Habitat YCB Objects Dataset

Post-processed simulation assets for use in habitat-sim.

Original sourced from Official YCB Dataset.

YCB Object and Model Set is designed for facilitating benchmarking in robotic manipulation... The set is associated with a model database which provides mesh models and high-resolution RGB-D scans of the objects for easy incorporation into manipulation and planning software platforms.

Contents

├── configs
|   ├── *.object_config.json
├── meshes
|   ├── */*.glb      - BASIS compressed and optimized for simulation 
|   ├── */*.glb.orig - uncompressed raw assets
├── collison_meshes
|   ├── *.glb        - convex decomposition collision proxies
├── ycb.scene_dataset_config.json

• ycb.scene_dataset_config.json - SceneDataset file for easy import of the full dataset in habitat-sim. See the docs for details.