diff --git a/README.md b/README.md index 95f914d..7cf79ad 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,18 @@ # YCB_sim MuJoCo models for YCB objects (https://www.ycbbenchmarks.com/) + +![YCB object in MuJoCo](figures/YCB_object_in_MuJoCo.png) + + +# 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](https://github.com/deepmind/mujoco) 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](https://github.com/kevinzakka/obj2mjcf), +which is based on [V-HACD](https://github.com/kmammou/v-hacd) for the decomposition. diff --git a/YCB_models/011_banana_google_16k/011_banana/google_16k/kinbody.xml b/YCB_models/011_banana_google_16k/011_banana/google_16k/kinbody.xml new file mode 100644 index 0000000..f2a6d12 --- /dev/null +++ b/YCB_models/011_banana_google_16k/011_banana/google_16k/kinbody.xml @@ -0,0 +1,8 @@ + + + + textured.dae + textured.dae + + + diff --git a/YCB_models/011_banana_google_16k/011_banana/google_16k/nontextured.ply b/YCB_models/011_banana_google_16k/011_banana/google_16k/nontextured.ply new file mode 100644 index 0000000..d793fb7 --- /dev/null +++ b/YCB_models/011_banana_google_16k/011_banana/google_16k/nontextured.ply @@ -0,0 +1,24592 @@ +ply +format ascii 1.0 +element vertex 8194 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11285 1985 1985 3762 11286 926 926 3762 11287 1990 1990 3762 11288 1991 1991 3763 11289 249 249 3763 11290 1992 1992 3763 11291 315 315 3764 11292 1984 1984 3764 11293 255 255 3764 11294 1993 1993 3765 11295 926 926 3765 11296 931 931 3765 11297 1994 1994 3766 11298 1995 1995 3766 11299 1984 1984 3766 11300 1996 1996 3767 11301 928 928 3767 11302 932 932 3767 11303 931 931 3768 11304 928 928 3768 11305 1996 1996 3768 11306 1997 1997 3769 11307 1998 1998 3769 11308 1999 1999 3769 11309 1988 1988 3770 11310 2000 2000 3770 11311 2001 2001 3770 11312 1996 1996 3771 11313 1993 1993 3771 11314 931 931 3771 11315 2002 2002 3772 11316 1993 1993 3772 11317 1996 1996 3772 11318 1992 1992 3773 11319 250 250 3773 11320 1995 1995 3773 11321 1992 1992 3774 11322 1995 1995 3774 11323 2003 2003 3774 11324 1990 1990 3775 11325 926 926 3775 11326 1993 1993 3775 11327 249 249 3776 11328 250 250 3776 11329 1992 1992 3776 11330 1984 1984 3777 11331 250 250 3777 11332 255 255 3777 11333 2004 2004 3778 11334 1990 1990 3778 11335 1993 1993 3778 11336 1984 1984 3779 11337 1995 1995 3779 11338 250 250 3779 11339 2002 2002 3780 11340 2004 2004 3780 11341 1993 1993 3780 11342 2005 2005 3781 11343 2000 2000 3781 11344 1988 1988 3781 11345 2003 2003 3782 11346 1991 1991 3782 11347 1992 1992 3782 11348 2004 2004 3783 11349 1985 1985 3783 11350 1990 1990 3783 11351 2004 2004 3784 11352 2006 2006 3784 11353 1985 1985 3784 11354 1995 1995 3785 11355 2007 2007 3785 11356 2003 2003 3785 11357 2008 2008 3786 11358 2000 2000 3786 11359 2005 2005 3786 11360 2003 2003 3787 11361 2009 2009 3787 11362 1991 1991 3787 11363 2004 2004 3788 11364 2010 2010 3788 11365 2011 2011 3788 11366 2011 2011 3789 11367 2006 2006 3789 11368 2004 2004 3789 11369 2012 2012 3790 11370 2003 2003 3790 11371 2007 2007 3790 11372 2013 2013 3791 11373 2014 2014 3791 11374 2015 2015 3791 11375 932 932 3792 11376 