The dataset viewer is not available for this subset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to string in row 0
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 101, in _split_generators
pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 304, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 68, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.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.
Robot descriptions from CAD assemblies
Simulator-ready robot descriptions generated from public CAD assemblies by Codesign. Each assembly ships an MJCF model that MuJoCo compiles, its merged collision and visual meshes, a rendered preview, kinematic graph plates, and the source assembly JSON. A URDF is included wherever serialization supports it.
Provenance
| CAD source revision | 9f678a8c99891993c755a8a6a0fe7ddc1611da78 |
| Codesign revision | f16a2b5e07dc30d82dc74975390e71ad383c37ba |
| Codesign version | 0.4.2 |
| Shards | 1290 |
| Assemblies attempted | 128883 |
Source datasets: fusion360-gallery from senthurayyappan/cad-assemblies, automate-onshape from senthurayyappan/cad-assemblies.
Coverage
An assembly is covered when its CAD JSON produces an MJCF kinematic model that MuJoCo compiles.
| source | compiled | eligible | coverage |
|---|---|---|---|
| fusion | 7728 | 7805 | 99.01% |
| onshape | 118559 | 118794 | 99.80% |
| all | 126287 | 126599 | 99.75% |
Attempted yield, over every record including ineligible ones, is 126287/128883.
Excluded inputs
The eligibility policy is a conservative allowlist: only objective source-record defects leave the denominator. Framework limitations, missing joint limits, serialization failures, and simulator compile failures all remain counted against coverage.
| reason | assemblies |
|---|---|
dangling_joint_reference |
223 |
malformed_onshape_reference |
1838 |
missing_joint_geometry |
223 |
Renders
Each render.png is an offscreen MuJoCo view of the packaged MJCF drawn with the
link-palette-v1 style: every link receives one color from a fixed
palette, assigned deterministically from the assembly ID, so parent and child links always
differ. Colors carry no physical or joint-type meaning and the MJCF itself is uncolored.
Renders were regenerated after conversion; render.* and timings.render_total_ms in each
metadata record describe the regenerated image, while every other field describes the original
conversion.
Layout
<source>/shard-NNNNN.tar WebDataset archive of one shard's assemblies
<source>/shard-NNNNN.report.json per-shard provenance, timings, and per-assembly records
metadata.parquet per-assembly index for the dataset viewer
campaign.report.json campaign-level coverage and shard inventory
campaign.samples.csv the same per-assembly rows as CSV
Each archive member is named <assembly_id>.<suffix>, with suffixes json, metadata.json,
mjcf, urdf, meshes.tar, render.png, graph-raw.svg, and graph-robot.svg.
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