| # Asset Readiness Classification |
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| This document defines how to judge whether an asset is ready for robotics placement-task data generation. |
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| 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. |
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| ## Levels |
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| | 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. | |
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| ## Rules |
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| - 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 |
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| ## Current repository status |
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| | 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. | |
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