# 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.