| # RoboCasa Source Notes |
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| RoboCasa assets are organized as MuJoCo/MJCF XML assets plus mesh and texture files. |
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| ## Relevant upstream structure |
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| ```text |
| robocasa/models/assets/ |
| ├── fixtures/ |
| │ ├── fixture_registry/ |
| │ └── <fixture_category>/<FixtureId>/model.xml |
| ├── objects/ |
| ├── scenes/ |
| ├── textures/ |
| └── generative_textures/ |
| ``` |
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| ## Fixture conventions |
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| - 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`. |
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| ## Seeded assets |
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| This library currently includes RoboCasa dishwasher fixtures under: |
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| ```text |
| assets/robocasa/raw/fixtures/dishwashers/ |
| ``` |
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| Included dishwasher-related files: |
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| - 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` |
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| ## Structure mapping |
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| | 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. | |
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| Reference preservation: yes. The assets were normalized into the unified library layout, but per-asset filenames and relative mesh references were preserved. |
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