Organize scene assets and expose runtime files

README.md

@@ -20,68 +20,71 @@ configs:
 
 # SimCode4D DEV15
 
-SimCode4D is the 15-scene **development benchmark** for [Code2Worlds-2](https://github.com/AIGeeksGroup/Code2Worlds-2). It spans indoor, industrial, natural outdoor, service, and urban worlds (three scenes per domain). The table in Data Studio is a searchable scene index, not a leaderboard or a set of model outputs.
+SimCode4D is the 15-scene **development benchmark** for [Code2Worlds-2](https://github.com/AIGeeksGroup/Code2Worlds-2). It contains three scenes in each of five domains: indoor, industrial, natural outdoor, service, and urban. The Data Studio table is a searchable scene index, not a leaderboard or method result.
 
-This repository holds **benchmark data**: prompts, 15 portable MuJoCo scene models with required mesh assets, 12 archived Blender authoring projects, and 18 approved scene previews. The benchmark evaluator, submission API, validators, and metric implementations live in the [Code2Worlds-2 GitHub repository](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/benchmark/simcode4d_unified).
+This repository provides the scene prompts, 15 directly browsable MuJoCo runtime worlds and their required assets, 12 archived Blender authoring projects, and 18 Blender animation frames from six scenes. The [benchmark evaluator and metric definitions](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/benchmark/simcode4d_unified) are maintained on GitHub.
 
-## What is included
-
-| Domain | Scenes | Per-scene preview files |
-| --- | ---: | --- |
-| Indoor | 3 | Not published |
-| Industrial | 3 | Not published |
-| Natural outdoor | 3 | [NAT-01-rock-kick](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/NAT-01-rock-kick), [NAT-02-hills-turn-stop](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/NAT-02-hills-turn-stop), [NAT-03-water-land](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/NAT-03-water-land) |
-| Service | 3 | [SER-01-medicine](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/SER-01-medicine), [SER-02-airport-luggage](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/SER-02-airport-luggage), [SER-03-hotel-drawer](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/previews/SER-03-hotel-drawer) |
-| Urban | 3 | Not published |
-
-Only the natural outdoor and service scenes have published preview images. Each has three frames from an existing Blender animation (start, middle, end). We reviewed offscreen MuJoCo screenshots for the indoor, industrial, and urban scenes and omitted them because the simplified simulation geometry and temporary roof hiding did not represent the appearance of the authored worlds well. Their benchmark data remains available. A missing preview is represented as `null` in the index; it is not evidence that the case is absent. The available images are for visual inspection, not evidence of task success.
+## Layout
 
 | Path | Contents |
 | --- | --- |
-| `data/dev15.jsonl` | 15 prompts, domain and task labels, asset paths, and preview paths |
-| `runtime/simcode4d_dev15_runtime.tar.gz` | Portable scene XML and required mesh assets for all 15 cases |
+| `data/dev15.jsonl` | One index record per scene: task, runtime model path, optional Blender project, and optional preview paths |
+| `data/runtime/artifacts/<case_id>/` | MuJoCo scene XML for each of the 15 cases |
+| `data/runtime/assets/`, `data/runtime/vendor/` | Meshes, robot descriptions, and notices required by those scenes |
 | `blender_sources/<case_id>/scene.blend` | 12 available authoring projects |
-| `previews/<case_id>/` | Three approved Blender animation frames for six natural outdoor and service scenes |
-| `THIRD_PARTY_NOTICES.md` | Asset provenance and third-party notices |
+| `blender_sources/<case_id>/preview_*.png` | Three start/middle/end frames for each of six natural outdoor and service scenes |
+| `THIRD_PARTY_NOTICES.md` | Attribution and license notices for included third-party assets |
+
+The runtime files are presented individually, without a download archive. Their `artifacts/`, `assets/`, and `vendor/` structure preserves the relative references needed to load the XML worlds.
+
+| Domain | Scenes | Scene folders with previews |
+| --- | ---: | --- |
+| Indoor | 3 | No published preview |
+| Industrial | 3 | No published preview |
+| Natural outdoor | 3 | [NAT-01-rock-kick](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/blender_sources/NAT-01-rock-kick), [NAT-02-hills-turn-stop](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/blender_sources/NAT-02-hills-turn-stop), [NAT-03-water-land](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/blender_sources/NAT-03-water-land) |
+| Service | 3 | [SER-01-medicine](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/blender_sources/SER-01-medicine), [SER-02-airport-luggage](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/blender_sources/SER-02-airport-luggage), [SER-03-hotel-drawer](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/blender_sources/SER-03-hotel-drawer) |
+| Urban | 3 | No published preview |
+
+Only the natural outdoor and service scenes have published preview images. These are frames from existing Blender animations. Earlier simplified simulation screenshots for indoor, industrial, and urban scenes were omitted because they did not represent the appearance of the authored worlds well. Missing preview paths are `null` in the index; the runtime scene is still present.
 
