Is there a large database or urdf object files that could be quickly leveraged for simulation?

Greetings,

I wanted to see if anyone knew of existing databases of objects in URDF format that could be quickly leverage to simulate a large number of objects for bin-picking?

I am aware of the osrf database of sdf models (https://github.com/osrf/gazebo_models.git), though these are not urdf files and many of them are not suitable for bin-picking.

Along the same lines, there are libraries of mesh objects out there (shapeNet, YCB, dexnet), but from these, it seems a manual construction of urdf files would have to be build. Is this correct?

Please let me know if there are some resources out there.

Asked by juan on 2021-03-24 04:06:50 UTC

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Answers

I don't know of a URDF database. The most recent SDF database of models, with about 2k models, can be found at https://app.ignitionrobotics.org/dashboard.

I think there has been some work done to support SDF parsing in URDF. Google might be able to help you with that.

Asked by nkoenig on 2021-03-24 11:08:34 UTC