Asset Readiness Classification
This document defines how to judge whether an asset is ready for robotics placement-task data generation.
Readiness must be evaluated against a target task, robot embodiment, simulator, policy, reset logic, success verifier, and data-recording pipeline. File format alone is not enough: an asset with URDF or MJCF files may still be missing collision, dynamics, semantic frames, or policy-compatible task definitions.
Levels
| Level | Meaning | Typical required work before production |
|---|---|---|
| L0 | Production-ready for the target task and policy. The asset loads, simulates stably, passes strict success verification, and can generate replayable episodes. | Register provenance, add to the correct environment/task bucket, run batch physics, policy, verifier, and replay acceptance tests. |
| L1 | Complete simulation asset in its original simulator, but not yet adapted to this repository's downstream task contract. | Convert/adapt format, normalize scale and coordinates, map joints/sites/actuators/sensors to policy inputs and task semantics, then run L0 acceptance. |
| L2 | Articulated structure exists, but physics or task information is incomplete. | Validate joint origin/axis/range, collision, mass/inertia, damping/friction, handles/grasp frames, actuator/sensor definitions, task success/failure conditions. |
| L3 | Movable parts are separated, but no reliable joint model exists. | Build body/link tree, infer or author pivot/axis/range, create collision proxies and dynamics, then complete L2/L1 work. |
| L4 | Complete static object, but movable parts are not separated. | Segment movable parts, repair holes, rebuild local frames and pivots, then complete L3/L2/L1 work. |
| L5 | Raw, incomplete, unassembled, or inconsistent static meshes. | Audit source/license, repair geometry, deduplicate, recover scale/orientation, assemble parts, then progressively upgrade. |
Rules
- Assign the highest level the asset currently satisfies, not the level it could reach after future work.
- Unknown information counts as not satisfied.
- Technical readiness and license readiness are separate. An asset can be technically L1 but blocked from redistribution or production by license terms.
- Every upgrade should preserve:
- source asset ID
- source URL
- license and license snapshot if available
- conversion tool/version
- conversion parameters
- generated file hashes
- validation results
Current repository status
| Source | Stored asset group | Current technical level | Notes |
|---|---|---|---|
| RoboCasa | assets/robocasa/raw/fixtures/dishwashers/ |
L1 candidate | Complete MJCF dishwasher fixtures used by RoboCasa/robosuite. Still needs downstream task/policy-specific L0 validation. |
| DISCOVERSE | assets/discoverse/raw/collections/models/discoverse_models/ |
L1/L2 candidate by subasset | Preserved upstream models/ tree. Some files are complete task environments; individual MJCF/URDF assets should be promoted individually after task-specific validation. |
| TinyForge | link-only placeholder | not classified | No physical asset imported yet. |
| Hunter | link-only placeholder | not classified | No physical asset imported yet. |
| Third-party sites | link-only candidates | not classified | Import only exact used assets after license/provenance review. |