We recommend using the download.py script to list available data sources and extract data from one or all sources to a local directory. You'll need to ensure your environment contains a few dependecies that can be installed, e.g., by:

pip install zstandard datasets huggingface-hub tqdm

License

The Objaverse subset is licensed under ODC-BY 1.0. All other data subsets are licensed under CC BY 4.0. This dataset is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines.

Data Attributions

The xml files have been modified from the original versions provided by the following sources:

mujoco_menagerie / franka_fr3 - Developed by Franka Robotics

The included metadata (downloadable from the mujoco/objects/objathor_metadata/20260129 source) provides the license for each object in the Objaverse subset.

We note that Objaverse models have been significantly modified to reduce memory and processing requirements, including mesh decimation, convex collider extraction, and baking of visual effects via Blender scripts, so the provided quality may not reflect the original model.

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