| --- |
| license: |
| - odc-by |
| - cc-by-4.0 |
| tags: |
| - robotics |
| - embodied ai |
| - grasps |
| - objects |
| - scenes |
| - benchmark |
| pretty_name: MolmoSpaces |
| size_categories: |
| - 100K<n<1M |
| configs: |
| - config_name: isaac__objects__objaverse__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/objects/objaverse/20260128/pkgs-* |
| - config_name: isaac__scenes__holodeck-objaverse-train__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/holodeck-objaverse-train/20260128/pkgs-* |
| - config_name: isaac__scenes__holodeck-objaverse-val__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/holodeck-objaverse-val/20260128/pkgs-* |
| - config_name: isaac__scenes__procthor-10k-test__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/procthor-10k-test/20260128/pkgs-* |
| - config_name: isaac__scenes__procthor-10k-train__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/procthor-10k-train/20260128/pkgs-* |
| - config_name: isaac__scenes__procthor-10k-val__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/procthor-10k-val/20260128/pkgs-* |
| - config_name: isaac__scenes__procthor-objaverse-train__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/procthor-objaverse-train/20260128/pkgs-* |
| - config_name: isaac__scenes__procthor-objaverse-val__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/procthor-objaverse-val/20260128/pkgs-* |
| - config_name: isaac__objects__thor__20260128 |
| data_files: |
| - split: pkgs |
| path: isaac/objects/thor/20260128/pkgs-* |
| - config_name: isaac__scenes__ithor__20260121 |
| data_files: |
| - split: pkgs |
| path: isaac/scenes/ithor/20260121/pkgs-* |
| - config_name: mujoco__benchmarks__molmospaces-bench-v1__20260210 |
| data_files: |
| - split: pkgs |
| path: mujoco/benchmarks/molmospaces-bench-v1/20260210/pkgs-* |
| - config_name: mujoco__grasps__droid__20251116 |
| data_files: |
| - split: pkgs |
| path: mujoco/grasps/droid/20251116/pkgs-* |
| - config_name: mujoco__grasps__droid_objaverse__20251218 |
| data_files: |
| - split: pkgs |
| path: mujoco/grasps/droid_objaverse/20251218/pkgs-* |
| - config_name: mujoco__objects__objathor_metadata__20260129 |
| data_files: |
| - split: pkgs |
| path: mujoco/objects/objathor_metadata/20260129/pkgs-* |
| - config_name: mujoco__objects__objaverse__20260131 |
| data_files: |
| - split: pkgs |
| path: mujoco/objects/objaverse/20260131/pkgs-* |
| - config_name: mujoco__objects__thor__20251117 |
| data_files: |
| - split: pkgs |
| path: mujoco/objects/thor/20251117/pkgs-* |
| - config_name: mujoco__robots__floating_robotiq__20260208_retry4 |
| data_files: |
| - split: pkgs |
| path: mujoco/robots/floating_robotiq/20260208_retry4/pkgs-* |
| - config_name: mujoco__robots__floating_rum__20251110 |
| data_files: |
| - split: pkgs |
| path: mujoco/robots/floating_rum/20251110/pkgs-* |
| - config_name: mujoco__robots__franka_droid__20260127 |
| data_files: |
| - split: pkgs |
| path: mujoco/robots/franka_droid/20260127/pkgs-* |
| - config_name: mujoco__robots__rby1__20251224 |
| data_files: |
| - split: pkgs |
| path: mujoco/robots/rby1/20251224/pkgs-* |
| - config_name: mujoco__robots__rby1m__20251224 |
| data_files: |
| - split: pkgs |
| path: mujoco/robots/rby1m/20251224/pkgs-* |
| - config_name: mujoco__scenes__holodeck-objaverse-train__20251217 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/holodeck-objaverse-train/20251217/pkgs-* |
| - config_name: mujoco__scenes__holodeck-objaverse-val__20251217 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/holodeck-objaverse-val/20251217/pkgs-* |
| - config_name: mujoco__scenes__ithor__20251217 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/ithor/20251217/pkgs-* |
| - config_name: mujoco__scenes__procthor-10k-test__20251121 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/procthor-10k-test/20251121/pkgs-* |
| - config_name: mujoco__scenes__procthor-10k-train__20251122 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/procthor-10k-train/20251122/pkgs-* |
| - config_name: mujoco__scenes__procthor-10k-val__20251217 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/procthor-10k-val/20251217/pkgs-* |
| - config_name: mujoco__scenes__procthor-objaverse-train__20251205 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/procthor-objaverse-train/20251205/pkgs-* |
| - config_name: mujoco__scenes__procthor-objaverse-val__20251205 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/procthor-objaverse-val/20251205/pkgs-* |
| - config_name: mujoco__scenes__refs__20250923 |
| data_files: |
| - split: pkgs |
| path: mujoco/scenes/refs/20250923/pkgs-* |
| - config_name: mujoco__test_data__franka_pick__20260202 |
| data_files: |
| - split: pkgs |
| path: mujoco/test_data/franka_pick/20260202/pkgs-* |
| - config_name: mujoco__test_data__franka_pick_and_place__20260202 |
| data_files: |
| - split: pkgs |
| path: mujoco/test_data/franka_pick_and_place/20260202/pkgs-* |
| - config_name: mujoco__test_data__rby1_door_opening__20250107 |
| data_files: |
