ycb
Datasets
All datasets matching “ycb”ycb-fixed-meshesThis folder has updated versions of the YCB meshes. All updates are in google_16k folders for each object.
The following updated are available:
nontextured_proc.stl: These are simplified meshes with the normals fixed recommended to be used as collision models. (Note: The normal fixes has to be done manually so not all meshes are verfied, feel free to update them using meshlab, blender, etc).
nontextured_binvox.bt: These file are voxelised representation of the meshes (resolution up to 1mm).… See the full description on the dataset page: https://huggingface.co/datasets/ll4ma-lab/ycb-fixed-meshes.ycbvycb
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
├──… See the full description on the dataset page: https://huggingface.co/datasets/ai-habitat/ycb.YCB-V-DSWe provide our stereo recordings for the YCB-V object dataset, as well as some of our physically-based stereo renderings.
Contents
stereo+depth recordings/ — raw stereo video recordings (.mkv)
train_pbr_left*.z*, train_pbr_right*.z* — physically-based rendered training data (split zip archives), left/right stereo
test_pbr_left.zip — physically-based rendered test data
test_bboxes/ — BOP-format annotation JSONs:
test_targets_pbr_left.json — flat list of {im_id, inst_count… See the full description on the dataset page: https://huggingface.co/datasets/tpoellabauer/YCB-V-DS.YCB_Video_Datasetsparse-metric-anchors-ycb
Sparse Metric Anchors — YCB benchmark
The 42-object benchmark behind the paper Sparse Metric Anchors for a Single-View 3D
Generative Prior: The Output Frame Is the Bottleneck (ISIR, Sorbonne Université,
2026). Code and paper: github.com/635jack/sparse-metric-anchors — its colab/reproduce.ipynb recomputes every table of the paper from this dataset on a CPU runtime.
The paper asks what limits the injection of a few metric measurements — tactile
contacts, one depth map — into a… See the full description on the dataset page: https://huggingface.co/datasets/jack635/sparse-metric-anchors-ycb.