v1.1.0 to git:20260907.863840e

- version: 1.1.0

- description: >

- Canonical test assets and fixture sourcing for robotics testing: which

- worlds, robot models, sample datasets, and recordings to test against for a

- given robot type; the standard test-assets folder layout with a provenance

- catalog and per-asset manifests; pointer vs vendored sourcing modes; fixture and golden policy

- (tolerance bands, seeded generation). Use when: 'test assets', 'test world',

- 'test fixture', 'download a test dataset', 'sample rosbag', 'which world

- should I test in', 'robot model for simulation tests', 'golden output',

- 'regression fixture', 'data for unit tests', setting up test data for any

- new robotics project. Load alongside testing when the test pyramid needs

- data. Not for: training-data sourcing (data), test structure and pass bars

- (testing), simulator selection rationale (simulation).

- # test-assets

-

- The test-data umbrella for robium. Every smoke, regression, or policy-eval

- test consumes data (a world to load, a robot model to spawn, a dataset slice

- to train on, a bag to replay, a golden to diff against), and picking those

- assets ad hoc produces unrecognizable, irreproducible fixtures. This skill

- owns which canonical assets to test against for a given robot type, the

- standard test-assets folder layout with its provenance manifest, and the

- sourcing decision (pointer vs vendored). It does not own the test pyramid and

- pass bars (`testing`), training-data sourcing strategy (`data`), simulator

- selection rationale (`simulation`), or asset loading/spawning mechanics

- (`gazebo`, `isaac-sim`).

-

- ## When to use this skill

-

- - Setting up test data for any new robotics project; load together with

- `testing`: that skill decides which pyramid layers to build; this one

- supplies the data those layers run against.

- - The trigger phrases in the description: 'test assets', 'test world', 'test

- fixture', 'download a test dataset', 'sample rosbag', 'which world should I

- test in', 'golden output', 'regression fixture'.

- - Choosing a world, robot model, or sample dataset for a smoke or regression

- test, including "we should own copies of these" vendoring decisions.

- - Standing up a `test-assets/` folder (or auditing an existing one) for a

- repo's apps.

- - Cross-references: go to the sibling skill instead when the question is:

- - Test structure, layers, and pass bars (what to test, when it counts as

- done) → `testing`. This skill only supplies the data.

- - Sourcing *training* data for robot learning (offline vs sim-generated vs

- teleop) → `data`. Same funnel instinct, different artifact: `data` feeds

- policies, this skill feeds tests.

- - Which simulator to use at all → `simulation`; this skill's matrix names a

- best-fit simulator per robot type for *testing* but cites `simulation`

- for the selection rationale.

- - Loading/spawning mechanics for the chosen assets → `gazebo` or

- `isaac-sim`; MuJoCo asset usage inside LeRobot environments → `lerobot`.

- - Hub download/upload mechanics and auth → `huggingface`; the

- LeRobotDataset format itself → `lerobot`.

-

- ## Key directives

-

- - **Delegation posture: embed + links.** The catalog, layout, and sourcing

- policy live here (with pinned upstream links); mechanics of loading,

- spawning, or converting assets live in the tool skills; simulator *choice*

- logic stays with `simulation`.

- - **Canonical-assets-first.** <!-- id: canonical-assets-first --> Prefer a well-known public asset (see

- `references/canonical-assets.md`) over authoring or hosting your own;

- recognizability is part of a fixture's value: reviewers and contributors

- already know how a TurtleBot3 world or pusht should behave.

- - **Choose a sourcing mode deliberately (pointer or vendored) and record

- it.** <!-- id: choose-sourcing-mode-deliberately --> Pointer: pin upstream revisions (Fuel version, git commit, HF

- revision), fetch on demand, never commit data. Vendored: commit real copies

- under a stated size budget, every asset with full provenance in the

- manifest and its license verified at vendor time. Either way, anything with

- no public source is produced by a committed seeded generator script, not

- committed by hand; expensive-to-regenerate recordings can be hosted as MCAP

- in a Hub dataset repo as the escape hatch (mechanics → `huggingface`).

