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manip-as-in-sim-suite-sim-assets

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UniMimic Assets Dataset

This dataset contains 3D assets and robot configurations specifically prepared for UniMimic.

Dataset Overview

UniMimic Assets provides the essential 3D models, robot configurations, and simulation environments needed to reproduce and extend UniMimic's robotic manipulation experiments. The dataset supports both sim-to-real transfer and multi-modal imitation learning scenarios.

Contents

Robot Models

  • ARX-X7: 7-DOF robotic arm with multi-finger gripper for dexterous manipulation
  • UR5: 6-DOF industrial manipulator with Robotiq 2F gripper for pick-and-place tasks

File Structure 

arxx7_assets/
├── X7/                          # ARX-X7 robot for dexterous tasks
│   ├── urdf/X7.urdf            # Robot description
│   ├── usd/X7.usd              # Isaac Sim model
│   └── curobo/X7.yml           # Motion planning config (Note: curobo by default doesn't use relative paths, you may need to adjust paths in this file)
├── UR5/                         # UR5 robot for pick-and-place
│   └── usd/ur5.usdc            # Isaac Sim model
├── objects/                     # Manipulation targets
│   ├── plate/plate.usd         # Dishware
│   ├── fork/fork.usd           # Utensils
│   ├── coke/coke.usdc          # Bottles
│   └── microwave/              # Appliances
└── simple_objects/              # Basic geometric shapes
    ├── bowl/bowl.usdc          # Containers
    └── greentable.usdc         # Workspace surface
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