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The dataset generation failed
Error code:   DatasetGenerationError
Exception:    ArrowNotImplementedError
Message:      Cannot write struct type 'warnings' with no child field to Parquet. Consider adding a dummy child field.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1887, in _prepare_split_single
                  writer.write_table(table)
                File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 672, in write_table
                  self._build_writer(inferred_schema=pa_table.schema)
                File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 713, in _build_writer
                  self.pa_writer = pq.ParquetWriter(
                                   ^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/pyarrow/parquet/core.py", line 1070, in __init__
                  self.writer = _parquet.ParquetWriter(
                                ^^^^^^^^^^^^^^^^^^^^^^^
                File "pyarrow/_parquet.pyx", line 2363, in pyarrow._parquet.ParquetWriter.__cinit__
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
              pyarrow.lib.ArrowNotImplementedError: Cannot write struct type 'warnings' with no child field to Parquet. Consider adding a dummy child field.
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1908, in _prepare_split_single
                  num_examples, num_bytes = writer.finalize()
                                            ^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 687, in finalize
                  self._build_writer(self.schema)
                File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 713, in _build_writer
                  self.pa_writer = pq.ParquetWriter(
                                   ^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/pyarrow/parquet/core.py", line 1070, in __init__
                  self.writer = _parquet.ParquetWriter(
                                ^^^^^^^^^^^^^^^^^^^^^^^
                File "pyarrow/_parquet.pyx", line 2363, in pyarrow._parquet.ParquetWriter.__cinit__
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
              pyarrow.lib.ArrowNotImplementedError: Cannot write struct type 'warnings' with no child field to Parquet. Consider adding a dummy child field.
              
