diff --git a/objects/food/.gitkeep b/objects/food/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/objects/furniture/table_01/LICENSE b/objects/furniture/table_01/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..699cc17bca4f04d325b8e9a9546040c996f90590 --- /dev/null +++ b/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. diff --git a/objects/furniture/table_01/asset.yaml b/objects/furniture/table_01/asset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c01c1fd2b06276ab21c4ab73f873a5f5348022e --- /dev/null +++ b/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 diff --git a/objects/furniture/table_01/collision/table_collision.obj b/objects/furniture/table_01/collision/table_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..07eb4dde10a6c133b973aec490face2cf973915d --- /dev/null +++ b/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 diff --git a/objects/furniture/table_01/isaac/model.usda b/objects/furniture/table_01/isaac/model.usda new file mode 100644 index 0000000000000000000000000000000000000000..c18c3281358fa8672d14a6e16bccbc93a84eb585 --- /dev/null +++ b/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"]; } +} diff --git a/objects/furniture/table_01/mujoco/model.xml b/objects/furniture/table_01/mujoco/model.xml new file mode 100644 index 0000000000000000000000000000000000000000..b9ab9b8d741c0b5c4eb71990c1c613e865a348c1 --- /dev/null +++ b/objects/furniture/table_01/mujoco/model.xml @@ -0,0 +1,20 @@ + + + diff --git a/objects/furniture/table_01/preview/preview.png b/objects/furniture/table_01/preview/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..924075dd60e5f9525d6f80c9bf4e4928d57b3a2a --- /dev/null +++ b/objects/furniture/table_01/preview/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eee33166e710b6b0303171c551a371d04377acda5cec523487fdc60ca40ad20 +size 776 diff --git a/objects/furniture/table_01/visual/table.glb b/objects/furniture/table_01/visual/table.glb new file mode 100644 index 0000000000000000000000000000000000000000..ae2d755e2854b967b4eeaf93b4e2eb173ad746d9 Binary files /dev/null and b/objects/furniture/table_01/visual/table.glb differ diff --git a/objects/household/cup_white/LICENSE b/objects/household/cup_white/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..699cc17bca4f04d325b8e9a9546040c996f90590 --- /dev/null +++ b/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. diff --git a/objects/household/cup_white/asset.yaml b/objects/household/cup_white/asset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84da5bc9dea5f2f11a0cf2466a84612989d8e379 --- /dev/null +++ b/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 diff --git a/objects/household/cup_white/collision/cup_collision.obj b/objects/household/cup_white/collision/cup_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..d04250bc027a1b63bb60e2627dd6f78c816858a7 --- /dev/null +++ b/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 diff --git a/objects/household/cup_white/isaac/model.usda b/objects/household/cup_white/isaac/model.usda new file mode 100644 index 0000000000000000000000000000000000000000..ce494b659cd724a94e9ec9eeef248556bb85f6f5 --- /dev/null +++ b/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 + } +} diff --git a/objects/household/cup_white/mujoco/model.xml b/objects/household/cup_white/mujoco/model.xml new file mode 100644 index 0000000000000000000000000000000000000000..03152e5351fd72036848e489c3f88d5b51e97c29 --- /dev/null +++ b/objects/household/cup_white/mujoco/model.xml @@ -0,0 +1,17 @@ + + + diff --git a/objects/household/cup_white/preview/preview.png b/objects/household/cup_white/preview/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..832798d1f014def41f8dd3a9096ec2225caf9e60 --- /dev/null +++ b/objects/household/cup_white/preview/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9aab8d2dbfa7b424df887b00b09da2d89842471fc19e68f7a637b25ac06b0b6d +size 673 diff --git a/objects/household/cup_white/visual/cup.glb b/objects/household/cup_white/visual/cup.glb new file mode 100644 index 0000000000000000000000000000000000000000..9a404151309dd18678a6144e48ebd2c9dfc6cffb Binary files /dev/null and b/objects/household/cup_white/visual/cup.glb differ diff --git a/objects/industrial/.gitkeep b/objects/industrial/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/objects/laboratory/sink_01/LICENSE b/objects/laboratory/sink_01/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..699cc17bca4f04d325b8e9a9546040c996f90590 --- /dev/null +++ b/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. diff --git a/objects/laboratory/sink_01/asset.yaml