机器人

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LICENSE

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README.md

@@ -43,53 +43,66 @@ extra_gated_button_content: Submit
 viewer: false
 ---
 
-![geniesim.jpg](geniesim.jpg)
+<img src="geniesim.jpg" alt="Image Alt Text" width="80%" style="display: block; margin-left: auto; margin-right: auto;" />
+
 <div align="center">
-  <a href="https://arxiv.org/abs/2601.02078">
-    <img src='https://img.shields.io/badge/arXiv-Paper-red?logo=arxiv&logoColor=white' alt='arXiv'>
-  </a>
   <a href="https://github.com/AgibotTech/genie_sim">
     <img src="https://img.shields.io/badge/GitHub-grey?logo=GitHub" alt="GitHub">
   </a>
-  <!-- <a href="https://huggingface.co/datasets/agibot-world/GenieSimAssets">
+  <a href="https://huggingface.co/datasets/agibot-world/GenieSimAssets">
     <img src="https://img.shields.io/badge/HuggingFace-yellow?logo=HuggingFace" alt="HuggingFace">
-  </a> -->
-  <a href="http://agibot-world.com/genie-sim">
-    <img src="https://img.shields.io/badge/Webpage-green?" alt="Webpage">
   </a>
-  <a href="https://modelscope.cn/datasets/agibot_world/GenieSim3.0-Dataset">
-    <img src="https://img.shields.io/badge/Modelscope-blue" alt="Genie Studio">
+  <a href="https://agibot-world.com/sim-evaluation">
+    <img src="https://img.shields.io/badge/Genie%20Sim%20Benchmark-blue?style=plastic" alt="Genie Sim Benchmark">
+  </a>
+  <a href="https://genie.agibot.com/en/geniestudio">
+    <img src="https://img.shields.io/badge/Genie_Studio-green?style=flat" alt="Genie Studio">
   </a>
 </div>
 
 # Key Features 🔑
-- **5000+** objects 1:1 replicated from real-life
+- **12 scenarios** including supermarket, cafeteria and home
+- **550+** objects 1:1 replicated from real-life
+
 
 
 # Get started 🔥
-## Download the Assets
-To download the full assets, please refer to the official Hugging Face/Modelscope documentation.
+## Download the Simulation Assets
+To download the full assets, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation.
+```
+# Make sure you have git-lfs installed (https://git-lfs.com)
+git lfs install
+
+# When prompted for a password, use an access token with write permissions.
+# Generate one from your settings: https://huggingface.co/settings/tokens
+git clone https://huggingface.co/datasets/agibot-world/GenieSimAssets
+
+# If you want to clone without large files - just their pointers
+GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/agibot-world/GenieSimAssets
+```
 
 
 ## Assets Structure
 ### Folder hierarchy
 ```
 assets
-├── background # Background environments
-│   └── ...
-├── robot # Robot models
-│   ├── G1_120s
-│   ├── G1_omnipicker
-│   ├── G2_omnipicker
-│   └── curobo_robot
-├── objects # Object assets
-│   └── ...
-├── interaction # Interaction data
-├── real2sim # Real-to-sim assets
-│   └── ...
-├── external # External assets
+├── G1 # G1 Robot
+│   ├── G1_pico.usd
+│   ├── G1.usd
+│   └── ...
+├── materials # materials
+│   ├── carpet
+│   ├── hdri
+│   ├── stone
+│   └── wood
+├── objects # objects
+│   ├── benchmark
+│   ├── genie
+│   └── lightwheelai
 ├── README.md
-└── ...
+└── scenes # scenes
+    ├── genie
+    └── guanglun
 ```
 
 
@@ -97,13 +110,10 @@ assets
 All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research.
 
 ```BibTeX
-@misc{yin2026geniesim30,
-  title={Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot}, 
-  author={Chenghao Yin and Da Huang and Di Yang and Jichao Wang and Nanshu Zhao and Chen Xu and Wenjun Sun and Linjie Hou and Zhijun Li and Junhui Wu and Zhaobo Liu and Zhen Xiao and Sheng Zhang and Lei Bao and Rui Feng and Zhenquan Pang and Jiayu Li and Qian Wang and Maoqing Yao},
-  year={2026},
-  eprint={2601.02078},
-  archivePrefix={arXiv},
-  primaryClass={cs.RO},
-  url={https://arxiv.org/abs/2601.02078}, 
+@misc{contributors2025geniesimrepo,
+  title={Genie Sim Assets},
+  author={Genie Sim Team},
+  howpublished={https://github.com/AgibotTech/genie_sim},
+  year={2025}
 }
 ```

