Backfill missing files batch 1

PUBLIC_OBJECTS/evaluation_assets/LICENSE

@@ -0,0 +1,176 @@
+Apache License
+Version 2.0, January 2004
+http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+whether in tort (including negligence), contract, or otherwise,
+unless required by applicable law (such as deliberate and grossly
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+END OF TERMS AND CONDITIONS

PUBLIC_OBJECTS/evaluation_assets/LICENSE-NOTES.md

@@ -0,0 +1,26 @@
+# License Notes
+
+This document records license and attribution notes for `evaluation_assets`.
+
+## Package-Level License
+
+The packaging, directory layout, indexing, metadata organization, and project-authored integration changes in this asset bundle are distributed under the Apache License 2.0. See [LICENSE](LICENSE).
+
+## Asset-Specific Notes
+
+### `containers/plate_001`
+
+The following files include explicit third-party attribution and license statements:
+
+- [plate_001.obj](containers/plate_001/mesh/plate_001.obj)
+- [plate_001.mtl](containers/plate_001/mesh/plate_001.mtl)
+
+These files contain attribution to `Google LLC` and state that the work is licensed under `Creative Commons Attribution 4.0 International (CC BY 4.0)`.
+
+When redistributing this asset, retain the embedded attribution notices and provide appropriate attribution consistent with CC BY 4.0.
+
+## Other Assets
+
+No additional explicit license text was found embedded in the remaining assets during package review.
+
+That absence should not be interpreted as an independent legal determination that every asset is free of third-party restrictions. If you maintain an external provenance record for these assets, distribute it together with this package.

PUBLIC_OBJECTS/evaluation_assets/README.md

@@ -0,0 +1,90 @@
+---
+license: apache-2.0
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: asset_index.csv
+task_categories:
+- robotics
+- image-classification
+language:
+- en
+tags:
+- simulation
+- robotics
+- embodied-ai
+- 3d-assets
+- evaluation
+pretty_name: Sim Task Suite Evaluation Assets
+size_categories:
+- 10K<n<100K
+---
+
+# Evaluation Assets
+
+Simulation asset suite for embodied and robotics evaluation.
+
+The dataset viewer on this page is backed by [asset_index.csv](asset_index.csv), which serves as the canonical metadata table for all packaged assets.
+
+This package contains object and table assets used for simulation-oriented asset library evaluation, including:
+
+- pick-style assets such as tools, toys, fruits, and electronics
+- place-style assets such as baskets, trays, and plates
+- table assets with texture-choice variants for scene and placement evaluation
+
+## Layout
+
+The asset library is organized by semantic category:
+
+- `containers/`
+- `electronics/`
+- `fruits/`
+- `tables/`
+- `tools/`
+- `toys/`
+
+The file [asset_index.csv](asset_index.csv) is the canonical index for the library. It records each asset's:
+
+- asset name and UUID
+- type and split
+- semantic super-category
+- relative asset path
+- main URDF/USD entry paths
+- variant count
+- short category and description fields
+
+For table assets, `variant_count` corresponds to the number of texture choices bundled with the asset.
+
+## Dataset Viewer
+
+`asset_index.csv` is configured as the default tabular source for this dataset page. The preview table exposes one row per asset, with the following key fields:
+
+- `asset_name`, `uuid`
+- `type`, `split`, `super_category`
+- `relative_path`, `urdf_path`, `usd_path`
+- `interaction_path`, `renders_dir`
+- `variant_count`, `has_variants`
+- `category`, `description`, `generate_time`
+
+## Usage
+
+Use the main `.usd` file in each asset directory as the primary USD entrypoint.
+
+For table assets:
+
+- `table_001.usd` and `table_002.usd` are the entry USDs
+- `*_payload.usd` stores the referenced base geometry/material layer
+- `choices.json` maps texture variants to packaged relative texture paths
+
+## License
+
+This asset package is distributed under the Apache License 2.0 for the package structure, indexing, metadata, and project-authored integration work. See [LICENSE](LICENSE).
+
+Some individual assets may carry additional third-party notices or attribution requirements. See [LICENSE-NOTES.md](LICENSE-NOTES.md).
+
+## Notes
+
+- Paths in this package are relative and suitable for redistribution.
+- The table subset is large because it includes packaged texture variants.
+- If you redistribute this package, keep the license and attribution files together with the assets.

