scenes/kitchen/kitchen_basic/asset.yaml

schema_version: "0.1"

asset:
  id: "kitchen_basic"
  name: "Basic Kitchen Scene"
  type: "scene"
  category: "household"
  version: "1.0.0"
  description: "Reference kitchen composing table_01, cup_white, and sink_01. RoboCasa layout x style kitchens are listed by the robocasa_kitchens catalog."
  tags: ["kitchen", "household", "manipulation", "reference"]

coordinate:
  up: "Z"
  forward: "-Y"
  right: "X"

units:
  length: "m"
  mass: "kg"
  time: "s"
  angle: "rad"
  force: "N"
  torque: "N*m"
  velocity: "m/s"
  acceleration: "m/s2"

scene:
  id: "kitchen_basic"
  environment:
    gravity: [0.0, 0.0, -9.81]
    lighting: "kitchen"
  assets:
    - asset: "table_01"
      instance_id: "table"
      pose:
        position: [0.9, 0.0, 0.0]
    - asset: "cup_white"
      instance_id: "cup"
      pose:
        position: [0.85, 0.1, 0.8]
    - asset: "sink_01"
      instance_id: "sink"
      pose:
        position: [1.6, 0.0, 0.0]
  robots:
    - robot: "unimind_humanoid"
      instance_id: "robot"
      pose:
        position: [0.0, 0.8, 0.0]

dependencies:
  - id: "table_01"
    version: "1.0.0"
  - id: "cup_white"
    version: "1.0.0"
  - id: "sink_01"
    version: "1.0.0"
  - id: "unimind_humanoid"
    version: "1.0.0"

license:
  spdx: "CC-BY-4.0"
  file: "LICENSE"
  attribution_required: true
  commercial_use: true
  modification: true
  redistribution: true

provenance:
  source_type: "created"
  creator: "UniEMind Community"
  created_at: "2026-08-21"

compatibility:
  mujoco:
    supported: true
    min_version: "3.x"
    file: "mujoco/scene.xml"
  isaac_sim:
    supported: true
    min_version: "5.x"
    file: "isaac/scene.usda"

quality:
  level: 2
  completeness:
    composition: true
    license: true
    mujoco: true
    isaac_sim: true