Upload folder using huggingface_hub

objects/furniture/table_01/LICENSE

@@ -0,0 +1,7 @@
+This asset is licensed under Creative Commons Attribution 4.0 International (CC-BY-4.0).
+
+SPDX-License-Identifier: CC-BY-4.0
+https://creativecommons.org/licenses/by/4.0/
+
+You are free to share and adapt this material for any purpose, including
+commercially, provided you give appropriate credit to UniEMind.

objects/furniture/table_01/asset.yaml

@@ -0,0 +1,115 @@
+schema_version: "0.1"
+
+asset:
+  id: "table_01"
+  name: "Laboratory Table"
+  type: "object"
+  category: "furniture"
+  version: "1.0.0"
+  description: "Reference work table for laboratory scenes."
+  tags: ["furniture", "support", "laboratory"]
+
+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"
+
+geometry:
+  visual:
+    format: "glb"
+    file: "visual/table.glb"
+  collision:
+    format: "obj"
+    file: "collision/table_collision.obj"
+
+physics:
+  mass:
+    value: 28.0
+    unit: "kg"
+    source:
+      type: "estimated"
+      method: "geometry_density"
+  center_of_mass:
+    value: [0.0, 0.0, 0.74]
+    unit: "m"
+    source:
+      type: "estimated"
+  inertia:
+    ixx: 1.2
+    iyy: 3.4
+    izz: 4.1
+    ixy: 0.0
+    ixz: 0.0
+    iyz: 0.0
+    unit: "kg*m2"
+    source:
+      type: "estimated"
+  friction:
+    static: 0.5
+    dynamic: 0.4
+  restitution: 0.05
+  contact:
+    restitution: 0.05
+    stiffness: 200000
+    damping: 200
+  material:
+    name: "wood"
+    density:
+      value: 700
+      unit: "kg/m3"
+
+semantics:
+  category: "support"
+  properties:
+    material: "wood"
+    color: "brown"
+  ontology:
+    id: "unimind:table"
+
+affordances:
+  - type: "support"
+    region: "top"
+  - type: "place"
+
+license:
+  spdx: "CC-BY-4.0"
+  file: "LICENSE"
+  attribution_required: true
+  commercial_use: true
+  modification: true
+  redistribution: true
+
+provenance:
+  source_type: "generated"
+  creator: "UniEMind Community"
+  created_at: "2026-08-21"
+
+compatibility:
+  mujoco:
+    supported: true
+    min_version: "3.x"
+    file: "mujoco/model.xml"
+  isaac_sim:
+    supported: true
+    min_version: "5.x"
+    file: "isaac/model.usda"
+
+quality:
+  level: 3
+  completeness:
+    geometry: true
+    collision: true
+    physics: true
+    semantics: true
+    affordance: true
+    license: true

objects/furniture/table_01/collision/table_collision.obj

@@ -0,0 +1,22 @@
+# UniEMind-Assets generated mesh
+o mesh
+v -0.600000 -0.350000 0.720000
+v 0.600000 -0.350000 0.720000
+v 0.600000 0.350000 0.720000
+v -0.600000 0.350000 0.720000
+v -0.600000 -0.350000 0.760000
+v 0.600000 -0.350000 0.760000
+v 0.600000 0.350000 0.760000
+v -0.600000 0.350000 0.760000
+f 1 2 3
+f 1 3 4
+f 5 7 6
+f 5 8 7
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 5
+f 4 5 1

objects/furniture/table_01/isaac/model.usda

@@ -0,0 +1,30 @@
+#usda 1.0
+(
+    defaultPrim = "table_01"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "table_01" (
+    assetInfo = {
+        string identifier = "table_01"
+        string version = "1.0.0"
+    }
+)
+{
+    def Cube "top" (
+        prepend apiSchemas = ["PhysicsCollisionAPI"]
+    )
+    {
+        double size = 1
+        double3 xformOp:scale = (1.2, 0.7, 0.04)
+        double3 xformOp:translate = (0, 0, 0.74)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
+        color3f[] primvars:displayColor = [(0.63, 0.43, 0.27)]
+    }
+
+    def Cube "leg_fl" { double3 xformOp:scale = (0.06, 0.06, 0.72); double3 xformOp:translate = ( 0.52,  0.28, 0.36); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; }
+    def Cube "leg_fr" { double3 xformOp:scale = (0.06, 0.06, 0.72); double3 xformOp:translate = ( 0.52, -0.28, 0.36); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; }
+    def Cube "leg_rl" { double3 xformOp:scale = (0.06, 0.06, 0.72); double3 xformOp:translate = (-0.52,  0.28, 0.36); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; }
+    def Cube "leg_rr" { double3 xformOp:scale = (0.06, 0.06, 0.72); double3 xformOp:translate = (-0.52, -0.28, 0.36); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; }
+}

objects/furniture/table_01/mujoco/model.xml

@@ -0,0 +1,20 @@
+<mujoco model="table_01">
+  <compiler angle="radian" meshdir="../collision" autolimits="true"/>
+  <option gravity="0 0 -9.81"/>
+  <default>
+    <geom condim="3" friction="0.5 0.4 0.01"/>
+  </default>
+  <asset>
+    <mesh name="table_collision" file="table_collision.obj"/>
+  </asset>
+  <worldbody>
+    <body name="table_01" pos="0 0 0">
+      <geom type="mesh" mesh="table_collision" mass="28" rgba="0.63 0.43 0.27 1"/>
+      <geom type="box" size="0.6 0.35 0.02" pos="0 0 0.74" mass="18" rgba="0.63 0.43 0.27 1"/>
+      <geom type="box" size="0.03 0.03 0.36" pos=" 0.52  0.28 0.36" mass="2.5"/>
+      <geom type="box" size="0.03 0.03 0.36" pos=" 0.52 -0.28 0.36" mass="2.5"/>
+      <geom type="box" size="0.03 0.03 0.36" pos="-0.52  0.28 0.36" mass="2.5"/>
+      <geom type="box" size="0.03 0.03 0.36" pos="-0.52 -0.28 0.36" mass="2.5"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/household/cup_white/LICENSE

@@ -0,0 +1,7 @@
+This asset is licensed under Creative Commons Attribution 4.0 International (CC-BY-4.0).
+
+SPDX-License-Identifier: CC-BY-4.0
+https://creativecommons.org/licenses/by/4.0/
+
+You are free to share and adapt this material for any purpose, including
+commercially, provided you give appropriate credit to UniEMind.

