ros package for saving simulation images in Gazebo with Kinect

cd ~/catkin_ws/src/
git clone https://github.gatech.edu/fchu9/simData_imgSaver.git
cd ..
catkin_make

cd ~/catkin_ws/src/
git clone https://github.gatech.edu/fchu9/simData_v2.git 

rename the /3Dwarehouse/tools to /warehouse/models

in utils/move_model_files.m modify the dataRoot

dataRoot = '/home/YOUR/PATH/TO/catkin_ws/src/simData_v2/warehouse/models';

run move_model_files.m in MATLAB

copy all models to /home/YOURNAME/.gazebo/models/

NOTE:
you can add export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/home/YOUR/PATH/TO/catkin_ws/src/simData_v2/warehouse/ in ~/.bashrc then you can might skip this step but change line 34:

fprintf(fsdf, ['            <uri>file://models/' FolderName '/mesh/' filename '.dae</uri>\n']);

gazebo_ros gazebo

in visuomotor_grasp_3D_Box.py modify MODEL_DIR to /home/YOUR/PATH/TO/catkin_ws/src/simData_v2/warehouse/models

python visuomotor_grasp_3D_Box.py

the files will be saved to /dataset