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**YCB-Sight**: A visuo-tactile dataset for object understanding\n\n[![CC BY-SA 4.0][cc-by-sa-shield]][cc-by-sa] \u0026nbsp; [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT) \u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp;\u0026nbsp; \u003cimg height=\"20\" src=\"media/robotouch.png\" alt=\"Robotouch-logo\" /\u003e \u0026nbsp;\u0026nbsp; \u003cimg height=\"20\" src=\"media/rpl.png\" alt=\"RPL-logo\" /\u003e \n\n[cc-by-sa]: http://creativecommons.org/licenses/by-sa/4.0/\n[cc-by-sa-shield]: https://img.shields.io/badge/License-CC%20BY--SA%204.0-lightgrey.svg\n\n\n![cover](/media/YCBSight.png)\n\nYCB-Sight is a visuo-tactile dataset including the simulated and real data from a GelSight tactile sensor and Kinect Azure RGB-D camera on the [YCB dataset](https://www.ycbbenchmarks.com).\n\n## Dataset\nYou can find the whole dataset [here](https://drive.google.com/drive/folders/17BPST4biGzduVtoCUBswOmkISqNh1srI?usp=sharing), or download partial data below\n\n### YCBSight-Sim\n\n![cover](/media/YCBSight-sim.gif)\n\nSimulated tactile and depth data with [Taxim](https://github.com/CMURoboTouch/Taxim) and [pyrender](https://github.com/mmatl/pyrender)\n\n| Object Name |  Size (MB) | Link |\n| -- | -- |  -- |\n| 002_master_chef_can |  64.3  | [[Link]](https://drive.google.com/file/d/1XD3nrd4gKf74ljJKt_StGrUCads2OKom/view?usp=sharing) |\n| 003_cracker_box |  63.2  | [[Link]](https://drive.google.com/file/d/1nFePHk4CCHT0o31aNIivueqM8zWoQXXW/view?usp=sharing) |\n| 004_sugar_box |  61.2  | [[Link]](https://drive.google.com/file/d/1-l7U06Puh47WBL6FvDtOvttBF0qkkCJm/view?usp=sharing) |\n| 005_tomato_soup_can |  63.8  | [[Link]](https://drive.google.com/file/d/1WcSEomKsUNSQMOscxRkC14opf2PA9dxO/view?usp=sharing) |\n| 006_mustard_bottle |  63.8  | [[Link]](https://drive.google.com/file/d/1o-qZh8bU65cHKcBY18iFXlMyUiPulkyN/view?usp=sharing) |\n| 007_tuna_fish_can |  63.2  | [[Link]](https://drive.google.com/file/d/1qI1RufCRG_UkepDflnStQVg085nFzZNJ/view?usp=sharing) |\n| 008_pudding_box |  61.5  | [[Link]](https://drive.google.com/file/d/1AWhCIf2WYIVVnxlL2eL0DXRP60IHRTKh/view?usp=sharing) |\n| 009_gelatin_box |  60.3  | [[Link]](https://drive.google.com/file/d/1eRBESy4wxIKbGD1d-SZrCuYBlh9Ukfdf/view?usp=sharing) |\n| 010_potted_meat_can |  62.8  | [[Link]](https://drive.google.com/file/d/1UtiJM-PtXa5OGErGIC4M60zpHlb4XM5d/view?usp=sharing) |\n| 011_banana |  63.7  | [[Link]](https://drive.google.com/file/d/1pSNc9f_b7akubCMHkn572qloV4FnU9Fd/view?usp=sharing) |\n| 012_strawberry |  64.2  | [[Link]](https://drive.google.com/file/d/10bQiES46hooZrPw5MaUMXvfeaSQxcVva/view?usp=sharing) |\n| 013_apple |  63.4  | [[Link]](https://drive.google.com/file/d/1OSt_RFXQo-ad5jAIxaHeDeUxRBhO-hNw/view?usp=sharing) |\n| 014_lemon |  63.4  | [[Link]](https://drive.google.com/file/d/1_XL0YKCwQUQWrFt9XMjdNcaqh9ss6Fdp/view?usp=sharing) |\n| 