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license: cc-by-4.0 |
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pretty_name: Habitat YCB Objects Dataset |
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viewer: false |
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--- |
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# Habitat YCB Objects Dataset |
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Post-processed simulation assets for use in [habitat-sim](https://github.com/facebookresearch/habitat-sim). |
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Original sourced from [Official YCB Dataset](https://www.ycbbenchmarks.com/). |
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> YCB Object and Model Set is designed for facilitating benchmarking in robotic manipulation... The set is associated with a [model database](http://www.ycbbenchmarks.com/object-models/) which provides mesh models and high-resolution RGB-D scans of the objects for easy incorporation into manipulation and planning software platforms. |
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## Contents |
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``` |
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├── configs |
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| ├── *.object_config.json |
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├── meshes |
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| ├── */*.glb - BASIS compressed and optimized for simulation |
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| ├── */*.glb.orig - uncompressed raw assets |
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├── collison_meshes |
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| ├── *.glb - convex decomposition collision proxies |
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├── ycb.scene_dataset_config.json |
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``` |
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- ycb.scene_dataset_config.json - SceneDataset file for easy import of the full dataset in habitat-sim. See [the docs](https://aihabitat.org/docs/habitat-sim/attributesJSON.html) for details. |
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