| - split: pkgs |
| path: mujoco/test_data/rby1_door_opening/20250107/pkgs-* |
| - config_name: mujoco__test_data__rum_open_close__20260202 |
| data_files: |
| - split: pkgs |
| path: mujoco/test_data/rum_open_close/20260202/pkgs-* |
| - config_name: mujoco__test_data__rum_pick__20260202 |
| data_files: |
| - split: pkgs |
| path: mujoco/test_data/rum_pick/20260202/pkgs-* |
| - config_name: mujoco__test_data__test_randomized_data__20251209 |
| data_files: |
| - split: pkgs |
| path: mujoco/test_data/test_randomized_data/20251209/pkgs-* |
| - config_name: mujoco__test_data__thormap__20251209 |
| data_files: |
| - split: pkgs |
| path: mujoco/test_data/thormap/20251209/pkgs-* |
| dataset_info: |
| - config_name: isaac__objects__objaverse__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 10765522 |
| num_examples: 129710 |
| download_size: 5913394 |
| dataset_size: 10765522 |
| - config_name: isaac__scenes__holodeck-objaverse-train__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 7148347 |
| num_examples: 99436 |
| download_size: 1990692 |
| dataset_size: 7148347 |
| - config_name: isaac__scenes__holodeck-objaverse-val__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 668890 |
| num_examples: 10000 |
| download_size: 209994 |
| dataset_size: 668890 |
| - config_name: isaac__scenes__procthor-10k-test__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 61890 |
| num_examples: 1000 |
| download_size: 21737 |
| dataset_size: 61890 |
| - config_name: isaac__scenes__procthor-10k-train__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 648890 |
| num_examples: 10000 |
| download_size: 211309 |
| dataset_size: 648890 |
| - config_name: isaac__scenes__procthor-10k-val__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 59890 |
| num_examples: 1000 |
| download_size: 21711 |
| dataset_size: 59890 |
| - config_name: isaac__scenes__procthor-objaverse-train__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 7182572 |
| num_examples: 99912 |
| download_size: 2005084 |
| dataset_size: 7182572 |
| - config_name: isaac__scenes__procthor-objaverse-val__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 668823 |
| num_examples: 9999 |
| download_size: 209969 |
| dataset_size: 668823 |
| - config_name: isaac__objects__thor__20260128 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 19061 |
| num_examples: 382 |
| download_size: 10077 |
| dataset_size: 19061 |
| - config_name: isaac__scenes__ithor__20260121 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 7401 |
| num_examples: 120 |
| download_size: 4465 |
| dataset_size: 7401 |
| - config_name: mujoco__benchmarks__molmospaces-bench-v1__20260210 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 203 |
| num_examples: 3 |
| download_size: 2344 |
| dataset_size: 203 |
| - config_name: mujoco__grasps__droid__20251116 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 4473 |
| num_examples: 81 |
| download_size: 4383 |
| dataset_size: 4473 |
| - config_name: mujoco__grasps__droid_objaverse__20251218 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 4041207 |
| num_examples: 48111 |
| download_size: 2036762 |
| dataset_size: 4041207 |
| - config_name: mujoco__objects__objathor_metadata__20260129 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 149 |
| num_examples: 2 |
| download_size: 2332 |
| dataset_size: 149 |
| - config_name: mujoco__objects__objaverse__20260131 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 10118155 |
| num_examples: 129725 |
| download_size: 5899776 |
| dataset_size: 10118155 |
| - config_name: mujoco__objects__thor__20251117 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 983 |
| num_examples: 17 |
| download_size: 2719 |
| dataset_size: 983 |
| - config_name: mujoco__robots__floating_robotiq__20260208_retry4 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 52 |
| num_examples: 1 |
| download_size: 2169 |
| dataset_size: 52 |
| - config_name: mujoco__robots__floating_rum__20251110 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 50 |
| num_examples: 1 |
| download_size: 2158 |
| dataset_size: 50 |
| - config_name: mujoco__robots__franka_droid__20260127 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 48 |
| num_examples: 1 |
| download_size: 2148 |
| dataset_size: 48 |
| - config_name: mujoco__robots__rby1__20251224 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 40 |
| num_examples: 1 |
| download_size: 2106 |
| dataset_size: 40 |
| - config_name: mujoco__robots__rby1m__20251224 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 41 |
| num_examples: 1 |
| download_size: 2111 |
| dataset_size: 41 |
| - config_name: mujoco__scenes__holodeck-objaverse-train__20251217 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 7188691 |
| num_examples: 99997 |
| download_size: 2023505 |
| dataset_size: 7188691 |
| - config_name: mujoco__scenes__holodeck-objaverse-val__20251217 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 668977 |
| num_examples: 10001 |
| download_size: 208645 |