objects/household/cup_white/asset.yaml

@@ -0,0 +1,134 @@
+schema_version: "0.1"
+
+asset:
+  id: "cup_white"
+  name: "White Ceramic Cup"
+  type: "object"
+  category: "household"
+  version: "1.0.0"
+  description: "Reference household cup used by the laboratory_basic scene."
+  tags: ["container", "grasp", "kitchen"]
+
+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"
+
+geometry:
+  visual:
+    format: "glb"
+    file: "visual/cup.glb"
+  collision:
+    format: "obj"
+    file: "collision/cup_collision.obj"
+
+physics:
+  mass:
+    value: 0.25
+    unit: "kg"
+    source:
+      type: "estimated"
+      method: "geometry_density"
+    confidence:
+      value: 0.7
+  center_of_mass:
+    value: [0.0, 0.0, 0.04]
+    unit: "m"
+    source:
+      type: "estimated"
+      method: "geometry_density"
+  inertia:
+    ixx: 0.00035
+    iyy: 0.00035
+    izz: 0.00028
+    ixy: 0.0
+    ixz: 0.0
+    iyz: 0.0
+    unit: "kg*m2"
+    source:
+      type: "estimated"
+  friction:
+    static: 0.6
+    dynamic: 0.4
+    rolling: 0.01
+  restitution: 0.2
+  contact:
+    restitution: 0.2
+    stiffness: 100000
+    damping: 100
+  material:
+    name: "ceramic"
+    density:
+      value: 2300
+      unit: "kg/m3"
+    poisson_ratio: 0.2
+
+semantics:
+  category: "container"
+  properties:
+    material: "ceramic"
+    color: "white"
+    state: "empty"
+  ontology:
+    id: "unimind:container"
+
+affordances:
+  - type: "grasp"
+    region: "body"
+  - type: "contain"
+    capacity:
+      value: 0.3
+      unit: "L"
+  - type: "pour"
+    direction: "local_-Z"
+
+state:
+  default:
+    fill_level: 0.0
+    temperature:
+      value: 293.15
+      unit: "K"
+
+license:
+  spdx: "CC-BY-4.0"
+  file: "LICENSE"
+  attribution_required: true
+  commercial_use: true
+  modification: true
+  redistribution: true
+
+provenance:
+  source_type: "generated"
+  creator: "UniEMind Community"
+  created_at: "2026-08-21"
+  notes: "Procedural reference mesh for Architecture V0.1."
+
+compatibility:
+  mujoco:
+    supported: true
+    min_version: "3.x"
+    file: "mujoco/model.xml"
+  isaac_sim:
+    supported: true
+    min_version: "5.x"
+    file: "isaac/model.usda"
+
+quality:
+  level: 3
+  completeness:
+    geometry: true
+    collision: true
+    physics: true
+    semantics: true
+    affordance: true
+    license: true

objects/household/cup_white/collision/cup_collision.obj

@@ -0,0 +1,243 @@
+# UniEMind-Assets generated mesh
+o mesh
+v 0.040000 0.000000 0.000000
+v 0.038637 0.010353 0.000000
+v 0.034641 0.020000 0.000000
+v 0.028284 0.028284 0.000000
+v 0.020000 0.034641 0.000000
+v 0.010353 0.038637 0.000000
+v 0.000000 0.040000 0.000000
+v -0.010353 0.038637 0.000000
+v -0.020000 0.034641 0.000000
+v -0.028284 0.028284 0.000000
+v -0.034641 0.020000 0.000000
+v -0.038637 0.010353 0.000000
+v -0.040000 0.000000 0.000000
+v -0.038637 -0.010353 0.000000
+v -0.034641 -0.020000 0.000000
+v -0.028284 -0.028284 0.000000
+v -0.020000 -0.034641 0.000000
+v -0.010353 -0.038637 0.000000
+v -0.000000 -0.040000 0.000000
+v 0.010353 -0.038637 0.000000
+v 0.020000 -0.034641 0.000000
+v 0.028284 -0.028284 0.000000
+v 0.034641 -0.020000 0.000000
+v 0.038637 -0.010353 0.000000
+v 0.040000 0.000000 0.090000
+v 0.038637 0.010353 0.090000
+v 0.034641 0.020000 0.090000
+v 0.028284 0.028284 0.090000
+v 0.020000 0.034641 0.090000
+v 0.010353 0.038637 0.090000
+v 0.000000 0.040000 0.090000
+v -0.010353 0.038637 0.090000
+v -0.020000 0.034641 0.090000
+v -0.028284 0.028284 0.090000
+v -0.034641 0.020000 0.090000
+v -0.038637 0.010353 0.090000
+v -0.040000 0.000000 0.090000
+v -0.038637 -0.010353 0.090000
+v -0.034641 -0.020000 0.090000
+v -0.028284 -0.028284 0.090000
+v -0.020000 -0.034641 0.090000
+v -0.010353 -0.038637 0.090000
+v -0.000000 -0.040000 0.090000
+v 0.010353 -0.038637 0.090000
+v 0.020000 -0.034641 0.090000
+v 0.028284 -0.028284 0.090000
+v 0.034641 -0.020000 0.090000
+v 0.038637 -0.010353 0.090000
+v 0.032000 0.000000 0.000000
+v 0.030910 0.008282 0.000000
+v 0.027713 0.016000 0.000000
+v 0.022627 0.022627 0.000000
+v 0.016000 0.027713 0.000000
+v 0.008282 0.030910 0.000000
+v 0.000000 0.032000 0.000000
+v -0.008282 0.030910 0.000000
+v -0.016000 0.027713 0.000000
+v -0.022627 0.022627 0.000000
+v -0.027713 0.016000 0.000000
+v -0.030910 0.008282 0.000000
+v -0.032000 0.000000 0.000000
+v -0.030910 -0.008282 0.000000
+v -0.027713 -0.016000 0.000000
+v -0.022627 -0.022627 0.000000
+v -0.016000 -0.027713 0.000000
+v -0.008282 -0.030910 0.000000
+v -0.000000 -0.032000 0.000000
+v 0.008282 -0.030910 0.000000
+v 0.016000 -0.027713 0.000000
+v 0.022627 -0.022627 0.000000
+v 0.027713 -0.016000 0.000000
+v 0.030910 -0.008282 0.000000
+v 0.032000 0.000000 0.090000
+v 0.030910 0.008282 0.090000
+v 0.027713 0.016000 0.090000
+v 0.022627 0.022627 0.090000
+v 0.016000 0.027713 0.090000
+v 0.008282 0.030910 0.090000
+v 0.000000 0.032000 0.090000
+v -0.008282 0.030910 0.090000
+v -0.016000 0.027713 0.090000
+v -0.022627 0.022627 0.090000
+v -0.027713 0.016000 0.090000
+v -0.030910 0.008282 0.090000
+v -0.032000 0.000000 0.090000
+v -0.030910 -0.008282 0.090000
+v -0.027713 -0.016000 0.090000
+v -0.022627 -0.022627 0.090000
+v -0.016000 -0.027713 0.090000
+v -0.008282 -0.030910 0.090000
+v -0.000000 -0.032000 0.090000
+v 0.008282 -0.030910 0.090000
+v 0.016000 -0.027713 0.090000
+v 0.022627 -0.022627 0.090000
+v 0.027713 -0.016000 0.090000
+v 0.030910 -0.008282 0.090000
+v 0.000000 0.000000 0.000000
+f 1 2 26
+f 1 26 25
+f 49 73 74
+f 49 74 50
+f 1 50 2
+f 1 49 50
+f 2 3 27
+f 2 27 26
+f 50 74 75
+f 50 75 51
+f 2 51 3
+f 2 50 51
+f 3 4 28
+f 3 28 27
+f 51 75 76
+f 51 76 52
+f 3 52 4
+f 3 51 52
+f 4 5 29
+f 4 29 28
+f 52 76 77
+f 52 77 53
+f 4 53 5
+f 4 52 53
+f 5 6 30
+f 5 30 29
+f 53 77 78
+f 53 78 54
+f 5 54 6
+f 5 53 54
+f 6 7 31
+f 6 31 30
+f 54 78 79
+f 54 79 55
+f 6 55 7
+f 6 54 55
+f 7 8 32
+f 7 32 31
+f 55 79 80
+f 55 80 56
+f 7 56 8
+f 7 55 56
+f 8 9 33
+f 8 33 32
+f 56 80 81
+f 56 81 57
+f 8 57 9
+f 8 56 57
+f 9 10 34
+f 9 34 33
+f 57 81 82
+f 57 82 58
+f 9 58 10
+f 9 57 58
+f 10 11 35
+f 10 35 34
+f 58 82 83
+f 58 83 59
+f 10 59 11
+f 10 58 59
+f 11 12 36
+f 11 36 35
+f 59 83 84
+f 59 84 60
+f 11 60 12
+f 11 59 60
+f 12 13 37
+f 12 37 36
+f 60 84 85
+f 60 85 61
+f 12 61 13
+f 12 60 61
+f 13 14 38
+f 13 38 37
+f 61 85 86
+f 61 86 62
+f 13 62 14
+f 13 61 62
+f 14 15 39
+f 14 39 38
+f 62 86 87
+f 62 87 63
+f 14 63 15
+f 14 62 63
+f 15 16 40
+f 15 40 39
+f 63 87 88
+f 63 88 64
+f 15 64 16
+f 15 63 64
+f 16 17 41
+f 16 41 40
+f 64 88 89
+f 64 89 65
+f 16 65 17
+f 16 64 65
+f 17 18 42
+f 17 42 41
+f 65 89 90
+f 65 90 66
+f 17 66 18
+f 17 65 66
+f 18 19 43
+f 18 43 42
+f 66 90 91
+f 66 91 67
+f 18 67 19
+f 18 66 67
+f 19 20 44
+f 19 44 43
+f 67 91 92
+f 67 92 68
+f 19 68 20
+f 19 67 68
+f 20 21 45
+f 20 45 44
+f 68 92 93
+f 68 93 69
+f 20 69 21
+f 20 68 69
+f 21 22 46
+f 21 46 45
+f 69 93 94
+f 69 94 70
+f 21 70 22
+f 21 69 70
+f 22 23 47
+f 22 47 46
+f 70 94 95
+f 70 95 71
+f 22 71 23
+f 22 70 71
+f 23 24 48
+f 23 48 47
+f 71 95 96
+f 71 96 72
+f 23 72 24
+f 23 71 72
+f 24 1 25
+f 24 25 48
+f 72 96 73
+f 72 73 49
+f 24 49 1
+f 24 72 49

