Object Set

Some of the physical YCB objects have been replaced due to lack of availability of the original objects. Each item is versioned here.

You can apply for the object set here. The set consists of 77 objects divided into 5 categories: Food items, kitchen items, tool items, shape items, task items.

back row: chips can, coffee can, cracker box, box of sugar, tomato soup can; middle row: mustard container, tuna fısh can, chocolate pudding box, gelatin box, potted meat can; front: plastic fruits (lemon, apple, pear, orange, banana, peach, strawberries, plum).

Food items: back row: chips can, coffee can, cracker box, box of sugar, tomato soup can; middle row: mustard container, tuna fısh can, chocolate pudding box, gelatin box, potted meat can; front: plastic fruits (lemon, apple, pear, orange, banana, peach, strawberries, plum).

back row: pitcher, bleach cleanser, glass cleaner; middle row: plastic wine glass, enamel-coated metal bowl, metal mug, abrasive sponge; front: cooking skillet with glass lid, metal plate, eating utensils (knife, spoon, fork), spatula, white table cloth.

Kitchen items: back row: pitcher, bleach cleanser, glass cleaner; middle row: plastic wine glass, enamel-coated metal bowl, metal mug, abrasive sponge; front: cooking skillet with glass lid, metal plate, eating utensils (knife, spoon, fork), spatula, white table cloth.

Tool items

Tool items: back row, from left: a power drill and wood block; middle row, from left: scissors, a padlock and keys, markers (two sizes), an adjustable wrench, Phillips- and flat-head screwdrivers, wood screws, nails (two sizes), plastic bolts and nuts, and a hammer; front row: spring clamps (four sizes).

Shape items

Shape items: back row: mini soccer ball, softball, baseball, tennis ball, racquetball, golf ball; front: plastic chain, washers (seven sizes), foam brick, dice, marbles, rope, stacking blocks (set of 10), credit card blank.

task obj

Task items: First row: Box and blocks test, 9 hole peg test, timer; second row: Lego Dublo, magazine; third row: Rubick’s cube, t-shirt, airplane toy.

The content of the object set is explained in [1] and [2]. A checklist with the physical properties of the objects can be found here. If you would like to buy individual objects of the set, a list of purchase links can be found here.

[1] Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar, Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols, IEEE Robotics and Automation Magazine, pp. 36 – 52, Sept. 2015.

[2] Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar, The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.