2002 2002 3792 11377 1996 1996 3792 11378 2016 2016 3793 11379 2002 2002 3793 11380 932 932 3793 11381 2009 2009 3794 11382 2003 2003 3794 11383 2012 2012 3794 11384 2017 2017 3795 11385 1999 1999 3795 11386 2018 2018 3795 11387 967 967 3796 11388 2016 2016 3796 11389 932 932 3796 11390 2017 2017 3797 11391 2018 2018 3797 11392 2019 2019 3797 11393 2009 2009 3798 11394 2012 2012 3798 11395 2020 2020 3798 11396 2021 2021 3799 11397 2013 2013 3799 11398 2015 2015 3799 11399 2016 2016 3800 11400 2004 2004 3800 11401 2002 2002 3800 11402 2010 2010 3801 11403 2004 2004 3801 11404 2016 2016 3801 11405 2017 2017 3802 11406 1997 1997 3802 11407 1999 1999 3802 11408 2016 2016 3803 11409 967 967 3803 11410 2022 2022 3803 11411 314 314 3804 11412 1983 1983 3804 11413 315 315 3804 11414 2010 2010 3805 11415 2016 2016 3805 11416 2023 2023 3805 11417 970 970 3806 11418 967 967 3806 11419 966 966 3806 11420 2024 2024 3807 11421 2025 2025 3807 11422 314 314 3807 11423 970 970 3808 11424 2022 2022 3808 11425 967 967 3808 11426 313 313 3809 11427 2024 2024 3809 11428 314 314 3809 11429 2026 2026 3810 11430 2022 2022 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990 3858 11576 2047 2047 3859 11577 994 994 3859 11578 2051 2051 3859 11579 2007 2007 3860 11580 2043 2043 3860 11581 2033 2033 3860 11582 2012 2012 3861 11583 2007 2007 3861 11584 2033 2033 3861 11585 2051 2051 3862 11586 2048 2048 3862 11587 2047 2047 3862 11588 2044 2044 3863 11589 2033 2033 3863 11590 2043 2043 3863 11591 2044 2044 3864 11592 2025 2025 3864 11593 2033 2033 3864 11594 2052 2052 3865 11595 2053 2053 3865 11596 2054 2054 3865 11597 2055 2055 3866 11598 2056 2056 3866 11599 2051 2051 3866 11600 2057 2057 3867 11601 2031 2031 3867 11602 2013 2013 3867 11603 2054 2054 3868 11604 2058 2058 3868 11605 2052 2052 3868 11606 2012 2012 3869 11607 2033 2033 3869 11608 2059 2059 3869 11609 2010 2010 3870 11610 2040 2040 3870 11611 2060 2060 3870 11612 2060 2060 3871 11613 2040 2040 3871 11614 2048 2048 3871 11615 2021 2021 3872 11616 2057 2057 3872 11617 2013 2013 3872 11618 2012 2012 3873 11619 2061 2061 3873 11620 2020 2020 3873 11621 2054 2054 3874 11622 2062 2062 3874 11623 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mode 100644 index 0000000..153cf7d --- /dev/null +++ b/includes/assets_011_banana.xml @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/includes/assets_055_baseball.xml b/includes/assets_055_baseball.xml new file mode 100644 index 0000000..7ec3713 --- /dev/null +++ b/includes/assets_055_baseball.xml @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/includes/body_011_banana.xml b/includes/body_011_banana.xml new file mode 100644 index 0000000..d167787 --- /dev/null +++ b/includes/body_011_banana.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/includes/body_055_baseball.xml b/includes/body_055_baseball.xml new file mode 100644 index 0000000..0dae374 --- /dev/null +++ b/includes/body_055_baseball.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/ycb_objects.xml b/ycb_objects.xml index fb039b1..34b511f 100644 --- a/ycb_objects.xml +++ b/ycb_objects.xml @@ -26,6 +26,8 @@ + + @@ -83,6 +85,16 @@ + + + + + + + + + +