| --- |
| 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. |
|
|
