Module ycb 

YCB dataset utilities

Structs

DownloadOptions

Options for downloading YCB objects.

Enums

Subset

Subset of objects to download.

Constants

REPRESENTATIVE_OBJECTS

Representative subset of 3 commonly used objects.

TBP_SIMILAR_OBJECTS

TBP similar 10-object benchmark set (harder — similar geometry).

TBP_STANDARD_OBJECTS

TBP standard 10-object benchmark set (distinct objects).

Functions

download_models

Download YCB models to the specified directory.

download_models_with_options

Download YCB models with custom options.

download_objects

Download specific YCB objects by object ID using the standard google_16k meshes.

download_ycb

High-level function to download YCB objects.

missing_objects

Return object IDs whose standard google_16k mesh or texture is missing.

models_exist

Check if the representative YCB models exist at the given path.

object_mesh_path

Get the path to a specific YCB object’s OBJ file

object_texture_path

Get the path to a specific YCB object’s texture file

objects_exist

Check if all requested YCB objects exist at the given path.