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MESA simulation assets
Scenes, textures, fixtures and object meshes for the MESA benchmark (single-arm MESA and bimanual BiMESA). You do not need to download these by hand: from the MESA repository, run
uv run python scripts/setup/download_assets.py # everything
uv run python scripts/setup/download_assets.py --no-bimesa # single-arm MESA only
which verifies the checksums in SHA256SUMS and installs the archives into mesa/sim/assets.
| Archive | Installed to | Contents |
|---|---|---|
assets.zip |
mesa/sim/assets/ |
scenes, textures, fixtures and objects for both benchmarks |
objaverse.zip |
mesa/sim/assets/objects/objaverse/ |
RoboCasa365 Objaverse objects used by BiMESA |
aigen_objs.zip |
mesa/sim/assets/objects/aigen_objs/ |
RoboCasa365 AI-generated objects used by BiMESA |
Licenses
The assets are collected from several sources and keep their original licenses, including RoboCasa (RoboCasa365 objects, from Objaverse and AI generation), MimicLabs, LIBERO and robosuite, as well as HOPE, scanned and TurboSquid object sets. Please refer to those projects for the terms of individual assets.
Citation
@inproceedings{
wilcox2026mesa,
title={{MESA}: An Evaluation Framework for Compositional, Semantic, and Spatial Generalization in Robotics},
author={Wilcox, Albert and Chang, Frank and Nguyen, Nhi and Chakraborty, Aishani and Collins, Jeremy A. and Saxena, Vaibhav and Joffe, Benjamin and Karamcheti, Siddharth and Garg, Animesh},
booktitle={10th Annual Conference on Robot Learning},
year={2026},
url={https://openreview.net/forum?id=Br2rXixvyN}
}
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