Procedurally Generated Random Objects ![]() 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. Object Representation 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. Directory Structure ![]() 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.
ToolsThe object models were created with Python scripts using Blender (version 2.69). We expect to publish those scripts at a future time. 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. |
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