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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/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.