              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 1342, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 907, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1736, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1919, 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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rooms
list
doors
list
windows
list
objects
list
walls
list
proceduralParameters
dict
metadata
dict
[ { "id": "room|4", "roomType": "Bedroom", "children": [], "ceilings": [], "floorPolygon": [ { "x": 0, "y": 0, "z": 0 }, { "x": 0, "y": 0, "z": 8.427 }, { "x": 2.107, "y": 0, "z": 8.427 }, { "x": 2.107, "y": 0, "z": 4.213 }, { "x": 4.213, "y": 0, "z": 4.213 }, { "x": 4.213, "y": 0, "z": 0 } ], "floorMaterial": { "name": "LightWoodCounters 1" }, "layer": "Procedural2" }, { "id": "room|5", "roomType": "Bathroom", "children": [], "ceilings": [], "floorPolygon": [ { "x": 4.213, "y": 0, "z": 0 }, { "x": 4.213, "y": 0, "z": 4.213 }, { "x": 8.427, "y": 0, "z": 4.213 }, { "x": 8.427, "y": 0, "z": 0 } ], "floorMaterial": { "name": "GreyFloor 2" }, "layer": "Procedural1" }, { "id": "room|6", "roomType": "Kitchen", "children": [], "ceilings": [], "floorPolygon": [ { "x": 2.107, "y": 0, "z": 4.213 }, { "x": 2.107, "y": 0, "z": 8.427 }, { "x": 8.427, "y": 0, "z": 8.427 }, { "x": 8.427, "y": 0, "z": 4.213 }, { "x": 4.213, "y": 0, "z": 4.213 } ], "floorMaterial": { "name": "OrangeWood" }, "layer": "Procedural3" }, { "id": "room|7", "roomType": "LivingRoom", "children": [], "ceilings": [], "floorPolygon": [ { "x": 8.427, "y": 0, "z": 4.213 }, { "x": 8.427, "y": 0, "z": 8.427 }, { "x": 10.533, "y": 0, "z": 8.427 }, { "x": 10.533, "y": 0, "z": 10.533 }, { "x": 12.64, "y": 0, "z": 10.533 }, { "x": 12.64, "y": 0, "z": 4.213 } ], "floorMaterial": { "name": "OrangeCabinet 1" }, "layer": "Procedural1" } ]
[ { "id": "door|4|5", "room0": "room|5", "room1": "room|4", "wall0": "wall|5|4.21|0.00|4.21|4.21", "wall1": "wall|4|4.21|0.00|4.21|4.21", "assetId": "Doorway_Double_8", "assetPosition": { "x": 2.703656057169706, "y": 1.049698829650879, "z": 0 }, "holePolygon": [ { "x": 1.722907155094713, "y": 0, "z": 0 }, { "x": 3.688054054318041, "y": 2.099397659301758, "z": 0 } ], "openable": true, "openness": 1 }, { "id": "door|6|7", "room0": "room|6", "room1": "room|7", "wall0": "wall|6|8.43|4.21|8.43|8.43", "wall1": "wall|7|8.43|4.21|8.43|8.43", "assetId": "Doorway_Double_7", "assetPosition": { "x": 1.2753910993185043, "y": 1.0462727337144315, "z": 0 }, "holePolygon": [ { "x": 0.302212970606625, "y": 0, "z": 0 }, { "x": 2.2496338061016203, "y": 2.0971285314299166, "z": 0 } ], "openable": true, "openness": 1 }, { "id": "door|5|6", "room0": "room|5", "room1": "room|6", "wall0": "wall|5|4.21|4.21|8.43|4.21", "wall1": "wall|6|4.21|4.21|8.43|4.21", "assetId": "Doorway_Double_1", "assetPosition": { "x": 2.180427718872065, "y": 1.0651136636734009, "z": 0 }, "holePolygon": [ { "x": 1.1824988210218492, "y": 0, "z": 0 }, { "x": 3.179421194793517, "y": 2.1302273273468018, "z": 0 } ], "openable": true, "openness": 1 }, { "id": "door|1|6", "room0": "room|6", "room1": "room|6", "wall0": "wall|6|2.11|8.43|8.43|8.43", "wall1": "wall|exterior|2.11|8.43|8.43|8.43", "assetId": "Doorway_5", "assetPosition": { "x": 3.9579943693148323, "y": 1.0459483740851283, "z": 0 }, "holePolygon": [ { "x": 3.440544484639389, "y": 0, "z": 0 }, { "x": 4.478083013081772, "y": 2.0979503514245152, "z": 0 } ], "openable": false, "openness": 0 } ]
[ { "id": "window|4|0", "assetId": "Window_Slider_36x36", "room0": "room|4", "room1": "room|4", "wall0": "wall|4|0.00|0.00|4.21|0.00", "wall1": "wall|exterior|0.00|0.00|4.21|0.00", "holePolygon": [ { "x": 0.9909086893783283, "y": 1.0417548418045044, "z": 0 }, { "x": 1.9000793169723225, "y": 1.9530965313315392, "z": 0 } ], "assetPosition": { "x": 1.4463049094663334, "y": 1.4992061629891396, "z": 0 } }, { "id": "window|7|0", "assetId": "Window_Slider_36x36", "room0": "room|7", "room1": "room|7", "wall0": "wall|7|12.64|4.21|12.64|10.53", "wall1": "wall|exterior|12.64|4.21|12.64|10.53", "holePolygon": [ { "x": 1.125234769086453, "y": 1.0417548418045044, "z": 0 }, { "x": 2.034405396680447, "y": 1.9530965313315392, "z": 0 } ], "assetPosition": { "x": 1.580630989174458, "y": 1.4992061629891396, "z": 0 } }, { "id": "window|7|1", "assetId": "Window_Hung_48x32", "room0": "room|7", "room1": "room|7", "wall0": "wall|7|8.43|8.43|10.53|8.43", "wall1": "wall|exterior|8.43|8.43|10.53|8.43", "holePolygon": [ { "x": 0.054103486300093914, "y": 1.0637445449829102, "z": 0 }, { "x": 1.2694747374063562, "y": 1.9299542307853699, "z": 0 } ], "assetPosition": { "x": 0.6627780274158547, "y": 1.5, "z": 0 } } ]
