README.md

---
pretty_name: UniEMindAssets
tags:
  - robotics
  - embodied-ai
  - 3d-assets
  - simulation
  - usd
  - mujoco
  - isaac-sim
  - scenes
  - robots
  - objects
task_categories:
  - robotics
license: other
license_name: apache-2.0-with-upstream-cited-assets
language:
  - en
  - zh
size_categories:
  - n<1K
---

# UniEMindAssets

Unified embodied-world **3D assets** (scenes, robots, objects) for the UniEMind ecosystem — Hugging Face distribution.

[中文文档](README_zh.md) · Spec / tooling: [UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) (Schema, Registry, CLI)

> **UniEMind-Assets** defines *what an asset is, how it is organized, how it is described, where it came from, which physics and semantics it has, and how it may be used*.  
> **UniEMind-Sim** loads, composes, and runs those assets.  
> **This Hugging Face repo** hosts the large binary asset packs (meshes / USD / related resources) for download and local use.

---

## Important: License & rights

**Please read this section before downloading or redistributing any file.**

| Content | Default license | Notes |
| --- | --- | --- |
| UniEMind-authored **reference / official** 3D assets | **[Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0)** | Same as UniEMind tooling; see NOTICE / SPDX when present |
| UniEMind-Assets **code, schemas, tools** (sibling Git repo) | **[Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0)** | Metadata, Registry, CLI, etc. |
| **Cited / third-party** meshes, robots, scenes, textures | **Upstream author's license** | Follow the **referenced** author / project's license and attribution; upload here does **not** re-license them |

### Rules of use

1. **Per-asset SPDX wins.** If an asset directory contains `LICENSE`, `license.spdx`, or `asset.yaml` → `license.spdx`, that entry overrides the table above for that asset.
2. **Cited assets follow the upstream license.** If an asset is imported or referenced from another author / project, use **that author's license** (and NOTICE / attribution), not Apache-2.0 by default. Inclusion in UniEMindAssets does **not** re-license upstream CAD, USD, URDF, textures, or brand assets.
3. **No warranty.** Assets are provided as-is for research and development; verify fitness for your simulator and product before production use.
4. **NOTICE for Apache-2.0 UniEMind assets.** When redistributing UniEMind-authored assets under Apache-2.0, retain copyright / NOTICE files and keep **UniEMind / UniEMindAssets** notices as required by the license.

### Infringement / takedown

**If you believe any asset in this repository infringes your rights, please contact the author ([depthvisn@gmail.com](mailto:depthvisn@gmail.com)); it will be removed promptly.**

Please email [depthvisn@gmail.com](mailto:depthvisn@gmail.com) first. Include the asset path or id and a brief ownership claim.

---

## Role of this repository

UniEMindAssets is the **large-file hosting** companion for the [UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) repository.

Its core responsibilities are:

1. Unified distribution of Scene, Robot, and standalone 3D object assets
2. Alignment with the UniEMind-Assets Metadata Contract
3. Room for physics, semantics, affordance, and interaction descriptions
4. Clear version, provenance, dependency, and **License** information
5. Downloadable asset entry points for MuJoCo, Isaac Sim, and similar simulators
6. Support for community / partner contributions with rights notices

---

## Repository layout

```text
UniEMindAssets/
├── objects/          # Standalone 3D objects
├── robots/           # Robot models (specialized standalone assets)
├── scenes/           # Composed scenes (referencing objects / robots)
├── README.md         # This file (English)
└── README_zh.md      # Chinese
```

Typical usage: **robots** and **objects** can be placed into **scenes**; a robot is a specialized standalone 3D asset.

