 93 126 +f 93 103 126 +f 115 84 126 +f 103 117 126 +f 117 115 126 +f 88 82 127 +f 84 88 127 +f 82 93 127 +f 93 84 127 +f 81 90 128 +f 105 78 128 +f 90 105 128 +f 120 81 128 +f 78 120 128 +f 89 96 129 +f 115 89 129 +f 87 99 130 +f 106 87 130 +f 99 125 130 +f 125 106 130 +f 76 84 131 +f 96 76 131 +f 84 115 131 +f 129 96 131 +f 115 129 131 +f 108 79 132 +f 91 108 132 +f 79 125 132 +f 125 91 132 +f 94 82 133 +f 104 74 133 +f 82 104 133 +f 74 124 133 +f 124 94 133 +f 84 113 134 +f 119 84 134 +f 113 119 134 +f 91 100 135 +f 100 95 135 +f 108 91 135 +f 95 121 135 +f 121 108 135 +f 84 77 136 +f 78 113 136 +f 113 84 136 +f 77 120 136 +f 120 78 136 +f 86 114 137 +f 114 102 137 +f 121 86 137 +f 102 122 137 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf new file mode 100644 index 000000000..8a89751f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj new file mode 100644 index 000000000..f4fffc422 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj @@ -0,0 +1,567 @@ +o convex_0 +v 2.033932 2.008606 0.328466 +v 1.110186 2.187257 -0.297272 +v 1.110186 1.770242 -0.207846 +v 3.017086 1.770242 -0.267443 +v 3.046985 2.336205 0.239040 +v 3.106588 1.740477 0.179443 +v 1.110186 1.770242 0.298637 +v 1.169789 2.217083 0.209272 +v 2.868176 2.217083 -0.237675 +v 1.110186 2.306439 -0.297272 +v 2.719072 2.336205 0.328466 +v 1.110186 1.710589 -0.178078 +v 3.046985 2.187257 -0.207846 +v 3.046985 2.217083 0.328466 +v 2.629570 1.740477 -0.267443 +v 1.110186 1.889424 0.298637 +v 2.242445 1.740477 0.239040 +v 1.288995 2.306439 -0.297272 +v 1.110186 2.127666 0.239040 +v 3.046985 1.740477 -0.178078 +v 3.017086 1.919250 -0.267443 +v 1.110186 2.306439 -0.237675 +v 3.106588 1.889424 0.060249 +v 1.110186 1.710589 -0.118481 +f 6 17 24 +f 2 3 7 +f 2 7 10 +f 5 10 11 +f 7 3 12 +f 9 5 13 +f 6 5 14 +f 11 1 14 +f 5 11 14 +f 3 2 15 +f 2 4 15 +f 12 3 15 +f 7 1 16 +f 10 7 16 +f 1 11 16 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-2.282094 -0.356866 +v -1.094794 -1.775725 0.268828 +v -3.091196 -2.192747 -0.356866 +v -2.852784 -1.626679 0.268828 +v -1.631220 -1.656596 -0.118449 +f 48 25 49 +f 30 28 33 +f 33 28 34 +f 33 34 35 +f 29 27 36 +f 27 31 36 +f 30 33 37 +f 28 30 40 +f 29 36 40 +f 36 31 40 +f 37 29 40 +f 30 37 40 +f 38 39 41 +f 35 34 42 +f 38 35 42 +f 39 38 42 +f 32 29 43 +f 41 32 43 +f 38 41 43 +f 27 26 44 +f 26 28 44 +f 31 27 44 +f 28 40 44 +f 40 31 44 +f 28 26 45 +f 34 28 45 +f 26 39 45 +f 42 34 45 +f 39 42 45 +f 33 35 46 +f 35 25 46 +f 25 37 46 +f 37 33 46 +f 26 27 47 +f 27 29 47 +f 29 32 47 +f 39 26 47 +f 32 41 47 +f 41 39 47 +f 37 25 48 +f 29 37 48 +f 43 29 48 +f 43 48 49 +f 25 35 49 +f 35 38 49 +f 38 43 49 +o convex_2 +v -2.733567 1.770259 -0.327069 +v -1.094794 2.336260 -0.088681 +v -1.392788 2.246845 0.239072 +v -1.094794 1.650995 -0.088681 +v -3.061399 2.336260 0.298669 +v -2.971885 1.800041 0.268840 +v -3.061399 2.187280 -0.237643 +v -1.094794 1.680912 0.268840 +v -1.094794 1.710694 -0.327069 +v -1.094794 2.336260 -0.207875 +v -3.031561 1.859674 -0.327069 +v -1.094794 2.217063 0.209243 +v -1.303467 1.650995 -0.327069 +v -1.452464 2.336260 -0.207875 +v -3.061399 2.336260 0.209243 +v -3.031561 1.800041 -0.118449 +v -1.094794 2.246845 -0.237643 +v -2.465411 2.246845 -0.237643 +v -2.852726 2.336260 0.298669 +v -1.094794 1.800041 0.268840 +v -3.031561 2.187280 0.298669 +v -2.614408 1.770259 0.268840 +f 57 70 71 +f 53 51 57 +f 51 53 58 +f 54 51 59 +f 51 58 59 +f 58 50 60 +f 51 52 61 +f 57 51 61 +f 55 50 62 +f 58 53 62 +f 50 58 62 +f 54 59 63 +f 56 54 64 +f 54 63 64 +f 55 54 65 +f 50 55 65 +f 54 56 65 +f 60 50 65 +f 56 60 65 +f 59 58 66 +f 58 60 66 +f 63 59 66 +f 63 66 67 +f 60 56 67 +f 56 64 67 +f 64 63 67 +f 66 60 67 +f 52 51 68 +f 51 54 68 +f 68 57 69 +f 61 52 69 +f 57 61 69 +f 52 68 69 +f 54 55 70 +f 68 54 70 +f 57 68 70 +f 53 57 71 +f 62 53 71 +f 55 62 71 +f 70 55 71 +o convex_3 +v 1.110186 -2.460296 0.239019 +v -1.094780 -2.371001 -0.386380 +v -1.094780 -2.371001 -0.237485 +v 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0.983907 +v 0.961045 -3.056511 -0.565095 +v 1.110186 -2.191953 -0.177844 +v -1.005208 -2.996981 0.596450 +v -0.945638 -3.056511 -0.744017 +v -1.094780 -2.311929 0.328273 +v 0.990830 -2.967216 -0.773838 +v 0.514267 1.174234 1.013728 +v -1.005208 -1.417607 1.043341 +v 0.663193 -3.056511 1.013728 +v -0.975423 0.905433 -0.952760 +v 1.110186 -1.775244 0.298453 +v -0.945638 1.263071 0.983907 +v -1.005208 -2.847698 1.103189 +v -0.945638 -3.056511 -0.893119 +v 0.007703 -3.056511 -0.982373 +v -0.677571 -2.996981 1.073369 +f 79 109 122 +f 77 76 82 +f 76 77 84 +f 73 74 85 +f 77 82 88 +f 83 77 88 +f 75 82 89 +f 86 75 89 +f 76 84 91 +f 86 78 92 +f 82 86 92 +f 78 88 92 +f 88 82 92 +f 77 83 93 +f 72 86 94 +f 73 85 95 +f 91 84 95 +f 85 91 95 +f 93 73 95 +f 81 80 96 +f 83 88 98 +f 98 81 99 +f 83 98 99 +f 80 81 101 +f 82 80 101 +f 89 82 101 +f 94 89 101 +f 82 76 103 +f 80 82 103 +f 87 80 103 +f 72 94 104 +f 98 72 104 +f 81 98 104 +f 101 81 104 +f 94 101 104 +f 82 75 105 +f 75 86 105 +f 86 82 105 +f 76 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-1.012249 +v 1.020575 3.021446 0.954052 +v 1.020575 1.591544 0.984001 +v -0.945654 2.961854 -1.012249 +v 0.990790 3.051313 -1.042198 +v -1.094794 2.217322 0.209103 +v -1.094794 1.651135 -0.326999 +v 0.365093 3.051313 -0.982498 +v 1.110146 1.710726 -0.178049 +v 0.931221 2.842672 0.984001 +v -0.647806 2.991722 0.924302 +v -0.498882 1.621411 0.984001 +v -1.094794 2.365943 -0.207799 +v -0.886085 2.991722 -1.012249 +v 1.110146 2.306638 -0.297248 +v 1.020575 3.051313 0.000652 +v 0.990790 2.157731 -1.042198 +v -0.945654 2.961854 0.894353 +v -1.094794 1.681002 0.268604 +v 1.080361 1.591544 0.566702 +v 1.050360 2.872539 0.894551 +v -0.945654 2.276913 0.954052 +v -1.005224 1.591401 -0.833548 +v -0.975439 2.693766 -0.952748 +v -0.081679 2.991722 0.954052 +v 1.110146 1.770317 0.298354 +v 1.050360 1.591544 0.864801 +v 1.020575 3.051313 -0.237549 +v 0.812082 3.021446 0.954052 +v 1.080361 1.591544 0.000652 +f 136 147 157 +f 124 125 131 +f 130 129 137 +f 127 130 139 +f 130 137 139 +f 134 133 140 +f 124 131 141 +f 132 124 141 +f 135 132 141 +f 138 135 141 +f 136 128 142 +f 123 136 142 +f 132 135 143 +f 135 138 143 +f 125 124 144 +f 128 125 144 +f 124 132 144 +f 142 128 144 +f 132 142 144 +f 126 138 145 +f 131 140 145 +f 140 133 145 +f 141 131 145 +f 138 141 145 +f 133 134 146 +f 134 127 146 +f 145 133 146 +f 127 125 147 +f 129 130 148 +f 123 142 148 +f 143 129 148 +f 127 139 149 +f 139 137 149 +f 126 145 149 +f 146 127 149 +f 145 146 149 +f 125 127 150 +f 127 134 150 +f 150 134 151 +f 131 125 151 +f 140 131 151 +f 134 140 151 +f 125 150 151 +f 138 126 152 +f 126 149 152 +f 149 137 152 +f 136 123 153 +f 147 136 153 +f 123 148 153 +f 153 148 154 +f 130 127 154 +f 127 147 154 +f 148 130 154 +f 147 153 154 +f 142 132 155 +f 132 143 155 +f 148 142 155 +f 143 148 155 +f 137 129 156 +f 129 143 156 +f 143 138 156 +f 152 137 156 +f 138 152 156 +f 125 128 157 +f 128 136 157 +f 147 125 157 +o convex_5 +v 1.110186 -2.073564 -0.207857 +v 2.123286 -1.656543 0.000745 +v 2.123286 -1.656543 -0.029063 +v 2.123286 -2.252326 -0.267475 +v 1.110186 -2.341741 0.328466 +v 2.123286 -2.252326 0.328466 +v 1.140036 -1.775740 0.328466 +v 1.110186 -1.686393 -0.267475 +v 2.123286 -1.716175 -0.267475 +v 2.123286 -1.716175 0.238982 +v 1.110186 -2.192761 -0.178049 +v 1.289085 -1.656543 -0.148240 +v 1.944387 -2.252326 -0.267475 +v 1.705987 -1.745957 0.298657 +v 1.289085 -2.341741 0.298657 +v 1.110186 -1.775740 0.298657 +v 1.110186 -2.341741 0.268849 +v 2.123286 -2.162912 0.328466 +v 1.944387 -2.282109 0.328466 +f 172 161 176 +f 160 159 161 +f 161 159 163 +f 162 163 164 +f 158 162 165 +f 160 161 166 +f 161 165 166 +f 163 159 167 +f 162 158 168 +f 159 160 169 +f 164 159 169 +f 160 166 169 +f 166 165 169 +f 165 161 170 +f 158 165 170 +f 168 158 170 +f 159 164 171 +f 167 159 171 +f 162 164 173 +f 165 162 173 +f 164 169 173 +f 169 165 173 +f 162 168 174 +f 170 161 174 +f 168 170 174 +f 172 162 174 +f 161 172 174 +f 164 163 175 +f 163 167 175 +f 171 164 175 +f 167 171 175 +f 163 162 176 +f 161 163 176 +f 162 172 176 +o convex_6 +v 2.302120 -1.656476 0.060269 +v 2.927753 -2.311947 -0.356866 +v 2.719080 -2.311947 -0.327045 +v 2.927753 -2.192735 0.358263 +v 2.123286 -2.252341 0.328443 +v 3.076750 -1.656476 0.179411 +v 2.123286 -1.716146 -0.267405 +v 2.957591 -1.775752 -0.297225 +v 2.123286 -2.252341 -0.267405 +v 2.123286 -1.716146 0.239052 +v 3.106588 -2.311947 -0.297225 +v 3.106588 -2.252341 -0.356866 +v 2.808594 -2.133129 0.358263 +v 3.076750 -1.656476 0.119840 +v 3.076750 -1.716146 0.209231 +v 2.361796 -1.745981 -0.297225 +v 3.076750 -2.311947 -0.207834 +v 2.302120 -2.282112 -0.297225 +v 2.123286 -1.656476 -0.029052 +v 2.153123 -2.133129 0.328443 +f 189 186 196 +f 181 183 185 +f 182 177 186 +f 183 181 186 +f 179 178 187 +f 187 178 188 +f 182 187 188 +f 181 180 189 +f 177 182 190 +f 184 183 190 +f 182 188 190 +f 188 184 190 +f 182 186 191 +f 180 187 191 +f 187 182 191 +f 189 180 191 +f 186 189 191 +f 183 184 192 +f 188 178 192 +f 184 188 192 +f 180 181 193 +f 181 179 193 +f 179 187 193 +f 187 180 193 +f 178 179 194 +f 179 181 194 +f 181 185 194 +f 185 183 194 +f 183 192 194 +f 192 178 194 +f 186 177 195 +f 183 186 195 +f 177 190 195 +f 190 183 195 +f 186 181 196 +f 181 189 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf new file mode 100644 index 000000000..d46c4df62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj new file mode 100644 index 000000000..cfd690e73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj @@ -0,0 +1,579 @@ +o convex_0 +v -0.573000 -0.452579 -1.311805 +v 0.172532 2.280124 0.862903 +v 0.980175 2.777462 0.831824 +v 1.011230 -3.155784 0.831824 +v 1.042495 2.746194 -1.249434 +v -1.101147 2.839998 0.769665 +v -1.007771 -3.155784 0.769665 +v 0.949120 -3.187052 -1.280513 +v -0.914606 2.808730 -1.249647 +v -0.976716 -3.124516 -1.156408 +v -0.603845 -0.732221 0.862903 +v 0.452028 1.907269 -1.311805 +v 0.949120 -2.813606 0.862903 +v -0.945661 -3.124516 -1.218354 +v -0.976716 2.839998 -0.783455 +v 1.011230 -0.390043 -1.280726 +v -1.101147 2.777462 0.552109 +v 1.042495 2.746194 -0.690217 +v -1.038827 -1.974680 0.769665 +v 0.700679 -1.384128 -1.311805 +v 0.483083 -3.187052 -1.280513 +v -0.635110 1.192825 0.862903 +v 0.607513 2.808730 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148 +f 142 127 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf new file mode 100644 index 000000000..d1db02ea7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj new file mode 100644 index 000000000..17b6659c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj @@ -0,0 +1,561 @@ +o convex_0 +v 1.094057 -0.576483 -0.088541 +v -1.084682 -1.810862 0.455879 +v -1.048214 -1.265983 -1.069168 +v -1.011958 0.404211 1.036790 +v 1.021333 -1.810862 1.073070 +v 1.021333 -1.810862 -0.996187 +v 0.985077 0.404211 -1.032677 +v 1.094057 0.404211 1.073070 +v -1.084682 0.404211 -1.032677 +v -0.939234 -1.810862 1.073280 +v -1.011958 -1.810862 -1.069168 +v 0.403923 -0.721322 -1.069168 +v -0.975490 0.404211 1.073280 +v -1.084682 0.041031 -1.069168 +v 1.094057 0.404211 0.020092 +v 1.057588 -1.810862 -0.669451 +v -1.084682 0.404211 -0.415486 +v 1.057588 -1.375046 1.073070 +v 0.113453 -1.810862 -1.069168 +v 1.021333 0.222513 -0.959906 +v -0.975490 -1.556527 1.073280 +v 1.094057 -0.830384 -0.052260 +v 0.985077 -0.576483 -1.032677 +v -1.084682 -0.395002 -1.069168 +v -1.048214 -0.612910 0.782615 +v 1.057588 -1.810862 -0.124821 +v 0.694394 -1.738226 -1.032677 +v 1.094057 0.186303 1.073070 +v -1.084682 -1.738226 0.492160 +f 21 25 29 +f 5 2 6 +f 7 4 8 +f 4 7 9 +f 2 5 10 +f 2 3 11 +f 6 2 11 +f 11 3 12 +f 8 4 13 +f 10 8 13 +f 2 9 14 +f 9 7 14 +f 7 12 14 +f 12 3 14 +f 8 1 15 +f 7 8 15 +f 5 6 16 +f 9 2 17 +f 4 9 17 +f 10 5 18 +f 6 11 19 +f 11 12 19 +f 6 7 20 +f 15 1 20 +f 7 15 20 +f 1 16 20 +f 16 6 20 +f 2 10 21 +f 13 4 21 +f 10 13 21 +f 1 8 22 +f 16 1 22 +f 7 6 23 +f 12 7 23 +f 3 2 24 +f 14 3 24 +f 2 14 24 +f 4 17 25 +f 21 4 25 +f 5 16 26 +f 18 5 26 +f 16 22 26 +f 22 18 26 +f 6 19 27 +f 19 12 27 +f 23 6 27 +f 12 23 27 +f 8 10 28 +f 10 18 28 +f 22 8 28 +f 18 22 28 +f 17 2 29 +f 2 21 29 +f 25 17 29 +o convex_1 +v -1.955550 1.602288 -1.105480 +v 2.982276 2.655597 -0.669664 +v 2.945633 2.619017 0.709986 +v 3.054962 0.440563 -0.923565 +v -2.936508 0.440563 1.036957 +v -3.081879 2.510161 1.000314 +v 3.018319 0.440563 1.072949 +v -3.009193 0.513501 -1.069054 +v -2.972550 2.582879 -1.032628 +v 2.909591 2.582879 1.109593 +v 1.420434 2.619017 -1.069054 +v 0.984920 0.404645 -1.032628 +v -0.394308 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0.238032 +v -0.249487 3.563485 -0.306573 +f 92 94 101 +f 82 83 86 +f 83 84 86 +f 86 84 88 +f 84 87 88 +f 88 87 90 +f 90 87 91 +f 90 91 92 +f 91 85 92 +f 86 88 93 +f 89 86 94 +f 92 89 94 +f 86 93 94 +f 93 81 94 +f 83 82 95 +f 84 83 95 +f 90 81 96 +f 88 90 96 +f 93 88 96 +f 81 93 96 +f 86 89 97 +f 92 85 97 +f 89 92 97 +f 82 85 98 +f 85 91 98 +f 95 82 98 +f 95 98 99 +f 87 84 99 +f 91 87 99 +f 84 95 99 +f 98 91 99 +f 85 82 100 +f 82 86 100 +f 97 85 100 +f 86 97 100 +f 81 90 101 +f 90 92 101 +f 94 81 101 +o convex_3 +v -1.992769 -2.536963 0.528590 +v -2.391736 -1.847175 -0.451806 +v -2.391736 -1.847175 -0.488090 +v -3.045378 -2.972672 0.129051 +v -1.120995 -2.900111 -0.524478 +v -1.120995 -1.956244 0.455918 +v -2.936312 -1.992525 0.492203 +v -1.120995 -2.936391 0.528590 +v -2.972668 -3.008953 -0.415419 +v -1.120995 -1.919964 -0.524478 +v -2.936312 -1.847175 -0.488090 +v -2.936312 -2.972672 0.455918 +v -1.411838 -2.936391 -0.524478 +v -1.557071 -1.956244 0.492203 +v -3.045378 -2.718480 0.455918 +v -2.863790 -3.008953 -0.451806 +v -2.936312 -1.847175 -0.306463 +v -1.811181 -2.972672 0.492203 +v -2.500614 -2.210437 0.528590 +v -1.193894 -2.936391 -0.524478 +v -1.847537 -2.464401 -0.524478 +v -3.009023 -3.008953 0.056482 +v -1.120995 -2.682199 0.528590 +v -1.883703 -1.883683 -0.524478 +v -2.682202 -3.008953 -0.451806 +v -2.972668 -2.464401 0.492203 +v -2.972668 -2.573243 -0.451806 +v -2.936312 -2.065200 -0.488090 +v -1.883703 -1.956244 0.492203 +v -3.045378 -2.972672 0.419634 +v -3.045378 -2.718480 0.201722 +f 112 128 132 +f 106 107 109 +f 104 103 111 +f 107 106 111 +f 103 107 111 +f 103 104 112 +f 109 102 113 +f 111 106 114 +f 107 103 118 +f 103 112 118 +f 115 107 118 +f 116 108 118 +f 112 116 118 +f 109 113 119 +f 102 109 120 +f 106 109 121 +f 114 106 121 +f 117 114 121 +f 109 119 121 +f 111 114 122 +f 114 117 122 +f 105 110 123 +f 110 117 123 +f 119 113 123 +f 109 107 124 +f 107 115 124 +f 120 109 124 +f 115 120 124 +f 104 111 125 +f 112 104 125 +f 111 122 125 +f 117 121 126 +f 121 119 126 +f 123 117 126 +f 119 123 126 +f 113 102 127 +f 108 116 127 +f 116 113 127 +f 102 120 127 +f 120 108 127 +f 110 105 128 +f 117 110 128 +f 117 128 129 +f 122 117 129 +f 112 125 129 +f 125 122 129 +f 128 112 129 +f 115 118 130 +f 118 108 130 +f 108 120 130 +f 120 115 130 +f 116 105 131 +f 113 116 131 +f 105 123 131 +f 123 113 131 +f 116 112 132 +f 105 116 132 +f 128 105 132 +o convex_4 +v 1.094071 -1.919953 -0.161123 +v -0.939297 -3.517557 -1.105480 +v -0.939297 -3.517557 -0.560790 +v -1.084569 -1.810862 0.419609 +v 0.985009 -3.408467 1.073280 +v 1.021218 -3.444719 -0.960031 +v -1.011933 -1.810862 -1.069011 +v -0.939297 -3.444719 1.036811 +v 1.021218 -1.810862 1.073280 +v 1.021218 -1.810862 -0.996286 +v -0.939297 -1.810862 1.073280 +v -1.120995 -2.899933 -0.524321 +v 1.094071 -3.045276 0.601102 +v -1.120995 -2.936519 0.528590 +v 0.113596 -1.810862 -1.069011 +v 0.767101 -3.444719 0.818850 +v -1.120995 -1.956205 -0.524321 +v -0.939297 -3.335962 1.073280 +v 1.094071 -2.863847 -0.451596 +v 0.258868 -3.481138 -1.032542 +v 1.094071 -1.883533 0.528377 +v -1.120995 -1.956205 0.455865 +v 1.021218 -2.609915 -0.996286 +v -0.503699 -3.517557 -0.851263 +v -0.975507 -1.810862 1.036811 +v 0.113596 -3.444719 1.073280 +v 1.021218 -3.444719 -0.197592 +v -0.757816 -3.263124 -1.105480 +v 1.094071 -1.956205 -0.488065 +v 1.057644 -3.263290 -0.814581 +v 1.021218 -2.900100 1.073280 +v -0.939297 -3.480971 0.419609 +v -1.011933 -2.101381 -1.069011 +v 1.057644 -1.811029 -0.669558 +v 0.803528 -3.444719 -0.996286 +v -0.939297 -3.118114 -1.105480 +f 147 160 168 +f 139 136 141 +f 139 141 142 +f 137 141 143 +f 141 136 143 +f 134 135 146 +f 144 134 146 +f 139 142 147 +f 136 139 149 +f 139 144 149 +f 144 146 149 +f 137 143 150 +f 146 140 150 +f 133 145 151 +f 145 133 153 +f 141 145 153 +f 136 149 154 +f 149 146 154 +f 147 142 155 +f 135 134 156 +f 148 135 156 +f 134 152 156 +f 143 136 157 +f 150 143 157 +f 146 150 157 +f 136 154 157 +f 154 146 157 +f 135 148 158 +f 148 137 158 +f 137 150 158 +f 150 140 158 +f 145 137 159 +f 137 148 159 +f 152 138 159 +f 148 156 159 +f 156 152 159 +f 152 134 160 +f 147 155 160 +f 133 151 161 +f 151 145 162 +f 155 142 162 +f 138 155 162 +f 145 159 162 +f 159 138 162 +f 142 161 162 +f 161 151 162 +f 141 137 163 +f 137 145 163 +f 145 141 163 +f 146 135 164 +f 140 146 164 +f 135 158 164 +f 158 140 164 +f 139 134 165 +f 134 144 165 +f 144 139 165 +f 142 141 166 +f 153 133 166 +f 141 153 166 +f 133 161 166 +f 161 142 166 +f 138 152 167 +f 155 138 167 +f 152 160 167 +f 160 155 167 +f 134 139 168 +f 139 147 168 +f 160 134 168 +o convex_5 +v 1.276011 -2.900129 -0.451753 +v 1.239385 -1.883605 0.528490 +v 1.239385 -1.883605 0.492238 +v 3.091161 -1.992564 -0.524478 +v 3.127588 -3.081688 0.564853 +v 1.094078 -3.045330 0.601215 +v 3.018507 -1.992564 0.601215 +v 1.094078 -1.956322 -0.488115 +v 3.018507 -2.936370 -0.488115 +v 1.130504 -2.754810 -0.488115 +v 1.094078 -1.883605 0.528490 +v 1.094078 -3.045330 0.419623 +v 2.945654 -2.972729 -0.415500 +v 2.183088 -2.392042 -0.524478 +v 2.510130 -1.956322 0.601215 +v 1.094078 -2.863770 -0.451753 +v 3.054934 -2.609609 0.601215 +v 3.054934 -2.609609 -0.524478 +v 2.147060 -1.956322 -0.488115 +v 1.094078 -2.791169 0.601215 +v 1.384693 -2.900129 -0.488115 +v 3.127588 -3.081688 0.492238 +v 3.054934 -2.174124 0.601215 +v 2.147060 -1.992564 -0.524478 +v 1.094078 -1.919963 -0.124932 +f 187 176 193 +f 170 171 179 +f 176 174 179 +f 173 174 180 +f 174 176 180 +f 171 170 183 +f 172 171 183 +f 175 172 183 +f 174 175 183 +f 170 179 183 +f 176 178 184 +f 180 176 184 +f 169 180 184 +f 174 173 185 +f 175 174 185 +f 182 172 186 +f 171 172 187 +f 172 176 187 +f 179 174 188 +f 174 183 188 +f 183 179 188 +f 180 169 189 +f 177 181 189 +f 181 180 189 +f 178 182 189 +f 169 184 189 +f 184 178 189 +f 186 177 189 +f 182 186 189 +f 172 173 190 +f 173 180 190 +f 181 177 190 +f 180 181 190 +f 186 172 190 +f 177 186 190 +f 173 172 191 +f 172 175 191 +f 185 173 191 +f 175 185 191 +f 176 172 192 +f 178 176 192 +f 172 182 192 +f 182 178 192 +f 179 171 193 +f 176 179 193 +f 171 187 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf new file mode 100644 index 000000000..02de3fd77 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj new file mode 100644 index 000000000..cc5ed049b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj @@ -0,0 +1,246 @@ +o convex_0 +v 0.310785 -3.739423 0.010305 +v -0.367822 -4.830995 -0.196220 +v 0.222268 -4.830995 -0.225648 +v 0.251797 -4.771880 0.334807 +v -0.249707 -2.824608 0.364368 +v 0.251797 -2.824608 -0.314263 +v 0.251797 -2.824608 0.334807 +v -0.220248 -2.883724 -0.166726 +v -0.249707 -4.653649 0.187270 +v 0.340314 -3.060873 -0.314263 +v 0.281257 -4.771880 -0.225648 +v -0.279305 -2.913183 0.334807 +v 0.163280 -4.771880 0.334807 +v 0.192740 -2.854264 0.364368 +v -0.161190 -2.824608 -0.196220 +v 0.340314 -2.824608 -0.196220 +v -0.367822 -4.830995 -0.137166 +v -0.249707 -3.945640 0.275752 +v 0.281257 -4.388121 0.216830 +v -0.367822 -4.742420 -0.196220 +v -0.190788 -4.712961 0.216830 +v 0.251797 -4.830995 -0.048683 +v -0.249707 -2.824608 0.098788 +v -0.249707 -2.942643 0.364368 +v 0.281257 -3.060873 -0.314263 +v 0.281257 -2.883724 0.187270 +f 19 16 26 +f 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+ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj new file mode 100644 index 000000000..8f5049e2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj @@ -0,0 +1,912 @@ +o convex_0 +v 1.011922 2.844833 -1.285706 +v 0.301957 -0.853597 0.993614 +v 0.264676 -0.853597 0.993614 +v 0.264676 -1.675802 -1.547390 +v 2.357087 -1.152310 -0.351921 +v 1.945979 3.367729 0.358096 +v 0.376722 3.629475 0.208830 +v 1.908494 1.051962 -1.285706 +v 0.301957 3.330762 -1.173555 +v 1.908494 3.554946 -0.538304 +v 1.796448 -1.227435 0.358096 +v 0.301957 -1.863019 0.507630 +v 1.945979 -1.301964 -1.285706 +v 0.264676 2.508558 0.694547 +v 0.264676 -0.853597 -1.734307 +v 1.198733 4.228092 -0.500921 +v 1.833728 -1.712768 -0.500921 +v 2.357087 -0.405231 -0.687838 +v 1.945979 0.715687 0.432863 +v 1.124173 4.115404 0.283330 +v 1.236219 3.517383 -1.173555 +v 2.357087 0.192791 -0.090237 +v 0.899876 3.592508 0.545014 +v 0.414003 3.928187 -0.463538 +v 1.161453 1.723320 -1.435239 +v 0.264676 3.330762 -0.613071 +v 2.357087 -0.442793 -0.015471 +v 0.264676 -1.863019 -0.240038 +v 1.908494 1.462170 -1.248322 +v 2.132790 1.574261 -0.799988 +v 2.357087 -0.965689 -0.799988 +v 1.721682 2.994487 -1.024022 +v 1.983259 3.367729 0.320713 +v 1.049407 -1.825456 -0.500921 +v 1.945979 1.649387 0.432863 +v 0.339237 3.293200 -1.210672 +v 1.871213 -1.077781 0.358096 +v 1.908494 -1.638239 -0.351921 +v 1.086687 -1.638239 -1.248322 +v 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a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf new file mode 100644 index 000000000..48865b37e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj new file mode 100644 index 000000000..61c0a5696 --- /dev/null +++ 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diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf new file mode 100644 index 000000000..77f62caad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj new file mode 100644 index 000000000..a595d532c --- /dev/null +++ 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b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj new file mode 100644 index 000000000..fc36479cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj @@ -0,0 +1,417 @@ +o convex_0 +v -2.944165 -1.010686 -1.011044 +v -2.978895 -0.663065 1.109951 +v -3.048550 -0.663065 1.109951 +v -1.170974 1.075466 -1.011255 +v -1.101320 -1.010900 1.005484 +v -2.978895 1.005771 1.005484 +v -1.101320 1.005771 0.970662 +v -1.101320 -1.010900 -0.976221 +v -2.944165 1.040511 -1.046077 +v -3.083474 -1.045641 1.109951 +v -2.978895 -1.115336 -0.767499 +v -1.101320 1.075466 -0.698065 +v -1.136244 0.796898 1.005484 +v -3.083474 -0.767501 0.831373 +v -1.136244 -1.045641 -0.976221 +v -1.101320 0.518759 -1.011255 +v -2.214050 -1.045641 1.075129 +v -2.596473 -1.115336 -0.976432 +v -2.944165 0.727631 1.040306 +v -2.944165 1.040511 -0.420120 +v -2.457551 0.971030 -1.046077 +v -3.013820 0.553714 0.936051 +v -1.101320 1.040511 0.379527 +v -2.909434 -1.115336 -0.558987 +v -2.770319 -0.732546 1.109951 +v -1.727437 1.005771 1.005484 +v -2.214050 1.040511 0.205626 +v -2.874704 0.553714 -1.046077 +v -1.101320 1.075466 -1.011255 +v -1.518666 1.075252 -0.976221 +v -3.083474 -0.697806 1.109951 +v -3.083474 -1.045641 0.796972 +v -2.978895 1.005771 0.449171 +v -2.944165 -1.115336 -0.976432 +v -2.596473 -1.115336 -0.906788 +f 24 18 35 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-1.254646 -0.802532 +v -1.031625 -2.193129 1.005266 +v 0.672148 -2.992834 -0.698310 +v -1.101320 -2.784172 -0.732836 +v 0.011440 -1.046182 1.005481 +v -0.996884 -1.219902 -0.976235 +v 0.985024 -2.471279 -1.045931 +v -1.066365 -3.027578 0.831563 +v -0.614313 -2.540767 -1.045931 +v -0.857709 -1.046182 -1.010976 +v 0.463492 -3.027578 1.075176 +v 1.019764 -2.958090 -0.698310 +v 1.019764 -1.046182 0.518683 +v 0.776368 -1.150414 -1.115626 +v -0.996884 -1.950118 1.005266 +v 1.019764 -2.471279 1.075176 +v -0.649268 -3.062716 0.970740 +v 0.637193 -3.027578 -0.246253 +v 0.672148 -2.958090 -1.011190 +v 1.089459 -2.853858 0.796823 +v 0.950284 -3.062716 0.622905 +v 0.985024 -1.845886 -1.045931 +v -1.066365 -2.262617 -1.010976 +v 1.054505 -1.671969 1.040221 +v -0.996884 -3.027578 -1.010976 +v -1.101320 -2.958090 -0.454697 +v 0.985024 -2.958090 -0.837273 +f 101 77 109 +f 76 74 78 +f 74 76 79 +f 74 79 80 +f 71 72 82 +f 72 81 82 +f 74 80 84 +f 73 81 84 +f 78 74 87 +f 80 79 88 +f 73 84 90 +f 79 76 92 +f 88 79 92 +f 70 91 92 +f 72 71 93 +f 81 72 93 +f 77 89 94 +f 76 78 95 +f 83 76 95 +f 76 89 96 +f 91 70 96 +f 89 91 96 +f 70 92 96 +f 92 76 96 +f 74 84 97 +f 84 81 97 +f 87 74 97 +f 81 93 97 +f 97 93 98 +f 93 71 98 +f 87 97 98 +f 81 73 99 +f 82 81 99 +f 73 90 99 +f 90 75 99 +f 89 77 101 +f 91 89 101 +f 71 82 102 +f 82 94 102 +f 95 71 102 +f 83 95 102 +f 99 75 103 +f 82 99 103 +f 100 82 103 +f 76 83 104 +f 89 76 104 +f 94 89 104 +f 102 94 104 +f 83 102 104 +f 75 86 105 +f 86 80 105 +f 80 88 105 +f 91 75 105 +f 88 92 105 +f 92 91 105 +f 78 87 106 +f 71 95 106 +f 95 78 106 +f 98 71 106 +f 87 98 106 +f 75 91 107 +f 85 100 107 +f 101 85 107 +f 91 101 107 +f 103 75 107 +f 100 103 107 +f 84 80 108 +f 86 75 108 +f 80 86 108 +f 75 90 108 +f 90 84 108 +f 94 82 109 +f 77 94 109 +f 82 100 109 +f 100 85 109 +f 85 101 109 +o convex_3 +v 1.089483 1.075412 -0.454707 +v -1.101320 -1.010659 -0.976300 +v -0.822966 -1.045787 -1.010975 +v 1.019787 -1.045787 1.005627 +v -0.962143 3.127170 1.005627 +v -0.962143 3.057322 -1.011183 +v 0.985047 3.092042 0.936068 +v -1.101320 -1.010659 0.970536 +v 1.089269 -1.010659 -1.115626 +v 0.985047 3.057322 -1.115626 +v -1.101320 1.075412 -1.011183 +v 1.089483 1.040692 1.005627 +v -1.101320 1.005971 0.970536 +v 0.776389 -1.045787 -1.115626 +v 1.089269 -1.010659 1.005627 +v 1.019787 2.952753 -0.976507 +v 0.637426 3.057322 -1.115626 +v 0.046193 -1.045787 1.005627 +v 0.985047 3.092042 -0.524059 +v -0.301428 3.127170 1.005419 +v 1.089483 1.075412 -1.080743 +v -0.649048 3.057322 -1.046067 +v -0.962143 -1.045787 0.970536 +v -0.962143 1.770632 1.005627 +v 0.985047 2.605142 0.970743 +v -1.101320 0.554201 -1.011183 +v -0.962143 3.092042 -0.211145 +v 0.115674 3.127170 0.935860 +v 1.019787 1.492054 1.005627 +v -0.962143 3.127170 0.866300 +v 0.950306 -1.045787 -1.115626 +v -0.962143 -1.045787 -0.976300 +v 1.089483 0.867091 -1.115626 +v 0.567731 3.092042 0.970536 +f 129 134 143 +f 111 117 120 +f 114 113 121 +f 117 114 122 +f 114 120 122 +f 120 117 122 +f 113 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b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf new file mode 100644 index 000000000..04c774c73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj new file mode 100644 index 000000000..4e37cdec3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj @@ -0,0 +1,966 @@ +o convex_0 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159 163 165 +f 160 165 166 +f 163 158 167 +f 167 158 169 +f 159 161 171 +f 161 164 171 +f 168 159 171 +f 161 159 172 +f 165 155 172 +f 159 165 172 +f 155 156 173 +f 156 160 173 +f 160 161 173 +f 172 155 173 +f 161 172 173 +f 168 171 174 +f 157 167 175 +f 169 164 175 +f 167 169 175 +f 165 163 176 +f 166 165 176 +f 163 170 176 +f 170 166 176 +f 166 170 177 +f 158 159 178 +f 159 168 178 +f 174 158 178 +f 168 174 178 +f 162 157 179 +f 164 162 179 +f 157 175 179 +f 175 164 179 +f 154 158 180 +f 171 164 180 +f 158 174 180 +f 174 171 180 +f 158 154 181 +f 169 158 181 +f 164 169 181 +f 154 180 181 +f 180 164 181 +f 157 162 182 +f 167 157 182 +f 163 167 182 +f 170 163 182 +f 162 177 182 +f 177 170 182 +f 162 160 183 +f 160 166 183 +f 177 162 183 +o convex_6 +v -0.300018 2.700612 -1.231054 +v 0.090153 2.168667 -3.075167 +v 0.232055 2.168667 -3.075167 +v 0.125629 2.807039 -3.075167 +v 0.267531 2.168667 -1.089124 +v -0.264484 2.168667 -3.004203 +v 0.232055 2.665116 -1.089124 +v -0.193592 2.204164 -1.089124 +v -0.193592 2.807039 -2.862273 +v 0.232055 2.736046 -2.401099 +v -0.335494 2.594186 -1.089124 +v -0.300018 2.204164 -2.755923 +v 0.196580 2.807039 -2.968623 +v 0.267531 2.594186 -1.160089 +v -0.335494 2.665116 -1.302019 +v 0.267531 2.204164 -2.082243 +v -0.264484 2.381520 -2.968623 +v 0.019202 2.168667 -1.089124 +v 0.232055 2.381520 -3.075167 +v -0.087106 2.807039 -2.720343 +f 196 192 203 +f 186 185 187 +f 185 186 188 +f 187 185 189 +f 185 188 189 +f 188 190 191 +f 190 184 194 +f 191 190 194 +f 189 191 195 +f 191 194 195 +f 187 192 196 +f 190 193 196 +f 190 188 197 +f 193 190 197 +f 184 192 198 +f 194 184 198 +f 195 194 198 +f 188 186 199 +f 197 188 199 +f 193 197 199 +f 187 189 200 +f 192 187 200 +f 189 195 200 +f 198 192 200 +f 195 198 200 +f 189 188 201 +f 188 191 201 +f 191 189 201 +f 186 187 202 +f 187 196 202 +f 196 193 202 +f 199 186 202 +f 193 199 202 +f 184 190 203 +f 192 184 203 +f 190 196 203 +o convex_7 +v -0.087176 2.807035 3.060993 +v -0.193602 2.133133 1.110335 +v 0.338471 2.133133 1.110335 +v -0.229078 2.807035 1.110335 +v -0.229078 2.204178 2.990028 +v 0.267520 2.736057 3.096573 +v 0.302937 2.771546 1.110335 +v 0.373947 2.204178 3.025608 +v -0.193602 2.807035 3.060993 +v 0.338471 2.736057 1.110335 +v -0.229078 2.168689 1.571703 +v 0.338471 2.736057 1.749018 +v 0.232045 2.771546 3.096573 +v 0.267520 2.133133 1.394388 +v -0.229078 2.275091 3.025608 +v 0.019251 2.807035 1.110335 +v -0.229078 2.807035 1.961913 +v 0.373947 2.275091 3.025608 +v 0.373947 2.239667 2.564434 +f 213 221 222 +f 206 205 207 +f 206 207 210 +f 204 207 212 +f 206 210 213 +f 207 205 214 +f 208 207 214 +f 205 208 214 +f 213 210 215 +f 204 212 216 +f 209 215 216 +f 215 210 216 +f 205 206 217 +f 208 205 217 +f 206 211 217 +f 211 208 217 +f 207 208 218 +f 211 209 218 +f 208 211 218 +f 216 212 218 +f 209 216 218 +f 207 204 219 +f 210 207 219 +f 204 216 219 +f 216 210 219 +f 212 207 220 +f 207 218 220 +f 218 212 220 +f 209 211 221 +f 215 209 221 +f 213 215 221 +f 211 206 222 +f 206 213 222 +f 221 211 222 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf new file mode 100644 index 000000000..867a841c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj new file mode 100644 index 000000000..f5d073b5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.146361 4.424004 0.395420 +v -1.100044 2.802088 0.967742 +v -1.100044 2.802088 0.999479 +v 1.061242 -1.647231 -1.034647 +v -1.068304 4.264669 -0.939012 +v -1.036564 -1.647231 -1.097909 +v 0.934281 -1.615491 1.031428 +v 1.029501 4.264669 -1.034647 +v 0.997762 4.296409 0.999479 +v -1.036564 -1.647231 1.063165 +v -1.100044 4.296409 0.967742 +v 0.361903 -2.061121 0.268472 +v -0.210053 -2.061121 -0.208005 +v 1.029501 3.756194 0.872532 +v 0.997762 3.247083 1.031428 +v -0.527876 -0.152910 -1.097909 +v 0.616246 4.391629 -0.525798 +v 0.393854 -1.615491 1.063165 +v -1.036564 -0.279870 1.063165 +v 1.061242 -0.216390 -0.494061 +v -1.100044 4.232294 -0.017372 +v 0.489074 2.770348 -1.066383 +v -0.527876 4.424004 0.141313 +v -0.210053 4.296409 0.999691 +v 1.061242 1.689917 -1.034647 +v 0.266683 -2.061121 -0.239742 +v -1.068304 -0.312245 0.999479 +v -1.068304 2.261873 -1.002698 +v -0.210053 -2.061121 0.268472 +v 0.393854 -1.647231 -1.066383 +v -0.686788 4.359889 -0.652957 +v 1.029501 4.296409 0.777109 +v 0.616246 4.391629 0.586264 +v 0.679938 4.264034 -1.034647 +v -0.591357 4.424004 0.522579 +v -1.068304 1.403622 -1.002698 +v 1.061242 -1.647231 -0.843802 +v -1.100044 3.215343 0.999479 +v -0.527876 -1.647231 -1.097909 +v -1.036564 -1.043535 -1.097909 +v -0.210053 -1.647231 1.063165 +v -1.004823 4.295774 -0.875539 +v 0.520814 2.007318 -1.066383 +v 0.966021 -1.520271 0.618001 +v 0.838850 4.328149 0.936005 +v -0.591357 4.232294 -0.970961 +v -1.100044 4.296409 0.141313 +v 0.997762 2.388833 1.031428 +v 0.361903 -2.061121 -0.017372 +v -0.750480 4.328149 0.904057 +v -0.559617 4.391629 -0.366901 +v -0.909392 -0.788980 -1.097909 +f 46 34 52 +f 2 3 11 +f 10 6 13 +f 14 9 15 +f 18 15 19 +f 3 10 19 +f 10 18 19 +f 2 11 21 +f 1 17 23 +f 15 9 24 +f 19 15 24 +f 20 4 25 +f 12 13 26 +f 13 6 26 +f 3 2 27 +f 2 6 27 +f 10 3 27 +f 6 10 27 +f 21 5 28 +f 12 10 29 +f 10 13 29 +f 13 12 29 +f 4 26 30 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-0.305509 -3.269135 -0.239960 +v 0.266605 -3.269135 -0.303533 +v 0.362077 -3.745935 0.141428 +v -0.241927 -3.618754 0.236788 +v -0.241927 -3.269135 0.205001 +v 0.298494 -3.269135 0.205001 +v 0.203022 -3.618754 -0.271747 +v 0.139439 -3.714105 0.205001 +v -0.305509 -3.269135 0.173215 +v 0.330188 -3.682322 0.205001 +v -0.114761 -3.745935 -0.112813 +v -0.273685 -3.459929 -0.271747 +v -0.051178 -3.269135 0.236788 +f 61 60 68 +f 57 56 60 +f 58 57 61 +f 57 60 61 +f 54 57 62 +f 58 54 62 +f 57 58 62 +f 59 60 64 +f 60 56 64 +f 53 59 65 +f 58 61 65 +f 61 53 65 +f 63 58 65 +f 59 63 65 +f 55 54 66 +f 54 58 66 +f 59 55 66 +f 58 63 66 +f 63 59 66 +f 54 55 67 +f 56 57 67 +f 57 54 67 +f 55 59 67 +f 64 56 67 +f 59 64 67 +f 59 53 68 +f 60 59 68 +f 53 61 68 +o convex_2 +v -1.099847 -3.269135 0.077742 +v 0.362098 -2.061121 0.268519 +v 2.491986 -2.220164 0.522924 +v 2.968747 -3.078284 -0.526065 +v -2.943560 -2.188473 -0.430733 +v 2.904820 -2.124738 -0.430621 +v -3.007486 -2.124856 0.554739 +v -2.911895 -3.269135 -0.589695 +v 3.096002 -3.141901 0.459183 +v -2.943560 -3.141901 0.522924 +v 0.266507 -3.269135 -0.303474 +v 3.032076 -2.220164 0.395666 +v -0.019071 -2.061121 -0.239957 +v 3.032076 -2.283781 -0.462436 +v -2.816304 -2.982976 0.554739 +v 0.266507 -3.269135 0.236816 +v 2.714236 -3.141901 -0.494251 +v -2.784640 -3.141901 -0.589695 +v -2.562390 -2.092929 0.522924 +v 1.919635 -3.141901 0.490998 +v -2.943560 -2.156665 -0.398918 +v -2.943560 -2.283781 -0.462436 +v 2.809826 -2.283781 0.522924 +v -0.400838 -2.156665 0.554627 +v -2.943560 -3.237208 -0.144625 +v -2.085630 -3.269135 -0.589695 +v 3.063740 -3.141901 0.046040 +v 2.586980 -3.173709 0.427480 +v 3.032076 -2.156547 -0.144625 +v -2.975224 -2.220164 -0.271771 +v -1.831119 -3.205399 0.395778 +v -1.831119 -3.205399 -0.589695 +v -0.654752 -3.141901 0.522924 +v -3.007486 -2.411015 0.554739 +v 3.063740 -2.855742 0.491110 +v -2.466799 -2.156665 -0.430733 +v -2.943560 -2.982976 -0.526065 +v -2.975224 -2.124856 0.109669 +v 3.032076 -2.251972 0.491110 +v -0.559758 -2.061121 0.300221 +v -2.911895 -3.269135 -0.367104 +v 3.000411 -3.110092 -0.462436 +v 3.096002 -2.919359 0.459183 +v -0.209656 -2.061121 -0.208142 +v 2.555315 -3.141901 -0.526065 +v -0.177991 -2.220282 0.554627 +v -2.975224 -2.951050 0.554739 +v -2.848566 -3.173591 0.395778 +v 3.032076 -3.141901 -0.112698 +v 0.266507 -2.061121 -0.208030 +v -3.007486 -2.124856 0.268519 +v -2.911895 -2.919241 -0.557880 +v 3.032076 -2.156547 -0.430621 +v 3.096002 -3.141901 0.300221 +v 0.107587 -3.173591 0.459295 +f 101 99 123 +f 69 76 79 +f 70 71 80 +f 69 79 84 +f 74 82 90 +f 71 70 92 +f 70 87 92 +f 87 75 92 +f 91 71 92 +f 79 76 94 +f 76 86 94 +f 84 79 96 +f 77 88 96 +f 74 70 97 +f 70 80 97 +f 89 73 98 +f 73 90 98 +f 69 84 99 +f 82 72 100 +f 86 82 100 +f 72 94 100 +f 94 86 100 +f 83 78 101 +f 91 83 101 +f 88 91 101 +f 78 99 101 +f 83 75 102 +f 88 77 103 +f 91 88 103 +f 81 74 104 +f 73 89 104 +f 89 81 104 +f 90 73 104 +f 74 90 104 +f 76 93 105 +f 98 90 105 +f 93 102 105 +f 80 71 107 +f 71 91 107 +f 91 103 107 +f 70 81 108 +f 87 70 108 +f 76 69 109 +f 93 76 109 +f 72 82 110 +f 85 72 110 +f 82 95 110 +f 97 80 111 +f 103 77 111 +f 80 107 111 +f 107 103 111 +f 81 89 112 +f 106 87 112 +f 89 106 112 +f 108 81 112 +f 87 108 112 +f 72 85 113 +f 85 79 113 +f 79 94 113 +f 94 72 113 +f 75 83 114 +f 83 91 114 +f 92 75 114 +f 91 92 114 +f 78 83 115 +f 93 78 115 +f 83 102 115 +f 102 93 115 +f 78 93 116 +f 69 99 116 +f 99 78 116 +f 109 69 116 +f 93 109 116 +f 79 85 117 +f 96 79 117 +f 95 96 117 +f 85 110 117 +f 110 95 117 +f 70 74 118 +f 81 70 118 +f 74 81 118 +f 75 87 119 +f 89 98 119 +f 102 75 119 +f 98 105 119 +f 105 102 119 +f 87 106 119 +f 106 89 119 +f 86 76 120 +f 82 86 120 +f 90 82 120 +f 76 105 120 +f 105 90 120 +f 82 74 121 +f 74 97 121 +f 97 111 121 +f 121 111 122 +f 95 82 122 +f 77 96 122 +f 96 95 122 +f 111 77 122 +f 82 121 122 +f 84 96 123 +f 96 88 123 +f 99 84 123 +f 88 101 123 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf new file mode 100644 index 000000000..cde70ef5f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj new file mode 100644 index 000000000..8b12e30a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj @@ -0,0 +1,507 @@ +o convex_0 +v 1.600350 -2.956349 1.029242 +v 1.026142 -0.741128 0.373173 +v 2.954318 -0.782327 2.382876 +v -3.117011 -1.807973 2.341593 +v -3.117011 -2.833185 0.290819 +v -3.075779 -0.823310 0.413818 +v 3.077405 -2.874167 2.382876 +v 3.077405 -2.874167 0.249748 +v -3.117011 -2.791986 2.341593 +v -3.075779 -0.823310 2.300735 +v 3.077405 -0.905491 0.291031 +v -0.983890 -0.741128 0.209103 +v 0.697503 -2.956349 0.209103 +v -2.460339 -2.463909 2.382876 +v 1.026142 -0.741128 0.209103 +v 0.903054 -0.782327 2.382876 +v 2.994943 -2.915150 2.300735 +v -2.050450 -2.833185 2.341593 +v -0.983890 -2.792203 0.209103 +v -3.117011 -1.807973 0.331889 +v -3.117011 -2.833185 1.316312 +v 2.954318 -0.782327 1.849381 +v -3.117011 -1.274550 2.300735 +v -0.081043 -0.782327 2.341593 +v 3.077405 -1.971686 0.249748 +v 3.077405 -1.233785 0.947313 +v -0.901427 -1.438697 2.382876 +v -1.229460 -2.832968 2.382876 +v -3.075779 -0.946474 0.372960 +v 1.436031 -2.956349 0.291031 +v -0.983890 -0.741128 0.414031 +v 3.077405 -2.627839 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b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf new file mode 100644 index 000000000..bd0c8b85d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj new file mode 100644 index 000000000..7b26a58d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj @@ -0,0 +1,654 @@ +o convex_0 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000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj new file mode 100644 index 000000000..6e3d7ae6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj @@ -0,0 +1,318 @@ +o convex_0 +v 0.371086 -3.513822 -0.067710 +v -0.377453 -3.647610 0.012423 +v -0.377453 -3.647610 0.039088 +v 0.023487 -5.224435 0.012423 +v 0.023487 -3.513822 0.359891 +v -0.056525 -3.513822 -0.335046 +v -0.003183 -5.010441 0.226223 +v -0.003183 -4.876821 -0.201378 +v -0.216989 -4.930403 -0.040977 +v -0.297221 -3.513822 0.306424 +v -0.297221 -3.513822 -0.281579 +v 0.210622 -4.983818 0.039088 +v 0.290854 -3.540613 0.226223 +v 0.317598 -3.567404 -0.228111 +v -0.216989 -4.903612 0.119289 +v 0.157208 -4.823406 -0.147911 +v -0.083342 -4.983818 0.226223 +v 0.050158 -3.567404 -0.335046 +v 0.371086 -3.647610 0.039088 +v -0.297221 -3.620819 -0.281579 +v 0.210622 -4.983818 -0.014243 +v -0.190318 -4.609579 -0.174644 +v -0.056525 -3.620819 0.359891 +v -0.216989 -5.010441 0.065822 +v -0.243733 -4.075264 0.279690 +v 0.050158 -4.850197 -0.201378 +v 0.264037 -3.567404 0.252957 +v 0.157208 -4.796782 0.146022 +v 0.023487 -5.037232 -0.147911 +v -0.377453 -3.513822 -0.040977 +v -0.243733 -4.903612 0.012423 +v -0.029854 -5.224435 0.012423 +v -0.190318 -4.823406 0.199490 +v -0.056525 -4.930403 -0.174644 +v 0.023487 -3.594028 0.359891 +v 0.317598 -3.513822 -0.228111 +v -0.243733 -4.876821 0.065822 +v -0.297221 -3.567404 0.306424 +v -0.243733 -3.540613 0.333157 +v 0.210622 -4.609579 -0.147911 +v 0.371086 -3.513822 0.065822 +v 0.371086 -3.674234 -0.014243 +v -0.056525 -3.567404 -0.335046 +v -0.377453 -3.567404 -0.040977 +f 31 2 44 +f 5 1 6 +f 5 6 10 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-1.019059 -0.626095 0.065782 +v -0.083201 4.719477 0.065782 +v 0.023550 -0.331134 1.054830 +v 0.023550 -2.577192 -0.896267 +v 0.477906 -3.271883 0.466720 +v -0.002985 1.939102 -0.976455 +v 0.772032 2.046288 0.760674 +v 0.825510 2.420228 -0.869672 +v -0.724932 -2.550597 0.734080 +v -0.751671 2.018887 0.760876 +v -0.698193 1.965697 -0.709096 +v -0.671454 -2.630382 -0.629110 +v 0.745294 -2.524003 -0.709096 +v 0.745294 -2.496602 0.653892 +v -0.270373 -3.513655 -0.308158 +v -0.965581 1.993098 0.012593 +v 0.344212 4.264946 0.333142 +v -0.083201 4.531701 -0.334753 +v -0.002985 2.126072 0.974441 +v 1.012681 1.832723 0.038986 +v 0.985943 -2.283037 -0.014405 +v -0.430805 4.478511 0.092377 +v 0.050289 -2.523197 0.947846 +v -0.484283 -3.298478 0.546908 +v -0.912104 -2.630382 0.039188 +v 0.825510 -0.305345 0.760674 +v 0.531383 -3.271883 -0.468734 +v 0.023550 -0.572099 -1.003251 +v -0.083201 4.505106 0.386533 +v 0.370950 4.452722 -0.014002 +v -0.805148 -0.171564 0.814267 +v -0.724932 -0.385129 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48 75 +f 56 65 75 +f 65 63 75 +f 48 68 75 +f 48 63 76 +f 64 48 76 +f 57 52 78 +f 52 74 78 +f 66 53 79 +f 53 72 79 +f 72 67 79 +f 60 51 81 +f 51 80 81 +f 57 62 82 +f 58 50 83 +f 71 58 83 +f 54 52 84 +f 52 57 84 +f 64 54 84 +f 57 82 84 +f 82 64 84 +f 63 53 85 +f 53 66 85 +f 76 63 85 +f 50 59 87 +f 59 73 87 +f 83 50 87 +f 61 83 87 +f 54 64 88 +f 76 54 88 +f 64 76 88 +f 70 55 89 +f 55 71 89 +f 83 61 89 +f 71 83 89 +f 69 70 90 +f 80 51 90 +f 55 70 91 +f 70 69 91 +f 77 55 91 +f 61 80 92 +f 70 89 92 +f 89 61 92 +f 90 70 92 +f 80 90 92 +f 80 61 93 +f 73 81 93 +f 81 80 93 +f 87 73 93 +f 61 87 93 +f 49 53 94 +f 53 65 94 +f 65 56 94 +f 56 77 94 +f 52 54 95 +f 59 50 95 +f 74 52 95 +f 50 74 95 +f 54 86 95 +f 86 59 95 +f 66 79 96 +f 79 67 96 +f 86 45 96 +f 59 86 96 +f 53 49 97 +f 49 69 97 +f 72 53 97 +f 60 72 97 +f 54 76 98 +f 85 66 98 +f 76 85 98 +f 45 86 98 +f 86 54 98 +f 96 45 98 +f 66 96 98 +f 50 58 99 +f 71 46 99 +f 58 71 99 +f 74 50 99 +f 78 74 99 +f 46 47 100 +f 62 57 100 +f 47 77 100 +f 48 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index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj new file mode 100644 index 000000000..68c0df62c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj @@ -0,0 +1,576 @@ +o convex_0 +v -2.071838 -3.743110 -1.092553 +v 0.511336 -1.571424 0.966666 +v 0.511336 -1.571424 0.067798 +v 2.383757 -3.705477 1.041715 +v -3.532290 -3.555810 0.966666 +v -3.681986 -1.608841 -1.129970 +v 2.533453 -1.796141 -0.980087 +v 2.196332 -3.705477 -1.092553 +v -3.607138 -1.721308 1.041715 +v 2.383757 -1.608841 1.079132 +v -3.644866 -3.780527 -0.980087 +v 0.361640 -3.780527 1.079132 +v -3.532290 -3.780527 0.929249 +v 0.436488 -1.571424 -1.017503 +v -1.547901 -1.571424 1.004082 +v 2.383757 -3.555810 -1.054920 +v 0.773609 -3.742894 -1.129970 +v -1.322748 -1.571424 -1.092553 +v -3.644866 -2.020858 -1.129970 +v 2.533453 -1.758724 -0.793003 +v 0.698761 -3.780527 1.079132 +v -3.570019 -2.133108 1.041715 +v 0.961033 -1.721308 1.079132 +v 2.421485 -1.683891 0.929465 +v -3.457442 -3.780527 -1.017503 +v 2.496334 -2.357825 -1.017503 +v 2.346637 -3.705477 -1.054920 +v -0.537147 -3.705477 -1.129970 +v 2.383757 -2.769409 1.079132 +v -2.708352 -1.683891 -1.129970 +v -3.644866 -3.780527 -0.830204 +v -3.644866 -1.646474 -0.156269 +v 0.137095 -3.742894 1.079132 +v 0.549064 -3.780527 0.741949 +v 0.848457 -3.630643 -1.129970 +v 1.822092 -3.742894 1.004082 +v 2.533453 -1.833558 -0.680537 +v 2.533453 -2.020858 -0.980087 +v 2.383757 -3.705477 -0.306153 +v 2.383757 -1.608841 0.966882 +v 2.196332 -3.630860 -1.092553 +v -0.985627 -1.571424 1.041715 +v 1.373003 -3.742894 1.079132 +v -3.570019 -2.844243 1.004082 +v -1.622749 -1.571424 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+++ b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj new file mode 100644 index 000000000..a87f94142 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj @@ -0,0 +1,606 @@ +o convex_0 +v -0.164214 -3.875851 -1.211551 +v -0.831084 -0.155381 0.894265 +v 0.151197 -0.295955 0.858847 +v 1.028690 -0.155381 -1.141134 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0.894461 +v 0.923483 0.125409 0.894461 +v 1.028900 2.301320 2.824403 +v 0.923483 2.231033 0.894461 +v -1.006709 0.301126 0.894461 +v 1.028900 0.231052 2.894896 +v 0.467237 2.301320 1.140208 +v -1.076917 0.932856 2.894896 +v 0.853276 2.125816 2.859453 +v 0.958692 2.231033 1.034860 +v -0.304630 0.125409 1.561403 +v 0.958692 0.125409 1.070106 +v 1.028900 0.195909 2.789352 +v -1.041708 0.266196 1.105157 +v -1.112125 0.231052 2.438453 +v 0.256614 0.125409 2.087359 +v -0.971500 2.301320 2.298055 +v -0.129215 1.143504 2.894896 +v 0.818276 2.266177 0.894461 +v -0.901292 1.880025 2.859453 +v 0.712860 0.125409 0.894461 +v -0.304630 2.301320 1.491106 +v 1.028900 2.301320 2.648953 +v -1.112125 0.476630 2.859453 +v -1.006709 0.266196 0.999809 +v -0.796085 0.125409 2.894896 +v 1.028900 0.195909 2.368156 +v -1.006709 1.213365 0.894461 +v -0.971500 2.266177 1.350708 +f 206 199 211 +f 181 180 184 +f 184 183 186 +f 183 184 187 +f 179 185 188 +f 182 185 189 +f 181 188 190 +f 185 182 191 +f 188 185 191 +f 184 186 192 +f 184 180 193 +f 181 184 194 +f 184 192 194 +f 179 188 195 +f 180 181 197 +f 196 180 197 +f 181 194 198 +f 194 195 198 +f 182 189 199 +f 190 188 200 +f 188 191 200 +f 186 183 201 +f 183 189 201 +f 192 186 201 +f 182 190 202 +f 191 182 202 +f 190 200 202 +f 200 191 202 +f 187 184 203 +f 184 193 203 +f 189 183 204 +f 199 189 204 +f 185 179 205 +f 189 185 205 +f 179 192 205 +f 201 189 205 +f 192 201 205 +f 181 190 206 +f 190 182 206 +f 197 181 206 +f 183 197 206 +f 182 199 206 +f 193 180 207 +f 180 196 207 +f 196 187 207 +f 187 203 207 +f 203 193 207 +f 188 181 208 +f 195 188 208 +f 181 198 208 +f 198 195 208 +f 192 179 209 +f 194 192 209 +f 179 195 209 +f 195 194 209 +f 183 187 210 +f 187 196 210 +f 197 183 210 +f 196 197 210 +f 204 183 211 +f 199 204 211 +f 183 206 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf new file mode 100644 index 000000000..eca49a334 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj new file mode 100644 index 000000000..154ec25ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj @@ -0,0 +1,468 @@ +o convex_0 +v 0.947289 -3.116798 0.946620 +v -0.947476 -1.440549 -1.094190 +v -1.020467 -2.278772 -1.057566 +v -1.093457 -1.404250 1.019661 +v 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-0.328716 +v 2.805976 -0.820922 0.472776 +v 1.093663 0.126574 0.618758 +f 90 101 107 +f 89 90 92 +f 86 87 93 +f 87 92 94 +f 93 87 94 +f 92 90 95 +f 91 88 96 +f 90 89 97 +f 89 93 97 +f 92 95 98 +f 85 88 99 +f 88 91 99 +f 95 85 99 +f 87 86 100 +f 92 87 100 +f 89 92 100 +f 86 93 100 +f 93 89 100 +f 90 88 101 +f 96 88 102 +f 97 93 102 +f 94 92 103 +f 96 94 103 +f 92 98 103 +f 98 96 103 +f 91 96 104 +f 98 95 104 +f 96 98 104 +f 99 91 104 +f 95 99 104 +f 93 94 105 +f 94 96 105 +f 102 93 105 +f 96 102 105 +f 88 90 106 +f 90 97 106 +f 102 88 106 +f 97 102 106 +f 88 85 107 +f 85 95 107 +f 95 90 107 +f 101 88 107 +o convex_4 +v -3.024891 -0.820822 0.400056 +v -1.093647 0.236004 0.545817 +v -1.093647 -0.747941 0.582313 +v -1.093647 -0.820822 -0.547504 +v -3.024891 0.199508 -0.547504 +v -2.988402 0.236004 0.472936 +v -1.093647 0.163012 -0.547504 +v -3.024891 -0.893813 -0.547504 +v -1.130135 -0.820822 0.582313 +v -2.878937 -0.784437 0.509211 +v -2.696872 0.236004 0.509211 +v -1.093647 0.236004 0.181192 +v -2.988402 0.236004 -0.146494 +v -1.640407 0.199508 -0.547504 +v -1.676895 -0.857317 -0.511009 +v -2.951914 -0.893813 -0.438128 +v -3.024891 -0.711556 0.472936 +v -3.024891 0.199508 -0.146494 +f 124 113 125 +f 109 110 111 +f 109 111 114 +f 111 112 114 +f 108 112 115 +f 112 111 115 +f 111 110 116 +f 108 116 117 +f 117 116 118 +f 110 109 118 +f 109 113 118 +f 116 110 118 +f 113 117 118 +f 113 109 119 +f 109 114 119 +f 112 113 120 +f 113 119 120 +f 120 119 121 +f 114 112 121 +f 119 114 121 +f 112 120 121 +f 115 111 122 +f 111 116 122 +f 122 116 123 +f 108 115 123 +f 116 108 123 +f 115 122 123 +f 112 108 124 +f 108 117 124 +f 117 113 124 +f 113 112 125 +f 112 124 125 +o convex_5 +v -0.911086 -1.258070 -2.988977 +v 1.093285 -0.930145 3.024175 +v 0.983905 0.673309 2.987236 +v -0.984078 -1.367450 2.987236 +v -1.093457 0.782689 1.055736 +v 0.910914 0.746087 -3.062258 +v 1.093285 -1.367450 -3.025320 +v -1.056855 0.782689 -3.062258 +v -0.947475 0.709698 3.024175 +v 1.093285 -1.404053 3.024175 +v -1.093457 -1.404053 -0.656520 +v 1.056682 0.782689 0.946709 +v 1.056682 0.782689 -1.021134 +v 0.947302 0.782689 2.987236 +v -1.056855 -1.221682 -2.952635 +v -1.093457 -1.404053 1.018798 +v 1.093285 0.272392 0.363446 +v 1.020293 -1.404053 -0.947854 +v 1.056682 -0.602219 -3.062258 +v -1.056855 0.636707 1.893395 +v -0.947475 -1.404053 -1.093819 +v 0.291451 -1.404053 3.024175 +v 0.400831 0.782689 -3.062258 +v -1.093457 -1.258070 1.384007 +v 1.093285 -0.456450 -2.224003 +v -0.364401 0.746087 3.024175 +v -0.984078 0.709698 2.987236 +v -1.093457 0.163012 -0.546898 +v 0.947302 0.709698 -2.988977 +v 0.182071 -1.294673 -3.025320 +v -0.947475 -0.456450 3.024175 +v 0.364228 0.782689 2.987236 +v 0.145682 0.673309 3.024175 +v -1.056855 0.673309 -3.062258 +v -1.093457 0.709698 1.310727 +v 1.020293 -0.347071 3.024175 +v -1.056855 -1.258070 -2.806670 +f 146 136 162 +f 132 127 135 +f 127 134 135 +f 128 127 137 +f 133 130 137 +f 133 137 138 +f 128 137 139 +f 137 130 139 +f 130 136 141 +f 136 135 141 +f 127 132 142 +f 137 127 142 +f 138 137 142 +f 132 135 143 +f 135 136 143 +f 133 131 144 +f 126 132 146 +f 132 143 146 +f 143 136 146 +f 135 134 147 +f 129 141 147 +f 141 135 147 +f 131 133 148 +f 138 131 148 +f 133 138 148 +f 141 129 149 +f 130 141 149 +f 142 132 150 +f 138 142 150 +f 132 144 150 +f 144 138 150 +f 134 127 151 +f 129 134 152 +f 149 129 152 +f 145 149 152 +f 134 151 152 +f 151 130 152 +f 130 133 153 +f 136 130 153 +f 133 136 153 +f 131 138 154 +f 144 131 154 +f 138 144 154 +f 132 126 155 +f 144 132 155 +f 134 129 156 +f 129 147 156 +f 147 134 156 +f 139 130 157 +f 130 151 157 +f 151 139 157 +f 151 127 158 +f 139 151 158 +f 136 133 159 +f 126 140 159 +f 140 136 159 +f 133 144 159 +f 155 126 159 +f 144 155 159 +f 130 149 160 +f 149 145 160 +f 152 130 160 +f 145 152 160 +f 127 128 161 +f 128 139 161 +f 158 127 161 +f 139 158 161 +f 140 126 162 +f 136 140 162 +f 126 146 162 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf new file mode 100644 index 000000000..8d7bd8a52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj new file mode 100644 index 000000000..8d340513f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj @@ -0,0 +1,501 @@ +o convex_0 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+ + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj new file mode 100644 index 000000000..7eafb6d37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj @@ -0,0 +1,519 @@ +o convex_0 +v -1.432888 0.944141 1.123225 +v -3.249121 -1.085810 -0.942290 +v -1.539679 -1.085810 -0.942290 +v -1.397161 1.015516 -1.084948 +v -3.391640 0.979726 0.980567 +v -1.397161 -1.014436 1.051896 +v -3.249121 -0.978646 1.051680 +v -3.213394 0.943936 -0.977738 +v 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1.380979 -1.121614 0.482063 +v 1.167270 -1.513492 -0.479383 +v 2.164238 -1.121614 0.446513 +v 2.200025 -1.121614 -0.550712 +v 1.167270 -3.044297 -0.479383 +v 2.128654 -3.008723 0.410849 +v 1.167270 -1.121614 -0.301291 +v 1.167270 -1.121614 0.482063 +v 2.200025 -2.937576 -0.443834 +v 1.416563 -1.121614 -0.515048 +v 2.164238 -2.332255 0.446513 +v 1.808092 -1.762697 -0.550712 +v 1.202956 -3.044297 0.624606 +v 2.200025 -1.121614 0.125878 +v 2.057384 -1.264098 0.482063 +v 1.380979 -3.044297 -0.479383 +v 2.164238 -3.008723 0.303970 +v 1.559102 -3.044297 0.553277 +v 2.200025 -1.655787 -0.550712 +v 1.202956 -1.121614 -0.479383 +v 2.128654 -2.866428 0.446513 +v 2.200025 -2.937576 -0.265741 +v 2.093070 -2.973150 -0.408169 +v 1.808092 -1.121614 -0.550712 +f 128 126 140 +f 116 115 117 +f 117 119 120 +f 116 118 121 +f 118 116 123 +f 117 120 123 +f 116 117 124 +f 123 116 124 +f 117 123 124 +f 114 120 125 +f 121 118 126 +f 123 120 126 +f 121 126 128 +f 115 116 129 +f 116 121 129 +f 120 119 130 +f 125 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b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj new file mode 100644 index 000000000..bede59bdf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj @@ -0,0 +1,666 @@ +o convex_0 +v -0.317004 -1.318715 0.854400 +v 0.339289 -1.756175 2.130477 +v 0.339289 -1.902041 2.130477 +v 0.302805 -1.245748 0.307404 +v 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-0.203348 +v 2.964941 -1.027030 -1.370357 +v 3.037776 -2.193640 -1.078605 +v 3.111003 -1.391714 -1.370357 +v 1.397133 -2.084329 -1.260922 +v 1.287783 -1.027030 -0.203348 +f 100 105 109 +f 90 89 92 +f 87 88 95 +f 89 90 95 +f 90 87 95 +f 91 86 96 +f 95 88 97 +f 89 95 97 +f 89 97 98 +f 96 86 98 +f 97 96 98 +f 90 92 99 +f 91 96 100 +f 99 92 101 +f 94 99 101 +f 86 91 102 +f 94 86 102 +f 99 94 102 +f 96 97 103 +f 97 88 103 +f 90 99 104 +f 91 100 104 +f 102 91 104 +f 99 102 104 +f 88 87 105 +f 100 93 105 +f 103 88 105 +f 93 103 105 +f 86 94 106 +f 98 86 106 +f 92 98 106 +f 101 92 106 +f 94 101 106 +f 93 100 107 +f 100 96 107 +f 103 93 107 +f 96 103 107 +f 92 89 108 +f 89 98 108 +f 98 92 108 +f 87 90 109 +f 90 104 109 +f 104 100 109 +f 105 87 109 +o convex_5 +v -0.535910 0.395265 -1.880706 +v 0.959308 1.489497 0.343687 +v 0.995719 1.489497 -1.625301 +v 1.068542 -0.953928 0.161007 +v -0.936862 1.343600 0.343687 +v -1.009899 -0.953928 -1.807764 +v 0.995719 -0.953928 -1.880706 +v -0.936862 -0.953928 0.161007 +v -1.082722 1.489497 -1.807764 +v 1.068542 -0.661894 0.343687 +v 0.630964 1.489497 -1.880706 +v -0.936862 -0.552590 0.343687 +v -0.936862 1.489497 0.233948 +v 1.104953 -0.588945 0.161007 +v 1.068542 -0.953928 -1.515998 +v -0.134530 -0.953928 0.306890 +v 0.995719 1.489497 -1.734823 +v -1.082722 1.234057 -1.771185 +v 0.521516 -0.953928 -1.880706 +v -0.535910 0.905907 -1.880706 +v 0.995719 1.088159 0.343687 +v -0.499285 -0.041949 -1.880706 +v 0.959308 -0.151492 -1.880706 +v -1.009899 -0.953928 -1.625301 +v 1.068542 -0.005355 0.343687 +v 0.302834 -0.953928 0.306890 +f 119 125 135 +f 113 115 116 +f 115 113 117 +f 111 112 118 +f 110 115 118 +f 111 114 119 +f 116 110 120 +f 118 112 120 +f 119 114 121 +f 114 111 122 +f 111 118 122 +f 118 114 122 +f 119 113 123 +f 113 116 124 +f 123 113 124 +f 117 113 125 +f 121 117 125 +f 119 121 125 +f 120 112 126 +f 112 123 126 +f 124 116 126 +f 123 124 126 +f 118 115 127 +f 114 118 127 +f 117 121 127 +f 121 114 127 +f 110 116 128 +f 116 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+v -0.754582 -0.625528 0.344076 +v 0.448678 -0.662176 1.292332 +v 0.995653 1.489497 1.437858 +v 0.995653 -0.333612 4.209084 +v -1.046288 1.343539 3.297404 +v -0.827456 1.379976 3.917253 +v 1.068737 -0.625318 1.985333 +v -1.082936 0.650606 4.209084 +v 0.886342 1.452639 4.318812 +v -0.973414 -0.552654 1.000501 +v -0.973414 1.343539 1.182603 +v -1.082936 -0.406696 3.807913 +v -0.316918 -0.552654 4.172507 +v -1.046288 -0.589091 3.406743 +v 1.032089 -0.588881 3.771726 +v -0.900541 1.306891 4.245660 +v 1.032089 1.452639 2.968997 +f 153 160 174 +f 137 138 140 +f 139 140 142 +f 140 139 144 +f 138 137 146 +f 143 141 149 +f 140 138 150 +f 143 149 150 +f 138 146 151 +f 137 140 153 +f 140 144 153 +f 144 139 155 +f 152 144 155 +f 142 140 158 +f 148 158 159 +f 149 148 159 +f 150 149 159 +f 140 150 159 +f 158 140 159 +f 144 152 160 +f 153 144 160 +f 143 151 161 +f 151 146 161 +f 146 157 161 +f 136 147 162 +f 155 162 163 +f 147 145 163 +f 152 155 163 +f 162 147 163 +f 150 138 164 +f 138 151 164 +f 136 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1.032168 -2.084325 -1.880924 +v -1.046310 -2.704442 -1.880710 +v 1.032168 -2.631446 0.270381 +v 0.995542 -0.953928 -1.880710 +v -1.009898 -0.953928 -1.807679 +v -0.936860 -2.558451 0.124534 +v 1.068580 -0.954099 0.161156 +v -1.082722 -1.026923 -0.240192 +v 1.068580 -2.594777 -1.844087 +v -0.936860 -0.953928 0.160942 +v 1.104992 -0.954099 -1.333513 +v -0.280589 -1.865511 0.307004 +v 1.104992 -2.084325 -0.276386 +v -1.082722 -2.047828 -0.240192 +v -1.082722 -1.026923 -1.260697 +v 0.375897 -1.027095 0.307004 +v -1.046310 -2.704442 -1.625423 +v -0.681548 -2.704442 -1.880710 +v -0.171139 -1.318733 -1.880710 +v 1.068580 -2.631446 -0.531887 +v 0.776856 -2.631446 0.270381 +v -1.082722 -2.376135 -1.479575 +v -0.900448 -2.521954 0.160942 +v 1.104992 -1.756190 -1.552392 +v 1.068580 -1.683366 0.234187 +v 1.104992 -1.026923 -0.203570 +v -0.353412 -1.318733 0.307004 +v 1.068580 -2.376135 -1.880710 +v 1.104992 -2.230316 -0.896185 +v -1.046310 -1.865511 -1.844087 +v -1.009898 -1.501049 -1.844087 +v 0.849680 -0.953928 0.233973 +v 1.068580 -2.521954 0.088126 +v 0.266447 -1.792858 0.307004 +f 213 209 231 +f 198 197 199 +f 196 201 202 +f 196 202 207 +f 202 205 207 +f 201 204 208 +f 203 207 211 +f 207 205 211 +f 205 202 212 +f 211 205 212 +f 196 209 213 +f 203 211 214 +f 199 197 215 +f 214 199 215 +f 200 214 215 +f 198 199 216 +f 201 198 216 +f 202 201 216 +f 215 206 217 +f 200 215 217 +f 200 209 218 +f 214 200 218 +f 203 214 218 +f 211 212 219 +f 199 214 219 +f 214 211 219 +f 207 203 220 +f 218 209 220 +f 203 218 220 +f 201 208 221 +f 208 210 221 +f 213 200 222 +f 208 204 223 +f 210 208 223 +f 222 210 223 +f 204 222 223 +f 196 207 224 +f 209 196 224 +f 207 220 224 +f 220 209 224 +f 197 198 225 +f 198 201 225 +f 215 197 225 +f 206 215 225 +f 201 221 225 +f 221 206 225 +f 217 206 226 +f 206 221 226 +f 221 210 226 +f 212 202 227 +f 199 219 227 +f 219 212 227 +f 216 199 228 +f 202 216 228 +f 199 227 228 +f 227 202 228 +f 201 196 229 +f 204 201 229 +f 196 213 229 +f 222 204 229 +f 213 222 229 +f 200 217 230 +f 222 200 230 +f 210 222 230 +f 226 210 230 +f 217 226 230 +f 209 200 231 +f 200 213 231 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf new file mode 100644 index 000000000..b653aff21 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj new file mode 100644 index 000000000..98d999756 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj @@ -0,0 +1,534 @@ +o convex_0 +v -3.356079 -0.693416 0.643293 +v -1.349461 -2.055045 -1.112583 +v -1.349461 -1.768296 -1.112583 +v 0.800399 -0.442403 1.001732 +v 0.764691 -0.012280 -1.004921 +v 0.800399 -2.019094 0.965845 +v -3.320371 -0.048231 -0.933363 +v -3.392197 -2.090568 0.929957 +v -3.284663 -0.120132 1.109395 +v 0.800399 -2.054831 -1.040591 +v -3.356079 -2.019094 -1.076696 +v 0.728983 -0.012280 1.001732 +v -0.776083 -2.198420 -0.467261 +v -1.278045 -2.162469 0.965845 +v -1.349461 -0.012280 0.965845 +v 0.191313 -2.126518 0.535848 +v -3.320371 -0.335194 1.109395 +v 0.800399 -0.729152 -1.040808 +v -0.238823 -0.012280 -1.004921 +v -3.356079 -1.266272 -1.040591 +v -3.392197 -2.090568 0.320741 +v -3.356079 -0.227556 -0.753926 +v -0.955443 -2.198420 -0.538819 +v 0.585331 -2.054831 -1.076696 +v -3.320371 -0.048231 -0.288041 +v -2.460099 -2.126518 0.965845 +v -1.385169 -0.012280 -0.969033 +v 0.800399 -0.083967 1.001732 +v -2.890235 -2.126732 0.929957 +v -2.460099 -1.983144 -1.112366 +v 0.477797 -0.370930 -1.040591 +v -3.392197 -1.875720 0.965845 +v 0.800399 -0.119918 -1.004703 +v -0.166997 -2.162469 0.213296 +v -0.776083 -1.911671 -1.112583 +v -3.069595 -0.191605 1.109395 +v -3.356079 -2.054831 -0.574924 +v 0.800399 -2.054831 0.284853 +v -3.320371 -0.155868 1.037620 +v -3.320371 -0.370930 -0.969033 +v -2.245031 -2.054831 -1.112366 +v -3.392197 -1.588971 0.822513 +v -1.635945 -2.162255 0.965845 +v -3.320371 -1.696609 -1.076696 +v -3.392197 -2.019094 0.105633 +v -0.704667 -2.198420 -0.252154 +v -1.134393 -2.126732 -0.861588 +v -1.134393 -1.696609 -1.112583 +v -3.356079 -0.478354 0.248966 +f 42 1 49 +f 4 6 10 +f 12 5 15 +f 9 12 15 +f 6 14 16 +f 14 6 17 +f 4 10 18 +f 15 5 19 +f 7 20 22 +f 10 13 23 +f 18 10 24 +f 10 23 24 +f 9 15 25 +f 7 22 25 +f 19 7 27 +f 15 19 27 +f 7 25 27 +f 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0.464290 +v 1.266838 2.030310 -0.503261 +v 1.087516 0.023755 -0.109060 +v 2.270066 1.385486 -0.431577 +v 1.983430 0.023755 0.500073 +v 1.087516 1.779294 -0.539162 +v 2.270182 0.023755 0.320923 +v 2.270182 0.633028 0.500073 +v 1.123404 2.030310 0.607658 +v 1.087516 0.167136 0.464290 +v 2.162636 0.023755 -0.431577 +v 2.270066 1.922872 -0.288210 +v 1.517703 0.059698 -0.574945 +v 1.481931 1.994366 -0.503261 +v 1.087516 2.030310 -0.252428 +f 93 103 109 +f 83 85 86 +f 81 82 87 +f 86 85 89 +f 83 81 90 +f 87 85 93 +f 80 92 94 +f 88 82 95 +f 87 82 96 +f 82 88 96 +f 85 87 97 +f 89 85 97 +f 91 86 98 +f 86 92 98 +f 92 84 98 +f 85 83 99 +f 83 90 99 +f 90 93 99 +f 80 94 100 +f 94 89 100 +f 87 96 100 +f 97 87 100 +f 89 97 100 +f 83 86 101 +f 98 84 101 +f 91 98 101 +f 82 81 102 +f 81 83 102 +f 95 82 102 +f 88 95 102 +f 83 101 102 +f 101 84 102 +f 81 87 103 +f 90 81 103 +f 93 90 103 +f 93 85 104 +f 85 99 104 +f 99 93 104 +f 86 91 105 +f 101 86 105 +f 91 101 105 +f 96 88 106 +f 84 96 106 +f 102 84 106 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-4.133536 0.320839 +v 1.087516 -2.807805 0.464273 +v 2.055068 -4.133536 -0.610846 +v 1.087516 -4.169529 -0.395753 +v 2.234231 -2.377692 -0.574959 +f 128 120 140 +f 112 111 114 +f 116 113 117 +f 114 110 118 +f 111 112 119 +f 112 115 119 +f 110 114 120 +f 110 113 121 +f 114 111 123 +f 111 119 123 +f 118 110 124 +f 114 116 125 +f 116 117 125 +f 115 112 126 +f 122 119 127 +f 113 110 128 +f 110 120 128 +f 112 114 129 +f 114 118 129 +f 126 112 129 +f 118 126 129 +f 116 114 130 +f 114 123 130 +f 121 115 131 +f 124 121 131 +f 115 126 131 +f 120 114 132 +f 117 120 132 +f 114 125 132 +f 125 117 132 +f 115 113 133 +f 127 115 133 +f 122 116 134 +f 119 122 134 +f 123 119 134 +f 116 130 134 +f 130 123 134 +f 110 121 135 +f 124 110 135 +f 121 124 135 +f 113 116 136 +f 116 122 136 +f 122 127 136 +f 133 113 136 +f 127 133 136 +f 118 124 137 +f 126 118 137 +f 124 131 137 +f 131 126 137 +f 113 115 138 +f 121 113 138 +f 115 121 138 +f 119 115 139 +f 115 127 139 +f 127 119 139 +f 117 113 140 +f 120 117 140 +f 113 128 140 +o convex_4 +v 1.195055 -2.126743 -0.467331 +v 2.449322 -0.119991 1.037718 +v 1.661185 -0.119991 1.037718 +v 2.700137 -0.012434 -1.004893 +v 2.628365 -2.090750 1.001501 +v 0.800890 -0.119991 -1.004893 +v 0.800890 -2.018975 0.965691 +v 2.736023 -2.126532 -1.004893 +v 0.800890 -2.054968 -1.040906 +v 0.800890 -0.083999 1.001705 +v 2.771909 -0.406670 0.571778 +v 1.087591 0.023558 0.428333 +v 2.700137 -0.155774 1.037515 +v 2.270086 0.023558 0.499750 +v 1.087591 0.023558 -0.682193 +v 1.123477 -2.126743 0.464143 +v 2.736023 -1.624739 0.571778 +v 1.732764 -1.051592 -1.040906 +v 2.771909 -0.514227 -0.359697 +v 2.664251 -1.409835 1.037718 +v 2.126736 -2.126743 -1.040906 +v 2.700137 -2.126743 0.105633 +v 0.800890 -0.729131 -1.040906 +v 2.771909 -1.122946 0.464143 +v 2.234200 0.023558 -0.861651 +v 2.736023 -0.155774 -0.861651 +v 2.700137 -0.012434 -0.539155 +v 1.875921 -2.054968 1.001501 +v 0.872662 -2.090750 -0.467331 +v 2.736023 -2.126532 -0.503142 +v 0.800890 -0.514017 1.001705 +v 2.664251 -0.119991 1.001501 +v 2.162429 -2.126743 0.535764 +v 2.736023 -0.693349 -1.004893 +v 2.270086 -2.090750 1.001501 +v 2.270086 -0.012434 -1.004893 +v 0.800890 -2.054968 0.643195 +v 1.123477 -2.090750 -1.040906 +v 1.302520 -1.374053 1.001705 +v 0.836776 -0.083999 -0.933272 +v 2.664251 -1.983193 0.929880 +v 2.736023 -0.119991 -0.395711 +v 2.019271 -0.764913 1.037718 +f 171 179 183 +f 147 146 149 +f 143 142 150 +f 146 147 150 +f 150 142 154 +f 152 150 154 +f 150 152 155 +f 152 154 155 +f 142 143 160 +f 153 142 160 +f 156 141 161 +f 158 144 161 +f 149 158 161 +f 161 148 162 +f 156 161 162 +f 149 146 163 +f 144 158 163 +f 158 149 163 +f 151 153 164 +f 148 159 164 +f 159 151 164 +f 153 160 164 +f 154 144 165 +f 155 154 165 +f 151 159 166 +f 144 154 167 +f 149 141 169 +f 141 156 169 +f 157 162 170 +f 162 148 170 +f 148 164 170 +f 164 157 170 +f 143 150 171 +f 150 147 171 +f 142 153 172 +f 154 142 172 +f 153 167 172 +f 167 154 172 +f 162 145 173 +f 156 162 173 +f 159 148 174 +f 161 144 174 +f 148 161 174 +f 144 166 174 +f 166 159 174 +f 147 156 175 +f 145 160 175 +f 168 147 175 +f 160 168 175 +f 173 145 175 +f 156 173 175 +f 144 163 176 +f 163 146 176 +f 165 144 176 +f 155 165 176 +f 147 149 177 +f 156 147 177 +f 149 169 177 +f 169 156 177 +f 141 149 178 +f 161 141 178 +f 149 161 178 +f 147 168 179 +f 171 147 179 +f 146 150 180 +f 150 155 180 +f 176 146 180 +f 155 176 180 +f 160 145 181 +f 145 162 181 +f 162 157 181 +f 157 164 181 +f 164 160 181 +f 153 151 182 +f 166 144 182 +f 151 166 182 +f 167 153 182 +f 144 167 182 +f 160 143 183 +f 168 160 183 +f 143 171 183 +f 179 168 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf new file mode 100644 index 000000000..f9883ee2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj new file mode 100644 index 000000000..4fa58efb6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj @@ -0,0 +1,345 @@ +o convex_0 +v -0.947839 -0.892535 -1.013481 +v 1.104991 0.889310 1.000506 +v 1.104991 0.734254 1.000506 +v -1.063985 0.114375 1.078220 +v -0.947839 0.889310 -1.090983 +v 0.949776 -0.892535 -1.090983 +v 0.949776 -0.892535 1.039363 +v 1.066134 0.889310 -1.090983 +v -1.063985 -0.892535 1.078220 +v 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-1.103264 1.434286 -0.535769 +v -1.103264 2.621359 0.255542 +v -0.542350 2.753492 0.552417 +v 1.007836 2.654392 0.651304 +v -1.070232 2.588325 -0.931744 +v 0.579052 0.576269 1.047492 +v 0.809854 2.753492 -0.733756 +v -1.070232 0.741223 1.047492 +v 0.579052 2.159530 -1.096698 +v -1.103264 1.599240 -0.964564 +v 1.007836 1.697701 0.981425 +v -0.542350 0.807290 -1.096698 +v 1.073901 1.071344 -1.063664 +v 0.380857 2.687426 -1.030631 +v 1.073901 0.609516 -0.865677 +v 1.073901 2.720459 -0.733756 +v -1.103264 2.621359 -0.304961 +v 0.512987 2.654392 0.981425 +v 1.007836 0.873357 1.014246 +f 213 225 233 +f 196 199 201 +f 199 196 204 +f 196 201 205 +f 197 198 207 +f 209 197 210 +f 204 196 211 +f 196 208 211 +f 203 197 212 +f 197 209 212 +f 204 200 213 +f 209 210 214 +f 205 201 215 +f 215 201 216 +f 202 215 216 +f 197 207 217 +f 207 206 217 +f 206 210 217 +f 210 197 217 +f 207 203 218 +f 208 202 219 +f 201 199 220 +f 199 209 220 +f 209 214 220 +f 200 206 221 +f 206 207 221 +f 214 210 222 +f 216 201 222 +f 210 216 222 +f 201 220 222 +f 220 214 222 +f 208 200 223 +f 200 211 223 +f 211 208 223 +f 202 208 224 +f 205 215 224 +f 215 202 224 +f 218 203 225 +f 213 218 225 +f 196 205 226 +f 208 196 226 +f 224 208 226 +f 205 224 226 +f 200 204 227 +f 204 211 227 +f 211 200 227 +f 206 200 228 +f 200 208 228 +f 219 206 228 +f 208 219 228 +f 199 204 229 +f 213 199 229 +f 204 213 229 +f 213 200 230 +f 207 218 230 +f 218 213 230 +f 200 221 230 +f 221 207 230 +f 210 206 231 +f 216 210 231 +f 202 216 231 +f 206 219 231 +f 219 202 231 +f 198 197 232 +f 197 203 232 +f 207 198 232 +f 203 207 232 +f 209 199 233 +f 203 212 233 +f 212 209 233 +f 199 213 233 +f 225 203 233 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf new file mode 100644 index 000000000..725387c0e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj new file mode 100644 index 000000000..6e9ae14d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj @@ -0,0 +1,396 @@ +o convex_0 +v -0.327073 -0.055469 -3.081386 +v 0.338814 -0.055469 -2.748531 +v 0.338814 -0.085784 -2.748531 +v -0.357334 -0.116033 -1.053834 +v 0.217700 -0.570102 -2.990717 +v 0.278291 -0.509538 -1.053834 +v -0.327073 -0.448974 -1.053834 +v -0.236289 0.095909 -1.053834 +v -0.236289 -0.479223 -3.112011 +v 0.187439 -0.055469 -1.053834 +v -0.327073 0.095909 -3.081386 +v 0.278291 -0.025220 -3.020940 +v 0.338814 -0.448974 -2.990717 +v -0.357334 0.095909 -1.053834 +v 0.308552 -0.539722 -1.568429 +v -0.327073 -0.448974 -1.628874 +v -0.236289 -0.479223 -1.235373 +v -0.236289 0.095909 -3.081386 +v 0.278291 -0.388410 -1.053834 +v 0.308552 -0.570102 -2.990717 +v -0.296812 -0.297596 -3.112011 +v 0.278291 -0.025220 -2.597014 +v 0.338814 -0.055469 -3.020940 +v 0.066325 -0.509538 -1.053834 +v -0.357334 0.065594 -1.871060 +v -0.084914 0.065594 -1.598651 +v 0.248030 -0.570102 -2.627438 +v 0.217700 -0.055469 -1.295818 +v -0.175698 -0.479223 -3.112011 +v -0.266550 -0.116033 -3.112011 +f 29 21 30 +f 6 4 7 +f 4 6 8 +f 8 6 10 +f 2 3 13 +f 4 8 14 +f 8 11 14 +f 3 2 15 +f 13 3 15 +f 7 4 16 +f 9 7 16 +f 9 5 17 +f 7 9 17 +f 11 8 18 +f 10 6 19 +f 15 2 19 +f 6 15 19 +f 5 9 20 +f 13 15 20 +f 1 11 21 +f 16 1 21 +f 9 16 21 +f 2 12 22 +f 12 2 23 +f 2 13 23 +f 18 12 23 +f 13 20 23 +f 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-0.266538 -0.055457 3.002863 +v -0.327129 -0.085742 1.792426 +v 0.338826 -0.297620 2.942625 +v 0.278303 0.035339 1.156599 +f 34 51 55 +f 32 33 37 +f 32 37 39 +f 36 38 40 +f 36 37 44 +f 38 36 44 +f 39 31 45 +f 31 40 45 +f 40 41 45 +f 34 38 46 +f 35 43 46 +f 38 44 46 +f 31 39 47 +f 39 37 47 +f 42 31 47 +f 42 47 48 +f 37 36 48 +f 36 42 48 +f 47 37 48 +f 40 31 49 +f 36 40 49 +f 42 36 49 +f 31 42 49 +f 38 34 50 +f 40 38 50 +f 41 40 50 +f 33 32 51 +f 43 33 51 +f 34 46 51 +f 46 43 51 +f 35 37 52 +f 37 33 52 +f 33 43 52 +f 43 35 52 +f 37 35 53 +f 44 37 53 +f 35 46 53 +f 46 44 53 +f 32 39 54 +f 41 32 54 +f 39 45 54 +f 45 41 54 +f 32 41 55 +f 50 34 55 +f 41 50 55 +f 51 32 55 +o convex_2 +v 0.974570 0.912913 1.035375 +v -1.114008 -3.233137 -0.962330 +v -0.599597 -3.172997 -0.992837 +v -1.114008 2.820400 -0.962330 +v -0.962800 -3.355241 1.095969 +v 1.095494 -3.294493 -1.053431 +v 1.065425 2.789418 -0.932033 +v -1.053655 2.698904 1.035165 +v 1.065425 -3.264119 0.944484 +v 0.944285 2.729278 1.065672 +v -0.357318 0.095852 -1.053431 +v 0.338803 2.850774 0.399560 +v 1.095494 2.033106 -0.962540 +v 0.247948 -0.146532 1.095969 +v -1.114008 -1.961682 -0.477999 +v 0.974570 2.729278 1.035375 +v 1.095494 -3.294493 0.066504 +v -1.083940 2.759044 0.490241 +v -0.387603 0.035104 1.095969 +v 0.308518 2.819792 -0.962540 +v 0.187378 -0.056018 -1.053431 +v 0.732291 -3.324867 -0.750462 +v 1.065425 2.789418 -0.478210 +v -0.750806 -3.355241 1.095969 +v -1.053655 1.760347 1.035165 +v -1.023370 -3.324259 0.429647 +v 1.065425 -2.748976 0.944484 +v 0.671721 -3.293885 -1.053431 +v -0.357318 2.850774 0.187482 +v 1.095494 -2.264814 -1.053431 +v 0.792861 -3.293885 0.974781 +v -1.114008 2.789418 -0.447702 +v -1.023370 2.728670 1.035165 +v 0.308518 2.850774 -0.357022 +v -0.932515 2.032498 -0.992837 +v 0.944285 2.759652 1.005078 +v 1.035140 2.820400 -0.811055 +v -0.962800 -2.113552 1.095969 +v -0.993085 -2.688835 0.974571 +v -0.327033 -0.447842 -1.053431 +v -0.417888 -3.355241 0.459944 +v -1.114008 -3.233137 -0.720375 +v 1.034924 -2.264814 0.974781 +v -1.083940 0.973053 0.490241 +v 1.065425 2.245116 -0.962330 +v -1.083940 -3.264119 -0.629484 +v 1.095494 2.033106 -0.901946 +v 0.853431 -3.324259 -0.720165 +v -0.539027 -3.355241 1.004868 +v -1.114008 2.820400 -0.659781 +v 0.187378 -0.448449 1.095969 +v 1.065425 2.517267 -0.387109 +v -0.508742 -3.263511 -0.992837 +v -0.962800 -3.355241 0.793000 +v -0.266463 2.850774 -0.296428 +v 0.853431 2.729278 1.065672 +v 1.065425 -3.294493 0.369263 +v 0.823146 -3.233745 0.974781 +v 0.429658 2.850774 0.217778 +f 91 92 114 +f 56 64 65 +f 56 65 69 +f 59 57 70 +f 61 68 72 +f 60 69 74 +f 69 65 74 +f 61 66 76 +f 66 75 76 +f 68 62 78 +f 69 60 79 +f 60 63 80 +f 63 73 80 +f 65 64 82 +f 71 65 82 +f 64 72 82 +f 66 61 83 +f 61 77 83 +f 68 61 85 +f 61 76 85 +f 59 70 87 +f 73 63 88 +f 63 74 88 +f 67 84 88 +f 84 73 88 +f 75 59 89 +f 84 67 89 +f 57 59 90 +f 66 57 90 +f 59 75 90 +f 75 66 90 +f 65 71 91 +f 71 78 91 +f 67 88 91 +f 62 75 92 +f 78 62 92 +f 75 89 92 +f 91 78 92 +f 63 60 93 +f 60 74 93 +f 74 63 93 +f 60 80 94 +f 81 60 94 +f 58 57 95 +f 57 66 95 +f 83 58 95 +f 66 83 95 +f 79 60 96 +f 70 57 97 +f 81 94 97 +f 64 56 98 +f 56 69 98 +f 80 73 99 +f 87 70 99 +f 73 87 99 +f 94 80 99 +f 70 97 99 +f 97 94 99 +f 62 68 100 +f 75 62 100 +f 76 75 100 +f 68 85 100 +f 85 76 100 +f 97 57 101 +f 81 97 101 +f 72 68 102 +f 68 78 102 +f 82 72 102 +f 61 72 103 +f 77 61 103 +f 96 77 103 +f 96 103 104 +f 86 79 104 +f 79 96 104 +f 84 59 105 +f 73 84 105 +f 59 87 105 +f 87 73 105 +f 69 79 106 +f 98 69 106 +f 78 71 107 +f 71 82 107 +f 102 78 107 +f 82 102 107 +f 57 58 108 +f 58 83 108 +f 83 77 108 +f 101 57 108 +f 77 101 108 +f 60 81 109 +f 77 96 109 +f 96 60 109 +f 101 77 109 +f 81 101 109 +f 59 84 110 +f 89 59 110 +f 84 89 110 +f 74 65 111 +f 88 74 111 +f 65 91 111 +f 91 88 111 +f 72 64 112 +f 64 86 112 +f 103 72 112 +f 104 103 112 +f 86 104 112 +f 86 64 113 +f 79 86 113 +f 64 98 113 +f 106 79 113 +f 98 106 113 +f 89 67 114 +f 67 91 114 +f 92 89 114 +o convex_3 +v -0.357403 3.123491 -0.024135 +v -0.084896 4.787912 0.339070 +v 0.308609 4.818535 -0.236033 +v 0.308609 2.850966 0.339070 +v 0.308609 2.850966 -0.357078 +v -0.357403 4.757674 -0.205771 +v -0.357403 2.850966 0.187695 +v 0.308609 4.697199 0.308809 +v -0.266524 2.850966 -0.296556 +v 0.187480 4.818535 -0.357078 +v -0.206024 4.757674 0.339070 +v 0.157231 2.911634 0.339070 +v -0.357403 4.424675 -0.236033 +v 0.308609 4.818535 -0.357078 +v -0.357403 4.636531 -0.084658 +v -0.236274 3.970724 0.308809 +v 0.126916 2.850966 -0.357078 +v 0.217730 4.727437 0.339070 +v -0.115211 3.486728 -0.326817 +v -0.327088 2.850966 0.217956 +v -0.236274 4.787912 0.217956 +v -0.357403 3.032778 0.187695 +f 125 129 136 +f 117 118 119 +f 120 115 121 +f 119 118 121 +f 118 117 122 +f 121 115 123 +f 119 121 123 +f 118 116 125 +f 118 125 126 +f 115 120 127 +f 123 115 127 +f 120 124 127 +f 117 119 128 +f 124 117 128 +f 119 124 128 +f 120 121 129 +f 125 121 130 +f 126 125 130 +f 119 123 131 +f 124 119 131 +f 117 116 132 +f 116 118 132 +f 122 117 132 +f 118 122 132 +f 123 127 133 +f 127 124 133 +f 131 123 133 +f 124 131 133 +f 121 118 134 +f 118 126 134 +f 130 121 134 +f 126 130 134 +f 116 117 135 +f 117 124 135 +f 124 120 135 +f 125 116 135 +f 120 129 135 +f 129 125 135 +f 121 125 136 +f 129 121 136 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf new file mode 100644 index 000000000..91f1f0cc9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj new file mode 100644 index 000000000..4d76cadfd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj @@ -0,0 +1,495 @@ +o convex_0 +v 1.080857 -2.134200 1.057209 +v -0.141404 -1.750076 -1.038424 +v -0.141404 -1.295820 -1.038424 +v -1.014567 -1.295820 0.952181 +v -0.944705 -3.146687 -1.003141 +v -0.979532 -3.111903 0.952181 +v 1.046030 -3.181658 -1.038424 +v 1.010995 -1.295820 -0.933602 +v 1.010995 -3.216442 1.057209 +v 1.115892 -1.295820 1.022132 +v -1.014567 -1.295820 -1.003141 +v 0.975960 -1.295820 -1.038424 +v 0.696515 -3.216442 1.057209 +v 0.207694 -3.181658 -1.038424 +v -0.979532 -2.972016 -1.003141 +v -1.014567 -2.169172 0.952181 +v 1.115892 -1.505651 0.637918 +v 0.382452 -1.295820 1.022132 +v -0.769948 -3.041960 0.987259 +v 0.941134 -3.216442 -0.164970 +v -0.281127 -3.181658 -0.164970 +v -1.014567 -1.645161 -1.003141 +v 1.046030 -1.645161 1.057209 +v -0.350988 -1.365952 -1.038219 +v -0.979532 -3.111903 -0.688878 +v 1.115892 -1.610377 0.882436 +v -0.490711 -1.680321 0.987259 +v -0.944705 -3.146687 -0.479233 +v -0.490711 -3.146687 0.987259 +v 0.557001 -3.216442 0.707869 +v 0.696515 -3.006988 1.057209 +v 1.010995 -1.540622 -1.038424 +v -0.176231 -3.181658 -0.549388 +v 1.046030 -2.727591 1.022132 +v -1.014567 -1.994502 -0.164970 +f 22 25 35 +f 2 3 7 +f 3 4 8 +f 8 4 10 +f 4 3 11 +f 7 3 12 +f 3 8 12 +f 9 1 13 +f 2 7 14 +f 4 11 16 +f 8 10 17 +f 10 4 18 +f 4 16 19 +f 16 6 19 +f 7 9 20 +f 9 13 20 +f 14 7 20 +f 16 11 22 +f 1 10 23 +f 13 1 23 +f 10 18 23 +f 3 2 24 +f 11 3 24 +f 2 14 24 +f 14 5 24 +f 5 15 24 +f 22 11 24 +f 15 22 24 +f 5 6 25 +f 15 5 25 +f 6 16 25 +f 22 15 25 +f 10 1 26 +f 7 17 26 +f 17 10 26 +f 18 4 27 +f 4 19 27 +f 23 18 27 +f 6 5 28 +f 5 21 28 +f 28 21 29 +f 13 19 29 +f 19 6 29 +f 6 28 29 +f 20 13 30 +f 29 21 30 +f 13 29 30 +f 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a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf new file mode 100644 index 000000000..d084aac34 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj new file mode 100644 index 000000000..f2908861f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj @@ -0,0 +1,285 @@ +o convex_0 +v 0.958349 -3.604366 -0.685100 +v -1.112976 1.455092 -0.951413 +v -1.112976 1.455092 -0.921867 +v 1.017511 2.490353 0.676013 +v -0.935275 -3.485704 0.912583 +v -0.994437 2.550289 1.001617 +v 1.076888 -3.634636 0.942327 +v 0.928767 2.520624 -0.951413 +v -0.964856 -3.515975 -0.980960 +v -1.112976 2.520018 -0.951413 +v 0.928767 -3.604366 -1.010703 +v 1.017511 2.490353 1.001617 +v -0.521138 -3.634636 0.587177 +v -0.964856 -2.953544 0.942327 +v -1.024018 -3.515975 -0.536973 +v -1.024018 2.283301 -0.980960 +v -0.964856 0.715274 1.001617 +v 0.958349 2.017523 -0.803483 +v 0.248186 -1.622235 -1.010703 +v 0.751280 2.550289 -0.122730 +v 0.928767 1.277100 -0.980960 +v -1.053599 2.550289 0.232026 +v -1.053599 -2.627830 -0.951413 +v 1.017511 1.424821 1.001617 +v 1.076888 -3.486310 0.853490 +v -0.994437 -3.545640 -0.862576 +v 0.721699 2.550289 0.734909 +v -0.935275 -3.308923 0.942327 +v -0.521138 2.550289 -0.536973 +v 0.603375 -3.604971 -1.010703 +v -1.112976 2.372297 -0.714646 +v -0.964856 -3.456644 0.853490 +v -0.521138 -3.634636 0.350410 +v -0.994437 1.277100 1.001617 +v 0.928767 -1.947343 -1.010703 +v 0.129862 -3.575305 0.942327 +v 1.047092 -3.634636 0.468793 +v 0.958349 2.520624 0.942327 +v 1.047092 0.330230 0.971873 +v 0.277767 -3.575305 -1.010703 +v -1.024018 -3.515975 -0.951413 +v 0.958349 2.520624 -0.685100 +v 0.455469 2.550289 -0.566716 +v 1.047092 -1.237191 0.971873 +v -0.905694 -3.515975 0.823943 +v 0.958349 -2.894213 -0.714646 +v -0.106788 2.550289 1.001617 +v -1.024018 -0.025149 -0.980960 +v -1.053599 2.550289 -0.241113 +v -0.402599 -3.634636 0.646270 +v -0.787369 -3.515975 0.912583 +v 0.958349 1.661539 -0.803483 +v -0.669044 2.135579 -0.980960 +v -1.024018 2.431022 0.676013 +v -0.816950 -3.545640 -0.980960 +v 0.987930 2.520624 0.528083 +v 0.928767 -3.634636 0.942327 +v -1.053599 2.490353 0.232026 +v 0.248186 -2.923878 -1.010703 +f 9 48 59 +f 2 3 10 +f 10 8 16 +f 2 10 16 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30 26 55 +f 9 40 55 +f 40 30 55 +f 41 9 55 +f 26 41 55 +f 12 4 56 +f 20 27 56 +f 38 12 56 +f 27 38 56 +f 4 42 56 +f 42 20 56 +f 7 17 57 +f 17 36 57 +f 50 7 57 +f 36 50 57 +f 31 14 58 +f 22 31 58 +f 14 34 58 +f 54 22 58 +f 34 54 58 +f 40 9 59 +f 19 40 59 +f 48 19 59 +o convex_1 +v 0.307391 2.964967 -0.566809 +v -0.077270 3.763350 0.587316 +v -0.106755 3.763350 0.587316 +v -0.284343 4.503423 -0.418816 +v -0.521014 2.550289 -0.537211 +v 0.603258 2.550289 0.587316 +v 0.573773 4.503423 0.468921 +v -0.491416 2.550289 0.528118 +v -0.550612 4.503423 0.557717 +v 0.544175 4.384698 -0.507612 +v 0.455381 2.550289 -0.566809 +v -0.461818 4.444156 -0.418816 +v 0.603258 3.852251 0.528118 +v -0.521014 2.757532 -0.537211 +v -0.521014 2.816799 0.528118 +v 0.484979 2.816799 -0.566809 +v 0.573773 4.444156 -0.122828 +v -0.313828 4.444156 -0.448414 +v 0.188999 2.550289 0.587316 +v 0.425783 4.503423 0.498519 +v 0.544175 4.118570 -0.507612 +v 0.603258 2.994409 0.587316 +v -0.521014 3.852251 0.557717 +v -0.106755 2.579923 -0.566809 +v 0.366587 4.266356 -0.507612 +v -0.461818 4.503423 -0.389217 +v 0.573773 4.503423 0.291328 +v 0.603258 2.550289 0.557717 +v -0.343539 4.503423 0.557717 +v -0.491416 3.704275 -0.478013 +v -0.521014 2.550289 0.024940 +v 0.544175 4.414331 -0.418816 +v -0.550612 4.503423 0.528118 +v -0.254632 3.083118 -0.537211 +v -0.521014 2.935333 -0.507612 +v 0.603258 3.911518 0.468921 +v -0.550612 4.414331 0.557717 +v 0.484979 2.550289 -0.418816 +f 75 87 97 +f 61 62 65 +f 64 65 67 +f 62 61 68 +f 66 63 68 +f 65 64 70 +f 60 69 75 +f 70 60 75 +f 63 69 77 +f 65 62 78 +f 67 65 78 +f 66 68 79 +f 72 66 79 +f 75 69 80 +f 69 76 80 +f 61 65 81 +f 65 72 81 +f 72 79 81 +f 74 67 82 +f 78 62 82 +f 67 78 82 +f 60 70 83 +f 70 64 83 +f 64 73 83 +f 69 60 84 +f 77 69 84 +f 68 63 85 +f 63 77 85 +f 77 71 85 +f 63 66 86 +f 65 70 87 +f 72 65 87 +f 75 80 87 +f 80 76 87 +f 68 61 88 +f 79 68 88 +f 61 81 88 +f 81 79 88 +f 71 77 89 +f 77 73 89 +f 64 67 90 +f 67 74 90 +f 69 63 91 +f 76 69 91 +f 63 86 91 +f 86 76 91 +f 73 64 92 +f 68 85 92 +f 85 71 92 +f 71 89 92 +f 73 77 93 +f 60 83 93 +f 83 73 93 +f 84 60 93 +f 77 84 93 +f 89 73 94 +f 73 92 94 +f 92 89 94 +f 66 72 95 +f 86 66 95 +f 76 86 95 +f 72 87 95 +f 87 76 95 +f 62 68 96 +f 82 62 96 +f 74 82 96 +f 64 90 96 +f 90 74 96 +f 92 64 96 +f 68 92 96 +f 70 75 97 +f 87 70 97 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf new file mode 100644 index 000000000..bca38ae1f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj new file mode 100644 index 000000000..2cec7506b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj @@ -0,0 +1,507 @@ +o convex_0 +v -0.155646 0.573056 1.054570 +v -1.088021 -3.652846 0.246386 +v -1.056920 -3.715024 -1.027222 +v 0.994000 -3.683935 0.930250 +v 1.056202 0.822213 -0.933930 +v -1.088021 0.821769 -1.058457 +v 0.994000 -3.621313 -0.996194 +v -1.088021 0.821769 1.054777 +v 1.149505 0.822213 0.588318 +v -1.088021 -3.621757 0.961278 +v 0.994000 0.822213 0.930250 +v 1.025101 -3.217598 -0.996194 +v -0.963617 -3.186509 0.992306 +v 1.056202 0.573056 -0.964959 +v 0.745410 -3.652402 0.961485 +v 0.123826 0.821769 1.054570 +v -0.093443 -3.683935 -1.027222 +v -0.839213 0.821769 -1.058457 +v -1.088021 -0.731800 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a/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf new file mode 100644 index 000000000..e4a5034f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj new file mode 100644 index 000000000..868a36808 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj @@ -0,0 +1,285 @@ +o convex_0 +v -3.047807 -3.790455 0.650511 +v 1.121993 -1.685831 -0.752333 +v 1.121993 -1.685831 -0.946971 +v 2.992630 -3.829401 -0.947185 +v 2.953944 -1.725219 1.001542 +v -3.047807 -1.764165 -0.986070 +v 2.953944 -3.790234 1.040427 +v -2.969839 -1.881003 1.001329 +v -2.969839 -3.946239 -0.908086 +v 3.031316 -1.841835 -1.103151 +v -3.047807 -3.751288 1.001329 +v 0.342313 -1.685831 1.079525 +v -0.436772 -3.946460 -0.440400 +v -1.878882 -3.790455 1.040427 +v -2.813903 -3.907293 -0.946971 +v -1.060516 -1.685831 1.040427 +v -2.813903 -1.764165 -1.025168 +v -0.982548 -1.685831 -1.025168 +v 2.758726 -3.868347 -0.947185 +v 2.875381 -2.036786 -1.102938 +v 2.992630 -3.673397 -0.986070 +v 3.031316 -1.802890 -0.791218 +v -3.009121 -1.841835 0.572527 +v 0.966057 -1.685831 1.079525 +v -2.969839 -3.946239 -0.674350 +v 2.953944 -2.426687 1.040427 +v -2.307409 -3.712342 1.040427 +v 2.953944 -3.829401 0.299693 +v 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@@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj new file mode 100644 index 000000000..b3a7b9c33 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj @@ -0,0 +1,531 @@ +o convex_0 +v -0.427583 -1.519350 -1.092560 +v 0.798597 0.572653 1.107857 +v 0.654328 0.572653 1.107857 +v 0.618314 -1.663837 1.107857 +v -1.076900 0.536531 1.071672 +v 1.051121 0.572653 -1.056375 +v -1.004659 0.572653 -0.948034 +v -1.076900 -1.663837 1.071672 +v 1.015106 -1.663837 -1.020189 +v -1.040673 -1.663837 -1.020189 +v 0.979092 -1.591594 1.071457 +v 0.979092 0.572653 0.891176 +v 1.087347 0.500409 -0.948034 +v -1.076900 0.572653 0.674925 +v 1.051121 -1.338959 -1.020189 +v -1.040673 -0.870032 -1.020189 +v 0.979092 -0.004640 1.071457 +v -0.896404 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-1.772263 2.730791 +v -0.499773 -1.916503 1.144029 +v -0.535785 -1.699910 2.947452 +v 0.329826 -2.817946 1.288347 +f 173 172 183 +f 161 160 162 +f 162 160 166 +f 161 162 167 +f 166 160 170 +f 163 162 171 +f 162 166 171 +f 160 161 172 +f 164 165 172 +f 167 168 173 +f 164 172 173 +f 164 173 174 +f 173 168 174 +f 162 163 175 +f 167 162 175 +f 168 167 175 +f 174 159 176 +f 170 160 177 +f 160 172 177 +f 172 165 177 +f 169 163 178 +f 165 169 178 +f 163 171 178 +f 177 165 178 +f 170 177 178 +f 165 164 179 +f 169 165 179 +f 164 174 179 +f 176 169 179 +f 174 176 179 +f 159 174 180 +f 174 168 180 +f 168 175 180 +f 176 159 180 +f 175 176 180 +f 166 170 181 +f 171 166 181 +f 178 171 181 +f 170 178 181 +f 163 169 182 +f 175 163 182 +f 169 176 182 +f 176 175 182 +f 161 167 183 +f 172 161 183 +f 167 173 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf new file mode 100644 index 000000000..1184642a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj new file mode 100644 index 000000000..bf00f19c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj @@ -0,0 +1,432 @@ +o convex_0 +v -3.021938 -0.868709 -1.558403 +v 3.027361 1.119251 -2.234722 +v 3.027361 1.076893 -1.008394 +v 3.069697 -1.080278 -2.530941 +v -2.979006 0.992397 -2.996288 +v -2.936669 1.077113 -1.008589 +v 3.069697 -1.080278 -1.008394 +v -2.936669 -1.122416 -2.826964 +v 3.027361 1.119251 -2.911820 +v -3.021938 -0.953205 -1.008589 +v 3.069697 -1.037701 -2.911820 +v 0.573653 -1.122197 -1.008394 +v 0.827670 1.119251 -1.050822 +v -2.936669 1.077113 -1.600831 +v -2.979006 0.696113 -2.996288 +v -3.021938 0.907901 -2.911626 +v -1.413761 -1.122416 -1.558403 +v -1.710114 0.992397 -2.996288 +v 3.069697 0.146340 -1.727531 +v -1.118004 -1.122416 -2.826964 +v 2.519328 1.119251 -2.911820 +v 1.377444 -1.122197 -1.050822 +v -3.021938 -0.318717 -1.093056 +v -1.667778 1.034755 -2.954054 +v -2.936669 -0.741636 -2.869198 +v -2.979006 -1.080058 -2.150061 +v 3.069697 0.061625 -2.911820 +v 2.646336 -1.037701 -2.911820 +v -0.863987 -1.080058 -1.008394 +v 2.604000 -1.080278 -2.869198 +v -3.021938 -0.995562 -1.262379 +v -2.979006 -0.403432 -2.869198 +v -2.979006 1.034536 -1.727726 +v -2.979006 1.034536 -2.446279 +v -2.894929 -1.122416 -2.530941 +v 0.742998 1.077113 -2.954054 +v -2.979006 0.527121 -1.008589 +f 33 23 37 +f 7 4 11 +f 7 3 12 +f 3 2 13 +f 6 3 13 +f 2 9 13 +f 6 13 14 +f 1 10 16 +f 5 15 16 +f 15 5 18 +f 11 15 18 +f 2 3 19 +f 3 7 19 +f 9 2 19 +f 7 11 19 +f 17 8 20 +f 13 9 21 +f 14 13 21 +f 4 7 22 +f 7 12 22 +f 12 17 22 +f 17 20 22 +f 16 10 23 +f 8 15 25 +f 9 19 27 +f 19 11 27 +f 15 11 28 +f 8 25 28 +f 25 15 28 +f 3 6 29 +f 12 3 29 +f 17 12 29 +f 11 4 30 +f 20 8 30 +f 4 22 30 +f 22 20 30 +f 8 28 30 +f 28 11 30 +f 10 1 31 +f 1 26 31 +f 29 10 31 +f 17 29 31 +f 15 8 32 +f 1 16 32 +f 16 15 32 +f 26 1 32 +f 8 26 32 +f 6 14 33 +f 16 23 33 +f 5 16 34 +f 14 21 34 +f 24 5 34 +f 21 24 34 +f 33 14 34 +f 16 33 34 +f 8 17 35 +f 26 8 35 +f 31 26 35 +f 17 31 35 +f 18 5 36 +f 11 18 36 +f 21 9 36 +f 5 24 36 +f 24 21 36 +f 9 27 36 +f 27 11 36 +f 23 10 37 +f 29 6 37 +f 10 29 37 +f 6 33 37 +o convex_1 +v 1.081539 2.007297 0.134038 +v -1.118263 2.726124 -0.754376 +v -1.118263 2.726124 -0.711923 +v -0.991219 -3.110309 0.726193 +v 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-3.110309 1.106995 +v -0.991335 3.106540 1.530199 +v -1.075959 1.541829 2.629620 +v 1.123842 -2.602737 2.883667 +v 0.489052 -3.067707 3.179744 +v 1.039218 2.642178 1.106995 +v 1.081423 2.556974 3.137506 +v -1.033540 1.669027 1.826277 +v 1.039218 -2.771928 1.657119 +v 0.996798 -3.067707 3.222189 +v 1.123842 -2.941118 3.221982 +v 1.081423 2.937958 2.333749 +v -0.991335 -1.502997 1.106995 +v 1.123842 -1.883372 2.883667 +f 69 97 99 +f 68 69 70 +f 69 68 71 +f 67 66 77 +f 66 74 78 +f 74 71 78 +f 65 73 79 +f 75 67 80 +f 66 67 81 +f 74 66 81 +f 67 75 81 +f 76 65 82 +f 72 76 82 +f 67 77 83 +f 77 68 83 +f 80 67 83 +f 72 74 84 +f 74 81 84 +f 69 71 85 +f 74 72 85 +f 82 69 85 +f 72 82 85 +f 68 70 86 +f 70 79 86 +f 79 73 86 +f 83 68 86 +f 73 83 86 +f 71 74 87 +f 85 71 87 +f 74 85 87 +f 77 66 88 +f 66 78 88 +f 65 79 89 +f 75 80 90 +f 83 73 90 +f 80 83 90 +f 70 69 91 +f 69 89 91 +f 65 76 92 +f 76 72 92 +f 78 71 93 +f 88 78 93 +f 79 70 94 +f 89 79 94 +f 70 91 94 +f 91 89 94 +f 81 75 95 +f 84 81 95 +f 90 73 95 +f 75 90 95 +f 73 65 96 +f 72 84 96 +f 65 92 96 +f 92 72 96 +f 95 73 96 +f 84 95 96 +f 82 65 97 +f 69 82 97 +f 71 68 98 +f 68 77 98 +f 77 88 98 +f 93 71 98 +f 88 93 98 +f 65 89 99 +f 89 69 99 +f 97 65 99 +o convex_3 +v -1.964548 1.077167 -0.839021 +v -3.021752 -0.953316 -1.008200 +v -2.091062 -0.995724 -1.008200 +v -1.118450 1.034759 -1.008200 +v -1.118450 -0.995724 -0.881321 +v -2.936974 1.077167 -0.796680 +v -2.936974 1.077167 -1.008200 +v -3.021752 -0.911112 -0.923559 +v -1.118450 -0.995724 -1.008200 +v -1.118450 1.034759 -0.923559 +v -2.936974 0.569292 -0.796680 +v -2.387131 0.992555 -0.796680 +v -1.795366 -0.995724 -0.881321 +v -1.330114 1.034759 -0.881321 +v -1.118450 -0.064993 -0.881321 +f 109 113 114 +f 102 101 103 +f 103 101 106 +f 100 103 106 +f 105 100 106 +f 105 106 107 +f 106 101 107 +f 102 103 108 +f 103 104 108 +f 104 102 108 +f 103 100 109 +f 104 103 109 +f 105 107 110 +f 100 105 111 +f 110 104 111 +f 105 110 111 +f 101 102 112 +f 102 104 112 +f 107 101 112 +f 104 110 112 +f 110 107 112 +f 109 100 113 +f 100 111 113 +f 113 111 114 +f 104 109 114 +f 111 104 114 +o convex_4 +v 1.039127 2.473145 -0.754376 +v -1.118044 -0.994978 -1.008175 +v -1.075906 -1.037009 -1.008175 +v -1.033548 -2.983625 -0.754376 +v 0.954412 -3.068287 -0.881276 +v -1.118044 2.980514 -0.754376 +v 0.996770 2.980514 -0.965867 +v 1.123623 -1.122271 -1.008175 +v 0.954412 -3.110918 -0.754376 +v -1.118044 1.033898 -1.008175 +v -1.033548 -2.940994 -0.923559 +v -0.737483 2.980514 -0.881276 +v 1.123623 1.077129 -1.008175 +v 0.996770 3.023145 -0.754376 +v 1.123623 -1.122271 -0.839017 +v 0.489355 2.980514 -0.965867 +v -1.075906 -2.983625 -0.796709 +v -1.118044 2.980514 -0.839017 +v 1.123623 1.119160 -0.796709 +v 1.081485 -0.106932 -0.754376 +v -0.864336 -3.025656 -0.881276 +v 0.912274 -3.110918 -0.881276 +v -1.118044 -0.994978 -0.881276 +v 0.700704 3.023145 -0.881276 +f 126 132 138 +f 118 115 120 +f 117 116 122 +f 115 118 123 +f 119 122 123 +f 116 120 124 +f 122 116 124 +f 116 117 125 +f 117 122 125 +f 121 115 127 +f 122 124 127 +f 120 115 128 +f 115 121 128 +f 123 122 129 +f 122 127 129 +f 124 126 130 +f 121 127 130 +f 127 124 130 +f 118 120 131 +f 116 125 131 +f 124 120 132 +f 126 124 132 +f 127 115 133 +f 129 127 133 +f 129 133 134 +f 115 123 134 +f 123 129 134 +f 133 115 134 +f 123 118 135 +f 118 131 135 +f 131 125 135 +f 122 119 136 +f 119 123 136 +f 125 122 136 +f 123 135 136 +f 135 125 136 +f 120 116 137 +f 116 131 137 +f 131 120 137 +f 120 128 138 +f 128 121 138 +f 130 126 138 +f 121 130 138 +f 132 120 138 +o convex_5 +v 1.166507 0.992542 -0.881317 +v 1.123843 -1.122635 -1.008200 +v 1.462489 -1.122635 -1.008200 +v 1.123843 -1.122635 -0.839000 +v 3.027157 1.077167 -0.923600 +v 3.069441 -1.080216 -0.923600 +v 3.027157 1.077167 -1.008200 +v 1.123843 1.077167 -1.008200 +v 3.069441 -1.080216 -1.008200 +v 1.377923 -0.699514 -0.839000 +v 2.265870 0.273128 -0.881317 +v 2.308153 -1.080216 -0.881317 +f 149 148 150 +f 140 141 142 +f 142 141 144 +f 141 140 145 +f 143 144 145 +f 140 142 146 +f 142 139 146 +f 139 143 146 +f 145 140 146 +f 143 145 146 +f 144 141 147 +f 141 145 147 +f 145 144 147 +f 139 142 148 +f 143 139 149 +f 139 148 149 +f 143 149 150 +f 144 143 150 +f 142 144 150 +f 148 142 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf new file mode 100644 index 000000000..e6d36551b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj new file mode 100644 index 000000000..ad91735b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj @@ -0,0 +1,369 @@ +o convex_0 +v -0.288759 0.288357 -1.219997 +v 0.168725 -0.310066 -1.395971 +v 0.203949 -0.310066 -1.395971 +v 0.098338 0.217908 -3.085475 +v -0.323983 -0.239617 -3.014854 +v 0.239112 0.217908 -1.114451 +v 0.309561 -0.204392 -2.979544 +v -0.218372 -0.239617 -1.114451 +v -0.218372 0.358806 -2.979544 +v 0.239112 0.182749 -3.085475 +v 0.203949 -0.310066 -1.114451 +v -0.288759 0.077141 -1.114451 +v 0.274336 0.147459 -1.360660 +v -0.147985 0.358806 -2.768452 +v -0.323983 -0.063626 -3.014854 +v -0.183147 -0.274841 -1.114451 +v -0.323983 0.006823 -1.818347 +v 0.309561 -0.063626 -2.346076 +v -0.042374 0.323581 -3.014854 +v -0.323983 -0.239617 -2.557168 +v -0.147985 -0.239617 -3.014854 +v -0.288759 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+f 158 157 162 +f 157 158 163 +f 162 157 165 +f 156 155 167 +f 162 156 167 +f 155 164 167 +f 164 160 167 +f 158 160 168 +f 163 158 168 +f 164 155 169 +f 161 164 169 +f 156 162 170 +f 165 156 170 +f 162 165 170 +f 160 158 171 +f 168 160 172 +f 165 157 174 +f 157 166 174 +f 161 159 175 +f 164 161 175 +f 154 172 175 +f 162 167 176 +f 167 160 176 +f 160 171 176 +f 171 162 176 +f 155 156 177 +f 156 165 177 +f 165 174 177 +f 154 163 178 +f 163 168 178 +f 172 154 178 +f 168 172 178 +f 163 154 179 +f 159 163 179 +f 154 175 179 +f 175 159 179 +f 158 162 180 +f 171 158 180 +f 162 171 180 +f 160 164 181 +f 172 160 181 +f 164 175 181 +f 175 172 181 +f 157 163 182 +f 163 159 182 +f 173 157 182 +f 159 173 182 +f 159 161 183 +f 161 166 183 +f 173 159 183 +f 166 173 183 +f 166 161 184 +f 169 155 184 +f 161 169 184 +f 174 166 184 +f 155 177 184 +f 177 174 184 +f 166 157 185 +f 157 173 185 +o convex_5 +v 3.209532 1.803436 0.230835 +v 1.278724 0.892724 -0.607130 +v 1.278724 0.856348 -0.351938 +v 1.278724 1.803436 0.595378 +v 3.136749 0.856348 0.449420 +v 3.282708 1.803436 -0.607130 +v 1.278724 1.803436 -0.607130 +v 3.173043 0.929210 -0.570640 +v 1.278724 0.783376 0.522281 +v 3.173043 1.912894 0.449420 +v 1.424486 1.839812 -0.424917 +v 1.898262 0.783376 0.449420 +v 2.699463 0.819862 0.486027 +v 2.990987 1.839812 0.486027 +v 3.282708 1.839812 -0.461289 +v 3.282708 1.584852 -0.607130 +v 3.173043 0.892724 -0.279077 +v 1.460976 1.766950 0.595378 +v 2.990987 1.912894 0.340069 +v 1.752500 0.892724 -0.607130 +v 1.315213 0.783376 0.267207 +v 1.679717 1.839812 0.558888 +v 3.173043 0.892724 0.194346 +v 3.209532 0.965585 -0.570640 +v 1.315213 1.621227 0.595378 +v 3.173043 1.366157 0.449420 +v 3.282708 1.766950 -0.388428 +v 2.808932 0.819862 0.413166 +f 202 190 213 +f 187 188 189 +f 187 189 192 +f 191 187 192 +f 189 188 194 +f 192 189 196 +f 194 197 198 +f 195 189 199 +f 198 190 199 +f 191 192 200 +f 192 196 200 +f 187 191 201 +f 191 200 201 +f 199 189 203 +f 198 199 203 +f 195 200 204 +f 200 196 204 +f 188 187 205 +f 187 201 205 +f 201 193 205 +f 193 202 205 +f 205 202 206 +f 194 188 206 +f 197 194 206 +f 202 197 206 +f 188 205 206 +f 189 195 207 +f 196 189 207 +f 195 204 207 +f 204 196 207 +f 190 202 208 +f 208 202 209 +f 193 201 209 +f 202 193 209 +f 201 208 209 +f 189 194 210 +f 194 198 210 +f 203 189 210 +f 198 203 210 +f 186 195 211 +f 199 190 211 +f 195 199 211 +f 190 208 211 +f 211 208 212 +f 195 186 212 +f 200 195 212 +f 201 200 212 +f 208 201 212 +f 186 211 212 +f 198 197 213 +f 190 198 213 +f 197 202 213 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf new file mode 100644 index 000000000..37cf59ec0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj new file mode 100644 index 000000000..c7267aa9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj @@ -0,0 +1,477 @@ +o convex_0 +v 0.669496 -3.937160 0.835256 +v 0.066439 0.536025 1.057680 +v 0.955076 0.535587 0.994100 +v -0.695039 0.536025 -1.068339 +v -1.107568 -3.874534 1.057680 +v 0.955076 -3.842125 -1.068339 +v -1.012304 -3.811031 -1.036655 +v 1.050340 0.536025 -1.100235 +v -1.043988 0.536025 1.057680 +v 1.018445 -3.937160 1.057680 +v -0.980620 0.536025 -0.941391 +v 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2.282217 0.518080 +v -0.568089 3.487600 0.041992 +v 0.320460 4.153888 0.549935 +v 0.161622 2.282217 -0.560756 +v 0.510790 2.916804 -0.560756 +v 0.510790 3.107004 0.549935 +v -0.568089 3.995192 0.454696 +v 0.510790 2.282021 -0.306785 +v -0.504531 2.599413 -0.497263 +v -0.536253 2.440717 -0.338531 +v 0.447347 4.185783 -0.497263 +v 0.415510 2.282217 0.518080 +v 0.003129 3.234000 0.549935 +v -0.568089 4.185588 0.295855 +v 0.510790 4.153888 -0.338531 +v 0.034736 3.170600 -0.560756 +v 0.479068 3.741396 -0.529010 +v -0.314202 4.281079 -0.465517 +v 0.606070 4.090488 0.518080 +v -0.568089 4.122188 0.137231 +v -0.536253 2.282217 -0.243400 +v 0.510790 3.328905 -0.529010 +f 63 67 70 +f 40 41 47 +f 41 40 49 +f 40 47 50 +f 43 39 51 +f 42 45 52 +f 42 52 53 +f 44 43 54 +f 43 51 54 +f 47 41 55 +f 41 49 55 +f 51 47 55 +f 49 42 56 +f 52 45 57 +f 48 52 57 +f 40 50 58 +f 50 48 58 +f 57 45 58 +f 48 57 58 +f 44 54 60 +f 54 49 60 +f 56 44 60 +f 49 56 60 +f 49 54 61 +f 54 51 61 +f 55 49 61 +f 51 55 61 +f 39 48 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-0.599823 0.853853 -1.132133 +v -0.599823 0.568197 -1.227242 +v 0.447338 1.742338 -2.750355 +v -0.504560 1.456682 -3.067580 +v -0.155400 1.742338 -3.035682 +v 0.447338 0.599950 -1.576366 +v 