Please note that several of the original Yale- CMU-Berkeley (YCB) objects are no longer available and have been replaced. All changes are logged in the YCB Object Set Versions Google document as different versions of each object. The changes are summarized below:
The replacement objects may not have corresponding 3D models in the dataset. The replacements were chosen based on availability and similarly in dimensions and visual appearance. Note that the labels on some food products may vary slightly from product to product, but we do our best to reduce this variation.