Add environment `test`

.gitattributes

@@ -58,3 +58,16 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 *.tfrecord* filter=lfs diff=lfs merge=lfs -text
+test/assets/ajay_setup_zed_world/splat.ply filter=lfs diff=lfs merge=lfs -text
+test/assets/ajay_setup_zed_world/untextured.glb filter=lfs diff=lfs merge=lfs -text
+test/assets/ajay_setup_zed_world/mesh.usd filter=lfs diff=lfs merge=lfs -text
+test/assets/ajay_setup_zed_world/mesh.glb filter=lfs diff=lfs merge=lfs -text
+test/assets/ajay_setup_zed_world/untextured.usd filter=lfs diff=lfs merge=lfs -text
+test/assets/blue_plate/gaussian.ply filter=lfs diff=lfs merge=lfs -text
+test/assets/blue_plate/mesh.ply filter=lfs diff=lfs merge=lfs -text
+test/assets/blue_plate/mesh.usd filter=lfs diff=lfs merge=lfs -text
+test/assets/blue_plate/mesh.glb filter=lfs diff=lfs merge=lfs -text
+test/assets/coke/gaussian.ply filter=lfs diff=lfs merge=lfs -text
+test/assets/coke/mesh.ply filter=lfs diff=lfs merge=lfs -text
+test/assets/coke/mesh.usd filter=lfs diff=lfs merge=lfs -text
+test/assets/coke/mesh.glb filter=lfs diff=lfs merge=lfs -text

test/assets/ajay_setup_zed_world/.asset_hash

@@ -0,0 +1 @@
+8f5acc8efc0ed9de41d056298ef6a5bb

test/assets/ajay_setup_zed_world/config.yaml

@@ -0,0 +1,47 @@
+asset_path: /home/arhan/projects/real2simeval/data/assets/ajay_setup_zed_world/untextured.glb
+usd_dir: /home/arhan/projects/real2simeval/data/assets/ajay_setup_zed_world
+usd_file_name: untextured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 1.0
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+collision_approximation: meshSimplification
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation: !!python/tuple
+- 1.0
+- 0.0
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2025-11-06 at 22:54:38.
+##

test/assets/ajay_setup_zed_world/mesh.glb

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+size 328080

test/assets/ajay_setup_zed_world/mesh.usd

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+size 956843

test/assets/ajay_setup_zed_world/splat.ply

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+size 133116027

test/assets/ajay_setup_zed_world/untextured.glb

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+size 202836

test/assets/ajay_setup_zed_world/untextured.usd

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+size 439483

test/assets/blue_plate/.asset_hash

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+bbfeeeccede4b0d5a2cc979a8ff00abb

test/assets/blue_plate/config.yaml

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+asset_path: /home/arhan/projects/real2simeval/data/assets/blue_plate/mesh.glb
+usd_dir: /home/arhan/projects/real2simeval/data/assets/blue_plate
+usd_file_name: mesh.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 1.0
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+collision_approximation: meshSimplification
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation:
+- 0.7071067690849304
+- 0.7071067690849304
+- 0.0
+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2025-10-12 at 18:32:13.
+##

test/assets/blue_plate/gaussian.ply

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+size 23703584

test/assets/blue_plate/mesh.glb

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+size 8683660

test/assets/blue_plate/mesh.ply

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+size 6211084

test/assets/blue_plate/mesh.usd

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+size 10805226

test/assets/coke/.asset_hash

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test/assets/coke/config.yaml