objects/household/cup_white/isaac/model.usda

@@ -0,0 +1,33 @@
+#usda 1.0
+(
+    defaultPrim = "cup_white"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "cup_white" (
+    assetInfo = {
+        string identifier = "cup_white"
+        string version = "1.0.0"
+    }
+)
+{
+    def Mesh "visual" {
+        float3[] extent = [(-0.04, -0.04, 0.0), (0.04, 0.04, 0.09)]
+        int[] faceVertexCounts = [4, 4, 4, 4]
+        int[] faceVertexIndices = [0, 1, 2, 3, 4, 5, 6, 7, 0, 4, 7, 3, 1, 5, 6, 2]
+        point3f[] points = [(-0.04, -0.04, 0), (0.04, -0.04, 0), (0.04, 0.04, 0), (-0.04, 0.04, 0), (-0.04, -0.04, 0.09), (0.04, -0.04, 0.09), (0.04, 0.04, 0.09), (-0.04, 0.04, 0.09)]
+        color3f[] primvars:displayColor = [(0.95, 0.95, 0.95)]
+    }
+
+    def Cube "collision" (
+        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        double size = 1
+        double3 xformOp:scale = (0.08, 0.08, 0.09)
+        double3 xformOp:translate = (0, 0, 0.045)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
+        float physics:mass = 0.25
+    }
+}

objects/household/cup_white/mujoco/model.xml

@@ -0,0 +1,17 @@
+<mujoco model="cup_white">
+  <compiler angle="radian" meshdir="../collision" autolimits="true"/>
+  <option gravity="0 0 -9.81"/>
+  <default>
+    <geom condim="3" friction="0.6 0.4 0.01" solref="0.01 1" solimp="0.9 0.95 0.001"/>
+  </default>
+  <asset>
+    <mesh name="cup_collision" file="cup_collision.obj"/>
+  </asset>
+  <worldbody>
+    <body name="cup_white" pos="0 0 0.05">
+      <freejoint name="cup_white_free"/>
+      <geom type="mesh" mesh="cup_collision" mass="0.25" rgba="0.95 0.95 0.95 1"/>
+      <inertial pos="0 0 0.04" mass="0.25" diaginertia="0.00035 0.00035 0.00028"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/laboratory/sink_01/LICENSE

@@ -0,0 +1,7 @@
+This asset is licensed under Creative Commons Attribution 4.0 International (CC-BY-4.0).
+
+SPDX-License-Identifier: CC-BY-4.0
+https://creativecommons.org/licenses/by/4.0/
+
+You are free to share and adapt this material for any purpose, including
+commercially, provided you give appropriate credit to UniEMind.

objects/laboratory/sink_01/asset.yaml

@@ -0,0 +1,120 @@
+schema_version: "0.1"
+
+asset:
+  id: "sink_01"
+  name: "Laboratory Sink"
+  type: "object"
+  category: "laboratory"
+  version: "1.0.0"
+  description: "Reference sink used by the laboratory_basic scene."
+  tags: ["sink", "container", "laboratory"]
+
+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"
+
+geometry:
+  visual:
+    format: "glb"
+    file: "visual/sink.glb"
+  collision:
+    format: "obj"
+    file: "collision/sink_collision.obj"
+
+physics:
+  mass:
+    value: 18.5
+    unit: "kg"
+    source:
+      type: "estimated"
+      method: "geometry_density"
+  center_of_mass:
+    value: [0.0, 0.0, 0.88]
+    unit: "m"
+    source:
+      type: "estimated"
+  inertia:
+    ixx: 0.55
+    iyy: 0.72
+    izz: 0.80
+    ixy: 0.0
+    ixz: 0.0
+    iyz: 0.0
+    unit: "kg*m2"
+    source:
+      type: "estimated"
+  friction:
+    static: 0.4
+    dynamic: 0.3
+  restitution: 0.1
+  contact:
+    restitution: 0.1
+    stiffness: 150000
+    damping: 150
+  material:
+    name: "stainless_steel"
+    density:
+      value: 7800
+      unit: "kg/m3"
+    young_modulus:
+      value: 190000000000.0
+      unit: "Pa"
+    poisson_ratio: 0.3
+
+semantics:
+  category: "sink"
+  properties:
+    material: "stainless_steel"
+    color: "silver"
+  ontology:
+    id: "unimind:sink"
+
+affordances:
+  - type: "contain"
+    region: "basin"
+  - type: "pour"
+  - type: "place"
+
+license:
+  spdx: "CC-BY-4.0"
+  file: "LICENSE"
+  attribution_required: true
+  commercial_use: true
+  modification: true
+  redistribution: true
+
+provenance:
+  source_type: "generated"
+  creator: "UniEMind Community"
+  created_at: "2026-08-21"
+
+compatibility:
+  mujoco:
+    supported: true
+    min_version: "3.x"
+    file: "mujoco/model.xml"
+  isaac_sim:
+    supported: true
+    min_version: "5.x"
+    file: "isaac/model.usda"
+
+quality:
+  level: 3
+  completeness:
+    geometry: true
+    collision: true
+    physics: true
+    semantics: true
+    affordance: true
+    license: true

objects/laboratory/sink_01/collision/sink_collision.obj

@@ -0,0 +1,22 @@
+# UniEMind-Assets generated mesh
+o mesh
+v -0.300000 -0.225000 0.810000
+v 0.300000 -0.225000 0.810000
+v 0.300000 0.225000 0.810000
+v -0.300000 0.225000 0.810000
+v -0.300000 -0.225000 0.990000
+v 0.300000 -0.225000 0.990000
+v 0.300000 0.225000 0.990000
+v -0.300000 0.225000 0.990000
+f 1 2 3
+f 1 3 4
+f 5 7 6
+f 5 8 7
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 5
+f 4 5 1

