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README.md

@@ -1,3 +1,205 @@
 ---
-license: apache-2.0
+pretty_name: UniEMindAssets
+tags:
+  - robotics
+  - embodied-ai
+  - 3d-assets
+  - simulation
+  - usd
+  - mujoco
+  - isaac-sim
+  - scenes
+  - robots
+  - objects
+task_categories:
+  - robotics
+license: other
+license_name: mixed-spdx-per-asset
+language:
+  - en
+  - zh
+size_categories:
+  - n<1K
 ---
+
+# UniEMindAssets
+
+Unified embodied-world **3D assets** (scenes, robots, objects) for the UniEMind ecosystem — Hugging Face distribution.
+
+[中文文档](README_zh.md) · Spec / tooling: [UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) (schema, registry, CLI)
+
+> **UniEMind-Assets** defines *what an asset is, how it is organized, how it is described, where it came from, which physics and semantics it has, and how it may be used*.  
+> **UniEMind-Sim** loads, composes, and runs those assets.  
+> **This Hugging Face repo** hosts the large binary asset packs (meshes / USD / related resources) for download and local use.
+
+---
+
+## Important: License & rights
+
+**Please read this section before downloading or redistributing any file.**
+
+| Content | Default license | Notes |
+| --- | --- | --- |
+| UniEMind-authored **reference / official** 3D assets | **[CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/)** | Attribution required; commercial use allowed under CC-BY-4.0 terms |
+| UniEMind-Assets **code, schemas, tools** (sibling Git repo) | **[Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0)** | Not the primary content of this HF dataset |
+| **Third-party** meshes, robots, scenes, textures | **Original upstream license** | Unchanged by upload here; see per-asset notices when present |
+
+### Rules of use
+
+1. **Per-asset SPDX wins.** If an asset directory contains `LICENSE`, `license.spdx`, or `asset.yaml` → `license.spdx`, that entry overrides the table above for that asset.
+2. **Third-party rights are preserved.** Inclusion in UniEMindAssets does **not** re-license upstream CAD, USD, URDF, textures, or brand assets. Downstream users must still comply with the original license and attribution.
+3. **No warranty.** Assets are provided as-is for research and development; verify fitness for your simulator and product before production use.
+4. **Attribution.** For CC-BY-4.0 UniEMind assets, credit **UniEMind / UniEMindAssets** and link back to this repository when you share or adapt them.
+
+### Infringement / takedown
+
+**If you believe any asset in this repository infringes your rights, please contact the author; it will be removed promptly.**
+
+Use the Hugging Face **Community / Discussions** tab on this repo, or contact the UniEMind maintainers through the linked project channels. Include: asset path or id, your claim of ownership, and supporting evidence.
+
+---
+
+## Why this dataset exists
+
+UniEMindAssets is **not** a new 3D file format and does not replace MuJoCo, Isaac Sim, USD, MJCF, URDF, or glTF.
+
+It is the shared world-asset distribution layer for:
+
+- Scene / robot / object catalogs
+- Simulator-oriented packs (e.g. USD) for UniEMind-Sim and related stacks
+- Physics, semantics, affordance, **license**, provenance, and version (via UniEMind-Assets metadata contracts)
+- Community and partner assets with clear rights notices
+
+---
+
+## Repository layout (this HF dataset)
+
+```text
+UniEMindAssets/
+├── objects/          # Standalone 3D objects (e.g. props)
+├── robots/           # Robot models (specialized assets)
+├── scenes/           # Composed scenes referencing objects / robots
+├── README.md         # This file (English)
+└── README_zh.md      # Chinese
+```
+
+Typical usage pattern: **robots** and **objects** can be placed into **scenes**; a robot is a specialized independent 3D asset.