[ { "id": "Dresser|4|0", "position": { "x": 0.4893886685371399, "y": 0.42390722036361694, "z": 0.2543505966663361 }, "rotation": { "x": 0, "y": 0, "z": 0 }, "assetId": "Dresser_210_2_1", "objectType": "Dresser", "kinematic": true, "children": [ { "id": "AlarmClock|4|11", "assetId": "Alarm_Clock_4", "objectType": "AlarmClock", "rotation": { "x": 0, "y": 269.99993896484375, "z": 0 }, "position": { "x": 0.25432807207107544, "y": 0.9393412470817566, "z": 0.30982649326324463 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Watch|4|14", "assetId": "Watch_1", "objectType": "Watch", "rotation": { "x": 0, "y": 269.99993896484375, "z": 0 }, "position": { "x": 0.725234866142273, "y": 0.8671499490737915, "z": 0.139430433511734 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Book|4|16", "assetId": "Book_14", "objectType": "Book", "rotation": { "x": 0, "y": 90, "z": 0 }, "position": { "x": 0.232528418302536, "y": 0.4702855348587036, "z": 0.368134468793869 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Book|4|17", "assetId": "Book_20", "objectType": "Book", "rotation": { "x": 0, "y": 269.99993896484375, "z": 0 }, "position": { "x": 0.6068325042724609, "y": 0.8702696561813354, "z": 0.30983227491378784 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Book|4|19", "assetId": "Book_13", "objectType": "Book", "rotation": { "x": 0, "y": 269.99993896484375, "z": 0 }, "position": { "x": 0.25748229026794434, "y": 0.8654321432113647, "z": 0.13871143758296967 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "RemoteControl|4|20", "assetId": "Remote_1", "objectType": "RemoteControl", "rotation": { "x": 0, "y": 90, "z": 0 }, "position": { "x": 0.2321338802576065, "y": 0.09826934337615967, "z": 0.30858373641967773 }, "kinematic": false, "layer": "Procedural2", "openness": null } ], "layer": "Procedural2", "isDirty": null, "isOn": null, "openness": null }, { "id": "Bed|4|1", "position": { "x": 1.6957130260467532, "y": 0.33533501625061035, "z": 7.576420237541198 }, "rotation": { "x": 0, "y": 180, "z": 0 }, "assetId": "RoboTHOR_bed_kritter", "objectType": "Bed", "kinematic": true, "children": [ { "id": "ObjaCalendar|4|4", "assetId": "272ecf3874af4395b264b86ae78fd827", "objectType": "ObjaCalendar", "rotation": { "x": 0, "y": 270, "z": 0 }, "position": { "x": 1.9606177806854248, "y": 0.536135196685791, "z": 7.979445457458496 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Pillow|4|10", "assetId": "pillow_14", "objectType": "Pillow", "rotation": { "x": 0, "y": 180, "z": 0 }, "position": { "x": 1.6138032674789429, "y": 0.4454538822174072, "z": 7.784534931182861 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Book|4|18", "assetId": "RoboTHOR_book_ai2_1_v", "objectType": "Book", "rotation": { "x": 0, "y": 180, "z": 0 }, "position": { "x": 1.7878139019012451, "y": 0.3993149697780609, "z": 7.201284885406494 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "RemoteControl|4|21", "assetId": "Remote_3", "objectType": "RemoteControl", "rotation": { "x": 0, "y": 180, "z": 0 }, "position": { "x": 1.6138031482696533, "y": 0.40122559666633606, "z": 7.008997917175293 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "BaseballBat|4|22", "assetId": "BaseballBat_2", "objectType": "BaseballBat", "rotation": { "x": 10.129294395446777, "y": 181.53060913085938, "z": 16.937362670898438 }, "position": { "x": 1.9296226501464844, "y": 0.8563971519470215, "z": 8.100552558898926 }, "kinematic": false, "layer": "Procedural2", "openness": null } ], "layer": "Procedural2", "isDirty": false, "isOn": null, "openness": null }, { "id": "floor-house-plant|4|2|0", "position": { "x": 1.7526010456526127, "y": 0.4925673007965088, "z": 0.4254639608769769 }, "rotation": { "x": 0, "y": 148.3261462077635, "z": 0 }, "assetId": "Houseplant_6", "objectType": "HousePlant", "kinematic": false, "children": null, "layer": "Procedural2", "isDirty": null, "isOn": null, "openness": null }, { "id": "lamp-armchair-2|4|3|0", "position": { "x": 0.5426581144332886, "y": 0.5063095688819885, "z": 5.481424321226717 }, "rotation": { "x": 0, "y": 90, "z": 0 }, "assetId": "ArmChair_216_1", "objectType": "ArmChair", "kinematic": true, "children": null, "layer": "Procedural2", "isDirty": null, "isOn": null, "openness": null }, { "id": "lamp-armchair-2|4|3|1", "position": { "x": 0.5426581144332886, "y": 0.9496232271194458, "z": 4.293804139732111 }, "rotation": { "x": 0, "y": 308.7386710524439, "z": 0 }, "assetId": "Floor_Lamp_14", "objectType": "FloorLamp", "kinematic": false, "children": null, "layer": "Procedural2", "isDirty": null, "isOn": false, "openness": null }, { "id": "lamp-armchair|4|4|0", "position": { "x": 0.5595972776412964, "y": 0.4903125762939453, "z": 2.4971134468462806 }, "rotation": { "x": 0, "y": 90, "z": 0 }, "assetId": "Armchair_208_5", "objectType": "ArmChair", "kinematic": true, "children": [ { "id": "ObjaGameController|4|1", "assetId": "710760eaff244282b5f324906147130d", "objectType": "ObjaGameController", "rotation": { "x": 0, "y": 90, "z": 0 }, "position": { "x": 0.5175512433052063, "y": 0.4543716609477997, "z": 2.3306539058685303 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "ObjaCalendar|4|3", "assetId": "f9a53b8d6643403f84be1b645b8ef2f5", "objectType": "ObjaCalendar", "rotation": { "x": 0, "y": 90, "z": 0 }, "position": { "x": 0.8370690941810608, "y": 0.6892303824424744, "z": 2.5037105083465576 }, "kinematic": false, "layer": "Procedural2", "openness": null } ], "layer": "Procedural2", "isDirty": null, "isOn": null, "openness": null }, { "id": "lamp-armchair|4|4|1", "position": { "x": 0.5595972776412964, "y": 0.9326056241989136, "z": 3.5261175639110993 }, "rotation": { "x": 0, "y": 160.03555528064663, "z": 0 }, "assetId": "Floor_Lamp_7", "objectType": "FloorLamp", "kinematic": false, "children": null, "layer": "Procedural2", "isDirty": null, "isOn": true, "openness": null }, { "id": "ObjaFileCabinet|4|5", "position": { "x": 3.8737141852378847, "y": 0.6651729345321655, "z": 0.3811908602714539 }, "rotation": { "x": 0, "y": 0, "z": 0 }, "assetId": "272ce2e41dc4491987e17ff476d50b27", "objectType": "ObjaFileCabinet", "kinematic": true, "children": [ { "id": "KeyChain|4|0", "assetId": "Keychain_2", "objectType": "KeyChain", "rotation": { "x": 0, "y": 0, "z": 0 }, "position": { "x": 3.692228317260742, "y": 1.3428142070770264, "z": 0.10863422602415085 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "ObjaSurfboard|4|2", "assetId": "91185ba35ece4a3792bbda7a205c830a", "objectType": "ObjaSurfboard", "rotation": { "x": 0, "y": 90, "z": 0 }, "position": { "x": 3.8718199729919434, "y": 2.346623420715332, "z": 0.3390556573867798 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "ObjaBeltBuckle|4|5", "assetId": "8732e5243857451ba4a3447c1eec0771", "objectType": "ObjaBeltBuckle", "rotation": { "x": 0, "y": 0, "z": 0 }, "position": { "x": 4.09310245513916, "y": 1.3855907917022705, "z": 0.5618041753768921 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "TissueBox|4|6", "assetId": "Tissue_Box_1", "objectType": "TissueBox", "rotation": { "x": 0, "y": 90, "z": 0 }, "position": { "x": 3.797170639038086, "y": 1.4103623628616333, "z": 0.48727989196777344 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "TissueBox|4|7", "assetId": "Tissue_Box_1", "objectType": "TissueBox", "rotation": { "x": 0, "y": 0, "z": 0 }, "position": { "x": 3.723146438598633, "y": 1.4103623628616333, "z": 0.19008827209472656 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "CD|4|8", "assetId": "CD_1", "objectType": "CD", "rotation": { "x": 0, "y": 0, "z": 0 }, "position": { "x": 4.019243240356445, "y": 1.3371450901031494, "z": 0.5615777969360352 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "CD|4|9", "assetId": "CD_1", "objectType": "CD", "rotation": { "x": 0, "y": 0, "z": 0 }, "position": { "x": 4.093267440795898, "y": 1.3371450901031494, "z": 0.2643861770629883 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Pen|4|12", "assetId": "Pen_4", "objectType": "Pen", "rotation": { "x": 0, "y": 0, "z": 0 }, "position": { "x": 3.723146438598633, "y": 1.3409922122955322, "z": 0.34516409039497375 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "Pen|4|13", "assetId": "RoboTHOR_pen_signo_v", "objectType": "Pen", "rotation": { "x": 0, "y": 0, "z": 0 }, "position": { "x": 4.019243240356445, "y": 1.3433051109313965, "z": 0.3417290449142456 }, "kinematic": false, "layer": "Procedural2", "openness": null }, { "id": "CellPhone|4|15", "assetId": "Cellphone_3", "objectType": "CellPhone", "rotation": { "x": 0, "y": 90, "z": 0 }, "position": { "x": 3.8711841106414795, 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End of preview.