PUBLIC_OBJECTS/evaluation_assets/asset_index.csv

@@ -0,0 +1,12 @@
+asset_name,uuid,type,split,super_category,relative_path,urdf_path,usd_path,interaction_path,renders_dir,variant_count,has_variants,category,description,generate_time
+mug_001,7aebf2d8835851d09705f5f899a28b39,pick,seen,containers,containers/mug_001,containers/mug_001/mug_001.urdf,containers/mug_001/mug_001.usd,containers/mug_001/interaction.json,containers/mug_001/renders,0,false,enamel mug,red enamel-coated mug with speckled pattern and a cylindrical body.,20251211153237
+mouse_001,706e86c0a78f55c18c592fad87ff282f,pick,seen,electronics,electronics/mouse_001,electronics/mouse_001/mouse_001.urdf,electronics/mouse_001/mouse_001.usd,electronics/mouse_001/interaction.json,electronics/mouse_001/renders,0,false,computer mouse,"sleek, ergonomic wireless computer mouse with a two-tone black and silver design.",20251211205909
+lemon_001,249fb65978a25245a2f0f6956132e01c,pick,seen,fruits,fruits/lemon_001,fruits/lemon_001/lemon_001.urdf,fruits/lemon_001/lemon_001.usd,fruits/lemon_001/interaction.json,fruits/lemon_001/renders,0,false,lemon,"bright yellow, textured lemon with slightly irregular shape and visible stem end.",20251211153421
+screwdriver_001,9bd7627b525f5e5a8830ab1e2672d085,pick,seen,tools,tools/screwdriver_001,tools/screwdriver_001/screwdriver_001.urdf,tools/screwdriver_001/screwdriver_001.usd,tools/screwdriver_001/interaction.json,tools/screwdriver_001/renders,0,false,flathead screwdriver,flathead screwdriver with a black handle and blue accents,20251211152338
+squirrel_001,b4359ddcb6575a28a91b6e493ef0a5c0,pick,seen,toys,toys/squirrel_001,toys/squirrel_001/squirrel_001.urdf,toys/squirrel_001/squirrel_001.usd,toys/squirrel_001/interaction.json,toys/squirrel_001/renders,0,false,squirrel plush,soft brown squirrel plush toy with a textured bushy tail.,20251211152207
+basket_001,265bef91f5515b8faaffd86b86a4cdb6,place,seen,containers,containers/basket_001,containers/basket_001/basket_001.urdf,containers/basket_001/basket_001.usd,containers/basket_001/interaction.json,,0,false,storage basket,rectangular plastic basket with perforated sides and integrated handles,20260202200636
+plate_001,eac9b105495c5943ab8d2bb075c460c0,place,seen,containers,containers/plate_001,containers/plate_001/plate_001.urdf,containers/plate_001/plate_001.usd,containers/plate_001/interaction.json,,0,false,round plate,white ceramic dinner plate with red circular stripes,20260204211708
+tray_001,c225b5352a135bdfa0eb54b012ac3153,place,seen,containers,containers/tray_001,containers/tray_001/tray_001.urdf,containers/tray_001/tray_001.usd,containers/tray_001/interaction.json,containers/tray_001/renders,10,true,rectangular plate,glossy white rectangular plate with slightly raised edges,20260105170937
+basket_002,0c08b0f7103555b4b1341bef9a303215,place,unseen,containers,containers/basket_002,containers/basket_002/basket_002.urdf,containers/basket_002/basket_002.usd,containers/basket_002/interaction.json,,0,false,storage basket,rectangular plastic basket with perforated sides and integrated handles,20260202200636
+table_001,2f87fdcbf9145b61b20e7e295f95eefd,table,seen,tables,tables/table_001,,tables/table_001/table_001.usd,,,10000,true,table,table asset with texture choices,
+table_002,e815005eb22052df8ac99e44403d1397,table,unseen,tables,tables/table_002,,tables/table_002/table_002.usd,,,1000,true,table,table asset with texture choices,

