Store Data Locally

If you are not a developer, you don’t have to follow this instruction. The required data will be downloaded automatically from HuggingFace when you run the code.

For the current stage, the HuggingFace dataset is private. So you need a token to access it. See tips for using HuggingFace here.

Data on HuggingFace

See tips for using HuggingFace here.

Download the release-ready data by running:

git clone [email protected]:datasets/RoboVerseOrg/roboverse_data

Note

If you haven’t used Git LFS on your machine, run the following command to install it:

sudo apt install git-lfs
git lfs install

File structure

roboverse_data
|-- robots
    |-- {robot}
        |-- usd
            |-- *.usd
        |-- urdf
            |-- *.urdf
        |-- mjcf
            |-- *.xml

|-- trajs
    |-- {benchmark}
        |-- {task}
            |-- v2
                |-- {robot}_v2.pkl

|-- assets
    |-- {benchmark}
        |-- {task}
            |-- COMMON
            |-- {object}
                |-- textures
                    |-- *.png
                |-- usd
                    |-- *.usd
                |-- urdf
                    |-- *.urdf
                |-- mjcf
                    |-- *.xml
|-- materials
    |-- arnold
        |-- {Category}
            |-- *.mdl
    |-- vMaterial_2
        |-- {Category}
            |-- *.mdl
    |-- ...

|-- scenes
    |-- {source} (e.g. arnold, physcene)
        |-- {scene}
            |-- textures
                |-- *.png
            |-- usd
                |-- *.usd
            |-- urdf
                |-- *.urdf
            |-- mjcf
                |-- *.xml

metasim
|-- data
    |-- quickstarts
        |-- ...
    |-- robots (deprecated)
        |-- {robot}
            |-- usd
                |-- *.usd
            |-- urdf
                |-- *.urdf
            |-- mjcf
                |-- *.xml

Explanation:

• When assets are reused in multiple tasks, they can be stored in a COMMON folder to avoid redundancy.

Naming convention:

• The {benchmark} is in lowercase

• The {task} is in snake_case

• The {robot} is in snake_case

• The {object} is in snake_case