EmbodiedSWE/robobench-assets

robobench assets (EmbodiedSWE / CoSiGen)

Binary simulation assets for the CoSiGen / EmbodiedSWE robotics benchmark: USD stages and meshes, PBR textures, one locomotion policy and two reference videos. The code repository keeps only source and small text layers; every file here is mirrored at the same relative path as in the repository, so after fetching, the checkout is byte-identical to a vendored tree.

This dataset is released alongside the paper EmbodiedSWE: Coding Agents for Long Horizon Dexterous Robotics. See the project page for more details.

Use

Do not download this dataset by hand. In a CoSiGen checkout:

python -m robobench.scripts.fetch_assets          # fresh checkout: one tar bundle per asset directory
python -m robobench.scripts.fetch_assets --check  # verify the local tree against the manifest

robobench/assets_manifest.json in the repository pins every file (path, size, sha256) and every bundle. The fetch downloads what is missing or stale and verifies the result; nothing else in the repository changes.

Layout

robobench/robots/assets/<robot>/...            robot USDs vendored from their upstreams
robobench/suites/<suite>/assets/<object>/...   per-task objects and props
robobench/suites/deformable/videos/*.mp4       two reference smoke recordings
bundles/<root>.tar                             one deterministic tar per asset root (for fast fresh fetches)

Text layers next to these files (*.usda composites, *.mdl, SOURCE.json/SOURCE.md provenance, manifest.json bake records) live in the git repository, not here.

License

Apache License 2.0 (see LICENSE), the same license as the code repository. This covers everything the CoSiGen authors created: the authored and baked USD stages, collision meshes, pre-cut piece chains, composites, texture downsamples, videos, the manifest and the bundles. You may use, modify and redistribute them, including commercially, under the Apache-2.0 terms.

Third-party assets keep their upstream licenses. Many source meshes, textures and robot models were made by others and are redistributed here in converted form; the tables below record where each came from and the license the source published. Where a row says upstream terms the license is the one the source publishes and has not been independently re-verified. Rows marked NC are Creative Commons NonCommercial scans: use them for research only. NOTICE carries the full attribution list. If you are the author of an asset listed here and want it credited differently or removed, open an issue on the code repository.

Robots (robobench/robots/assets/)

Directory	Source	License
cobotta_pro_1300, festo_cobot, gen3n7, jaco2_n7, lite6_gripper, rizon4, sawyer, schunk_egk25, xarm7, xarm_gripper, z1	NVIDIA Isaac Sim 5.1 asset library (Robots/...), vendored, some with small physics-schema patches	NVIDIA Omniverse asset terms (upstream terms)
franka, panda_hand	Franka Emika Panda (panda_instanceable.usd, Isaac Sim asset library); panda_hand is the hand carved out of it	NVIDIA Omniverse asset terms (upstream terms)
g1 (+ policies/agile_locomotion.pt)	Unitree G1 29-DoF, Isaac Sim 5.1 cloud assets Robots/Unitree/G1; policy from Isaac Lab Policies/Agile	NVIDIA Omniverse asset terms (upstream terms)
gr1t2	Fourier GR1-T2 via isaaclab_assets (Isaac Nucleus), URDF generated in-repo	NVIDIA Omniverse asset terms (upstream terms)
piper	AgileX official agilexrobotics/piper_isaac_sim @ 8e1f88f	upstream terms (repo publishes no license file)
wxai	Trossen Robotics official TrossenRobotics/trossen_ai_isaac @ e5fccea	BSD-3-Clause
wx250s	mujoco_menagerie/trossen_wx250s (from Interbotix's URDF), converted with Isaac Lab's MJCF converter	BSD-3-Clause
composites	arm + gripper welds baked from the USDs above; no new geometry	inherits the parts' licenses

Assembly suite (robobench/suites/assembly/assets/)

Directory	Source	License
factory	Isaac Lab Factory M16 nut/bolt (Factory/factory_{nut,bolt}_m16.usd)	NVIDIA Omniverse asset terms (upstream terms)
allen_bolt, allen_key, threaded_platform, bulb	authored in-repo; thread geometry transplanted from the Isaac Lab Factory SDF meshes	Apache-2.0 (authored parts); Factory thread as above
steering_wheel	Isaac Lab Mimic pick_place_task/pick_place_assets/steering_wheel.usd	NVIDIA Omniverse asset terms (upstream terms)
props/packing_table*	Isaac Sim Props/PackingTable (textures downsampled)	NVIDIA Omniverse asset terms (upstream terms)
props/lab_table, props/ground	source not recorded	upstream terms
pc	GAMING_PC.usdc visual and textures, vendored; case fixtures authored in-repo	upstream terms (source not recorded)
so101	SO-101 arm parts (STS3215 servo, screws), drill; parts follow the official NVIDIA so101_new_calib USD	upstream terms (source not recorded)
ikea_table	table and legs from the legacy four-leg environment	upstream terms (source not recorded)