b/objects/laboratory/sink_01/asset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a61a034440b4d0744ee900a0ae12b604b4ef1caa --- /dev/null +++ b/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 diff --git a/objects/laboratory/sink_01/collision/sink_collision.obj b/objects/laboratory/sink_01/collision/sink_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..072b986c038092c166873281480a26c0f46a90a4 --- /dev/null +++ b/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 diff --git a/objects/laboratory/sink_01/isaac/model.usda b/objects/laboratory/sink_01/isaac/model.usda new file mode 100644 index 0000000000000000000000000000000000000000..0d00183dda89cd2fce63400ffdf0e4cc872ce601 --- /dev/null +++ b/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)] + } +} diff --git a/objects/laboratory/sink_01/mujoco/model.xml b/objects/laboratory/sink_01/mujoco/model.xml new file mode 100644 index 0000000000000000000000000000000000000000..8fbc0fd05f991768159d7a711fe54edc9a625575 --- /dev/null +++ b/objects/laboratory/sink_01/mujoco/model.xml @@ -0,0 +1,12 @@ + + + diff --git a/objects/laboratory/sink_01/preview/preview.png b/objects/laboratory/sink_01/preview/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..53f8dfc42fc0f712b6253c1cc28bd4f471d1469e --- /dev/null +++ b/objects/laboratory/sink_01/preview/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acfc8c9733c7cf88724f7f2cc6c73d52948ad1c368864cfcceb9fcae33d79105 +size 757 diff --git a/objects/laboratory/sink_01/visual/sink.glb b/objects/laboratory/sink_01/visual/sink.glb new file mode 100644 index 0000000000000000000000000000000000000000..d20576850f49cd32fce80245bec11360b5cf51bf Binary files /dev/null and b/objects/laboratory/sink_01/visual/sink.glb differ diff --git a/objects/miscellaneous/.gitkeep b/objects/miscellaneous/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/objects/tools/.gitkeep b/objects/tools/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/robots/humanoid/unimind_humanoid/LICENSE b/robots/humanoid/unimind_humanoid/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..699cc17bca4f04d325b8e9a9546040c996f90590 --- /dev/null +++ b/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. diff --git a/robots/humanoid/unimind_humanoid/asset.yaml b/robots/humanoid/unimind_humanoid/asset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22560f950d196b596649c4128f77dec391236e5e --- /dev/null +++ b/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 diff --git a/robots/humanoid/unimind_humanoid/collision/pelvis.obj b/robots/humanoid/unimind_humanoid/collision/pelvis.obj new file mode 100644 index 0000000000000000000000000000000000000000..04620cd00ee2b1cb34b0b978deeaf80f9c3d6da2 --- /dev/null +++ b/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 diff --git a/robots/humanoid/unimind_humanoid/controllers/.gitkeep b/robots/humanoid/unimind_humanoid/controllers/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/robots/humanoid/unimind_humanoid/isaac/robot.usda b/robots/humanoid/unimind_humanoid/isaac/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..78a4c75f81714ca7b0aa99089200c5a12e75363d --- /dev/null +++ b/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"]; } } + } +} diff --git a/robots/humanoid/unimind_humanoid/meshes/pelvis.obj b/robots/humanoid/unimind_humanoid/meshes/pelvis.obj new file mode 100644 index 0000000000000000000000000000000000000000..04620cd00ee2b1cb34b0b978deeaf80f9c3d6da2 --- /dev/null +++ b/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 diff --git a/robots/humanoid/unimind_humanoid/mujoco/robot.xml b/robots/humanoid/unimind_humanoid/mujoco/robot.xml new file mode 100644 index 0000000000000000000000000000000000000000..c394bee24eb6af18116751a3a57d9e55610f3a0c --- /dev/null +++ b/robots/humanoid/unimind_humanoid/mujoco/robot.xml @@ -0,0 +1,112 @@ + + + diff --git a/robots/humanoid/unimind_humanoid/preview/preview.png b/robots/humanoid/unimind_humanoid/preview/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..0f61b688140f3f68a89bb2d1c2a24522a376268a --- /dev/null +++ b/robots/humanoid/unimind_humanoid/preview/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9973f3463f32f28577d978f778ff4dac957e4c501986d6efba708dce3633c3f +size 776 diff --git a/robots/humanoid/unimind_humanoid/sensors/.gitkeep b/robots/humanoid/unimind_humanoid/sensors/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/robots/humanoid/unimind_humanoid/textures/.gitkeep b/robots/humanoid/unimind_humanoid/textures/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/robots/humanoid/unimind_humanoid/urdf/robot.urdf