---

## Ecosystem

| Repository | Role | Link |
| --- | --- | --- |
| **UniEMind** | Brain: understand, decide, plan, invoke skills, close the loop | [github.com/depthEmMind/UniEMind](https://github.com/depthEmMind/UniEMind) |
| **UniEMind-Algo** | Algorithm toolbox | [github.com/depthEmMind/UniEMind-Algo](https://github.com/depthEmMind/UniEMind-Algo) |
| **UniEMind-Interfaces** | Shared ROS 2 msgs / capability contracts | [github.com/depthEmMind/UniEMind-Interfaces](https://github.com/depthEmMind/UniEMind-Interfaces) |
| **UniEMind-Assets** | Metadata, Schema, Registry, validation & CLI | [github.com/depthEmMind/UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) |
| **UniEMindAssets** *(this HF dataset)* | Binary asset pack download / distribution | [huggingface.co/depthEmMind/UniEMindAssets](https://huggingface.co/depthEmMind/UniEMindAssets) |
| **UniEMind-Sim** | Virtual arena: load assets, drive MuJoCo / Isaac | [github.com/depthEmMind/UniEMind-Sim](https://github.com/depthEmMind/UniEMind-Sim) |
| **UniEMind-Hardware** | Hardware catalog, specs, drivers, assembly | [github.com/depthEmMind/UniEMind-Hardware](https://github.com/depthEmMind/UniEMind-Hardware) |
| **UniEMind-Datasets** | Exam items / GT | [github.com/depthEmMind/UniEMind-Datasets](https://github.com/depthEmMind/UniEMind-Datasets) |
| **UniEMind-Bench** | Evaluation / ranking | [github.com/depthEmMind/UniEMind-Bench](https://github.com/depthEmMind/UniEMind-Bench) |

```text
                         ┌─────────────────────┐
                         │      UniEMind       │
                         │  Brain / Runtime    │
                         │ Agent·Memory·Skill  │
                         └──────────┬──────────┘
                                    │ uses
                         ┌──────────▼──────────┐
                         │   UniEMind-Algo     │
                         └──────────┬──────────┘
                                    │ I/O via
                         ┌──────────▼──────────┐
                         │ UniEMind-Interfaces │
                         └──────────┬──────────┘
                                    │ ROS 2
              ┌─────────────────────┼─────────────────────┐
              ▼                                           ▼
     ┌─────────────────┐                         ┌─────────────────┐
     │  UniEMind-Sim   │                         │UniEMind-Hardware│
     │ Virtual Robot   │                         │  Real Robot     │
     └────────┬────────┘                         └────────┬────────┘
              │ loads assets                               │
              └──────────────────┬─────────────────────────┘
                                 ▼
                      ┌─────────────────┐
                      │ UniEMind-Assets │
                      └────────┬────────┘
                               │ referenced by
                               ▼
                      ┌─────────────────┐
                      │UniEMind-Datasets│──── exam protocol ────►┌─────────────────┐
                      │ Exam items / GT │                        │ UniEMind-Bench  │
                      └─────────────────┘                        │ Metrics / Rank  │
                                                                 └────────┬────────┘
                                                                          │ runs on Sim / Hardware
                                                                          ▼
                                                                   UniEMind + Algo
```

---

## Quick start

CLI tools live in the sibling Git repos (install into the shared `UniEMind` conda env):

| Command | Package | Role |
| --- | --- | --- |
| **`um-assets`** (alias `unimind-assets`) | [UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) | Download / sync this HF pack, registry, validate, list / remove |
| **`um-sim`** (alias `unimind-sim`) | [UniEMind-Sim](https://github.com/depthEmMind/UniEMind-Sim) | Install assets into the sim, list scenes / robots, run |

### Download (huggingface-cli or git)

```bash
# huggingface-cli
huggingface-cli download depthEmMind/UniEMindAssets --local-dir ./UniEMindAssets

# or git (Git LFS recommended for large files)
git lfs install
git clone https://huggingface.co/datasets/depthEmMind/UniEMindAssets
```

### Recommended: `um-assets hf` → UniEMind-Assets → `um-sim`

From a local [UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) checkout:

```bash
conda activate UniEMind
cd UniEMind-Assets
pip install --no-build-isolation -e ".[hf]"

# One-shot: download this HF dataset and sync into UniEMind-Assets/assets/
um-assets hf install --force

# Or download only, then sync (copy or symlink)
um-assets hf download --local-dir ~/data/UniEMindAssets
um-assets hf sync --source ~/data/UniEMindAssets --mode copy --force
# um-assets hf sync --source ~/data/UniEMindAssets --mode link --force

um-assets registry build
um-assets assets list
um-assets robots list
um-assets scenes list

# list / find / info / validate never ask for confirmation.
# Only remove asks: type y to delete (default N). Use -y only in scripts.
# um-assets assets remove <asset_id>
# um-assets robots remove <asset_id>
# um-assets scenes remove <asset_id>
# um-assets assets remove <asset_id> -y

# Hand-off to UniEMind-Sim
um-sim install uniemind-assets --source /path/to/UniEMind-Assets
um-sim assets list
um-sim robots list
um-sim scenes list
um-sim run --scene <scene_id> --backend mujoco   # or isaac
```

Environment variables (optional): `UNIMIND_HF_ASSETS_REPO`, `UNIMIND_HF_ASSETS_DIR`, `UNIMIND_ASSETS_ROOT`.  
Exact flags follow your installed UniEMind-Assets / UniEMind-Sim versions; see the UniEMind-Assets README for the full CLI.

---

## Citation

If you use these assets in research or products, please cite UniEMind and comply with each asset's SPDX license (**Apache-2.0** for UniEMind-authored assets; for cited third-party assets, follow the **referenced** author's license).

---

## Disclaimer

Assets may include third-party geometry or related materials collected for research. **If you believe an asset infringes your rights, please contact the author ([depthvisn@gmail.com](mailto:depthvisn@gmail.com)); the asset will be removed.** UniEMind maintainers will act in good faith on valid notices.