objects/laboratory/sink_01/isaac/model.usda

@@ -0,0 +1,25 @@
+#usda 1.0
+(
+    defaultPrim = "sink_01"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "sink_01" (
+    assetInfo = {
+        string identifier = "sink_01"
+        string version = "1.0.0"
+    }
+)
+{
+    def Cube "basin" (
+        prepend apiSchemas = ["PhysicsCollisionAPI"]
+    )
+    {
+        double size = 1
+        double3 xformOp:scale = (0.6, 0.45, 0.18)
+        double3 xformOp:translate = (0, 0, 0.90)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
+        color3f[] primvars:displayColor = [(0.72, 0.75, 0.78)]
+    }
+}

objects/laboratory/sink_01/mujoco/model.xml

@@ -0,0 +1,12 @@
+<mujoco model="sink_01">
+  <compiler angle="radian" meshdir="../collision" autolimits="true"/>
+  <option gravity="0 0 -9.81"/>
+  <asset>
+    <mesh name="sink_collision" file="sink_collision.obj"/>
+  </asset>
+  <worldbody>
+    <body name="sink_01" pos="0 0 0">
+      <geom type="mesh" mesh="sink_collision" mass="18.5" rgba="0.72 0.75 0.78 1"/>
+    </body>
+  </worldbody>
+</mujoco>

robots/humanoid/unimind_humanoid/LICENSE

@@ -0,0 +1,7 @@
+This asset is licensed under Creative Commons Attribution 4.0 International (CC-BY-4.0).
+
+SPDX-License-Identifier: CC-BY-4.0
+https://creativecommons.org/licenses/by/4.0/
+
+You are free to share and adapt this material for any purpose, including
+commercially, provided you give appropriate credit to UniEMind.

robots/humanoid/unimind_humanoid/asset.yaml

@@ -0,0 +1,173 @@
+schema_version: "0.1"
+
+asset:
+  id: "unimind_humanoid"
+  name: "UniEMind Humanoid"
+  type: "robot"
+  category: "robot"
+  version: "1.0.0"
+  description: "Simplified reference humanoid for UniEMind-Assets V0.1."
+  tags: ["humanoid", "manipulation", "navigation"]
+
+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"
+
+geometry:
+  visual:
+    format: "obj"
+    file: "meshes/pelvis.obj"
+  collision:
+    format: "obj"
+    file: "collision/pelvis.obj"
+
+physics:
+  mass:
+    value: 62.0
+    unit: "kg"
+    source:
+      type: "estimated"
+      method: "link_sum"
+  center_of_mass:
+    value: [0.0, 0.0, 0.95]
+    unit: "m"
+    source:
+      type: "estimated"
+  inertia:
+    ixx: 8.5
+    iyy: 7.8
+    izz: 2.1
+    ixy: 0.0
+    ixz: 0.0
+    iyz: 0.0
+    unit: "kg*m2"
+    source:
+      type: "estimated"
+  friction:
+    static: 0.8
+    dynamic: 0.6
+  restitution: 0.0
+
+semantics:
+  category: "robot"
+  properties:
+    embodiment: "humanoid"
+  ontology:
+    id: "unimind:humanoid"
+
+affordances:
+  - type: "navigate"
+  - type: "manipulate"
+  - type: "grasp"
+
+robot:
+  embodiment:
+    type: "humanoid"
+    mobility: "legged"
+    arms: 2
+    hands: 2
+    legs: 2
+    dof: 21
+  kinematics:
+    base_link: "pelvis"
+    ee_links: ["left_hand", "right_hand"]
+  joints:
+    count: 15
+    torso_yaw:
+      type: "revolute"
+      parent: "pelvis"
+      child: "torso"
+      axis: [0.0, 0.0, 1.0]
+      limits:
+        lower: -1.2
+        upper: 1.2
+      dynamics:
+        damping: 0.1
+        friction: 0.05
+      actuator:
+        type: "torque"
+        max_torque: 80
+    left_shoulder_pitch:
+      type: "revolute"
+      parent: "torso"
+      child: "left_upper_arm"
+      axis: [1.0, 0.0, 0.0]
+      limits:
+        lower: -2.0
+        upper: 2.0
+      dynamics:
+        damping: 0.1
+        friction: 0.05
+      actuator:
+        type: "torque"
+        max_torque: 40
+  sensors:
+    - id: "head_camera"
+      type: "rgbd"
+      link: "head"
+      fps: 30
+      resolution:
+        width: 1280
+        height: 720
+      intrinsics:
+        fx: 600.0
+        fy: 600.0
+        cx: 640.0
+        cy: 360.0
+      pose:
+        position: [0.08, 0.0, 0.12]
+        orientation_rpy: [0.0, 0.0, 0.0]
+    - id: "imu"
+      type: "imu"
+      link: "torso"
+  capabilities:
+    - navigation
+    - manipulation
+    - grasping
+  urdf: "urdf/robot.urdf"
+  mjcf: "mujoco/robot.xml"
+  usd: "isaac/robot.usda"
+
+license:
+  spdx: "CC-BY-4.0"
+  file: "LICENSE"
+  attribution_required: true
+  commercial_use: true
+  modification: true
+  redistribution: true
+
+provenance:
+  source_type: "generated"
+  creator: "UniEMind Community"
+  created_at: "2026-08-21"
+  notes: "Kinematic reference humanoid. Not a production control model."
+
+compatibility:
+  mujoco:
+    supported: true
+    min_version: "3.x"
+    file: "mujoco/robot.xml"
+  isaac_sim:
+    supported: true
+    min_version: "5.x"
+    file: "isaac/robot.usda"
+
+quality:
+  level: 2
+  completeness:
+    geometry: true
+    collision: true
+    physics: true
+    kinematics: true
+    license: true

robots/humanoid/unimind_humanoid/collision/pelvis.obj

@@ -0,0 +1,22 @@
+# UniEMind-Assets generated mesh
+o mesh
+v -0.110000 -0.060000 -0.080000
+v 0.110000 -0.060000 -0.080000
+v 0.110000 0.060000 -0.080000
+v -0.110000 0.060000 -0.080000
+v -0.110000 -0.060000 0.080000
+v 0.110000 -0.060000 0.080000
+v 0.110000 0.060000 0.080000
+v -0.110000 0.060000 0.080000
+f 1 2 3
+f 1 3 4
+f 5 7 6
+f 5 8 7
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 5
+f 4 5 1

