# Digital Twin Assets & Twin Dataset **High-fidelity digital twin assets and twin-generated trajectories for the TwinRL project.** ------ ## Overview This repository provides the digital twin assets and demonstration datasets used in the [TwinRL](https://github.com/zhourui9813/Twin-RL) project.  | Category | Contents | | ----------- | ------------------------------------------------------------ | | **Assets** | Mesh-based digital twin assets (objects / scene / robot) | | **Dataset** | Twin-generated demonstrations & trajectories (SFT warm-up + twin buffer) | ## Download All assets and datasets are hosted on Google Drive: 👉 **[Google Drive](https://drive.google.com/drive/folders/1f58K3IYd3RjkA-oTWW17bSZk4EM06JCV?usp=sharing)** ## Tasks The dataset currently covers four manipulation tasks: | Task | Description | | ------------------------------ | -------------------------------------------------------- | | **Pick-and-Place** | Pick up an object and place it into a target location | | **Insert-Hexagon-Block** | Insert a hexagon-shaped block into the matching slot | | **Insert-Triple-Column-Block** | Insert a triple-column block into the corresponding slot | | **Erase-Whiteboard** | Grasp an eraser and wipe the whiteboard surface |