Add SimCode4D runtime assets 4/13

data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_091_BoulderFactory(543568399)_spawn_placeholder(80).obj

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+# C2W export: BoulderFactory(543568399).spawn_placeholder(80).001 (92v 90f)
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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_092_BoulderFactory(543568399)_spawn_placeholder(81).obj

@@ -0,0 +1,441 @@
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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_093_BoulderFactory(543568399)_spawn_placeholder(82).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_094_BoulderFactory(543568399)_spawn_placeholder(83).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_095_BoulderFactory(543568399)_spawn_placeholder(84).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_098_BoulderFactory(543568399)_spawn_placeholder(87).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_100_BoulderFactory(543568399)_spawn_placeholder(89).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_102_BoulderFactory(543568399)_spawn_placeholder(90).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_103_BoulderFactory(543568399)_spawn_placeholder(91).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_104_BoulderFactory(543568399)_spawn_placeholder(92).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_105_BoulderFactory(543568399)_spawn_placeholder(93).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_106_BoulderFactory(543568399)_spawn_placeholder(94).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_107_BoulderFactory(543568399)_spawn_placeholder(95).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_109_BoulderFactory(543568399)_spawn_placeholder(97).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_110_BoulderFactory(543568399)_spawn_placeholder(98).obj

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data/runtime/assets/nat01_meshes/prop_concave_large/prop_concave_large_111_BoulderFactory(543568399)_spawn_placeholder(99).obj

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data/runtime/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_enriched.xml

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+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
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+    <geom name="prop_concave_large_010_NatureShelfTrinketsFactory(7330329)_spawn_asset(5605441)" type="box" pos="11.683038 1.699951 0.715253" size="0.065448 0.057043 0.019313" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_011_NatureShelfTrinketsFactory(7597836)_spawn_asset(9528118)" type="box" pos="11.619063 3.970124 0.644887" size="0.047371 0.055515 0.040226" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_012_NatureShelfTrinketsFactory(7775217)_spawn_asset(2021457)" type="box" pos="11.735563 2.745263 1.883516" size="0.035466 0.050498 0.028979" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml

@@ -0,0 +1,77 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="floor_00" type="box" pos="8.067328 -0.250000 0.134657" size="0.932672 2.115343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_01" type="box" pos="3.750000 1.567329 0.128334" size="3.115343 3.432671 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_02" type="box" pos="7.932672 11.682672 0.134657" size="2.932672 2.682672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_03" type="box" pos="2.567328 12.000000 0.134657" size="2.432672 2.865343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_04" type="box" pos="6.067328 4.567328 0.134671" size="5.932672 4.432672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="8.000000 -0.250000 2.841525" size="0.865343 2.115343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_03" type="box" pos="3.750000 1.500000 2.847848" size="3.115343 3.365343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_06" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_07" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_08" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_09" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_10" type="box" pos="1.508270 7.784414 2.803499" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_11" type="box" pos="7.864501 7.822870 2.803533" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_12" type="box" pos="8.858983 6.494686 2.803618" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_13" type="box" pos="10.484507 3.336327 2.803633" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_14" type="box" pos="8.000000 11.750000 2.841525" size="2.865343 2.615343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_20" type="box" pos="2.500000 12.000000 2.841525" size="2.365343 2.865343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_27" type="box" pos="6.000014 4.500028 2.841511" size="5.865357 4.365371 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_46" type="box" pos="0.200246 12.606551 1.612692" size="0.113633 1.724704 0.577052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_47" type="box" pos="10.268782 0.221279 1.612692" size="1.032094 0.123587 0.567085" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_48" type="box" pos="11.504667 8.865343 1.612692" size="0.310587 0.048224 0.566347" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_49" type="box" pos="-0.134657 6.616748 1.612692" size="0.047080 0.554498 0.578489" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_50" type="box" pos="10.865343 12.017402 1.612692" size="0.051632 0.980857 0.580569" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_51" type="box" pos="8.657573 14.301145 1.612692" size="1.115823 0.093839 0.571772" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_52" type="box" pos="1.779625 14.865343 1.612692" size="1.255290 0.036613 0.579883" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_53" type="box" pos="0.719665 0.973875 1.612692" size="0.098047 0.347702 0.564146" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_55" type="box" pos="8.145028 -2.365343 1.612692" size="0.539432 0.038521 0.575122" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_56" type="box" pos="8.865343 -1.584380 1.612692" size="0.044263 0.675119 0.583133" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_59" type="box" pos="3.468543 -1.779490 1.612692" size="0.366064 0.095106 0.565052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_60" type="box" pos="5.448463 -1.865343 1.612692" size="1.010812 0.045593 0.569298" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_61" type="box" pos="0.634657 3.379360 1.612692" size="0.049008 0.447093 0.570971" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_concave_large_000_CellShelfFactory(2594816)_spawn_asset(6129099)" type="box" pos="2.207316 5.204681 0.134673" size="0.924416 0.198892 0.923665" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_001_CellShelfFactory(3658341)_spawn_asset(2973726)" type="box" pos="8.028561 2.204621 0.135059" size="0.699549 0.223240 0.922099" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_CellShelfFactory(919564)_spawn_asset(4008509)" type="box" pos="11.795400 3.224719 0.134657" size="0.162436 1.066539 1.065789" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_LargePlantContainerFactory(8956576)_spawn_asset(5265333)" type="box" pos="0.673025 8.332573 0.154657" size="0.263277 0.263277 0.732637" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_LargeShelfFactory(1909210)_spawn_asset(4134768)" type="box" pos="9.070370 8.660480 0.134744" size="0.785156 0.130812 1.015761" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_MirrorFactory(8331394)_spawn_asset(7883318)" type="box" pos="7.144657 4.277977 1.641470" size="0.008518 0.442231 0.258499" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_006_NatureShelfTrinketsFactory(1091087)_spawn_asset(7297279)" type="box" pos="9.710155 8.672622 1.594450" size="0.072735 0.059492 0.057425" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_007_NatureShelfTrinketsFactory(2360152)_spawn_asset(6010769)" type="box" pos="11.671710 3.321193 1.078800" size="0.074880 0.022258 0.040052" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_008_NatureShelfTrinketsFactory(2993447)_spawn_asset(8887566)" type="box" pos="11.594666 1.845038 0.715467" size="0.017762 0.056553 0.065661" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_009_NatureShelfTrinketsFactory(5228049)_spawn_asset(7578459)" type="box" pos="9.648227 8.685778 1.902127" size="0.057532 0.044511 0.059137" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_010_NatureShelfTrinketsFactory(7330329)_spawn_asset(5605441)" type="box" pos="11.683038 1.699951 0.715253" size="0.065448 0.057043 0.019313" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_011_NatureShelfTrinketsFactory(7597836)_spawn_asset(9528118)" type="box" pos="11.619063 3.970124 0.644887" size="0.047371 0.055515 0.040226" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_012_NatureShelfTrinketsFactory(7775217)_spawn_asset(2021457)" type="box" pos="11.735563 2.745263 1.883516" size="0.035466 0.050498 0.028979" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <body name="robot" pos="8.5 5.5 0.16">
+    <freejoint/>
+    <geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800"/>
+    <geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.75 0.76 0.78 1" condim="3" density="200"/>
+    <geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" contype="0" conaffinity="0"/>
+  </body>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/indoor-1_vacuum_real/scene_SOURCE.txt