b/robots/humanoid/unimind_humanoid/urdf/robot.urdf new file mode 100644 index 0000000000000000000000000000000000000000..0563d726ada1ac2a9cab5e8b17275aba0a3ee66b --- /dev/null +++ b/robots/humanoid/unimind_humanoid/urdf/robot.urdf @@ -0,0 +1,204 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/mobile_manipulator/.gitkeep b/robots/mobile_manipulator/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/robots/quadruped/.gitkeep b/robots/quadruped/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scenes/kitchen/.gitkeep b/scenes/kitchen/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scenes/kitchen/kitchen_basic/LICENSE b/scenes/kitchen/kitchen_basic/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..699cc17bca4f04d325b8e9a9546040c996f90590 --- /dev/null +++ b/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. diff --git a/scenes/kitchen/kitchen_basic/asset.yaml b/scenes/kitchen/kitchen_basic/asset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..091efdb7ff18c227450dce98f0b30b1e6f3358f5 --- /dev/null +++ b/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 diff --git a/scenes/kitchen/kitchen_basic/isaac/scene.usda b/scenes/kitchen/kitchen_basic/isaac/scene.usda new file mode 100644 index 0000000000000000000000000000000000000000..078c73d7cbb504073215995f3538a2e26d073fef --- /dev/null +++ b/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"] + } +} diff --git a/scenes/kitchen/kitchen_basic/mujoco/scene.xml b/scenes/kitchen/kitchen_basic/mujoco/scene.xml new file mode 100644 index 0000000000000000000000000000000000000000..aea748064cd85b2448b23aaa086e6a95de7df645 --- /dev/null +++ b/scenes/kitchen/kitchen_basic/mujoco/scene.xml @@ -0,0 +1,28 @@ + + + diff --git a/scenes/kitchen/robocasa_kitchens/LICENSE b/scenes/kitchen/robocasa_kitchens/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..0ddb32603b44d7d1a2cd55e4f7febc355aec6e37 --- /dev/null +++ b/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. diff --git a/scenes/kitchen/robocasa_kitchens/asset.yaml b/scenes/kitchen/robocasa_kitchens/asset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..12a685b03f8c7d6e9ea5cee90486c51f7c595a9c --- /dev/null +++ b/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 diff --git a/scenes/kitchen/robocasa_kitchens/catalog.yaml b/scenes/kitchen/robocasa_kitchens/catalog.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b29eb4abc142ba6b015f4c6d471877825d0c3da2 --- /dev/null +++ b/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 diff --git a/scenes/kitchen/robocasa_kitchens/mujoco/catalog.xml b/scenes/kitchen/robocasa_kitchens/mujoco/catalog.xml new file mode 100644 index 0000000000000000000000000000000000000000..02de416b455025791f7338fb8832818a9765dce9 --- /dev/null +++ b/scenes/kitchen/robocasa_kitchens/mujoco/catalog.xml @@ -0,0 +1,8 @@ + + + diff --git a/scenes/lab/laboratory_basic/LICENSE b/scenes/lab/laboratory_basic/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..699cc17bca4f04d325b8e9a9546040c996f90590 --- /dev/null +++ b/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. diff --git a/scenes/lab/laboratory_basic/asset.yaml b/scenes/lab/laboratory_basic/asset.yaml new file mode 100644 index 0000000000000000000000000000000000000000..682a9175c6cd09917f7801aa3a33db9b0c73a8a5 --- /dev/null +++ b/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 diff --git a/scenes/lab/laboratory_basic/isaac/scene.usda b/scenes/lab/laboratory_basic/isaac/scene.usda new file mode 100644 index 0000000000000000000000000000000000000000..7f7ba5374ef190201fe46dc5b517a527bf6caa3d --- /dev/null +++ b/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"] + } +} diff --git a/scenes/lab/laboratory_basic/mujoco/scene.xml b/scenes/lab/laboratory_basic/mujoco/scene.xml new file mode 100644 index 0000000000000000000000000000000000000000..d11760b149acda9f436348fec248840c529d57be --- /dev/null +++ b/scenes/lab/laboratory_basic/mujoco/scene.xml @@ -0,0 +1,38 @@ + + + diff --git a/scenes/lab/laboratory_basic/preview/preview.png b/scenes/lab/laboratory_basic/preview/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..7cea40c513454fc5e971108442df3af3b20d8c77 --- /dev/null +++ b/scenes/lab/laboratory_basic/preview/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3eacaf10a41630901fb31cd596755cc015c08c9313b6d84e73c51cb431344023 +size 756 diff --git a/scenes/office/.gitkeep b/scenes/office/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scenes/warehouse/.gitkeep b/scenes/warehouse/.gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391