--- 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): ```bash 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): ```bash 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}__.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 ```bash # 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.