Datasets:

caslan-nv
/

simready-isaac-optimization-test-assets

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
fixture: string
integrity: string
upstream: struct<repository: string, revision: string, tree: string, relative_root: string, files: struct<Sour (... 546 chars omitted)
  child 0, repository: string
  child 1, revision: string
  child 2, tree: string
  child 3, relative_root: string
  child 4, files: struct<Source/alcohol_3.usda: struct<size: int64, sha256: string>, Source/Payload/Contents.usda: str (... 456 chars omitted)
      child 0, Source/alcohol_3.usda: struct<size: int64, sha256: string>
          child 0, size: int64
          child 1, sha256: string
      child 1, Source/Payload/Contents.usda: struct<size: int64, sha256: string>
          child 0, size: int64
          child 1, sha256: string
      child 2, Source/Payload/Geometry.usda: struct<size: int64, sha256: string>
          child 0, size: int64
          child 1, sha256: string
      child 3, Source/Payload/GeometryLibrary.usdc: struct<size: int64, sha256: string>
          child 0, size: int64
          child 1, sha256: string
      child 4, Source/Payload/Materials.usda: struct<size: int64, sha256: string>
          child 0, size: int64
          child 1, sha256: string
      child 5, Source/Payload/MaterialsLibrary.usdc: struct<size: int64, sha256: string>
          child 0, size: int64
          child 1, sha256: string
      child 6, Source/Payload/Physics.usda: struct<size: int64, sha256: string>
          child 0, size: int64
          child 1, sha256: string
      child 7, Source/Payload/Textures/imag
...
hild 8, face_count: int64
  child 9, target_point_count: int64
  child 10, target_face_count: int64
  child 11, rigid_body_count: int64
  child 12, active_collider_count: int64
  child 13, active_collider_snapshot_preserved: bool
  child 14, upstream_payload_count: int64
  child 15, release_thumbnail: string
  child 16, release_thumbnail_included: bool
  child 17, release_thumbnail_size: int64
  child 18, release_thumbnail_sha256: string
  child 19, release_thumbnail_pixel_stream_preserved: bool
source: struct<sha256: string, size: int64, expected_exit_code: int64, features: struct<FET_102_ISAAC@0.1.0: (... 142 chars omitted)
  child 0, sha256: string
  child 1, size: int64
  child 2, expected_exit_code: int64
  child 3, features: struct<FET_102_ISAAC@0.1.0: string, FET_103_ISAAC@0.1.0: string, FET_104_ISAAC@0.1.0: string>
      child 0, FET_102_ISAAC@0.1.0: string
      child 1, FET_103_ISAAC@0.1.0: string
      child 2, FET_104_ISAAC@0.1.0: string
  child 4, failing_requirements: list<item: string>
      child 0, item: string
  child 5, origin_integrity_report: string
derived: struct<expected_exit_code: int64, features: struct<FET_102_ISAAC@0.1.0: string, FET_103_ISAAC@0.1.0: (... 38 chars omitted)
  child 0, expected_exit_code: int64
  child 1, features: struct<FET_102_ISAAC@0.1.0: string, FET_103_ISAAC@0.1.0: string, FET_104_ISAAC@0.1.0: string>
      child 0, FET_102_ISAAC@0.1.0: string
      child 1, FET_103_ISAAC@0.1.0: string
      child 2, FET_104_ISAAC@0.1.0: string
to
{'asset': Value('string'), 'fixture_kind': Value('string'), 'profile': {'id': Value('string'), 'version': Value('string')}, 'source': {'sha256': Value('string'), 'size': Value('int64'), 'expected_exit_code': Value('int64'), 'features': {'FET_102_ISAAC@0.1.0': Value('string'), 'FET_103_ISAAC@0.1.0': Value('string'), 'FET_104_ISAAC@0.1.0': Value('string')}, 'failing_requirements': List(Value('string')), 'origin_integrity_report': Value('string')}, 'derived': {'expected_exit_code': Value('int64'), 'features': {'FET_102_ISAAC@0.1.0': Value('string'), 'FET_103_ISAAC@0.1.0': Value('string'), 'FET_104_ISAAC@0.1.0': Value('string')}}, 'assertions': {'prim': Value('string'), 'source_inactive_schemas': List(Value('string')), 'derived_inactive_schemas': List(Value('null')), 'preserved_schemas': List(Value('string')), 'preserved_material_target': Value('string'), 'active_prims': Value('int64'), 'mesh_count': Value('int64'), 'point_count': Value('int64'), 'face_count': Value('int64'), 'target_point_count': Value('int64'), 'target_face_count': Value('int64'), 'rigid_body_count': Value('int64'), 'active_collider_count': Value('int64'), 'active_collider_snapshot_preserved': Value('bool'), 'upstream_payload_count': Value('int64'), 'release_thumbnail': Value('string'), 'release_thumbnail_included': Value('bool'), 'release_thumbnail_size': Value('int64'), 'release_thumbnail_sha256': Value('string'), 'release_thumbnail_pixel_stream_preserved': Value('bool')}, 'upstream': {'revision': Value('string'), 'tree': Value('string'), 'files': {'Source/alcohol_3.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Contents.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Geometry.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/GeometryLibrary.usdc': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Materials.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/MaterialsLibrary.usdc': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Physics.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Textures/image0.png': {'size': Value('int64'), 'sha256': Value('string')}}}}
because column names don't match
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 2306, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              fixture: string
              integrity: string
              upstream: struct<repository: string, revision: string, tree: string, relative_root: string, files: struct<Sour (... 546 chars omitted)
                child 0, repository: string
                child 1, revision: string
                child 2, tree: string
