Hi,

I need a simulated office/home environment so that I can try further object manipulation on it using PR2. The environment should have things like:-

Table, Chair, Sofa, bottles, Windows, doors, bed, pillow, books, drawers, Wallat, Laptop, its charger, Head-Phone, Mouse, Keyboard, plates, (their stacks), fruits like apple and banana, coins, pen, pen-stand, small boxes, switches etc.. I.e, common things in office and home.

I want to use PR2 for object manipulation like closing a book, opening a drawer and putting it inside.

I can write world file, quite easily, for most of these items. But I am sure there must be already existing environment.

Any pointers, links comments to it will be helpful.

Thanks in advance