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
consumer: string
status: string
restore_root: string
required_assets: list<item: struct<asset: string, restore_target: string, runtime_pattern: string, purpose: string, r (... 22 chars omitted)
child 0, item: struct<asset: string, restore_target: string, runtime_pattern: string, purpose: string, runtime_entr (... 10 chars omitted)
child 0, asset: string
child 1, restore_target: string
child 2, runtime_pattern: string
child 3, purpose: string
child 4, runtime_entry: string
software_dependencies_not_bundled: list<item: string>
child 0, item: string
generated_at: timestamp[s]
restore_scripts: list<item: string>
child 0, item: string
object_models: struct<object_count: int64, object_ids: list<item: string>, entries: list<item: struct<object_id: st (... 48 chars omitted)
child 0, object_count: int64
child 1, object_ids: list<item: string>
child 0, item: string
child 2, entries: list<item: struct<object_id: string, files: list<item: string>, bytes: int64>>
child 0, item: struct<object_id: string, files: list<item: string>, bytes: int64>
child 0, object_id: string
child 1, files: list<item: string>
child 0, item: string
child 2, bytes: int64
asset_groups: list<item: struct<asset_id: string, path: string, source: string, file_count: int64, bytes: int64, n (... 26 chars omitted)
child 0, item: struct<asset_id: string, path: string, source: string, file_count: int64, bytes: int64, notes: list< (... 14 chars omitted)
child 0, asset_id: string
child 1, path: string
child 2, source: string
child 3, file_count: int64
child 4, bytes: int64
child 5, notes: list<item: string>
child 0, item: string
staging_root: string
name: string
intentionally_excluded: list<item: string>
child 0, item: string
to
{'name': Value('string'), 'generated_at': Value('timestamp[s]'), 'staging_root': Value('string'), 'status': Value('string'), 'asset_groups': List({'asset_id': Value('string'), 'path': Value('string'), 'source': Value('string'), 'file_count': Value('int64'), 'bytes': Value('int64'), 'notes': List(Value('string'))}), 'object_models': {'object_count': Value('int64'), 'object_ids': List(Value('string')), 'entries': List({'object_id': Value('string'), 'files': List(Value('string')), 'bytes': Value('int64')})}, 'restore_scripts': List(Value('string')), 'intentionally_excluded': List(Value('string'))}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
return get_rows(
^^^^^^^^^
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 77, in get_rows
rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2815, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2352, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2377, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 310, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 130, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2369, in table_cast
return cast_table_to_schema(table, schema)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
raise CastError(
datasets.table.CastError: Couldn't cast
consumer: string
status: string
restore_root: string
required_assets: list<item: struct<asset: string, restore_target: string, runtime_pattern: string, purpose: string, r (... 22 chars omitted)
child 0, item: struct<asset: string, restore_target: string, runtime_pattern: string, purpose: string, runtime_entr (... 10 chars omitted)
child 0, asset: string
child 1, restore_target: string
child 2, runtime_pattern: string
child 3, purpose: string
child 4, runtime_entry: string
software_dependencies_not_bundled: list<item: string>
child 0, item: string
generated_at: timestamp[s]
restore_scripts: list<item: string>
child 0, item: string
object_models: struct<object_count: int64, object_ids: list<item: string>, entries: list<item: struct<object_id: st (... 48 chars omitted)
child 0, object_count: int64
child 1, object_ids: list<item: string>
child 0, item: string
child 2, entries: list<item: struct<object_id: string, files: list<item: string>, bytes: int64>>
child 0, item: struct<object_id: string, files: list<item: string>, bytes: int64>
child 0, object_id: string
child 1, files: list<item: string>
child 0, item: string
child 2, bytes: int64
asset_groups: list<item: struct<asset_id: string, path: string, source: string, file_count: int64, bytes: int64, n (... 26 chars omitted)
child 0, item: struct<asset_id: string, path: string, source: string, file_count: int64, bytes: int64, notes: list< (... 14 chars omitted)
child 0, asset_id: string
child 1, path: string
child 2, source: string
child 3, file_count: int64
child 4, bytes: int64
child 5, notes: list<item: string>
child 0, item: string
staging_root: string
name: string
intentionally_excluded: list<item: string>
child 0, item: string
to
{'name': Value('string'), 'generated_at': Value('timestamp[s]'), 'staging_root': Value('string'), 'status': Value('string'), 'asset_groups': List({'asset_id': Value('string'), 'path': Value('string'), 'source': Value('string'), 'file_count': Value('int64'), 'bytes': Value('int64'), 'notes': List(Value('string'))}), 'object_models': {'object_count': Value('int64'), 'object_ids': List(Value('string')), 'entries': List({'object_id': Value('string'), 'files': List(Value('string')), 'bytes': Value('int64')})}, 'restore_scripts': List(Value('string')), 'intentionally_excluded': List(Value('string'))}
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.
VT-Grasp-Sim-Assets
This staging directory contains the simulation assets needed by the public visual-tactile grasping releases:
- SGA-GSN uses the GraspNet VHACD object visualization meshes for complete-shape point sampling.
- Single-step grasp refinement RL uses object URDF/collision assets, a GSmini tactile sensor configuration, and a Panda hand with GSmini tactile fingertips.
This is a local release candidate. Do not upload it publicly until the pending license and redistribution items in metadata/license_review.md are resolved.
Contents
object_models/graspnet-vhacd/
model/<object_id>/{object.urdf,collision.obj,collision.mtl,visualization.obj,visualization.mtl,texture.*}
table/{table.urdf,table.obj,table.mtl,table.png}
tactile_configs/gsmini/
config_gsmini.yml
bg_gsmini_240_320.jpeg
robot_models/gsmini_panda_hand/
urdf/
meshes/
xacro/
metadata/
required_by_sgagsn.json
required_by_rl.json
license_review.md
examples/
restore_for_sgagsn.sh
restore_for_rl.sh
Restore for SGA-GSN
SGA-GSN expects the object model directory at:
/SGA-GSN/data/graspnet-vhacd
Restore it with a symlink:
bash examples/restore_for_sgagsn.sh /path/to/VT-Grasp-Sim-Assets /SGA-GSN
Use --copy instead of the default symlink mode only when symlinks are not suitable for the target environment.
Restore for RL
The single-step RL code expects:
/rl-grasp-refine/src/envs/object_model
/rl-grasp-refine/src/envs/assets/tacto
/rl-grasp-refine/src/envs/assets/gsmini_panda_hand
Restore them with:
bash examples/restore_for_rl.sh /path/to/VT-Grasp-Sim-Assets /rl-grasp-refine
Provenance and License Status
See provenance.csv and metadata/license_review.md.
Current release status:
- TACTO config: derived from Facebook TACTO config and retains the MIT header.
- GraspNet VHACD object assets: redistribution pending.
- GSmini/Panda hand assets: mixed custom and third-party robot meshes; redistribution pending.
- TACTO software repository: not bundled here. It remains a software dependency and should be installed by the code environment.
robot_models/gsmini_panda_hand/xacro/panda_arm.urdfis intentionally excluded because it is a generated non-runtime file with mesh references that are not valid in this release layout. The RL runtime entry isurdf/hand_gsmini.urdf.
Checksums
Verify downloaded or restored files with:
sha256sum --check checksums.sha256
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