- - **Goldens are bands, not checksums.** <!-- id: goldens-are-bands-not-checksums --> Physics is noisy; reference

- trajectories and metrics carry tolerances and seeds; exact-match comparison

- is only valid for pure-replay tests where no simulation re-runs.

- - **Derived fixtures compound.** <!-- id: derived-fixtures-compound --> One verified scenario's output (a SLAM map,

- a recorded bag) becomes the next scenario's input; prefer this over

- importing unrelated data, and record the derivation in the manifest.

- - **Never write asset facts from memory.** <!-- id: never-write-asset-facts-from-memory --> Revisions, licenses, episode

- counts, and download URLs change; verify against the live source at

- adoption time. `references/canonical-assets.md` records how and when each

- entry was verified; keep that discipline for entries you add.

-

- ## Quick start

-

- **1. Identify the robot type under test** and pick model + world + dataset

- from the suitability matrix in Decision guidance (details and links in

- `references/canonical-assets.md`).

-

- **2. Choose the sourcing mode** with the funnel in Decision guidance and

- record it (and the size budget, if vendoring) in the test-assets README.

-

- **3. Write the catalog and per-asset manifests.** Create the folder per

- `references/test-assets-layout.md`. Start from `examples/catalog.yaml` and

- its `worlds/*/asset.yaml` records. Each pointer carries an immutable archive

- URL, SHA-256, entrypoint, checked-in license evidence, and dated verification

- method.

-

- **4. Fetch:** <!-- id: vendor-assets-fetch-command -->

-

- ```bash

- uv run test-assets/scripts/fetch_assets.py \

- --catalog test-assets/catalog.yaml \

- --destination test-assets/cache

- ```

-

- Re-run from an empty destination to verify the upstream bytes, checksum, safe

- extraction, and entrypoints. Commit the result only in vendored mode; in

- pointer mode, gitignore the cache and commit only catalog metadata and license

- evidence.

-

- **5. Wire the assets into the `testing` pyramid** <!-- id: record-goldens-from-seeded-run --> and record goldens from a

- known-good seeded run into goldens/ with explicit tolerances.

-

- ## Decision guidance

-

- **Robot type → test-asset suitability** (selection details, licenses, and

- links live in `references/canonical-assets.md`; simulator-choice rationale →

- `simulation`):

-

- | Robot type | Model pick | World/scene pick | Best-fit sim for testing | Matching open dataset |

- |---|---|---|---|---|

- | Mobile base / nav | TurtleBot3 burger or waffle | AWS Small House (indoor), Tugbot in Warehouse (industrial) | Modern Gazebo (gz), Nav2-ready<!-- id: mobile-nav-turtlebot3-gz --> | none canonical (self-record bags) |

- | Arm (classical or VLA) | SO-101 | tabletop scene | MuJoCo (LeRobot-native) or gz<!-- id: arm-so101-mujoco-or-gz --> | SO-101 pick-place sample; pusht for train-smoke |

- | Quadruped | Unitree Go2 | flat ground / rough-terrain heightfield | MuJoCo<!-- id: quadruped-go2-mujoco --> | none yet (no robium legged skill either) |

- | Humanoid | Unitree G1 | flat ground | MuJoCo or Isaac (GPU floor → `isaac-sim`)<!-- id: humanoid-g1-mujoco-or-isaac --> | none yet |

- | Drone | (gap) | none | none | none (px4 vertical is future work) |

-

- **Sourcing-mode funnel:**

-

- ```

- Shared CI/regression corpus you must inspect and that must survive

- upstream changes? → vendored (size-budgeted, full provenance)

- Personal/dev use, or asset too large to vendor? → pointer (pinned)

- No public canonical source (nav bags, goldens)? → seeded generator script

- Expensive to regenerate (long sim, GPU-gated)? → Hub-hosted MCAP escape hatch

- ```

-

- **Which pyramid layer needs which data** (the pyramid itself → `testing`):

-

- | Layer | Data it consumes |

- |---|---|

- | Unit | none, or tiny inline samples (a single scan/frame as a file) |

- | Node/launch smoke | robot model + world |

- | Sim scenario / regression | world + map + goldens (+ recorded bags for replay tests) |

- | Policy eval | dataset slice + checkpoint |

- ## Platform gotchas

- - **Fuel assets need network on first fetch.** <!-- id: fuel-assets-need-network-first-fetch --> Resolve a versioned Fuel

- archive through the checksum-first fetcher and cache it under the project;

- sims run offline from that verified copy. CI and fresh clones must account

- for the first-fetch network dependency (or use vendored mode).

