Datasets:
| {"original_image": {"path": "gallery/R01-original.png", "bytes": null}, "broken_image": {"path": "gallery/R01-broken.png", "bytes": null}, "case_id": "R01", "dataset_version": "0.3.0", "title": "Transmission jack", "asset_id": "vehicleSupport_transmission_jack_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/vehicleSupport_transmission_jack_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R01-D01", "description": "The piston constraint is present, but its attachment frame is displaced from the cylinder's mounting line."}, {"defect_id": "R01-D02", "description": "Rebind another joint to the wrong nearby support body."}, {"defect_id": "R01-D03", "description": "Change a slider's unit scale without changing its visual placement."}, {"defect_id": "R01-D04", "description": "Displace one connected joint frame after reparenting its body."}, {"defect_id": "R01-D05", "description": "Introduce collision between neighbouring links that need clearance during the permitted motion."}], "failure_story": "A hierarchy/units conversion damages a constrained mechanism while preserving its initial appearance.", "required_outcome": "Coaxial attachment and intended lift stroke, with every original body and DOF retained.", "scope": "Repair the jack's rigid bodies, attachment frames and declared lift travel.", "agent_evidence": "Visible piston/cylinder mounting landmarks and an anchor/stroke probe. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/vehicleSupport_transmission_jack_a01", "whole_entrypoint": "assets/whole/vehicleSupport_transmission_jack_a01/simready_usd/sm_vehicleSupport_transmission_jack_a01_01.usd", "broken_package_path": "assets/broken/vehicleSupport_transmission_jack_a01", "broken_entrypoint": "assets/broken/vehicleSupport_transmission_jack_a01/asset.usdc", "package_path": "packages/R01.tar.gz", "package_sha256": "92a098bf3933bbd7ac271903adeb5ab7007edf77653dae31e5400540b36ee229", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R02-original.png", "bytes": null}, "broken_image": {"path": "gallery/R02-broken.png", "bytes": null}, "case_id": "R02", "dataset_version": "0.3.0", "title": "Rolling tool cabinet", "asset_id": "equipment_rolling_tool_cabinet_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/equipment_rolling_tool_cabinet_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R02-D01", "description": "Swap the second-stage body references of two visually similar drawers."}, {"defect_id": "R02-D02", "description": "A first-stage rail slider is attached off its guide line, so the drawer's intended translation is misaligned."}, {"defect_id": "R02-D03", "description": "Reparent a rail but leave its joint frame in the old coordinates."}, {"defect_id": "R02-D04", "description": "Replace the cabinet's collision decomposition with a proxy that blocks drawer travel."}, {"defect_id": "R02-D05", "description": "Author a stronger override that restores an obsolete travel limit after the obvious layer is repaired."}], "failure_story": "A partial namespace migration breaks selected telescopic drawers while the cabinet still looks assembled.", "required_outcome": "Drawer follows its guide over the stated travel without obstruction or displaced healthy drawers.", "scope": "Recover independent drawer and rail motion, with the correct body correspondence and existing travel clearances.", "agent_evidence": "Intact drawer/rail analogues and extension/clearance inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/equipment_rolling_tool_cabinet_a01", "whole_entrypoint": "assets/whole/equipment_rolling_tool_cabinet_a01/simready_usd/sm_equipment_rolling_tool_cabinet_a01_01.usd", "broken_package_path": "assets/broken/equipment_rolling_tool_cabinet_a01", "broken_entrypoint": "assets/broken/equipment_rolling_tool_cabinet_a01/asset.usdc", "package_path": "packages/R02.tar.gz", "package_sha256": "0d86dcfc650bb581da96e9a20bdb70207114238cc86c2f406431a0807de5120b", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R03-original.png", "bytes": null}, "broken_image": {"path": "gallery/R03-broken.png", "bytes": null}, "case_id": "R03", "dataset_version": "0.3.0", "title": "Articulated support arm", "asset_id": "arm_articulated_support_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/arm_articulated_support_a01", "license": "CC-BY-4.0", "fault_count": 6, "faults": [{"defect_id": "R03-D01", "description": "Attach the column to arm1 instead of arm2."}, {"defect_id": "R03-D02", "description": "Displace an elbow pivot while compensating the neutral-pose transform."}, {"defect_id": "R03-D03", "description": "Swap the two plates' distinct travel intervals."}, {"defect_id": "R03-D04", "description": "Move plate geometry into a new local frame without transforming COM/inertia."}, {"defect_id": "R03-D05", "description": "The handle remains attached at its hub, but its distal shaft is visibly bent instead of straight."}, {"defect_id": "R03-D06", "description": "Add an unintended fixed constraint across the two arms."}], "failure_story": "The complete arm has a bent handle shaft and mismatched attachment frames. Incorrect plate ranges and an unwanted cross-link also obstruct its intended movement.", "required_outcome": "The attached handle has a straight shaft, retains its hub and permits the declared arm motion.", "scope": "Preserve the articulated arm chain and independent plates; restore the straight handle shaft and its existing mounting.", "agent_evidence": "The retained hub, proximal stem, distal shaft cross-sections and intact handle provide mounting and straightness landmarks. Inspect the joint frames and declared arm clearance as separate constraints.", "whole_package_path": "assets/whole/arm_articulated_support_a01", "whole_entrypoint": "assets/whole/arm_articulated_support_a01/simready_usd/sm_arm_articulated_support_a01_01.usd", "broken_package_path": "assets/broken/arm_articulated_support_a01", "broken_entrypoint": "assets/broken/arm_articulated_support_a01/asset.usdc", "package_path": "packages/R03.tar.gz", "package_sha256": "7fcb02fcd7fefeb6b28e073f29d82a819b85fb91572ca9ab90b6cd55aaa20cd7", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R04-original.png", "bytes": null}, "broken_image": {"path": "gallery/R04-broken.png", "bytes": null}, "case_id": "R04", "dataset_version": "0.3.0", "title": "Roller conveyor", "asset_id": "conveyor_belt_a47", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/conveyor_belt_a47", "license": "CC-BY-4.0", "fault_count": 6, "faults": [{"defect_id": "R04-D01", "description": "A roller remains at its station but is skewed relative to its bearings and neighbouring rollers."}, {"defect_id": "R04-D02", "description": "One roller remains visible at its own station but sits above its bearings, interrupting the level support surface."}, {"defect_id": "R04-D03", "description": "Rotate a sparse subset of axes into the wrong local basis."}, {"defect_id": "R04-D04", "description": "Attach one roller joint to its neighbour."}, {"defect_id": "R04-D05", "description": "Corrupt the collision representation of one roller family."}, {"defect_id": "R04-D06", "description": "Shift the fixed-base frame while compensating the visual root transform."}], "failure_story": "Every roller is present, but a skewed roller and a displaced station interrupt the conveyor's support line. Several joint axes and collision shapes also prevent coherent rotation.", "required_outcome": "Roller axis and support surface align with the conveyor while each roller remains independently present.", "scope": "Repair roller alignment, declared rotation, collision support and the existing fixed attachment.", "agent_evidence": "Neighbouring rollers, end bearings and radial-runout/rotation inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/conveyor_belt_a47", "whole_entrypoint": "assets/whole/conveyor_belt_a47/simready_usd/sm_conveyor_belt_a47_01.usd", "broken_package_path": "assets/broken/conveyor_belt_a47", "broken_entrypoint": "assets/broken/conveyor_belt_a47/asset.usdc", "package_path": "packages/R04.tar.gz", "package_sha256": "038eaccff9d70082f2792021e72d6b08f08969ea675fb6a5db316ac728a6bb91", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R05-original.png", "bytes": null}, "broken_image": {"path": "gallery/R05-broken.png", "bytes": null}, "case_id": "R05", "dataset_version": "0.3.0", "title": "Multipurpose aluminium ladder", "asset_id": "ladder_multiPurpose_aluminium_a03", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/ladder_multiPurpose_aluminium_a03", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R05-D01", "description": "The top-section slider remains defined but its attachment frame is offset across the ladder rails."}, {"defect_id": "R05-D02", "description": "Rotate the remaining hinge frame while compensating its visible rest pose."}, {"defect_id": "R05-D03", "description": "Rescale one section's collision representation without matching the visual geometry."}, {"defect_id": "R05-D04", "description": "Bridge rung/rail openings with an inappropriate collision approximation."}, {"defect_id": "R05-D05", "description": "Corrupt the section's physical-material/density assignment."}], "failure_story": "A partial unit/frame conversion makes folding and extension mutually inconsistent.", "required_outcome": "Retain prismatic DOF and usable travel aligned with the rails, without rung/rail interference.", "scope": "Restore the existing telescoping sections, their guidance, collision clearance and material properties.", "agent_evidence": "Visible telescoping rails and measured extension trace. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/ladder_multiPurpose_aluminium_a03", "whole_entrypoint": "assets/whole/ladder_multiPurpose_aluminium_a03/simready_usd/sm_ladder_multiPurpose_aluminium_a03_01.usd", "broken_package_path": "assets/broken/ladder_multiPurpose_aluminium_a03", "broken_entrypoint": "assets/broken/ladder_multiPurpose_aluminium_a03/asset.usdc", "package_path": "packages/R05.tar.gz", "package_sha256": "1ad331d7d83aad61af56c22bbf74b9cef009143ebbf4340475ae373390c4bcc5", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R06-original.png", "bytes": null}, "broken_image": {"path": "gallery/R06-broken.png", "bytes": null}, "case_id": "R06", "dataset_version": "0.3.0", "title": "CT injection-system cart", "asset_id": "CT_injection_system_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/CT_injection_system_a01", "license": "CC-BY-4.0", "fault_count": 6, "faults": [{"defect_id": "R06-D01", "description": "A stand slider remains defined but its attachment frame is offset from the visible guide."}, {"defect_id": "R06-D02", "description": "Cross-wire another slider to the wrong repeated component."}, {"defect_id": "R06-D03", "description": "Leave a stale local frame beneath a reparented stand."}, {"defect_id": "R06-D04", "description": "Reverse a travel limit while retaining its previous target."}, {"defect_id": "R06-D05", "description": "Detach one wheel's physics representation from the visible wheel."}, {"defect_id": "R06-D06", "description": "The glass assembly is bound to an inappropriate low-density physical material, with inconsistent controlling mass properties."}], "failure_story": "Repeated telescoping assemblies acquire incorrect component correspondence during export.", "required_outcome": "Stand translates along its guide; glass/material mass requirements hold without hiding or disabling parts.", "scope": "Repair the cart's sliders, caster attachments and glass-panel physical properties while retaining its frame.", "agent_evidence": "Repeated intact stands, slider trace and effective mass/material-role inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/CT_injection_system_a01", "whole_entrypoint": "assets/whole/CT_injection_system_a01/simready_usd/sm_CT_injection_system_a01_01.usd", "broken_package_path": "assets/broken/CT_injection_system_a01", "broken_entrypoint": "assets/broken/CT_injection_system_a01/asset.usdc", "package_path": "packages/R06.tar.gz", "package_sha256": "c62bbd6866ea8ddf82c0a1a0debe4bff3612a5d017d6f4eca3be552694b9e0f2", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R07-original.png", "bytes": null}, "broken_image": {"path": "gallery/R07-broken.png", "bytes": null}, "case_id": "R07", "dataset_version": "0.3.0", "title": "Bucky X-ray table", "asset_id": "Xray_machine_buckyTable_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/Xray_machine_buckyTable_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R07-D01", "description": "The table slider's attachment is displaced across the guide, although the complete tabletop remains present."}, {"defect_id": "R07-D02", "description": "Change the tabletop parent while leaving collider and fixed-joint frames stale."}, {"defect_id": "R07-D03", "description": "Swap the plate-slider axis."}, {"defect_id": "R07-D04", "description": "Point a joint relationship at the wrong geometry ancestor."}, {"defect_id": "R07-D05", "description": "Corrupt the linear travel scale."}], "failure_story": "A tabletop reparenting and unit conversion breaks two independent translations.", "required_outcome": "Table and plate retain their prescribed independent travel and correctly aligned attachments.", "scope": "Repair table attachments and the declared plate travel and axes.", "agent_evidence": "Table rails and translation/sideways-drift inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/Xray_machine_buckyTable_a01", "whole_entrypoint": "assets/whole/Xray_machine_buckyTable_a01/simready_usd/sm_Xray_machine_buckyTable_a01_01.usd", "broken_package_path": "assets/broken/Xray_machine_buckyTable_a01", "broken_entrypoint": "assets/broken/Xray_machine_buckyTable_a01/asset.usdc", "package_path": "packages/R07.tar.gz", "package_sha256": "192e818ef0ce53ccda7e401891d8ba116d2778483f7ea89db67cfedf1c0dd776", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R08-original.png", "bytes": null}, "broken_image": {"path": "gallery/R08-broken.png", "bytes": null}, "case_id": "R08", "dataset_version": "0.3.0", "title": "Dishwasher", "asset_id": "appliance_dishwasher_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/appliance_dishwasher_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R08-D01", "description": "Bind the basket's fixed joint to the wrong rack."}, {"defect_id": "R08-D02", "description": "The rack slider is present but its guide frame produces a transverse offset during extraction."}, {"defect_id": "R08-D03", "description": "Offset the door hinge frame while preserving its closed appearance."}, {"defect_id": "R08-D04", "description": "Replace the body collider with a solid envelope that fills the rack cavity."}, {"defect_id": "R08-D05", "description": "Introduce an incorrect travel limit in a stronger physics opinion."}], "failure_story": "A geometry/physics layer mismatch lets the appliance look correct while its internal components obstruct or detach from one another.", "required_outcome": "Racks travel through the usable cavity without changing healthy rack or door geometry.", "scope": "Repair basket, rack and door joints and their clearance within the dishwasher body.", "agent_evidence": "Intact second rack and rack-pull/door-clearance probe. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/appliance_dishwasher_a01", "whole_entrypoint": "assets/whole/appliance_dishwasher_a01/simready_usd/sm_appliance_dishwasher_a01_01.usd", "broken_package_path": "assets/broken/appliance_dishwasher_a01", "broken_entrypoint": "assets/broken/appliance_dishwasher_a01/asset.usdc", "package_path": "packages/R08.tar.gz", "package_sha256": "9e7c0341301ac8c53ee1189e6d453dddf537d511565a4779769bffd4bbf480a5", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R09-original.png", "bytes": null}, "broken_image": {"path": "gallery/R09-broken.png", "bytes": null}, "case_id": "R09", "dataset_version": "0.3.0", "title": "Heavy-duty pallet jack", "asset_id": "palletJack_heavyDuty_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/palletJack_heavyDuty_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R09-D01", "description": "A wheel joint is present with its attachment displaced from the visible axle and hub."}, {"defect_id": "R09-D02", "description": "Reparent the steering component without transforming its attached joint frames."}, {"defect_id": "R09-D03", "description": "Misroute a handle/body relationship."}, {"defect_id": "R09-D04", "description": "Rotate one wheel axle frame."}, {"defect_id": "R09-D05", "description": "Replace the fork collision representation with a hull that fills the fork gap."}], "failure_story": "A damaged steering hierarchy produces convincing visuals but inconsistent wheel and handle frames.", "required_outcome": "Wheel axis is centred on its hub and required fork and steering clearance remains.", "scope": "Repair steering, wheel and handle attachments within the declared articulated assembly.", "agent_evidence": "Visible hub/bearing, other wheels and roll/steering/clearance inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/palletJack_heavyDuty_a01", "whole_entrypoint": "assets/whole/palletJack_heavyDuty_a01/simready_usd/sm_palletJack_heavyDuty_a01_01.usd", "broken_package_path": "assets/broken/palletJack_heavyDuty_a01", "broken_entrypoint": "assets/broken/palletJack_heavyDuty_a01/asset.usdc", "package_path": "packages/R09.tar.gz", "package_sha256": "91996ed4c50bda577e9e4d889b86a821f4a5671bb85ac4feb33d8250124d622f", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R10-original.png", "bytes": null}, "broken_image": {"path": "gallery/R10-broken.png", "bytes": null}, "case_id": "R10", "dataset_version": "0.3.0", "title": "Floor jack", "asset_id": "vehicleSupport_floor_jack_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/vehicleSupport_floor_jack_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R10-D01", "description": "Shift the lifting-part pivot away from its geometric attachment."}, {"defect_id": "R10-D02", "description": "A caster-to-tyre joint remains present with a displaced axle frame."}, {"defect_id": "R10-D03", "description": "Attach a caster to the wrong parent body."}, {"defect_id": "R10-D04", "description": "Rotate the handle's principal inertia frame without the corresponding tensor transformation."}, {"defect_id": "R10-D05", "description": "Create an erroneous chassis collision contact inside the lifting part's permitted sweep."}], "failure_story": "A mass-frame and articulation export fault affects the lifting part and mobile base together.", "required_outcome": "Caster and tyre rotate around their visible bearings without lift-path interference.", "scope": "Repair caster pivots, handle alignment and the lifting part's declared travel.", "agent_evidence": "Tyre/hub landmarks and caster/lift swept-clearance inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/vehicleSupport_floor_jack_a01", "whole_entrypoint": "assets/whole/vehicleSupport_floor_jack_a01/simready_usd/sm_vehicleSupport_floor_jack_a01_01.usd", "broken_package_path": "assets/broken/vehicleSupport_floor_jack_a01", "broken_entrypoint": "assets/broken/vehicleSupport_floor_jack_a01/asset.usdc", "package_path": "packages/R10.tar.gz", "package_sha256": "bdea97e2243b5fd140c93c6739833688834df93068b3c2254872277519404d27", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R11-original.png", "bytes": null}, "broken_image": {"path": "gallery/R11-broken.png", "bytes": null}, "case_id": "R11", "dataset_version": "0.3.0", "title": "Pedestal fan", "asset_id": "climate_shopFan_pedestal_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/climate_shopFan_pedestal_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R11-D01", "description": "Rotate the blade-spin frame relative to the hub."}, {"defect_id": "R11-D02", "description": "Reparent the head and retain stale tilt coordinates."}, {"defect_id": "R11-D03", "description": "Replace the guard collider with an envelope intersecting the blade sweep."}, {"defect_id": "R11-D04", "description": "The enabled blade rotor has an oversized inertia tensor, giving it an angular response inconsistent with its geometry and mass."}, {"defect_id": "R11-D05", "description": "Introduce an overriding yaw/tilt limit on a different layer."}], "failure_story": "The fan is complete and its rotor remains enabled. Misaligned spin and tilt frames, an obstructing guard collider and an oversized rotor inertia prevent the intended motion.", "required_outcome": "Enabled rotor has a realizable mass tensor and correct spin/tilt behaviour; no static conversion.", "scope": "Repair the fan's tilt frame, guard and blade clearance, and controlling inertia.", "agent_evidence": "Blade geometry, explicit rotor role/mass bounds and torque/inertia inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/climate_shopFan_pedestal_a01", "whole_entrypoint": "assets/whole/climate_shopFan_pedestal_a01/simready_usd/sm_climate_shopFan_pedestal_a01_01.usd", "broken_package_path": "assets/broken/climate_shopFan_pedestal_a01", "broken_entrypoint": "assets/broken/climate_shopFan_pedestal_a01/asset.usdc", "package_path": "packages/R11.tar.gz", "package_sha256": "823260542c39ce80afcaae1ad0bbdac468e602c37695eadb3daab4133bb7b2ec", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R12-original.png", "bytes": null}, "broken_image": {"path": "gallery/R12-broken.png", "bytes": null}, "case_id": "R12", "dataset_version": "0.3.0", "title": "Bench vise", "asset_id": "equipment_bench_vise_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/equipment_bench_vise_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R12-D01", "description": "Move the sliding-jaw namespace but leave the screw endpoint stale."}, {"defect_id": "R12-D02", "description": "Apply an extra parent transform without updating the jaw joint frame."}, {"defect_id": "R12-D03", "description": "Rescale one travel limit inconsistently."}, {"defect_id": "R12-D04", "description": "Use a jaw collision approximation that obstructs the working clearance."}, {"defect_id": "R12-D05", "description": "Rotate jaw geometry without transforming its inertia principal axes."}], "failure_story": "The jaw/screw/handle assembly loses consistent axes after a partial transform bake.", "required_outcome": "Jaws stay aligned and retain usable opening and required screw coupling.", "scope": "Restore the jaw translations, screw rotation and handle attachment while preserving their existing degrees of freedom.", "agent_evidence": "Parallel jaw faces, screw axis and screw-travel/working-gap inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/equipment_bench_vise_a01", "whole_entrypoint": "assets/whole/equipment_bench_vise_a01/simready_usd/sm_equipment_bench_vise_a01_01.usd", "broken_package_path": "assets/broken/equipment_bench_vise_a01", "broken_entrypoint": "assets/broken/equipment_bench_vise_a01/asset.usdc", "package_path": "packages/R12.tar.gz", "package_sha256": "903aef7fcc891d00f574467afd7c7b95cef6563588d009c3c69946bb380419e3", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R13-original.png", "bytes": null}, "broken_image": {"path": "gallery/R13-broken.png", "bytes": null}, "case_id": "R13", "dataset_version": "0.3.0", "title": "Hand drill", "asset_id": "instrument_hand_drill_b01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/instrument_hand_drill_b01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R13-D01", "description": "Swap the two joint body endpoints."}, {"defect_id": "R13-D02", "description": "Rotate one shaft representation without updating its joint axis."}, {"defect_id": "R13-D03", "description": "The complete crank component is present, but its drive interface is misaligned with the shaft bearings."}, {"defect_id": "R13-D04", "description": "Replace anisotropic inertia with a positive but incorrect isotropic value."}, {"defect_id": "R13-D05", "description": "Express the body's centre of mass in the wrong local frame."}], "failure_story": "The complete drill has a misaligned drive interface rather than a missing crank. Its shaft geometry, joint connections and mass properties disagree about the rotation axis.", "required_outcome": "Drive interfaces are coaxial and turn coherently without reconstructing a missing component.", "scope": "Repair the hand drill's existing crank and shaft geometry, rotational attachments and mass properties.", "agent_evidence": "Visible shaft bearings, crank hub and rotation/runout inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/instrument_hand_drill_b01", "whole_entrypoint": "assets/whole/instrument_hand_drill_b01/simready_usd/sm_instrument_hand_drill_b01_01.usd", "broken_package_path": "assets/broken/instrument_hand_drill_b01", "broken_entrypoint": "assets/broken/instrument_hand_drill_b01/asset.usdc", "package_path": "packages/R13.tar.gz", "package_sha256": "2cda427abbb1fafd79feb4ae0acc87736bc41ffc19c86254f8a3109dd4a7d3bc", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R14-original.png", "bytes": null}, "broken_image": {"path": "gallery/R14-broken.png", "bytes": null}, "case_id": "R14", "dataset_version": "0.3.0", "title": "Locking pliers", "asset_id": "handTool_pliers_locking_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/handTool_pliers_locking_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R14-D01", "description": "The jaw hinge remains present but its attachment is displaced from the visible pivot pin."}, {"defect_id": "R14-D02", "description": "Move the second handle's local frame while preserving its initial world appearance."}, {"defect_id": "R14-D03", "description": "Reattach the link bar to the wrong body."}, {"defect_id": "R14-D04", "description": "Replace the jaw collision geometry with a hull that closes the working gap."}, {"defect_id": "R14-D05", "description": "Misassign mass between a handle and the jaw."}], "failure_story": "A hierarchy edit disconnects the jaw and misassigns the small attachment bodies.", "required_outcome": "Jaw closes around its real pin with the required linkage and gripping clearance.", "scope": "Repair jaw and handle motion together with the existing link-bar and spring attachments.", "agent_evidence": "Visible pin/link geometry and jaw-closing trace. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/handTool_pliers_locking_a01", "whole_entrypoint": "assets/whole/handTool_pliers_locking_a01/simready_usd/sm_handTool_pliers_locking_a01_01.usd", "broken_package_path": "assets/broken/handTool_pliers_locking_a01", "broken_entrypoint": "assets/broken/handTool_pliers_locking_a01/asset.usdc", "package_path": "packages/R14.tar.gz", "package_sha256": "ac34212f0c8a71521b4b5724c88a77d5e6d95c3c22892d50a51f054f766086a3", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R15-original.png", "bytes": null}, "broken_image": {"path": "gallery/R15-broken.png", "bytes": null}, "case_id": "R15", "dataset_version": "0.3.0", "title": "Adjustable wrench", "asset_id": "handTool_wrench_adjustable_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/handTool_wrench_adjustable_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R15-D01", "description": "The jaw slider is present with an attachment frame misaligned across the wrench body."}, {"defect_id": "R15-D02", "description": "Corrupt the knurl's local joint frame."}, {"defect_id": "R15-D03", "description": "Apply a mismatched transform to the jaw collider."}, {"defect_id": "R15-D04", "description": "Rescale the travel so only one apparent opening is correct."}, {"defect_id": "R15-D05", "description": "Fill the working jaw gap with an unsuitable collision approximation."}], "failure_story": "A frame/unit conversion affects jaw motion and knurl orientation differently.", "required_outcome": "Jaw follows the guide through usable travel and leaves the intended working gap.", "scope": "Repair the wrench's jaw guide, screw alignment and existing joint motion.", "agent_evidence": "Body guide, knurl and jaw-opening trace. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/handTool_wrench_adjustable_a01", "whole_entrypoint": "assets/whole/handTool_wrench_adjustable_a01/simready_usd/sm_handTool_wrench_adjustable_a01_01.usd", "broken_package_path": "assets/broken/handTool_wrench_adjustable_a01", "broken_entrypoint": "assets/broken/handTool_wrench_adjustable_a01/asset.usdc", "package_path": "packages/R15.tar.gz", "package_sha256": "13da504356bab52e902de235815f0b780c703e75f0677c123c75567f3c9fbeb0", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R16-original.png", "bytes": null}, "broken_image": {"path": "gallery/R16-broken.png", "bytes": null}, "case_id": "R16", "dataset_version": "0.3.0", "title": "Hospital bed", "asset_id": "bed_hospital_standard_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/bed_hospital_standard_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R16-D01", "description": "A caster swivel remains defined but its rotation axis is misoriented relative to the visible wheel pin."}, {"defect_id": "R16-D02", "description": "Reparent that wheel assembly without updating the remaining local joint coordinates."}, {"defect_id": "R16-D03", "description": "Rotate another wheel's axle frame."}, {"defect_id": "R16-D04", "description": "The affected wheel retains an enabled collider whose undersized geometry gives the wrong support radius."}, {"defect_id": "R16-D05", "description": "Misbind a physical material so the base's mass distribution becomes inconsistent."}], "failure_story": "A nested-body export error damages caster topology rather than removing visible parts.", "required_outcome": "Caster DOFs, wheel support and rolling clearance are restored without disabling collision.", "scope": "Repair the bed's existing caster assemblies and nested rigid-body hierarchy while preserving its frame.", "agent_evidence": "Wheel-pin landmarks, intact casters and roll/steering/contact inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/bed_hospital_standard_a01", "whole_entrypoint": "assets/whole/bed_hospital_standard_a01/simready_usd/sm_bed_hospital_standard_a01_01.usd", "broken_package_path": "assets/broken/bed_hospital_standard_a01", "broken_entrypoint": "assets/broken/bed_hospital_standard_a01/asset.usdc", "package_path": "packages/R16.tar.gz", "package_sha256": "0297fb173b5e16bf190f2230534450c2016a2a808aa47443226550386d9ad1c6", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R17-original.png", "bytes": null}, "broken_image": {"path": "gallery/R17-broken.png", "bytes": null}, "case_id": "R17", "dataset_version": "0.3.0", "title": "Mobile patient chair", "asset_id": "chair_patient_mobile_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/chair_patient_mobile_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R17-D01", "description": "The mounted tyre remains visible but has a flat spot relative to its rim and intact neighbours."}, {"defect_id": "R17-D02", "description": "The tyre axle is connected to another present caster rather than its own wheel."}, {"defect_id": "R17-D03", "description": "Introduce inconsistent scale between its reconstructed visual and collision representations."}, {"defect_id": "R17-D04", "description": "Offset a different caster pivot."}, {"defect_id": "R17-D05", "description": "Misbind the tyre physical material."}], "failure_story": "All four tyre assemblies are present. One tyre is deformed and connected to the wrong caster, while its collision shape and physical-material assignment disagree with the visible wheel.", "required_outcome": "Tyre remains visible and load-bearing, fits its rim and own axle, and meets rubber-role bounds.", "scope": "Repair the four caster and tyre assemblies while preserving the seat, frame and healthy wheels.", "agent_evidence": "Intact tyre/rim analogues, roundness/runout and axle/contact/material inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/chair_patient_mobile_a01", "whole_entrypoint": "assets/whole/chair_patient_mobile_a01/simready_usd/sm_chair_patient_mobile_a01_01.usd", "broken_package_path": "assets/broken/chair_patient_mobile_a01", "broken_entrypoint": "assets/broken/chair_patient_mobile_a01/asset.usdc", "package_path": "packages/R17.tar.gz", "package_sha256": "b6f09dea7e7a97571e20facc6ef395a45cd3b09c7e534d4a2accb647bb7aca7d", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R18-original.png", "bytes": null}, "broken_image": {"path": "gallery/R18-broken.png", "bytes": null}, "case_id": "R18", "dataset_version": "0.3.0", "title": "Nine-door locker unit", "asset_id": "facilityFurniture_lockerUnit_multiDoor_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/facilityFurniture_lockerUnit_multiDoor_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R18-D01", "description": "All nine doors are present; one attached panel is warped or skewed relative to its frame."}, {"defect_id": "R18-D02", "description": "Cross-wire two door-joint body targets."}, {"defect_id": "R18-D03", "description": "Move a third door's hinge frame."}, {"defect_id": "R18-D04", "description": "Apply a shared geometry/transform edit that changes healthy doors."}, {"defect_id": "R18-D05", "description": "Use a body collision proxy that fills compartment openings."}], "failure_story": "All nine locker doors are present, but one panel is warped and several hinges or shared placements are misaligned. The body collider also obstructs the compartment openings.", "required_outcome": "Door planarity, fit and independent travel recover while all doors and compartments remain.", "scope": "Repair the existing locker doors, their mounting frames and clearance while retaining every compartment.", "agent_evidence": "Eight intact door analogues, frame gaps and independent hinge/clearance inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/facilityFurniture_lockerUnit_multiDoor_a01", "whole_entrypoint": "assets/whole/facilityFurniture_lockerUnit_multiDoor_a01/simready_usd/sm_facilityFurniture_lockerUnit_multiDoor_a01_01.usd", "broken_package_path": "assets/broken/facilityFurniture_lockerUnit_multiDoor_a01", "broken_entrypoint": "assets/broken/facilityFurniture_lockerUnit_multiDoor_a01/asset.usdc", "package_path": "packages/R18.tar.gz", "package_sha256": "31ea66a9c502f5c77d6d8ed5633b0859dd1f4f238a928c0bc671460a56286c36", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R19-original.png", "bytes": null}, "broken_image": {"path": "gallery/R19-broken.png", "bytes": null}, "case_id": "R19", "dataset_version": "0.3.0", "title": "Folding utility knife", "asset_id": "handTool_knife_foldingUtility_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/handTool_knife_foldingUtility_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R19-D01", "description": "The blade hinge remains defined but its axis is misoriented relative to the visible pivot pin."}, {"defect_id": "R19-D02", "description": "Shift the pivot frame while preserving the initial pose."}, {"defect_id": "R19-D03", "description": "Bridge the handle's internal folding clearance with a collision hull."}, {"defect_id": "R19-D04", "description": "Make visual and collision blade thickness inconsistent."}, {"defect_id": "R19-D05", "description": "The blade is assigned an inappropriate low-density physical material, with inconsistent controlling mass properties."}], "failure_story": "A thin-part conversion destroys folding clearance while leaving a plausible static model.", "required_outcome": "Blade folds inside the handle around its real pivot with a suitable metal physical role.", "scope": "Restore the blade's hinge axis, folding clearance, thin geometry and material properties.", "agent_evidence": "Visible pivot pin/blade outline and folding-clearance/mass inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/handTool_knife_foldingUtility_a01", "whole_entrypoint": "assets/whole/handTool_knife_foldingUtility_a01/simready_usd/sm_handTool_knife_foldingUtility_a01_01.usd", "broken_package_path": "assets/broken/handTool_knife_foldingUtility_a01", "broken_entrypoint": "assets/broken/handTool_knife_foldingUtility_a01/asset.usdc", "package_path": "packages/R19.tar.gz", "package_sha256": "260c55a1c250c0a2a2c530edc9692dfbfbb59bcc6811802d288577e4e91ccf6d", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R20-original.png", "bytes": null}, "broken_image": {"path": "gallery/R20-broken.png", "bytes": null}, "case_id": "R20", "dataset_version": "0.3.0", "title": "Brake assembly", "asset_id": "brakeSystem_brakes_assembly_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/brakeSystem_brakes_assembly_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R20-D01", "description": "Move the articulation-root schema to an inappropriate prim."}, {"defect_id": "R20-D02", "description": "Misroute a disc/caliper joint endpoint."}, {"defect_id": "R20-D03", "description": "Displace the rotation axis from the hub."}, {"defect_id": "R20-D04", "description": "Corrupt the centre of mass and principal inertia orientation together."}, {"defect_id": "R20-D05", "description": "Make the caliper collision representation intersect the rotor's swept volume."}], "failure_story": "An articulation-root relocation and mass-frame corruption break an otherwise plausible rotor assembly.", "required_outcome": "Required rotation and clearance hold with valid articulation and mass properties.", "scope": "Repair the disc and hub attachment, clearance and mass properties while preserving the assembled parts.", "agent_evidence": "Hub axis, rotor/caliper spacing and rotation/clearance/mass-tensor inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/brakeSystem_brakes_assembly_a01", "whole_entrypoint": "assets/whole/brakeSystem_brakes_assembly_a01/simready_usd/sm_brakeSystem_brakes_assembly_a01_01.usd", "broken_package_path": "assets/broken/brakeSystem_brakes_assembly_a01", "broken_entrypoint": "assets/broken/brakeSystem_brakes_assembly_a01/asset.usdc", "package_path": "packages/R20.tar.gz", "package_sha256": "90a8538c303ad48fdd25581c10d5cc3913f151c8c13af8dde68d0a93cf763c55", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R21-original.png", "bytes": null}, "broken_image": {"path": "gallery/R21-broken.png", "bytes": null}, "case_id": "R21", "dataset_version": "0.3.0", "title": "Manual parts washer", "asset_id": "equipment_parts_washer_manual_c01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/equipment_parts_washer_manual_c01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R21-D01", "description": "Replace the basin's SDF collision representation with a convex envelope that seals useful free space."}, {"defect_id": "R21-D02", "description": "Author a stronger incorrect lid COM at another hierarchy level."}, {"defect_id": "R21-D03", "description": "Move the lid geometry without updating the hinge frame."}, {"defect_id": "R21-D04", "description": "Narrow its opening interval so the closed pose appears correct."}, {"defect_id": "R21-D05", "description": "The lid retains a physical-material binding, but its assigned density and resulting mass properties are inappropriate for the part."}], "failure_story": "The lid and basin are complete, but the lid's attachment, usable opening range and physical-material assignment are inconsistent. A convex collision envelope also seals space that should remain accessible inside the basin.", "required_outcome": "Lid opens through its interval and basin remains usable with the stated lid mass/COM behaviour.", "scope": "Repair the lid attachment, basin clearance, material bindings and controlling mass properties.", "agent_evidence": "Visible lid/basin, explicit lid role and opening/clearance/effective mass inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/equipment_parts_washer_manual_c01", "whole_entrypoint": "assets/whole/equipment_parts_washer_manual_c01/simready_usd/sm_equipment_parts_washer_manual_c01_01.usd", "broken_package_path": "assets/broken/equipment_parts_washer_manual_c01", "broken_entrypoint": "assets/broken/equipment_parts_washer_manual_c01/asset.usdc", "package_path": "packages/R21.tar.gz", "package_sha256": "f76e7526fc256290db17c62fb80200b51fce6e7ed778f4c395d98169c7921dbf", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R22-original.png", "bytes": null}, "broken_image": {"path": "gallery/R22-broken.png", "bytes": null}, "case_id": "R22", "dataset_version": "0.3.0", "title": "Assembled car door with glass", "asset_id": "bodyPart_door_assembled_c01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/bodyPart_door_assembled_c01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R22-D01", "description": "The fixed glass pane remains composed and visible but is warped relative to its seating edges."}, {"defect_id": "R22-D02", "description": "Offset the glass relative to its fixed-joint frame."}, {"defect_id": "R22-D03", "description": "Replace the transparent material binding with an opaque one."}, {"defect_id": "R22-D04", "description": "The pane retains an enabled collider whose oversized shape extends beyond the glass into the surrounding frame."}, {"defect_id": "R22-D05", "description": "Corrupt the glass mass/COM frame while leaving the outer door unchanged."}], "failure_story": "The glass remains attached to the door, but its shape and placement no longer fit the frame. Its opaque material and oversized collision shape further disagree with the pane's optical and physical role.", "required_outcome": "Glass remains fixed and present, fits the frame and meets explicit optical intent; no invented lift mechanism.", "scope": "Restore the fixed glass pane's fit, transparency and collision representation within the door frame.", "agent_evidence": "Door-frame seating edges, fixed attachment and planarity/fit plus transmitted-contrast inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/bodyPart_door_assembled_c01", "whole_entrypoint": "assets/whole/bodyPart_door_assembled_c01/simready_usd/sm_bodyPart_door_assembled_c01_01.usd", "broken_package_path": "assets/broken/bodyPart_door_assembled_c01", "broken_entrypoint": "assets/broken/bodyPart_door_assembled_c01/asset.usdc", "package_path": "packages/R22.tar.gz", "package_sha256": "81708c710b7dfb1c978b605f017adaabffb12af66b82a8f04bd5a5823cc25157", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R23-original.png", "bytes": null}, "broken_image": {"path": "gallery/R23-broken.png", "bytes": null}, "case_id": "R23", "dataset_version": "0.3.0", "title": "Loaded storage rack", "asset_id": "rack_composition_a04", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/rack_composition_a04", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R23-D01", "description": "The pallet and every load remain present, but a buckled lower deck slat obstructs fork access and compromises deck support."}, {"defect_id": "R23-D02", "description": "Apply a shared transform edit that displaces several intact instances."}, {"defect_id": "R23-D03", "description": "The enabled rack has a centre of mass outside its visible frame, without changing its authored rigid-body role."}, {"defect_id": "R23-D04", "description": "Use a shelf/rack collision envelope that fills accessible spaces."}, {"defect_id": "R23-D05", "description": "Misbind a subset of pallet/load physical materials."}], "failure_story": "The rack, pallets and boxes are all present. A distorted pallet and displaced loads compromise support or fork access, while the rack's collision envelope and centre of mass give inconsistent physical behaviour.", "required_outcome": "Restore fork passage and load-bearing support while preserving every pallet, box and rack component. Keep the authored body roles and correct the rack centre of mass without hiding, shrinking or disabling components.", "scope": "Repair pallet support, fork clearance and the rigid assembly while retaining the source rigid-body roles.", "agent_evidence": "Visible deck/blocks, rack support beams and fork-gauge/support inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/rack_composition_a04", "whole_entrypoint": "assets/whole/rack_composition_a04/simready_usd/sm_rack_composition_a04_01.usd", "broken_package_path": "assets/broken/rack_composition_a04", "broken_entrypoint": "assets/broken/rack_composition_a04/asset.usdc", "package_path": "packages/R23.tar.gz", "package_sha256": "6e4c3734c23d531acc178ec2cef491e750ceb65c90e9a8b3a95c56057b081071", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R24-original.png", "bytes": null}, "broken_image": {"path": "gallery/R24-broken.png", "bytes": null}, "case_id": "R24", "dataset_version": "0.3.0", "title": "Nesting drum with lid", "asset_id": "drum_plastic_nesting_a02", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/drum_plastic_nesting_a02", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R24-D01", "description": "Bridge a local region of the cavity or rim with erroneous faces."}, {"defect_id": "R24-D02", "description": "Replace the hollow collision representation with a solid hull."}, {"defect_id": "R24-D03", "description": "Introduce inconsistent wall-thickness scale between visual and collision geometry."}, {"defect_id": "R24-D04", "description": "Offset the lid's fixed attachment frame."}, {"defect_id": "R24-D05", "description": "Corrupt shell mass properties so they describe a filled volume."}], "failure_story": "A hollow-object export produces a visually convincing but physically solid drum.", "required_outcome": "Restore the drum's hollow shell, interior collision clearance and fixed lid attachment, with consistent mass properties.", "scope": "Repair the hollow drum shell, internal collision clearance, fixed lid attachment and mass properties.", "agent_evidence": "Visible shell/rim, cavity gauge and shell-volume/mass/contact inspection. The affected component remains visible; diagnosis uses its surviving landmarks and the stated functional requirements.", "whole_package_path": "assets/whole/drum_plastic_nesting_a02", "whole_entrypoint": "assets/whole/drum_plastic_nesting_a02/simready_usd/sm_drum_plastic_nesting_a02_01.usd", "broken_package_path": "assets/broken/drum_plastic_nesting_a02", "broken_entrypoint": "assets/broken/drum_plastic_nesting_a02/asset.usdc", "package_path": "packages/R24.tar.gz", "package_sha256": "b506b1da3656323399464763eeddc05c26d2c17a341ed8241470f49bb06fb784", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |
| {"original_image": {"path": "gallery/R25-original.png", "bytes": null}, "broken_image": {"path": "gallery/R25-broken.png", "bytes": null}, "case_id": "R25", "dataset_version": "0.3.0", "title": "V6 engine assembly", "asset_id": "engineAssembly_v6_engine_a01", "source_revision": "4763fbfaa4f8e97658e68b57d01b4c86659e08b5", "source_url": "https://huggingface.co/datasets/nvidia/simready-assets/tree/4763fbfaa4f8e97658e68b57d01b4c86659e08b5/engineAssembly_v6_engine_a01", "license": "CC-BY-4.0", "fault_count": 5, "faults": [{"defect_id": "R25-D01", "description": "The second engine component remains present but is tilted at its mounting interface."}, {"defect_id": "R25-D02", "description": "Change its local transform without updating the fixed attachment."}, {"defect_id": "R25-D03", "description": "Misassign a subset of metal/rubber material bindings."}, {"defect_id": "R25-D04", "description": "Create a collision approximation that fills required mounting clearances."}, {"defect_id": "R25-D05", "description": "Corrupt material/density assignment so the complete assembly's mass distribution falls outside the supplied constraints."}], "failure_story": "The complete engine assembly has a component mis-seated at its mount. Its attachment coordinates, material assignments and collision clearance no longer agree with the visible interfaces.", "required_outcome": "All engine components remain, interfaces align and mounting clearances/material roles satisfy the brief.", "scope": "Repair the two engine components as a rigid assembly, preserving mounting landmarks, clearance and material roles.", "agent_evidence": "Use the present mounting faces, bolt-pattern landmarks and declared clearance and mass requirements. Both engine components remain composed and visible; no hidden engine internals need to be reconstructed.", "whole_package_path": "assets/whole/engineAssembly_v6_engine_a01", "whole_entrypoint": "assets/whole/engineAssembly_v6_engine_a01/simready_usd/sm_engineAssembly_v6_engine_a01_01.usd", "broken_package_path": "assets/broken/engineAssembly_v6_engine_a01", "broken_entrypoint": "assets/broken/engineAssembly_v6_engine_a01/asset.usdc", "package_path": "packages/R25.tar.gz", "package_sha256": "f7215624065a9ab662918e2237c40f896db0aeea0a8e49161c31bbcaa6ad8591", "episode_paths": [], "verification_scope": ["OpenUSD composition", "Pinned source-file hashes", "Authored fault predicates", "Mesh topology"]} | |