robots/humanoid/unimind_humanoid/isaac/robot.usda

@@ -0,0 +1,42 @@
+#usda 1.0
+(
+    defaultPrim = "unimind_humanoid"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "unimind_humanoid" (
+    assetInfo = {
+        string identifier = "unimind_humanoid"
+        string version = "1.0.0"
+    }
+)
+{
+    def Xform "pelvis"
+    {
+        double3 xformOp:translate = (0, 0, 0.95)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+
+        def Cube "visual" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsRigidBodyAPI"]
+        )
+        {
+            double size = 1
+            double3 xformOp:scale = (0.22, 0.12, 0.16)
+            uniform token[] xformOpOrder = ["xformOp:scale"]
+            color3f[] primvars:displayColor = [(0.31, 0.47, 0.71)]
+        }
+
+        def Xform "torso"
+        {
+            double3 xformOp:translate = (0, 0, 0.14)
+            uniform token[] xformOpOrder = ["xformOp:translate"]
+            def Cube "visual" { double3 xformOp:scale = (0.22, 0.12, 0.28); uniform token[] xformOpOrder = ["xformOp:scale"]; }
+            def Xform "head" { double3 xformOp:translate = (0, 0, 0.22); uniform token[] xformOpOrder = ["xformOp:translate"]; def Cube "visual" { double3 xformOp:scale = (0.14, 0.12, 0.16); uniform token[] xformOpOrder = ["xformOp:scale"]; } }
+            def Xform "left_upper_arm" { double3 xformOp:translate = (0, 0.16, 0.18); uniform token[] xformOpOrder = ["xformOp:translate"]; def Cube "visual" { double3 xformOp:scale = (0.08, 0.08, 0.25); double3 xformOp:translate = (0, 0, -0.125); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; } }
+            def Xform "right_upper_arm" { double3 xformOp:translate = (0, -0.16, 0.18); uniform token[] xformOpOrder = ["xformOp:translate"]; def Cube "visual" { double3 xformOp:scale = (0.08, 0.08, 0.25); double3 xformOp:translate = (0, 0, -0.125); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; } }
+        }
+        def Xform "left_thigh" { double3 xformOp:translate = (0, 0.08, -0.12); uniform token[] xformOpOrder = ["xformOp:translate"]; def Cube "visual" { double3 xformOp:scale = (0.10, 0.10, 0.35); double3 xformOp:translate = (0, 0, -0.175); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; } }
+        def Xform "right_thigh" { double3 xformOp:translate = (0, -0.08, -0.12); uniform token[] xformOpOrder = ["xformOp:translate"]; def Cube "visual" { double3 xformOp:scale = (0.10, 0.10, 0.35); double3 xformOp:translate = (0, 0, -0.175); uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]; } }
+    }
+}

robots/humanoid/unimind_humanoid/meshes/pelvis.obj

@@ -0,0 +1,22 @@
+# UniEMind-Assets generated mesh
+o mesh
+v -0.110000 -0.060000 -0.080000
+v 0.110000 -0.060000 -0.080000
+v 0.110000 0.060000 -0.080000
+v -0.110000 0.060000 -0.080000
+v -0.110000 -0.060000 0.080000
+v 0.110000 -0.060000 0.080000
+v 0.110000 0.060000 0.080000
+v -0.110000 0.060000 0.080000
+f 1 2 3
+f 1 3 4
+f 5 7 6
+f 5 8 7
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 5
+f 4 5 1

robots/humanoid/unimind_humanoid/mujoco/robot.xml

@@ -0,0 +1,112 @@
+<mujoco model="unimind_humanoid">
+  <compiler angle="radian" autolimits="true"/>
+  <option gravity="0 0 -9.81" timestep="0.002"/>
+  <default>
+    <joint damping="0.1" frictionloss="0.05" limited="true"/>
+    <geom condim="3" friction="0.8 0.6 0.01" rgba="0.31 0.47 0.71 1"/>
+    <motor ctrllimited="true"/>
+  </default>
+  <worldbody>
+    <light pos="1 1 3" dir="-0.3 -0.3 -1"/>
+    <body name="pelvis" pos="0 0 0.95">
+      <freejoint name="root"/>
+      <inertial pos="0 0 0" mass="8" diaginertia="0.05 0.04 0.03"/>
+      <geom name="pelvis" type="box" size="0.11 0.06 0.08"/>
+
+        <body name="torso" pos="0 0 0.14">
+        <joint name="torso_yaw" type="hinge" axis="0 0 1" range="-1.2 1.2"/>
+        <inertial pos="0 0 0.08" mass="12" diaginertia="0.12 0.10 0.06"/>
+        <geom name="torso" type="box" size="0.11 0.06 0.14"/>
+        <site name="imu_site" pos="0 0 0.08" size="0.01"/>
+        <body name="head" pos="0 0 0.22">
+          <joint name="head_yaw" type="hinge" axis="0 0 1" range="-1.5 1.5"/>
+          <inertial pos="0 0 0.04" mass="3" diaginertia="0.02 0.02 0.02"/>
+          <geom name="head" type="box" size="0.07 0.06 0.08"/>
+          <camera name="head_camera" pos="0.08 0 0.12" xyaxes="0 -1 0 0 0 1"/>
+        </body>
+        <body name="left_upper_arm" pos="0 0.16 0.18">
+          <joint name="left_shoulder_pitch" type="hinge" axis="1 0 0" range="-2 2"/>
+          <inertial pos="0 0 -0.12" mass="2.2" diaginertia="0.02 0.02 0.005"/>
+          <geom type="box" size="0.04 0.04 0.125" pos="0 0 -0.125"/>
+          <body name="left_forearm" pos="0 0 -0.25">
+            <joint name="left_elbow" type="hinge" axis="1 0 0" range="-0.1 2.4"/>
+            <inertial pos="0 0 -0.11" mass="1.4" diaginertia="0.012 0.012 0.003"/>
+            <geom type="box" size="0.03 0.03 0.11" pos="0 0 -0.11"/>
+            <body name="left_hand" pos="0 0 -0.13">
+              <joint name="left_wrist" type="hinge" axis="0 1 0" range="-1 1"/>
+              <inertial pos="0 0 0" mass="0.4" diaginertia="0.001 0.001 0.001"/>
+              <geom type="box" size="0.03 0.04 0.02"/>
+            </body>
+          </body>
+        </body>
+        <body name="right_upper_arm" pos="0 -0.16 0.18">
+          <joint name="right_shoulder_pitch" type="hinge" axis="1 0 0" range="-2 2"/>
+          <inertial pos="0 0 -0.12" mass="2.2" diaginertia="0.02 0.02 0.005"/>
+          <geom type="box" size="0.04 0.04 0.125" pos="0 0 -0.125"/>
+          <body name="right_forearm" pos="0 0 -0.25">
+            <joint name="right_elbow" type="hinge" axis="1 0 0" range="-0.1 2.4"/>
+            <inertial pos="0 0 -0.11" mass="1.4" diaginertia="0.012 0.012 0.003"/>
+            <geom type="box" size="0.03 0.03 0.11" pos="0 0 -0.11"/>
+            <body name="right_hand" pos="0 0 -0.13">
+              <joint name="right_wrist" type="hinge" axis="0 1 0" range="-1 1"/>
+              <inertial pos="0 0 0" mass="0.4" diaginertia="0.001 0.001 0.001"/>
+              <geom type="box" size="0.03 0.04 0.02"/>
+            </body>
+          </body>
+        </body>
+      </body>
+
+      <body name="left_thigh" pos="0 0.08 -0.12">
+        <joint name="left_hip_pitch" type="hinge" axis="1 0 0" range="-1.8 1.2"/>
+        <inertial pos="0 0 -0.17" mass="6.5" diaginertia="0.08 0.08 0.01"/>
+        <geom type="box" size="0.05 0.05 0.175" pos="0 0 -0.175"/>
+        <body name="left_shin" pos="0 0 -0.35">
+          <joint name="left_knee" type="hinge" axis="1 0 0" range="-0.05 2.2"/>
+          <inertial pos="0 0 -0.17" mass="3.5" diaginertia="0.05 0.05 0.006"/>
+          <geom type="box" size="0.04 0.04 0.17" pos="0 0 -0.17"/>
+          <body name="left_foot" pos="0.04 0 -0.18">
+            <joint name="left_ankle" type="hinge" axis="1 0 0" range="-0.8 0.8"/>
+            <inertial pos="0.04 0 0" mass="0.9" diaginertia="0.004 0.008 0.008"/>
+            <geom type="box" size="0.11 0.05 0.02"/>
+          </body>
+        </body>
+      </body>
+
+      <body name="right_thigh" pos="0 -0.08 -0.12">
+        <joint name="right_hip_pitch" type="hinge" axis="1 0 0" range="-1.8 1.2"/>
+        <inertial pos="0 0 -0.17" mass="6.5" diaginertia="0.08 0.08 0.01"/>
+        <geom type="box" size="0.05 0.05 0.175" pos="0 0 -0.175"/>
+        <body name="right_shin" pos="0 0 -0.35">
+          <joint name="right_knee" type="hinge" axis="1 0 0" range="-0.05 2.2"/>
+          <inertial pos="0 0 -0.17" mass="3.5" diaginertia="0.05 0.05 0.006"/>
+          <geom type="box" size="0.04 0.04 0.17" pos="0 0 -0.17"/>
+          <body name="right_foot" pos="0.04 0 -0.18">
+            <joint name="right_ankle" type="hinge" axis="1 0 0" range="-0.8 0.8"/>
+            <inertial pos="0.04 0 0" mass="0.9" diaginertia="0.004 0.008 0.008"/>
+            <geom type="box" size="0.11 0.05 0.02"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor name="torso_yaw" joint="torso_yaw" ctrlrange="-80 80" gear="1"/>
+    <motor name="head_yaw" joint="head_yaw" ctrlrange="-10 10" gear="1"/>
+    <motor name="left_shoulder_pitch" joint="left_shoulder_pitch" ctrlrange="-40 40" gear="1"/>
+    <motor name="left_elbow" joint="left_elbow" ctrlrange="-25 25" gear="1"/>
+    <motor name="left_wrist" joint="left_wrist" ctrlrange="-8 8" gear="1"/>
+    <motor name="right_shoulder_pitch" joint="right_shoulder_pitch" ctrlrange="-40 40" gear="1"/>
+    <motor name="right_elbow" joint="right_elbow" ctrlrange="-25 25" gear="1"/>
+    <motor name="right_wrist" joint="right_wrist" ctrlrange="-8 8" gear="1"/>
+    <motor name="left_hip_pitch" joint="left_hip_pitch" ctrlrange="-90 90" gear="1"/>
+    <motor name="left_knee" joint="left_knee" ctrlrange="-80 80" gear="1"/>
+    <motor name="left_ankle" joint="left_ankle" ctrlrange="-40 40" gear="1"/>
+    <motor name="right_hip_pitch" joint="right_hip_pitch" ctrlrange="-90 90" gear="1"/>
+    <motor name="right_knee" joint="right_knee" ctrlrange="-80 80" gear="1"/>
+    <motor name="right_ankle" joint="right_ankle" ctrlrange="-40 40" gear="1"/>
+  </actuator>
+  <sensor>
+    <accelerometer name="imu_acc" site="imu_site"/>
+    <gyro name="imu_gyro" site="imu_site"/>
+  </sensor>
+</mujoco>

