Residual-Copilot
Collection
Datasets and checkpoints used for the paper: Efficient and Reliable Teleoperation through Real-to-Sim-to-Real Shared Autonomy • 9 items • Updated • 3
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Residual Copilot — Assets
Robot and object mesh files for Isaac Lab simulation, part of Residual Shared Autonomy.
Contents
robot/
├── xarm7_gripper.usd # XArm 7 + gripper USD (Isaac Lab ArticulationCfg)
├── xarm7.urdf # XArm 7 URDF (Pinocchio IK solver)
└── meshes/ # Visual/collision meshes referenced by URDF
objects/
├── m36_nut.usd # M36 nut USD (NutThread task)
├── m36_bolt.usd # M36 bolt USD (NutThread task)
├── gear.obj # Gear OBJ mesh (GearMesh task)
├── gear_base.obj # Gear base OBJ mesh (GearMesh task)
├── nut.obj # Nut OBJ mesh (NutThread task)
├── nut_base.obj # Nut base OBJ mesh (NutThread task)
├── peg.obj # Peg OBJ mesh (PegInsert task)
└── peg_base.obj # Peg base OBJ mesh (PegInsert task)
cameras/
├── extrinsics.json # Camera-to-base extrinsic calibration
└── intrinsics.json # Camera intrinsic parameters
GearMesh and PegInsert USD assets use NVIDIA Isaac Sim built-in Factory meshes. The .obj files are standalone meshes for visualization and real-world 3D printing.
Usage
Assets are auto-downloaded at runtime via resolve_hf(). See the main repo for setup instructions.
Related
| Repo | Type | Contents |
|---|---|---|
| residual_copilot_models | model | BC pilot + RL residual copilot checkpoints |
| residual_copilot_data | dataset | Teleoperation training data (.npy) |
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