PUBLIC_OBJECTS/evaluation_assets/containers/basket_001/basket_001.urdf

@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_001">
+    <link name="basket_001">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/basket_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/basket_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+            <gazebo>
+                <mu1>0.50</mu1> 
+                <mu2>0.40</mu2> 
+            </gazebo>
+        </collision>
+        <inertial>
+            <mass value="0.6000" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+        </inertial>
+        <extra_info>
+            <scale>0.405286</scale>
+            <version>v0.1.6</version>
+            <category>storage basket</category>
+            <description>rectangular plastic basket with perforated sides and integrated handles</description>
+            <uuid>265bef91f5515b8faaffd86b86a4cdb6</uuid>
+            <min_height>0.2</min_height>
+            <max_height>0.25</max_height>
+            <real_height>0.225</real_height>
+            <min_mass>0.4</min_mass>
+            <max_mass>0.8</max_mass>
+            <generate_time>20260202200636</generate_time>
+            <gs_model>""</gs_model>
+        </extra_info>
+    </link>
+</robot>

PUBLIC_OBJECTS/evaluation_assets/containers/basket_001/interaction.json

@@ -0,0 +1,65 @@
+{
+    "interaction": {
+        "passive": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.0,
+                            0.0,
+                            0.08
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ],
+                "left": [
+                    {
+                        "xyz": [
+                            0.06,
+                            0.0,
+                            0.08
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ],
+                "right": [
+                    {
+                        "xyz": [
+                            -0.06,
+                            0.0,
+                            0.08
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        }
+    }
+}

PUBLIC_OBJECTS/evaluation_assets/containers/basket_001/mesh/basket_001.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/basket_002/basket_002.urdf

@@ -0,0 +1,39 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_002">
+    <link name="basket_002">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/basket_002.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/basket_002.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+            <gazebo>
+                <mu1>0.50</mu1> 
+                <mu2>0.40</mu2> 
+            </gazebo>
+        </collision>
+        <inertial>
+            <mass value="0.6000" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+        </inertial>
+        <extra_info>
+            <scale>0.405286</scale>
+            <version>v0.1.6</version>
+            <category>storage basket</category>
+            <description>rectangular plastic basket with perforated sides and integrated handles</description>
+            <min_height>0.2</min_height>
+            <max_height>0.25</max_height>
+            <real_height>0.225</real_height>
+            <min_mass>0.4</min_mass>
+            <max_mass>0.8</max_mass>
+            <generate_time>20260202200636</generate_time>
+            <gs_model>""</gs_model>
+        <uuid>0c08b0f7103555b4b1341bef9a303215</uuid></extra_info>
+    </link>
+</robot>

PUBLIC_OBJECTS/evaluation_assets/containers/basket_002/interaction.json

@@ -0,0 +1,65 @@
+{
+    "interaction": {
+        "passive": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.0,
+                            0.0,
+                            0.08
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ],
+                "left": [
+                    {
+                        "xyz": [
+                            0.06,
+                            0.0,
+                            0.08
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ],
+                "right": [
+                    {
+                        "xyz": [
+                            -0.06,
+                            0.0,
+                            0.08
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        }
+    }
+}

PUBLIC_OBJECTS/evaluation_assets/containers/basket_002/mesh/basket_002.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/mug_001/interaction.json

@@ -0,0 +1,147 @@
+{
+    "interaction": {
+        "active": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            2.1468584024970438e-07,
+                            8.675736417405516e-09,
+                            2.7199715315005294e-07
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        },
+        "passive": {
+            "pick": {
+                "body": [
+                    {
+                        "xyz": [
+                            2.1468584024970438e-07,
+                            8.675736417405516e-09,
+                            2.7199715315005294e-07
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            1.0,
+                            0.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+y"
+                    },
+                    {
+                        "xyz": [
+                            2.1468584024970438e-07,
+                            8.675736417405516e-09,
+                            2.7199715315005294e-07
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            2.1468584024970438e-07,
+                            8.675736417405516e-09,
+                            2.7199715315005294e-07
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+x"
+                    },
+                    {
+                        "xyz": [
+                            2.1468584024970438e-07,
+                            8.675736417405516e-09,
+                            2.7199715315005294e-07
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            2.1468584024970438e-07,
+                            8.675736417405516e-09,
+                            2.7199715315005294e-07
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+x"
+                    },
+                    {
+                        "xyz": [
+                            2.1468584024970438e-07,
+                            8.675736417405516e-09,
+                            2.7199715315005294e-07
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            1.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+y"
+                    }
+                ]
+            }
+        }
+    }
+}