+
+---
+
+## Ecosystem
+
+| Repository | Role | Link |
+| --- | --- | --- |
+| **UniEMind** | Brain: understand, decide, plan, invoke skills, close the loop | [github.com/depthEmMind/UniEMind](https://github.com/depthEmMind/UniEMind) |
+| **UniEMind-Algo** | Algorithm toolbox | [github.com/depthEmMind/UniEMind-Algo](https://github.com/depthEmMind/UniEMind-Algo) |
+| **UniEMind-Interfaces** | Shared ROS 2 msgs / capability contracts | [github.com/depthEmMind/UniEMind-Interfaces](https://github.com/depthEmMind/UniEMind-Interfaces) |
+| **UniEMind-Assets** | Metadata contracts, schemas, registry, validation CLI | [github.com/depthEmMind/UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) |
+| **UniEMindAssets** *(this HF dataset)* | Binary asset packs for download | *This Hugging Face repo* |
+| **UniEMind-Sim** | Virtual arena: load assets, drive MuJoCo / Isaac | [github.com/depthEmMind/UniEMind-Sim](https://github.com/depthEmMind/UniEMind-Sim) |
+| **UniEMind-Hardware** | Real robot / sensor adapters | [github.com/depthEmMind/UniEMind-Hardware](https://github.com/depthEmMind/UniEMind-Hardware) |
+| **UniEMind-Datasets** | Tasks, GT, exam items | [github.com/depthEmMind/UniEMind-Datasets](https://github.com/depthEmMind/UniEMind-Datasets) |
+| **UniEMind-Bench** | Evaluation / leaderboard | [github.com/depthEmMind/UniEMind-Bench](https://github.com/depthEmMind/UniEMind-Bench) |
+
+```text
+UniEMind / Algo  ──I/O──►  UniEMind-Interfaces
+                              │
+              ┌───────────────┼───────────────┐
+              ▼                               ▼
+       UniEMind-Sim                    UniEMind-Hardware
+              │                               │
+              └──────────── loads ────────────┘
+                              ▼
+                     UniEMindAssets (HF)
+                     + UniEMind-Assets (metadata)
+```
+
+---
+
+## Design principles (from UniEMind-Assets)
+
+1. Prefer existing formats (glTF/GLB, USD, MJCF, URDF, OBJ, STL) — do not invent a new mesh format.
+2. Metadata is the product; geometry is a representation.
+3. A robot is a specialized asset (kinematics, joints, actuators, sensors).
+4. A scene composes assets by reference where possible.
+5. Visual meshes and collision meshes should be separated when available.
+6. Physics parameters are first-class and should record provenance.
+7. Licenses use **SPDX**, versions use SemVer, integrity should use SHA-256 when published.
+8. Large binaries belong on Hugging Face / object storage / LFS — not unbounded Git blobs.
+
+---
+
+## Quality levels
+
+| Level | Name | Meaning |
+| --- | --- | --- |
+| 0 | Visual | Mesh + texture |
+| 1 | Physical | Mass, inertia, collision, material |
+| 2 | Simulation Ready | Loads in MuJoCo and/or Isaac Sim |
+| 3 | Interaction Ready | Semantics, affordance, interaction, state |
+| 4 | World Model Ready | Provenance, ontology, interaction semantics |
+
+Individual assets in this HF pack may sit at different levels; check companion metadata in UniEMind-Assets when available.
+
+---
+
+## Quick start
+
+### Download
+
+```bash
+# huggingface-cli
+huggingface-cli download <org_or_user>/UniEMindAssets --local-dir ./UniEMindAssets
+
+# or git (Git LFS recommended for large USD)
+git lfs install
+git clone https://huggingface.co/<org_or_user>/UniEMindAssets
+```
+
+### Use with UniEMind-Sim
+
+After installing UniEMind-Sim and pointing it at a UniEMind-Assets / UniEMindAssets root (see UniEMind-Sim docs):
+
+```bash
+unimind-sim install uniemind-assets --source /path/to/UniEMindAssets
+unimind-sim scenes list
+unimind-sim robots list
+unimind-sim assets list
+unimind-sim run --scene <scene_id> --backend mujoco   # or isaac
+```
+
+Exact CLI flags follow your installed UniEMind-Sim version.
+
+---
+
+## Status
+
+| Item | Notes |
+| --- | --- |
+| Role | Hugging Face **asset binary** distribution |
+| Companion | UniEMind-Assets V0.1 metadata / schema / CLI |
+| Not in this repo | Simulator runtime, controllers, RL training code, World Model weights |
+
+---
+
+## Boundary with UniEMind-Sim and World Model
+
+| Layer | Owns |
+| --- | --- |
+| UniEMindAssets / UniEMind-Assets | What, where, version, **license**, physics, semantics, representation |
+| UniEMind-Sim | Load, simulate, control, render, generate data |
+| World Model | Understand, predict, reason, plan |
+
+Runtime joint positions, object poses, velocities, contacts, and sensor streams are **not** stored here.
+
+---
+
+## Citation
+
+If you use these assets in research or products, please cite UniEMind and attribute assets according to their SPDX license (CC-BY-4.0 for UniEMind-authored assets unless stated otherwise).
+
+---
+
+## Disclaimer
+
+Assets may include third-party geometry or brand-adjacent content collected for research. **Rights holders: contact the author for removal — infringing assets will be deleted.** UniEMind maintainers will act in good faith on valid notices.

