metadata
license:
- odc-by
- cc-by-4.0
tags:
- robotics
- embodied ai
- grasps
- objects
- scenes
- benchmark
pretty_name: MolmoSpaces
size_categories:
- 100K<n<1M
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MolmoSpaces
This respository contains asset data for 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 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:
pip install zstandard datasets huggingface-hub tqdm
License
The Objaverse subset is licensed under ODC-BY 1.0. All other data subsets are licensed under CC BY 4.0. This dataset is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines.
Data Attributions
The xml files have been modified from the original versions provided by the following sources:
- mujoco_menagerie / franka_fr3 - Developed by Franka Robotics
- mujoco_menagerie / robotiq_2f85_v4 - Copyright (c) 2013, ROS-Industrial
- Rainbow Robotics / rby1-sdk - Copyright 2024-2025 Rainbow Robotics
- RUM Gripper - 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.