PUBLIC_OBJECTS/evaluation_assets/containers/mug_001/mesh/mug_001.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.63921569 0.63921569 0.63921569
+Ks 0.50196078 0.50196078 0.50196078
+Ns 96.07843100
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/mug_001/mug_001.urdf

@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_001">
+    <link name="mug_001">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/mug_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/mug_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+            <gazebo>
+                <mu1>0.40</mu1> 
+                <mu2>0.30</mu2> 
+            </gazebo>
+        </collision>
+        <inertial>
+            <mass value="0.3000" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+        </inertial>
+        <extra_info>
+            <scale>0.125785</scale>
+            <version>v0.1.6</version>
+            <category>enamel mug</category>
+            <description>red enamel-coated mug with speckled pattern and a cylindrical body.</description>
+            <uuid>7aebf2d8835851d09705f5f899a28b39</uuid>
+            <min_height>0.08</min_height>
+            <max_height>0.12</max_height>
+            <real_height>0.1</real_height>
+            <min_mass>0.2</min_mass>
+            <max_mass>0.4</max_mass>
+            <generate_time>20251211153237</generate_time>
+            <gs_model>""</gs_model>
+        </extra_info>
+    </link>
+</robot>

PUBLIC_OBJECTS/evaluation_assets/containers/plate_001/interaction.json

@@ -0,0 +1,27 @@
+{
+    "interaction": {
+        "passive": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.0,
+                            0.0,
+                            0.0
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],                        
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        }
+    }
+}

PUBLIC_OBJECTS/evaluation_assets/containers/plate_001/mesh/plate_001.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

PUBLIC_OBJECTS/evaluation_assets/containers/plate_001/plate_001.urdf

@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model">
+    <link name="model">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/plate_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/plate_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+            <gazebo>
+                <mu1>0.50</mu1> 
+                <mu2>0.40</mu2> 
+            </gazebo>
+        </collision>
+        <inertial>
+            <mass value="0.8000" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+        </inertial>
+        <extra_info>
+            <scale>0.275520</scale>
+            <version>v0.1.6</version>
+            <category>round plate</category>
+            <description>white ceramic dinner plate with red circular stripes</description>
+            <uuid>eac9b105495c5943ab8d2bb075c460c0</uuid>
+            <min_height>0.25</min_height>
+            <max_height>0.3</max_height>
+            <real_height>0.275</real_height>
+            <min_mass>0.6</min_mass>
+            <max_mass>1.0</max_mass>
+            <generate_time>20260204211708</generate_time>
+            <gs_model>""</gs_model>
+        </extra_info>
+    </link>
+</robot>

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/interaction.json

@@ -0,0 +1,65 @@
+{
+    "interaction": {
+        "passive": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            0.0,
+                            0.0,
+                            0.13
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ],
+                "left": [
+                    {
+                        "xyz": [
+                            0.00,
+                            0.06,
+                            0.13
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ],
+                "right": [
+                    {
+                        "xyz": [
+                            0.0,
+                            -0.06,
+                            0.13
+                        ],
+                        "direction": [
+                            0.0,
+                            0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            -1.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        }
+    }
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/mesh/tray_001.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/tray_001.urdf

@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_001">
+    <link name="tray_001">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/tray_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+                <mesh filename="mesh/tray_001.obj" scale="1.0 1.0 1.0" />
+            </geometry>
+            <gazebo>
+                <mu1>0.50</mu1> 
+                <mu2>0.40</mu2> 
+            </gazebo>
+        </collision>
+        <inertial>
+            <mass value="0.5000" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+        </inertial>
+        <extra_info>
+            <scale>0.025000</scale>
+            <version>v0.1.5</version>
+            <category>rectangular plate</category>
+            <description>glossy white rectangular plate with slightly raised edges</description>
+            <uuid>c225b5352a135bdfa0eb54b012ac3153</uuid>
+            <min_height>0.02</min_height>
+            <max_height>0.03</max_height>
+            <real_height>0.025</real_height>
+            <min_mass>0.4</min_mass>
+            <max_mass>0.6</max_mass>
+            <generate_time>20260105170937</generate_time>
+            <gs_tray_001>""</gs_tray_001>
+        </extra_info>
+    </link>
+</robot>