-The original `.blend` sources for **IND-01**, **IND-02**, and **IND-03** were not archived in the available benchmark handover. IND-01 and IND-02 point to the same missing pre-Module-1 source; IND-03 points to a separate missing source. Their compiled MuJoCo worlds are included. The index marks these three records as `not_archived`; a different Blender scene is not substituted for them.
+The original `.blend` sources for **IND-01**, **IND-02**, and **IND-03** were not archived in the available benchmark handover. IND-01 and IND-02 point to the same missing pre-Module-1 source; IND-03 points to a separate missing source. Their compiled MuJoCo worlds are available in `data/runtime/`. No different Blender scene is substituted for them.
 
-## Download
+## Download and open a runtime world
 
-For the lightweight scene index, previews, and portable runtime:
+Download the index and its runtime assets without downloading the large Blender projects:
 
 ```bash
 hf download AIGeeksGroup/SimCode4D --repo-type dataset \
-  --include "data/*" --include "previews/*" --include "runtime/*" \
-  --local-dir SimCode4D
-tar -xzf SimCode4D/runtime/simcode4d_dev15_runtime.tar.gz -C SimCode4D
+  --include "data/*" --local-dir SimCode4D
 ```
 
-The `runtime_model` field in each `data/dev15.jsonl` row points to a MuJoCo XML inside the extracted archive. For example:
+The `runtime_model` field in each JSONL row is a path relative to the downloaded repository. For example:
 
 ```python
+import json
+from pathlib import Path
 import mujoco
-model = mujoco.MjModel.from_xml_path(
-    "SimCode4D/benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml"
-)
+
+root = Path("SimCode4D")
+rows = [json.loads(line) for line in (root / "data/dev15.jsonl").read_text().splitlines()]
+case = next(row for row in rows if row["case_id"] == "INS-01-agv-aisle")
+model = mujoco.MjModel.from_xml_path(str(root / case["runtime_model"]))
 print(model.ngeom)
 ```
 
-Download a Blender project separately when needed:
+Download one Blender project and its previews when needed:
 
 ```bash
-hf download AIGeeksGroup/SimCode4D blender_sources/INS-01-agv-aisle/scene.blend \
-  --repo-type dataset --local-dir SimCode4D
+hf download AIGeeksGroup/SimCode4D --repo-type dataset \
+  --include "blender_sources/INS-01-agv-aisle/*" --local-dir SimCode4D
 ```
 
-Opening authoring projects may require Blender and the original scene-generation dependencies. The MuJoCo runtime archive is the portable path for inspecting and executing the benchmark worlds.
+Opening Blender projects may require Blender and the original scene-generation dependencies. All 15 runtime models can be loaded from the published `data/runtime/` files.
 
 ## Evaluation
 
-Use the [GitHub benchmark guide](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/benchmark/simcode4d_unified) to run the reference integrity check or score a generated world. It defines WorldBuildPass@1, TaskOverlayPass@1, entity binding F1, task success, mechanics, kinematics, contact/friction, safety, and robust task success. The GitHub release retains the frozen verification metadata needed for reproducible scoring; this data repository presents the scenes and their previews without repeating those metadata tables or shipping a second evaluator.
-
-The split is **development/validation**, not an unseen test set. The reference matrix checks benchmark self-consistency; it is not a Code2Worlds-2 method score.
+Use the [GitHub benchmark guide](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/benchmark/simcode4d_unified) to run integrity checks or score a generated world. It defines WorldBuildPass@1, TaskOverlayPass@1, entity binding F1, task success, mechanics, kinematics, contact/friction, safety, and robust task success. This release is a **development/validation** split, not an unseen test set. The reference matrix checks benchmark self-consistency; it is not a Code2Worlds-2 method score.
 
