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add .obj objects and instructions for new objects from YCB #4

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16 changes: 16 additions & 0 deletions README.md
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# 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.
8 changes: 8 additions & 0 deletions YCB_models/011_banana_google_16k/011_banana/google_16k/kinbody.xml
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<KinBody name="banana">
<Body type="static" name="banana">
<Geom type="trimesh">
<Render>textured.dae</Render>
<Data>textured.dae</Data>
</Geom>
</Body>
</KinBody>
24,592 changes: 24,592 additions & 0 deletions YCB_models/011_banana_google_16k/011_banana/google_16k/nontextured.ply
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148 changes: 148 additions & 0 deletions YCB_models/011_banana_google_16k/011_banana/google_16k/textured.dae
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4 changes: 4 additions & 0 deletions YCB_models/011_banana_google_16k/011_banana/google_16k/textured.mtl
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newmtl material_0
# shader_type beckmann
map_Kd texture_map.png

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