@@ -0,0 +1,4 @@
+Original scene.blend (BEFORE Module-1) lives at:
+../../infinigen/outputs/scene_singleroom_lr/coarse/scene.blend (467MB, Infinigen coarse)
+(Not copied here because it is large / shared; Module-1 output above is what
+SimCode4D consumes and is fully self-contained.)

data/runtime/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/M1/module1/scene_enriched.xml

@@ -0,0 +1,66 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
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+    <geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/scene_SOURCE.txt

@@ -0,0 +1,4 @@
+Original scene.blend (BEFORE Module-1) lives at:
+../../infinigen/outputs/scene_singleroom_lr/coarse/scene.blend (shared with indoor-1)
+(Not copied here because it is large / shared; Module-1 output above is what
+SimCode4D consumes and is fully self-contained.)

data/runtime/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_enriched.xml

@@ -0,0 +1,49 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
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+    <geom name="floor_04" type="box" pos="9.324207 9.175794 0.145185" size="5.675793 4.175794 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
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+    <geom name="wall_03" type="box" pos="12.250000 2.750000 2.784819" size="3.101587 3.101587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
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+    <geom name="prop_concave_large_001_LargeShelfFactory(7187033)_spawn_asset(5070133)" type="box" pos="8.644208 4.475750 0.148413" size="0.133380 0.175760 0.765355" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_LargeShelfFactory(847080)_spawn_asset(5034982)" type="box" pos="8.619232 2.865427 0.148413" size="0.158355 0.168051 0.959519" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_MirrorFactory(2662507)_spawn_asset(2274093)" type="box" pos="8.841587 3.786969 2.061996" size="0.007990 0.256776 0.299212" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_NatureShelfTrinketsFactory(321562)_spawn_asset(3131955)" type="box" pos="8.561434 2.853782 0.681814" size="0.069747 0.064521 0.061916" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_NatureShelfTrinketsFactory(4213378)_spawn_asset(8334249)" type="box" pos="8.548280 2.850620 1.774693" size="0.072589 0.068014 0.070088" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_006_NatureShelfTrinketsFactory(9699418)_spawn_asset(1239099)" type="box" pos="8.703764 2.832126 1.767840" size="0.050332 0.065736 0.050798" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_007_SingleCabinetFactory(224372)_spawn_asset(6792200)" type="box" pos="6.878554 4.582326 0.148413" size="0.160474 0.204718 0.741438" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml

@@ -0,0 +1,56 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0"/>
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true"
+           diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2"/>
+    <geom name="floor_00" type="box" pos="7.750000 3.574207 0.148413" size="1.101587 1.425793 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_01" type="box" pos="12.250000 2.824207 0.140551" size="3.101587 3.175793 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_02" type="box" pos="9.500000 11.000000 0.148402" size="2.000000 2.351587 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_03" type="box" pos="4.324207 11.000000 0.148402" size="3.175793 2.351587 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_04" type="box" pos="9.324207 9.175794 0.145185" size="5.675793 4.175794 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="7.750000 3.500000 2.776957" size="1.101587 1.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_03" type="box" pos="12.250000 2.750000 2.784819" size="3.101587 3.101587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_06" type="box" pos="0.000000 0.000000 -0.039925" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_07" type="box" pos="0.000000 0.000000 -0.039925" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_08" type="box" pos="6.954263 4.282712 2.737032" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_09" type="box" pos="7.915145 2.747007 2.737032" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_10" type="box" pos="9.500000 11.000000 2.776968" size="1.851587 2.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_16" type="box" pos="4.250000 11.000000 2.776968" size="3.101587 2.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_20" type="box" pos="9.250000 9.250000 2.780185" size="5.601587 4.101587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_43" type="box" pos="2.189788 8.714774 1.492194" size="0.994565 0.116563 0.529545" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_44" type="box" pos="4.346774 13.351587 1.492194" size="0.558063 0.051717 0.527254" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_45" type="box" pos="3.648413 12.730551 1.492194" size="0.052367 0.497273 0.520375" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_46" type="box" pos="2.162191 11.291154 1.492194" size="0.507483 0.099226 0.532248" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_47" type="box" pos="1.148413 10.002422 1.492194" size="0.057953 1.277529 0.532302" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_48" type="box" pos="13.535239 13.351587 1.492194" size="0.791399 0.058238 0.524367" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_49" type="box" pos="3.351587 7.978843 1.492194" size="0.048630 0.321001 0.517296" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_50" type="box" pos="9.564028 13.351587 1.492194" size="0.991946 0.050452 0.534947" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_51" type="box" pos="8.179374 2.148413 1.492194" size="0.534065 0.038233 0.528951" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_52" type="box" pos="6.710470 3.282030 1.492194" size="0.092335 0.606077 0.528420" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_53" type="box" pos="10.313417 -0.351587 1.492194" size="0.799551 0.045037 0.521486" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_58" type="box" pos="15.351587 4.338172 1.492194" size="0.038160 1.137850 0.528902" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_59" type="box" pos="9.148413 0.912998 1.492194" size="0.057174 0.631328 0.523344" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_concave_large_000_CellShelfFactory(553940)_spawn_asset(1582230)" type="box" pos="8.781588 3.708113 0.148413" size="0.216480 0.592551 0.775801" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_001_LargeShelfFactory(7187033)_spawn_asset(5070133)" type="box" pos="8.644208 4.475750 0.148413" size="0.133380 0.175760 0.765355" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_LargeShelfFactory(847080)_spawn_asset(5034982)" type="box" pos="8.619232 2.865427 0.148413" size="0.158355 0.168051 0.959519" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_MirrorFactory(2662507)_spawn_asset(2274093)" type="box" pos="8.841587 3.786969 2.061996" size="0.007990 0.256776 0.299212" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_NatureShelfTrinketsFactory(321562)_spawn_asset(3131955)" type="box" pos="8.561434 2.853782 0.681814" size="0.069747 0.064521 0.061916" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_NatureShelfTrinketsFactory(4213378)_spawn_asset(8334249)" type="box" pos="8.548280 2.850620 1.774693" size="0.072589 0.068014 0.070088" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_006_NatureShelfTrinketsFactory(9699418)_spawn_asset(1239099)" type="box" pos="8.703764 2.832126 1.767840" size="0.050332 0.065736 0.050798" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_007_SingleCabinetFactory(224372)_spawn_asset(6792200)" type="box" pos="6.878554 4.582326 0.148413" size="0.160474 0.204718 0.741438" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+
+  <body name="robot" pos="5.0 9.0 0.16">
+    <freejoint/>
+    <geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800"/>
+    <geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.14 0.14 0.16 1" condim="3" density="200"/>
+    <geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200"/>
+  </body>
+  </worldbody>
+</mujoco>

data/runtime/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/scene_SOURCE.txt

@@ -0,0 +1,11 @@
+Original scene.blend (BEFORE Module-1) lives at:
+../../Code2Worlds/infinigen/outputs/scene_indoor2/fine/scene.blend
+(162 MB, Infinigen "fine" scene_indoor2 - 5 rooms: bathroom/bedroom/
+dining-room/kitchen/living-room, 60 walls. Not copied here because it is
+large; the Module-1 output above is what SimCode4D consumes and is
+self-contained.)
+
+NOTE: an earlier revision of this file pointed at workspace/indoor2.blend
+(2 MB). That is a DIFFERENT scene - it contains none of the room/object
+names in M1/manifest.json - and is not the source of this case. The
+authoritative record is M1/manifest.json -> "blend".