challenge2026_assets

Global Humanoid Robot Challenge 2026 Simulation Asset Repository

Overview

This repository contains simulation asset files for the Global Humanoid Robot Challenge 2026, including USD models, URDF files, and more.

Directory Structure

.
├── README.md                
├── .gitattributes              # Git LFS configuration file
└── resources/                  # Simulation asset files
    ├── Box/                    # Standard material box
    ├── Box_blank/              # Blank material box
    ├── Box_blank_blue/         # Blue blank material box
    ├── Box_blank_gray/         # Gray blank material box
    ├── Box_blue/               # Blue material box
    ├── Box_gray/               # Gray material box
    ├── Collected_28motor/      # Motor components
    ├── Collected_ConveyorBelt/ # Conveyor belt
    ├── Collected_foam/         # Foam pad
    ├── Collected_s2_v1_ecbg/   # WalkerS2 model
    ├── Collected_table_v2/     # Table model
    ├── Collected_Task1_PartA_ori_color/    # Task1 Part A
    ├── Collected_Task1_PartA_red/          # Task1 Part A (Red)
    ├── Collected_Task2_Part_A/             # Task2 Part A
    ├── Collected_Task4/                    # Task4 related resources
    ├── *.usd                   # Gears, bearings, and other parts
    └── s2.urdf                 # WalkerS2 robot URDF

Key Assets

Robot

• WalkerS2: resources/Collected_s2_v1_ecbg/s2_v1.usd
• URDF: resources/s2.urdf

Scene Elements

• Table: resources/Collected_table_v2/table_v2.usd
• Material Boxes: resources/Box/, resources/Box_blank/, etc.
• Conveyor Belt: resources/Collected_ConveyorBelt/

Task Components

• Task1: Collected_Task1_PartA_ori_color/, Collected_Task1_PartA_red/
• Task2: Collected_Task2_Part_A/
• Task3: Task3_Part_A.usd
• Task4: Collected_Task4/, task4_box_foam.usd

Parts

• Gear: 14-15-M1-5.usd
• Bearing: 6901-12246.usd
• Motor: Collected_28motor/
• Gear Reducer: NN-CHC型-减速机总装配体.usd
• Shaft: 减速输入轴.usd, 输出法兰齿.usd, 固定法兰齿.usd
• Bearing Sleeve: 滚针轴承K20x24x10.usd

Usage Instructions

This repository is used as a Git submodule and is accessed via the assets/ path in the main project.

Asset files are located in the resources/ subdirectory. The root_path in the configuration file should point to ../assets/resources/ or be adjusted according to the project structure.

Git LFS

This repository uses Git LFS to manage large files. The relevant configuration is in .gitattributes.