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EAI Simulator Assets
Runtime assets for EAI Simulator, a social-physical robotics simulator built on NVIDIA Isaac Sim and Isaac Lab.
This repository is used as a versioned distribution channel for large simulation files that do not live in the source-code repository. It is not a conventional tabular dataset or an ML benchmark. It contains USD scenes and robots, mounted payloads and sensors, animated human assets, controller implementations, and policy weights required by selected EAI Simulator environments.
Access is gated. Submit the form on this page, wait for approval, and authenticate the same Hugging Face account on the machine that runs EAI Simulator.
What's included
| Category | Contents |
|---|---|
| Scenes | Warehouse, factory, AIRS, garden, desert, hospital, and supporting scene resources |
| Robots | Carter, Pepper, MuSHR v2, Coco, Scout, Go2, B2, M20, Lite3, G1, Crazyflie 2X, Iris, and Pegasus assets |
| Payloads and sensors | UR5 and Z1 manipulators, Orsus, RealSense D455, and LiDAR assets |
| Humans | 44 registered human actors, activity assets, 12 standard action groups, and retarget caches |
| Controllers | Traditional controller code plus selected RL controller code, configuration, and model weights |
The file inventory is broader than the public selection vocabulary. The EAI Simulator source code and saved environment configuration determine which assets are currently selectable and runnable; the presence of a file in this repository alone does not establish runtime support.
Supported environment
The current EAI Simulator baseline is:
- Ubuntu 22.04
- NVIDIA Isaac Sim 5.1
- Isaac Lab 2.x with the Conda environment named
env_isaaclab - A CUDA-capable NVIDIA GPU for normal simulator workflows
ROS2 is optional for the core simulator. See the EAI Simulator installation guide for the complete host, Python, and ROS2 environment boundaries.
Get access
- Sign in to Hugging Face and submit the access request form on this page.
- Wait for manual approval from the repository owner.
- Install the Hugging Face CLI if needed, then authenticate from the runtime machine:
hf auth login
hf auth whoami
Approval and CLI authentication are separate steps. A successful browser login does not automatically authenticate a terminal or a different machine.
Recommended usage
Let EAI Simulator resolve only the assets needed by the selected environment:
git clone https://github.com/roso-lab/eai-simulator.git
cd eai-simulator
conda activate env_isaaclab
./tools/install_packages.sh
hf auth login
python simulator.py --env robo
The resolver preserves the repository-relative layout and downloads selected bundles on demand. robo is a broad first integration launch rather than a lightweight smoke test: it selects multiple robots and an animated human, can require several downloads, and expects a correctly configured Isaac Sim environment.
To disable automatic downloads and fail when a required local asset is missing:
export EAI_ASSETS_AUTO_DOWNLOAD=0
Manual and selective download
Run manual downloads from the EAI Simulator repository root so that usd/ and controller paths are installed in the locations expected by the runtime.
Download one selected bundle:
hf download HuangQIjun/eai-simulator-assets \
--type dataset \
--revision v0.1.0-beta.1 \
--include "usd/scene/warehouse/**" \
--local-dir .
Download the complete human asset bundle:
hf download HuangQIjun/eai-simulator-assets \
--type dataset \
--revision v0.1.0-beta.1 \
--include "usd/human/**" \
--local-dir .
Avoid downloading the entire repository unless you need all environments and have planned for the required bandwidth and disk space.
Revisions and reproducibility
The default EAI Simulator resolver follows the moving main revision so normal development receives the latest published assets. For experiments, releases, CI, or any reproducible workflow, pin an immutable tag or commit:
export EAI_ASSETS_HF_REVISION=v0.1.0-beta.1
python simulator.py --env robo
Available release tags are shown under Files and versions. Keep the EAI Simulator source revision, asset revision, saved environment, and experiment configuration together in your run record.
Repository layout
usd/
scene/ environment USD and supporting materials
robot/ robot USD and referenced resources
payloads/ manipulators, cameras, and LiDAR assets
human/ characters, activities, motions, and retarget caches
controller/
traditional/ controller implementations
rl/ RL controller code, configs, and policy weights
controller-sim6.0/
compatibility-specific controller bundle; not used by the
current default Isaac Sim 5.1 resolver
Do not rename directories or flatten downloaded files. USD references and the EAI asset resolver depend on the published relative paths.
License and redistribution
The EAI Simulator source repository is MIT-licensed, but that source-code license does not automatically apply to the files distributed here. Assets may include material governed by separate upstream licenses, model terms, or redistribution restrictions.
Access to this repository does not grant permission to redistribute, mirror, publicly re-host, sublicense, or republish its contents. Use the files only for the purpose declared in your access request and comply with all applicable upstream terms. Contact the repository owner before any use whose licensing or redistribution status is unclear.
Security and privacy
- Do not commit Hugging Face tokens, downloaded gated assets, cache directories, or experiment output to a public repository.
- Do not include credentials or sensitive personal data in access requests, issues, or logs.
- Report security concerns using the project's security policy.
Troubleshooting
401 or missing token
Run hf auth login, then confirm the active account with hf auth whoami.
403 or gated repository error
Confirm that the account shown by hf auth whoami is the same account whose access request was approved. Pending requests cannot download files.
Revision not found
Check Files and versions and use an existing tag or full commit hash. Do not assume a release name exists before it is published.
Asset still reported missing
Run the command from the EAI Simulator repository root and preserve the remote path under usd/ or controller/. For automatic resolution, make sure EAI_ASSETS_AUTO_DOWNLOAD is not set to 0.
Project links
中文说明
本仓库不是传统的表格数据集，而是 EAI Simulator 的大型运行时资产分发仓库，包含 USD 场景、机器人、传感器与机械臂、人类角色与动作、控制器代码及策略权重。
使用前请在本页面提交访问申请，等待人工批准后，在运行仿真的机器上执行 hf auth login。日常使用建议让 EAI Simulator 按当前环境自动下载所需资产；需要复现实验或发布版本时，请通过 EAI_ASSETS_HF_REVISION 固定不可变 tag 或 commit。源码仓库的 MIT 许可证不会自动覆盖本仓库中的资产；未经仓库所有者及相关资产许可方明确授权，不得镜像、公开托管或再分发这些文件。
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