 ## Provenance and use
 
-The portable runtime data comes from the public Code2Worlds-2 development suite. The Blender projects are the files named in that suite's source records; all 12 available files were checked against the source records before upload. Third-party model notices are in [`THIRD_PARTY_NOTICES.md`](THIRD_PARTY_NOTICES.md). No repository-wide license is asserted here; review the notices and the applicable project terms before reuse.
+The runtime data comes from the public Code2Worlds-2 development suite. Each available Blender file was checked against that suite's source record before upload. Third-party asset notices are in [`THIRD_PARTY_NOTICES.md`](THIRD_PARTY_NOTICES.md). No repository-wide license is asserted here; review the notices and applicable project terms before reuse.

THIRD_PARTY_NOTICES.md

@@ -1,11 +1,13 @@
-# Third-party source and assets
+# Third-party asset notices
 
-The included Code2Worlds source is a snapshot of [`AIGeeksGroup/Code2Worlds`](https://github.com/AIGeeksGroup/Code2Worlds) at commit `03d7edb9242b4095bfb9b3315b1fd67a20d433a1`, with the local integration changes documented in [`third_party/Code2Worlds/UPSTREAM.md`](third_party/Code2Worlds/UPSTREAM.md). The inspected upstream snapshot contains no top-level license file; no license is invented here.
+SimCode4D includes selected robot model files and meshes needed by its MuJoCo runtime worlds. The original notices are retained next to those files:
 
-The benchmark retains only the robot meshes needed for its frozen runnable models. License notices are preserved at:
+| Asset | Included notice |
+| --- | --- |
+| Unitree Go2 | [`data/runtime/vendor/handover9_20260921/unitree_go2/LICENSE`](data/runtime/vendor/handover9_20260921/unitree_go2/LICENSE) |
+| Universal Robots UR5e | [`data/runtime/vendor/handover9_20260921/universal_robots_ur5e/LICENSE`](data/runtime/vendor/handover9_20260921/universal_robots_ur5e/LICENSE) |
+| Clearpath Jackal UGV | [`data/runtime/vendor/jackal_ugv/LICENSE.clearpath`](data/runtime/vendor/jackal_ugv/LICENSE.clearpath) |
 
-- [`benchmark/simcode4d_unified/vendor/handover9_20260921/unitree_go2/LICENSE`](benchmark/simcode4d_unified/vendor/handover9_20260921/unitree_go2/LICENSE)
-- [`benchmark/simcode4d_unified/vendor/handover9_20260921/universal_robots_ur5e/LICENSE`](benchmark/simcode4d_unified/vendor/handover9_20260921/universal_robots_ur5e/LICENSE)
-- [`benchmark/simcode4d_unified/vendor/jackal_ugv/LICENSE.clearpath`](benchmark/simcode4d_unified/vendor/jackal_ugv/LICENSE.clearpath)
+These notices document the original copyright holders and redistribution conditions for the included third-party files. This document is not a license for the entire SimCode4D dataset or its Blender projects.
 
-Infinigen is not vendored in this release. Install it separately from [princeton-vl/infinigen](https://github.com/princeton-vl/infinigen) and follow its license.
+The Code2Worlds source snapshot is distributed separately in the [Code2Worlds-2 GitHub repository](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/third_party/Code2Worlds). Infinigen is not included in this dataset.

