HorizonRobotics/sim_task_suite_eval_assets

---
license: apache-2.0
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.

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.

## 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.