--- 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 # um-assets robots remove # um-assets scenes remove # um-assets assets remove -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 --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.