This repo contains 350 household 3D objects from the YCB, KIT and BigBird datasets. Each object consists off:
- visual mesh: from the original dataset
- collision mesh: simplified version of the visual mesh (250 faces)
- convex mesh: convex hull of visual mesh, used to compute inertia through trimesh
- config: to import sdf into Gazebo
- sdf: specifying everything needed to spawn objects including inertia.
- texture file: image of the object surface
- material file: to apply texture in Gazebo
Different scripts can be found under the sripts folder. The scripts create_*_meshes_pymeshlab.py are used to create simplified collision and convex meshes via pymeshlab. NOTE: pymeshlab is only available through Python 3.7+, the rest of the code runs on Python 2.7 . I handled this via conda, however, minor changes to the prepare_objects_gazebo.py file should also make this work with Python 3.
Executing prepare_objects_gazebo.py is only possible currently if a folder objects_raw with the raw data from all three mentioned datasets is also present, since it copies the necessary files from there. Further it assumes that the simplified meshes are created through the create_*_meshes_pymeshlab.py scripts and stored next to the raw meshes. prepare_objects_gazebo.py will only copy what is necessary from the raw data, read in the template files, compute mass and inertia, assume a density of 1/10th of the water density, and saves everything under objects_gazebo/$DATASET/$MODEL_NAME.
The models under objects_gazebo can be directly accessed in Gazebo. For this the GAZEBO_MODEL_PATH needs to point to the location of the objects_gazebo folder AND to it's subfolders (the dataset folders ycb, kit and bigbird). This is necessary because the .sdf files assume the mesh URI model://$DATASET/$MODELNAME. It assumes this to handle possible disambiguities of the $MODELNAME. If two models from different datasets have the same name, the current logic would break. If you have questions or suggestions contact me!
Append to your .bashrc the following while replacing /home/vm/objects_datasets with your path
export GAZEBO_MODEL_PATH=:/home/vm/object_datasets/objects_gazebo:/home/vm/hand_ws/src/hithand-ros/hithand_description:/home/vm/object_datasets/objects_gazebo/kit:/home/vm/object_datasets/objects_gazebo/ycb:/home/vm/object_datasets/objects_gazebo/bigbird