Packing suite (robobench/suites/packing/assets/)

Directory	Source	License
egg_carton	RoboDojo fill_egg_holder assets, sha256-pinned	Apache-2.0 (dataset card) / MIT (code repo)
clear_organic_objects, fruits_on_plate	NVlabs RoboLab object sets (fruits_veggies, vomp, hot3d)	Apache-2.0
chest, knife, scissors, stapler, toolbox, pen_holder	scanned product models	upstream terms (source not recorded)

Puzzle suite (robobench/suites/puzzle/assets/)

Directory	Source	License
push_shapes	T block from RoboDojo push_T; X/L pieces, pads and board authored in-repo	Apache-2.0
capsule	authored in-repo	Apache-2.0
bowls, cup_green, serving_tray, coffee_machine, microwave, kitchen, medical_cart, syringe, tube_rack	scanned product models	upstream terms (source not recorded)

Cutting suite (robobench/suites/cutting/assets/)

Photogrammetry scans of produce and bread, re-meshed into pre-cut piece chains. Rows with CC BY-NC / CC BY-NC-SA are non-commercial (NC): research use only.

Directory	Upstream name	Author	License	URL
cutting/assets/baguette_1	Baguette	terrielsimmons	CC BY	https://sketchfab.com/3d-models/ba8e9641ce0b433bbcb0416e035a9079
cutting/assets/baguette_2	Baguette scan M1	yaro.pro	CC BY	https://sketchfab.com/3d-models/1965f86a45a3480995df29e14d5aa73b
cutting/assets/banana_1	Banana	moshecaine	CC BY	https://sketchfab.com/3d-models/f39360ca9e264a96b45cce0a18c963d7
cutting/assets/banana_2	Banana - Take 2	moshecaine	CC BY	https://sketchfab.com/3d-models/c7e1cf5545404752961c4857f95a5bca
cutting/assets/banana_3	Banana 3D scan	zdenkoroman	CC BY	https://sketchfab.com/3d-models/c4f9b194abca4db7b4cd0ec6270f9d60
cutting/assets/banana_4	Banana	chytamrealitu	CC BY	https://sketchfab.com/3d-models/7a0d2491b22141398f19c7f11a2f2edf
cutting/assets/banana_5	Day 167: Ripe Banana	uttamg911	CC BY-NC-SA	https://sketchfab.com/3d-models/fbf1b58032f64ec385689623c6b5c036
cutting/assets/bread_loaf	Небольшой Батон	Small Loaf	hoxsvl	CC BY
cutting/assets/carrot_1	Carrot(3d Scan)	tanophotogrammetry	CC BY	https://sketchfab.com/3d-models/896181392c1f4e2d9316bf2eeafc3042
cutting/assets/carrot_2	Scan Carrot-Freepoly.org	blackrray	CC BY	https://sketchfab.com/3d-models/4b7d0eacc1ae44cba343beaff6bf976b
cutting/assets/carrot_purple	Carrot (NHMW-AFW-DING-0046-056)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/6f4f2aa6788b46f2a504307e379e5a1f
cutting/assets/chili	Chili Pepper (NHMW-AFW-DING-0046-069)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/5dfda56321fc4f5ab9f5ca585d97d357
cutting/assets/corn	Corn (NHMW-AFW-DING-0046-001)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/84ffd09580b24b8bbe795ff8975cf12a
cutting/assets/cucumber_1	Megascans cucumber (on disk, Fab licence)		Fab	Quixel Megascans (Fab licence)
cutting/assets/cucumber_2	TRELLIS.2 generated cucumber (on disk)		generated	generated with TRELLIS.2 (no upstream)
cutting/assets/cucumber_3	Cucumber (NHMW-AFW-DING-0046-133)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/fc74de8ddca0464f97051fdfb6ca8090
cutting/assets/cucumber_4	Cucumber (NHMW-AFW-DING-0046-134)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/c8e79ef4446b46a3a0955ebc19765c87
cutting/assets/cucumber_5	Cucumber (NHMW-AFW-DING-0046-034)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/f6ccf9680f3b4aa0aae77c420715b12e
