mujoco-ycb-dataset

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

Python Setup

You only need to install mujoco Python packages to get these tools running.

pip install mujoco

Downloading YCB objects

You can download the models using a variant of the download script provided on the [http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/]. However, this script has been modified to work with Python 3.

python 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
2. Parsing YCB datasets on MuJoCo scene

NOTE: A few of the models in the dataset do not have either of the google_16k or tsdf meshes available, so these will not work with MuJoCo. So the dataset_merge.ipynb will help you.