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

asked 2021-03-24 04:06:50 -0600

juan gravatar image


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 (, 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.

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answered 2021-03-24 11:08:34 -0600

nkoenig gravatar image

I don't know of a URDF database. The most recent SDF database of models, with about 2k models, can be found at

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

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Asked: 2021-03-24 04:06:50 -0600

Seen: 580 times

Last updated: Mar 24 '21