MuBlE: MuJoCo and Blender simulation Environment for task planning in Robotics Manipulation

Usage

To use the framework, run demo scripts, please follow the documentation

Export to robotsim

robotsim_export.py writes MuBlE scenes into the neutral handoff format read by robotsim, a Blender-based simulator that renders aligned photorealistic, line-art, object-index and metric-depth passes from one viewpoint, and executes real control firmware against the simulated plant.

The two projects make opposite trades — MuBlE spends its effort on contact fidelity and task structure, robotsim on the render modalities — so the handoff is more useful than a merge.

./robotsim_export.py demo_output/scene_generaion/NS_AP_scenes.json -o out/
./robotsim_export.py scenes.json --index 3 -o scene3.json

Each object carries its shape name, scale, orientation quaternion, MuBlE's own 3d_coords origin, the convex-hull decomposition from meshes/, and whether its appearance was randomised for that scene. robotsim appends the authored .blend from scene_generation/data/shapes for rendering and loads the hulls into MuJoCo for collision, so both the image and the physics are MuBlE's rather than an approximation.

Nothing in environment is imported at module scope, so exporting a generated scene file needs neither robosuite, MuJoCo nor Blender installed.

Notes

• Object ids start at 1; 0 is background in robotsim's object-index pass.
• Only material slots named Changable are overridden, matching scene_generation/utils.add_material. The documentation in docs/muble/scene_gen.md gives this as Changeable; the code does not, and the code is what runs. Matching the documented spelling silently repaints nothing.
• 3d_coords is an object's mid-bottom, not its centre. The exporter emits both that (origin, for the real mesh) and the bounding-box centre (position, for consumers that only have the box).