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3aeb818 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | # Codebase Overview
Here is an outline of prominent components of the codebase:
- `robocasa/demos/`: interactive scripts to explore tasks and environments (see [quick start](../introduction/quick_start.html) section for details)
- `robocasa/environments/kitchen/`: all implementations for kitchen tasks
- `kitchen.py`: base class from which all kitchen tasks extend from
- `single_stage/`: implementations of all single-stage (aka "atomic") tasks
- `multi_stage/`: implementations of all multi-stage (aka “composite”) tasks
- `robocasa/scripts/`: utility scripts
- `download_kitchen_assets.py`: downloads all assets. called automatically during setup in setup.sh
- `download_datasets.py`: downloads datasets (see datasets section for details)
- `collect_demos.py`: collect demonstration trajectories for any task and environment
- `robocasa/utils/`: utilities
- `dataset_registry.py`: registry of all datasets (see [using datasets](../use_cases/using_datasets.html) for more details)
- `robocasa/models/`: assets and implementations for objects, fixtures, and scenes
- `objects/kitchen_objects.py`: registry for all object categories and groups
- `assets/objects/`: raw assets for all objects
- `fixtures/`: implementations of all fixture classes
- `assets/fixtures/`: raw assets for all environment fixtures
- `assets/fixtures/fixture_registry/`: registry for all fixture assets
- `scenes/`: implementations for constructing kitchen scenes
- `scene_registry.py`: registry of all kitchen scenes, including layouts and styles
- `assets/scenes/`: blueprints for kitchen scenes, including layouts and styles |