README_zh.md

@@ -0,0 +1,207 @@
+---
+pretty_name: UniEMindAssets
+tags:
+  - robotics
+  - embodied-ai
+  - 3d-assets
+  - simulation
+  - usd
+  - mujoco
+  - isaac-sim
+  - scenes
+  - robots
+  - objects
+task_categories:
+  - robotics
+license: other
+license_name: mixed-spdx-per-asset
+language:
+  - en
+  - zh
+size_categories:
+  - n<1K
+---
+
+# UniEMindAssets
+
+UniEMind 生态的统一具身世界 **三维资产**（场景 / 机器人 / 物体）—— Hugging Face 分发版。
+
+[English README](README.md) · 规范与工具链见 [UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets)（Schema、Registry、CLI）
+
+> **UniEMind-Assets** 负责描述资产是什么、如何组织、如何描述、来自哪里、有哪些物理与语义属性、以及**如何合法使用**。  
+> **UniEMind-Sim** 负责加载、组合和运行这些资产。  
+> **本 Hugging Face 仓库** 托管大型二进制资产包（网格 / USD 及相关资源），供下载与本地使用。
+
+---
+
+## 重要：许可证与权利说明
+
+**下载或再分发任何文件前，请先阅读本节。**
+
+| 内容 | 默认许可证 | 说明 |
+| --- | --- | --- |
+| UniEMind 自有 **参考 / 正式** 三维资产 | **[CC-BY-4.0](https://creativecommons.org/licenses/by/4.0/)** | 需署名；在 CC-BY-4.0 条款下允许商业使用 |
+| UniEMind-Assets **代码、Schema、工具**（同生态 Git 仓库） | **[Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0)** | 通常不是本 HF 数据集的主要内容 |
+| **第三方** 网格、机器人、场景、贴图等 | **遵循上游原始许可证** | 上传至本仓库**不改变**上游权利；以资产内声明为准 |
+
+### 使用规则
+
+1. **资产级 SPDX 优先。** 若资产目录内存在 `LICENSE`、`license.spdx`，或 `asset.yaml` 中的 `license.spdx`，则以该条目为准。
+2. **第三方权利保留。** 资产出现在 UniEMindAssets 中，**不等于**对上游 CAD、USD、URDF、贴图或品牌素材重新授权。使用者仍须遵守原始许可证与署名要求。
+3. **无担保。** 资产按现状提供，用于研究与开发；量产前请自行验证与目标仿真器 / 产品的适配性。
+4. **署名。** 对采用 CC-BY-4.0 的 UniEMind 资产，分享或改编时请注明 **UniEMind / UniEMindAssets**，并回链本仓库。
+
+### 侵权与下架
+
+**若您对某个资产存在侵权行为，请联系作者，会自动删除。**
+
+请通过本仓库 Hugging Face 的 **Community / Discussions**，或经由 UniEMind 项目公开渠道联系维护者。请尽量提供：资产路径或 id、权属说明、以及相关证明材料。
+
+---
+
+## 项目定位
+
+UniEMindAssets **不**设计新的 3D 文件格式，也不替代 MuJoCo、Isaac Sim、USD、MJCF、URDF、glTF 等成熟生态。
+
+它的核心职责是：
+
+1. 统一分发 Scene、Robot、独立 3D 物体资产
+2. 与 UniEMind-Assets 的 Metadata Contract 对齐
+3. 保留物理、语义、Affordance 与交互相关描述空间
+4. 明确版本、来源、依赖与 **License**
+5. 为 MuJoCo、Isaac Sim 等仿真器提供可下载的资产入口
+6. 支持社区 / 合作方按规范贡献资产，并标注权利信息
+
+---
+
+## 本仓库目录结构
+
+```text
+UniEMindAssets/
+├── objects/          # 独立 3D 物体
+├── robots/           # 机器人模型（特殊的独立资产）
+├── scenes/           # 组合场景（引用物体 / 机器人）
+├── README.md         # 英文说明
+└── README_zh.md      # 本文件
+```
+
+常见用法：**robots** 与 **objects** 可放入 **scenes** 中使用；robot 属于特殊的独立 3D 资产。
+
+---
+
+## 生态协作
+
+| 仓库 | 职责 | 链接 |
+| --- | --- | --- |
+| **UniEMind** | 大脑：理解、决策、规划、调用技能、闭环执行 | [github.com/depthEmMind/UniEMind](https://github.com/depthEmMind/UniEMind) |
+| **UniEMind-Algo** | 算法工具箱 | [github.com/depthEmMind/UniEMind-Algo](https://github.com/depthEmMind/UniEMind-Algo) |
+| **UniEMind-Interfaces** | 共同语言：ROS 2 消息 / 能力契约 | [github.com/depthEmMind/UniEMind-Interfaces](https://github.com/depthEmMind/UniEMind-Interfaces) |
+| **UniEMind-Assets** | Metadata、Schema、Registry、校验与 CLI | [github.com/depthEmMind/UniEMind-Assets](https://github.com/depthEmMind/UniEMind-Assets) |
+| **UniEMindAssets**（本 HF 数据集） | 二进制资产包下载分发 | *本 Hugging Face 仓库* |
