YCB_Dataset

YCB dataset with urdf and xml files. Ready to be used in different simulations such as PyBullet, Genesis and Mujoco.

Procedure

Here is the procedure of how this repository is made.

• The dataset is downloaded from the YCB dataset website with script download_ycb_dataset.py provided by ycb-tools. The data is cleaned to only keep the textured.mtl, textured.obj and texture_map.png of Google 16K models with clean_ycb_dataset.py.
• The urdf files are generated with scripts build_object_library.py and object_builder.py, modified from object2urdf. The xml files are generated similarly.
  • The mesh is processed to aligned with oriented bounding box and its center is set to be the mass center.
  • Convex decomposition is done with CoACD. The maximum number of convex hull is set to 5 and the decimation face count is set to 32. This setting may not be appropriate for all YCB objects.
  • The mass of each object is set based on the provided mass form (also stored in ycb_mass.json). The inertia of all objects are simply diagonal matrix with value 1e-3.
• All the texture images are compressed to size of 1024x1024 using image_compressor.py.

Models not included

This repository only includes models with Google 16K. The other models, shown as below, are not included:

• 001, 023, 039, 041, 046, 047, 049, 063-c/d/e/f, 072-f/g/h/i/j/k, 073-h/i/j/k/l/m, 076