HorizonRobotics/sim_task_suite_eval_assets

Evaluation Assets

Simulation asset suite for embodied and robotics evaluation.

The dataset viewer on this page is backed by 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 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.

Some individual assets may carry additional third-party notices or attribution requirements. See 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.