cutting/assets/cucumber_6	Cucumber	db4	CC BY	https://sketchfab.com/3d-models/0aef5e1b2ef446d7a5663674e75d45c8
cutting/assets/cucumber_7	Cucumber	ruda5	CC BY	https://sketchfab.com/3d-models/9231e77e152d4e54b1673eae6686ba0d
cutting/assets/cucumber_pickling	Pickling Cucumber	chapmanecodesign	CC BY	https://sketchfab.com/3d-models/2f0743a1d27345269d1444a8becfce59
cutting/assets/eggplant_1	Eggplant (Game Ready / 2K PBR)	meerschaumdigital	CC BY	https://sketchfab.com/3d-models/334a3ab0383f49d1bd34575a36ddf4d6
cutting/assets/eggplant_2	Eggplant (NHMW-AFW-DING-0046-118)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/27f1dfa265344b5e8286b388d3a4e1c8
cutting/assets/garlic_bread	Garlic Bread	ngjingcheng	CC BY	https://sketchfab.com/3d-models/aedd82f4db014b94bbce5b99907e382e
cutting/assets/lotus_root	Scan Lotus Root-Freepoly.org	blackrray	CC BY	https://sketchfab.com/3d-models/f4fa4b58b6514440bdc2d90817a42083
cutting/assets/okra	Bhindi (NHMW-AFW-DING-0046-018)	NHMWien	CC BY-NC	https://sketchfab.com/3d-models/9300fc374592426fa34b50a588d92ecb
cutting/assets/parsnip	Parsnip	bartv	CC BY	https://sketchfab.com/3d-models/9270b2c72df04b37bb6d3b6becec67ac
cutting/assets/sweet_potato	Sweet Potato	moshecaine	CC BY	https://sketchfab.com/3d-models/8370fa36e3c9456f84be2bfe7e501d27
cutting/assets/zucchini_1	barszot zucchini = moshecaine Photocatch (on disk, baked)		CC BY	Sketchfab, author moshecaine (via barszot's mirror)
cutting/assets/zucchini_2	zucchini	kayaaku	CC BY	https://sketchfab.com/3d-models/512e5c58293d4eaa83ad0ff9eb5be8e3
cutting/assets/zucchini_yellow	Yellow zucchini	thesidekick	CC BY	https://sketchfab.com/3d-models/7a3dc12d96f741ab84d358fd2ac3df28
cutting/assets/banana	Banana	ShekhirevaVictoria	CC BY	https://sketchfab.com/3d-models/banana-e0c2951ac0ca47b8978b2a6eca426c3f
cutting/assets/carrot	Carrot	Moshe Caine	CC BY	https://sketchfab.com/3d-models/carrot-985240a0da5848e9aa639d5e4daa38e0
cutting/assets/potato	Potato	Moshe Caine (probable)	CC BY (probable)	https://sketchfab.com/3d-models/potato-0f4be86441694633b42c764a4574fd41
cutting/assets/tomato	Tomato 2	Moshe Caine (probable)	CC BY (probable)	https://sketchfab.com/3d-models/tomato-2-201d42a9e5e54f1b836eff39a892ed88
cutting/assets/knife22r	RoboCasa knife_22 (Objaverse-derived)		Objaverse per-object CC license (upstream terms)	https://github.com/robocasa/robocasa
cutting/assets/chopping_board.usd, kitchen_island.usd	Lightwheel kitchen pack	Lightwheel	upstream terms

Deformable and locomanip suites

Directory	Source	License
deformable/assets/tshirt	port of Newton's cloth_folding example shirt	Apache-2.0 (Newton example)
deformable/assets/shoes, shoe_right_visual.usda	Sketchfab sneaker pair	upstream terms (Sketchfab; attribution pending)
deformable/assets/BlackCeramicMug, Pitcher	scanned product models	upstream terms (source not recorded)
deformable/videos/*.mp4	recordings of this repository's own smokes	Apache-2.0
locomanip/assets/brown_box, galileo_shelf	IsaacLab-Arena object/background library, sha256-pinned	NVIDIA Omniverse asset terms (upstream terms)
locomanip/assets/galileo_props	Isaac Lab Mimic exhaust_pipe_task assets	NVIDIA Omniverse asset terms (upstream terms)
locomanip/assets/fruit_delivery	authored in-repo	Apache-2.0

Citation

Please cite the code repository (see its README for the BibTeX entry) and credit the upstream asset authors listed above.