---
license: mit
tags:
  - robotics
  - isaac-lab
  - xarm
---

# Residual Copilot — Assets

Robot and object mesh files for Isaac Lab simulation, part of [Residual Shared Autonomy](https://github.com/shuosha/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](https://github.com/shuosha/Residual_Shared_Autonomy) for setup instructions.

## Related

| Repo | Type | Contents |
|------|------|----------|
| [residual_copilot_models](https://huggingface.co/shashuo0104/residual_copilot_models) | model | BC pilot + RL residual copilot checkpoints |
| [residual_copilot_data](https://huggingface.co/datasets/shashuo0104/residual_copilot_data) | dataset | Teleoperation training data (.npy) |