+| **UniEMind-Sim** | 虚拟考场：加载资产，驱动 MuJoCo / Isaac | [github.com/depthEmMind/UniEMind-Sim](https://github.com/depthEmMind/UniEMind-Sim) |
+| **UniEMind-Hardware** | 真实考场：真机与传感器适配 | [github.com/depthEmMind/UniEMind-Hardware](https://github.com/depthEmMind/UniEMind-Hardware) |
+| **UniEMind-Datasets** | 题库 / GT | [github.com/depthEmMind/UniEMind-Datasets](https://github.com/depthEmMind/UniEMind-Datasets) |
+| **UniEMind-Bench** | 评测 / 排名 | [github.com/depthEmMind/UniEMind-Bench](https://github.com/depthEmMind/UniEMind-Bench) |
+
+```text
+UniEMind / Algo  ──I/O──►  UniEMind-Interfaces
+                              │
+              ┌───────────────┼───────────────┐
+              ▼                               ▼
+       UniEMind-Sim                    UniEMind-Hardware
+              │                               │
+              └──────────── 加载资产 ─────────┘
+                              ▼
+                     UniEMindAssets（HF）
+                     + UniEMind-Assets（元数据）
+```
+
+---
+
+## 设计原则（对齐 UniEMind-Assets）
+
+1. 不发明新的 Mesh / Scene 格式，优先使用 glTF/GLB、USD、MJCF、URDF、OBJ、STL
+2. Metadata 是核心，几何只是一种 Representation
+3. Robot 是特殊 Asset，包含运动学、关节、驱动和传感器
+4. Scene 尽量通过引用组合资产，而不是无谓复制
+5. Visual Mesh 与 Collision Mesh 在可用时应当分离
+6. 物理参数是一等公民，并且应记录 Provenance
+7. License 使用 **SPDX**，版本使用 SemVer，发布时应尽量提供 SHA-256
+8. 大型二进制应放在 Hugging Face / 对象存储 / LFS，而不是把 Git 当作无限网盘
+
+---
+
+## 质量等级
+
+| 等级 | 名称 | 含义 |
+| --- | --- | --- |
+| 0 | Visual | 仅有 Mesh 与纹理 |
+| 1 | Physical | 增加质量、惯量、碰撞、材料 |
+| 2 | Simulation Ready | 可在 MuJoCo 和/或 Isaac Sim 中加载 |
+| 3 | Interaction Ready | 增加语义、Affordance、交互与状态 |
+| 4 | World Model Ready | 增加物理来源、本体与交互语义 |
+
+本 HF 包中各资产所处等级可能不同；有配套元数据时请以 UniEMind-Assets 为准。
+
+---
+
+## 快速开始
+
+### 下载
+
+```bash
+# huggingface-cli
+huggingface-cli download <org_or_user>/UniEMindAssets --local-dir ./UniEMindAssets
+
+# 或使用 git（大文件建议启用 Git LFS）
+git lfs install
+git clone https://huggingface.co/<org_or_user>/UniEMindAssets
+```
+
+### 与 UniEMind-Sim 配合使用
+
+安装 UniEMind-Sim 并将资产根目录指向本仓库（或经 UniEMind-Assets 索引）后：
+
+```bash
+unimind-sim install uniemind-assets --source /path/to/UniEMindAssets
+unimind-sim scenes list
+unimind-sim robots list
+unimind-sim assets list
+unimind-sim run --scene <scene_id> --backend mujoco   # 或 isaac
+```
+
+具体参数以你安装的 UniEMind-Sim 版本文档为准。
+
+---
+
+## 当前状态
+
+| 项目 | 说明 |
+| --- | --- |
+| 角色 | Hugging Face **资产二进制** 分发 |
+| 配套 | UniEMind-Assets V0.1 元数据 / Schema / CLI |
+| 不在本仓库 | 仿真器运行时、控制器、RL 训练代码、World Model 权重 |
+
+---
+
+## 与 UniEMind-Sim、World Model 的边界
+
+| 层级 | 负责内容 |
+| --- | --- |
+| UniEMindAssets / UniEMind-Assets | 是什么、在哪里、哪个版本、**哪份许可证**、哪些物理和语义、哪种表示 |
+| UniEMind-Sim | 如何加载、仿真、控制、渲染、生成数据 |
+| World Model | 理解、预测、推理、规划 |
+
+关节位置、物体位姿、速度、运行时接触和传感器流 **不属于** 本仓库。
+
+---
+
+## 引用
+
+若在研究或产品中使用本仓库资产，请引用 UniEMind，并按各资产 SPDX 许可证完成署名（UniEMind 自有资产默认为 CC-BY-4.0，除非另有说明）。
+
+---
+
+## 免责声明
+
+资产中可能包含用于研究的第三方几何或相关素材。**权利人如认为存在侵权，请联系作者，相关资产将予以删除。** UniEMind 维护者将本着善意处理有效通知。