---
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__objects__thor__20260128
  data_files:
  - split: pkgs
    path: isaac__objects__thor__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__ithor__20260121
  data_files:
  - split: pkgs
    path: isaac__scenes__ithor__20260121/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: 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:
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    dtype: string
  - name: shard_id
    dtype: int64
  - name: offset
    dtype: int64
  - name: size
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  splits:
  - name: pkgs
    num_bytes: 10765522
    num_examples: 129710
  download_size: 5909480
  dataset_size: 10765522
- config_name: isaac__objects__thor__20260128
  features:
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  - name: shard_id
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  - name: offset
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  - name: size
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  splits:
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    num_bytes: 19061
    num_examples: 382
  download_size: 10077
  dataset_size: 19061
- config_name: isaac__scenes__holodeck-objaverse-train__20260128
  features:
  - name: path
    dtype: string
  - name: shard_id
    dtype: int64
  - name: offset
    dtype: int64
  - name: size
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  splits:
  - name: pkgs
    num_bytes: 7148347
    num_examples: 99436
  download_size: 1986581
  dataset_size: 7148347
- config_name: isaac__scenes__holodeck-objaverse-val__20260128
  features:
  - name: path
    dtype: string
  - name: shard_id
    dtype: int64
  - name: offset
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  - name: size
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  splits:
  - name: pkgs
    num_bytes: 668890
    num_examples: 10000
  download_size: 209994
  dataset_size: 668890
- config_name: isaac__scenes__ithor__20260121
  features:
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  - name: shard_id
    dtype: int64
  - name: offset
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  splits:
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    num_examples: 120
  download_size: 4465
  dataset_size: 7401
- config_name: isaac__scenes__procthor-10k-test__20260128
  features:
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  splits:
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    num_examples: 1000
  download_size: 21737
  dataset_size: 61890
- config_name: isaac__scenes__procthor-10k-train__20260128
  features:
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  splits:
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    num_examples: 10000
  download_size: 211309
  dataset_size: 648890
- config_name: isaac__scenes__procthor-10k-val__20260128
  features:
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  splits:
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    num_examples: 1000
  download_size: 21711
  dataset_size: 59890
- config_name: isaac__scenes__procthor-objaverse-train__20260128
  features:
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  splits:
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  download_size: 1998476
  dataset_size: 7182572
- config_name: isaac__scenes__procthor-objaverse-val__20260128
  features:
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  splits:
  - name: pkgs
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    num_examples: 9999
  download_size: 209969
  dataset_size: 668823
- config_name: mujoco__benchmarks__molmospaces-bench-v1__20260210
  features:
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  splits:
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  download_size: 2820
  dataset_size: 227
- config_name: mujoco__grasps__droid__20251116
  features:
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  - name: offset
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  splits:
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    num_examples: 81
  download_size: 5180
  dataset_size: 5121
- config_name: mujoco__grasps__droid_objaverse__20251218
  features:
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    num_examples: 48111
  download_size: 2036762
  dataset_size: 4041207
- config_name: mujoco__objects__objathor_metadata__20260129
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  download_size: 2798
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- config_name: mujoco__objects__objaverse__20260131
  features:
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  download_size: 6078341
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- config_name: mujoco__objects__thor__20251117
  features:
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- config_name: mujoco__robots__floating_robotiq__20260208_retry4
  features:
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- config_name: mujoco__robots__floating_rum__20251110
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- config_name: mujoco__robots__franka_droid__20260127
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  download_size: 2606
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- config_name: mujoco__robots__rby1__20251224
  features:
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- config_name: mujoco__robots__rby1m__20251224
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- config_name: mujoco__scenes__holodeck-objaverse-train__20251217
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    num_examples: 99997
  download_size: 2023505
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- config_name: mujoco__scenes__holodeck-objaverse-val__20251217
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- config_name: mujoco__scenes__ithor__20251217
  features:
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- config_name: mujoco__scenes__procthor-10k-test__20251121
  features:
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    num_examples: 1002
  download_size: 21023
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- config_name: mujoco__scenes__procthor-10k-train__20251122
  features:
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  splits:
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    num_examples: 10000
  download_size: 207799
  dataset_size: 648890
- config_name: mujoco__scenes__procthor-10k-val__20251217
  features:
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  - name: shard_id
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  splits:
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    num_examples: 1001
  download_size: 20824
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- config_name: mujoco__scenes__procthor-objaverse-train__20251205
  features:
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  splits:
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- config_name: mujoco__scenes__procthor-objaverse-val__20251205
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    num_examples: 10000
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- config_name: mujoco__scenes__refs__20250923
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- config_name: mujoco__test_data__franka_pick__20260202
  features:
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  download_size: 2142
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- config_name: mujoco__test_data__franka_pick_and_place__20260202
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- config_name: mujoco__test_data__rby1_door_opening__20250107
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- config_name: mujoco__test_data__rum_open_close__20260202
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  download_size: 2179
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- config_name: mujoco__test_data__rum_pick__20260202
  features:
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  splits:
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    num_examples: 1
  download_size: 2127
  dataset_size: 44
- config_name: mujoco__test_data__test_randomized_data__20251209
  features:
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  - name: shard_id
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  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
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  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.