Sim-ready household objects: mugs, plates, bottles and jars

These are the objects picked and placed most often in a home. For pick and place, breadth matters more than depth: many shapes and sizes of each object, plus transparent and reflective materials that challenge perception.

Every object carries its mass, center of mass and inertia, a collision mesh that keeps thin rims and handles accurate, and labeled grasp regions. Containers with lids have their lids as separate bodies, with threaded or snap joints where the real one has them.