Download Assets

Robot models, datasets, and checkpoints are hosted on ModelScope and must be downloaded before use.

One-Click Download

Download all assets (models, data, GMR retargeting assets):

pip install modelscope
python scripts/setup/download_assets.py

Selective Download

Download only what you need for inference:

python scripts/setup/download_assets.py --only robots gmr ckpt bvh

Asset Inventory

Downloaded file sizes change as checkpoints, datasets, and asset bundles are updated. Use the repository paths below as the stable contract.

Local Path	Purpose
track.onnx	ONNX inference model
track.pt	PyTorch checkpoint for resume training
data/datasets/<dataset>/shard_*.h5	Minimal motion datasets; run precompute before training
data/sample_bvh/*.bvh	Sample motion files
assets/robots/unitree_g1/	Canonical G1 XML and meshes used by training, sim2sim, retargeting, and FK validation
teleopit/retargeting/gmr/assets/	GMR retargeting assets, IK configs, and non-canonical robot descriptions

Asset Groups

Group	ModelScope Repo	Contents
ckpt	BingqianWu/Teleopit-models	track.onnx, track.pt
robots	BingqianWu/Teleopit-models	Canonical robot XML/meshes
gmr	BingqianWu/Teleopit-models	GMR retargeting assets
bvh	BingqianWu/Teleopit-models	Sample BVH motion files
data	BingqianWu/Teleopit-datasets	Minimal shards for lafan1, pico_record, seed, and twist2

For asset management details (uploading, versioning), see Asset Management.