rofunc.simulator.utils.ycb_downloader#

1.  Module Contents#

1.1.  Functions#

download_ycb_objects

Download YCB objects from the official website

parallel

fetch_objects

Fetches the object information before download

download_file

Downloads files from a given URL

tgz_url

Get the TGZ file URL for a particular object and dataset type

extract_tgz

Extract a TGZ file

check_url

Check the validity of a URL

1.2.  API#

rofunc.simulator.utils.ycb_downloader.download_ycb_objects(objects_to_download='all', files_to_download=['google_16k'], extract=True, core_num=20)[source]#

Download YCB objects from the official website

Parameters:

  • objects_to_download – List of objects to download. If “all”, will download all objects. http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/

  • files_to_download – List of files to download for each object. ‘berkeley_rgbd’ contains all of the depth maps and images from the Carmines. ‘berkeley_rgb_highres’ contains all of the high-res images from the Canon cameras. ‘berkeley_processed’ contains all of the segmented point clouds and textured meshes. ‘google_16k’ contains google meshes with 16k vertices. ‘google_64k’ contains google meshes with 64k vertices. ‘google_512k’ contains google meshes with 512k vertices.

  • extract – Extract all files from the downloaded .tgz, and remove .tgz files. If false, will just download all .tgz files to output_directory

  • core_num – Number of cores to use for parallel downloading

Returns:

rofunc.simulator.utils.ycb_downloader.parallel(object, objects_to_download, files_to_download, extract, base_url, output_directory)[source]#
rofunc.simulator.utils.ycb_downloader.fetch_objects(url)[source]#

Fetches the object information before download

rofunc.simulator.utils.ycb_downloader.download_file(url, filename, pbar=None)[source]#

Downloads files from a given URL

rofunc.simulator.utils.ycb_downloader.tgz_url(base_url, object, type)[source]#

Get the TGZ file URL for a particular object and dataset type

rofunc.simulator.utils.ycb_downloader.extract_tgz(filename, dir)[source]#

Extract a TGZ file

rofunc.simulator.utils.ycb_downloader.check_url(url)[source]#

Check the validity of a URL