                child 3, relative_root: string
                child 4, files: struct<Source/alcohol_3.usda: struct<size: int64, sha256: string>, Source/Payload/Contents.usda: str (... 456 chars omitted)
                    child 0, Source/alcohol_3.usda: struct<size: int64, sha256: string>
                        child 0, size: int64
                        child 1, sha256: string
                    child 1, Source/Payload/Contents.usda: struct<size: int64, sha256: string>
                        child 0, size: int64
                        child 1, sha256: string
                    child 2, Source/Payload/Geometry.usda: struct<size: int64, sha256: string>
                        child 0, size: int64
                        child 1, sha256: string
                    child 3, Source/Payload/GeometryLibrary.usdc: struct<size: int64, sha256: string>
                        child 0, size: int64
                        child 1, sha256: string
                    child 4, Source/Payload/Materials.usda: struct<size: int64, sha256: string>
                        child 0, size: int64
                        child 1, sha256: string
                    child 5, Source/Payload/MaterialsLibrary.usdc: struct<size: int64, sha256: string>
                        child 0, size: int64
                        child 1, sha256: string
                    child 6, Source/Payload/Physics.usda: struct<size: int64, sha256: string>
                        child 0, size: int64
                        child 1, sha256: string
                    child 7, Source/Payload/Textures/imag
              ...
              hild 8, face_count: int64
                child 9, target_point_count: int64
                child 10, target_face_count: int64
                child 11, rigid_body_count: int64
                child 12, active_collider_count: int64
                child 13, active_collider_snapshot_preserved: bool
                child 14, upstream_payload_count: int64
                child 15, release_thumbnail: string
                child 16, release_thumbnail_included: bool
                child 17, release_thumbnail_size: int64
                child 18, release_thumbnail_sha256: string
                child 19, release_thumbnail_pixel_stream_preserved: bool
              source: struct<sha256: string, size: int64, expected_exit_code: int64, features: struct<FET_102_ISAAC@0.1.0: (... 142 chars omitted)
                child 0, sha256: string
                child 1, size: int64
                child 2, expected_exit_code: int64
                child 3, features: struct<FET_102_ISAAC@0.1.0: string, FET_103_ISAAC@0.1.0: string, FET_104_ISAAC@0.1.0: string>
                    child 0, FET_102_ISAAC@0.1.0: string
                    child 1, FET_103_ISAAC@0.1.0: string
                    child 2, FET_104_ISAAC@0.1.0: string
                child 4, failing_requirements: list<item: string>
                    child 0, item: string
                child 5, origin_integrity_report: string
              derived: struct<expected_exit_code: int64, features: struct<FET_102_ISAAC@0.1.0: string, FET_103_ISAAC@0.1.0: (... 38 chars omitted)
                child 0, expected_exit_code: int64
                child 1, features: struct<FET_102_ISAAC@0.1.0: string, FET_103_ISAAC@0.1.0: string, FET_104_ISAAC@0.1.0: string>
                    child 0, FET_102_ISAAC@0.1.0: string
                    child 1, FET_103_ISAAC@0.1.0: string
                    child 2, FET_104_ISAAC@0.1.0: string
              to
              {'asset': Value('string'), 'fixture_kind': Value('string'), 'profile': {'id': Value('string'), 'version': Value('string')}, 'source': {'sha256': Value('string'), 'size': Value('int64'), 'expected_exit_code': Value('int64'), 'features': {'FET_102_ISAAC@0.1.0': Value('string'), 'FET_103_ISAAC@0.1.0': Value('string'), 'FET_104_ISAAC@0.1.0': Value('string')}, 'failing_requirements': List(Value('string')), 'origin_integrity_report': Value('string')}, 'derived': {'expected_exit_code': Value('int64'), 'features': {'FET_102_ISAAC@0.1.0': Value('string'), 'FET_103_ISAAC@0.1.0': Value('string'), 'FET_104_ISAAC@0.1.0': Value('string')}}, 'assertions': {'prim': Value('string'), 'source_inactive_schemas': List(Value('string')), 'derived_inactive_schemas': List(Value('null')), 'preserved_schemas': List(Value('string')), 'preserved_material_target': Value('string'), 'active_prims': Value('int64'), 'mesh_count': Value('int64'), 'point_count': Value('int64'), 'face_count': Value('int64'), 'target_point_count': Value('int64'), 'target_face_count': Value('int64'), 'rigid_body_count': Value('int64'), 'active_collider_count': Value('int64'), 'active_collider_snapshot_preserved': Value('bool'), 'upstream_payload_count': Value('int64'), 'release_thumbnail': Value('string'), 'release_thumbnail_included': Value('bool'), 'release_thumbnail_size': Value('int64'), 'release_thumbnail_sha256': Value('string'), 'release_thumbnail_pixel_stream_preserved': Value('bool')}, 'upstream': {'revision': Value('string'), 'tree': Value('string'), 'files': {'Source/alcohol_3.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Contents.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Geometry.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/GeometryLibrary.usdc': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Materials.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/MaterialsLibrary.usdc': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Physics.usda': {'size': Value('int64'), 'sha256': Value('string')}, 'Source/Payload/Textures/image0.png': {'size': Value('int64'), 'sha256': Value('string')}}}}
              because column names don't match

