assets: the task assets the published environments load at runtime
#8
by phaonan - opened
Audit 2026-09-15 (strace of every collection target at build+reset, sha256 against this repo):
- assets/task_object_meshes/MealPreparation_Assets/ (237 files): the RoboCasa set the MealPreparation
family was recorded with. It was never published; only MealPreparationPizza_Assets was, and that set
has no spoon_16, so task/meal_preparation.py silently fell back to spoon_0 (different mesh and
reference rotation) at inference. Used by OpenCloseBox, PickAndPlaceBread, ScoopTomato and the long task. - assets/task_object_meshes/pipette/mobility.urdf (+README): the pipette articulation; the three
Pipette environments cannot be built without it. - assets/task_object_meshes/package_opening/package/mobility.urdf: replaced by the version the
PackageOpening datasets were recorded with (2026-08-25: visible 61 mm floor slab; visual only).
Every other file a collection target opens is already on this repo and byte-identical (office 868,
cabinet_pour 1252, juice 60, drawer_plug 96, screwing 2, TableClean 12, package_opening 179).
Jianshu1 changed pull request status to merged