docs/external_source_catalog.md

External Source Catalog

This catalog tracks candidate external asset sources for placement and articulated-object tasks. Entries here are link-only references unless a concrete asset is physically copied into assets/ and indexed in manifest/assets.jsonl.

Intake priority

Priority	Source type	Examples	Reason
P0	Already simulation-ready or generated with reliable articulation	RoboCasa, DISCOVERSE, Infinigen-Articulated, MuJoCo Menagerie	Fastest path to reusable MJCF/URDF assets after validation.
P1	Articulated datasets or task layers with joints/semantics	PartNet-Mobility, GAPartNet, ManiSkill, BEHAVIOR-1K/OmniGibson, UniDoorManip, AdaManip, DoorGym	Useful candidates, but usually require license review, conversion, collision/dynamics QA, and policy mapping.
P2	Static or weakly structured large-scale object pools	Objaverse, Google Scanned Objects, SketchUp 3D Warehouse, PartNet static	Good for long-tail visual variety; not automatically articulated or simulation-ready.
P3	Generative/reconstruction methods	Hunyuan3D, PartCrafter, Articulate-Anything, Real2Code, FreeArt3D, SINGAPO, DIPO, PhysNAP, NAP, CAGE, ArtFormer	Useful for proposals, bootstrapping, or candidate geometry, but outputs must still pass physical and task validation.

Candidate sources

Source	URL	Expected readiness before local adaptation	Placement relevance
RoboCasa	https://robocasa.ai	L1 candidate	Kitchen fixtures, objects, scenes, and appliance tasks.
DISCOVERSE	https://github.com/discoverse-dev/DISCOVERSE	L1/L2 candidate by subasset	MJCF task environments, robots, manipulation objects, and scenes.
MuJoCo Menagerie	https://github.com/google-deepmind/mujoco_menagerie	L1 candidate	Robot arms, hands, grippers, and MJCF models.
Infinigen / Infinigen-Articulated	https://github.com/princeton-vl/infinigen	L1/L2 candidate after export	Programmatic doors, cabinets, drawers, windows, appliances, containers.
PartNet-Mobility	https://huggingface.co/datasets/haosulab/PartNet-Mobility	L2 candidate	Articulated furniture, containers, appliances.
GAPartNet	https://pku-epic.github.io/GAPartNet/	L2 candidate	Actionable parts, handles, drawers, doors, lids.
ManiSkill	https://github.com/haosulab/ManiSkill	L1 task-layer candidate	SAPIEN tasks over PartNet-Mobility assets, especially cabinets/drawers.
BEHAVIOR-1K / OmniGibson	https://behavior.stanford.edu/knowledgebase/objects/index.html	L1/L2/L3 candidate by object status	Household objects, articulated furniture, appliances, receptacles.
UniDoorManip	https://github.com/sectionZ6/UniDoorManip	L1/L3 candidate	Door/body/handle combinations and open-door manipulation assets.
DoorGym	https://github.com/PSVL/DoorGym	L1 generated worlds, L3 handles	Door/handle geometry and MuJoCo door tasks.
AdaManip	https://github.com/yuanfei-Wang/AdaManip	L1 candidate, license must be checked	Articulated manipulation objects and mechanisms.
Articulate3D	https://huggingface.co/datasets/INSAIT-Institute/Articulate3D	L2 annotations, paired scene mesh required	Real-scene articulated part annotations.
MultiScan	https://3dlg-hcvc.github.io/multiscan/	L2 candidate, gated/NC constraints likely	Real scanned indoor articulated objects.
OPD	https://github.com/3dlg-hcvc/OPD	L2 candidate	Openable-part detection assets and annotations.
AKB-48	https://liuliu66.github.io/articulationobjects/	L2 candidate	Articulated object knowledge base.
Objaverse / Objaverse-XL	https://objaverse.allenai.org	L4/L5 by default	Large static long-tail object pool.
Google Scanned Objects	https://app.ignitionrobotics.org/GoogleResearch/fuel/collections/Google%20Scanned%20Objects	L4 by default	Scanned household objects for placement/receptacle scenes.
SketchUp 3D Warehouse	https://3dwarehouse.sketchup.com	L3/L4/L5 by object	Long-tail furniture, appliances, rooms; redistribution must be reviewed per model.

Deduplication rule

Many sources are derived from the same upstream geometry. Do not sum their counts directly.

Use a source-family identity when possible:

source_family_id + source_asset_id + raw_mesh_sha256 + joint_graph_sha256

Examples:

• PartNet -> PartNet-Mobility -> GAPartNet / ManiSkill / OPDSynth
• UniDoorManip / AdaManip / DoorGym may reuse PartNet or 3D Warehouse geometry
• A new task annotation over the same mesh is an annotation/task increment, not a new geometry asset

Reporting rule

For each source or import campaign, report these counts separately:

candidate_count
license_pass_count
downloaded_count
load_pass_count
physics_pass_count
policy_pass_count
L0_count

Do not report downloaded files as production-ready assets.