---
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).