0.479128 0.600068 -1.893788 +v -0.472770 0.568197 -1.100235 +v -0.536244 0.663455 -2.147411 +v 0.320390 1.678832 -2.972276 +f 87 94 99 +f 74 78 79 +f 78 75 79 +f 72 73 81 +f 74 72 82 +f 72 81 82 +f 80 71 84 +f 74 82 86 +f 82 83 86 +f 77 80 87 +f 81 77 87 +f 82 81 87 +f 79 75 88 +f 71 80 88 +f 75 84 88 +f 84 71 88 +f 75 83 89 +f 83 82 89 +f 82 87 89 +f 74 79 90 +f 85 74 90 +f 80 85 90 +f 79 88 90 +f 88 80 90 +f 73 72 91 +f 72 74 91 +f 81 73 91 +f 74 85 91 +f 76 80 92 +f 84 75 92 +f 80 84 92 +f 75 89 92 +f 89 76 92 +f 80 77 93 +f 85 80 93 +f 80 76 94 +f 87 80 94 +f 95 86 96 +f 75 78 96 +f 83 75 96 +f 86 83 96 +f 78 95 96 +f 78 74 97 +f 74 86 97 +f 95 78 97 +f 86 95 97 +f 77 81 98 +f 81 91 98 +f 91 85 98 +f 93 77 98 +f 85 93 98 +f 76 89 99 +f 89 87 99 +f 94 76 99 +o convex_3 +v -0.663236 2.281835 0.295988 +v 1.082080 2.122947 -1.068339 +v 1.082080 2.059563 -1.068339 +v 0.954917 1.520029 0.994100 +v -0.980622 0.536463 -0.941391 +v 1.050238 0.536463 -1.100235 +v -1.044100 0.536463 1.057680 +v -0.980622 2.249887 -0.909706 +v 0.954917 0.536463 0.994100 +v -1.012257 2.154725 1.057680 +v 0.891648 2.122947 0.962415 +v -0.536281 1.615190 -1.100235 +v 0.510784 2.281835 -0.560756 +v 0.542418 1.646968 1.057680 +v 0.415464 2.281835 0.517990 +v -0.599758 0.568241 -1.100235 +v 1.050238 0.536463 -0.274963 +v 0.859805 2.122947 -1.100235 +v 0.510784 0.663402 1.057680 +v 0.954917 2.091341 0.866940 +v -0.599758 2.281835 0.581570 +v -0.948780 2.186332 -0.941391 +v 0.859805 2.091341 0.994100 +v -0.504438 2.281835 -0.465492 +v 1.082080 2.122947 -1.100235 +v -0.948780 0.949229 -0.973286 +v 0.986760 0.568411 0.708307 +v -0.821825 2.154725 1.057680 +v -1.012257 2.154725 0.771887 +v -1.044100 0.568241 0.994100 +v 0.510784 2.281835 -0.274752 +v -0.536281 2.218280 -0.973286 +v 0.034808 0.536463 1.057680 +v -0.694870 0.536463 -1.068339 +v 1.018395 2.122947 -0.211384 +v -0.980622 1.869069 -0.941391 +f 129 107 135 +f 104 105 106 +f 106 105 108 +f 100 107 109 +f 108 103 113 +f 109 106 113 +f 112 100 114 +f 111 105 115 +f 102 101 116 +f 105 102 116 +f 108 105 116 +f 105 111 117 +f 108 113 118 +f 113 106 118 +f 103 101 119 +f 110 103 119 +f 100 109 120 +f 114 100 120 +f 103 110 122 +f 113 103 122 +f 107 100 123 +f 112 107 123 +f 100 112 123 +f 101 102 124 +f 102 105 124 +f 112 101 124 +f 105 117 124 +f 111 115 125 +f 101 103 126 +f 103 108 126 +f 116 101 126 +f 108 116 126 +f 109 113 127 +f 110 114 127 +f 120 109 127 +f 114 120 127 +f 122 110 127 +f 113 122 127 +f 109 107 128 +f 109 128 129 +f 104 106 129 +f 106 109 129 +f 128 107 129 +f 101 112 130 +f 114 110 130 +f 112 114 130 +f 107 112 131 +f 117 111 131 +f 121 107 131 +f 111 121 131 +f 112 124 131 +f 124 117 131 +f 106 108 132 +f 118 106 132 +f 108 118 132 +f 105 104 133 +f 115 105 133 +f 104 125 133 +f 125 115 133 +f 119 101 134 +f 110 119 134 +f 101 130 134 +f 130 110 134 +f 107 121 135 +f 121 111 135 +f 125 104 135 +f 111 125 135 +f 104 129 135 +o convex_4 +v -0.345864 0.631889 2.231472 +v 0.542602 1.647067 2.041450 +v 0.542602 1.583556 2.041450 +v -0.567953 1.678711 1.057680 +v -0.599823 1.773978 3.025025 +v 0.510843 0.663421 1.057680 +v 0.510843 0.663421 3.056924 +v -0.567953 0.631889 3.056924 +v -0.441029 0.695288 1.057680 +v 0.542602 1.647067 1.057680 +v 0.510843 1.615311 2.993126 +v -0.409270 1.773978 2.644198 +v -0.377623 1.615311 3.056924 +v -0.504547 1.710467 1.089578 +v 0.225125 0.631889 3.056924 +v 0.447325 1.678823 1.152984 +v 0.542602 1.107778 1.057680 +v -0.599823 1.742223 1.946537 +v -0.472788 0.695288 1.216390 +v 0.510843 1.076022 3.056924 +v -0.599823 1.202934 3.056924 +v -0.028611 1.710467 3.025025 +v -0.028611 0.631889 1.946537 +v -0.567953 1.615311 1.057680 +v -0.536194 0.631889 2.453785 +v -0.409270 1.773978 2.866510 +v 0.225125 0.663533 1.057680 +v 0.415566 1.646955 2.929916 +v 0.510843 1.456644 3.025025 +f 157 148 164 +f 138 137 142 +f 139 141 144 +f 137 138 145 +f 141 139 145 +f 143 142 148 +f 145 139 149 +f 141 142 150 +f 143 136 150 +f 142 143 150 +f 137 145 151 +f 145 149 151 +f 149 147 151 +f 138 142 152 +f 142 141 152 +f 145 138 152 +f 141 145 152 +f 140 147 153 +f 149 139 153 +f 147 149 153 +f 142 137 155 +f 148 142 155 +f 148 140 156 +f 143 148 156 +f 153 143 156 +f 140 153 156 +f 140 148 157 +f 150 136 158 +f 141 150 158 +f 139 144 159 +f 153 139 159 +f 143 153 159 +f 144 154 159 +f 159 154 160 +f 136 143 160 +f 144 136 160 +f 154 144 160 +f 143 159 160 +f 147 140 161 +f 137 151 161 +f 151 147 161 +f 140 157 161 +f 136 144 162 +f 144 141 162 +f 158 136 162 +f 141 158 162 +f 146 137 163 +f 157 146 163 +f 137 161 163 +f 161 157 163 +f 137 146 164 +f 155 137 164 +f 148 155 164 +f 146 157 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf new file mode 100644 index 000000000..9d11cd0a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj new file mode 100644 index 000000000..56da9da01 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj @@ -0,0 +1,750 @@ +o convex_0 +v -1.077496 -2.066539 -0.181935 +v -2.167955 -3.307442 0.570216 +v -2.205610 -3.307442 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000000000..33ddeae4b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj new file mode 100644 index 000000000..d021fab71 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj @@ -0,0 +1,720 @@ +o convex_0 +v -0.974278 -2.722666 -0.003076 +v 0.022971 2.152879 2.582630 +v -0.013646 2.152879 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-0.013800 -0.727743 -3.216881 +f 107 76 116 +f 70 67 73 +f 67 66 77 +f 73 67 77 +f 70 73 78 +f 67 70 79 +f 78 73 86 +f 71 83 87 +f 84 71 87 +f 76 68 88 +f 87 83 90 +f 76 88 90 +f 88 87 90 +f 70 78 91 +f 80 74 91 +f 68 76 92 +f 81 68 92 +f 89 85 93 +f 72 74 94 +f 80 72 94 +f 74 80 94 +f 71 84 95 +f 84 66 95 +f 75 93 95 +f 89 74 96 +f 72 82 97 +f 82 81 97 +f 68 73 98 +f 73 77 98 +f 88 68 98 +f 77 88 98 +f 79 70 99 +f 75 79 99 +f 74 89 99 +f 70 91 99 +f 91 74 99 +f 93 75 99 +f 89 93 99 +f 65 78 100 +f 78 86 100 +f 86 82 100 +f 69 71 101 +f 96 69 101 +f 89 96 101 +f 82 72 102 +f 65 100 102 +f 100 82 102 +f 79 75 103 +f 75 95 103 +f 88 77 104 +f 87 88 104 +f 85 89 105 +f 93 85 105 +f 89 101 105 +f 78 65 106 +f 72 80 106 +f 65 102 106 +f 102 72 106 +f 69 96 107 +f 72 97 107 +f 97 76 107 +f 66 67 108 +f 67 79 108 +f 95 66 108 +f 79 103 108 +f 103 95 108 +f 91 78 109 +f 80 91 109 +f 78 106 109 +f 106 80 109 +f 73 68 110 +f 86 73 110 +f 82 86 110 +f 92 76 111 +f 81 92 111 +f 76 97 111 +f 97 81 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-0.446376 +v -2.156238 0.047593 -0.704980 +v -2.414766 0.158376 -0.224744 +v -2.784297 -0.210902 -0.409405 +v -1.196253 -0.432635 -0.298622 +v -2.045777 -0.173891 -0.668008 +f 130 138 142 +f 119 118 120 +f 120 118 123 +f 119 120 125 +f 120 123 127 +f 125 120 129 +f 121 125 129 +f 126 117 130 +f 120 127 131 +f 129 126 132 +f 126 130 132 +f 119 125 133 +f 125 124 133 +f 117 126 134 +f 122 128 134 +f 130 117 134 +f 123 118 135 +f 127 123 135 +f 122 131 136 +f 131 127 136 +f 135 122 136 +f 127 135 136 +f 118 119 137 +f 128 118 137 +f 124 130 137 +f 119 133 137 +f 133 124 137 +f 134 128 137 +f 130 134 137 +f 125 121 138 +f 124 125 138 +f 130 124 138 +f 118 128 139 +f 128 122 139 +f 135 118 139 +f 122 135 139 +f 120 131 140 +f 131 122 140 +f 134 126 140 +f 122 134 140 +f 129 120 141 +f 126 129 141 +f 120 140 141 +f 140 126 141 +f 121 129 142 +f 129 132 142 +f 132 130 142 +f 138 121 142 +o convex_3 +v 0.872672 2.928642 -0.003076 +v -1.159010 -0.690913 -0.372528 +v -1.159010 -0.690913 -0.335676 +v 1.020418 -2.722450 -0.520402 +v 0.022962 1.746330 -1.591594 +v -0.937278 -2.574811 -1.332854 +v 1.020418 -0.247396 -1.591594 +v -0.937278 2.891432 -0.631269 +v -0.937278 -2.833479 -0.003076 +v -0.974271 2.854823 -0.003076 +v 0.872672 2.928642 -1.221987 +v 1.057411 -2.168503 -0.003076 +v -1.048032 -0.062547 -1.591594 +v 0.096947 -2.722450 -1.443720 +v -0.789532 2.780403 -1.258839 +v 1.131397 0.490198 -0.446387 +v 0.909665 -2.648630 -1.258839 +v 0.614172 -3.018328 -0.003076 +v -0.567800 -2.980518 -1.111276 +v -0.161553 3.076281 -1.258839 +v -0.826300 -1.429708 -1.591594 +v -1.159010 0.342559 -0.003076 +v 1.057411 1.746330 -1.221987 +v 0.614172 -2.981118 -1.074113 +v -0.494039 3.076281 -0.003076 +v -1.048032 2.263066 -0.631269 +v 0.946657 0.970325 -1.591594 +v 1.057411 -1.688377 -1.258839 +v 1.131397 -0.432245 -0.003076 +v 0.983426 2.780403 -0.335676 +v 0.872672 -1.060011 -1.591594 +v -0.494039 -3.054937 -0.003076 +v 0.835679 3.039671 -0.298669 +v -1.048032 -1.798806 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+f 143 151 154 +f 147 149 155 +f 154 151 160 +f 155 149 163 +f 144 145 164 +f 151 152 164 +f 156 159 166 +f 152 143 167 +f 152 150 168 +f 149 147 169 +f 153 165 169 +f 146 159 170 +f 159 149 170 +f 143 154 171 +f 158 165 172 +f 149 159 173 +f 159 156 173 +f 163 149 173 +f 160 151 174 +f 143 172 175 +f 163 148 176 +f 155 163 176 +f 144 164 177 +f 164 168 177 +f 147 155 178 +f 170 149 179 +f 158 171 179 +f 176 148 180 +f 162 153 181 +f 169 147 181 +f 153 169 181 +f 150 157 182 +f 168 150 182 +f 155 177 182 +f 177 168 182 +f 178 155 182 +f 157 178 182 +f 154 146 183 +f 146 170 183 +f 171 154 183 +f 170 179 183 +f 179 171 183 +f 173 156 184 +f 163 173 184 +f 150 152 185 +f 152 167 185 +f 146 154 186 +f 154 160 186 +f 151 164 187 +f 159 146 188 +f 166 159 188 +f 160 166 188 +f 146 186 188 +f 186 160 188 +f 174 151 189 +f 151 180 189 +f 166 160 190 +f 160 174 190 +f 189 161 190 +f 174 189 190 +f 156 166 191 +f 166 190 191 +f 190 161 191 +f 153 162 192 +f 162 167 192 +f 167 175 192 +f 157 150 193 +f 162 157 193 +f 167 162 193 +f 150 185 193 +f 185 167 193 +f 180 148 194 +f 161 189 194 +f 189 180 194 +f 191 161 194 +f 171 158 195 +f 158 172 195 +f 145 144 196 +f 144 176 196 +f 180 151 196 +f 176 180 196 +f 187 145 196 +f 151 187 196 +f 148 163 197 +f 184 156 197 +f 163 184 197 +f 156 191 197 +f 194 148 197 +f 191 194 197 +f 143 171 198 +f 172 143 198 +f 171 195 198 +f 195 172 198 +f 165 153 199 +f 172 165 199 +f 175 172 199 +f 153 192 199 +f 192 175 199 +f 165 158 200 +f 179 149 200 +f 158 179 200 +f 164 152 201 +f 152 168 201 +f 168 164 201 +f 157 162 202 +f 147 178 202 +f 178 157 202 +f 162 181 202 +f 181 147 202 +f 167 143 203 +f 143 175 203 +f 175 167 203 +f 176 144 204 +f 155 176 204 +f 144 177 204 +f 177 155 204 +f 149 169 205 +f 169 165 205 +f 200 149 205 +f 165 200 205 +f 164 145 206 +f 145 187 206 +o convex_4 +v 1.131411 -0.210924 -0.852640 +v 1.168382 -0.247873 -0.003163 +v 1.131411 -0.247873 -0.003163 +v 1.168382 0.453979 -0.446384 +v 1.279180 -0.358722 -0.520225 +v 1.279180 0.306181 -0.741835 +v 1.279180 0.195333 -0.150932 +v 1.131411 0.380080 -0.852640 +v 1.131411 -0.506520 -0.446384 +v 1.279180 -0.358722 -0.187896 +v 1.131411 0.195333 -0.150932 +v 1.279180 0.010491 -0.815676 +v 1.131411 -0.432621 -0.040127 +f 216 208 219 +f 209 208 213 +f 211 212 213 +f 212 210 213 +f 207 209 214 +f 210 212 214 +f 209 207 215 +f 207 211 215 +f 215 211 216 +f 213 208 216 +f 211 213 216 +f 209 213 217 +f 213 210 217 +f 214 209 217 +f 210 214 217 +f 211 207 218 +f 212 211 218 +f 207 214 218 +f 214 212 218 +f 208 209 219 +f 209 215 219 +f 215 216 219 +o convex_5 +v 1.464094 -0.358751 -0.446510 +v 1.390332 0.343152 -0.446510 +v 1.390332 0.343152 -0.520232 +v 3.015467 0.010614 -0.409546 +v 1.279180 -0.210964 -0.113903 +v 1.279180 0.010614 -0.815806 +v 2.645809 -0.026212 -0.704846 +v 1.279180 0.195365 -0.150867 +v 2.645809 -0.174000 -0.224795 +v 2.756622 0.195365 -0.409546 +v 2.645809 -0.210964 -0.594023 +v 2.018156 0.232261 -0.704846 +v 1.279180 -0.174000 -0.778774 +v 2.719911 -0.026212 -0.187900 +v 2.793503 -0.247859 -0.372582 +v 1.279180 -0.321787 -0.187900 +v 1.279180 0.306188 -0.704846 +v 2.608928 0.195365 -0.594023 +v 2.055037 -0.247859 -0.667951 +v 1.981275 0.195365 -0.224795 +v 1.353282 0.158401 -0.815806 +v 2.793503 -0.247859 -0.483199 +v 1.648838 -0.026212 -0.113903 +v 1.279180 -0.358751 -0.483199 +v 2.793503 0.010614 -0.667951 +v 1.279180 0.343152 -0.409546 +v 3.015467 0.010614 -0.483199 +f 241 244 246 +f 225 224 227 +f 222 221 229 +f 224 225 232 +f 225 226 232 +f 224 228 233 +f 223 229 233 +f 233 228 234 +f 223 233 234 +f 228 224 235 +f 224 232 235 +f 220 234 235 +f 234 228 235 +f 225 227 236 +f 222 231 236 +f 222 229 237 +f 231 222 237 +f 226 230 238 +f 232 226 238 +f 227 233 239 +f 233 229 239 +f 226 225 240 +f 231 226 240 +f 225 236 240 +f 236 231 240 +f 234 220 241 +f 223 234 241 +f 220 238 241 +f 238 230 241 +f 227 224 242 +f 224 233 242 +f 233 227 242 +f 220 235 243 +f 235 232 243 +f 238 220 243 +f 232 238 243 +f 230 226 244 +f 226 231 244 +f 231 237 244 +f 241 230 244 +f 221 222 245 +f 229 221 245 +f 222 236 245 +f 236 227 245 +f 227 239 245 +f 239 229 245 +f 229 223 246 +f 237 229 246 +f 223 241 246 +f 244 237 246 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf new file mode 100644 index 000000000..7c2d945b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj new file mode 100644 index 000000000..3aea8bde0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj @@ -0,0 +1,408 @@ +o convex_0 +v -1.954687 -0.353091 1.039673 +v -2.945824 -2.441472 -1.048759 +v -2.981193 -2.335162 -1.048759 +v -0.998918 -0.353091 -1.012999 +v -0.998918 -2.334958 0.933432 +v -3.016562 -0.353091 1.075225 +v -3.087299 -0.353091 -1.048759 +v -2.981193 -2.335162 0.933432 +v -0.998918 -2.334958 -1.048759 +v -0.998918 -0.353091 0.968985 +v -1.176170 -2.370326 0.791639 +v -2.945824 -2.370531 0.862744 +v -3.016562 -0.601080 1.075225 +v -2.556361 -2.441472 -0.659140 +v -3.087299 -0.671817 -1.012999 +v -0.998918 -1.450130 -1.048759 +v -3.087299 -0.388664 -0.482003 +v -2.945824 -2.016640 0.968985 +v -1.282275 -0.424033 1.004121 +v -2.627303 -0.388664 1.075225 +v -3.016562 -0.990339 1.039673 +v -2.733408 -0.353091 -1.048759 +v -2.662672 -2.441472 -1.048759 +v -2.945824 -2.441472 -0.659140 +v -0.998918 -1.167386 0.968985 +f 19 20 25 +f 1 4 6 +f 2 3 7 +f 6 4 7 +f 3 2 8 +f 4 5 9 +f 2 7 9 +f 4 1 10 +f 5 4 10 +f 9 5 11 +f 5 8 12 +f 11 5 12 +f 9 11 14 +f 11 12 14 +f 7 3 15 +f 3 8 15 +f 4 9 16 +f 9 7 16 +f 6 7 17 +f 13 6 17 +f 7 15 17 +f 15 8 17 +f 8 5 18 +f 5 13 18 +f 13 8 18 +f 10 1 19 +f 1 6 20 +f 13 5 20 +f 6 13 20 +f 19 1 20 +f 8 13 21 +f 13 17 21 +f 17 8 21 +f 7 4 22 +f 4 16 22 +f 16 7 22 +f 2 9 23 +f 14 2 23 +f 9 14 23 +f 8 2 24 +f 12 8 24 +f 2 14 24 +f 14 12 24 +f 5 10 25 +f 10 19 25 +f 20 5 25 +o convex_1 +v 3.001122 -2.335124 -0.871685 +v 1.089567 -0.175888 -0.057449 +v 1.089567 -0.175888 -1.084159 +v -0.998519 -2.335124 -1.048496 +v 0.806639 -2.335124 1.110625 +v -0.998519 -0.175888 0.968832 +v 3.001122 -0.211690 0.968832 +v 3.036588 -2.406072 1.075177 +v -0.998519 -0.175888 -1.013048 +v 3.071655 -0.423880 -1.048496 +v -0.998519 -2.335124 0.933384 +v 1.125032 -2.335124 -1.048711 +v 1.054101 -0.175888 1.039729 +v 3.036588 -2.016401 -0.977814 +v -0.892521 -0.175888 1.004280 +v -0.326267 -1.627167 -1.084159 +v 3.001122 -1.768846 1.075177 +v 2.328471 -0.459245 -1.084159 +v 2.965657 -2.406072 0.544097 +v 1.019034 -0.707019 1.075177 +v 3.071655 -0.388515 -1.013048 +v 3.001122 -0.282202 1.004280 +v 2.399403 -2.406072 1.075177 +v 3.001122 -2.299540 -0.977814 +v 2.434868 -2.335124 1.110625 +v 3.071655 -0.848698 -1.048496 +v 0.417315 -0.175888 -1.084159 +v 3.071655 -0.423880 -0.588313 +v 0.983569 -1.803992 1.110625 +v -0.078407 -0.175888 1.039729 +v 3.001122 -0.211690 0.827254 +v -0.751057 -2.335124 0.968832 +v 3.036588 -0.282202 0.402519 +v -0.998519 -1.414540 -1.048496 +v 1.089567 -1.308444 -1.084159 +v 1.726752 -0.246837 1.039729 +v 3.036588 -2.122496 1.075177 +v 3.071655 -0.990158 -0.411287 +v 3.036588 -2.406072 0.685676 +v 2.045145 -2.335124 -1.013263 +f 51 49 65 +f 27 28 31 +f 28 27 32 +f 31 28 34 +f 29 31 34 +f 31 29 36 +f 27 31 38 +f 32 27 38 +f 31 36 40 +f 38 31 40 +f 37 29 41 +f 28 35 43 +f 41 28 43 +f 29 37 44 +f 35 28 46 +f 32 38 47 +f 33 30 48 +f 36 29 48 +f 44 33 48 +f 29 44 48 +f 39 26 49 +f 30 33 50 +f 42 45 50 +f 43 35 51 +f 37 43 51 +f 35 46 51 +f 39 49 51 +f 34 28 52 +f 28 41 52 +f 51 46 53 +f 40 30 54 +f 30 50 54 +f 50 45 54 +f 38 40 55 +f 45 38 55 +f 40 54 55 +f 54 45 55 +f 28 32 56 +f 46 28 56 +f 30 40 57 +f 40 36 57 +f 48 30 57 +f 36 48 57 +f 32 47 58 +f 53 46 58 +f 56 32 58 +f 46 56 58 +f 29 34 59 +f 41 29 59 +f 34 52 59 +f 52 41 59 +f 37 41 60 +f 43 37 60 +f 41 43 60 +f 38 45 61 +f 45 42 61 +f 47 38 61 +f 42 47 61 +f 47 42 62 +f 50 33 62 +f 42 50 62 +f 58 47 62 +f 53 58 62 +f 51 53 63 +f 62 33 63 +f 53 62 63 +f 26 39 64 +f 44 26 64 +f 33 44 64 +f 39 51 64 +f 63 33 64 +f 51 63 64 +f 26 44 65 +f 44 37 65 +f 49 26 65 +f 37 51 65 +o convex_2 +v 1.089667 1.028001 -0.340605 +v -1.105117 3.434626 -1.084159 +v -1.105117 3.434626 -0.977814 +v -0.998557 -0.175888 -1.013263 +v -1.069669 3.717713 1.075177 +v 1.089453 3.717713 -1.084159 +v 1.054004 -0.175888 1.039729 +v 1.018771 3.753484 1.110625 +v -0.998557 -0.175888 0.968832 +v 1.089453 -0.175888 -1.084159 +v -0.184536 0.426057 1.110625 +v -1.105117 3.646941 -1.084159 +v 1.054219 3.753484 0.827254 +v -0.290666 0.390671 -1.084159 +v 1.054004 0.779916 1.075177 +v 1.089453 3.717713 -0.234475 +v 0.664718 3.717713 -1.048711 +v -0.856979 -0.175888 1.004280 +v 0.239769 0.355285 1.110625 +v 1.089453 -0.175888 -0.092897 +v -1.034220 0.850687 0.367071 +v 1.018771 3.753484 0.083915 +v -1.034220 0.921459 -1.048711 +v -1.069669 3.505013 1.075177 +v 0.735615 3.753484 1.110625 +v 0.629270 -0.069346 1.075177 +v -0.290666 0.815301 1.110625 +v 1.054219 2.089578 1.075177 +v -0.998557 0.249127 1.004280 +v 0.417010 -0.175888 -1.084159 +v -1.034220 0.779916 -1.013263 +v -1.069669 2.407666 -1.084159 +v 0.310665 3.753484 1.039729 +v -0.184536 -0.175888 1.039729 +f 91 76 99 +f 69 72 74 +f 67 71 75 +f 71 66 75 +f 72 69 75 +f 67 68 77 +f 68 70 77 +f 71 67 77 +f 67 75 79 +f 66 71 81 +f 71 78 81 +f 77 70 82 +f 71 77 82 +f 74 72 83 +f 73 76 84 +f 80 73 84 +f 75 66 85 +f 72 75 85 +f 80 72 85 +f 66 81 85 +f 78 71 87 +f 73 78 87 +f 82 70 87 +f 71 82 87 +f 79 69 88 +f 70 68 89 +f 68 86 89 +f 86 74 89 +f 76 73 90 +f 73 87 90 +f 72 80 91 +f 84 76 91 +f 80 84 91 +f 70 89 92 +f 90 70 92 +f 76 90 92 +f 78 73 93 +f 73 80 93 +f 81 78 93 +f 80 85 93 +f 85 81 93 +f 74 83 94 +f 83 76 94 +f 89 74 94 +f 76 92 94 +f 92 89 94 +f 75 69 95 +f 69 79 95 +f 79 75 95 +f 68 67 96 +f 69 74 96 +f 86 68 96 +f 74 86 96 +f 67 88 96 +f 88 69 96 +f 67 79 97 +f 88 67 97 +f 79 88 97 +f 87 70 98 +f 70 90 98 +f 90 87 98 +f 83 72 99 +f 76 83 99 +f 72 91 99 +o convex_3 +v -0.361722 0.709033 -1.580113 +v 0.310873 0.673616 -1.084159 +v 0.275452 0.992304 -1.544363 +v 0.310873 0.319840 -3.031038 +v -0.290815 0.992304 -3.031038 +v -0.326236 0.319840 -3.031038 +v -0.290815 0.355191 -1.084159 +v 0.310873 0.992304 -3.066195 +v -0.326236 0.921404 -1.084159 +v 0.310873 0.390608 -1.119909 +v -0.361722 0.355191 -3.101945 +v 0.240032 0.992304 -1.084159 +v 0.027640 0.319840 -1.863148 +v -0.326236 0.956821 -2.712451 +v -0.361722 0.532211 -3.101945 +v -0.361722 0.355191 -2.605992 +v -0.149199 0.319840 -3.101945 +v -0.326236 0.956821 -1.827596 +v 0.310873 0.319840 -2.429021 +f 109 112 118 +f 102 101 107 +f 101 103 107 +f 104 102 107 +f 106 101 108 +f 100 106 108 +f 103 101 109 +f 101 106 109 +f 101 102 111 +f 102 104 111 +f 108 101 111 +f 105 103 112 +f 106 105 112 +f 109 106 112 +f 104 107 114 +f 110 100 114 +f 100 113 114 +f 113 104 114 +f 106 100 115 +f 105 106 115 +f 100 110 115 +f 110 105 115 +f 103 105 116 +f 107 103 116 +f 105 110 116 +f 114 107 116 +f 110 114 116 +f 100 108 117 +f 111 104 117 +f 108 111 117 +f 113 100 117 +f 104 113 117 +f 103 109 118 +f 112 103 118 +o convex_4 +v -0.220068 0.532183 1.110816 +v 0.346273 0.567548 3.057421 +v 0.346273 0.461328 3.057421 +v -0.290923 0.850656 2.986531 +v 0.204625 0.850656 1.110816 +v -0.290923 0.355108 2.951086 +v 0.275418 0.355108 1.146260 +v 0.204625 0.992304 2.951086 +v -0.290923 0.921386 1.110816 +v -0.184703 0.390536 1.110816 +v -0.255495 0.956876 2.986531 +v -0.078483 0.956876 1.606471 +v -0.290923 0.355108 2.526320 +v 0.346273 0.426025 2.667909 +v 0.240053 0.956876 2.844943 +v 0.240053 0.709071 1.110816 +v -0.184703 0.355108 2.951086 +v -0.255495 0.956876 1.641916 +v 0.204625 0.886084 1.323294 +v 0.346273 0.602976 2.986531 +v 0.098468 0.355108 1.110816 +v 0.275418 0.355108 1.500327 +v 0.346273 0.496756 2.561765 +f 134 138 141 +f 121 120 122 +f 121 122 124 +f 123 119 127 +f 124 122 127 +f 119 123 128 +f 122 120 129 +f 120 126 129 +f 127 122 129 +f 125 124 131 +f 127 119 131 +f 124 127 131 +f 119 128 131 +f 120 121 132 +f 126 120 133 +f 128 123 134 +f 121 124 135 +f 124 125 135 +f 132 121 135 +f 129 126 136 +f 127 129 136 +f 130 127 136 +f 126 130 136 +f 123 127 137 +f 127 130 137 +f 130 126 137 +f 126 133 137 +f 120 132 138 +f 133 120 138 +f 134 123 138 +f 123 137 138 +f 137 133 138 +f 125 131 139 +f 131 128 139 +f 128 134 139 +f 134 125 139 +f 125 132 140 +f 135 125 140 +f 132 135 140 +f 132 125 141 +f 125 134 141 +f 138 132 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf new file mode 100644 index 000000000..5f7a74276 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj new file mode 100644 index 000000000..75f575130 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj @@ -0,0 +1,570 @@ +o convex_0 +v 0.714607 -1.835212 -1.083755 +v 1.037452 -0.963444 1.079145 +v 1.069778 -0.963444 -0.405626 +v -1.060830 -0.963444 0.174902 +v -0.963851 -3.416882 0.949786 +v 1.005126 -3.384461 1.046752 +v -1.028504 -3.319859 -1.019181 +v 1.037452 -3.416882 -1.051362 +v -0.996178 -0.963444 -1.019181 +v -0.996178 -0.963444 1.014571 +v 1.005126 -0.963444 -1.051362 +v -1.060830 -1.576803 0.562344 +v 0.456415 -3.319859 1.046752 +v -0.544237 -3.352280 -1.051150 +v -1.060830 -2.480512 -0.502380 +v 0.585511 -0.963444 -1.083755 +v 0.972800 -2.641897 1.079145 +v 0.972800 -3.029270 -1.083755 +v 1.069778 -1.544863 -0.696101 +v -0.963851 -3.416882 0.594525 +v -0.189066 -3.416882 0.981967 +v 1.037452 -3.384461 -0.373445 +v -1.028504 -3.319859 -0.599135 +v 0.940473 -0.963444 -1.083755 +v -0.996178 -1.125069 1.014571 +v 0.843703 -3.416882 -1.051362 +v -0.608681 -3.287438 -1.051150 +v -1.060830 -0.963444 0.627129 +v 1.037452 -1.125069 1.079145 +v 1.037452 -2.157982 -1.051362 +v 1.037452 -3.416882 -0.663920 +v -1.028504 -2.480512 -1.019181 +v 1.037452 -1.028046 -0.922003 +v 0.940473 -0.963444 1.079145 +v -0.511911 -3.416882 0.981967 +f 13 25 35 +f 2 3 4 +f 4 3 9 +f 2 4 10 +f 9 3 11 +f 4 9 15 +f 12 4 15 +f 9 11 16 +f 13 6 17 +f 1 16 18 +f 5 7 20 +f 8 5 20 +f 7 14 20 +f 5 8 21 +f 7 5 23 +f 5 12 23 +f 15 7 23 +f 12 15 23 +f 16 11 24 +f 18 16 24 +f 12 5 25 +f 13 17 25 +f 18 8 26 +f 14 18 26 +f 8 20 26 +f 20 14 26 +f 14 7 27 +f 16 1 27 +f 9 16 27 +f 1 18 27 +f 18 14 27 +f 10 4 28 +f 4 12 28 +f 12 25 28 +f 25 10 28 +f 3 2 29 +f 2 17 29 +f 17 6 29 +f 19 3 29 +f 6 22 29 +f 22 19 29 +f 8 18 30 +f 19 8 30 +f 24 11 30 +f 18 24 30 +f 8 19 31 +f 6 21 31 +f 21 8 31 +f 22 6 31 +f 19 22 31 +f 7 15 32 +f 15 9 32 +f 27 7 32 +f 9 27 32 +f 11 3 33 +f 3 19 33 +f 19 30 33 +f 30 11 33 +f 2 10 34 +f 17 2 34 +f 10 25 34 +f 25 17 34 +f 6 13 35 +f 5 21 35 +f 21 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+f 41 50 53 +f 39 37 54 +f 37 48 54 +f 48 49 54 +f 49 39 54 +f 37 38 55 +f 48 37 55 +f 50 48 55 +f 38 53 55 +f 53 50 55 +f 41 36 56 +f 36 44 56 +f 50 41 56 +f 50 56 57 +f 49 42 57 +f 44 49 57 +f 42 50 57 +f 56 44 57 +f 44 36 58 +f 46 44 58 +f 36 52 58 +f 52 46 58 +f 42 48 59 +f 50 42 59 +o convex_2 +v 3.103559 -0.382262 0.433440 +v 1.102265 -0.866572 -0.534959 +v 1.102265 -0.866572 -0.470370 +v 1.102265 0.198601 -0.534959 +v 1.102265 0.134122 0.594914 +v 2.974254 0.101717 -0.534959 +v 1.102265 -0.834277 0.562508 +v 3.006580 -0.931162 -0.502554 +v 3.038906 0.198601 0.433440 +v 3.103559 -0.834277 0.530324 +v 1.392811 0.166417 0.594914 +v 2.974254 -0.931162 -0.212012 +v 3.038906 0.198601 0.207488 +v 1.102265 0.198601 0.045903 +v 2.393163 -0.931162 -0.470370 +v 3.038906 -0.931162 -0.438075 +v 1.134592 -0.382262 0.594914 +v 2.167271 -0.898867 -0.534959 +v 1.489594 0.198601 -0.534959 +v 3.103559 -0.866572 0.368851 +v 2.425490 0.198601 0.497919 +v 2.812818 0.134122 -0.502554 +v 3.103559 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-2.531594 2.669774 +v 1.044634 -2.139196 2.777105 +v -0.275004 -0.463144 2.705414 +v -1.059631 -1.533002 2.669774 +f 165 150 172 +f 138 142 144 +f 142 138 145 +f 140 139 146 +f 139 140 147 +f 147 140 149 +f 141 149 150 +f 139 147 152 +f 147 143 152 +f 148 153 154 +f 138 144 154 +f 153 138 154 +f 141 150 155 +f 151 141 155 +f 149 141 156 +f 147 149 156 +f 156 141 157 +f 143 156 157 +f 143 141 158 +f 153 143 158 +f 144 152 159 +f 142 145 160 +f 151 142 160 +f 145 138 161 +f 160 145 161 +f 144 142 162 +f 139 152 162 +f 152 144 162 +f 146 139 163 +f 139 162 163 +f 162 142 163 +f 141 151 164 +f 138 153 164 +f 158 141 164 +f 153 158 164 +f 151 160 164 +f 161 138 164 +f 160 161 164 +f 155 150 165 +f 148 154 166 +f 154 144 166 +f 144 159 166 +f 166 159 167 +f 152 143 167 +f 143 153 167 +f 153 148 167 +f 159 152 167 +f 148 166 167 +f 142 151 168 +f 151 155 168 +f 146 163 169 +f 163 142 169 +f 165 146 169 +f 155 165 169 +f 142 168 169 +f 168 155 169 +f 141 143 170 +f 157 141 170 +f 143 157 170 +f 143 147 171 +f 156 143 171 +f 147 156 171 +f 140 146 172 +f 149 140 172 +f 150 149 172 +f 146 165 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf new file mode 100644 index 000000000..208c8c26a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj new file mode 100644 index 000000000..c8501bcab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj @@ -0,0 +1,384 @@ +o convex_0 +v -2.732980 -0.702118 0.527668 +v -1.104592 0.393828 -0.317726 +v -1.104592 0.393828 -0.443049 +v -3.046101 0.299704 -0.568373 +v -1.198568 -0.670781 -0.505541 +v -1.104592 0.237148 0.558971 +v -3.108882 0.205812 0.527668 +v -3.077295 -0.796242 -0.536957 +v -1.104592 -0.764906 0.590273 +v -3.077295 -0.702118 0.496366 +v -1.104592 -0.639562 -0.505541 +v -2.795565 0.205812 0.558971 +v -2.889344 0.237148 0.464950 +v -1.104592 -0.764906 0.371042 +v -1.731031 -0.764790 0.558971 +v -3.108882 -0.388990 0.527668 +v -2.826759 0.299704 -0.568373 +v -1.198568 0.268484 0.496366 +v -2.889344 -0.796242 -0.536957 +v -3.108882 0.237148 0.245832 +v -3.077295 -0.796242 -0.380331 +v -3.014710 -0.138651 -0.568373 +v -3.046101 0.299704 -0.442936 +v -1.887591 0.362492 -0.505654 +v -3.077295 -0.733454 0.308324 +v -1.198568 0.393828 -0.317726 +v -3.077295 -0.482882 -0.536957 +v -2.576419 -0.764790 -0.536957 +v -2.200713 0.237148 0.558971 +f 18 13 29 +f 3 2 6 +f 3 6 9 +f 3 9 11 +f 5 11 14 +f 11 9 14 +f 9 1 15 +f 1 10 15 +f 1 9 16 +f 10 1 16 +f 12 7 16 +f 9 12 16 +f 6 2 18 +f 5 14 19 +f 14 9 19 +f 7 13 20 +f 16 7 20 +f 8 16 20 +f 9 15 21 +f 16 8 21 +f 8 19 21 +f 19 9 21 +f 8 4 22 +f 4 17 22 +f 17 11 22 +f 19 8 22 +f 4 20 23 +f 20 13 23 +f 3 11 24 +f 17 4 24 +f 11 17 24 +f 4 23 24 +f 15 10 25 +f 10 16 25 +f 21 15 25 +f 16 21 25 +f 2 3 26 +f 18 2 26 +f 13 18 26 +f 23 13 26 +f 3 24 26 +f 24 23 26 +f 4 8 27 +f 20 4 27 +f 8 20 27 +f 11 5 28 +f 5 19 28 +f 22 11 28 +f 19 22 28 +f 9 6 29 +f 7 12 29 +f 12 9 29 +f 13 7 29 +f 6 18 29 +o convex_1 +v 1.150449 -0.827560 -0.537055 +v 2.935313 0.362511 0.590380 +v 2.997886 0.331058 0.590380 +v 1.087683 -0.733435 0.559038 +v 1.087683 0.331175 -0.411576 +v 3.060459 -0.733552 -0.537055 +v 3.029172 -0.670880 0.590380 +v 3.029172 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39 42 53 +f 48 37 53 +f 42 48 53 +f 49 39 53 +f 40 49 53 +f 31 32 54 +f 32 36 54 +f 36 40 54 +f 48 31 54 +f 40 48 54 +f 35 40 55 +f 40 36 55 +f 43 35 55 +o convex_2 +v 0.085340 2.460395 -1.037978 +v -1.104338 -0.763876 0.370985 +v -1.104338 -0.763876 0.590074 +v 1.087468 -3.270091 -1.069455 +v 1.056353 2.836115 0.997399 +v 1.056353 -3.238528 0.966131 +v -0.947903 -3.301654 -1.037978 +v -1.104338 2.899240 1.060145 +v -1.010563 -3.301654 0.966131 +v -0.916573 2.742640 -1.037978 +v 1.087468 2.804552 -1.006709 +v -1.104338 -0.638839 -0.505578 +v 1.087468 1.207591 0.746625 +v -0.102210 2.899240 -0.349026 +v -1.010563 1.145072 1.060145 +v 0.837043 2.804552 1.028668 +v 0.179330 -0.576320 -1.069455 +v -1.104338 0.393632 -0.442832 +v -1.010563 -2.956890 0.997399 +v 1.056353 -1.672523 0.997399 +v 0.304650 -3.301654 -1.069455 +v -0.947903 2.491958 -1.006709 +v 0.367309 2.899240 0.276971 +v -0.979233 -3.081928 -0.975441 +v -0.196200 2.805159 1.060145 +v 1.087468 -1.797561 -1.069455 +v 1.087468 -3.270091 -0.536846 +v -1.104338 2.899240 0.934654 +v 0.148000 -3.301654 -0.066984 +v 1.087468 -0.732920 0.558805 +v 0.054010 -3.301654 -1.069455 +v 1.056353 1.082553 -1.037978 +v -1.104338 2.335357 1.060145 +v -0.603274 -3.301654 0.965922 +v 0.304650 2.899240 -0.349026 +v -0.947903 1.426710 -1.037978 +v -0.947903 2.742640 -0.912695 +v -0.979233 -3.301654 -0.662129 +v -0.665934 2.899240 1.060145 +v 1.087468 2.804552 -0.568115 +v -0.227530 2.899240 -0.317758 +v -1.010563 -3.301654 0.778102 +v 0.680394 2.804552 -1.006709 +v -0.133540 2.742640 -1.037978 +v 1.056353 2.836115 0.558805 +v 1.056353 -3.270091 -0.192266 +v -1.041893 -1.610005 0.997399 +v 1.087468 1.426710 0.746625 +v -0.979233 -1.891643 -0.975441 +v -1.073223 2.899240 0.840848 +f 83 96 105 +f 57 58 63 +f 58 57 64 +f 57 63 67 +f 59 66 68 +f 67 63 73 +f 70 74 75 +f 68 60 75 +f 61 68 75 +f 60 71 75 +f 74 61 75 +f 64 62 76 +f 72 59 76 +f 67 73 77 +f 69 63 78 +f 63 70 80 +f 70 75 80 +f 75 71 80 +f 66 59 81 +f 59 72 81 +f 72 56 81 +f 59 68 82 +f 76 59 82 +f 63 69 83 +f 73 63 83 +f 64 76 84 +f 68 61 85 +f 61 82 85 +f 82 68 85 +f 65 72 86 +f 76 62 86 +f 72 76 86 +f 56 66 87 +f 81 56 87 +f 66 81 87 +f 63 58 88 +f 70 63 88 +f 74 70 88 +f 61 74 89 +f 74 64 89 +f 84 61 89 +f 64 84 89 +f 66 69 90 +f 69 78 90 +f 77 65 91 +f 67 77 91 +f 62 79 91 +f 86 62 91 +f 65 86 91 +f 65 77 92 +f 77 73 92 +f 83 65 92 +f 73 83 92 +f 62 64 93 +f 79 62 93 +f 67 79 93 +f 71 60 94 +f 60 78 94 +f 78 63 94 +f 63 80 94 +f 80 71 94 +f 66 60 95 +f 68 66 95 +f 69 65 96 +f 83 69 96 +f 64 57 97 +f 57 67 97 +f 93 64 97 +f 67 93 97 +f 66 65 98 +f 65 69 98 +f 69 66 98 +f 65 66 99 +f 66 56 99 +f 56 72 99 +f 72 65 99 +f 60 66 100 +f 78 60 100 +f 66 90 100 +f 90 78 100 +f 82 61 101 +f 76 82 101 +f 61 84 101 +f 84 76 101 +f 58 64 102 +f 64 74 102 +f 88 58 102 +f 74 88 102 +f 60 68 103 +f 95 60 103 +f 68 95 103 +f 79 67 104 +f 67 91 104 +f 91 79 104 +f 65 83 105 +f 96 65 105 +o convex_3 +v 0.242002 4.872059 0.339839 +v -0.321611 2.899434 0.057931 +v -0.321611 2.899434 0.183239 +v 0.367377 2.899434 0.183239 +v 0.336016 4.840582 -0.349149 +v -0.258958 4.809298 -0.349149 +v 0.304656 2.899434 -0.349149 +v -0.227597 4.809298 0.308479 +v -0.227597 2.899434 -0.317788 +v 0.367377 2.899434 0.277118 +v -0.133650 4.778014 0.339839 +v -0.290251 4.590117 -0.286428 +v -0.321611 2.993478 0.214532 +v 0.304656 4.872059 0.089292 +v -0.258958 3.807633 -0.349149 +v 0.336016 3.838917 -0.349149 +v 0.273295 4.214324 0.339839 +v -0.321611 3.525885 0.057931 +v 0.273295 4.809298 0.339839 +v 0.273295 2.930911 0.277118 +v -0.102357 2.899434 -0.349149 +v 0.336016 4.840582 -0.161120 +v 0.085402 4.872059 0.151811 +v 0.367377 3.056046 0.277118 +v -0.196304 4.840582 0.308479 +v -0.008410 4.840582 -0.349149 +v -0.258958 2.899434 -0.255067 +f 117 120 132 +f 108 107 109 +f 109 107 112 +f 111 110 112 +f 112 107 114 +f 108 109 115 +f 113 111 117 +f 107 108 118 +f 116 113 118 +f 111 112 120 +f 117 111 120 +f 110 109 121 +f 109 112 121 +f 112 110 121 +f 106 116 122 +f 117 107 123 +f 113 117 123 +f 107 118 123 +f 118 113 123 +f 119 106 124 +f 106 122 124 +f 122 115 124 +f 108 115 125 +f 118 108 125 +f 116 118 125 +f 115 122 125 +f 122 116 125 +f 112 114 126 +f 120 112 126 +f 114 120 126 +f 110 119 127 +f 106 119 128 +f 109 110 129 +f 115 109 129 +f 119 124 129 +f 124 115 129 +f 110 127 129 +f 127 119 129 +f 111 113 130 +f 116 106 130 +f 113 116 130 +f 128 111 130 +f 106 128 130 +f 110 111 131 +f 119 110 131 +f 111 128 131 +f 128 119 131 +f 114 107 132 +f 107 117 132 +f 120 114 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf new file mode 100644 index 000000000..ba9fb5b09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj new file mode 100644 index 000000000..7573281af --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj @@ -0,0 +1,546 @@ +o convex_0 +v -2.958838 1.597343 0.161483 +v -1.307838 2.742911 -0.175323 +v -1.307838 2.675400 0.431016 +v -3.295928 2.641644 0.431124 +v -3.161053 2.675400 -0.579840 +v -1.308033 1.597343 -0.512348 +v -1.307838 1.698386 0.532253 +v -3.228393 1.799430 -0.579840 +v -3.262063 1.597343 0.464761 +v -1.307838 2.742911 -0.478602 +v -2.150367 2.742911 -0.545985 +v -3.194723 2.675400 0.363741 +v -1.409043 1.664630 0.532253 +v -3.262063 1.732030 -0.343836 +v -1.308033 1.597343 -0.209069 +v -2.823963 2.709044 -0.579840 +v -1.409043 1.833185 0.532253 +v -3.194723 1.765786 -0.579840 +v -3.161053 2.709044 -0.343836 +v -3.228393 2.102784 -0.579840 +v -1.914483 2.742911 -0.175432 +v -2.722953 1.597343 0.464761 +v -2.621748 1.664630 0.498507 +v -1.476383 2.742911 -0.512348 +v -3.295928 2.641644 0.296249 +v -3.295928 2.203603 0.397378 +f 25 14 26 +f 2 3 7 +f 1 6 9 +f 2 7 10 +f 7 6 10 +f 2 10 11 +f 4 3 12 +f 1 9 14 +f 6 7 15 +f 9 6 15 +f 7 13 15 +f 8 5 16 +f 11 6 16 +f 3 4 17 +f 7 3 17 +f 13 7 17 +f 6 1 18 +f 1 14 18 +f 14 8 18 +f 8 16 18 +f 16 6 18 +f 4 12 19 +f 16 5 19 +f 11 16 19 +f 5 8 20 +f 8 14 20 +f 3 2 21 +f 2 11 21 +f 12 3 21 +f 19 12 21 +f 11 19 21 +f 13 9 22 +f 9 15 22 +f 15 13 22 +f 4 9 23 +f 9 13 23 +f 17 4 23 +f 13 17 23 +f 10 6 24 +f 6 11 24 +f 11 10 24 +f 4 19 25 +f 19 5 25 +f 5 20 25 +f 20 14 25 +f 9 4 26 +f 14 9 26 +f 4 25 26 +o convex_1 +v 1.522951 2.304758 -3.107324 +v 2.163244 2.372158 -0.580087 +v 2.163244 2.304758 -0.580087 +v 1.522951 1.866773 -0.580087 +v 2.129508 1.934173 -3.073185 +v 1.590423 2.439557 -0.580087 +v 2.129508 2.439557 -3.005898 +v 1.455548 2.001572 -2.904719 +v 2.095841 1.934173 -0.580087 +v 1.522951 2.405858 -3.107324 +v 1.455548 2.102672 -2.500500 +v 2.163244 2.405858 -0.613978 +v 1.556687 2.439557 -1.153020 +v 1.489354 1.967872 -0.984554 +v 1.489354 2.372158 -3.107324 +v 1.859896 2.439557 -3.039542 +v 1.859896 2.439557 -0.849731 +v 2.062036 1.934173 -3.073185 +f 30 34 44 +f 29 28 30 +f 30 28 32 +f 29 30 35 +f 30 31 35 +f 31 29 35 +f 31 27 36 +f 33 31 36 +f 28 29 38 +f 29 31 38 +f 32 28 38 +f 31 33 38 +f 32 33 39 +f 39 37 40 +f 30 32 40 +f 34 30 40 +f 37 34 40 +f 32 39 40 +f 27 34 41 +f 36 27 41 +f 34 37 41 +f 39 36 41 +f 37 39 41 +f 33 36 42 +f 39 33 42 +f 36 39 42 +f 33 32 43 +f 32 38 43 +f 38 33 43 +f 27 31 44 +f 31 30 44 +f 34 27 44 +o convex_2 +v 0.815147 -2.716665 1.105150 +v 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135 129 138 +f 112 121 139 +f 121 129 139 +f 135 112 139 +f 129 135 139 +f 113 107 140 +f 107 114 140 +f 120 113 140 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf new file mode 100644 index 000000000..dccb5cd38 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj new file mode 100644 index 000000000..876eafc5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj @@ -0,0 +1,582 @@ +o convex_0 +v 1.104492 -1.485966 -0.722402 +v -1.098683 -2.975907 0.605689 +v -1.098683 -2.975907 0.638057 +v -1.098683 -0.578593 0.994506 +v -1.001421 -0.578593 -1.013915 +v 1.071928 -0.578593 0.962138 +v 1.039579 -3.105779 0.994706 +v -0.969072 -3.073373 -0.981347 +v 1.071928 -2.943501 -0.981547 +v 1.071928 -0.578593 -1.013915 +v -1.098683 -2.943501 0.994506 +v -0.644936 -1.421153 -1.046483 +v 0.715658 -0.578593 0.994506 +v -1.001421 -3.073373 -0.884243 +v 0.424087 -0.578593 -1.046483 +v -1.098683 -0.838090 0.508385 +v 1.071928 -3.008560 -0.398322 +v 1.071928 -1.680403 0.962138 +v 0.229562 -3.105779 0.184504 +v 1.104492 -0.578593 -0.398322 +v -1.001421 -2.068782 -1.013915 +v 0.715658 -3.105779 0.897202 +v -0.904158 -2.489815 -1.013915 +v -0.709849 -0.578593 -1.046483 +v 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-0.448892 -0.528029 +v -1.649618 0.587800 -0.236456 +v -1.714421 -0.546168 0.508543 +v -2.491667 -0.513743 -0.560486 +v -1.357910 0.555375 -0.495680 +v -2.977784 -0.060133 -0.560486 +v -3.010088 0.522950 -0.366068 +v -2.945286 -0.513743 -0.301262 +v -1.552511 0.360938 0.541108 +v -1.098892 -0.578593 0.379039 +v -2.977784 -0.286995 0.508543 +v -1.098892 0.587800 -0.333611 +v -1.098892 -0.481318 0.508651 +v -3.042393 0.587800 0.314125 +v -1.876525 0.555375 -0.495680 +v -2.070739 -0.448892 -0.560486 +f 115 117 127 +f 103 104 105 +f 105 104 109 +f 103 105 110 +f 105 109 112 +f 111 103 113 +f 110 105 116 +f 108 102 117 +f 115 108 117 +f 116 105 117 +f 107 116 117 +f 102 111 118 +f 117 102 118 +f 107 117 118 +f 108 109 119 +f 114 106 119 +f 109 114 119 +f 104 103 120 +f 103 111 120 +f 114 104 120 +f 106 114 120 +f 109 108 121 +f 112 109 121 +f 108 115 121 +f 115 112 121 +f 102 108 122 +f 111 102 122 +f 119 106 122 +f 108 119 122 +f 106 120 122 +f 120 111 122 +f 103 110 123 +f 113 103 123 +f 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140 +f 139 140 141 +f 128 132 141 +f 132 134 141 +f 134 129 141 +f 129 139 141 +f 137 128 142 +f 141 140 142 +f 128 141 142 +f 134 132 143 +f 138 134 143 +f 138 143 144 +f 132 136 144 +f 136 138 144 +f 143 132 144 +f 135 131 145 +f 131 137 145 +f 137 142 145 +f 142 140 145 +f 133 131 146 +f 131 135 146 +f 140 133 146 +f 135 145 146 +f 145 140 146 +f 137 131 147 +f 136 137 147 +f 131 138 147 +o convex_5 +v -0.418217 0.555400 -1.111479 +v 0.456394 -0.578593 -1.662400 +v 0.521308 -0.578593 -1.662400 +v 0.391588 0.458163 -3.022872 +v -0.580286 -0.448943 -2.925377 +v -0.580286 -0.546181 -1.046676 +v 0.456394 0.490575 -1.046676 +v -0.515372 0.425750 -3.022872 +v 0.488851 -0.513768 -3.022872 +v 0.521308 -0.578593 -1.046676 +v 0.521308 0.458052 -2.990180 +v 0.456394 -0.546181 -2.957875 +v -0.450566 0.458163 -1.046676 +v -0.580286 -0.546181 -1.467991 +v 0.488851 0.490575 -1.597597 +v -0.256256 -0.578593 -1.079175 +v -0.580286 -0.448943 -1.046676 +v -0.580286 -0.254579 -2.957875 +v -0.158993 0.458163 -3.022872 +v 0.521308 0.004499 -3.022872 +v 0.488851 0.490575 -2.374650 +v 0.261976 -0.513768 -3.022872 +v 0.521308 -0.384118 -1.046676 +v -0.515372 0.425750 -2.795772 +v -0.547829 -0.448943 -2.957875 +v 0.132364 0.522988 -1.046676 +v 0.521308 0.458052 -2.569059 +v -0.515372 0.231386 -3.022872 +f 169 172 175 +f 155 151 156 +f 149 150 157 +f 154 153 157 +f 157 150 158 +f 150 149 159 +f 156 150 159 +f 153 154 160 +f 153 152 161 +f 152 159 161 +f 149 157 163 +f 157 153 163 +f 159 149 163 +f 153 161 163 +f 161 159 163 +f 152 153 164 +f 153 160 164 +f 152 164 165 +f 148 151 166 +f 155 148 166 +f 151 155 166 +f 150 156 167 +f 156 151 167 +f 151 158 167 +f 158 150 167 +f 151 148 168 +f 158 151 168 +f 162 158 168 +f 155 156 169 +f 156 159 169 +f 154 157 170 +f 157 158 170 +f 162 154 170 +f 148 155 171 +f 160 148 171 +f 164 160 171 +f 155 165 171 +f 165 164 171 +f 159 152 172 +f 152 165 172 +f 169 159 172 +f 148 160 173 +f 160 154 173 +f 154 162 173 +f 168 148 173 +f 162 168 173 +f 158 162 174 +f 170 158 174 +f 162 170 174 +f 165 155 175 +f 155 169 175 +f 172 165 175 +o convex_6 +v 1.136892 0.425788 0.508477 +v -1.001303 -0.157389 -1.046483 +v -1.001303 0.652600 -1.046483 +v -1.098683 -0.578593 0.994363 +v 1.071899 -0.578593 -1.013912 +v -1.066077 0.652600 0.994363 +v 1.071899 -0.578593 0.962204 +v 1.071899 0.652600 -0.981547 +v 1.071899 0.652600 0.962204 +v -1.001303 -0.578593 -1.013912 +v 0.553489 -0.481337 1.059505 +v -1.098683 0.652600 -0.528026 +v -0.580273 0.652600 1.059505 +v 1.136892 -0.481337 -0.495454 +v 0.683037 0.652600 -1.046483 +v -1.098683 -0.448918 -0.528026 +v 0.488715 0.555343 1.059505 +v 0.521102 -0.578593 -1.046483 +v 1.136892 -0.546174 0.573413 +v -0.482893 -0.448918 1.059505 +v 1.136892 0.490506 -0.430725 +v -1.098683 0.652600 0.605572 +v -0.709821 -0.578593 -1.046483 +v 1.104286 0.652600 -0.203964 +v 1.039512 0.652600 -1.013912 +v -1.098683 0.069181 0.994363 +f 181 197 201 +f 179 180 182 +f 178 181 183 +f 183 181 184 +f 180 179 185 +f 179 182 186 +f 182 184 186 +f 178 177 187 +f 181 178 187 +f 184 181 188 +f 180 183 189 +f 177 178 190 +f 178 183 190 +f 177 185 191 +f 185 179 191 +f 187 177 191 +f 179 187 191 +f 186 184 192 +f 184 188 192 +f 188 186 192 +f 180 185 193 +f 177 190 193 +f 190 180 193 +f 182 180 194 +f 184 182 194 +f 176 184 194 +f 189 176 194 +f 180 189 194 +f 179 186 195 +f 188 179 195 +f 186 188 195 +f 176 189 196 +f 189 183 196 +f 181 187 197 +f 187 179 197 +f 185 177 198 +f 177 193 198 +f 193 185 198 +f 183 184 199 +f 184 176 199 +f 196 183 199 +f 176 196 199 +f 183 180 200 +f 180 190 200 +f 190 183 200 +f 179 188 201 +f 188 181 201 +f 197 179 201 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf new file mode 100644 index 000000000..a033bc7c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj new file mode 100644 index 000000000..acd4545a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj @@ -0,0 +1,543 @@ +o convex_0 +v 1.066593 -4.279983 -0.414320 +v -1.113932 -3.385605 0.515077 +v -1.113932 -3.385605 0.586886 +v 1.066593 1.188946 0.550873 +v -0.970747 1.188946 -1.521829 +v -1.078136 -5.245533 -1.521829 +v 1.066593 1.188946 -1.486250 +v 0.923625 -5.209632 0.586886 +v 1.102389 -5.245533 -1.522046 +v -1.078136 1.188946 0.479498 +v -1.078136 -5.209632 0.443485 +v 0.995001 -3.206730 -1.629435 +v 0.709066 1.188946 -1.593638 +v 1.066593 1.117144 0.586886 +v -1.078136 1.188946 -0.163964 +v -1.006543 -3.172089 -1.557842 +v -1.113932 -2.062934 0.586886 +v 1.030797 -2.634832 0.550873 +v -0.649016 1.188946 -1.557842 +v 1.102389 -4.887782 -1.093144 +v 1.030797 -5.245533 -0.592433 +v -1.078136 -4.708277 -1.521829 +v -0.935168 0.795295 0.515077 +v 1.066593 -0.169626 0.586669 +v -0.577641 -4.744178 -1.557625 +v 0.959204 -5.137830 0.443485 +v -0.863576 -5.173731 0.479498 +v 0.601894 0.795295 0.586886 +v 0.923625 -3.314433 -1.629435 +v -1.042339 -5.245533 -0.949960 +v -1.006543 1.188946 -1.128723 +v -1.113932 -1.885949 0.515077 +v -0.863576 -3.743986 0.586886 +v 1.030797 -3.385605 0.372326 +v 1.030797 -4.708277 -1.557625 +v 0.601894 1.188946 -1.593638 +v 1.102389 -5.245533 -1.271691 +f 20 26 37 +f 3 2 6 +f 5 4 7 +f 4 5 10 +f 3 6 11 +f 7 9 12 +f 5 7 13 +f 7 12 13 +f 3 8 14 +f 4 10 14 +f 10 5 15 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2.368437 -3.595525 +v -0.541866 1.224694 -1.593884 +v 0.601817 2.332756 -1.593688 +v 0.422998 2.404348 -3.523807 +v 0.530379 1.367762 -3.416622 +v -0.541866 1.296286 -3.416622 +v -0.541866 2.332756 -1.736732 +v -0.112901 1.224694 -1.736732 +v 0.601817 1.296401 -2.165669 +v -0.112901 2.404348 -3.488144 +v 0.458829 2.404348 -3.345295 +v -0.470316 2.368437 -3.237914 +v 0.566098 2.368552 -1.772591 +v -0.184451 2.154006 -3.595525 +v -0.112901 1.224694 -3.488144 +v 0.387391 1.260605 -1.593884 +v 0.315841 2.404348 -3.559470 +v -0.541866 2.296960 -2.058484 +v -0.470316 2.332756 -1.593884 +v 0.530379 1.260605 -2.737455 +f 80 72 84 +f 60 61 64 +f 63 62 66 +f 62 63 67 +f 64 68 69 +f 61 60 70 +f 65 61 70 +f 60 66 70 +f 66 62 70 +f 70 62 71 +f 66 60 72 +f 67 63 73 +f 64 69 73 +f 69 67 73 +f 59 68 74 +f 68 59 75 +f 67 69 75 +f 69 68 75 +f 65 70 76 +f 74 65 76 +f 71 74 76 +f 75 59 77 +f 67 75 77 +f 64 61 78 +f 61 65 78 +f 60 64 79 +f 72 60 79 +f 63 66 80 +f 66 72 80 +f 68 64 81 +f 65 74 81 +f 74 68 81 +f 64 78 81 +f 78 65 81 +f 70 71 82 +f 76 70 82 +f 71 76 82 +f 62 67 83 +f 71 62 83 +f 59 74 83 +f 74 71 83 +f 77 59 83 +f 67 77 83 +f 73 63 84 +f 64 73 84 +f 79 64 84 +f 72 79 84 +f 63 80 84 +o convex_3 +v -1.077971 2.261136 -0.520854 +v 1.102175 2.439948 0.514993 +v 1.102175 1.761044 0.514993 +v 1.066530 1.188947 -1.486159 +v 1.066530 2.940383 -1.450398 +v -1.077971 1.188947 0.479477 +v -0.970821 1.188947 -1.522165 +v -1.077971 2.940383 0.479477 +v -1.042325 2.833061 -1.593688 +v 0.565997 1.260609 0.908610 +v 1.102175 2.868892 0.479477 +v -0.541793 2.404117 0.908610 +v 1.066530 1.188947 0.550999 +v 0.709006 1.188947 -1.593688 +v 0.458847 2.404117 0.908610 +v -0.470501 1.367930 0.908610 +v 0.637502 2.404117 -1.593688 +v -0.934962 2.868892 -1.593688 +v 1.102175 2.904552 -0.985749 +v -0.541793 1.224949 -1.593688 +v -1.077971 1.188947 -0.199739 +v 0.565997 2.904552 0.479477 +v 0.780511 2.940383 -1.486404 +v -1.042325 2.475608 -1.593688 +v 1.066530 2.940383 -1.057271 +v 1.066530 2.547099 -1.486159 +v 1.102175 2.011347 -0.342539 +v -1.077971 2.940383 0.372193 +v 1.102175 2.904552 0.086349 +v -1.006466 1.725384 -1.557926 +v -0.899316 2.940383 0.479477 +f 113 109 115 +f 88 90 91 +f 85 90 92 +f 86 87 95 +f 92 90 96 +f 87 86 97 +f 88 87 97 +f 90 88 97 +f 86 94 97 +f 94 90 97 +f 88 91 98 +f 94 86 99 +f 86 95 99 +f 92 96 99 +f 96 94 99 +f 90 94 100 +f 96 90 100 +f 94 96 100 +f 98 93 101 +f 101 93 102 +f 95 87 103 +f 98 91 104 +f 93 98 104 +f 90 85 105 +f 91 90 105 +f 99 95 106 +f 92 89 107 +f 89 101 107 +f 101 102 107 +f 85 93 108 +f 93 104 108 +f 105 85 108 +f 89 92 109 +f 103 89 109 +f 88 98 110 +f 101 89 110 +f 98 101 110 +f 103 88 110 +f 89 103 110 +f 87 88 111 +f 103 87 111 +f 88 103 111 +f 85 92 112 +f 93 85 112 +f 102 93 112 +f 92 107 112 +f 107 102 112 +f 95 103 113 +f 106 95 113 +f 103 109 113 +f 104 91 114 +f 91 105 114 +f 108 104 114 +f 105 108 114 +f 92 99 115 +f 99 106 115 +f 109 92 115 +f 106 113 115 +o convex_4 +v 0.494657 2.189306 0.908725 +v -0.577725 0.796162 1.909417 +v -0.577725 0.796162 1.945094 +v -0.577725 4.870899 1.123250 +v 0.458861 4.870899 1.980887 +v 0.458861 -1.169824 1.945094 +v -0.434656 -1.098441 0.980310 +v -0.470452 4.834613 2.016564 +v 0.566133 4.870899 0.980310 +v 0.458861 -1.098441 0.980310 +v -0.434656 -1.206110 2.052356 +v -0.577725 2.404047 0.908725 +v 0.530337 2.260688 2.088264 +v 0.601929 1.583152 1.266189 +v -0.577725 4.870899 0.944518 +v -0.577725 1.403506 2.088264 +v 0.566133 1.261337 0.908725 +v 0.601929 2.010255 1.730685 +v 0.101361 3.476566 2.088264 +v 0.494657 1.332719 2.088264 +v 0.494657 4.763230 1.909417 +v -0.363179 4.584775 2.052356 +v -0.434656 1.403506 0.908725 +v 0.566133 0.581421 1.015988 +v 0.530337 4.334342 0.944518 +v -0.220226 -1.206110 2.052356 +v -0.577725 1.511174 1.194720 +v 0.601929 1.546866 1.694892 +v 0.566133 4.870899 1.230512 +v -0.470452 -0.919986 2.052356 +v 0.494657 3.762094 2.052356 +v 0.458861 -1.134132 1.194720 +v 0.601929 2.010255 1.123250 +v -0.434656 -1.134132 1.087457 +v -0.470452 -0.705244 1.159042 +v 0.423180 2.511121 0.908725 +v 0.494657 -0.740340 0.980310 +v 0.065681 -1.206110 1.945094 +v 0.137158 4.834613 2.016564 +v -0.148634 4.870899 0.944518 +v -0.470452 2.367761 2.088264 +v 0.530337 2.582503 2.088264 +f 136 146 157 +f 117 118 119 +f 120 119 123 +f 119 120 124 +f 117 119 127 +f 119 124 130 +f 127 119 130 +f 119 118 131 +f 123 119 131 +f 125 122 132 +f 127 116 132 +f 131 128 134 +f 121 128 135 +f 131 126 135 +f 128 131 135 +f 123 131 137 +f 122 127 138 +f 132 122 138 +f 127 132 138 +f 132 116 140 +f 124 132 140 +f 121 135 141 +f 135 126 141 +f 117 127 142 +f 127 122 142 +f 128 121 143 +f 133 128 143 +f 129 133 143 +f 121 139 143 +f 139 129 143 +f 124 120 144 +f 133 124 144 +f 120 136 144 +f 136 133 144 +f 118 117 145 +f 131 118 145 +f 126 131 145 +f 136 120 146 +f 132 124 148 +f 124 133 148 +f 133 129 148 +f 129 139 148 +f 139 132 148 +f 122 125 149 +f 126 145 149 +f 125 147 149 +f 117 142 150 +f 142 122 150 +f 145 117 150 +f 122 149 150 +f 149 145 150 +f 116 127 151 +f 127 130 151 +f 140 116 151 +f 125 132 152 +f 139 121 152 +f 132 139 152 +f 147 125 152 +f 121 147 152 +f 121 141 153 +f 141 126 153 +f 147 121 153 +f 126 149 153 +f 149 147 153 +f 120 123 154 +f 123 137 154 +f 137 134 154 +f 134 146 154 +f 146 120 154 +f 130 124 155 +f 124 140 155 +f 151 130 155 +f 140 151 155 +f 131 134 156 +f 137 131 156 +f 134 137 156 +f 128 133 157 +f 134 128 157 +f 133 136 157 +f 146 134 157 +o convex_5 +v 0.280206 2.296925 2.552932 +v -0.577725 1.260671 2.088264 +v -0.112929 1.260671 2.088264 +v -0.506175 1.260671 2.624471 +v -0.470456 2.368394 2.088264 +v 0.494632 1.332141 2.088264 +v 0.530351 2.332717 2.088264 +v 0.566182 1.296349 2.481444 +v -0.506175 2.296925 