This repository contains MuJoCo MJCF models for all 1030 household objects in Google's Scanned Objects Dataset. The XML files were automatically generated using obj2mjcf. A sample of the models is shown below:
In each object directory, you'll find the following:
model.obj
model_collision_*.obj # 32 collision submeshes.
texture.png
model.xmlThe model definition lives in model.xml. To visualize it, you can drag-and-drop it in the simulate binary. You can examine the visual and collision meshes by cycling between groups 2 and 3. The collision mesh is a convex approximation that has been generated with V-HACD.
If there are any problems loading a particular model in MuJoCo, please raise an issue on the GitHub repository.
The 3D assets (obj and png) are licensed under the CC-BY 4.0 License. The MJCF (XML) files are licensed under the MIT License.
If you use these models in your research, consider citing the original paper:
@misc{downs2022scannedobjects,
url = {https://arxiv.org/abs/2204.11918},
author = {Downs, Laura and Francis, Anthony and Koenig, Nate and Kinman, Brandon and Hickman, Ryan and Reymann, Krista and McHugh, Thomas B. and Vanhoucke, Vincent},
keywords = {Robotics (cs.RO), Graphics (cs.GR), FOS: Computer and information sciences, FOS: Computer and information sciences},
title = {Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items},
publisher = {arXiv},
year = {2022},
}If you're feeling generous, you can also cite this repository:
@software{zakka2022scannedobjectsmujoco,
author = {Zakka, Kevin},
month = {7},
title = {{Scanned Objects MuJoCo Models}},
url = {https://github.com/kevinzakka/mujoco_scanned_objects},
version = {0.0.1},
year = {2022}
}Disclaimer: This is not affiliated with Scanned Objects or Google Research.
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent