YCB v1.2

[aclegg3]

Motivation and Context

Updates downloader default for YCB dataset to v1.2.

Also adds YCB object use and quick-start details to the DATASETS.md doc page.

Change-log:

• removed "heavy" chef can object
• improved organization:
  • moved object json files into configs directory
  • moved render assets into meshes directory
  • moved collision assets into collision_meshes directory
• converted render assets to .glb and removed other formats
• basis compressed textures in .glb files (originals still included as textured.glb.orig for editing in modeling software)
• render meshes have been simplified for better render efficiency
• texture size restored to higher resolution for better visuals

How Has This Been Tested

local testing

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[dhruvbatra]

Instructions work for me. Visuals look higher-res than what I recall.

[aclegg3]

We'll need to update the rearrange episodes to route additional_object_paths to data/objects/ycb/configs/ before tests will pass.