Datasets:

TimSchneider42
/

abc-round-50k

id int32 102 1,000k	mesh.vertices listlengths 6 1.34M	mesh.faces listlengths 8 2.71M	mean_width float32 0.01 0.38	diameter float32 0.01 0.44	roundness float32 0.29 1	aspect_ratio float32 0.2 1	volume float32 0 0.02	concavity float32 0.31 1
362,955	[ [ 0.01249999925494194, 0.012500000186264515, 0.01249999925494194 ], [ 0.01249999925494194, 0.012500000186264515, -0.012500000186264515 ], [ -0.012500002980232239, 0.012500000186264515, 0.01249999925494194 ], [ -0.012500002980232239, 0.012500000186264515, -...	[ [ 0, 1, 2 ], [ 1, 3, 2 ], [ 4, 5, 6 ], [ 5, 7, 6 ], [ 7, 5, 2 ], [ 5, 0, 2 ], [ 5, 4, 0 ], [ 4, 1, 0 ], [ 6, 7, 3 ], [ 7, 2, 3 ], [ 4, 6, 1 ],...	0.0375	0.043301	0.367553	1	0.000016	1
781,906	[ [ -0.004975154064595699, 0.0004978392389602959, 0.009107142686843872 ], [ -0.004993784707039595, 0.0002492294297553599, 0.009107142686843872 ], [ 4.364475037998561e-20, -1.966995510869536e-22, 0.009107142686843872 ], [ -0.004999999888241291, -1.224843452737256...	[ [ 0, 1, 2 ], [ 1, 3, 2 ], [ 2, 3, 4 ], [ 5, 6, 2 ], [ 6, 7, 2 ], [ 2, 7, 0 ], [ 8, 9, 2 ], [ 9, 10, 2 ], [ 2, 10, 5 ], [ 11, 12, 2 ], [ 12, 13, ...	0.020084	0.021213	0.549744	0.75	0.000003	1
737,185	[[-0.0011331761488690972,-0.0014209579676389694,-0.03650717809796333],[-0.0012025964679196477,-0.001(...TRUNCATED)	[[0,1,2],[3,4,2],[5,6,2],[7,8,9],[10,11,12],[9,8,13],[14,13,8],[12,11,13],[15,13,11],[15,11,16],[11,(...TRUNCATED)	0.059175	0.074289	0.482468	0.727232	0.000104	1
830,541	[[0.0015642852522432804,-0.009549999609589577,-0.0025598725769668818],[0.00391074363142252,-0.009549(...TRUNCATED)	[[0,1,2],[1,3,2],[2,3,4],[3,5,4],[4,5,6],[5,7,6],[6,7,8],[7,9,8],[8,9,10],[9,11,10],[10,11,12],[11,1(...TRUNCATED)	0.02133	0.024286	0.356095	0.785218	0.000003	0.7916
303,389	[[-0.001959174871444702,-1.1631271744237254e-20,-0.010427592322230339],[-0.0019567394629120827,0.000(...TRUNCATED)	[[0,1,2],[1,3,2],[2,3,4],[3,5,4],[4,5,6],[5,7,6],[6,7,8],[7,9,8],[8,9,10],[9,11,10],[10,11,12],[11,1(...TRUNCATED)	0.015113	0.017879	0.495082	0.790609	0.000001	0.922257
523,402	[[-0.00400021206587553,0.00020242546452209353,0.0016394476406276226],[-0.004998968914151192,0.000252(...TRUNCATED)	[[0,1,2],[1,3,2],[2,3,4],[3,5,4],[4,5,6],[5,7,6],[6,7,8],[7,9,8],[8,9,10],[9,11,10],[10,11,12],[11,1(...TRUNCATED)	0.031847	0.033801	0.306778	0.78042	0.000006	0.518292
751,603	[[0.0015642852522432804,-0.009549999609589577,-0.0025598725769668818],[0.00391074363142252,-0.009549(...TRUNCATED)	[[0,1,2],[1,3,2],[2,3,4],[3,5,4],[4,5,6],[5,7,6],[6,7,8],[7,9,8],[8,9,10],[9,11,10],[10,11,12],[11,1(...TRUNCATED)	0.02133	0.024286	0.356095	0.785218	0.000003	0.7916
875,069	[[-0.007322348188608885,-0.002610580762848258,0.0013019538018852472],[-0.007319330703467131,-0.00263(...TRUNCATED)	[[0,1,2],[3,4,5],[6,7,8],[9,10,11],[12,13,14],[13,15,14],[14,15,16],[17,18,15],[18,19,15],[15,19,16](...TRUNCATED)	0.018684	0.020378	0.37648	0.749904	0.000002	0.675073
765,766	[[-0.07743111997842789,0.05779922008514404,0.016852788627147675],[0.07470833510160446,0.057799220085(...TRUNCATED)	[[0,1,2],[1,0,3],[0,4,3],[3,4,5],[5,6,3],[6,7,3],[3,7,8],[9,10,11],[10,12,11],[13,10,14],[2,15,0],[1(...TRUNCATED)	0.182193	0.196167	0.57546	0.729492	0.002275	1
659,407	[[0.009059613570570946,-0.018268654122948647,0.017140377312898636],[0.009059613570570946,-0.01884333(...TRUNCATED)	[[0,1,2],[1,3,2],[2,3,4],[4,5,2],[5,6,2],[2,6,7],[6,8,7],[7,8,9],[10,11,2],[11,12,2],[2,12,13],[13,1(...TRUNCATED)	0.060076	0.06937	0.290741	0.706391	0.000051	0.791027