robots/humanoid/unimind_humanoid/urdf/robot.urdf

@@ -0,0 +1,204 @@
+<?xml version="1.0"?>
+<robot name="unimind_humanoid">
+  <link name="pelvis">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="8.0"/>
+      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.04" iyz="0" izz="0.03"/>
+    </inertial>
+    <visual>
+      <geometry><box size="0.22 0.12 0.16"/></geometry>
+    </visual>
+    <collision>
+      <geometry><box size="0.22 0.12 0.16"/></geometry>
+    </collision>
+  </link>
+
+  <link name="torso">
+    <inertial>
+      <mass value="12.0"/>
+      <inertia ixx="0.12" ixy="0" ixz="0" iyy="0.10" iyz="0" izz="0.06"/>
+    </inertial>
+    <visual><geometry><box size="0.22 0.12 0.28"/></geometry></visual>
+    <collision><geometry><box size="0.22 0.12 0.28"/></geometry></collision>
+  </link>
+  <joint name="torso_yaw" type="revolute">
+    <parent link="pelvis"/>
+    <child link="torso"/>
+    <origin xyz="0 0 0.14" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.2" upper="1.2" effort="80" velocity="5"/>
+  </joint>
+
+  <link name="head">
+    <inertial>
+      <mass value="3.0"/>
+      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.02" iyz="0" izz="0.02"/>
+    </inertial>
+    <visual><geometry><box size="0.14 0.12 0.16"/></geometry></visual>
+    <collision><geometry><box size="0.14 0.12 0.16"/></geometry></collision>
+  </link>
+  <joint name="head_yaw" type="revolute">
+    <parent link="torso"/>
+    <child link="head"/>
+    <origin xyz="0 0 0.22" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.5" upper="1.5" effort="10" velocity="8"/>
+  </joint>
+
+  <link name="left_upper_arm">
+    <inertial><mass value="2.2"/><inertia ixx="0.02" ixy="0" ixz="0" iyy="0.02" iyz="0" izz="0.005"/></inertial>
+    <visual><geometry><box size="0.08 0.08 0.25"/></geometry></visual>
+    <collision><geometry><box size="0.08 0.08 0.25"/></geometry></collision>
+  </link>
+  <joint name="left_shoulder_pitch" type="revolute">
+    <parent link="torso"/>
+    <child link="left_upper_arm"/>
+    <origin xyz="0 0.16 0.18" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.0" upper="2.0" effort="40" velocity="8"/>
+  </joint>
+
+  <link name="left_forearm">
+    <inertial><mass value="1.4"/><inertia ixx="0.012" ixy="0" ixz="0" iyy="0.012" iyz="0" izz="0.003"/></inertial>
+    <visual><geometry><box size="0.06 0.06 0.22"/></geometry></visual>
+    <collision><geometry><box size="0.06 0.06 0.22"/></geometry></collision>
+  </link>
+  <joint name="left_elbow" type="revolute">
+    <parent link="left_upper_arm"/>
+    <child link="left_forearm"/>
+    <origin xyz="0 0 -0.25" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.1" upper="2.4" effort="25" velocity="8"/>
+  </joint>
+
+  <link name="left_hand">
+    <inertial><mass value="0.4"/><inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/></inertial>
+    <visual><geometry><box size="0.06 0.08 0.04"/></geometry></visual>
+    <collision><geometry><box size="0.06 0.08 0.04"/></geometry></collision>
+  </link>
+  <joint name="left_wrist" type="revolute">
+    <parent link="left_forearm"/>
+    <child link="left_hand"/>
+    <origin xyz="0 0 -0.13" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0" upper="1.0" effort="8" velocity="10"/>
+  </joint>
+
+  <link name="right_upper_arm">
+    <inertial><mass value="2.2"/><inertia ixx="0.02" ixy="0" ixz="0" iyy="0.02" iyz="0" izz="0.005"/></inertial>
+    <visual><geometry><box size="0.08 0.08 0.25"/></geometry></visual>
+    <collision><geometry><box size="0.08 0.08 0.25"/></geometry></collision>
+  </link>
+  <joint name="right_shoulder_pitch" type="revolute">
+    <parent link="torso"/>
+    <child link="right_upper_arm"/>
+    <origin xyz="0 -0.16 0.18" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-2.0" upper="2.0" effort="40" velocity="8"/>
+  </joint>
+
+  <link name="right_forearm">
+    <inertial><mass value="1.4"/><inertia ixx="0.012" ixy="0" ixz="0" iyy="0.012" iyz="0" izz="0.003"/></inertial>
+    <visual><geometry><box size="0.06 0.06 0.22"/></geometry></visual>
+    <collision><geometry><box size="0.06 0.06 0.22"/></geometry></collision>
+  </link>
+  <joint name="right_elbow" type="revolute">
+    <parent link="right_upper_arm"/>
+    <child link="right_forearm"/>
+    <origin xyz="0 0 -0.25" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.1" upper="2.4" effort="25" velocity="8"/>
+  </joint>
+
+  <link name="right_hand">
+    <inertial><mass value="0.4"/><inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/></inertial>
+    <visual><geometry><box size="0.06 0.08 0.04"/></geometry></visual>
+    <collision><geometry><box size="0.06 0.08 0.04"/></geometry></collision>
+  </link>
+  <joint name="right_wrist" type="revolute">
+    <parent link="right_forearm"/>
+    <child link="right_hand"/>
+    <origin xyz="0 0 -0.13" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0" upper="1.0" effort="8" velocity="10"/>
+  </joint>
+
+  <link name="left_thigh">
+    <inertial><mass value="6.5"/><inertia ixx="0.08" ixy="0" ixz="0" iyy="0.08" iyz="0" izz="0.01"/></inertial>
+    <visual><geometry><box size="0.10 0.10 0.35"/></geometry></visual>
+    <collision><geometry><box size="0.10 0.10 0.35"/></geometry></collision>
+  </link>
+  <joint name="left_hip_pitch" type="revolute">
+    <parent link="pelvis"/>
+    <child link="left_thigh"/>
+    <origin xyz="0 0.08 -0.12" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.8" upper="1.2" effort="90" velocity="8"/>
+  </joint>
+
+  <link name="left_shin">
+    <inertial><mass value="3.5"/><inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.006"/></inertial>
+    <visual><geometry><box size="0.08 0.08 0.34"/></geometry></visual>
+    <collision><geometry><box size="0.08 0.08 0.34"/></geometry></collision>
+  </link>
+  <joint name="left_knee" type="revolute">
+    <parent link="left_thigh"/>
+    <child link="left_shin"/>
+    <origin xyz="0 0 -0.35" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.05" upper="2.2" effort="80" velocity="8"/>
+  </joint>
+
+  <link name="left_foot">
+    <inertial><mass value="0.9"/><inertia ixx="0.004" ixy="0" ixz="0" iyy="0.008" iyz="0" izz="0.008"/></inertial>
+    <visual><geometry><box size="0.22 0.10 0.04"/></geometry></visual>
+    <collision><geometry><box size="0.22 0.10 0.04"/></geometry></collision>
+  </link>
+  <joint name="left_ankle" type="revolute">
+    <parent link="left_shin"/>
+    <child link="left_foot"/>
+    <origin xyz="0.04 0 -0.18" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.8" upper="0.8" effort="40" velocity="8"/>
+  </joint>
+
+  <link name="right_thigh">
+    <inertial><mass value="6.5"/><inertia ixx="0.08" ixy="0" ixz="0" iyy="0.08" iyz="0" izz="0.01"/></inertial>
+    <visual><geometry><box size="0.10 0.10 0.35"/></geometry></visual>
+    <collision><geometry><box size="0.10 0.10 0.35"/></geometry></collision>
+  </link>
+  <joint name="right_hip_pitch" type="revolute">
+    <parent link="pelvis"/>
+    <child link="right_thigh"/>
+    <origin xyz="0 -0.08 -0.12" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-1.8" upper="1.2" effort="90" velocity="8"/>
+  </joint>
+
+  <link name="right_shin">
+    <inertial><mass value="3.5"/><inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.006"/></inertial>
+    <visual><geometry><box size="0.08 0.08 0.34"/></geometry></visual>
+    <collision><geometry><box size="0.08 0.08 0.34"/></geometry></collision>
+  </link>
+  <joint name="right_knee" type="revolute">
+    <parent link="right_thigh"/>
+    <child link="right_shin"/>
+    <origin xyz="0 0 -0.35" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.05" upper="2.2" effort="80" velocity="8"/>
+  </joint>
+
+  <link name="right_foot">
+    <inertial><mass value="0.9"/><inertia ixx="0.004" ixy="0" ixz="0" iyy="0.008" iyz="0" izz="0.008"/></inertial>
+    <visual><geometry><box size="0.22 0.10 0.04"/></geometry></visual>
+    <collision><geometry><box size="0.22 0.10 0.04"/></geometry></collision>
+  </link>
+  <joint name="right_ankle" type="revolute">
+    <parent link="right_shin"/>
+    <child link="right_foot"/>
+    <origin xyz="0.04 0 -0.18" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-0.8" upper="0.8" effort="40" velocity="8"/>
+  </joint>
+</robot>

