| --- |
| pretty_name: Placement Assets |
| license: other |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - mujoco |
| - mjcf |
| - assets |
| - placement |
| --- |
| |
| # Asset Library |
|
|
| [中文说明](README_zh.md) |
|
|
| Unified robotics and simulation asset library. |
|
|
| This repository stores normalized reusable assets from RoboCasa, Discoverse, TinyForge, Hunter, and third-party asset sites. It is designed to be hosted as a Hugging Face Dataset. |
|
|
| ## Layout |
|
|
| Raw source-preserved asset layout: |
|
|
| ```text |
| assets/<source>/raw/<asset_type>/<category>/<asset_id>/ |
| ``` |
|
|
| Example: |
|
|
| ```text |
| assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/ |
| ``` |
|
|
| Derived asset layout: |
|
|
| ```text |
| assets/<source>/derived/<asset_type>/<category>/<asset_id>/ |
| ``` |
|
|
| Use `derived/` for generated or transformed outputs such as convex decomposition, collision meshes, cleaned meshes, and conversions. |
|
|
| For convex decomposition scaffolding: |
|
|
| ```bash |
| python scripts/scaffold_convex_decomposition.py assets/robocasa/raw/fixtures/dishwashers/Dishwasher031 |
| ``` |
|
|
| Collection-level imports are allowed when an upstream repository has many internal relative references. They still use the same layout under `raw/`: |
|
|
| ```text |
| assets/<source>/raw/<asset_type>/<category>/<asset_id>/ |
| ``` |
|
|
| Current example: |
|
|
| ```text |
| assets/discoverse/raw/collections/models/discoverse_models/ |
| ``` |
|
|
| Top-level repository structure: |
|
|
| ```text |
| . |
| ├── AGENTS.md |
| ├── README.md |
| ├── assets/ |
| │ ├── discoverse/ |
| │ ├── hunter/ |
| │ ├── robocasa/ |
| │ ├── third_party/ |
| │ └── tinyforge/ |
| ├── templates/ |
| ├── docs/ |
| │ ├── asset_readiness_classification.md |
| │ ├── convex_decomposition_spec.md |
| │ ├── external_source_catalog.md |
| │ ├── naming_spec.md |
| │ ├── placement_asset_notes.md |
| │ ├── primitive_collision_proxy_spec.md |
| │ ├── structure_mapping.md |
| │ ├── source_notes/ |
| │ └── storage_spec.md |
| ├── manifest/ |
| │ ├── assets.jsonl |
| │ ├── licenses.yaml |
| │ └── sources.yaml |
| └── scripts/ |
| ├── run_convex_decomposition.py |
| ├── run_primitive_collision_proxy.py |
| ├── scaffold_convex_decomposition.py |
| ├── download_from_hf.sh |
| ├── upload_to_hf.sh |
| └── validate_asset.py |
| ``` |
|
|
| Naming rule: |
|
|
| ```text |
| <source>.<asset_type>.<category>.<upstream_id> |
| ``` |
|
|
| Example: |
|
|
| ```text |
| robocasa.fixtures.dishwashers.Dishwasher031 |
| ``` |
|
|
| ## Current seed assets |
|
|
| - RoboCasa dishwasher fixtures: 25 MJCF assets under `assets/robocasa/raw/fixtures/dishwashers/` |
| - RoboCasa dishwasher support files: |
| - fixture registry: `assets/robocasa/raw/fixtures/fixture_registry/dishwasher.yaml` |
| - implementation reference: `docs/source_notes/robocasa/dishwasher_fixture.py` |
| - DISCOVERSE models collection: upstream `models/` tree under `assets/discoverse/raw/collections/models/discoverse_models/` |
| - stored as a collection-level asset to preserve internal relative references |
| - includes MJCF, URDF, mesh, and reference image files |
|
|
| Placement-related notes and candidate external links are tracked in: |
|
|
| ```text |
| docs/asset_readiness_classification.md |
| docs/convex_decomposition_spec.md |
| docs/external_source_catalog.md |
| docs/placement_asset_notes.md |
| docs/primitive_collision_proxy_spec.md |
| docs/structure_mapping.md |
| docs/source_notes/third_party.md |
| ``` |
|
|
| Readiness is tracked separately from storage. A downloaded asset is not automatically production-ready: |
|
|
| - L0: validated for the target task, robot, policy, verifier, and replay pipeline |
| - L1: complete simulation asset in its original simulator |
| - L2: articulated structure exists but physics/task information is incomplete |
| - L3: movable parts are separated but joints are not reliable |
| - L4: complete static object |
| - L5: raw or incomplete static mesh |
|
|
| See `docs/asset_readiness_classification.md` for the full standard. |
|
|
| ## Index |
|
|
| The global asset index is: |
|
|
| ```text |
| manifest/assets.jsonl |
| ``` |
|
|
| Each asset directory also contains a local `metadata.yaml`. |
|
|
| ## Validate |
|
|
| ```bash |
| python scripts/validate_asset.py assets/robocasa/raw/fixtures/dishwashers/Dishwasher031 |
| python scripts/validate_asset.py --all |
| ``` |
|
|
| Current expected result: |
|
|
| ```text |
| validated_assets=26 |
| ``` |
|
|
| ## Upload to Hugging Face |
|
|
| Login first: |
|
|
| ```bash |
| export HF_ENDPOINT=https://hf-mirror.com |
| hf auth login |
| ``` |
|
|
| Create the dataset repo if needed: |
|
|
| ```bash |
| hf repo create <namespace>/<dataset_repo> --type dataset --private |
| ``` |
|
|
| Upload: |
|
|
| ```bash |
| cd /path/to/asset-library |
| scripts/upload_to_hf.sh <namespace>/<dataset_repo> |
| ``` |
|
|
| ## Download from Hugging Face |
|
|
| ```bash |
| export HF_ENDPOINT=https://hf-mirror.com |
| |
| scripts/download_from_hf.sh <namespace>/<dataset_repo> ./asset-library |
| ``` |
|
|
