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ycb-tools

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Tools to download models from the YCB dataset and use them with the Gazebo simulator.

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- ycb_gazebo_inertia.png
- - model.config
  - template.material
  - template.sdf
.gitignore
create_ycb_sdf.py
download_ycb_dataset.py
LICENSE
README.md

# Installation Guide

1. Get the code

git clone https://github.com/sea-bass/ycb-tools

Downloads the entire project code from GitHub to your computer.

cd ycb-tools

Moves into the project folder you just downloaded.

2. Official Install Script

Easy Recommended

Prerequisites

Python 3 Python is required to use pip.

pip install numpy pillow scipy shapely trimesh

Installs the package published on PyPI directly — no need to clone the source.

✅ After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.

Pulled directly from this repo's README.

// repository documentation

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# YCB Tools
Tools to download models from the [YCB dataset](https://www.ycbbenchmarks.com/) and use them with the Gazebo simulator.

By Sebastian Castro, 2020-2021

![YCB Models in Gazebo](https://raw.githubusercontent.com/sea-bass/ycb-tools/main/images/ycb_gazebo_inertia.png)

## Python Setup

You only need to install a few Python packages to get these tools running.

```
pip install numpy pillow scipy shapely trimesh
```

## Downloading YCB objects

You can download the models using a variant of the download script provided on the [YCB web page](http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/).
However, this script has been modified to work with Python 3.

```
python download_ycb_dataset.py
```

You can configure a few options in the script, including choosing which objects and model types to download.
However, the default options will get all of the YCB object models and may take a few minutes to download.

## Using YCB Object Models in Gazebo

After you have downloaded the YCB models, you can run the following script.

```
python3 create_ycb_sdf.py
```

This by default uses the `./models/ycb` and `./templates/ycb` folder, assuming you are running the script from the top-level folder of this repo.
You can always modify this if you want:

```
python3 create_ycb_sdf.py --template-folder /path/to/templates/ycb --ycb-folder /path/to/models.ycb
```

There is also a `--downsample_ratio` argument set in this script which uses rejection sampling to randomly remove faces from the mesh to get a subset of faces.
This downsampled mesh is used only for collision detection, so it will not affect the visuals, but it should make simulation faster if you don't need perfect collision fidelity (i.e., if you're not trying to do manipulation).
The Google 16k meshes are fairly high-resolution, so this should not have a huge impact, but if you want the full meshes used for collision, you can leave this parameter at its default value of `1`.

```
python3 create_ycb_sdf.py --downsample-ratio 0.5
```

**NOTE:** A few of the models in the dataset do not have either of the `google_16k` or `tsdf` meshes available, so these will not work with Gazebo.

Finally, you need to make sure the folder containing your models is included in your `GAZEBO_MODEL_PATH` environment variable. We recommend setting this in your `~/.bashrc` file as follows.

```bash
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$REPO_BASE_FOLDER/models/ycb
```

where `$REPO_BASE_FOLDER` is the folder containing this README file.