docs/source_notes/robocasa.md

RoboCasa Source Notes

RoboCasa assets are organized as MuJoCo/MJCF XML assets plus mesh and texture files.

Relevant upstream structure

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:

assets/robocasa/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/fixtures/fixture_registry/dishwasher.yaml
• Fixture implementation reference: docs/source_notes/robocasa/dishwasher_fixture.py