MetaFine
User Guide · Asset Library · Overview

Asset library

MetaFine ships 40+ part-annotated articulated objects — a PartNet-Mobility subset plus custom URDFs — every one of which declares its part-level affordances in capabilities.json. That declaration is what makes the skill ↔ asset compatibility check a closed-set lookup instead of a heuristic.

Folder schema

Each asset is a self-contained directory under assets/:

assets/
  100221/                  # PartNet-Mobility-style asset id
    urdf.xml               # geometry + joint structure
    capabilities.json      # part → affordance map (see capabilities.json page)
    model_data.json        # bbox, scale, friction, mass — sim-physics tuning
    meshes/                # collision + visual meshes
    textures/              # optional, for visual realism

urdf.xml describes the geometry and joint chain; capabilities.json tells the skill registry which parts can do what; model_data.json carries the physics tuning (bbox normalisation, friction, mass) used at env-load time.

Distribution

The asset library is too large to bundle with the repo, so it lives in two mirror buckets: ModelScope (recommended for users in CN) and HuggingFace Datasets. The scripts/download_assets.py helper pulls either mirror into assets/. 

# Pull the canonical 40-asset bundle from HuggingFace
$ python scripts/download_assets.py --source hf --bundle core_40

# Or from ModelScope
$ python scripts/download_assets.py --source modelscope --bundle core_40

Repo placeholders: https://modelscope.cn/datasets/<org>/metafine-assets, https://huggingface.co/datasets/<org>/metafine-assets.

Coverage

The core bundle is curated for the fine-grained tasks MetaFine targets:

  • Containers with lids — kettles, bottles, jars, boxes (graspable + rotatable + openable).
  • Sliding parts — drawers, lid-on-rail boxes, sliding-door cabinets (slidable + drawable).
  • Switches & buttons — wall switches, push-buttons, toggle racks (pressable + flippable).
  • Insertion targets — peg-in-hole boards, plug-in sockets (insertable).
  • Stackables — cubes, plates, rings (placeable + stackable + liftable).

Adding your own

Onboarding a new URDF — phone-scan or hand-modelled — is a 4-step pipeline. See Onboarding a URDF for the walkthrough.