Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: CastError
Message: Couldn't cast
id: string
title: string
label: string
base: string
size_m: list<item: double>
child 0, item: double
mass_kg: double
bodies: int64
joints: int64
collision_shapes: int64
triangles: int64
license: string
attribution: string
source: struct<repo: string, package_id: string, package_sha256: string>
child 0, repo: string
child 1, package_id: string
child 2, package_sha256: string
files: struct<visual: struct<path: string, bytes: int64, sha256: string>, physics: struct<path: string, byt (... 86 chars omitted)
child 0, visual: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 1, physics: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 2, thumb: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
validation: struct<ok: bool, unstable: bool, max_penetration_m: double, final_max_qvel: double, com_drop_m: doub (... 92 chars omitted)
child 0, ok: bool
child 1, unstable: bool
child 2, max_penetration_m: double
child 3, final_max_qvel: double
child 4, com_drop_m: double
child 5, step_ms: double
child 6, nbody: int64
child 7, njnt: int64
child 8, ngeom: int64
child 9, nmesh: int64
child 10, seconds: double
collision: list<item: struct<collider: string, method: string, shapes: int64, solid
...
child 1, bytes: int64
child 2, sha256: string
child 1, physics: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 2, thumb: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 14, validation: struct<ok: bool, unstable: bool, max_penetration_m: double, final_max_qvel: double, com_drop_m: doub (... 92 chars omitted)
child 0, ok: bool
child 1, unstable: bool
child 2, max_penetration_m: double
child 3, final_max_qvel: double
child 4, com_drop_m: double
child 5, step_ms: double
child 6, nbody: int64
child 7, njnt: int64
child 8, ngeom: int64
child 9, nmesh: int64
child 10, seconds: double
child 15, collision: list<item: struct<collider: string, method: string, shapes: int64, solidity: double>>
child 0, item: struct<collider: string, method: string, shapes: int64, solidity: double>
child 0, collider: string
child 1, method: string
child 2, shapes: int64
child 3, solidity: double
child 16, warnings: list<item: null>
child 0, item: null
child 17, converter: string
child 18, seconds: double
format: string
to
{'format': Value('string'), 'assets': List({'id': Value('string'), 'title': Value('string'), 'label': Value('string'), 'base': Value('string'), 'size_m': List(Value('float64')), 'mass_kg': Value('float64'), 'bodies': Value('int64'), 'joints': Value('int64'), 'collision_shapes': Value('int64'), 'triangles': Value('int64'), 'license': Value('string'), 'attribution': Value('string'), 'source': {'repo': Value('string'), 'package_id': Value('string'), 'package_sha256': Value('string')}, 'files': {'visual': {'path': Value('string'), 'bytes': Value('int64'), 'sha256': Value('string')}, 'physics': {'path': Value('string'), 'bytes': Value('int64'), 'sha256': Value('string')}, 'thumb': {'path': Value('string'), 'bytes': Value('int64'), 'sha256': Value('string')}}, 'validation': {'ok': Value('bool'), 'unstable': Value('bool'), 'max_penetration_m': Value('float64'), 'final_max_qvel': Value('float64'), 'com_drop_m': Value('float64'), 'step_ms': Value('float64'), 'nbody': Value('int64'), 'njnt': Value('int64'), 'ngeom': Value('int64'), 'nmesh': Value('int64'), 'seconds': Value('float64')}, 'collision': List({'collider': Value('string'), 'method': Value('string'), 'shapes': Value('int64'), 'solidity': Value('float64')}), 'warnings': List(Value('null')), 'converter': Value('string'), 'seconds': Value('float64')})}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
id: string
title: string
label: string
base: string
size_m: list<item: double>
child 0, item: double
mass_kg: double
bodies: int64
joints: int64
collision_shapes: int64
triangles: int64
license: string
attribution: string
source: struct<repo: string, package_id: string, package_sha256: string>
child 0, repo: string
child 1, package_id: string
child 2, package_sha256: string
files: struct<visual: struct<path: string, bytes: int64, sha256: string>, physics: struct<path: string, byt (... 86 chars omitted)
child 0, visual: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 1, physics: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 2, thumb: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
validation: struct<ok: bool, unstable: bool, max_penetration_m: double, final_max_qvel: double, com_drop_m: doub (... 92 chars omitted)
child 0, ok: bool
child 1, unstable: bool
child 2, max_penetration_m: double
child 3, final_max_qvel: double
child 4, com_drop_m: double
child 5, step_ms: double
child 6, nbody: int64
child 7, njnt: int64
child 8, ngeom: int64
child 9, nmesh: int64
child 10, seconds: double
collision: list<item: struct<collider: string, method: string, shapes: int64, solid
...
