README for YCBID_gen
Prerequisites
To use this piece of software you need to have the following companion programmes installed
- gazebo simulator http://gazebosim.org
- icub model world icub gazebo worlds
- yarp http://www.yarp.it
- numpy
- pandas
- PIL
Usage
Download the tar compressed 16k 3d laserscans with textures from the ycb webpage Link, put them in /models then run the model converter
./model_converter.sh path/to/tar/model/files/folder.
The database generator then is used in the following way: python3 ycbid_gen.py --scenes 10 --n_occluders 2 --objects_in_universe 15 --desired_occlusion 0.2