Datasets:

pineapplechoco
/

good-morning

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
branch: string
edges: list<item: struct<end_frame: double, end_step: int64, object_a: string, object_b: string, peak_force (... 73 chars omitted)
  child 0, item: struct<end_frame: double, end_step: int64, object_a: string, object_b: string, peak_force: double, s (... 61 chars omitted)
      child 0, end_frame: double
      child 1, end_step: int64
      child 2, object_a: string
      child 3, object_b: string
      child 4, peak_force: double
      child 5, start_frame: double
      child 6, start_step: int64
      child 7, total_impulse: double
floor_edges: list<item: struct<end_step: int64, object_a: string, object_b: string, start_step: int64>>
  child 0, item: struct<end_step: int64, object_a: string, object_b: string, start_step: int64>
      child 0, end_step: int64
      child 1, object_a: string
      child 2, object_b: string
      child 3, start_step: int64
instance_id: string
nodes: list<item: string>
  child 0, item: string
roles: struct<floor: string, obj_01: string, obj_02: string, obj_03: string, obj_04: string, obj_05: string (... 18 chars omitted)
  child 0, floor: string
  child 1, obj_01: string
  child 2, obj_02: string
  child 3, obj_03: string
  child 4, obj_04: string
  child 5, obj_05: string
  child 6, subject: string
step_rate: double
steps_per_frame: int64
rendered: int64
subject_shapes: struct<sphere: int64>
  child 0, sphere: int64
render_devices: list<item: string>
  child 0, item: string
branches: list<item: string>
  child 0, item: string
object_counts: struct<5: int64, 6: int64>
  child 0, 5: int64
  child 1, 6: int64
generated_at: timestamp[s]
instances: int64
splits: struct<test: int64, train: int64, val: int64>
  child 0, test: int64
  child 1, train: int64
  child 2, val: int64
to
{'branches': List(Value('string')), 'generated_at': Value('timestamp[s]'), 'instances': Value('int64'), 'object_counts': {'5': Value('int64'), '6': Value('int64')}, 'render_devices': List(Value('string')), 'rendered': Value('int64'), 'splits': {'test': Value('int64'), 'train': Value('int64'), 'val': Value('int64')}, 'subject_shapes': {'sphere': Value('int64')}}
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
              branch: string
              edges: list<item: struct<end_frame: double, end_step: int64, object_a: string, object_b: string, peak_force (... 73 chars omitted)
                child 0, item: struct<end_frame: double, end_step: int64, object_a: string, object_b: string, peak_force: double, s (... 61 chars omitted)
                    child 0, end_frame: double
                    child 1, end_step: int64
                    child 2, object_a: string
                    child 3, object_b: string
                    child 4, peak_force: double
                    child 5, start_frame: double
                    child 6, start_step: int64
                    child 7, total_impulse: double
              floor_edges: list<item: struct<end_step: int64, object_a: string, object_b: string, start_step: int64>>
                child 0, item: struct<end_step: int64, object_a: string, object_b: string, start_step: int64>
                    child 0, end_step: int64
                    child 1, object_a: string
                    child 2, object_b: string
                    child 3, start_step: int64
              instance_id: string
              nodes: list<item: string>
                child 0, item: string
              roles: struct<floor: string, obj_01: string, obj_02: string, obj_03: string, obj_04: string, obj_05: string (... 18 chars omitted)
                child 0, floor: string
                child 1, obj_01: string
                child 2, obj_02: string
                child 3, obj_03: string
                child 4, obj_04: string
                child 5, obj_05: string
                child 6, subject: string
              step_rate: double
              steps_per_frame: int64
              rendered: int64
              subject_shapes: struct<sphere: int64>
                child 0, sphere: int64
              render_devices: list<item: string>
                child 0, item: string
              branches: list<item: string>
                child 0, item: string
              object_counts: struct<5: int64, 6: int64>
                child 0, 5: int64
                child 1, 6: int64
              generated_at: timestamp[s]
              instances: int64
              splits: struct<test: int64, train: int64, val: int64>
                child 0, test: int64
                child 1, train: int64
                child 2, val: int64
              to
              {'branches': List(Value('string')), 'generated_at': Value('timestamp[s]'), 'instances': Value('int64'), 'object_counts': {'5': Value('int64'), '6': Value('int64')}, 'render_devices': List(Value('string')), 'rendered': Value('int64'), 'splits': {'test': Value('int64'), 'train': Value('int64'), 'val': Value('int64')}, 'subject_shapes': {'sphere': Value('int64')}}
              because column names don't match

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good-morning

Synthetic multi-object rigid-body videos generated with Kubric (PyBullet physics + Blender/Cycles rendering, GPU-rendered). Every scene has 4-6 fixed-mass bodies on a table; exactly one body (the subject) receives an initial velocity along a single heading and nothing else is actuated. Some bodies sit in the subject's corridor and get struck, others are bystanders that are never touched. Spheres roll, boxes slide, and a sphere launched without spin slides first and then rolls. Materials (and the coupled friction / restitution) are sampled per object; the camera is fixed within a clip and re-sampled between clips.

Each instance has three branches sharing one visual scene and one camera:

branch	description
`factual`	subject launched with the sampled initial velocity
`counterfactual`	same scene, the factual velocity is discarded and a new initial velocity is applied at step 0
`subject_removed`	same scene without the subject

manifest.jsonl                 one row per instance (split, roles, velocities, QC, ground truth summary)
dataset_summary.json           counts and render devices
config.yaml                    sampling ranges used for this build
instances/<index>/
  instance.json                full scene spec (objects, physics, materials, camera)
  ground_truth.json            contact-graph delta, hard/soft affected objects, propagation paths
  qc.json                      QC metrics: rolling / sliding labels, struck & untouched objects
  <branch>/video.mp4           RGB clip (48 frames @ 24 fps)
  <branch>/mask.mp4            colourised instance segmentation preview
  <branch>/segmentation.npz    uint8 [T,H,W] instance ids (0 = floor/background)
  <branch>/depth.npz           float16 [T,H,W] depth
  <branch>/tracking.npz        per-frame poses, velocities, 2D projections, boxes, visibility, presence
  <branch>/graph.json          temporal contact graph (object-object episodes; floor episodes listed separately)
  <branch>/sim_log/            immutable per-physics-step states + contacts (manifest-hashed)

segmentation_ids / object_ids in tracking.npz are shared across the three branches, so masks and tracks line up between factual, counterfactual and subject-removed clips.

Build summary

{
  "branches": [
    "factual",
    "counterfactual",
    "subject_removed"
  ],
  "generated_at": "2026-09-09T03:39:19Z",
  "instances": 4,
  "object_counts": {
    "5": 2,
    "6": 2
  },
  "render_devices": [
    "GPU"
  ],
  "rendered": 4,
  "splits": {
    "test": 0,
    "train": 3,
    "val": 1
  },
  "subject_shapes": {
    "sphere": 4
  }
}

Reproduce

git clone https://github.com/p1neapplechoco/kubric
cd kubric
python scripts/build_velocity_dataset.py --output out --seed 2 --count 4 --require-gpu
python scripts/publish_velocity_dataset.py --output out --repo-id <user>/<name>

Downloads last month: -

Total file size:

63.5 MB

good-morning

Contents

Build summary

Reproduce