README.md

metadata

pretty_name: dishsim assets — dishwasher-loading sim worlds (ArtVIP v1 + Bosch 800 v2)
license: other
license_name: mixed-per-component
license_link: https://github.com/shu4dev/dishsim#8-licenses--attribution
tags:
  - robotics
  - simulation
  - isaac-sim
  - motion-planning

dishsim assets

Prebuilt asset and results archive for the dishsim project — Isaac Sim environments for robotic dishwasher loading (UR5e + Robotiq 2F-85). Restoring this archive is the fast path: it ships every geometry cache, derived USD, and recorded result, so a fresh machine reproduces the shipped experiments with zero baking (~1.5 h of Kit work per world, already done).

One-command restore (no token needed)

From the project repo root, with the planning venv installed (repo README §2.2):

/workspace/isaaclab/env_isaaclab/bin/python scripts/tools/restore_assets.py \
    --repo shu4dev/dishsim-assets --with_media

The restore downloads the latest tarballs (resolved via latest.json), safe-extracts them, re-downloads the ArtVIP originals, hash-validates every collision cache against the checked-out config.py, and runs the Kit-free test suite. Drop --with_media to skip the recorded videos (assets only, much smaller).

What the archive contains

• v1 — ArtVIP compact machine (the frozen mug baseline + multi-object episodes): built object props, all collision caches, derived machine USDs, baseline results.
• v2 — Bosch 800 digital twin (assets/machines/bosch800/, assets/cache/machines/bosch800/): self-authored parametric machine (full-travel racks, third rack, spray arms), collision caches for five rack states baked at the measured UR5e winner mount, mount-sweep scorecards (results/base_sweep/bosch800/), and the first recorded episodes — including the 560 mm rack pull and the cleared cup+tumbler episode.
• latest.json — points at the current tarball pair; restore_assets.py follows it.

Tarballs are named dishsim_{assets,media}_<date>_<gitsha>.tar.gz; the git SHA ties each archive to the repo revision whose config.py its cache hashes were computed against — restore against that revision (or newer, if the hashed config values are unchanged).

Immediately after restore

# a Bosch episode at the measured winner mount — no baking needed
scripts/run_kit.sh scripts/experiment/run_task.py --headless --enable_cameras \
    --machine bosch800 --placement side_winner --scenario both_in \
    --spawn "cup=1,tumbler=1" --seed 1 --run_id bosch_repro

Licenses

Mixed, per component — see the repo's README §8: ArtVIP dishwasher (Apache-2.0), YCB-scan-derived objects (YCB dataset terms), project-authored procedural props/racks/ caches (project license). The UR5e+Robotiq robot USD is deliberately NOT in this archive (fetched from NVIDIA's public asset bucket at spawn time).