data/dev15.jsonl

@@ -1,15 +1,15 @@
-{"case_id": "IND-01-vacuum-living-room", "domain": "Indoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the vacuum east through the living-room corridor, enter the frozen goal, and remain stopped for 0.5 seconds.", "runtime_model": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": null, "source_status": "not_archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "IND-02-go2-living-room", "domain": "Indoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Traverse the living room east with the Go2, stay in the frozen corridor, enter the goal, and stop.", "runtime_model": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": null, "source_status": "not_archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "IND-03-vacuum-west", "domain": "Indoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the vacuum west through the indoor corridor, enter the frozen goal, and remain stopped for 0.5 seconds.", "runtime_model": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": null, "source_status": "not_archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "INS-01-agv-aisle", "domain": "Industrial", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the four-wheel AGV east along the industrial aisle, hold the lane, enter the goal, and stop.", "runtime_model": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/INS-01-agv-aisle/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "INS-02-agv-cargo", "domain": "Industrial", "task_family": "dynamic_interaction", "dynamic_subtype": "contact_dynamic", "prompt": "Transport the physically modeled cargo east with the AGV, retain the declared weld attachment, enter the cargo goal, and stop.", "runtime_model": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/INS-02-agv-cargo/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "INS-03-weld", "domain": "Industrial", "task_family": "dynamic_interaction", "dynamic_subtype": "articulated", "prompt": "Trace the frozen weld seam continuously with the UR5e tool tip and finish at rest.", "runtime_model": "benchmark/simcode4d_unified/artifacts/INS-03-weld/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/INS-03-weld/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "NAT-01-rock-kick", "domain": "Natural outdoor", "task_family": "dynamic_interaction", "dynamic_subtype": "contact_dynamic", "prompt": "Use the Go2 feet to make the source-bound rock move physically in the uneven canyon, then let it settle.", "runtime_model": "benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/m1_world.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/NAT-01-rock-kick/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "previews/NAT-01-rock-kick/01_start.png", "preview_2": "previews/NAT-01-rock-kick/02_middle.png", "preview_3": "previews/NAT-01-rock-kick/03_end.png"}
-{"case_id": "NAT-02-hills-turn-stop", "domain": "Natural outdoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the Jackal across the authored hills, complete the authored left turn, enter the goal region, and remain stopped for 0.5 seconds.", "runtime_model": "benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m1_world.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/NAT-02-hills-turn-stop/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "previews/NAT-02-hills-turn-stop/01_start.png", "preview_2": "previews/NAT-02-hills-turn-stop/02_middle.png", "preview_3": "previews/NAT-02-hills-turn-stop/03_end.png"}
-{"case_id": "NAT-03-water-land", "domain": "Natural outdoor", "task_family": "dynamic_interaction", "dynamic_subtype": "cross_medium", "prompt": "Move the amphibious rover from the declared static water field, contact the bank, reach dry land, and stop in the land goal.", "runtime_model": "benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m1_world.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/NAT-03-water-land/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "previews/NAT-03-water-land/01_start.png", "preview_2": "previews/NAT-03-water-land/02_middle.png", "preview_3": "previews/NAT-03-water-land/03_end.png"}
-{"case_id": "SER-01-medicine", "domain": "Service", "task_family": "pick_and_place", "dynamic_subtype": null, "prompt": "Approach, legally grasp, and deliver the medicine pouch to the authored delivery region while retaining a stable grasp.", "runtime_model": "benchmark/simcode4d_unified/artifacts/SER-01-medicine/m1_world.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/SER-01-medicine/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "previews/SER-01-medicine/01_start.png", "preview_2": "previews/SER-01-medicine/02_middle.png", "preview_3": "previews/SER-01-medicine/03_end.png"}
