TOWER-Assets

Simulation assets for the TOWER Benchmark. Release versions are managed with Hugging Face tags; paths remain stable between releases.

Contents

station/station.usdz
blocks/block_01.usd ... blocks/block_24.usd
blocks/texture_variant_00.usda ... texture_variant_07.usda
blocks/base/block_base.usd
blocks/base/textures/pbr/*.png
blocks/textures/variant_00/*.png ... variant_07/*.png
tasks/tower_transfer_2.usda
tasks/tower_transfer_3.usda
tasks/cross_tower_transfer_2.usda
tasks/cross_tower_transfer_3.usda
tasks/aligned_stack_2.usda
tasks/aligned_stack_3.usda

The station contains the table, robots, cameras, and six foundation blocks. Task USDA files in this initial staging release are descriptors for the RTX/Isaac generator; they are not complete physics layouts. The CPU reference backend validates their names and manifest closure, while real task physics will be published with the generator-backed benchmark release.

Licensing

TOWER-authored block assets are licensed under CC BY 4.0. The station includes an AgileX arm model licensed under MIT; see THIRD_PARTY_NOTICES.md. The per-file manifest.json is authoritative.