To generate the cubes, you can install blender
bash install_blender.sh
Then run
./blender/blender --python scripts/generate_cubes.py
Data from the real-world was recorded into bag files
To play the bag files with remapped topics (/bag/points for point cloud and /bag/image_raw for rgb images)
rosbag play -l bag_files/depth_registered_points.bag /xtion/depth_registered/points:=/bag/points
rosbag play -l bag_files/rgb.bag /xtion/rgb/image_raw:=/bag/image_raw