nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF

Manipulation Objects Kitchen MJCF

We provide a collection of digital 3D mjcf assets intended for use in a simulated kitchen environment.

The assets are broadly divided into 2 categories: fixtures and objects. The fixture assets are comprised of interactable kitchen appliances such as stoves, microwaves, and ovens. The object assets consist of common kitchen objects such as saucepans and glass cups.

Preview

Objects

Fixtures

Objects

Expand to see a comprehensive list of provided object types

• Kettle
• Pot
• Soap dispenser
• Spray
• Cheese grater
• Syrup bottle
• Whisk
• Pitcher
• Lettuce
• Tongs
• Ice cube tray
• Shrimp
• Honey bottle
• Pizza cutter
• Colander
• Reamer
• Ice cube
• Jar
• Measuring cup
• Sandwich bread
• Strainer
• Sugar cube
• Cinnamon
• Cookie dough ball
• Cream cheese stick
• Digital scale
• Flour bag
• Hotdog bun
• Mayonnaise
• Mustard
• Oven tray
• Paprika
• Turmeric
• Pickle slice
• Tomato slice
• Turkey slice
• Straw
• Tupperware
• Chicken drumstick
• Glass cup
• Lemon wedge
• Marshmallow
• Oil and vinegar bottle
• Pancake
• Peeler
• Saucepan
• Saucepan with lid
• Saucepan lid
• Wooden spoon
• Aluminum foil
• Dish brush
• Pizza
• Kebab skewer
• Juice
• Salt and pepper shaker
• Basket
• Placemat
• Blender jug

Directory Structure

The object folder of the repository is organized by object category. Each object category is stored as a zip. Within each zip, each category contains multiple unique model variations. Each individual model folder is self-contained with its mjcf definition, visual meshes, textures, and decomposed collision meshes.

.
├── <category name>/                 # e.g., aluminum foil, basket
│   ├── <model name>/                # e.g., AluminumFoil001, Basket026
│   │   ├── collision/               # Directory containing collision mesh(es)
│   │   │   ├── <mesh name> 0.obj
│   │   │   └── ...                  # Complex objects may have many decomposed collision pieces
│   │   ├── visual/                  # Directory containing visual assets
│   │   │   ├── <model name>.obj     # The main visual mesh
│   │   │   └── <texture>.png        # Associated texture files
│   │   └── model.xml                # The core MJCF XML file for this specific model
│   ├── <model name 2>/
│   └── ...
├── <category name 2>/
└── ...

Fixtures

Expand to see a comprehensive list of provided fixture types:

• Blender
• Coffee machine
• Dishwasher
• Electric kettle
• Fridge
• Microwave
• Oven
• Stand mixer
• Stove
• Toaster
• Toaster oven
• Cabinet panel

Directory Structure

The fixture subfolder is organized similarly to the object subfolder. Each fixture category is stored as a zip, and, within the zip, there are variations of the fixture category and self-contained assets.

.
├── <fixture category>/              # e.g., dishwasher, coffee machines
│   ├── <model name>/                # e.g., CoffeeMachine001, CoffeeMachine036
│   │   ├── model.xml                # The core MJCF XML file for this specific model
│   │   └── visuals/                 # Directory containing visual assets
│   │       ├── <model name>.obj     # Main visual mesh (if single piece)
│   │       ├── <part name>.obj      # Component meshes for articulated parts (e.g., Body001.obj, Button001.obj)
│   │       └── <texture>.png        # Associated texture files
│   ├── <model name 2>/
│   │   └── ...
│   └── ...
├── <fixture category 2>/
└── ...