__init__.py

@@ -1,119 +0,0 @@
-import os, ast, hashlib
-from pathlib import Path
-import json
-
-ASSETS_PATH = Path(__file__).parent
-ASSETS_PATH_ABS = Path(__file__).parent.resolve()
-
-
-def extract_item_dict(file_path):
-    try:
-        with open(file_path, "r", encoding="utf-8") as f:
-            content = f.read()
-
-        tree = ast.parse(content)
-
-        if len(tree.body) == 1 and isinstance(tree.body[0], ast.Expr) and isinstance(tree.body[0].value, ast.Dict):
-            return ast.literal_eval(tree.body[0].value)
-
-        return None
-
-    except Exception as e:
-        print(f"Error processing {file_path}: {e}")
-        return None
-
-
-def collect_all_items(item_file_list, base_path="."):
-    """Collect ITEM dicts from all item.py files"""
-
-    combined_dict = {}
-    num = 0
-    visualization_path = ASSETS_PATH / "extra" / "visualization"
-    has_visualization = visualization_path.exists()
-    for item_path in item_file_list:
-        # Assuming item_path is a file path like "objects/carton/benchmark_carton_003/item.py"
-        file_path = Path(base_path) / item_path
-        usda_path = (Path(item_path).parent / "Aligned.usda").relative_to(ASSETS_PATH).as_posix()
-        desc_path = (Path(base_path) / item_path).parent / "description.py"
-
-        # Use the directory name as key, or customize as needed
-        key = file_path.parent.name
-        interaction_path = ASSETS_PATH / "interaction" / key / "interaction.json"
-        # visualization paths (similar to interaction)
-        visualization_video_path = visualization_path / key / "video" / "merged.mp4"
-        visualization_snapshot_dir_path = visualization_path / key / "snapshot"
-        if file_path.exists():
-            item_dict = extract_item_dict(file_path)
-            if item_dict:
-                if key in combined_dict:
-                    print("ERROR!!! Duplicated object detected!", file_path)
-                    print("                                    ", usda_path)
-                combined_dict[key] = item_dict
-                combined_dict[key]["url"] = str(usda_path)
-                if desc_path.exists():
-                    desc_dict = extract_item_dict(desc_path)
-                    if desc_dict:
-                        combined_dict[key]["description"] = desc_dict
-                else:
-                    combined_dict[key]["description"] = {}
-                    print("WARN !!! Empty LLM description!", file_path)
-                # video path - from visualization folder
-                if visualization_video_path.exists():
-                    combined_dict[key]["video"] = str(visualization_video_path)
-                else:
-                    combined_dict[key]["video"] = ""
-                    if has_visualization:
-                        print("WARN !!! Empty video!", visualization_video_path)
-                # snapshot dir path - from visualization folder
-                if visualization_snapshot_dir_path.exists():
-                    snapshot_files = list(visualization_snapshot_dir_path.glob("*"))
-                    combined_dict[key]["snapshot"] = snapshot_files
-                else:
-                    combined_dict[key]["snapshot"] = []
-                if len(combined_dict[key]["snapshot"]) == 0:
-                    if has_visualization:
-                        print("WARN !!! Empty snapshot!", visualization_snapshot_dir_path)
-                # interaction
-                if interaction_path.exists():
-                    try:
-                        interaction_dict = json.load(open(interaction_path))
-                        combined_dict[key]["interaction"] = interaction_dict["interaction"]
-                    except Exception as e:
-                        # print(f"Error loading interaction.json: {e}")
-                        combined_dict[key]["interaction"] = {}
-                else:
-                    combined_dict[key]["interaction"] = {}
-                    # print("WARN !!! Empty interaction.json!", interaction_path)
-            else:
-                print(f"No ITEM dict found in {file_path}")
-        else:
-            print(f"File not found: {file_path}")
-
-        num += 1
-
-    if num != len(combined_dict):
-        error = f"ERROR! there're items using the same name!!! {num} != {len(combined_dict)}"
-        print(error)
-        # raise Exception(error)
-
-    return combined_dict
-
-
-def find_all_items():
-    base = Path(__file__).parent / "objects"
-    for root, dirs, files in os.walk(base, followlinks=True):
-        if "object_parameters.json" in files:
-            yield Path(root) / "item.py"
-
-
-########
-
-print(f"Initializing GenieSim Asset Lib at", Path(__file__).parent)
-
-# Collect all ITEM dicts
-ASSETS_INDEX = collect_all_items(find_all_items())
-ASSETS_PAYLOAD = "".join(f"{k}={v}\n" for k, v in sorted(ASSETS_INDEX.items())).encode("utf-8")
-ASSETS_INDEX_HASH = hashlib.sha256(ASSETS_PAYLOAD).hexdigest()
-
-
-print(f"Initialized GenieSim Asset Lib, Found {len(ASSETS_INDEX)} items, hash: {ASSETS_INDEX_HASH}")

background/common/HDR/810-hdri-skies-com.hdr

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3966d2da77ccff1dc5fe8110b35c1d9c93413f0abcc9b35040b5bf172d7d1dd7
-size 80828978

background/common/HDR/982960.hdr

@@ -1,3 +0,0 @@
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-oid sha256:28d69ee3e383d446c7355426ba6553d93969e467459a55908d5345ecae20b5fe
-size 22135767

background/common/HDR/HDR_RESTAURANT.hdr

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 21673439

background/common/HDR/Hdr.hdr

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3966d2da77ccff1dc5fe8110b35c1d9c93413f0abcc9b35040b5bf172d7d1dd7
-size 80828978