-{"case_id": "SER-02-airport-luggage", "domain": "Service", "task_family": "pick_and_place", "dynamic_subtype": null, "prompt": "Approach the blue luggage assembly, legally grasp and lift it, then deliver it to the authored airport goal while retaining a stable grasp.", "runtime_model": "benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m1_world.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/SER-02-airport-luggage/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "previews/SER-02-airport-luggage/01_start.png", "preview_2": "previews/SER-02-airport-luggage/02_middle.png", "preview_3": "previews/SER-02-airport-luggage/03_end.png"}
-{"case_id": "SER-03-hotel-drawer", "domain": "Service", "task_family": "dynamic_interaction", "dynamic_subtype": "articulated", "prompt": "Navigate the hotel robot to the terminal region, stop, open its payload drawer, and keep the meal parcel supported for 0.5 seconds.", "runtime_model": "benchmark/simcode4d_unified/artifacts/SER-03-hotel-drawer/m1_world.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/SER-03-hotel-drawer/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "previews/SER-03-hotel-drawer/01_start.png", "preview_2": "previews/SER-03-hotel-drawer/02_middle.png", "preview_3": "previews/SER-03-hotel-drawer/03_end.png"}
-{"case_id": "URB-01-agv-city", "domain": "Urban", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the AGV east along the city pavement, stay in the frozen corridor, enter the goal, and stop.", "runtime_model": "benchmark/simcode4d_unified/artifacts/URB-01-agv-city/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/URB-01-agv-city/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "URB-02-intersection", "domain": "Urban", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Start on the west sidewalk, cross the road east through the frozen corridor, reach the east sidewalk, and stop.", "runtime_model": "benchmark/simcode4d_unified/artifacts/URB-02-intersection/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/URB-02-intersection/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
-{"case_id": "URB-03-pole-blocking", "domain": "Urban", "task_family": "dynamic_interaction", "dynamic_subtype": "contact_dynamic", "prompt": "Approach the frozen target pole with the Go2, make physical contact, remain blocked without passing through it, and stop.", "runtime_model": "benchmark/simcode4d_unified/artifacts/URB-03-pole-blocking/runtime_model.xml", "runtime_archive": "runtime/simcode4d_dev15_runtime.tar.gz", "blend_file": "blender_sources/URB-03-pole-blocking/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "IND-01-vacuum-living-room", "domain": "Indoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the vacuum east through the living-room corridor, enter the frozen goal, and remain stopped for 0.5 seconds.", "runtime_model": "data/runtime/artifacts/IND-01-vacuum-living-room/runtime_model.xml", "blend_file": null, "source_status": "not_archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "IND-02-go2-living-room", "domain": "Indoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Traverse the living room east with the Go2, stay in the frozen corridor, enter the goal, and stop.", "runtime_model": "data/runtime/artifacts/IND-02-go2-living-room/runtime_model.xml", "blend_file": null, "source_status": "not_archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "IND-03-vacuum-west", "domain": "Indoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the vacuum west through the indoor corridor, enter the frozen goal, and remain stopped for 0.5 seconds.", "runtime_model": "data/runtime/artifacts/IND-03-vacuum-west/runtime_model.xml", "blend_file": null, "source_status": "not_archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "INS-01-agv-aisle", "domain": "Industrial", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the four-wheel AGV east along the industrial aisle, hold the lane, enter the goal, and stop.", "runtime_model": "data/runtime/artifacts/INS-01-agv-aisle/runtime_model.xml", "blend_file": "blender_sources/INS-01-agv-aisle/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "INS-02-agv-cargo", "domain": "Industrial", "task_family": "dynamic_interaction", "dynamic_subtype": "contact_dynamic", "prompt": "Transport the physically modeled cargo east with the AGV, retain the declared weld attachment, enter the cargo goal, and stop.", "runtime_model": "data/runtime/artifacts/INS-02-agv-cargo/runtime_model.xml", "blend_file": "blender_sources/INS-02-agv-cargo/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "INS-03-weld", "domain": "Industrial", "task_family": "dynamic_interaction", "dynamic_subtype": "articulated", "prompt": "Trace the frozen weld seam continuously with the UR5e tool tip and finish at rest.", "runtime_model": "data/runtime/artifacts/INS-03-weld/runtime_model.xml", "blend_file": "blender_sources/INS-03-weld/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "NAT-01-rock-kick", "domain": "Natural outdoor", "task_family": "dynamic_interaction", "dynamic_subtype": "contact_dynamic", "prompt": "Use the Go2 feet to make the source-bound rock move physically in the uneven canyon, then let it settle.", "runtime_model": "data/runtime/artifacts/NAT-01-rock-kick/m1_world.xml", "blend_file": "blender_sources/NAT-01-rock-kick/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "blender_sources/NAT-01-rock-kick/preview_01_start.png", "preview_2": "blender_sources/NAT-01-rock-kick/preview_02_middle.png", "preview_3": "blender_sources/NAT-01-rock-kick/preview_03_end.png"}
