README.md

Asset Library

Unified robotics and simulation asset library.

This repository stores normalized reusable assets from RoboCasa, Discoverse, TinyForge, Hunter, and third-party asset sites. It is designed to be hosted as a Hugging Face Dataset.

Layout

Default normalized asset layout:

assets/<source>/<asset_type>/<category>/<asset_id>/

Example:

assets/robocasa/fixtures/dishwashers/Dishwasher031/

Collection-level imports are allowed when an upstream repository has many internal relative references:

assets/<source>/<upstream_root>/

Current example:

assets/discoverse/models/

Top-level repository structure:

.
├── AGENTS.md
├── README.md
├── assets/
│   ├── discoverse/
│   ├── hunter/
│   ├── robocasa/
│   ├── third_party/
│   └── tinyforge/
├── docs/
│   ├── naming_spec.md
│   ├── placement_asset_notes.md
│   ├── source_notes/
│   └── storage_spec.md
├── manifest/
│   ├── assets.jsonl
│   ├── licenses.yaml
│   └── sources.yaml
└── scripts/

Naming rule:

<source>.<asset_type>.<category>.<upstream_id>

Example:

robocasa.fixtures.dishwashers.Dishwasher031

Current seed assets

• RoboCasa dishwasher fixtures: 25 MJCF assets under assets/robocasa/fixtures/dishwashers/
• RoboCasa dishwasher support files:
  • fixture registry: assets/robocasa/fixtures/fixture_registry/dishwasher.yaml
  • implementation reference: docs/source_notes/robocasa/dishwasher_fixture.py
• DISCOVERSE models collection: upstream models/ tree under assets/discoverse/models/
  • stored as a collection-level asset to preserve internal relative references
  • includes MJCF, URDF, mesh, and reference image files

Placement-related notes and candidate external links are tracked in:

docs/placement_asset_notes.md
docs/source_notes/third_party.md

Index

The global asset index is:

manifest/assets.jsonl

Each asset directory also contains a local metadata.yaml.

Validate

python scripts/validate_asset.py assets/robocasa/fixtures/dishwashers/Dishwasher031
python scripts/validate_asset.py --all

Current expected result:

validated_assets=26

Upload to Hugging Face

Login first:

export HF_ENDPOINT=https://hf-mirror.com
hf auth login

Create the dataset repo if needed:

hf repo create <namespace>/<dataset_repo> --type dataset --private

Upload:

cd /path/to/asset-library
scripts/upload_to_hf.sh <namespace>/<dataset_repo>

Download from Hugging Face

export HF_ENDPOINT=https://hf-mirror.com

scripts/download_from_hf.sh <namespace>/<dataset_repo> ./asset-library