Database of objects with mass and inertia

I am trying to simulate robot arm grasping task using ROS and Gazebo. Is there a database of object models along from where I can spawn real-world like objects, that have proper mass and inertial matrix?

I looked up the ignition models and gazebo models warehouse, and the Google 3D warehouse, but all of them just provide the sdf files without mass and inertia (for most of the objects), and configuring the right values for each object seems to take forever. (If I spawn the objects without mass and inertia, they seem very unrealistic in their movements when spawned, which is to be expected.)

I was wondering if there exists a database already that has complete sdf files that I can directly use.

Thanks

Asked by Shrutheesh R Iyer on 2020-06-01 04:13:51 UTC

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I looked up the ignition models and gazebo models ... but all of them just provide the sdf files without mass and inertia (for most of the objects),

I assume you're speaking about these 2 sites:

Which models did you find that didn't have mass or inertia? It's possible that some of those models are a bit off, but most of them should have reasonable inertial properties.

Asked by chapulina on 2020-06-01 19:26:17 UTC

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Nearly all the models in the ignition database do not seem to have any mass or inertia. With respect to the gazebo models again, quite a few of them do not have (especially for the ones I am looking for) I am trying to spawn a few table top objects like a hammer, bowl etc, and most do not have these properties

Asked by Shrutheesh R Iyer on 2020-06-02 01:26:26 UTC

The only models which don't have inertia are static models meant to be used as the environment. Models used for manipulation usually have inertia. See the bowl for example: https://app.ignitionrobotics.org/OpenRobotics/fuel/models/Bowl

Asked by chapulina on 2020-06-02 16:45:25 UTC