Per-frame ground-truth simulator depth for the MimicGen demonstration set,
aligned to the original RGB demo frames. Generated by replaying each demo's
HDF5 simulator states with robosuite + MuJoCo EGL rendering.
Producer: scripts/export_mimicgen_aligned_gt_depth.py in the 3DA_unified
training repo. Original MimicGen data:
https://mimicgen.github.io/ (CC BY 4.0).
26 tasks x ~1000 demos = ~26000 NPZ files, all at the repo root.… See the full description on the dataset page:
https://huggingface.co/datasets/SeonghuJeon/mimicgen-aligned-gt-depth.