scenes/kitchen/kitchen_basic/LICENSE

@@ -0,0 +1,7 @@
+This asset is licensed under Creative Commons Attribution 4.0 International (CC-BY-4.0).
+
+SPDX-License-Identifier: CC-BY-4.0
+https://creativecommons.org/licenses/by/4.0/
+
+You are free to share and adapt this material for any purpose, including
+commercially, provided you give appropriate credit to UniEMind.

scenes/kitchen/kitchen_basic/asset.yaml

@@ -0,0 +1,90 @@
+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

scenes/kitchen/kitchen_basic/isaac/scene.usda

@@ -0,0 +1,39 @@
+#usda 1.0
+(
+    defaultPrim = "kitchen_basic"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../objects/furniture/table_01/isaac/model.usda@,
+        @../../../objects/household/cup_white/isaac/model.usda@,
+        @../../../objects/laboratory/sink_01/isaac/model.usda@
+    ]
+)
+
+def Xform "kitchen_basic"
+{
+    def Xform "World"
+    {
+        def Mesh "floor"
+        {
+            float3[] extent = [(-5, -5, 0), (5, 5, 0)]
+            int[] faceVertexCounts = [4]
+            int[] faceVertexIndices = [0, 1, 2, 3]
+            point3f[] points = [(-5, -5, 0), (5, -5, 0), (5, 5, 0), (-5, 5, 0)]
+            color3f[] primvars:displayColor = [(0.82, 0.80, 0.76)]
+        }
+    }
+
+    over "table_01" {
+        double3 xformOp:translate = (0.9, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+    }
+    over "cup_white" {
+        double3 xformOp:translate = (0.85, 0.1, 0.8)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+    }
+    over "sink_01" {
+        double3 xformOp:translate = (1.6, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+    }
+}

scenes/kitchen/kitchen_basic/mujoco/scene.xml

@@ -0,0 +1,28 @@
+<mujoco model="kitchen_basic">
+  <compiler angle="radian" autolimits="true"/>
+  <option gravity="0 0 -9.81" timestep="0.002"/>
+  <default>
+    <geom condim="3" friction="0.6 0.4 0.01"/>
+  </default>
+  <worldbody>
+    <light pos="1 1 3" dir="-0.3 -0.3 -1"/>
+    <geom name="floor" type="plane" size="5 5 0.1" rgba="0.82 0.80 0.76 1"/>
+
+    <body name="table_01" pos="0.9 0 0">
+      <geom type="box" size="0.6 0.35 0.02" pos="0 0 0.74" mass="18" rgba="0.63 0.43 0.27 1"/>
+      <geom type="box" size="0.03 0.03 0.36" pos=" 0.52  0.28 0.36" mass="2.5" rgba="0.45 0.30 0.18 1"/>
+      <geom type="box" size="0.03 0.03 0.36" pos=" 0.52 -0.28 0.36" mass="2.5" rgba="0.45 0.30 0.18 1"/>
+      <geom type="box" size="0.03 0.03 0.36" pos="-0.52  0.28 0.36" mass="2.5" rgba="0.45 0.30 0.18 1"/>
+      <geom type="box" size="0.03 0.03 0.36" pos="-0.52 -0.28 0.36" mass="2.5" rgba="0.45 0.30 0.18 1"/>
+    </body>
+
+    <body name="cup_white" pos="0.85 0.1 0.80">
+      <freejoint name="cup_white_free"/>
+      <geom type="cylinder" size="0.04 0.045" mass="0.25" rgba="0.95 0.95 0.95 1"/>
+    </body>
+
+    <body name="sink_01" pos="1.6 0 0">
+      <geom type="box" size="0.3 0.225 0.09" pos="0 0 0.90" mass="18.5" rgba="0.72 0.75 0.78 1"/>
+    </body>
+  </worldbody>
+</mujoco>

scenes/kitchen/robocasa_kitchens/LICENSE

@@ -0,0 +1,9 @@
+Catalog metadata is licensed under Creative Commons Attribution 4.0 International
+(CC-BY-4.0) and packaged by UniEMind.
+
+SPDX-License-Identifier: CC-BY-4.0
+https://creativecommons.org/licenses/by/4.0/
+
+The referenced RoboCasa kitchen meshes and fixture models remain under their
+original licenses (RoboCasa assets: CC-BY-4.0; RoboCasa code: MIT) and are not
+copied into this directory. See THIRD_PARTY_NOTICES.md in the repository root.