017_orange |  63.2  | [[Link]](https://drive.google.com/file/d/17YrIXvepLBlh9RQSexNdDwR3L78NoG39/view?usp=sharing) |\n| 019_pitcher_base |  64.5  | [[Link]](https://drive.google.com/file/d/1YYlTtBVNQ8uEUtAhxH_wTkokimK-SRQK/view?usp=sharing) |\n| 021_bleach_cleanser |  62.6  | [[Link]](https://drive.google.com/file/d/1FwlqJG9prxv7qsaAWJk7SZsDRx_OjL0l/view?usp=sharing) |\n| 024_bowl |  65.1  | [[Link]](https://drive.google.com/file/d/1w1ybTkEPAnq5UTbMzwXGZBqikMbggIoK/view?usp=sharing) |\n| 025_mug |  64.2  | [[Link]](https://drive.google.com/file/d/1dqXYqCcImpFzxox9XKA_LONVJz7gswIZ/view?usp=sharing) |\n| 029_plate |  66.3  | [[Link]](https://drive.google.com/file/d/1KKdWX4z0HGvt_bfcLM_peBqCtowbsyVh/view?usp=sharing) |\n| 035_power_drill |  64.7  | [[Link]](https://drive.google.com/file/d/1gOOzuZIgbgprzOQYZz_pNilHN0miO3xT/view?usp=sharing) |\n| 036_wood_block |  60.1  | [[Link]](https://drive.google.com/file/d/1dZjTRx-gB_mUYZeS0juJ3e6nnwjor7Or/view?usp=sharing) |\n| 037_scissors |  64.2  | [[Link]](https://drive.google.com/file/d/1KDOxdqPMDH3_JXenwkZLntulV8yOIZxN/view?usp=sharing) |\n| 042_adjustable_wrench |  64.7  | [[Link]](https://drive.google.com/file/d/1Vv7qCiT0Ac8wBEW67FTF836sB3ZO9jGw/view?usp=sharing) |\n| 043_phillips_screwdriver |  63.9  | [[Link]](https://drive.google.com/file/d/13HdgVl17iEu78ZNgOyPy4QnXH4uS6UAA/view?usp=sharing) |\n| 048_hammer |  64.1  | [[Link]](https://drive.google.com/file/d/1pgEufbUhlcKOA7-LhjICdL1dEsrwtJyB/view?usp=sharing) |\n| 055_baseball |  63.5  | [[Link]](https://drive.google.com/file/d/1x01Jh_7WQNr5o2oUfhvnoLzK91r0wd2c/view?usp=sharing) |\n| 056_tennis_ball |  63.4  | [[Link]](https://drive.google.com/file/d/12Jp_A-uHZ9DwXuxR03uAuZyOlXX7E59T/view?usp=sharing) |\n| 072-a_toy_airplane |  65.5  | [[Link]](https://drive.google.com/file/d/14IWMKCpcBp7dA_oruiRmVD8DQ5hiSl1S/view?usp=sharing) |\n| 072-b_toy_airplane |  63.8  | [[Link]](https://drive.google.com/file/d/1HcbQCpZllofE_VSqhyQscUq74335nWz7/view?usp=sharing) |\n| 077_rubiks_cube |  61.3  | [[Link]](https://drive.google.com/file/d/1kpvxRrcCvKx_SaBcJWVS9KghLbQEkdxZ/view?usp=sharing) |\n\n\n### YCBSight-Real\n\n![cover](/media/YCBSight-real.gif)\n\nCollected tactile and depth data from real world experiments\n\n| Object Name |  Size (GB) | Link |\n| -- | -- |  -- |\n| 002_master_chef_can |  0.97  | [[Link]](https://drive.google.com/file/d/1ZfwuXom_ngccnyox-ud4b-pOa1zMw-Wr/view?usp=sharing) |\n| 004_sugar_box |  1.15  | [[Link]](https://drive.google.com/file/d/1ZAZ4y2pCI7YWOSx5VI7tNlJ2EJpZy1F2/view?usp=sharing) |\n| 005_tomato_soup_can |  1.09  | [[Link]](https://drive.google.com/file/d/1tCoHd7qf4AAXWMfLCRecpnimJcz52sRv/view?usp=sharing) |\n| 010_potted_meat_can |  1.09  | [[Link]](https://drive.google.com/file/d/1VNQyOW1ooBClp4QogJJqh7SHN2zGCq1E/view?usp=sharing) |\n| 021_bleach_cleanser |  1.23  | [[Link]](https://drive.google.com/file/d/1HVTtGYX_Doj_xk_TIyFEd82njQ1DhA8a/view?usp=sharing) |\n| 036_wood_block |  1.02  | [[Link]](https://drive.google.com/file/d/1Hdab1i4UHrkUAJ5RtDigpMHfx868aOtD/view?usp=sharing) |\n\n### Data directory format\n```bash\nYCBSight-Sim\n├── obj1\n│   ├── gt_contact_mask\n│   │   ├── \u003cidx\u003e.npy\n│   │   └── ...