Codebase Overview

Here is an outline of prominent components of the codebase:

robocasa/demos/: interactive scripts to explore tasks and environments (see quick start 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 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