In order to enable training of robot grasping and other tasks in simulation, we require a set of sample objects. We used a set of randomly generated simple rigid objects. Here we provide 3D models for these objects in OBJ format and URDF representations for use with Bullet.Download the models here: procedural_objects.zip
The compressed file is 31MB. The uncompressed directory is around 90MB.
The 3D geometry of each object is stored in a Wavefront OBJ file.
A simplified collision model is stored in a separate OBJ file. Object 000.obj has a collision model in 000_coll.obj.
A URDF file references the OBJ file. It adds scale, mass, and friction values.
The objects we used are stored in a directory structure where each object is identified with a three digit number and is contained in a directory with the same name.
<NNN>/<NNN>.obj - 3D model representation for display.
<NNN>/<NNN>_coll.obj - 3D collision model, a union of convex volumes, used in physics simulation.
<NNN>/<NNN>.urdf - URDF representation, which references the obj files.
<NNN>/<NNN>.mtl - Materials for OBJ representation. Every object has a random diffuse color and a reference to the PNG as a diffuse texture..
<NNN>/<NNN>.png - Blank texture image. This can be replaced with any other texture image.
The URDF files were generated with a Python script that parses the OBJ files to get scale and creates a simple model representation with mass.
Convex collision models were created using the VHACD algorithm in Bullet. This algorithm is also available via a Blender plug-in.
License: This data is licensed by Google Inc. under a Creative Commons Attribution 4.0 International License.