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/blue/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/blue/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "blue",
+  "prompt": "Polished silver tray with reflective surface and elegant oval shape."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/brass/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/brass/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "brass",
+  "prompt": "Golden brass tray with shiny metallic finish and vintage-inspired round shape."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/glass/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/glass/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "glass",
+  "prompt": "Frosted glass tray with translucent surface and contemporary square form."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/glossy-2/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/glossy-2/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "glossy-2",
+  "prompt": "Vibrant teal acrylic tray with glossy finish and playful geometric design."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/glossy/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/glossy/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "glossy",
+  "prompt": "Glossy white ceramic tray with minimalist curved edges and clean look."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/gray/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/gray/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "gray",
+  "prompt": "Textured gray concrete tray with industrial vibe and sturdy rectangular build."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/matte/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/matte/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "matte",
+  "prompt": "Matte black metal tray with sleek modern rectangular design."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/natural/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/natural/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "natural",
+  "prompt": "Natural bamboo tray with warm earthy tones and smooth finish."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/plastic/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/plastic/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "plastic",
+  "prompt": "Soft pastel pink plastic tray with lightweight feel and rounded corners."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/slug_to_prompt.json

@@ -0,0 +1,12 @@
+{
+  "matte": "Matte black metal tray with sleek modern rectangular design.",
+  "natural": "Natural bamboo tray with warm earthy tones and smooth finish.",
+  "glossy": "Glossy white ceramic tray with minimalist curved edges and clean look.",
+  "blue": "Deep navy blue tray with satin finish and bold contemporary style.",
+  "plastic": "Soft pastel pink plastic tray with lightweight feel and rounded corners.",
+  "walnut": "Rich walnut wood tray with deep brown hues and rustic texture.",
+  "glass": "Frosted glass tray with translucent surface and contemporary square form.",
+  "glossy-2": "Vibrant teal acrylic tray with glossy finish and playful geometric design.",
+  "gray": "Textured gray concrete tray with industrial vibe and sturdy rectangular build.",
+  "brass": "Golden brass tray with shiny metallic finish and vintage-inspired round shape."
+}

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/walnut/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

PUBLIC_OBJECTS/evaluation_assets/containers/tray_001/variants/walnut/meta.json

@@ -0,0 +1,4 @@
+{
+  "slug": "walnut",
+  "prompt": "Rich walnut wood tray with deep brown hues and rustic texture."
+}

PUBLIC_OBJECTS/evaluation_assets/electronics/mouse_001/interaction.json

@@ -0,0 +1,128 @@
+{
+    "interaction": {
+        "active": {
+            "place": {
+                "body": [
+                    {
+                        "xyz": [
+                            -3.1925579597035467e-09,
+                            2.8531687965563644e-09,
+                            1.4444062202888373e-09
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ]
+                    }
+                ]
+            }
+        },
+        "passive": {
+            "pick": {
+                "body": [
+                    {
+                        "xyz": [
+                            -3.1925579597035467e-09,
+                            2.8531687965563644e-09,
+                            1.4444062202888373e-09
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            1.0,
+                            0.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+y"
+                    },
+                    {
+                        "xyz": [
+                            -3.1925579597035467e-09,
+                            2.8531687965563644e-09,
+                            1.4444062202888373e-09
+                        ],
+                        "direction": [
+                            -1.0,
+                            -0.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-x",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            -3.1925579597035467e-09,
+                            2.8531687965563644e-09,
+                            1.4444062202888373e-09
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+x"
+                    },
+                    {
+                        "xyz": [
+                            -3.1925579597035467e-09,
+                            2.8531687965563644e-09,
+                            1.4444062202888373e-09
+                        ],
+                        "direction": [
+                            -0.0,
+                            -1.0,
+                            -0.0
+                        ],
+                        "ref_frame": [
+                            0.0,
+                            0.0,
+                            1.0
+                        ],
+                        "dir_axis": "-y",
+                        "ref_axis": "+z"
+                    },
+                    {
+                        "xyz": [
+                            -3.1925579597035467e-09,
+                            2.8531687965563644e-09,
+                            1.4444062202888373e-09
+                        ],
+                        "direction": [
+                            -0.0,
+                            -0.0,
+                            -1.0
+                        ],
+                        "ref_frame": [
+                            1.0,
+                            0.0,
+                            0.0
+                        ],
+                        "dir_axis": "-z",
+                        "ref_axis": "+x"
+                    }
+                ]
+            }
+        }
+    }
+}

PUBLIC_OBJECTS/evaluation_assets/electronics/mouse_001/mesh/mouse_001.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png