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pretty_name: FoundationPose Paired Synthetic Renders
configs:
- config_name: gso-scenes
data_files:
- split: train
path: gso/scenes/train-*.parquet
- split: validation
path: gso/scenes/validation-*.parquet
- config_name: gso-assets
data_files:
- split: train
path: gso/assets/train-*.parquet
- config_name: objaverse-scenes
data_files:
- split: train
path: objaverse/scenes/train-*.parquet
- split: validation
path: objaverse/scenes/validation-*.parquet
- config_name: objaverse-assets
data_files:
- split: train
path: objaverse/assets/train-*.parquet
---
# FoundationPose paired synthetic renders
Each scene row contains two synchronized views and per-object pose, mask ID,
bounding box, visibility, and occlusion annotations. Depth is stored as the
original float32 NPY bytes; RGB and uint32 instance masks are stored as PNG
bytes. Matrices use row-major flattened arrays and canonical column-vector
names (`camera_from_world` and `world_from_object`). Raw source transforms are
retained alongside them.
The assets tables contain stable source identifiers only. The render archives
reference external USD geometry and do not include reusable mesh assets.
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