Testbed Simulation

Dataset

Please find listed below some useful links regarding the dataset:

• The list of objects;

• The original YCB Dataset;

• The simulation Dataset;

YCB Download (Gazebo)

Here is the repo that allows you to add the YCB objects into your Gazebo environment (link). Please follow its instructions carefully.

Note that you don't have to download all the objects of the YCB (nor you should). Within the download_ycb_dataset.py script, one can specific which objects to download.

objects_to_download = ["026_sponge", "021_bleach_cleanser", "056_tennis_ball","053_mini_soccer_ball", "055_baseball", "001_chips_can", "003_cracker_box", "007_tuna_fish_can", "005_tomato_soup_can", "010_potted_meat_can", "006_mustard_bottle", "009_gelatin_box", "008_pudding_box", "002_master_chef_can", "004_sugar_box", "016_pear", "018_plum", "015_peach", "014_lemon", "017_orange", "012_strawberry", "011_banana", "013_apple", "031_spoon", "029_plate", "024_bowl", "030_fork", "032_knife", "025_mug"]

Please take a look at the Dataset section above to get all the information you need regarding our simulation dataset and the object names, or just copy the code line above and pasted on the script.

Deploy Model

Here is the link from which one can download the custom model trained with dataset presented above (link).

Download it and unzip within the model folder of the detectron2_ros package.

Go to the detectron2_ros_specific.launch and change the argument model_name to the model name ycb_simulation_model. Note that the argument load_custom_model must be set to true. Overall, the launch file should have the following arguments:

  <arg name="visualization" default="false" />
  <arg name="load_custom_model" default="true" />
  <arg name="model_name" default="ycb_simulation_model" />

If set to true the visualization argument will enable the visualization on the Rviz.

Real Testbed

YCB Kit

In order to use the YCB dataset from Vislab, one must get permission to play with their dataset. Talk with Rodrigo Serra or directly with Nuno Duarte from Vislab.

Dataset

Please find listed below some useful links regarding the dataset:

• The list of objects;

• ISR Testbed Dataset;

Deploy Model

Follow the same instructions described for the Simulation dataset. Use this link to download the real model.

Do not forget to change the argument model_name on the launch file.