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Datasets:
shu4dev
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dishsim-assets

Tags:
robotics
simulation
isaac-sim
motion-planning
License:
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The dataset generation failed
Error code:   DatasetGenerationError
Exception:    TypeError
Message:      int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1531, in _prepare_split_single
                  for key, record in generator:
                                     ^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
                  for item in generator(*args, **kwargs):
                              ~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 127, in _generate_examples
                  for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
                                              ~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
                  for filename, f in tar_iterator:
                                     ^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
                  for x in self.generator(*self.args):
                           ~~~~~~~~~~~~~~^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1405, in _iter_from_urlpath
                  with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
                       ~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 982, in xopen
                  file_obj = fs.open(paths[0], mode)
                File "<string>", line 3, in open
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
                  return self._mock_call(*args, **kwargs)
                         ~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
                  return self._execute_mock_call(*args, **kwargs)
                         ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
                  result = effect(*args, **kwargs)
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 786, in wrapped
                  tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
                                                               ~~~^^^^^^^^
              TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
              
              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/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1393, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1571, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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usd
unknown
__key__
string
__url__
string
"UFhSLVVTREMACAAAAAAAAAACBAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/knife_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAAP8HBAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/fork_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAAEDOAwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/spoon_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAAJQOAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/serving_spoon_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAACkuAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/wine_glass_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAAFlqBAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/plate_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAAJa5AwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/bowl_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAAPqwAwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/spatula_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAALnBAwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/pitcher_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
"UFhSLVVTREMACAAAAAAAADh9CAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA(...TRUNCATED)
assets/props/025_mug_physics
"hf://datasets/shu4dev/dishsim-assets@10cdc849c34b14bc70d8c42a262b46c842447512/dishsim_assets_202608(...TRUNCATED)
End of preview.

dishsim assets

Prebuilt asset and results archive for the dishsim project — a physics-validated rearrangement-planning benchmark in an articulated dishwasher (Isaac Sim 4.5 / Isaac Lab 2.1). Restoring this archive is the fast path: it ships every collision cache, derived USD, settled benchmark instance and recorded result, so a fresh machine reproduces the shipped experiments with zero baking (hours of Kit work per world, already done).

One-command restore (no token needed)

From the project repo root, inside the runtime container (repo README §2):

scripts/run_py.sh scripts/tools/restore_assets.py --repo shu4dev/dishsim-assets

The restore downloads the current assets tarball (resolved via latest.json), safe-extracts it, verifies every file against the tarball's sha256 manifest, re-downloads the ArtVIP originals, hash-validates every collision cache against the checked-out config.py, and runs the Kit-free test suite. scripts/tools/bootstrap.sh wraps this into the full bring-up.

Standalone machine assets are opt-in kinds (no cache pack needed):

scripts/run_py.sh scripts/tools/restore_assets.py --kinds models            # USD assets only
scripts/run_py.sh scripts/tools/restore_assets.py --kinds models evidence   # + Bosch evidence

What the archive contains

  • v1 — ArtVIP compact machine (the frozen mug baseline + multi-object episodes): built object props, all collision caches, derived machine USDs, baseline results.
  • v2 — Bosch 800 digital twin (assets/machines/bosch800/, assets/cache/machines/bosch800/): self-authored parametric machine (full-travel racks, third rack, spray arms), collision caches for the benchmark rack states, the settled benchmark instances and algorithm records (results/instances/, results/rearrange/). The assets tarball is cut from the Isaac Sim 4.5 box the benchmark runs on; its E_door_4 CoACD pieces already use the exact (unpreprocessed) decomposition, so no post-restore re-decompose is needed for tags dated 2026-09-10 or later.
  • v3 — standalone Bosch 800 asset (dishsim_models_*.tar.gz; extracts to assets/models/bosch800/): an independently authored approximation of the Bosch 800 SHP78CM5N — bosch800.usdc (PBR materials, rigid bodies, convex collision, four driven joints: door_hinge, lower_slide, middle_slide, third_slide), standalone lower_rack.usdc / middle_rack.usdc rigid-body exports, and textures/. Self-contained: no ArtVIP tree, robot, or cache needed; open it directly in Isaac Sim or reference /Bosch800. Metres, Z-up, front faces −Y, origin at the floor-footprint centre. It is a visual/manipulation asset (no fluid, dispensing, or foldable tines), not manufacturer CAD. Its validation evidence is the separate dishsim_evidence_*.tar.gz (~74 MB; extracts to assets/evidence/bosch800/): validation.json (PASS on Isaac Sim 6.0.1 / Isaac Lab 3.0 — motor-driven open/extend/retract/close cycle, dish settling, loaded-rack travel, contact-aware retrieval; re-validated under Isaac Sim 4.5 / Isaac Lab 2.1), stills, the articulation video, the two test dishes, and the superseded asset as previous_asset.zip. Full description: the repo's docs/bosch800_asset.md.
  • v4 — Frigidaire FDPC4221AS (preliminary), in the same models tarball (assets/models/frigidaire_fdpc4221as/ and assets/models/frigidaire_fdpc4221as_v2/): two early revisions of an independently authored approximation of the Frigidaire FDPC4221AS — cabinet, door, upper/lower racks, silverware basket, an assembled fdpc4221as.usdc, an example scene, dish fixtures, and (v2) ten tableware prototypes with a settled full-load record. Preliminary: these carry the older 32/56-tine rack geometry and their dish loading is unvalidated; a 52/72-tine rebuild with fresh Isaac evidence is in progress and will supersede both. Each folder carries its own README, parameter and validation JSONs. Metres, Z-up, front −Y; not manufacturer CAD.
  • latest.json — files maps each tarball KIND (assets, media, models, evidence) to its current tarball; restore_assets.py --kinds ... follows it. Uploads merge into it, so kinds not re-cut keep resolving to their existing tarball. media tarballs from 2026-08 remain for reference only; the current restore extracts assets/ members alone.

Tarballs cut from 2026-09 on carry a per-file sha256 in their MANIFEST.json; the restore verifies every extracted file against it (older tarballs extract unverified).

Tarballs are named dishsim_{assets,media,models,evidence}_<date>_<gitsha>.tar.gz; the git SHA ties each archive to the repo revision whose config.py its cache hashes were computed against — restore against that revision (or newer, if the hashed config values are unchanged). Older tarballs stay in the repo unreferenced; latest.json is the only pointer that matters.

Immediately after restore 

# regenerate a settled benchmark cell and run the greedy baseline on it — no baking needed
scripts/run_kit.sh scripts/setup/gen_instances.py --headless --cell medium --n 3 --seed 0
scripts/run_kit.sh scripts/experiment/run_rearrange.py --headless \
    --instances "results/instances/bosch800/placement/*.json" --algorithms greedy

Licenses

Mixed, per component — see the repo's README §8: ArtVIP dishwasher (Apache-2.0), YCB-scan-derived objects (YCB dataset terms), project-authored procedural props/racks/ caches (project license). No robot USD is in this archive. The v3 Bosch 800 and v4 Frigidaire assets (geometry and generated textures) are project-authored under BSD-3-Clause; Bosch and Frigidaire names identify the reference products only — the assets are not made or endorsed by either manufacturer, and no downloaded product photographs are included.
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