wufeim/lychsim_objects

LychSim Objects Dataset

This dataset provides annotations for 3D assets used in LychSim, a controllable and interactive simulation framework for vision research.

For each 3D asset that appears in LychSim scenes, we annotate its semantic category, canonical scale, and pose alignment (the calibration yaw that puts the asset's "front" along +X), together with a precomputed mesh_offset so that spawning at location + mesh_offset lands the visual bounding box bottom-center exactly on the target location. These annotations are critical for producing semantically aligned ground-truth 3D object poses and for programmatic object placement and scene manipulation.

• Paper: LychSim: A Controllable and Interactive Simulation Framework for Vision Research
• Project Page: https://lychsim.github.io/
• Repository: https://github.com/wufeim/LychSim

Sample Usage

You can load this dataset using the Hugging Face datasets library:

from datasets import load_dataset

objects = load_dataset("wufeim/lychsim_objects")

License

This dataset is released under the Creative Commons Attribution 4.0 International license (CC BY 4.0).