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README.md

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+---
+pretty_name: Awomo-SimDataEngine
+tags:
+- robotics
+- simulation
+- 3d
+---
+# Awomo-SimDataEngine
+
+Data accompanying the Awomo-SimDataEngine technical report. This initial release contains scene compositions and standalone object assets; robot trajectories are not included.
+
+## Contents
+
+| Directory | Contents |
+|---|---|
+| `scenes/scene_augmentation/inputs` | Original scenes and their dependencies: 10 source scenes, 13 rooms |
+| `scenes/scene_augmentation/variants` | 2,600 room variants, with 30 additional objects each |
+| `scenes/scene_augmentation/multiroom_combined` | 200 four-room compositions, with 120 additional objects each |
+| `assets/scene_augmentation` | 262 shared USD object assets and a catalog |
+| `assets/libero_runtime` | 200 selected OBJ/MTL/texture/MuJoCo XML asset directories |
+
+The 262 USD assets are stored once and referenced by the scenes. The 200 runtime assets exclude IDs already present in the scene asset set; matching IDs are not a geometry-level deduplication test. Runtime assets include benchmark collision proxies and should not be interpreted as newly validated articulated assets.
+
+## Open a scene
+
+Download both `scenes/scene_augmentation` and `assets/scene_augmentation`, retaining their repository-relative positions. Open `scenes/scene_augmentation/variants/<room_key>/variant_0001/augmented.usda` in a compatible USD/Isaac Sim environment. Four-room entry points are named `augmented_all_rooms.usda`.
+
+USD references have been relocated and checked for missing local dependencies. Original production metadata, reports, and checksums are retained for provenance; their old root-relative paths and original SHA256SUMS refer to the source delivery package, not this relocated repository layout.
+
+## Validation scope
+
+The source package reports complete static auditing of 2,600 variants and zero detected overlap violations. Physics stability was evaluated on representative samples, not every variant. The four-room compositions reuse room variants and are not an additional independent generation cohort.
+
+## License
+
+Redistribution and usage terms have not yet been assigned for this private release. No blanket open-source license is asserted for third-party source scenes or assets.

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assets/libero_runtime/small_003_living_room_asset_000046_obj_001_game_controller_dark_gray_87590cec/material.mtl

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+newmtl sceneforge_material
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+Ks 0.150000 0.150000 0.150000
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assets/libero_runtime/small_003_living_room_asset_000046_obj_001_game_controller_dark_gray_87590cec/plate.xml

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assets/libero_runtime/small_022_bedroom_asset_000066_obj_004_blue_white_paperback_book_43c32396/box.xml

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assets/libero_runtime/small_022_bedroom_asset_000066_obj_004_blue_white_paperback_book_43c32396/material.mtl

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+newmtl sceneforge_material
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+Ks 0.150000 0.150000 0.150000
+Ns 48.000000
+d 1.000000
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assets/libero_runtime/small_022_bedroom_asset_000066_obj_004_blue_white_paperback_book_43c32396/plate.xml

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assets/libero_runtime/small_022_bedroom_asset_000066_obj_004_blue_white_paperback_book_43c32396/ramekin.xml

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assets/libero_runtime/small_042_bedroom_asset_000156_obj_001_closed_book_blue_cover_0301603a/material.mtl

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assets/libero_runtime/small_042_bedroom_asset_000156_obj_001_closed_book_blue_cover_0301603a/plate.xml

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assets/libero_runtime/small_042_bedroom_asset_000156_obj_001_closed_book_blue_cover_0301603a/ramekin.xml

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assets/libero_runtime/small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d/box.xml

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assets/libero_runtime/small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d/plate.xml

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assets/libero_runtime/small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d/target_bowl.xml

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assets/libero_runtime/small_056_cafe_asset_000177_obj_003_paper_cafe_menu_card_86254465/box.xml

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assets/libero_runtime/small_056_cafe_asset_000177_obj_003_paper_cafe_menu_card_86254465/material.mtl

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+# Base-color material converted from the source USD PreviewSurface
+newmtl sceneforge_material
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.150000 0.150000 0.150000
+Ns 48.000000
+d 1.000000
+illum 2
+map_Kd texture.png

assets/libero_runtime/small_056_cafe_asset_000177_obj_003_paper_cafe_menu_card_86254465/plate.xml

