/YCB_sim

MuJoCo models for YCB objects (https://www.ycbbenchmarks.com/)

Apache License 2.0Apache-2.0

YCB_sim

MuJoCo models for YCB objects (https://www.ycbbenchmarks.com/)

YCB object in MuJoCo

Instructions

  • Download YCB objects from http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/. For example, the 055_baseball is under YCB_models folder.
  • Create assets_obj_name.xml and body_obj_name.xml, and specify the file path of its mesh and texture.
  • Add it into ycb_objects.xml and run python -m mujoco.viewer --mjcf=ycb_objects.xml for visualization.

Notes

  • MuJoCo 2.3.5 is highly recommended. The old version might have issues to load *.obj meshes or visualize the texture.
  • The collision behavior in MuJoCo is wrong for concave objects. Since MuJoCo only detects collisions with the convex hulls of concave objects, a convex decomposition of the concave mesh is required, for example, using a script from obj2mjcf, which is based on V-HACD for the decomposition.