2.588623 +v 0.458913 2.440095 2.517135 +v -0.506175 2.368394 2.302831 +v 0.494632 1.653813 2.517135 +v 0.029948 2.404187 2.159804 +f 167 164 170 +f 159 160 161 +f 160 159 162 +f 160 162 163 +f 163 162 164 +f 161 160 165 +f 160 163 165 +f 163 164 165 +f 159 161 166 +f 161 158 166 +f 165 164 167 +f 166 158 167 +f 162 159 168 +f 159 166 168 +f 167 162 168 +f 166 167 168 +f 158 161 169 +f 161 165 169 +f 167 158 169 +f 165 167 169 +f 164 162 170 +f 162 167 170 +o convex_6 +v 0.602062 1.582294 1.266095 +v 2.925186 2.154118 1.373466 +v 2.961190 2.118350 1.444670 +v 2.961190 1.474923 1.123093 +v 3.104227 1.582294 1.730793 +v 0.602062 2.010979 1.730793 +v 0.602062 2.010979 1.123093 +v 0.602062 1.546526 1.695043 +v 3.068223 2.011112 1.695043 +v 2.925186 2.154118 1.266095 +v 1.960177 1.546526 1.730793 +v 2.961190 1.582294 1.123093 +v 0.781103 2.046747 1.194713 +v 2.746635 1.474923 1.123093 +v 2.603598 2.154118 1.301846 +v 3.068223 1.796703 1.730793 +v 0.602062 1.546526 1.480420 +v 2.961190 1.474923 1.194713 +f 178 184 188 +f 171 176 177 +f 176 171 178 +f 173 172 179 +f 172 176 179 +f 172 173 180 +f 173 179 180 +f 175 176 181 +f 176 178 181 +f 175 174 182 +f 174 177 182 +f 179 175 182 +f 177 180 182 +f 180 179 182 +f 177 176 183 +f 180 177 183 +f 171 177 184 +f 177 174 184 +f 176 172 185 +f 172 180 185 +f 183 176 185 +f 180 183 185 +f 176 175 186 +f 175 179 186 +f 179 176 186 +f 178 171 187 +f 171 184 187 +f 184 178 187 +f 174 175 188 +f 175 181 188 +f 181 178 188 +f 184 174 188 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf new file mode 100644 index 000000000..ad4342efe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj new file mode 100644 index 000000000..34bf39039 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj @@ -0,0 +1,189 @@ +o convex_0 +v 1.071197 0.960869 0.675313 +v -1.072098 -2.977620 -1.004271 +v -1.072098 -2.977620 -0.772785 +v -0.956079 3.046058 0.964973 +v 1.071197 3.104030 -0.975486 +v 1.070987 -2.948634 0.906800 +v 0.984131 -3.035593 -1.033459 +v -0.927127 3.016468 -1.062445 +v -0.927127 -2.948634 0.964973 +v 1.042035 2.987482 0.993959 +v 0.086406 -3.065183 0.559369 +v -0.463684 -1.645467 0.993959 +v -0.029193 0.177640 -1.062445 +v 0.926226 -2.948634 0.935987 +v -0.550750 -3.065183 -0.598868 +v -0.956079 -2.948634 0.907001 +v -0.956079 2.408363 -1.062445 +v -1.072098 -2.253571 -0.743597 +v 0.173262 3.103426 -0.396167 +v 1.070987 -2.977620 0.733084 +v 0.984131 3.016468 0.993959 +v -0.608654 3.046058 -1.062445 +v 0.868322 -3.065183 -0.917514 +v 1.042035 0.902293 -1.004472 +v 0.260118 3.016468 0.993959 +v 0.231166 -3.035593 -1.033459 +v 0.578591 -3.065183 0.588154 +v -0.637606 -3.035593 0.617140 +v -0.985031 1.886613 0.588154 +v 1.071197 0.005535 0.964973 +v -0.956079 1.655328 -1.062445 +v 1.071197 3.104030 -0.656639 +v -0.058145 3.046058 0.964973 +v -0.956079 3.046058 0.414640 +v 0.984131 -1.732425 -1.033459 +v -0.029193 -2.948634 0.964973 +v -1.013983 -3.007210 -0.975486 +v -0.927127 3.046058 -0.541097 +v -0.956079 -0.776487 0.964973 +v 1.042035 2.466336 0.993959 +v 0.636705 2.958496 -1.004472 +v -0.985031 -1.008376 -1.033459 +v -0.521798 -1.587494 0.993959 +v -1.072098 -2.340530 -0.975486 +v 1.013083 -2.659377 -0.598667 +v 1.042035 -2.977620 0.906800 +v 0.665658 3.103426 -0.975486 +v -0.724463 -2.977620 0.906800 +v 1.071197 3.074440 -0.453937 +v 1.071197 1.916203 -0.685826 +v -1.072098 -2.919648 -0.743597 +v -1.013983 -3.007210 -0.714813 +v -0.724463 3.046058 -1.062445 +v 1.070987 -2.543432 0.935786 +v -0.318924 1.742286 -1.062445 +v 0.984131 -3.035593 -0.396167 +v -0.985031 0.844320 0.588355 +v -0.869223 -2.977620 0.877814 +v 0.144310 -3.065183 -0.801771 +v -0.724463 -3.035593 0.211737 +v 1.013083 -1.356209 -0.975486 +v -0.521798 -3.065183 -0.367180 +v 1.071197 0.410132 0.964973 +v 0.752514 -3.035593 0.704098 +f 56 46 64 +f 8 13 17 +f 2 3 18 +f 12 10 21 +f 13 8 22 +f 11 15 23 +f 21 4 25 +f 12 21 25 +f 13 7 26 +f 7 23 26 +f 11 23 27 +f 5 1 30 +f 6 20 30 +f 2 17 31 +f 17 13 31 +f 13 26 31 +f 1 5 32 +f 5 19 32 +f 21 10 32 +f 21 32 33 +f 19 4 33 +f 4 21 33 +f 32 19 33 +f 8 17 34 +f 4 19 34 +f 29 4 34 +f 18 29 34 +f 7 13 35 +f 24 7 35 +f 12 9 36 +f 14 12 36 +f 3 2 37 +f 2 26 37 +f 8 34 38 +f 34 19 38 +f 16 9 39 +f 10 12 40 +f 12 14 40 +f 30 10 40 +f 14 30 40 +f 22 5 41 +f 5 24 41 +f 24 35 41 +f 26 2 42 +f 2 31 42 +f 31 26 42 +f 9 12 43 +f 25 4 43 +f 12 25 43 +f 4 39 43 +f 39 9 43 +f 17 2 44 +f 2 18 44 +f 34 17 44 +f 18 34 44 +f 20 7 45 +f 6 14 46 +f 20 6 46 +f 36 9 46 +f 14 36 46 +f 19 5 47 +f 11 27 48 +f 28 11 48 +f 46 9 48 +f 10 1 49 +f 1 32 49 +f 32 10 49 +f 24 5 50 +f 5 30 50 +f 30 20 50 +f 20 45 50 +f 3 16 51 +f 18 3 51 +f 16 39 51 +f 16 3 52 +f 3 37 52 +f 37 15 52 +f 22 8 53 +f 5 22 53 +f 8 38 53 +f 38 19 53 +f 47 5 53 +f 19 47 53 +f 14 6 54 +f 6 30 54 +f 30 14 54 +f 13 22 55 +f 35 13 55 +f 22 41 55 +f 41 35 55 +f 7 20 56 +f 23 7 56 +f 27 23 56 +f 20 46 56 +f 4 29 57 +f 29 18 57 +f 39 4 57 +f 18 51 57 +f 51 39 57 +f 9 16 58 +f 48 9 58 +f 28 48 58 +f 16 52 58 +f 23 15 59 +f 26 23 59 +f 37 26 59 +f 15 37 59 +f 52 15 60 +f 28 58 60 +f 58 52 60 +f 7 24 61 +f 45 7 61 +f 24 50 61 +f 50 45 61 +f 15 11 62 +f 11 28 62 +f 60 15 62 +f 28 60 62 +f 1 10 63 +f 30 1 63 +f 10 30 63 +f 48 27 64 +f 46 48 64 +f 27 56 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf new file mode 100644 index 000000000..22605e926 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj new file mode 100644 index 000000000..e59546989 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj @@ -0,0 +1,255 @@ +o convex_0 +v 0.321044 -2.600961 -0.624454 +v 0.469961 -4.238316 0.566299 +v 0.380611 -4.238316 0.566299 +v 0.469961 -4.536106 -0.565004 +v -0.572115 -4.416990 0.298307 +v -0.542332 -2.541208 0.477007 +v -0.452982 -4.446867 -0.594845 +v 0.588980 -2.541208 0.476891 +v -0.423312 -2.541208 -0.505437 +v 0.529414 -4.536106 0.566299 +v 0.440177 -2.541208 -0.624454 +v -0.542332 -4.416990 0.447282 +v 0.588980 -3.047744 0.209015 +v -0.452982 -3.524012 -0.565004 +v 0.499744 -4.416990 -0.475595 +v -0.542332 -2.541208 0.298307 +v 0.380611 -4.536106 0.536458 +v 0.559197 -4.178758 0.506733 +v -0.274395 -2.868875 0.506849 +v 0.588980 -2.541208 0.238740 +v -0.423312 -2.571085 -0.535279 +v 0.469961 -3.642737 -0.594729 +v -0.572115 -3.553302 0.447282 +v -0.452982 -4.178758 -0.594845 +v -0.214829 -4.446867 -0.594845 +v 0.350827 -4.536106 -0.565004 +v -0.452982 -2.541208 -0.416145 +v 0.469961 -2.809512 -0.535162 +v 0.588980 -3.375214 0.506733 +v 0.380611 -4.446671 0.566299 +v -0.542332 -2.839193 0.477007 +v 0.529414 -4.536106 0.209015 +v -0.482765 -4.208635 -0.416145 +v -0.363745 -4.446867 0.447282 +v 0.529414 -3.880969 -0.267286 +v 0.321044 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a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj new file mode 100644 index 000000000..31adbc6a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj @@ -0,0 +1,537 @@ +o convex_0 +v 0.129920 -1.040754 -3.705110 +v -0.058445 -1.574474 -2.512042 +v 0.004323 -1.574474 -2.512042 +v 0.255517 -0.789569 -2.354883 +v -0.246872 -0.977901 -2.354883 +v -0.184042 -1.260359 -3.830769 +v 0.255517 -1.542971 -2.354883 +v 0.192687 -1.291786 -3.830769 +v -0.278286 -1.480194 -2.354883 +v -0.027031 -1.448767 -3.862097 +v -0.027031 -1.009327 -3.862097 +v 0.318346 -1.228932 -2.543543 +v -0.184042 -0.977901 -3.171664 +v -0.309701 -1.197582 -2.543543 +v 0.035676 -1.197582 -4.113414 +v 0.067090 -0.820920 -2.449385 +v 0.286931 -0.820920 -2.386556 +v 0.067090 -1.448767 -3.799096 +v 0.192687 -1.197582 -3.830769 +v -0.184042 -1.197582 -3.862097 +v -0.152689 -1.385990 -3.705110 +v 0.035676 -1.009327 -3.893598 +v -0.278286 -1.480194 -2.449385 +v 0.318346 -1.040754 -2.354883 +v 0.004323 -1.260359 -4.113414 +v -0.089860 -1.574474 -2.354883 +v -0.309701 -1.354563 -2.417712 +v 0.161334 -1.417340 -3.579279 +v 0.161334 -0.789569 -2.386556 +v -0.027031 -0.852346 -2.354883 +f 29 16 30 +f 4 5 7 +f 7 5 9 +f 3 2 10 +f 7 8 12 +f 5 13 14 +f 11 13 16 +f 7 3 18 +f 3 10 18 +f 12 8 19 +f 8 15 19 +f 1 17 19 +f 13 11 20 +f 6 14 20 +f 14 13 20 +f 11 15 20 +f 6 10 21 +f 15 11 22 +f 17 1 22 +f 4 17 22 +f 1 19 22 +f 19 15 22 +f 10 2 23 +f 6 21 23 +f 21 10 23 +f 4 7 24 +f 7 12 24 +f 17 4 24 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174 181 +f 175 179 181 +f 178 173 182 +f 176 178 182 +f 180 176 182 +f 177 180 182 +f 173 174 183 +f 182 173 183 +f 177 182 183 +f 174 172 184 +f 172 180 184 +f 180 177 184 +f 183 174 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf new file mode 100644 index 000000000..d592d6034 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj new file mode 100644 index 000000000..3dc64d5f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj @@ -0,0 +1,621 @@ +o convex_0 +v -1.072834 1.420265 -0.756829 +v 1.110373 3.039575 -0.686255 +v 0.934280 3.075136 -0.651076 +v 1.075112 1.068190 1.109372 +v -1.002312 2.934266 0.968440 +v 1.004589 1.068190 -1.003079 +v -1.002312 1.068190 0.933045 +v -0.967051 2.934266 -0.967900 +v 0.969328 3.004603 0.933045 +v -1.072834 1.068190 -1.003079 +v 1.110373 3.039575 -1.073653 +v -0.227632 3.075136 0.299179 +v 0.582095 1.068190 -1.109049 +v -0.931789 2.828565 -1.003079 +v -0.333202 3.075136 -0.334252 +v 1.039850 1.068190 -0.967900 +v -1.037573 2.617360 0.651399 +v 1.004589 3.004406 0.862687 +v 1.110373 2.546630 -1.038475 +v 0.582095 3.075136 0.440111 +v 0.828497 1.702004 -1.109049 +v -0.826219 1.173695 -1.038475 +v -1.002312 2.159583 0.968440 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-0.298148 -1.889973 -1.109352 +v 0.370900 -2.312378 -2.763758 +v -0.262914 -1.713925 -3.045765 +v 0.230030 -2.241931 -1.073836 +v -0.298148 -1.643409 -1.531881 +v -0.298148 -1.678702 -2.306292 +v -0.157279 -2.347601 -2.235645 +v -0.122045 -1.678702 -2.517267 +f 67 81 84 +f 64 63 68 +f 66 62 68 +f 69 65 71 +f 68 63 74 +f 63 71 75 +f 71 65 75 +f 74 63 75 +f 65 69 76 +f 69 71 76 +f 62 72 76 +f 66 68 77 +f 68 74 77 +f 74 66 77 +f 72 70 78 +f 70 73 78 +f 73 75 78 +f 75 65 78 +f 65 76 78 +f 76 72 78 +f 63 64 79 +f 71 63 79 +f 67 71 79 +f 62 66 80 +f 72 62 80 +f 70 72 80 +f 66 73 80 +f 73 70 80 +f 64 68 81 +f 68 62 81 +f 79 64 82 +f 67 79 82 +f 81 67 82 +f 64 81 82 +f 73 66 83 +f 66 74 83 +f 75 73 83 +f 74 75 83 +f 71 67 84 +f 62 76 84 +f 76 71 84 +f 81 62 84 +o convex_3 +v -1.002188 1.067994 0.933169 +v 0.793414 -1.115214 -3.045462 +v 0.053937 -1.044691 -3.010304 +v -0.931962 -1.115214 0.933169 +v 1.074950 1.067994 1.109372 +v -1.037511 0.961996 -3.010304 +v 1.039837 0.961996 -3.080620 +v 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1.109372 +v -0.685329 -0.974169 -2.939575 +f 97 93 124 +f 88 86 92 +f 92 86 94 +f 85 89 96 +f 91 90 96 +f 87 86 97 +f 86 88 97 +f 95 89 98 +f 96 89 99 +f 87 93 100 +f 89 94 101 +f 94 89 103 +f 89 95 103 +f 103 95 105 +f 94 86 106 +f 93 97 107 +f 100 93 107 +f 92 94 108 +f 94 103 108 +f 88 92 109 +f 92 105 109 +f 105 95 109 +f 97 88 110 +f 88 109 110 +f 109 95 110 +f 85 96 111 +f 98 85 111 +f 96 102 111 +f 102 110 111 +f 96 90 112 +f 90 100 112 +f 97 102 112 +f 102 96 112 +f 107 97 112 +f 100 107 112 +f 95 98 113 +f 110 95 113 +f 98 111 113 +f 111 110 113 +f 91 101 114 +f 102 97 115 +f 97 110 115 +f 110 102 115 +f 92 103 116 +f 105 92 116 +f 103 105 116 +f 99 89 117 +f 91 99 117 +f 89 101 117 +f 101 91 117 +f 90 91 118 +f 100 90 118 +f 106 100 118 +f 104 106 118 +f 91 114 118 +f 114 104 118 +f 91 96 119 +f 99 91 119 +f 96 99 119 +f 101 94 120 +f 94 106 120 +f 106 104 120 +f 114 101 120 +f 104 114 120 +f 103 92 121 +f 92 108 121 +f 108 103 121 +f 86 87 122 +f 87 100 122 +f 106 86 122 +f 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-1.002312 0.398753 1.109565 +v -1.072834 1.032422 2.975341 +v 0.370955 -1.044788 1.109565 +v 1.075112 -1.009423 2.834641 +v -0.790958 1.067994 3.045788 +v -1.002312 1.067994 2.482407 +v 1.110373 0.680430 2.975341 +v 1.004589 -0.164186 1.109565 +f 143 152 161 +f 131 129 132 +f 126 127 134 +f 131 132 135 +f 135 132 136 +f 139 137 141 +f 132 129 143 +f 130 137 144 +f 140 130 144 +f 135 140 144 +f 135 136 145 +f 140 135 145 +f 125 140 145 +f 127 129 146 +f 134 127 146 +f 129 138 146 +f 127 126 147 +f 129 127 147 +f 133 129 147 +f 139 133 147 +f 129 131 148 +f 138 129 148 +f 131 142 148 +f 129 133 149 +f 143 129 149 +f 137 139 150 +f 134 144 150 +f 144 137 150 +f 137 130 151 +f 141 137 151 +f 136 132 152 +f 128 141 153 +f 151 130 153 +f 141 151 153 +f 136 152 153 +f 131 135 154 +f 142 131 154 +f 142 154 155 +f 134 142 155 +f 144 134 155 +f 135 144 155 +f 154 135 155 +f 130 140 156 +f 140 125 156 +f 145 136 156 +f 125 145 156 +f 153 130 156 +f 136 153 156 +f 143 149 157 +f 152 143 157 +f 128 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-0.791959 +v 0.969504 -1.432317 -1.003100 +v -1.002299 -1.115214 -0.510296 +v -1.037481 -2.453178 1.073897 +v 0.793392 -1.115214 1.073897 +v 0.934119 -2.664580 1.109158 +v -1.108047 -2.770085 -1.073836 +v 0.969504 -2.594047 -1.038361 +f 174 184 190 +f 163 164 167 +f 166 167 168 +f 167 164 169 +f 169 164 170 +f 168 167 171 +f 164 163 172 +f 170 164 172 +f 170 171 174 +f 171 167 174 +f 165 173 176 +f 175 165 176 +f 169 170 177 +f 174 169 177 +f 170 174 177 +f 166 163 178 +f 163 167 178 +f 167 166 178 +f 170 172 179 +f 172 176 179 +f 165 175 180 +f 170 173 181 +f 176 172 182 +f 175 176 182 +f 173 170 183 +f 176 173 183 +f 170 179 183 +f 179 176 183 +f 167 169 184 +f 174 167 184 +f 171 162 185 +f 168 171 185 +f 162 181 185 +f 181 168 185 +f 173 165 186 +f 180 168 186 +f 165 180 186 +f 168 181 186 +f 181 173 186 +f 166 168 187 +f 168 180 187 +f 180 175 187 +f 182 166 187 +f 175 182 187 +f 163 166 188 +f 172 163 188 +f 166 182 188 +f 182 172 188 +f 162 171 189 +f 171 170 189 +f 181 162 189 +f 170 181 189 +f 169 174 190 +f 184 169 190 +o convex_6 +v -0.192440 -1.749107 1.497043 +v 0.335687 -2.241972 1.602568 +v 0.335687 -2.277185 1.602568 +v -0.333347 -1.889959 3.010689 +v 0.265233 -1.713894 2.940153 +v -0.298051 -2.241972 1.109372 +v 0.265233 -2.312398 3.010689 +v 0.230006 -1.749107 1.109372 +v -0.227598 -2.241972 2.975328 +v -0.368574 -1.713894 2.376793 +v -0.333347 -1.819533 1.109372 +v 0.335687 -2.241972 1.109372 +v -0.368574 -1.713894 2.975328 +v 0.265233 -1.713894 2.165556 +v 0.124395 -2.312398 3.010689 +v 0.335687 -2.136333 1.109372 +v 0.300460 -2.312398 2.482504 +v -0.298051 -2.241972 1.532218 +v -0.298051 -1.784320 1.109372 +v -0.086759 -1.713894 1.919516 +v 0.159621 -1.749107 2.975328 +v -0.368574 -1.784320 2.235906 +v 0.265233 -1.749107 1.391331 +v -0.368574 -1.784320 2.975328 +f 212 208 214 +f 198 196 201 +f 192 193 202 +f 193 196 202 +f 196 198 202 +f 195 200 203 +f 200 195 204 +f 197 194 205 +f 194 199 205 +f 195 192 206 +f 192 202 206 +f 202 198 206 +f 204 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000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj new file mode 100644 index 000000000..3612d24d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj @@ -0,0 +1,3138 @@ +o convex_0 +v 0.087748 3.889928 0.703351 +v 0.044923 3.889928 -0.586201 +v 0.044923 3.911516 -0.586201 +v -0.191676 4.018951 0.209040 +v 0.238242 4.470281 0.080034 +v -0.127135 4.470281 0.144537 +v 0.302732 3.889928 -0.113222 +v -0.170112 3.889928 -0.306731 +v 0.324246 4.298334 0.037116 +v -0.148649 3.889928 0.509843 +v 0.066285 4.448756 0.295001 +v 0.259705 3.889928 0.423881 +v 0.044872 4.448756 -0.070304 +v 0.238242 4.362782 0.251957 +v 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1.009363 -0.629271 +v -0.815082 -2.946040 -0.306870 +v -0.836577 1.009363 -0.306870 +v -0.836577 0.901728 -0.650784 +v -0.815082 -1.183222 -0.693811 +v -0.836577 -2.946040 -0.306870 +v -0.836577 -1.183222 -0.693811 +v -0.815082 -2.773746 -0.521816 +f 1114 1118 1120 +f 1113 1112 1114 +f 1112 1113 1115 +f 1114 1112 1115 +f 1111 1115 1116 +f 1115 1113 1116 +f 1113 1114 1117 +f 1116 1113 1117 +f 1115 1111 1118 +f 1114 1115 1118 +f 1111 1116 1119 +f 1117 1111 1119 +f 1116 1117 1119 +f 1117 1114 1120 +f 1111 1117 1120 +f 1118 1111 1120 +o convex_84 +v 0.732684 -2.128982 -0.693792 +v 0.840168 1.116847 -0.543376 +v 0.840168 1.116847 -0.607843 +v 0.840168 -2.860053 -0.607843 +v 0.818652 -0.109001 -0.736777 +v 0.732684 1.116847 -0.672289 +v 0.732684 -2.860053 -0.607843 +v 0.732684 -0.216442 -0.758281 +v 0.840168 -1.612795 -0.693792 +v 0.818652 0.858753 -0.543376 +v 0.732684 1.116847 -0.650828 +f 1130 1122 1131 +f 1123 1122 1124 +f 1123 1125 1126 +f 1122 1123 1126 +f 1126 1121 1127 +f 1121 1124 1127 +f 1126 1125 1128 +f 1121 1126 1128 +f 1123 1124 1129 +f 1124 1121 1129 +f 1125 1123 1129 +f 1121 1128 1129 +f 1128 1125 1129 +f 1124 1122 1130 +f 1127 1124 1130 +f 1127 1130 1131 +f 1122 1126 1131 +f 1126 1127 1131 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf new file mode 100644 index 000000000..14441e34f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj new file mode 100644 index 000000000..1d1fd6252 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj @@ -0,0 +1,264 @@ +o convex_0 +v 0.535517 -2.959099 0.308485 +v -0.564630 -4.564591 -0.375148 +v -0.564630 -4.564591 0.457199 +v -0.534774 -2.572400 -0.553719 +v 0.595117 -4.534560 -0.523976 +v -0.445545 -2.572400 0.516685 +v 0.416659 -4.564591 0.576171 +v 0.446402 -2.572400 -0.523976 +v 0.505774 -2.572400 0.606028 +v -0.564630 -4.534560 -0.553719 +v 0.238202 -4.564591 0.576285 +v 0.565260 -4.564591 -0.226547 +v -0.534774 -3.731716 0.486942 +v -0.148229 -2.572400 -0.553719 +v 0.446402 -4.504919 0.546428 +v -0.564630 -3.821029 0.100398 +v -0.475401 -2.602236 0.427457 +v 0.595117 -4.296651 -0.404891 +v -0.564630 -3.583121 -0.553719 +v 0.505774 -2.780668 0.606028 +v -0.326573 -4.534560 -0.553719 +v 0.446402 -3.078053 0.606028 +v 0.565260 -4.564591 -0.464377 +v 0.476145 -2.572400 -0.166948 +v -0.445545 -4.564591 0.486942 +v 0.535517 -3.612762 -0.523976 +v 0.595117 -4.415606 -0.375148 +v 0.178716 -4.088579 0.576285 +v -0.534774 -2.572400 -0.494120 +v -0.564630 -4.148056 0.397714 +v 0.505774 -2.572400 0.308485 +f 26 24 31 +f 3 2 7 +f 4 6 8 +f 8 6 9 +f 2 3 10 +f 3 7 11 +f 7 2 12 +f 4 8 14 +f 10 4 14 +f 7 12 15 +f 10 3 16 +f 13 6 17 +f 4 10 19 +f 10 16 19 +f 1 9 20 +f 7 15 20 +f 14 5 21 +f 10 14 21 +f 9 6 22 +f 11 7 22 +f 20 9 22 +f 7 20 22 +f 2 10 23 +f 5 12 23 +f 12 2 23 +f 21 5 23 +f 10 21 23 +f 8 9 24 +f 3 11 25 +f 13 3 25 +f 6 13 25 +f 5 14 26 +f 14 8 26 +f 1 18 26 +f 18 5 26 +f 8 24 26 +f 12 5 27 +f 15 12 27 +f 18 1 27 +f 5 18 27 +f 1 20 27 +f 20 15 27 +f 22 6 28 +f 11 22 28 +f 25 11 28 +f 6 25 28 +f 6 4 29 +f 17 6 29 +f 4 19 29 +f 19 16 29 +f 3 13 30 +f 16 3 30 +f 13 17 30 +f 29 16 30 +f 17 29 30 +f 9 1 31 +f 24 9 31 +f 1 26 31 +o convex_1 +v -0.832182 -0.608405 -0.999776 +v -0.951177 -2.363537 1.111558 +v -1.040424 -2.363537 1.111558 +v -0.683439 3.642848 0.962756 +v 1.041173 -2.542396 1.081591 +v 0.981676 3.553418 -0.910288 +v 0.981676 -2.452358 -0.940048 +v -1.040424 3.613038 -0.970015 +v 0.922178 3.523608 1.022070 +v -0.980926 -2.423156 -0.999776 +v -0.951177 3.642848 0.962756 +v -0.564647 -2.571597 -0.612891 +v 0.951927 3.166498 1.051831 +v 0.892429 3.553418 -0.940048 +v -1.010675 -2.482776 1.111558 +v -1.040424 -2.452966 0.516764 +v -1.010675 0.343078 1.052037 +v 0.446402 -2.571597 -0.494056 +v -0.445449 -2.572206 0.516557 +v 1.011424 -0.400344 1.081591 +v -1.010675 -1.084754 -0.999776 +v -0.534899 -2.422548 -0.999776 +v -1.040424 3.613038 -0.672411 +v 1.011424 1.174104 -0.137138 +v 0.178663 3.582619 1.022070 +v -0.594396 3.612429 -0.970015 +v 1.011424 -2.482776 -0.285733 +v -0.980926 3.642848 0.605838 +v -1.040424 2.214407 -0.970015 +v -1.040424 -1.441256 1.081798 +v -0.891680 3.225509 0.992517 +v 0.803183 3.553418 1.022070 +v 0.981676 3.553418 -0.583337 +v 1.041173 -1.917605 0.843715 +v 0.773434 3.226118 1.051831 +v 0.981676 1.620035 -0.940048 +v 0.505900 -2.571597 0.605838 +v -0.951177 0.104599 -0.999776 +v -1.010675 -2.423156 -0.553577 +v -0.951177 3.642848 0.041424 +v 0.357156 3.582619 -0.940048 +v -1.010675 -2.452966 -0.256179 +v 1.041173 -2.542396 0.843715 +v -0.980926 2.482088 0.992517 +v 0.951927 3.523608 0.784194 +v 1.041173 -2.095856 1.051831 +v 0.951927 3.553418 0.219367 +v 0.684188 -2.541787 1.081591 +v 0.267910 -2.423156 -0.970015 +v 0.743686 -2.482776 -0.880527 +v -0.921429 -2.452966 -0.940048 +v 1.011424 1.144294 -0.166898 +v -0.623941 3.612429 0.992517 +v -0.534899 3.582619 -0.970015 +v -0.891680 -2.482776 1.111558 +v -0.296909 -2.572206 -0.613097 +v 0.981676 3.463988 -0.494056 +v 0.981676 -2.482776 -0.464295 +v -1.010675 0.164219 -0.999776 +f 85 69 90 +f 33 34 46 +f 34 39 47 +f 46 34 47 +f 46 43 50 +f 44 33 51 +f 32 41 52 +f 38 41 53 +f 41 32 53 +f 32 45 53 +f 39 34 54 +f 35 42 56 +f 42 35 59 +f 39 54 59 +f 47 39 60 +f 39 52 60 +f 52 47 60 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43 81 87 +f 81 49 87 +f 55 64 88 +f 64 76 88 +f 76 77 88 +f 77 55 88 +f 49 38 89 +f 38 58 89 +f 74 49 89 +f 58 74 89 +f 52 39 90 +f 39 57 90 +f 69 52 90 +f 57 85 90 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf new file mode 100644 index 000000000..0c79dc038 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj new file mode 100644 index 000000000..c744ad50b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj @@ -0,0 +1,573 @@ +o convex_0 +v -3.113739 0.010556 1.099721 +v -3.890067 -1.985678 -1.118389 +v -3.926998 -1.467746 -1.081262 +v -2.041965 -0.063493 -1.081262 +v -2.041770 -1.911629 0.988772 +v -4.037985 -1.948550 1.025682 +v -4.000859 0.121527 -0.933185 +v -2.041770 -1.948550 -0.970096 +v -2.078896 0.047271 1.062593 +v -3.926998 0.084399 1.099721 +v -2.596513 -1.948550 1.025682 +v -2.633444 -1.985678 -1.044351 +v -4.037985 -1.615844 1.062593 +v -2.041965 0.010350 1.025682 +v -3.963928 -1.985678 0.286385 +v -4.037985 -0.950227 0.064487 +v -3.039877 -1.098119 -1.118389 +v -4.000859 -0.100415 -0.970096 +v -2.041770 -1.726609 1.025682 +v -4.000859 0.121527 -0.526517 +v -2.041770 -1.948550 0.544976 +v -3.926998 -0.729111 1.099721 +v -2.041965 -0.544091 -1.081262 +v -4.037985 -1.948550 0.729963 +v -3.113739 0.084193 1.099721 +v -3.890067 0.121527 -0.933185 +v -2.300676 -0.026572 -1.044351 +v -3.520368 -1.911629 -1.118389 +v -3.963928 -1.800452 1.062593 +v -2.411664 -1.985678 -0.970096 +v -3.926998 0.121527 0.027576 +v -2.226814 -0.063493 -1.081262 +v -3.853136 -1.689894 -1.118389 +v -2.115827 -1.948550 -1.007223 +v -2.041965 0.010350 0.249257 +v -4.000859 -0.285228 -0.933185 +v -3.261657 0.047477 -1.007223 +v -2.226814 -1.911629 1.025682 +f 22 29 38 +f 11 6 15 +f 2 12 15 +f 6 13 16 +f 16 7 18 +f 8 4 19 +f 5 8 19 +f 9 1 19 +f 14 9 19 +f 13 10 20 +f 7 16 20 +f 16 13 20 +f 8 5 21 +f 5 11 21 +f 1 10 22 +f 10 13 22 +f 4 8 23 +f 17 4 23 +f 3 2 24 +f 2 15 24 +f 15 6 24 +f 6 16 24 +f 1 9 25 +f 10 1 25 +f 7 20 26 +f 12 2 28 +f 2 17 28 +f 17 23 28 +f 6 11 29 +f 13 6 29 +f 22 13 29 +f 11 15 30 +f 15 12 30 +f 8 21 30 +f 21 11 30 +f 20 10 31 +f 25 9 31 +f 10 25 31 +f 26 20 31 +f 9 26 31 +f 4 17 32 +f 2 3 33 +f 17 2 33 +f 3 18 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+v -2.041770 3.966250 0.692937 +v -1.376239 3.041770 -1.081421 +v -0.304326 -1.652737 -1.044271 +v -2.041770 -1.762948 -1.007332 +v -1.967822 3.337229 1.062752 +v -1.819926 -1.985128 -0.970392 +v 0.065413 3.263364 -0.933243 +v -1.967822 3.966250 1.062752 +v -1.560998 -1.948195 0.988453 +v -2.041770 -0.469144 -1.081421 +v -0.119567 3.966250 0.951724 +v -1.339154 -0.173686 -1.081421 +v -1.634946 3.854867 -1.081421 +v 0.028329 1.711035 0.988663 +v -1.930737 3.484958 -1.081421 +v 0.213309 -0.025957 0.581908 +v -1.376239 -1.985128 -1.007332 +v 0.102277 2.191741 -1.007332 +f 52 72 77 +f 40 41 43 +f 39 43 44 +f 42 45 47 +f 43 41 48 +f 39 44 49 +f 47 45 50 +f 40 43 51 +f 48 47 53 +f 47 50 53 +f 50 45 54 +f 45 52 54 +f 43 39 55 +f 39 46 55 +f 42 41 56 +f 45 42 56 +f 50 44 57 +f 51 46 58 +f 48 41 59 +f 51 43 60 +f 43 55 60 +f 55 51 60 +f 58 46 61 +f 52 45 62 +f 45 56 62 +f 40 51 63 +f 43 48 64 +f 48 53 64 +f 41 40 65 +f 56 41 65 +f 49 44 66 +f 54 49 66 +f 44 43 67 +f 43 64 67 +f 64 53 67 +f 