child 1, bytes: int64
child 2, sha256: string
child 1, physics: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 2, thumb: struct<path: string, bytes: int64, sha256: string>
child 0, path: string
child 1, bytes: int64
child 2, sha256: string
child 14, validation: struct<ok: bool, unstable: bool, max_penetration_m: double, final_max_qvel: double, com_drop_m: doub (... 92 chars omitted)
child 0, ok: bool
child 1, unstable: bool
child 2, max_penetration_m: double
child 3, final_max_qvel: double
child 4, com_drop_m: double
child 5, step_ms: double
child 6, nbody: int64
child 7, njnt: int64
child 8, ngeom: int64
child 9, nmesh: int64
child 10, seconds: double
child 15, collision: list<item: struct<collider: string, method: string, shapes: int64, solidity: double>>
child 0, item: struct<collider: string, method: string, shapes: int64, solidity: double>
child 0, collider: string
child 1, method: string
child 2, shapes: int64
child 3, solidity: double
child 16, warnings: list<item: null>
child 0, item: null
child 17, converter: string
child 18, seconds: double
format: string
to
{'format': Value('string'), 'assets': List({'id': Value('string'), 'title': Value('string'), 'label': Value('string'), 'base': Value('string'), 'size_m': List(Value('float64')), 'mass_kg': Value('float64'), 'bodies': Value('int64'), 'joints': Value('int64'), 'collision_shapes': Value('int64'), 'triangles': Value('int64'), 'license': Value('string'), 'attribution': Value('string'), 'source': {'repo': Value('string'), 'package_id': Value('string'), 'package_sha256': Value('string')}, 'files': {'visual': {'path': Value('string'), 'bytes': Value('int64'), 'sha256': Value('string')}, 'physics': {'path': Value('string'), 'bytes': Value('int64'), 'sha256': Value('string')}, 'thumb': {'path': Value('string'), 'bytes': Value('int64'), 'sha256': Value('string')}}, 'validation': {'ok': Value('bool'), 'unstable': Value('bool'), 'max_penetration_m': Value('float64'), 'final_max_qvel': Value('float64'), 'com_drop_m': Value('float64'), 'step_ms': Value('float64'), 'nbody': Value('int64'), 'njnt': Value('int64'), 'ngeom': Value('int64'), 'nmesh': Value('int64'), 'seconds': Value('float64')}, 'collision': List({'collider': Value('string'), 'method': Value('string'), 'shapes': Value('int64'), 'solidity': Value('float64')}), 'warnings': List(Value('null')), 'converter': Value('string'), 'seconds': Value('float64')})}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
QuestMujoco SimReady assets
NVIDIA SimReady assets converted for real-time MuJoCo physics on Meta Quest, used by
RoboSimMetaQuest. The app loads
catalog.json from https://huggingface.co/datasets/robomotic/questmujoco-simready/resolve/main/ and spawns any asset from its in-game menu.
| id | title | base | size (m) | mass (kg) | bodies | joints | collision hulls |
|---|---|---|---|---|---|---|---|
crate_blue_a01 |
Crate blue a01 | free | 0.60 x 0.41 x 0.25 | 2.8 | 1 | 0 | 21 |
equipment_storage_bin_cart_b01 |
Equipment storage bin cart b01 | free | 0.51 x 0.60 x 1.33 | 13.6 | 12 | 11 | 63 |
rack_bulk_storage_a03 |
Rack bulk storage a03 | fixed | 2.45 x 1.23 x 2.43 | 1961.5 | 1 | 0 | 33 |
Files per asset
| file | contents |
|---|---|
visual.glb |
render mesh (Y-up glTF, simplified to a triangle budget, 1K JPEG PBR textures) |
physics.json |
body tree, joints, inertials, convex-hull collision geoms (questmujoco.simready.physics/1) |
model.xml |
the same physics as standalone MJCF, for testing in MuJoCo directly |
thumb.jpg, collision.png |
thumbnail and a render of the collision hulls |
entry.json |
this asset's catalog entry |
LICENSE.txt |
CC-BY-4.0 |
Made with tools/simready_converter in the GitHub repo (simready-convert convert <id>, then
simready-convert publish).
License and attribution
All assets come from nvidia/simready-assets and are licensed CC-BY-4.0. They have been modified: meshes were simplified, textures re-baked, and collision hulls generated for MuJoCo.
- crate_blue_a01 by NVIDIA Corporation, from nvidia/simready-assets, CC-BY-4.0
- equipment_storage_bin_cart_b01 by NVIDIA Corporation, from nvidia/simready-assets, CC-BY-4.0
- rack_bulk_storage_a03 by NVIDIA Corporation, from nvidia/simready-assets, CC-BY-4.0
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