+{"case_id": "NAT-02-hills-turn-stop", "domain": "Natural outdoor", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the Jackal across the authored hills, complete the authored left turn, enter the goal region, and remain stopped for 0.5 seconds.", "runtime_model": "data/runtime/artifacts/NAT-02-hills-turn-stop/m1_world.xml", "blend_file": "blender_sources/NAT-02-hills-turn-stop/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "blender_sources/NAT-02-hills-turn-stop/preview_01_start.png", "preview_2": "blender_sources/NAT-02-hills-turn-stop/preview_02_middle.png", "preview_3": "blender_sources/NAT-02-hills-turn-stop/preview_03_end.png"}
+{"case_id": "NAT-03-water-land", "domain": "Natural outdoor", "task_family": "dynamic_interaction", "dynamic_subtype": "cross_medium", "prompt": "Move the amphibious rover from the declared static water field, contact the bank, reach dry land, and stop in the land goal.", "runtime_model": "data/runtime/artifacts/NAT-03-water-land/m1_world.xml", "blend_file": "blender_sources/NAT-03-water-land/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "blender_sources/NAT-03-water-land/preview_01_start.png", "preview_2": "blender_sources/NAT-03-water-land/preview_02_middle.png", "preview_3": "blender_sources/NAT-03-water-land/preview_03_end.png"}
+{"case_id": "SER-01-medicine", "domain": "Service", "task_family": "pick_and_place", "dynamic_subtype": null, "prompt": "Approach, legally grasp, and deliver the medicine pouch to the authored delivery region while retaining a stable grasp.", "runtime_model": "data/runtime/artifacts/SER-01-medicine/m1_world.xml", "blend_file": "blender_sources/SER-01-medicine/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "blender_sources/SER-01-medicine/preview_01_start.png", "preview_2": "blender_sources/SER-01-medicine/preview_02_middle.png", "preview_3": "blender_sources/SER-01-medicine/preview_03_end.png"}
+{"case_id": "SER-02-airport-luggage", "domain": "Service", "task_family": "pick_and_place", "dynamic_subtype": null, "prompt": "Approach the blue luggage assembly, legally grasp and lift it, then deliver it to the authored airport goal while retaining a stable grasp.", "runtime_model": "data/runtime/artifacts/SER-02-airport-luggage/m1_world.xml", "blend_file": "blender_sources/SER-02-airport-luggage/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "blender_sources/SER-02-airport-luggage/preview_01_start.png", "preview_2": "blender_sources/SER-02-airport-luggage/preview_02_middle.png", "preview_3": "blender_sources/SER-02-airport-luggage/preview_03_end.png"}
+{"case_id": "SER-03-hotel-drawer", "domain": "Service", "task_family": "dynamic_interaction", "dynamic_subtype": "articulated", "prompt": "Navigate the hotel robot to the terminal region, stop, open its payload drawer, and keep the meal parcel supported for 0.5 seconds.", "runtime_model": "data/runtime/artifacts/SER-03-hotel-drawer/m1_world.xml", "blend_file": "blender_sources/SER-03-hotel-drawer/scene.blend", "source_status": "archived", "preview_kind": "Blender animation frames", "preview_1": "blender_sources/SER-03-hotel-drawer/preview_01_start.png", "preview_2": "blender_sources/SER-03-hotel-drawer/preview_02_middle.png", "preview_3": "blender_sources/SER-03-hotel-drawer/preview_03_end.png"}
+{"case_id": "URB-01-agv-city", "domain": "Urban", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Drive the AGV east along the city pavement, stay in the frozen corridor, enter the goal, and stop.", "runtime_model": "data/runtime/artifacts/URB-01-agv-city/runtime_model.xml", "blend_file": "blender_sources/URB-01-agv-city/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "URB-02-intersection", "domain": "Urban", "task_family": "obstacle_navigation", "dynamic_subtype": null, "prompt": "Start on the west sidewalk, cross the road east through the frozen corridor, reach the east sidewalk, and stop.", "runtime_model": "data/runtime/artifacts/URB-02-intersection/runtime_model.xml", "blend_file": "blender_sources/URB-02-intersection/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}
+{"case_id": "URB-03-pole-blocking", "domain": "Urban", "task_family": "dynamic_interaction", "dynamic_subtype": "contact_dynamic", "prompt": "Approach the frozen target pole with the Go2, make physical contact, remain blocked without passing through it, and stop.", "runtime_model": "data/runtime/artifacts/URB-03-pole-blocking/runtime_model.xml", "blend_file": "blender_sources/URB-03-pole-blocking/scene.blend", "source_status": "archived", "preview_kind": null, "preview_1": null, "preview_2": null, "preview_3": null}

runtime/simcode4d_dev15_runtime.tar.gz

@@ -1,3 +0,0 @@
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