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: TypeError
Message: Couldn't cast array of type
struct<side: struct<orientation: list<item: double>, projection_circle: struct<center: list<item: double>, radius: double>, contact_circle: struct<center: list<item: double>, radius: double>>>
to
{'up': {'orientation': List(Value('float64')), 'projection_circle': {'center': List(Value('float64')), 'radius': Value('float64')}, 'contact_circle': {'center': List(Value('float64')), 'radius': Value('float64')}}}
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, 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 127, 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 483, 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 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, 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 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/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/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, 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 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2312, in cast_table_to_schema
cast_array_to_feature(
~~~~~~~~~~~~~~~~~~~~~^
table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
feature,
^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1861, in wrapper
return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
~~~~^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2068, in cast_array_to_feature
_c(array.field(name) if name in array_fields else null_array, subfeature)
~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1863, in wrapper
return func(array, *args, **kwargs)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2158, in cast_array_to_feature
raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
TypeError: Couldn't cast array of type
struct<side: struct<orientation: list<item: double>, projection_circle: struct<center: list<item: double>, radius: double>, contact_circle: struct<center: list<item: double>, radius: double>>>
to
{'up': {'orientation': List(Value('float64')), 'projection_circle': {'center': List(Value('float64')), 'radius': Value('float64')}, 'contact_circle': {'center': List(Value('float64')), 'radius': Value('float64')}}}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.
RoboDojo + RoboTwin Object Assets (merged)
物体资产的合并包，取自两个开源机器人操作 benchmark，仅包含 object 部分。
内容
| 来源 | 目录 | 物体类别 | 文件数 |
|---|---|---|---|
| RoboDojo | robodojo/Object/ |
240 | — |
| RoboTwin 2.0 | robotwin/objects/ |
123 | — |
| 合计 | 332（并集） | 11374 |
按来源分顶层目录，两边的资产不混放，可单独取用其中一个来源。
31 个类别在两边同名但各自独立建模（字节不同，几何/精度/是否带关节可能不同），两份都保留：
basket bell block book bottle bowl box bread calculator can cube cup
dustbin french_fries glue hammer kettle keyboard laptop mouse mug pen
phone plant plate screwdriver shampoo shoe speaker stapler trophy
附带的索引文件
MANIFEST.tsv— 每个文件一行：bench / rel_path / md5 / size_bytes / ext / top_category / source_pathCATEGORY_INDEX.tsv— 每个类别一行：在哪个来源、具体路径、文件数
不包含
- 材质库（
Material）：NVIDIA Omniverse 自带标准库（OmniPBR），装了 Isaac Sim 本地即有 - 背景贴图、机器人本体（embodiments）、评测布局、轨迹数据
与来源的关系
去掉了与 MagicSim 字节完全相同的文件；未做跨来源的内容级合并—— 同一物体目录内部的 visual / collider / original mesh 三件套字节相同但用途不同，合并会损坏资产。
许可证
本合并包按各来源中最严格的条款发布：仅限非商用研究、教育与评估用途。商用需事先取得上游维护者的书面许可。
各来源的情况：
- RoboTwin 2.0 — MIT（LICENSE 与 README 一致）
- RoboDojo — 上游两处表述不一致：
LICENSE文件为标准 MIT（Copyright 2025 Yue Chen）， 而 README 声明为 "RoboDojo Non-Commercial Research License，仅限非商用研究、教育与评估， 商用需事先书面许可"。本包采用其中较严格的一方（非商用）。
数据本身的版权归原作者所有，本包不主张任何额外权利。使用时请同时遵守并引用上游项目。
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