- - **Gazebo-Classic-era worlds don't necessarily load in modern gz.** <!-- id: classic-era-worlds-may-not-load-in-gz --> Famous

- older worlds (e.g. the AWS RoboMaker set) predate modern gz; verify a

- world loads headless in the target gz version at adoption time rather than

- assuming; prefer the modern-gz picks in the catalog.

- - **Hub-hosted bags/MCAP have no Dataset Viewer preview.** <!-- id: hub-bags-no-dataset-viewer-preview --> Arbitrary binaries

- are storable but not browsable on the Hub page; download-only. Ship a

- README next to them saying what the recording contains.

- - **Dataset slices must stay loadable.** <!-- id: dataset-slices-must-stay-loadable --> A naive partial download of a

- LeRobot dataset can leave metadata inconsistent with the reduced episode

- count; after slicing, confirm the slice actually opens (format details and

- tooling → `lerobot`) before committing it as a fixture.

- ## Customization

- - **Different robot than the catalog picks:** keep the matrix's *shape*

- (model + world + sim + dataset per robot type) and substitute your robot's

- description package; the layout, manifest, and sourcing funnel apply

- unchanged.

- - **Adding a vertical (drone, legged, ...):** extend the suitability matrix

- with the same columns rather than inventing a new selection scheme; note

- gaps honestly (as the drone row does) instead of forcing a pick.

- - **Tighter or looser size budgets:** the vendored-mode budget is a project

- decision; state it in the corpus README and enforce it with a repository

- size check; trim textures/meshes/episodes before exceeding it, and record

- trims in the manifest.

- ## References

- - `references/canonical-assets.md`: the verified catalog of worlds, robot

- models, datasets, and recordings with links, licenses, and citation lines.

- - `references/test-assets-layout.md`: the standard catalog and per-asset

- manifest format, plus slice conventions.

- - `scripts/fetch_assets.py`: checksum-first pointer resolver for tar.gz and

- zip archives.

- - `examples/catalog.yaml`: the verified catalog used by Robot Navigation,

- with matching per-asset manifests and license evidence under `examples/`.

- - Sibling skills: `testing` (pyramid + pass bars this data serves), `data`

- (training-data sourcing), `simulation` (simulator choice), `gazebo` /

- `isaac-sim` (asset loading mechanics), `lerobot` (LeRobotDataset format,

- slice validation), `huggingface` (hub transfer mechanics), `architect`

- (routes here when a build plans its testing).

- ## Changelog

- <!-- One dated line per battle-tested change, added by skill-author hardening sessions. -->

- - 1.1.0 (2026-08-27): replace the unverified monolithic manifest example

- with the pointer catalog proven by Robot Navigation; require immutable

- archives, SHA-256 checks, entrypoints, license evidence, and dated clean-cache

- verification.

- - 1.0.4 (2026-08-27): replace the stale robium-applications corpus reference

- with the current robium-apps repository.

- - 1.0.3 (2026-08-03): style pass; removed em dashes throughout (no content changes).

- - 1.0.2 (2026-08-01): decision-table rows anchored (learning-engine Phase 1 follow-up); no content changes.

- - 1.0.1 (2026-08-01): anchor IDs added to claim-bearing items (learning-engine Phase 1); no content changes.

- - 1.0.0 (2026-07-18): initial authoring: robot-type suitability matrix,

- sourcing-mode funnel, layout reference, canonical-assets catalog, vendor

- script. Hardening pending: the `robium-ai/robium-apps` test-assets corpus

- build is this skill's first trial run.