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+asset_path: /home/arhan/projects/real2simeval/data/assets/coke/mesh.glb
+usd_dir: /home/arhan/projects/real2simeval/data/assets/coke
+usd_file_name: mesh.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 1.0
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+collision_approximation: meshSimplification
+translation: !!python/tuple
+- 0.0
+- 0.0
+- 0.0
+rotation:
+- 0.7071067690849304
+- 0.7071067690849304
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+- 0.0
+scale: !!python/tuple
+- 1.0
+- 1.0
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+##
+# Generated by MeshConverter on 2025-10-12 at 18:32:21.
+##

test/assets/coke/gaussian.ply

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+version https://git-lfs.github.com/spec/v1
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+size 4985631

test/assets/coke/mesh.glb

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test/assets/coke/mesh.ply

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+size 1601960

test/assets/coke/mesh.usd

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+size 2818827

test/initial_conditions.json

@@ -0,0 +1,125 @@
+{
+  "instruction": "Put the can on the plate",
+  "poses": [
+    {
+      "blue_plate": [
+        0.5820386503118492,
+        0.01394215998483006,
+        0.10969892305394564,
+        0.5635622292398146,
+        0.3995096233020171,
+        0.41815359005639297,
+        0.5898620599651082
+      ],
+      "coke": [
+        0.42310810896024387,
+        0.1749747968176451,
+        0.11801640994568398,
+        0,
+        0,
+        0.25440059032459816,
+        -0.967098929604669
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+    {
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+        0.4251757645068461,
+        0.05997892582798153,
+        0.15198530392057538,
+        0.4230918230730563,
+        0.5460802455549794,
+        0.5715642423087992,
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+      "coke": [
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+        -0.11997425800298361,
+        0.11800010256177404,
+        0,
+        0,
+        -0.6594386302160637,
+        0.7517584006705628
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+  ]
+}

test/scene.json

@@ -0,0 +1,68 @@
+{
+  "version": 1,
+  "assets": [
+    {
+      "id": "asset_1765709107159_ykqhchs2n",
+      "name": "ajay_setup_zed_world",
+      "mainFile": "ajay_setup_zed_world/untextured.usd",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "rotation": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "scale": {
+        "x": 1,
+        "y": 1,
+        "z": 1
+      },
+      "disableGravity": true
+    },
+    {
+      "id": "asset_1765709107425_iit62kptc",
+      "name": "blue_plate",
+      "mainFile": "blue_plate/mesh.usd",
+      "position": {
+        "x": 0.43136707338280655,
+        "y": 0.14387750535992336,
+        "z": -0.058415086150847895
+      },
+      "rotation": {
+        "x": 1.5254829014174378,
+        "y": 0.0050624442830902346,
+        "z": -0.11118325843492384
+      },
+      "scale": {
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+        "y": 0.2626128657194193,
+        "z": 0.2626128657194193
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+      "disableGravity": false
+    },
+    {
+      "id": "asset_1765709128359_i4qb30w8e",
+      "name": "coke",
+      "mainFile": "coke/mesh.usd",
+      "position": {
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+        "y": 0.11803628325432187,
+        "z": -0.033982496091759185
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+        "y": 0.2748737083745387,
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+      "disableGravity": false
+    }
+  ]
+}

test/scene.usda

@@ -0,0 +1,41 @@
+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+
+    def Xform "ajay_setup_zed_world" (
+        prepend references = @./assets/ajay_setup_zed_world/untextured.usd@
+    )
+    {
+        bool physics:kinematicEnabled = true
+        double3 xformOp:translate = (0, 0, 0)
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def Xform "blue_plate" (
+        prepend references = @./assets/blue_plate/mesh.usd@
+    )
+    {
+        double3 xformOp:translate = (0.43136707338280655, 0.058415086150847895, 0.14387750535992336)
+        quatd xformOp:orient = (0.7219226862739504, 0.6897347465260076, 0.03842271166085148, 0.04021578926658537)
+        float3 xformOp:scale = (0.2626128657194193, 0.2626128657194193, 0.2626128657194193)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def Xform "coke" (
+        prepend references = @./assets/coke/mesh.usd@
+    )
+    {
+        double3 xformOp:translate = (0.40271094835461024, 0.033982496091759185, 0.11803628325432187)
+        quatd xformOp:orient = (0.8943222641431272, 0, 0, -0.4474233876966104)
+        float3 xformOp:scale = (0.2748737083745387, 0.2748737083745387, 0.2748737083745387)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}