| dataset_size: 668977 |
| - config_name: mujoco__scenes__ithor__20251217 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 7521 |
| num_examples: 122 |
| download_size: 4661 |
| dataset_size: 7521 |
| - config_name: mujoco__scenes__procthor-10k-test__20251121 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 62097 |
| num_examples: 1002 |
| download_size: 21023 |
| dataset_size: 62097 |
| - config_name: mujoco__scenes__procthor-10k-train__20251122 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 648890 |
| num_examples: 10000 |
| download_size: 207799 |
| dataset_size: 648890 |
| - config_name: mujoco__scenes__procthor-10k-val__20251217 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 59971 |
| num_examples: 1001 |
| download_size: 20824 |
| dataset_size: 59971 |
| - config_name: mujoco__scenes__procthor-objaverse-train__20251205 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 7183525 |
| num_examples: 99925 |
| download_size: 1987420 |
| dataset_size: 7183525 |
| - config_name: mujoco__scenes__procthor-objaverse-val__20251205 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 668910 |
| num_examples: 10000 |
| download_size: 208658 |
| dataset_size: 668910 |
| - config_name: mujoco__scenes__refs__20250923 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 69 |
| num_examples: 1 |
| download_size: 2256 |
| dataset_size: 69 |
| - config_name: mujoco__test_data__franka_pick__20260202 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 47 |
| num_examples: 1 |
| download_size: 2142 |
| dataset_size: 47 |
| - config_name: mujoco__test_data__franka_pick_and_place__20260202 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 57 |
| num_examples: 1 |
| download_size: 2194 |
| dataset_size: 57 |
| - config_name: mujoco__test_data__rby1_door_opening__20250107 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 53 |
| num_examples: 1 |
| download_size: 2174 |
| dataset_size: 53 |
| - config_name: mujoco__test_data__rum_open_close__20260202 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 54 |
| num_examples: 1 |
| download_size: 2179 |
| dataset_size: 54 |
| - config_name: mujoco__test_data__rum_pick__20260202 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 44 |
| num_examples: 1 |
| download_size: 2127 |
| dataset_size: 44 |
| - config_name: mujoco__test_data__test_randomized_data__20251209 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 56 |
| num_examples: 1 |
| download_size: 2189 |
| dataset_size: 56 |
| - config_name: mujoco__test_data__thormap__20251209 |
| features: |
| - name: path |
| dtype: string |
| - name: shard_id |
| dtype: int64 |
| - name: offset |
| dtype: int64 |
| - name: size |
| dtype: int64 |
| splits: |
| - name: pkgs |
| num_bytes: 43 |
| num_examples: 1 |
| download_size: 2121 |
| dataset_size: 43 |
| --- |
| |
| # MolmoSpaces |
| This respository contains asset data for [MolmoSpaces](https://github.com/allenai/molmospaces), including |
| - Objects |
| - Robots |
| - Scenes |
| - Grasps |
| - Benchmarks |
|
|
| ## Updates |
| **[2026/02/16] - Isaac-compatible USD objects and scenes now also available!** |
|
|
| ## Downloading |
| We recommend using the [download.py](download.py) script to list available data sources and extract |
| data from one or all sources to a local cache directory. To use the script you'll need a few dependecies |
| in your Python environment that can be installed, e.g., by: |
| ```bash |
| pip install zstandard datasets huggingface-hub tqdm |
| ``` |
|
|
| ## License |
| The Objaverse subset is licensed under [ODC-BY 1.0](https://opendatacommons.org/licenses/by/1-0/). |
| All other data subsets are licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/legalcode.en). |
| This dataset is intended for research and educational use in accordance with Ai2's [Responsible Use Guidelines](https://allenai.org/responsible-use). |
|
|
| ## Data Attributions |
| The xml files have been modified from the original versions provided by the following sources: |
| - [mujoco_menagerie / franka_fr3](https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_fr3) - Developed by Franka Robotics |
| - [mujoco_menagerie / robotiq_2f85_v4](https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85_v4) - Copyright (c) 2013, ROS-Industrial |
| - [Rainbow Robotics / rby1-sdk](https://github.com/RainbowRobotics/rby1-sdk) - Copyright 2024-2025 Rainbow Robotics |
| - [RUM Gripper](https://github.com/jeffacce/cap-policy) - Copyright (c) 2026 NYU Generalizable Robotics and AI Lab (GRAIL) |
|
|
| The included metadata (downloadable from the `mujoco/objects/objathor_metadata/20260129` source) provides the license for each object in the Objaverse subset. |
|
|
| We note that Objaverse models have been significantly modified to reduce memory and processing requirements, |
| including mesh decimation, convex collider extraction, and baking of visual effects via Blender scripts, so |
| the provided quality may not reflect the original model. |
