YCB Object and Model Set
Provider：Yale / CMU / Berkeley (Calli et al.)
The YCB Object and Model Set has 80 everyday objects (meshes + RGB-D scans + real mass/dimensions), the benchmark for robotic grasping and 6D pose (YCB-Video uses 21); digital data is public.
At a glance
- Readiness
- L1 · Rigid-body ready
- Rationale
- Manipulation L1: 80 everyday objects with mesh models, high-res RGB-D scans and measured mass/dimensions/rigidity, directly importable for simulation and grasping, but they are objects not full scenes, hence L1.
- Scale
- 80 everyday objects (YCB Object and Model Set); YCB-Video uses 21 high-quality objects in 92 RGB-D videos (133,827 frames); 3D models ~367 MB (YCB benchmark paper (IJRR 2017, arXiv:1502.03143) and data site: 80-object set; YCB-Video 21 objects / 92 videos / 133,827 frames; models ~367 MB. Checked 2026-10-25.)
- License
- Mixed (check per asset) — Digital data is publicly hosted with download scripts and a ROS node; physical kits are requestable separately. Used as a research benchmark; derivative datasets (YCB-Video/BOP/DexYCB) carry their own licenses to verify.
- Access
- Open
- Formats
- obj · other
- Runtimes
- other
- Physics properties
- Mass / inertiaMDL material
- Domain
- Solid / Structure
- Published
- 2026-10-25
- Updated
- 2026-10-25
Why it is listed
The YCB Object and Model Set is the standard benchmark for robotic grasping and 6D pose: 80 everyday objects with mesh models, high-resolution RGB-D scans, and measured mass, dimensions and rigidity.
Readiness assessment
The meshes ship with texture maps and simulator files, so they drop into Mujoco, Gazebo or custom renderers with the same geometry used on physical hardware — an L1 asset carrying real physical attributes.
Practical notes
Digital data is hosted publicly with download scripts and a ROS node; physical object kits can be requested separately. The set underpins YCB-Video (21 objects, 92 RGB-D videos, 133,827 frames) and several BOP/DexYCB derivatives.
Disclaimer: license and usage terms follow the official source — verify them yourself before use. This site indexes and links only; it does not host or mirror any asset file.
License and usage terms are those of the official source — verify before use. No asset file is hosted or mirrored on this site.