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UniEMindAssets
Unified embodied-world 3D assets (scenes, robots, objects) for the UniEMind ecosystem — Hugging Face distribution.
中文文档 · Spec / tooling: 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 | Same as UniEMind tooling; see NOTICE / SPDX when present |
| UniEMind-Assets code, schemas, tools (sibling Git repo) | Apache-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
- Per-asset SPDX wins. If an asset directory contains
LICENSE,license.spdx, orasset.yaml→license.spdx, that entry overrides the table above for that asset. - 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.
- No warranty. Assets are provided as-is for research and development; verify fitness for your simulator and product before production use.
- 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); it will be removed promptly.
Please email 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 repository.
Its core responsibilities are:
- Unified distribution of Scene, Robot, and standalone 3D object assets
- Alignment with the UniEMind-Assets Metadata Contract
- Room for physics, semantics, affordance, and interaction descriptions
- Clear version, provenance, dependency, and License information
- Downloadable asset entry points for MuJoCo, Isaac Sim, and similar simulators
- Support for community / partner contributions with rights notices
Repository layout
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 |
| UniEMind-Algo | Algorithm toolbox | github.com/depthEmMind/UniEMind-Algo |
| UniEMind-Interfaces | Shared ROS 2 msgs / capability contracts | github.com/depthEmMind/UniEMind-Interfaces |
| UniEMind-Assets | Metadata, Schema, Registry, validation & CLI | github.com/depthEmMind/UniEMind-Assets |
| UniEMindAssets (this HF dataset) | Binary asset pack download / distribution | huggingface.co/depthEmMind/UniEMindAssets |
| UniEMind-Sim | Virtual arena: load assets, drive MuJoCo / Isaac | github.com/depthEmMind/UniEMind-Sim |
| UniEMind-Hardware | Hardware catalog, specs, drivers, assembly | github.com/depthEmMind/UniEMind-Hardware |
| UniEMind-Datasets | Exam items / GT | github.com/depthEmMind/UniEMind-Datasets |
| UniEMind-Bench | Evaluation / ranking | github.com/depthEmMind/UniEMind-Bench |
┌─────────────────────┐
│ 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 | Download / sync this HF pack, registry, validate, list / remove |
um-sim (alias unimind-sim) |
UniEMind-Sim | Install assets into the sim, list scenes / robots, run |
Download (huggingface-cli or git)
# 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 checkout:
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); the asset will be removed. UniEMind maintainers will act in good faith on valid notices.
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