Mujoco-YCB-Dataset

Tools to download models from the YCB dataset and use them with the MuJoCo simulator.

You can either follow the instructions provided below, or directly download the converted mjcf files of YCB objects from this url.

Setup

pip install mujoco
pip install obj2mjcf==0.0.8
pip install mediapy

Downloading YCB objects

python scripts/ycb_downloader.py

You can configure a few options in the script, including choosing which objects and model types to download. However, the default options will get all of the YCB object models and may take a few minutes to download.

Using YCB Object Models in MuJoCo

After you have downloaded the YCB models, you can run the following jupyer-notebook files.

1. Convert YCB datasets to MJCF format: notebooks/dataset_merge.ipynb. After converting, the structure of the resulting MJCF files would look like this:

    asset/
        ycb_merged_v2/
            obj/
            png/
            xml/

2. Visualize the objects in Mujoco: notebooks/render_mujoco.ipynb.

NOTE: The size, density and friction parameters of the objects are not tuned! Please carefully tune them before using.

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This repo is modified upon https://github.com/joonhyung-lee/mujoco-ycb-dataset/tree/main.