background/common/HDR/leadenhall_market_16k.hdr

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d5460ee8f42fb41ebfffc916f7aa19c48907b20a28f00ed0faad54ef5eb4c64e
-size 405082382

background/common/air_freshener/benchmark_air_freshener_000/Aligned.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3c635951c874c22574a427759d53e2e1341b6d075fdc5f77e987338fbba02147
-size 625126

background/common/air_freshener/benchmark_air_freshener_000/Aligned.usda

@@ -1,36 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "World"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    quatf xformOp:orient = (1, 0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:orient"]
-
-    def Xform "entity" (
-        prepend payload = @./Aligned.usd@
-    )
-    {
-        quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:orient"]
-    }
-
-    def Xform "lowpoly"
-    {
-        uniform token[] xformOpOrder = []
-
-        def Cube "bbox"
-        {
-            double size = 1
-            token visibility = "invisible"
-            quatf xformOp:orient = (0.70711, 0.70710355, 0, 0)
-            float3 xformOp:scale = (0.06832378, 0.052315652, 0.068286255)
-            double3 xformOp:translate = (0, -7.450580596617401e-9, 6.757312491682965e-14)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-    }
-}
-

background/common/air_freshener/benchmark_air_freshener_000/item.py

@@ -1,24 +0,0 @@
-ITEM = {
-    "description": {},
-    "id": "benchmark_air_freshener_000",
-    "shapes": [
-        {
-            "name": "bbox",
-            "position": [0.0, -0.0, 0.0],
-            "quaternion": [0.707104, 0.0, 0.0, 0.70711],
-            "scale": [0.068, 0.052, 0.068],
-            "size": [0.068, 0.052, 0.068],
-            "type": "cube",
-        },
-        {
-            "name": "origin",
-            "position": [0, 0, 0],
-            "quaternion": [0, 0, 0, 1],
-            "scale": [0.001, 0.001, 0.001],
-            "size": [0.001, 0.001, 0.001],
-            "type": "sphere",
-        },
-    ],
-    "size": [],
-    "url": "objects/temp/USDA_1215/air_freshener/benchmark_air_freshener_000/Aligned.usda",
-}

background/common/air_freshener/benchmark_air_freshener_000/object_parameters.json

@@ -1,17 +0,0 @@
-{
-    "object_id": "benchmark_air_freshener_000",
-    "materialOptions": [],
-    "size": [
-        0.0683237835764885,
-        0.05231565237045288,
-        0.06828625500202179
-    ],
-    "scale": 1,
-    "unit": "m",
-    "model_path": "objects\\benchmark\\benchmark\\air_freshener\\benchmark_air_freshener_000\\Aligned.usd",
-    "upAxis": [
-        "y"
-    ],
-    "mass": 0.01,
-    "original_model_path": ""
-}

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:030fe57c3ff2e12ec80948f58437c2f782accedbedc357a3c9b78da725470b2a
-size 2550557

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usda

@@ -1,36 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "World"
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    quatf xformOp:orient = (1, 0, 0, 0)
-    uniform token[] xformOpOrder = ["xformOp:orient"]
-
-    def Xform "entity" (
-        prepend payload = @./Aligned.usd@
-    )
-    {
-        quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:orient"]
-    }
-
-    def Xform "lowpoly"
-    {
-        uniform token[] xformOpOrder = []
-
-        def Cube "bbox"
-        {
-            double size = 1
-            token visibility = "invisible"
-            quatf xformOp:orient = (0.70711, 0.70710355, 0, 0)
-            float3 xformOp:scale = (0.50103444, 1.4864326, 0.80036354)
-            double3 xformOp:translate = (0, -5.364415326639532e-7, 2.9807187651463615e-8)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-    }
-}
-

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/item.py

@@ -1,24 +0,0 @@
-ITEM = {
-    "description": {},
-    "id": "benchmark_bathroom_vanity_000",
-    "shapes": [
-        {
-            "name": "bbox",
-            "position": [0.0, -0.0, 0.0],
-            "quaternion": [0.707104, 0.0, 0.0, 0.70711],
-            "scale": [0.501, 1.486, 0.8],
-            "size": [0.501, 1.486, 0.8],
-            "type": "cube",
-        },
-        {
-            "name": "origin",
-            "position": [0, 0, 0],
-            "quaternion": [0, 0, 0, 1],
-            "scale": [0.001, 0.001, 0.001],
-            "size": [0.001, 0.001, 0.001],
-            "type": "sphere",
-        },
-    ],
-    "size": [],
-    "url": "objects/temp/USDA/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usda",
-}

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/object_parameters.json

@@ -1,17 +0,0 @@
-{
-    "object_id": "benchmark_bathroom_vanity_000",
-    "materialOptions": [],
-    "size": [
-        0.5010344386100769,
-        1.4864324927330017,
-        0.8003635406494141
-    ],
-    "scale": 1,
-    "unit": "m",
-    "model_path": "objects\\benchmark\\bathroom_vanity\\benchmark_bathroom_vanity_000\\Aligned.usd",
-    "upAxis": [
-        "y"
-    ],
-    "mass": 0.01,
-    "original_model_path": ""
-}