| --- |
| 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): |
|
|
| ```bash |
| /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 |
|
|
| ```bash |
| # 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). |
|
|
