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d76b924 eb14f7a d76b924 eb14f7a d76b924 b3863ce eb14f7a b3863ce | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 | # RoboCasa Source Notes
RoboCasa assets are organized as MuJoCo/MJCF XML assets plus mesh and texture files.
## Relevant upstream structure
```text
robocasa/models/assets/
├── fixtures/
│ ├── fixture_registry/
│ └── <fixture_category>/<FixtureId>/model.xml
├── objects/
├── scenes/
├── textures/
└── generative_textures/
```
## Fixture conventions
- Fixture registry files live under `fixtures/fixture_registry/<type>.yaml`.
- Concrete model IDs commonly use PascalCase plus three digits, for example `Dishwasher031`.
- Model entry files are usually `model.xml`.
- Meshes and textures are usually referenced from `visuals/` using relative paths.
- Region geoms use names like `reg_main`, `reg_int`, `reg_rack0`.
- Joints use names like `door_joint`, `rack1_joint`.
- Actuators use names like `door_joint_actuator`.
## Seeded assets
This library currently includes RoboCasa dishwasher fixtures under:
```text
assets/robocasa/raw/fixtures/dishwashers/
```
Included dishwasher-related files:
- 25 dishwasher fixture model directories: `Dishwasher031`, `Dishwasher032`, `Dishwasher034`, `Dishwasher036`, `Dishwasher038`, `Dishwasher039`, `Dishwasher040`, `Dishwasher042`, `Dishwasher043`, `Dishwasher044`, `Dishwasher045`, `Dishwasher046`, `Dishwasher048`, `Dishwasher049`, `Dishwasher051`, `Dishwasher053`, `Dishwasher054`, `Dishwasher055`, `Dishwasher058`, `Dishwasher059`, `Dishwasher060`, `Dishwasher061`, `Dishwasher062`, `Dishwasher063`, `Dishwasher067`
- Fixture registry: `assets/robocasa/raw/fixtures/fixture_registry/dishwasher.yaml`
- Fixture implementation reference: `docs/source_notes/robocasa/dishwasher_fixture.py`
## Structure mapping
| Upstream | Current | Notes |
| --- | --- | --- |
| `robocasa/models/assets/fixtures/dishwashers/Dishwasher031/` | `assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/` | One-to-one directory mapping for each dishwasher model. `model.xml` and `visuals/` kept intact. |
| `robocasa/models/assets/fixtures/fixture_registry/dishwasher.yaml` | `assets/robocasa/raw/fixtures/fixture_registry/dishwasher.yaml` | Registry copied without renaming. |
| `robocasa/models/fixtures/dishwasher.py` | `docs/source_notes/robocasa/dishwasher_fixture.py` | Reference copy for implementation and naming conventions. |
Reference preservation: yes. The assets were normalized into the unified library layout, but per-asset filenames and relative mesh references were preserved.
|