scenes/kitchen/robocasa_kitchens/asset.yaml

@@ -0,0 +1,100 @@
+schema_version: "0.1"
+
+asset:
+  id: "robocasa_kitchens"
+  name: "RoboCasa Kitchen Catalog"
+  type: "scene"
+  category: "household"
+  version: "1.0.0"
+  description: >
+    Catalog of RoboCasa kitchens (60 layouts x 60 styles). UniEMind-Assets
+    stores the identity, license, and provenance. UniEMind-Sim composes the
+    MJCF arena from the local RoboCasa checkout at install/run time and does
+    not copy the ~10GB mesh library into git.
+  tags: ["kitchen", "robocasa", "catalog", "household"]
+
+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: "robocasa_kitchens"
+  environment:
+    gravity: [0.0, 0.0, -9.81]
+    lighting: "kitchen"
+  assets: []
+  robots: []
+
+source:
+  type: "external"
+  project: "RoboCasa"
+  repository: "https://github.com/robocasa/robocasa"
+  version: "master"
+  license: "MIT"
+
+dependencies:
+  - id: "robocasa_assets"
+    optional: true
+    source:
+      type: "external"
+      project: "RoboCasa"
+      repository: "https://github.com/robocasa/robocasa"
+      version: "master"
+      license: "CC-BY-4.0"
+
+catalog:
+  provider: "robocasa"
+  layout_count: 60
+  style_count: 60
+  default_style: 1
+  id_template: "layout{layout:03d}_style{style:03d}"
+  alias_templates:
+    - "robocasa/layout{layout:03d}/style{style:03d}"
+    - "robocasa/layout{layout:03d}"
+  notes: >
+    Individual kitchen IDs are generated from this catalog. Example:
+    layout001_style001, layout060_style060, robocasa/layout060/style058.
+
+license:
+  spdx: "CC-BY-4.0"
+  file: "LICENSE"
+  attribution_required: true
+  commercial_use: true
+  modification: true
+  redistribution: true
+
+provenance:
+  source_type: "external"
+  creator: "RoboCasa authors; catalog packaged by UniEMind"
+  created_at: "2026-08-21"
+  notes: "Kitchen meshes stay in the RoboCasa checkout. This asset is metadata only."
+
+compatibility:
+  mujoco:
+    supported: true
+    min_version: "3.x"
+    notes: "MJCF is composed by UniEMind-Sim via RoboCasa KitchenArena."
+    file: "mujoco/catalog.xml"
+  isaac_sim:
+    supported: false
+    notes: "Isaac representation is deferred; kitchens currently run on MuJoCo."
+
+quality:
+  level: 2
+  completeness:
+    composition: false
+    license: true
+    catalog: true
+    mujoco: true
+    isaac_sim: false

scenes/kitchen/robocasa_kitchens/catalog.yaml

@@ -0,0 +1,13 @@
+schema_version: "0.1"
+provider: robocasa
+layout_count: 60
+style_count: 60
+default_style: 1
+id_template: "layout{layout:03d}_style{style:03d}"
+alias_templates:
+  - "robocasa/layout{layout:03d}/style{style:03d}"
+  - "robocasa/layout{layout:03d}"
+source:
+  project: RoboCasa
+  repository: https://github.com/robocasa/robocasa
+  license: CC-BY-4.0

scenes/kitchen/robocasa_kitchens/mujoco/catalog.xml

@@ -0,0 +1,8 @@
+<mujoco model="robocasa_kitchens">
+  <compiler angle="radian"/>
+  <option gravity="0 0 -9.81"/>
+  <worldbody>
+    <light pos="1 1 3" dir="-0.3 -0.3 -1"/>
+    <geom name="floor" type="plane" size="5 5 0.1" rgba="0.82 0.80 0.76 1"/>
+  </worldbody>
+</mujoco>

scenes/lab/laboratory_basic/LICENSE

@@ -0,0 +1,7 @@
+This asset is licensed under Creative Commons Attribution 4.0 International (CC-BY-4.0).
+
+SPDX-License-Identifier: CC-BY-4.0
+https://creativecommons.org/licenses/by/4.0/
+
+You are free to share and adapt this material for any purpose, including
+commercially, provided you give appropriate credit to UniEMind.

scenes/lab/laboratory_basic/asset.yaml

@@ -0,0 +1,90 @@
+schema_version: "0.1"
+
+asset:
+  id: "laboratory_basic"
+  name: "Basic Laboratory Scene"
+  type: "scene"
+  category: "laboratory"
+  version: "1.0.0"
+  description: "Reference scene composing unimind_humanoid, table_01, cup_white, and sink_01."
+  tags: ["laboratory", "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: "laboratory_basic"
+  environment:
+    gravity: [0.0, 0.0, -9.81]
+    lighting: "studio"
+  assets:
+    - asset: "table_01"
+      instance_id: "table"
+      pose:
+        position: [1.0, 0.0, 0.0]
+    - asset: "cup_white"
+      instance_id: "cup"
+      pose:
+        position: [1.2, 0.0, 0.8]
+    - asset: "sink_01"
+      instance_id: "sink"
+      pose:
+        position: [2.0, 0.0, 0.0]
+  robots:
+    - robot: "unimind_humanoid"
+      instance_id: "robot"
+      pose:
+        position: [0.0, 0.0, 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

scenes/lab/laboratory_basic/isaac/scene.usda

@@ -0,0 +1,44 @@
+#usda 1.0
+(
+    defaultPrim = "laboratory_basic"
+    metersPerUnit = 1
+    upAxis = "Z"
+    subLayers = [
+        @../../../robots/humanoid/unimind_humanoid/isaac/robot.usda@,
+        @../../../objects/furniture/table_01/isaac/model.usda@,
+        @../../../objects/household/cup_white/isaac/model.usda@,
+        @../../../objects/laboratory/sink_01/isaac/model.usda@
+    ]
+)
+
+def Xform "laboratory_basic"
+{
+    def Xform "World"
+    {
+        def Mesh "floor"
+        {
+            float3[] extent = [(-5, -5, 0), (5, 5, 0)]
+            int[] faceVertexCounts = [4]
+            int[] faceVertexIndices = [0, 1, 2, 3]
+            point3f[] points = [(-5, -5, 0), (5, -5, 0), (5, 5, 0), (-5, 5, 0)]
+            color3f[] primvars:displayColor = [(0.85, 0.85, 0.82)]
+        }
+    }
+
+    over "table_01" {
+        double3 xformOp:translate = (1.0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+    }
+    over "cup_white" {
+        double3 xformOp:translate = (1.2, 0, 0.8)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+    }
+    over "sink_01" {
+        double3 xformOp:translate = (2.0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+    }
+    over "unimind_humanoid" {
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate"]
+    }
+}