41 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+v 2.172523 -1.615660 -1.081421 +v 2.024635 0.121526 -0.859480 +v 0.361444 -2.022328 -1.044293 +v 2.653100 -2.059456 1.025784 +v 0.878930 0.047488 -1.007372 +v 0.213309 -0.026550 0.655950 +v 2.024635 -2.096583 0.877892 +v 0.213309 -2.022328 0.249402 +v 1.655037 0.047488 0.988656 +v 2.690010 -1.837775 -1.081421 +v 0.435265 0.047488 -0.933322 +v 0.620064 -2.022328 0.988656 +v 1.839836 -2.096583 0.766715 +f 82 101 107 +f 83 81 84 +f 81 83 85 +f 82 79 86 +f 79 80 87 +f 86 79 87 +f 80 79 88 +f 79 82 92 +f 85 87 93 +f 85 83 94 +f 87 85 94 +f 86 87 94 +f 81 89 95 +f 82 91 95 +f 91 81 95 +f 88 79 96 +f 79 92 96 +f 92 89 96 +f 84 81 97 +f 82 90 97 +f 90 84 97 +f 91 82 97 +f 81 91 97 +f 82 86 98 +f 94 78 98 +f 86 94 98 +f 89 92 99 +f 95 89 99 +f 81 85 100 +f 85 93 100 +f 98 78 101 +f 82 98 101 +f 83 84 102 +f 90 78 102 +f 84 90 102 +f 87 80 103 +f 80 88 103 +f 93 87 103 +f 92 82 104 +f 82 95 104 +f 99 92 104 +f 95 99 104 +f 89 81 105 +f 88 96 105 +f 96 89 105 +f 81 100 105 +f 100 93 105 +f 103 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0.692966 +v 4.020981 0.121526 -0.859545 +v 3.762303 -2.096583 -1.044452 +f 119 113 137 +f 112 108 113 +f 108 112 114 +f 108 114 117 +f 115 108 117 +f 111 110 118 +f 112 113 119 +f 111 118 119 +f 117 114 121 +f 116 109 122 +f 110 109 123 +f 109 116 123 +f 110 111 124 +f 115 110 124 +f 109 110 125 +f 110 114 125 +f 122 109 125 +f 111 115 126 +f 120 111 126 +f 115 124 126 +f 124 120 126 +f 113 108 127 +f 111 113 127 +f 115 111 127 +f 108 115 127 +f 112 119 128 +f 119 118 128 +f 122 112 128 +f 118 110 129 +f 110 123 129 +f 116 122 130 +f 128 118 130 +f 122 128 130 +f 114 112 131 +f 112 122 131 +f 125 114 131 +f 122 125 131 +f 111 120 132 +f 124 111 132 +f 120 124 132 +f 118 129 133 +f 129 123 133 +f 114 110 134 +f 121 114 134 +f 123 116 135 +f 116 130 135 +f 130 118 135 +f 118 133 135 +f 133 123 135 +f 110 115 136 +f 115 117 136 +f 117 121 136 +f 134 110 136 +f 121 134 136 +f 113 111 137 +f 111 119 137 +o convex_4 +v 3.096791 -4.055755 0.212390 +v 3.392477 -2.096583 0.323382 +v 3.392477 -2.096583 0.212390 +v 2.764197 -2.096583 0.323382 +v 2.875103 -3.870898 -0.342051 +v 3.318601 -2.133711 -0.305053 +v 3.355570 -4.055755 -0.342051 +v 2.875103 -2.096583 -0.194126 +v 2.838134 -3.797033 0.286385 +v 3.318601 -4.055755 0.249387 +v 2.875103 -4.092882 -0.342051 +v 2.764197 -2.207576 0.212390 +v 2.838134 -3.944957 0.249387 +v 3.355570 -3.242267 -0.342051 +v 3.355570 -4.055755 -0.009334 +v 3.392477 -2.281440 0.323382 +v 3.244664 -2.133711 -0.305053 +v 2.875103 -4.018822 0.249387 +v 2.875103 -2.392433 -0.231058 +v 2.764197 -2.429365 0.249387 +f 150 146 157 +f 139 140 141 +f 141 140 145 +f 140 143 145 +f 142 144 148 +f 147 138 148 +f 141 145 149 +f 142 148 149 +f 143 140 151 +f 144 142 151 +f 140 144 151 +f 148 144 152 +f 147 148 152 +f 140 139 153 +f 139 141 153 +f 144 140 153 +f 141 146 153 +f 146 147 153 +f 152 144 153 +f 147 152 153 +f 145 143 154 +f 143 151 154 +f 151 142 154 +f 138 147 155 +f 147 146 155 +f 148 138 155 +f 150 148 155 +f 146 150 155 +f 149 145 156 +f 142 149 156 +f 154 142 156 +f 145 154 156 +f 146 141 157 +f 141 149 157 +f 149 148 157 +f 148 150 157 +o convex_5 +v 3.318605 -0.174627 -0.970392 +v 3.355537 -1.024222 1.062752 +v 3.392535 -0.950618 1.062542 +v 2.727167 0.010361 1.025603 +v 2.727167 -2.022545 -1.081421 +v 2.727167 -2.022545 1.025603 +v 3.392600 -2.059456 -1.044271 +v 2.727167 0.121310 -0.933453 +v 3.392535 0.010361 1.025603 +v 3.392600 -1.985417 1.062752 +v 3.392535 0.121527 -0.933453 +v 2.801162 0.121310 0.323332 +v 2.764230 -2.096583 0.323332 +v 3.392600 -2.096583 0.323332 +v 3.392535 0.121527 0.286392 +v 2.838094 -2.022545 1.062752 +v 2.875092 -2.096583 -0.194032 +v 2.764230 -1.874468 -1.081421 +v 3.392600 -1.726609 -1.044271 +v 3.392600 -2.096583 -0.378730 +v 3.207743 -2.022545 1.062752 +f 173 171 178 +f 159 160 161 +f 161 162 163 +f 162 161 165 +f 161 160 166 +f 160 159 167 +f 166 160 167 +f 158 165 168 +f 165 161 169 +f 161 166 169 +f 163 162 170 +f 164 167 171 +f 166 167 172 +f 168 165 172 +f 165 169 172 +f 169 166 172 +f 159 161 173 +f 161 163 173 +f 167 159 173 +f 163 170 173 +f 170 171 173 +f 162 164 174 +f 170 162 174 +f 171 170 174 +f 164 162 175 +f 165 158 175 +f 162 165 175 +f 167 164 176 +f 158 168 176 +f 172 167 176 +f 168 172 176 +f 175 158 176 +f 164 175 176 +f 164 171 177 +f 174 164 177 +f 171 174 177 +f 171 167 178 +f 167 173 178 +o convex_6 +v 2.912071 0.121715 -0.342051 +v 2.912071 2.043889 0.360351 +v 3.318601 1.932867 0.249311 +v 3.392477 0.121715 0.286302 +v 3.281633 1.932867 -0.305061 +v 2.801166 0.121715 0.323361 +v 2.764197 2.006819 -0.231080 +v 3.355570 0.121715 -0.231080 +v 2.764197 0.121715 -0.342051 +v 2.801166 2.043889 0.360351 +v 3.355570 0.528542 -0.268070 +v 2.764197 0.676257 0.064498 +v 3.281633 2.043889 0.175400 +v 3.392477 0.602305 0.286302 +v 2.838134 2.006819 -0.268070 +v 2.838134 0.861229 0.360351 +v 2.764197 2.043889 0.027508 +v 3.170727 0.121715 0.323361 +v 3.392477 0.158596 -0.046267 +v 2.875103 0.565423 -0.342051 +f 187 193 198 +f 179 182 184 +f 182 179 186 +f 179 184 187 +f 179 183 189 +f 186 179 189 +f 187 184 190 +f 185 187 190 +f 184 188 190 +f 180 181 191 +f 181 183 191 +f 188 180 191 +f 181 180 192 +f 183 181 192 +f 187 185 193 +f 191 183 193 +f 180 188 194 +f 188 184 194 +f 185 190 195 +f 190 188 195 +f 188 191 195 +f 193 185 195 +f 191 193 195 +f 184 182 196 +f 192 180 196 +f 182 192 196 +f 180 194 196 +f 194 184 196 +f 182 186 197 +f 189 183 197 +f 186 189 197 +f 192 182 197 +f 183 192 197 +f 183 179 198 +f 179 187 198 +f 193 183 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf new file mode 100644 index 000000000..2abe8b7e8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj new file mode 100644 index 000000000..99e1cc094 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj @@ -0,0 +1,426 @@ +o convex_0 +v -0.963993 -2.824732 -0.183325 +v 0.189699 -0.070487 1.975085 +v -0.554467 -0.070487 1.975085 +v 0.338655 -3.978803 1.974871 +v 1.008752 -0.108339 -0.071772 +v 1.083229 -3.941725 -0.220725 +v -0.963993 -4.016268 1.937686 +v -0.926856 -0.070487 -0.220725 +v 1.045888 -0.070874 1.974871 +v 1.083229 -3.941725 1.974871 +v -1.001334 -3.978417 -0.108957 +v -0.963993 -0.070487 1.900502 +v 1.083229 -3.197063 -0.220725 +v 0.524748 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145 +f 125 137 146 +f 142 114 146 +f 137 142 146 +f 114 144 146 +f 144 125 146 +f 133 118 147 +f 118 141 147 +f 141 125 147 +f 125 144 147 +f 144 133 147 +f 141 118 148 +f 130 141 148 +f 118 143 148 +f 143 130 148 +f 123 117 149 +f 117 126 149 +f 126 123 149 +f 117 129 150 +f 129 131 150 +f 131 133 150 +f 135 117 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf new file mode 100644 index 000000000..3606de721 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj new file mode 100644 index 000000000..ff3bc8f04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj @@ -0,0 +1,504 @@ +o convex_0 +v 1.122908 -2.290757 -0.522454 +v -0.184852 -1.175088 -0.368549 +v 0.315376 -1.213736 -0.060740 +v -0.531525 -2.329289 0.477872 +v 1.353827 -1.329215 0.554879 +v 1.392411 -2.367821 0.516321 +v -0.531525 -2.329289 -0.561012 +v -0.531525 -1.213736 0.554879 +v 1.469385 -1.290800 -0.445447 +v -0.531525 -1.175088 -0.445556 +v 1.353827 -2.252342 -0.522454 +v -0.069294 -2.021619 -0.561012 +v -0.531525 -1.675533 0.554879 +v 1.315438 -1.367630 -0.484005 +v 1.430800 -1.252151 -0.445447 +v 0.584096 -2.367937 0.516321 +v 1.353827 -1.906023 0.554879 +v 0.200014 -2.329289 -0.561012 +v 1.392411 -1.982970 -0.522454 +v -0.300214 -1.213736 0.516321 +v 1.392411 -2.367821 0.400865 +v -0.107879 -2.329289 0.516321 +v 1.392411 -1.406161 0.400865 +v -0.531525 -2.059917 -0.561012 +f 10 12 24 +f 7 4 8 +f 8 2 10 +f 7 8 10 +f 5 8 13 +f 8 4 13 +f 12 10 14 +f 2 3 15 +f 5 9 15 +f 10 2 15 +f 9 14 15 +f 14 10 15 +f 4 7 16 +f 6 5 17 +f 5 13 17 +f 16 6 17 +f 11 1 18 +f 7 12 18 +f 14 9 19 +f 12 14 19 +f 11 18 19 +f 18 12 19 +f 3 2 20 +f 2 8 20 +f 8 5 20 +f 15 3 20 +f 5 15 20 +f 9 6 21 +f 1 11 21 +f 16 7 21 +f 6 16 21 +f 18 1 21 +f 7 18 21 +f 19 9 21 +f 11 19 21 +f 13 4 22 +f 4 16 22 +f 17 13 22 +f 16 17 22 +f 5 6 23 +f 9 5 23 +f 6 9 23 +f 7 10 24 +f 12 7 24 +o convex_1 +v 1.815785 -0.828777 0.862316 +v 3.393121 1.056477 2.978161 +v 3.393121 0.786981 2.978161 +v 3.354691 -0.790132 -2.984893 +v 1.238695 1.249090 -2.984294 +v 1.315554 1.249090 3.017088 +v 3.316261 1.249090 -2.907637 +v 1.315554 -0.751690 -3.062149 +v 3.277832 -0.751690 3.056015 +v 1.353984 -0.828777 2.863176 +v 1.200050 -0.251546 0.553892 +v 3.393121 1.172004 2.939833 +v 3.393121 -0.443753 -1.945835 +v 1.200050 0.825625 0.361652 +v 1.815785 -0.790132 -3.062149 +v 1.700281 -0.828777 2.939833 +v 3.316261 1.249090 -0.906777 +v 1.277124 1.133563 2.901505 +v 3.316261 -0.751690 2.555351 +v 3.200758 1.249090 -2.945966 +v 1.200050 -0.213105 -0.445040 +v 1.315554 -0.790132 -2.753725 +v 3.354691 -0.790132 -1.022361 +v 3.393121 1.172004 1.593549 +v 1.354198 -0.213105 2.978760 +v 1.238695 0.671860 -2.984294 +v 3.316261 -0.174257 3.056015 +v 2.816031 -0.751690 3.056015 +v 2.200726 -0.828777 0.515564 +v 3.354691 0.325278 -2.907637 +v 1.353984 -0.289987 -3.062149 +v 1.277124 1.249090 2.747592 +v 2.546593 1.210446 2.978161 +v 2.123652 1.210446 3.017088 +v 1.277124 -0.289987 -3.023221 +v 3.354691 -0.251343 -2.984893 +v 1.315554 0.594774 3.017088 +v 1.354198 -0.751690 2.939833 +v 1.200050 0.710301 -0.521697 +v 1.238695 1.249090 -0.945106 +v 1.315554 -0.790132 -0.752865 +v 1.200050 -0.289987 0.131083 +v 1.353984 -0.828777 1.400710 +v 1.661851 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-4.725436 -1.252257 0.054645 +v -3.840343 -2.252372 0.439397 +v -4.687243 -2.252372 0.016113 +f 87 92 97 +f 75 76 80 +f 74 78 80 +f 78 74 81 +f 76 75 82 +f 82 77 83 +f 80 76 84 +f 83 77 85 +f 80 83 85 +f 83 80 86 +f 80 84 86 +f 75 78 87 +f 82 75 87 +f 78 81 88 +f 87 78 88 +f 79 87 88 +f 78 75 89 +f 75 80 89 +f 80 78 89 +f 77 79 90 +f 85 77 90 +f 74 80 91 +f 85 74 91 +f 80 85 91 +f 79 77 92 +f 77 82 92 +f 87 79 92 +f 79 81 93 +f 90 79 93 +f 81 90 93 +f 81 74 94 +f 74 85 94 +f 90 81 94 +f 85 90 94 +f 76 82 95 +f 82 83 95 +f 84 76 95 +f 83 86 95 +f 86 84 95 +f 81 79 96 +f 88 81 96 +f 79 88 96 +f 82 87 97 +f 92 82 97 +o convex_3 +v -2.763308 0.517989 0.247040 +v -4.687243 -0.020717 -0.330138 +v -4.687243 -0.059166 -0.214690 +v -2.763308 -0.020717 -0.253173 +v -4.764216 -0.097675 0.324005 +v -4.648463 0.402522 -0.291655 +v -2.763308 0.440911 -0.330138 +v -2.840281 0.017792 0.285522 +v -4.610271 0.440911 0.208493 +v -3.917512 0.440911 -0.330138 +v -4.340570 -0.097675 0.324005 +v -3.071200 0.517989 0.093044 +v -2.917254 0.210157 -0.330138 +v -4.764216 -0.020717 0.324005 +v -4.417544 0.440911 -0.253173 +v -4.648463 -0.097675 0.054562 +v -2.763308 0.479480 -0.253173 +v -2.763308 0.056241 0.247040 +v -3.148369 0.517989 0.247040 +f 109 112 116 +f 100 99 101 +f 99 100 102 +f 98 101 104 +f 99 103 107 +f 104 99 107 +f 105 98 108 +f 101 105 108 +f 101 99 110 +f 99 104 110 +f 104 101 110 +f 99 102 111 +f 103 99 111 +f 106 103 111 +f 108 98 111 +f 102 108 111 +f 103 106 112 +f 107 103 112 +f 100 101 113 +f 102 100 113 +f 101 108 113 +f 108 102 113 +f 98 104 114 +f 104 107 114 +f 109 98 114 +f 107 112 114 +f 112 109 114 +f 101 98 115 +f 98 105 115 +f 105 101 115 +f 98 109 116 +f 111 98 116 +f 106 111 116 +f 112 106 116 +o convex_4 +v -0.531743 3.172296 0.439359 +v -2.763089 -2.790758 -0.022547 +v -2.724640 -2.790758 -1.099718 +v -2.724640 3.288478 0.169863 +v -0.570192 -2.829686 0.977945 +v -0.608641 3.211223 -0.983988 +v -0.570192 -2.714102 -0.983988 +v -2.724640 3.288478 0.978149 +v -2.647743 3.249551 -1.061074 +v -2.763089 -2.752430 0.978149 +v -0.531743 3.249551 0.978149 +v -2.763089 0.440801 -0.330078 +v -0.531743 -2.329021 -0.560726 +v -2.686191 2.056581 -1.099718 +v -0.916450 -2.751831 -1.022632 +v -0.531743 -2.444605 0.862621 +v -0.570192 1.479260 -0.983988 +v -1.916558 3.249551 -1.061074 +v -2.378382 -2.790758 -1.099718 +v -2.763089 0.440801 0.978149 +v -2.763089 -1.366620 -0.714898 +v -2.686191 2.980055 -1.061074 +v -1.108695 3.211223 -1.022632 +v -0.531743 0.749225 -0.445402 +v -0.608641 3.249551 0.016098 +v -0.570192 -2.829686 0.593125 +v -1.108695 -2.829686 0.977945 +v -0.570192 3.211223 -0.560726 +v -1.839660 3.288478 0.901062 +v -2.724640 -0.558730 -1.099718 +v -1.762763 -2.790758 -1.061074 +v -1.609186 3.249551 -1.022632 +v -2.378382 -2.136182 -1.099718 +v -0.570192 -2.751831 -0.830222 +v -0.531743 -1.905613 0.977945 +v -2.186137 -2.790758 0.978149 +v -2.609293 1.902669 -1.099718 +f 139 149 153 +f 124 126 127 +f 124 120 128 +f 118 126 128 +f 117 127 129 +f 129 127 132 +f 129 123 133 +f 123 131 133 +f 131 122 133 +f 125 120 134 +f 130 125 134 +f 119 130 135 +f 126 124 136 +f 124 128 136 +f 128 126 136 +f 119 118 137 +f 118 128 137 +f 120 125 138 +f 128 120 138 +f 125 130 138 +f 137 128 138 +f 122 131 139 +f 134 122 139 +f 117 129 140 +f 129 133 140 +f 132 121 142 +f 119 135 142 +f 118 119 143 +f 119 142 143 +f 142 121 143 +f 127 117 144 +f 133 122 144 +f 117 140 144 +f 140 133 144 +f 141 127 144 +f 122 141 144 +f 120 124 145 +f 124 127 145 +f 127 141 145 +f 130 119 146 +f 119 137 146 +f 138 130 146 +f 137 138 146 +f 135 131 147 +f 142 135 147 +f 134 120 148 +f 122 134 148 +f 141 122 148 +f 120 145 148 +f 145 141 148 +f 131 135 149 +f 135 130 149 +f 139 131 149 +f 123 129 150 +f 131 123 150 +f 129 132 150 +f 132 142 150 +f 147 131 150 +f 142 147 150 +f 127 121 151 +f 121 132 151 +f 132 127 151 +f 126 118 152 +f 127 126 152 +f 121 127 152 +f 118 143 152 +f 143 121 152 +f 130 134 153 +f 134 139 153 +f 149 130 153 +o convex_5 +v 0.815109 -0.290070 -0.253173 +v 1.200031 0.825821 0.362447 +v 1.200031 0.787263 0.516351 +v -0.531525 0.825821 0.477902 +v -0.531525 0.748814 -0.445526 +v -0.531525 -0.251512 0.593358 +v 1.200031 0.710365 -0.522533 +v -0.531525 -0.290070 -0.445526 +v 1.200031 -0.251512 0.554800 +v 1.200031 -0.136056 -0.483975 +v 1.200031 0.825821 -0.060600 +v 1.200031 0.748814 0.554800 +v -0.531525 -0.290070 0.516351 +v 0.161369 0.210311 0.593358 +v 1.200031 -0.290070 0.093086 +v 0.699684 -0.251512 0.593358 +v 1.200031 -0.213063 -0.445526 +v 0.045943 0.748814 -0.483975 +v -0.531525 0.325549 0.554800 +v 0.968841 0.671807 -0.522533 +v -0.415760 0.825821 0.323998 +f 164 158 174 +f 156 155 157 +f 157 158 159 +f 155 156 160 +f 159 158 161 +f 160 156 162 +f 160 162 163 +f 157 155 164 +f 155 160 164 +f 156 157 165 +f 162 156 165 +f 161 154 166 +f 159 161 166 +f 163 162 168 +f 166 154 168 +f 162 166 168 +f 162 165 169 +f 159 166 169 +f 166 162 169 +f 167 159 169 +f 165 167 169 +f 154 161 170 +f 161 163 170 +f 163 168 170 +f 168 154 170 +f 161 158 171 +f 158 164 171 +f 164 160 171 +f 157 159 172 +f 165 157 172 +f 159 167 172 +f 167 165 172 +f 160 163 173 +f 163 161 173 +f 161 171 173 +f 171 160 173 +f 158 157 174 +f 157 164 174 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf new file mode 100644 index 000000000..283b51900 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj new file mode 100644 index 000000000..92ca48344 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj @@ -0,0 +1,390 @@ +o convex_0 +v -0.427357 1.523053 2.146383 +v -0.578975 0.311858 1.843495 +v -0.578975 0.614776 1.843495 +v 0.480739 0.917456 1.843495 +v 0.518778 0.425438 3.773730 +v -0.540936 1.409356 3.811880 +v 0.480739 1.409356 3.698201 +v -0.540936 0.311858 3.811880 +v 0.480739 1.371535 1.843495 +v 0.405091 0.425438 1.843495 +v -0.503220 1.523053 1.843495 +v -0.578975 1.182197 3.319784 +v 0.443023 0.387617 3.584521 +v 0.443023 1.409356 3.773730 +v -0.276061 0.311858 3.811880 +v -0.540936 1.447176 3.622479 +v -0.465288 0.311858 1.843495 +v -0.351817 1.523053 1.843495 +v 0.443023 0.463258 1.843495 +v -0.578975 0.311858 2.714394 +v -0.540936 1.484996 2.638479 +v 0.480739 1.409356 3.168147 +v 0.480739 0.425438 2.676629 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a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj new file mode 100644 index 000000000..9fd10ab01 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj @@ -0,0 +1,336 @@ +o convex_0 +v 0.299710 2.655289 1.073040 +v -1.110170 2.469931 -1.004611 +v -1.110170 2.469931 -0.855901 +v 1.116003 -0.943127 -1.041682 +v 1.041695 5.030455 -1.041682 +v -0.961555 -0.943127 1.073040 +v -1.035862 4.844511 0.998685 +v 1.041695 -0.682338 1.073040 +v 0.930343 5.030455 0.961615 +v -0.961555 -0.943127 -1.004611 +v -0.998818 4.956194 -0.967541 +v -1.110170 3.174528 -1.116036 +v 1.078740 3.286211 1.035756 +v 1.004650 -0.942542 1.073040 +v -0.961555 3.582668 1.073040 +v -0.998818 -0.831444 0.887474 +v 1.116003 0.690019 -0.151137 +v -1.035862 0.764279 -1.078538 +v -0.627716 3.248788 -1.116036 +v 1.078740 3.471570 -1.004611 +v -0.961555 4.956194 -1.004611 +v -0.998818 4.881349 0.924545 +v -1.035862 2.172889 -1.116036 +v -0.219570 -0.943127 -1.041467 +v -0.330922 4.993032 -0.262348 +v 0.670594 5.030455 -1.041682 +v 1.078740 1.580559 1.035756 +v 1.116003 -0.943127 -0.670550 +v 1.004650 4.287850 0.998685 +v -0.145263 4.918772 0.998471 +v 1.116003 0.245041 -1.041682 +v -0.998818 -0.237945 -1.041682 +v 0.744901 5.030455 0.850190 +v 0.262448 4.287850 -1.078752 +v 0.967388 5.030455 0.590483 +v 0.188358 2.989169 1.073040 +v -0.961555 -0.645500 -1.041682 +v -0.998818 4.956194 -0.633694 +v 1.041695 0.022259 1.073040 +v 0.522197 5.030455 -1.004397 +v -0.998818 4.436371 1.035541 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-0.999064 -1.944820 -1.041649 +v -3.039324 -3.131811 -0.559092 +v -3.076541 -3.020611 -0.967294 +v -1.518484 -3.132025 -1.041649 +v -1.036078 -1.536873 1.072859 +v -0.999064 -3.132025 -0.819013 +v -3.076541 -2.464182 -0.930438 +v -3.002310 -3.169306 0.590302 +v -1.333006 -1.128925 -1.041649 +v -2.853846 -3.131811 1.110143 +v -3.039324 -1.277406 -1.004579 +v -2.779614 -0.980444 1.110143 +v -3.002310 -1.017725 0.182314 +f 80 67 82 +f 56 54 57 +f 56 57 59 +f 58 51 60 +f 54 56 63 +f 59 62 65 +f 62 55 65 +f 63 56 65 +f 63 65 66 +f 64 60 67 +f 54 63 68 +f 58 52 69 +f 57 58 69 +f 56 59 70 +f 59 65 70 +f 53 52 71 +f 61 53 71 +f 53 61 72 +f 61 64 72 +f 52 53 73 +f 59 52 73 +f 62 59 73 +f 53 72 73 +f 72 62 73 +f 54 51 74 +f 57 54 74 +f 52 59 75 +f 59 57 75 +f 69 52 75 +f 57 69 75 +f 64 67 76 +f 62 72 76 +f 72 64 76 +f 52 58 77 +f 58 60 77 +f 60 64 77 +f 64 61 77 +f 71 52 77 +f 61 71 77 +f 65 56 78 +f 56 70 78 +f 70 65 78 +f 51 58 79 +f 58 57 79 +f 74 51 79 +f 57 74 79 +f 55 62 80 +f 62 76 80 +f 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-3.020564 1.110143 +v 1.635270 -1.054552 -1.041435 +v 3.008153 -2.946638 -1.078933 +v 3.008153 -1.833671 1.072644 +v 3.045365 -2.909353 1.110143 +v 3.045365 -3.057848 0.664657 +v 3.008153 -1.277188 -0.967294 +f 92 114 115 +f 85 84 86 +f 84 85 91 +f 86 84 91 +f 85 86 97 +f 86 93 97 +f 83 87 98 +f 87 90 98 +f 97 93 98 +f 87 83 99 +f 83 88 99 +f 95 87 99 +f 88 83 100 +f 96 88 100 +f 96 100 101 +f 93 86 101 +f 100 93 101 +f 94 92 102 +f 90 87 103 +f 94 85 103 +f 87 95 103 +f 95 94 103 +f 85 97 103 +f 97 90 103 +f 90 97 104 +f 98 90 104 +f 97 98 104 +f 92 94 106 +f 94 95 106 +f 99 89 106 +f 95 99 106 +f 89 105 106 +f 105 92 106 +f 86 91 107 +f 91 96 107 +f 96 101 107 +f 101 86 107 +f 83 98 108 +f 98 93 108 +f 100 83 109 +f 93 100 109 +f 83 108 109 +f 108 93 109 +f 85 94 110 +f 94 102 110 +f 110 102 111 +f 91 85 111 +f 85 110 111 +f 105 89 112 +f 105 112 113 +f 88 96 113 +f 99 88 113 +f 89 99 113 +f 92 105 113 +f 112 89 113 +f 96 91 114 +f 91 111 114 +f 113 96 114 +f 92 113 114 +f 102 92 115 +f 111 102 115 +f 114 111 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf new file mode 100644 index 000000000..dfbc65045 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj new file mode 100644 index 000000000..c461b1573 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj @@ -0,0 +1,348 @@ +o convex_0 +v -1.115304 -0.952326 -3.102431 +v 1.039878 0.994312 -2.859071 +v 1.039878 0.994312 -2.963086 +v 1.109568 -1.056661 -3.102431 +v -1.080458 -1.091575 -1.086073 +v -1.115304 0.959398 -1.433844 +v 1.005033 0.611682 -1.086073 +v 1.074723 -1.021746 -1.086073 +v -1.080458 0.994312 -3.032759 +v 0.031760 0.994312 -1.086073 +v -1.115304 0.924687 -1.086073 +v 0.970405 0.994312 -1.086073 +v -1.045613 0.889977 -3.067496 +v 1.074723 -0.674235 -1.086073 +v -1.115304 -0.326519 -3.102431 +v -1.115304 -0.256894 -1.086073 +v 0.761769 -1.056661 -3.102431 +v 1.074723 -0.848195 -3.102431 +v 1.074723 -1.056661 -2.233203 +v -1.115304 0.959398 -2.684988 +v 0.553133 0.994312 -2.997824 +v -1.080458 -1.091575 -1.259959 +v -0.732876 -1.091575 -1.086073 +v 1.109568 -0.987036 -2.893809 +v -1.115304 -0.987240 -2.650448 +v 1.005033 0.994312 -1.677204 +v 1.039878 0.681102 -2.997824 +v -0.280759 0.994312 -3.032759 +v -1.010985 0.994312 -2.684988 +v 0.275024 -1.056661 -1.086073 +v -0.871822 0.959398 -1.086073 +f 11 10 31 +f 7 5 8 +f 2 3 9 +f 5 7 10 +f 2 9 10 +f 6 1 11 +f 5 10 11 +f 2 10 12 +f 10 7 12 +f 7 8 14 +f 4 1 15 +f 1 6 15 +f 9 13 15 +f 11 1 16 +f 5 11 16 +f 1 4 17 +f 4 15 18 +f 15 13 18 +f 4 8 19 +f 6 9 20 +f 15 6 20 +f 9 15 20 +f 9 3 21 +f 17 4 22 +f 8 5 23 +f 4 19 23 +f 5 22 23 +f 22 4 23 +f 3 2 24 +f 4 3 24 +f 8 4 24 +f 2 14 24 +f 14 8 24 +f 16 1 25 +f 5 16 25 +f 1 17 25 +f 22 5 25 +f 17 22 25 +f 2 12 26 +f 12 7 26 +f 14 2 26 +f 7 14 26 +f 3 4 27 +f 4 18 27 +f 21 3 27 +f 18 21 27 +f 13 9 28 +f 18 13 28 +f 9 21 28 +f 21 18 28 +f 9 6 29 +f 6 10 29 +f 10 9 29 +f 19 8 30 +f 8 23 30 +f 23 19 30 +f 10 6 31 +f 6 11 31 +o convex_1 +v -1.010956 -2.551186 -1.051128 +v 0.970398 1.098127 1.104109 +v 0.761800 1.098127 1.104109 +v 0.935667 3.114964 -0.946936 +v -0.976225 3.010194 0.930240 +v 0.935667 -3.002553 0.964971 +v 1.074589 -3.072604 -1.051128 +v -0.976225 -2.967833 1.069163 +v 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-0.842529 +v 1.005128 3.079635 -0.460276 +v -0.976225 3.010194 -0.043079 +v -0.350433 3.044914 0.999702 +v 1.074589 -2.203372 -1.086073 +v 0.761800 -3.037883 0.617235 +v 1.074589 -3.072604 -0.807799 +v -0.211297 3.079635 0.999702 +v -0.419894 -3.107934 -1.086073 +v 0.205684 3.044914 -0.981667 +v 0.970398 -2.967833 0.686911 +v 0.553203 -2.967833 0.999702 +v 0.483742 -3.106715 -0.216947 +v -1.115361 0.820362 -0.807799 +v -1.080417 -1.091096 -0.599200 +v 1.039859 -1.508351 1.034433 +f 66 81 86 +f 34 33 41 +f 43 42 44 +f 33 34 45 +f 34 41 45 +f 41 33 46 +f 33 45 46 +f 44 42 47 +f 44 41 49 +f 38 44 49 +f 41 46 49 +f 35 41 52 +f 44 47 52 +f 36 45 53 +f 46 45 54 +f 45 36 55 +f 42 51 55 +f 54 45 55 +f 43 44 56 +f 47 42 57 +f 55 36 57 +f 42 55 57 +f 43 32 58 +f 41 44 59 +f 52 41 59 +f 39 37 60 +f 54 39 60 +f 46 54 60 +f 41 35 62 +f 48 53 62 +f 35 52 63 +f 57 40 63 +f 45 41 64 +f 32 43 65 +f 58 32 65 +f 39 58 65 +f 63 40 67 +f 52 47 69 +f 42 43 70 +f 51 42 70 +f 43 58 70 +f 62 35 71 +f 48 62 71 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0.889746 2.981346 +v 0.935627 -1.021801 2.981346 +v 1.039824 -0.952326 1.104109 +v 0.970359 1.098607 1.104109 +v 0.553166 1.063760 2.946432 +v -0.941340 -0.673989 3.085702 +v -0.906607 -1.056647 1.243379 +v -0.732743 0.959439 2.946432 +v 1.039824 -0.222292 1.173744 +v 1.005092 -0.987172 2.598838 +v -0.559080 -1.056647 3.085702 +v 0.727030 -0.987172 1.382455 +v -0.976072 0.994067 1.486811 +v 0.970359 0.716167 2.529203 +v -1.010805 -1.091494 2.668473 +v 0.900894 1.098607 2.285965 +v 0.970359 -0.048278 2.946625 +v 0.970359 1.098607 1.764769 +v -0.906607 -1.126340 3.050787 +v -0.559080 1.028914 1.139023 +v 1.039824 -0.465782 1.590972 +v -0.976072 0.959439 2.425041 +v 1.005092 0.611845 1.104109 +v 0.970359 -0.987172 2.946625 +v -0.281019 -1.021801 1.104109 +v 1.005092 -0.987172 1.869125 +f 112 105 119 +f 88 89 94 +f 93 92 96 +f 96 92 97 +f 94 91 98 +f 94 89 99 +f 91 94 99 +f 88 93 100 +f 94 98 101 +f 90 96 102 +f 96 90 103 +f 89 95 104 +f 95 91 104 +f 99 89 104 +f 91 99 104 +f 92 94 106 +f 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