Objaverse VIDA Dataset

Processed 3D assets from Objaverse for use with AI2-THOR and ProcTHOR.

Contents

Component Description Size
processed_2023_07_28/ ~40K processed 3D objects with textures 27 GB
houses_2023_07_28/ 160K+ procedurally generated house layouts 3.7 GB
procthor_databases_2023_07_28/ Asset databases, materials, placement rules 70 MB

Quick Start

# Install dependencies
pip install huggingface_hub[hf_transfer]

# Download the unpack script
wget https://huggingface.co/datasets/spatial-training/objaverse_vida/raw/main/unpack.py

# Run it (downloads ~30GB and extracts to ./objaverse_vida)
python unpack.py ./objaverse_vida

Or specify a custom path:

python unpack.py /path/to/destination

Data Format

Processed Objects

Each object directory contains:

{object_id}/
β”œβ”€β”€ {object_id}.pkl.gz    # 3D mesh data (gzip pickle)
β”œβ”€β”€ albedo.jpg            # Diffuse texture
β”œβ”€β”€ normal.jpg            # Normal map
β”œβ”€β”€ emission.jpg          # Emission map
└── thor_metadata.json    # AI2-THOR metadata

House Layouts

  • train.jsonl.gz / test.jsonl.gz / val.jsonl.gz - Full house definitions
  • train/ / test/ / val/ - Individual house JSON files

Asset Databases

  • asset-database.json - Asset catalog
  • material-database.json - Materials
  • placement-annotations.json - Placement rules
  • receptacles.json - Receptacle definitions

Manual Download

If you prefer not to use the script:

# Clone the dataset
huggingface-cli download spatial-training/objaverse_vida --repo-type dataset --local-dir ./objaverse_vida

# Extract processed shards
cd objaverse_vida/processed_2023_07_28
for f in shard_*.tar; do tar -xf "$f" && rm "$f"; done
rm manifest.json

# Extract house files
cd ../houses_2023_07_28
for split in train test val; do
  tar -xf "${split}_individual.tar" -C "$split/" && rm "${split}_individual.tar"
done

Citation

@inproceedings{deitke2023objaverse,
  title={Objaverse: A Universe of Annotated 3D Objects},
  author={Deitke, Matt and others},
  booktitle={CVPR},
  year={2023}
}

@inproceedings{deitke2022procthor,
  title={ProcTHOR: Large-Scale Embodied AI Using Procedural Generation},
  author={Deitke, Matt and others},
  booktitle={NeurIPS},
  year={2022}
}
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