| # bosch_props | |
| The Bosch 800 benchmark's dishes and cutlery (the `dishsim.config.OBJECTS` registry), as rigid-body USDs plus the | |
| Kit-free meshes and convex pieces the FCL collision world loads. | |
| | Path | What | | |
| |---|---| | |
| | `usd/<name>_physics.usd` | the physics USDs the benchmark spawns (`ObjectSpec.usd_path`), with `usd/textures/` | | |
| | `meshes/<name>.obj` | body-frame meshes (the source of every cache's `meshes/object.obj`) | | |
| | `parts/<name>/piece_*.obj` | the procedural props' exact convex parts (`prop_gen`) | | |
| | `pieces/object_<digest>/piece_*.obj` | the carried object's collision pieces, content-addressed by mesh bytes + params (`dishsim.geometry.coacd_dir_for`) | | |
| | `source/` | `prop_gen.py` (the procedural props) and a note on the YCB-derived ones | | |
| The machine-keyed caches that use these objects live with the dishwasher (`../bosch800/cache/<state>/<object>/`, | |
| `../artvip_dishwasher_2/cache/<state>/<object>/`). | |
| Licence: the YCB-derived props (mug, plate, saucer, bowl, cup, fork, spoon, knife, spatula, pitcher, their meshes | |
| and textures) come from the YCB Object and Model Set (Calli et al.), CC BY 4.0; the procedural props (tumbler, | |
| wine glass, serving spoon, container, lid) and every derived collision piece are BSD-3-Clause, like the code repo. | |