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Roundish ABC objects

A subset of TimSchneider42/tactile-mnist-abc-dataset (triangle meshes in meters from the ABC dataset) selected for in-hand manipulation with a multi-fingered robot hand: roughly ball-like single-piece objects of any size (the meshes keep their original dimensions; rescale them to the hand when loading).

Hard criteria (all splits):

exactly one connected, watertight body consisting of a single closed shell (no overlapping solids) whose volume does not exceed its convex hull's
no size or aspect-ratio constraint

Roundness is mesh volume / volume of the sphere with the mesh's geometric diameter (1 for a sphere, ~0.37 for a cube); the splits keep the roundest meshes:

train: the 50000 roundest of the 462950 source-train meshes passing the hard criteria (roundness >= 0.2886; 539624 scanned; median roundness 0.368, median diameter 5.9 cm, range 1.2 - 50.6 cm)
train100: 100 objects of train spread over shape and size (farthest-point sampling on z-scored diameter, mean_width, roundness, aspect_ratio, ext_mid_over_max, ext_min_over_max, concavity)
train20: the 20 objects of train100 spread over shape and size by the same farthest-point sampling, applied to train100 (one class per object for across-scale object classification)
test: the 5000 roundest of the 51445 source-test meshes passing the hard criteria (roundness >= 0.3027; 59959 scanned; median roundness 0.377, median diameter 5.7 cm, range 1.3 - 42.0 cm)
test100: 100 objects of test spread over shape and size (farthest-point sampling on z-scored diameter, mean_width, roundness, aspect_ratio, ext_mid_over_max, ext_min_over_max, concavity)
test20: the 20 objects of test100 spread over shape and size by the same farthest-point sampling, applied to test100 The train and test splits are taken from the source's splits. Rows are stored in a random order (seed 0), so any prefix is a random sample; the train100, test100 subsets keep their parent's order.

Columns: the source's id, label, mesh.vertices, mesh.faces (meshes are unchanged), plus per-mesh shape statistics mean_width, diameter (max pairwise vertex distance, rotation invariant), roundness, aspect_ratio, volume (all float32, in meters / cubic meters) and concavity (mesh volume / convex-hull volume).

License

Note that I am not the creator of the ABC dataset; hence, I hold no copyright over it.

The copyright of the CAD models is owned by their creators. For licensing details, see Onshape Terms of Use 1.g.ii.

This dataset does not contain any metadata. Hence, to identify the creator of a specific model, please cross-reference the model ID with the indices of the metadata dataset.

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