The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research

Berk C. Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, Aaron M. Dollar

For each of 88 objects, we provide:

Note that some objects, depending on their properties (e.g. transparency) may not have complete meshes. We plan to later release better meshes for these objects using more advanced algorithms.

You can download all of the processed data for the dataset here. You can also download files for individual objects using the table below. Each file contains the meshes in .ply and .stl format, as well Kinbody files and textured-mapped meshes (.mtl).

Supplementary Files

Objects

Object Name Processed Data Raw RGB Raw RGBD
1_and_a_half_in_metal_washer Processed (.tgz) RGB (.tgz) RGBD (.tgz)
1in_metal_washer Processed (.tgz) RGB (.tgz) RGBD (.tgz)
2in_metal_washer Processed (.tgz) RGB (.tgz) RGBD (.tgz)
black_and_decker_lithium_drill_driver Processed (.tgz) RGB (.tgz) RGBD (.tgz)
black_and_decker_lithium_drill_driver_unboxed Processed (.tgz) RGB (.tgz) RGBD (.tgz)
blank_hard_plastic_card Processed (.tgz) RGB (.tgz) RGBD (.tgz)
block_of_wood_12in Processed (.tgz) RGB (.tgz) RGBD (.tgz)
block_of_wood_6in Processed (.tgz) RGB (.tgz) RGBD (.tgz)
blue_wood_block_1inx1in Processed (.tgz) RGB (.tgz) RGBD (.tgz)
brine_mini_soccer_ball Processed (.tgz) RGB (.tgz) RGBD (.tgz)
campbells_condensed_tomato_soup Processed (.tgz) RGB (.tgz) RGBD (.tgz)
champion_sports_official_softball Processed (.tgz) RGB (.tgz) RGBD (.tgz)
cheerios_14oz Processed (.tgz) RGB (.tgz) RGBD (.tgz)
cheeze-it_388g Processed (.tgz) RGB (.tgz) RGBD (.tgz)
clorox_disinfecting_wipes_35 Processed (.tgz) RGB (.tgz) RGBD (.tgz)
comet_lemon_fresh_bleach Processed (.tgz) RGB (.tgz) RGBD (.tgz)
dark_red_foam_block_with_three_holes Processed (.tgz) RGB (.tgz) RGBD (.tgz)
domino_sugar_1lb Processed (.tgz) RGB (.tgz) RGBD (.tgz)
expo_black_dry_erase_marker Processed (.tgz) RGB (.tgz) RGBD (.tgz)
expo_black_dry_erase_marker_fine Processed (.tgz) RGB (.tgz) RGBD (.tgz)
extra_small_black_spring_clamp Processed (.tgz) RGB (.tgz) RGBD (.tgz)
frenchs_classic_yellow_mustard_14oz Processed (.tgz) RGB (.tgz) RGBD (.tgz)
jell-o_chocolate_flavor_pudding Processed (.tgz) RGB (.tgz) RGBD (.tgz)
jell-o_strawberry_gelatin_dessert Processed (.tgz) RGB (.tgz) RGBD (.tgz)
large_black_spring_clamp Processed (.tgz) RGB (.tgz) RGBD (.tgz)
learning_resources_one-inch_color_cubes_box Processed (.tgz) RGB (.tgz) RGBD (.tgz)
master_chef_ground_coffee_297g Processed (.tgz) RGB (.tgz) RGBD (.tgz)
medium_black_spring_clamp Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_apple Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_banana Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_lemon Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_orange Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_peach Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_pear Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_plum Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_farm_fresh_fruit_strawberry Processed (.tgz) RGB (.tgz) RGBD (.tgz)
melissa_doug_play-time_produce_farm_fresh_fruit_unopened_box Processed (.tgz) RGB (.tgz) RGBD (.tgz)
