README.md

metadata

pretty_name: >-
  dishsim assets — dishwasher sim worlds (ArtVIP v1 + Bosch 800 v2/v3 +
  preliminary Frigidaire v4)
license: other
license_name: mixed-per-component
license_link: https://github.com/shu4dev/dishsim#8-licenses--attribution
tags:
  - robotics
  - simulation
  - isaac-sim
  - motion-planning

dishsim assets

Prebuilt asset and results archive for the dishsim project — a physics-validated rearrangement-planning benchmark in an articulated dishwasher (Isaac Sim 4.5 / Isaac Lab 2.1). Restoring this archive is the fast path: it ships every collision cache, derived USD, settled benchmark instance and recorded result, so a fresh machine reproduces the shipped experiments with zero baking (hours of Kit work per world, already done).

One-command restore (no token needed)

From the project repo root, inside the runtime container (repo README §2):

scripts/run_py.sh scripts/tools/restore_assets.py --repo shu4dev/dishsim-assets

The restore downloads the current assets tarball (resolved via latest.json), safe-extracts it, verifies every file against the tarball's sha256 manifest, re-downloads the ArtVIP originals, hash-validates every collision cache against the checked-out config.py, and runs the Kit-free test suite. scripts/tools/bootstrap.sh wraps this into the full bring-up.

Standalone machine assets are opt-in kinds (no cache pack needed):

scripts/run_py.sh scripts/tools/restore_assets.py --kinds models            # USD assets only
scripts/run_py.sh scripts/tools/restore_assets.py --kinds models evidence   # + Bosch evidence

What the archive contains

• v1 — ArtVIP compact machine (the frozen mug baseline + multi-object episodes): built object props, all collision caches, derived machine USDs, baseline results.
• v2 — Bosch 800 digital twin (assets/machines/bosch800/, assets/cache/machines/bosch800/): self-authored parametric machine (full-travel racks, third rack, spray arms), collision caches for the benchmark rack states, the settled benchmark instances and algorithm records (results/instances/, results/rearrange/). The assets tarball is cut from the Isaac Sim 4.5 box the benchmark runs on; its E_door_4 CoACD pieces already use the exact (unpreprocessed) decomposition, so no post-restore re-decompose is needed for tags dated 2026-09-10 or later.
• v3 — standalone Bosch 800 asset (dishsim_models_*.tar.gz; extracts to assets/models/bosch800/): an independently authored approximation of the Bosch 800 SHP78CM5N — bosch800.usdc (PBR materials, rigid bodies, convex collision, four driven joints: door_hinge, lower_slide, middle_slide, third_slide), standalone lower_rack.usdc / middle_rack.usdc rigid-body exports, and textures/. Self-contained: no ArtVIP tree, robot, or cache needed; open it directly in Isaac Sim or reference /Bosch800. Metres, Z-up, front faces −Y, origin at the floor-footprint centre. It is a visual/manipulation asset (no fluid, dispensing, or foldable tines), not manufacturer CAD. Its validation evidence is the separate dishsim_evidence_*.tar.gz (~74 MB; extracts to assets/evidence/bosch800/): validation.json (PASS on Isaac Sim 6.0.1 / Isaac Lab 3.0 — motor-driven open/extend/retract/close cycle, dish settling, loaded-rack travel, contact-aware retrieval; re-validated under Isaac Sim 4.5 / Isaac Lab 2.1), stills, the articulation video, the two test dishes, and the superseded asset as previous_asset.zip. Full description: the repo's docs/bosch800_asset.md.
• v4 — Frigidaire FDPC4221AS (preliminary), in the same models tarball (assets/models/frigidaire_fdpc4221as/ and assets/models/frigidaire_fdpc4221as_v2/): two early revisions of an independently authored approximation of the Frigidaire FDPC4221AS — cabinet, door, upper/lower racks, silverware basket, an assembled fdpc4221as.usdc, an example scene, dish fixtures, and (v2) ten tableware prototypes with a settled full-load record. Preliminary: these carry the older 32/56-tine rack geometry and their dish loading is unvalidated; a 52/72-tine rebuild with fresh Isaac evidence is in progress and will supersede both. Each folder carries its own README, parameter and validation JSONs. Metres, Z-up, front −Y; not manufacturer CAD.
• latest.json — files maps each tarball KIND (assets, media, models, evidence) to its current tarball; restore_assets.py --kinds ... follows it. Uploads merge into it, so kinds not re-cut keep resolving to their existing tarball. media tarballs from 2026-08 remain for reference only; the current restore extracts assets/ members alone.

Tarballs cut from 2026-09 on carry a per-file sha256 in their MANIFEST.json; the restore verifies every extracted file against it (older tarballs extract unverified).

Tarballs are named dishsim_{assets,media,models,evidence}_<date>_<gitsha>.tar.gz; the git SHA ties each archive to the repo revision whose config.py its cache hashes were computed against — restore against that revision (or newer, if the hashed config values are unchanged). Older tarballs stay in the repo unreferenced; latest.json is the only pointer that matters.

Immediately after restore

# regenerate a settled benchmark cell and run the greedy baseline on it — no baking needed
scripts/run_kit.sh scripts/setup/gen_instances.py --headless --cell medium --n 3 --seed 0
scripts/run_kit.sh scripts/experiment/run_rearrange.py --headless \
    --instances "results/instances/bosch800/placement/*.json" --algorithms greedy

Licenses

Mixed, per component — see the repo's README §8: ArtVIP dishwasher (Apache-2.0), YCB-scan-derived objects (YCB dataset terms), project-authored procedural props/racks/ caches (project license). No robot USD is in this archive. The v3 Bosch 800 and v4 Frigidaire assets (geometry and generated textures) are project-authored under BSD-3-Clause; Bosch and Frigidaire names identify the reference products only — the assets are not made or endorsed by either manufacturer, and no downloaded product photographs are included.