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SimReady Isaac Optimization Test Assets

This dataset contains four unique real-source OpenUSD packages that each intentionally fail one requirement in Isaac-Optimization@1.0.0. Together they provide an end-to-end Retrieve → Derive → validate proof for all three optimization features.

Package	Real source	Target	Observable derived change	License
`obs_joystick_a01`	Alexandre Abreu's published SimReady Foundations joystick sample	`FET_102_ISAAC@0.1.0` / `OPT.001`	Active rigid bodies `3 → 2`; active fixed joints `1 → 0`	CC BY 4.0
`gen_appliance_toaster_v01_01`	Alexandre Abreu's published SimReady Foundations toaster sample	`FET_102_ISAAC@0.1.0` / `OPT.001`	Active rigid bodies `5 → 4`; active fixed joints `1 → 0`	CC BY 4.0
`iiwa14_fet103`	NVIDIA's pinned USD conversion of the KUKA iiwa14 model	`FET_103_ISAAC@0.1.0` / `OPT.002`	Active meshes `15 → 8`; eight rigid bodies and material partitions remain	BSD 3-Clause
`alcohol_a01_fet104`	SimReady Foundations `alcohol_a01` sample	`FET_104_ISAAC@0.1.0` / `OPT.003`	Three inactive collision schemas are removed; material binding and topology remain	Apache 2.0

Every source passes the other two features. Every derived output is expected to pass the complete profile, not only the targeted feature.

Curation boundary

No synthetic geometry is used in the current release.

obs_joystick_a01 retains the real scene, dependencies, and thumbnail pixels. Curation removes stale local-authoring metadata, omits obsolete sidecars, and records exact upstream and curated hashes in ORIGIN_INTEGRITY.json.
gen_appliance_toaster_v01_01 applies the same metadata-only curation to Alexandre's toaster. Its scene semantics, runtime dependencies, textures, and thumbnail pixels remain unchanged; duplicate sidecars and optional previews are omitted.
iiwa14_fet103 retains the pinned Nucleus-converted USD bytes; only its filename extension was normalized from .usdc to .usd for CLI discovery. Its preview was rendered directly from that packaged USD with Explorer's simready-thumbnail Kit backend.
alcohol_a01_fet104 retains all eight Foundations USD, material, and texture files byte-for-byte under Source/. A 459-byte root overlay isolates the existing render/collision condition for this test without changing geometry, topology, transforms, materials, collision geometry, or textures. Its real Foundations thumbnail is included after removing only one local-path metadata chunk while preserving the compressed pixel stream.

Each package contains a checksum-verified BOM, package definition, source and dependencies, EXPECTED.json, PROVENANCE.md, SOURCE_VALIDATION.json, and its applicable license. Consult the per-package provenance for exact lineage and curation details.

Usage

Use an immutable dataset commit in place of <REVISION>:

URI="hf://caslan-nv/simready-isaac-optimization-test-assets/obs_joystick_a01@<REVISION>"

# Materialize the intentionally non-conformant source package.
simready-retrieve -v fetch "$URI"

# Run Retrieve → Derive → full-profile validation.
simready-retrieve -v fetch "$URI" \
  --profile Isaac-Optimization@1.0.0

The visual-merge and render/collision-separation cases require the compatible Kit host used by the POC so that pxr, USD Exchange, and Scene Optimizer share one USD runtime. In the verified setup that host is supplied through KIT_EXE.

Intended use and limits

These packages are focused test inputs for this SimReady POC contract, not a general robotics training dataset or a production asset-quality benchmark. Passing the profile proves the asserted structural postconditions; it does not establish general physical or rendering equivalence.

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Total file size:

19.8 MB