morton_pepper_shaker Processed (.tgz) RGB (.tgz) RGBD (.tgz)
morton_salt_shaker Processed (.tgz) RGB (.tgz) RGBD (.tgz)
moutain_security_steel_shackle Processed (.tgz) RGB (.tgz) RGBD (.tgz)
moutain_security_steel_shackle_key Processed (.tgz) RGB (.tgz) RGBD (.tgz)
orange_wood_block_1inx1in Processed (.tgz) RGB (.tgz) RGBD (.tgz)
penn_raquet_ball Processed (.tgz) RGB (.tgz) RGBD (.tgz)
plastic_bolt_grey Processed (.tgz) RGB (.tgz) RGBD (.tgz)
plastic_nut_grey Processed (.tgz) RGB (.tgz) RGBD (.tgz)
plastic_wine_cup Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_10_blue Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_1_yellow Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_2_orange Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_3_red Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_5_green Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_6_purple Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_7_yellow Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_8_orange Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_9_red Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_blue_4 Processed (.tgz) RGB (.tgz) RGBD (.tgz)
play_go_rainbow_stakin_cups_box Processed (.tgz) RGB (.tgz) RGBD (.tgz)
pringles_original Processed (.tgz) RGB (.tgz) RGBD (.tgz)
purple_wood_block_1inx1in Processed (.tgz) RGB (.tgz) RGBD (.tgz)
red_metal_bowl_white_speckles Processed (.tgz) RGB (.tgz) RGBD (.tgz)
red_metal_cup_white_speckles Processed (.tgz) RGB (.tgz) RGBD (.tgz)
red_metal_plate_white_speckles Processed (.tgz) RGB (.tgz) RGBD (.tgz)
red_wood_block_1inx1in Processed (.tgz) RGB (.tgz) RGBD (.tgz)
rubbermaid_ice_guard_pitcher_blue Processed (.tgz) RGB (.tgz) RGBD (.tgz)
sharpie_marker Processed (.tgz) RGB (.tgz) RGBD (.tgz)
small_black_spring_clamp Processed (.tgz) RGB (.tgz) RGBD (.tgz)
soft_scrub_2lb_4oz Processed (.tgz) RGB (.tgz) RGBD (.tgz)
spam_12oz Processed (.tgz) RGB (.tgz) RGBD (.tgz)
sponge_with_textured_cover Processed (.tgz) RGB (.tgz) RGBD (.tgz)
stainless_steel_fork_red_handle Processed (.tgz) RGB (.tgz) RGBD (.tgz)
stainless_steel_knife_red_handle Processed (.tgz) RGB (.tgz) RGBD (.tgz)
stainless_steel_spatula Processed (.tgz) RGB (.tgz) RGBD (.tgz)
stainless_steel_spoon_red_handle Processed (.tgz) RGB (.tgz) RGBD (.tgz)
stanley_13oz_hammer Processed (.tgz) RGB (.tgz) RGBD (.tgz)
stanley_flathead_screwdriver Processed (.tgz) RGB (.tgz) RGBD (.tgz)
stanley_philips_screwdriver Processed (.tgz) RGB (.tgz) RGBD (.tgz)
starkist_chunk_light_tuna Processed (.tgz) RGB (.tgz) RGBD (.tgz)
sterilite_bin_12qt_bottom Processed (.tgz) RGB (.tgz) RGBD (.tgz)
sterilite_bin_12qt_cap Processed (.tgz) RGB (.tgz) RGBD (.tgz)
thick_wood_block_6in Processed (.tgz) RGB (.tgz) RGBD (.tgz)
wearever_cooking_pan_with_lid Processed (.tgz) RGB (.tgz) RGBD (.tgz)
wescott_orange_grey_scissors Processed (.tgz) RGB (.tgz) RGBD (.tgz)
white_rope Processed (.tgz) RGB (.tgz) RGBD (.tgz)
wilson_100_tennis_ball Processed (.tgz) RGB (.tgz) RGBD (.tgz)
wilson_golf_ball Processed (.tgz) RGB (.tgz) RGBD (.tgz)
windex Processed (.tgz) RGB (.tgz) RGBD (.tgz)
yellow_plastic_chain Processed (.tgz) RGB (.tgz) RGBD (.tgz)
yellow_wood_block_1inx1in Processed (.tgz) RGB (.tgz) RGBD (.tgz)