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+      <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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assets/libero_runtime/small_056_cafe_asset_000177_obj_003_paper_cafe_menu_card_86254465/ramekin.xml

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assets/libero_runtime/small_082_bedroom_asset_000077_obj_002_closed_book_blue_gray_3fbfe896/box.xml

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assets/libero_runtime/small_082_bedroom_asset_000077_obj_002_closed_book_blue_gray_3fbfe896/material.mtl

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+Ns 48.000000
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assets/libero_runtime/small_082_bedroom_asset_000077_obj_002_closed_book_blue_gray_3fbfe896/target_bowl.xml

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assets/libero_runtime/small_084_hallway_asset_000067_obj_003_rectangular_shoe_brush_dark_bristles_a07dd23c/box.xml

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assets/libero_runtime/small_084_hallway_asset_000067_obj_003_rectangular_shoe_brush_dark_bristles_a07dd23c/material.mtl

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+newmtl sceneforge_material
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+Kd 1.000000 1.000000 1.000000
+Ks 0.150000 0.150000 0.150000
+Ns 48.000000
+d 1.000000
+illum 2
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assets/libero_runtime/small_084_hallway_asset_000067_obj_003_rectangular_shoe_brush_dark_bristles_a07dd23c/plate.xml

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assets/libero_runtime/small_084_hallway_asset_000067_obj_003_rectangular_shoe_brush_dark_bristles_a07dd23c/ramekin.xml

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assets/libero_runtime/small_084_hallway_asset_000067_obj_003_rectangular_shoe_brush_dark_bristles_a07dd23c/target_bowl.xml

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assets/libero_runtime/small_085_restaurant_asset_000041_wooden_pepper_grinder_001_wooden_pepper_grinder_b25814ea/box.xml

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assets/libero_runtime/small_085_restaurant_asset_000041_wooden_pepper_grinder_001_wooden_pepper_grinder_b25814ea/material.mtl

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+newmtl sceneforge_material
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.150000 0.150000 0.150000
+Ns 48.000000
+d 1.000000
+illum 2
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assets/libero_runtime/small_085_restaurant_asset_000041_wooden_pepper_grinder_001_wooden_pepper_grinder_b25814ea/plate.xml

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assets/libero_runtime/small_085_restaurant_asset_000041_wooden_pepper_grinder_001_wooden_pepper_grinder_b25814ea/ramekin.xml

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assets/libero_runtime/small_085_restaurant_asset_000041_wooden_pepper_grinder_001_wooden_pepper_grinder_b25814ea/target_bowl.xml

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+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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assets/libero_runtime/small_097_workshop_asset_000017_screwdriver_001_screwdriver_28e47041/box.xml

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+<mujoco model="small_097_workshop_asset_000017_screwdriver_001_screwdriver_28e47041_box">
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assets/libero_runtime/small_097_workshop_asset_000017_screwdriver_001_screwdriver_28e47041/material.mtl

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+# Base-color material converted from the source USD PreviewSurface
+newmtl sceneforge_material
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.150000 0.150000 0.150000
+Ns 48.000000
+d 1.000000
+illum 2
+map_Kd texture.png

assets/libero_runtime/small_097_workshop_asset_000017_screwdriver_001_screwdriver_28e47041/plate.xml

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assets/libero_runtime/small_099_conference_room_asset_000004_obj_001_spiral_notebook_gray_74ed6b48/box.xml

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assets/libero_runtime/small_099_conference_room_asset_000004_obj_001_spiral_notebook_gray_74ed6b48/material.mtl

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+# Base-color material converted from the source USD PreviewSurface
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+Kd 1.000000 1.000000 1.000000
+Ks 0.150000 0.150000 0.150000
+Ns 48.000000
+d 1.000000
+illum 2
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assets/libero_runtime/small_099_conference_room_asset_000004_obj_001_spiral_notebook_gray_74ed6b48/plate.xml

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assets/libero_runtime/small_099_conference_room_asset_000004_obj_001_spiral_notebook_gray_74ed6b48/ramekin.xml

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