Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 291, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 364, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to string in row 0
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 101, in _split_generators
pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 306, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
SO-101 MuJoCo Assembly Scene
A MuJoCo 3.9.0 scene with two Panthera-HT arms and the loose parts of an SO-101 arm. Each part has CAD-derived convex collision geometry, built for bimanual assembly: grasp, insert, fasten.
Code, benchmark and full acceptance report: github.com/tomorrow-robotics/so101-mujoco-assembly.
Files (v1.1)
| File | Content |
|---|---|
v1.1/so101_mujoco_assembly_v1.1.tar.gz |
the scene (59.6 MB; 239 MB extracted), sha256 3be6271e4142bbe60dcd1c53ece6d90c96e83ac1d81e54d07a5c0b80600ce3d9 |
v1.1/MANIFEST.json |
sha256 and size of every file inside the archive (15 696 files) |
v1.1/cad_references_v1.1.tar.gz |
CAD reference meshes (16 parts, body frame, mm), used by the benchmark's fidelity and jaw-probe tools (55.4 MB) |
v1.1/interfaces.json |
the 13 assembly interfaces: moving part, predecessors, qpos at the CAD target, withdrawal, travel |
v1.1/fidelity_locations.json |
per-part fidelity and missing-material regions (part body frame, mm) |
v1.1/ACCEPTANCE_REPORT_v1.1.md |
acceptance evidence and known problems |
Archive layout. All paths in scene.xml are relative.
so101_mujoco_assembly_v1.1/
scene.xml
MANIFEST.json
assets/<part or robot link>/collision/*.obj convex collision pieces (body frame, mm)
assets/<part or robot link>/visual/* visual meshes
assets/shared/... meshes used by several bodies
Use
from huggingface_hub import hf_hub_download
import tarfile, mujoco
p = hf_hub_download("SeanZheng/so101-mujoco-assembly", "v1.1/so101_mujoco_assembly_v1.1.tar.gz", repo_type="dataset")
tarfile.open(p).extractall("so101")
model = mujoco.MjModel.from_xml_path("so101/so101_mujoco_assembly_v1.1/scene.xml") # ~47 s: ~16k collision meshes
mujoco.mj_saveModel(model, "scene.mjb", None) # cache, ~1.5 s to load
Or use tools/download.py from the GitHub repo, which also verifies every file against MANIFEST.json.
v1.1 baseline (from the benchmark)
- Interfaces: 12/13 pass the swept-solid check, including all 8 required ones. base_holder overlaps by 0.0097 mm.
- Clearances: most interfaces have 0.013–0.035 mm of clearance, and a straight insertion tolerates 0.008–0.027 mm of lateral error.
- Fidelity: the colliders are fatter than the CAD by > 0.05 mm on at most 0.8 % of the exposed area.
- Base, M1 and M2 are 100 % within 0.05 mm.
- The printed parts are 67–96 %, and are up to 2.97 mm thinner at the mating zones.
- Jaw-width probe: 95.2 % of probes are within 0.1 mm.
- Stability: 2000 passive steps from the reset with 0 warnings. Mean step time is 4.93 ms on one core.
Versions
Each version lives in its own folder (v1.1/), and the repository is tagged with that version. Files are never overwritten in place.
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