\n│   ├── gt_height_map\n│   │   ├── \u003cidx\u003e.npy\n│   │   └── ...\n│   ├── gelsight\n│   │   ├── \u003cidx\u003e.jpg\n│   │   └── ...\n│   ├── pose.txt\n│   ├── depthCam.npy\n│   └── depthCam.pdf\n├── obj2\n└── ...\n```\n```bash\nYCBSight-Real\n├── obj1\n│   ├── gelsight\n│   │   ├── gelsight_\u003cidx\u003e_\u003ctimestamp\u003e.jpg\n│   │   └── ...\n│   ├── depth\n│   │   └── depth_0_\u003ctimestamp\u003e.tif\n│   ├── pc\n│   │   └── pc_0_\u003ctimestamp\u003e.npy\n│   ├── rgb\n│   │   ├── rgb_\u003cidx\u003e_\u003ctimestamp\u003e.jpg\n│   │   └── ...\n│   ├── robot.csv\n│   ├── tf.json\n│   └── obj1.mp4\n├── obj2\n└── ...\n```\n\n## Dependencies\nThe visualization and data processing are implemented in python3 and require numpy, scipy, matplotlib, cv2.\n\nTo install dependencies: `pip install -r requirements.txt`.\n\n## Data Visualization\n- `scripts/lookup_mapping/lookup.py` reconstructs the height maps from the tactile readings. Here are several parameters to set:\n    - `path2model`: the path to the directory storing the YCBSight-Real and/or YCBSight-Sim\n    - `sim`: True/False, visualize whether the simulated data or real data\n    - `obj`: specify a certain object's data to visualize, or set to None to visualize all the data\n\n## Local Shape Reconstruction from Touch with Lookup Table\n- `scripts/data_visualization/data_visualizer.py` visualize the data in YCB-Sight dataset.\n\n## Local Shape Reconstruction from Touch with FCRN network\nPlease refer to [this repo](https://github.com/XPFly1989/FCRN) (pytorch version) and [this repo](https://github.com/iro-cp/FCRN-DepthPrediction) (tensorflow version).\n\n## License\nThis dataset is licensed under a\n[Creative Commons Attribution-ShareAlike 4.0 International License][cc-by-sa], with the accompanying processing code licensed under the [MIT License](https://opensource.org/licenses/MIT). \n\n## Citation\nIf you use YCB-Sight dataset in your research, please cite:\n```BibTeX\n@article{suresh2021efficient,\n  title={Efficient shape mapping through dense touch and vision},\n  author={Suresh, Sudharshan and Si, Zilin and Mangelson, Joshua G and Yuan, Wenzhen and Kaess, Michael},\n  journal={arXiv preprint arXiv:2109.09884},\n  year={2021}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FRobo-Touch%2FYCB-Sight","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FRobo-Touch%2FYCB-Sight","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FRobo-Touch%2FYCB-Sight/lists"}