# bosch800/source

Moved out of the code repo on 2026-10-21 (edits: package-relative imports -> `from dishsim import config` plus the
sibling files; repo root one level deeper; output paths in this dataset):

| File | Was | What |
|---|---|---|
| `rack_gen.py` | `code/src/dishsim/rack_gen.py` | the procedural racks (the layout arithmetic the runtime needs stayed as `dishsim/rack_layout.py`) |
| `usd_prep.py` | `code/src/dishsim/usd_prep.py` | authors the per-state machine USDs (Bosch 800 from `config.MACHINE_GEN`, ArtVIP-derived for the baseline) |
| `export_usd.py` | new | runs `usd_prep` for every cached state (what `dishsim.machine` did at import) |
| `cache_dump.py` | `dump_cache` and helpers from `code/src/dishsim/geometry.py` | Kit-side cache extraction |
| `extract_geometry.py`, `decompose_meshes.py` | `code/initialization/bosch/` | bake one (machine, state, object) cache: extract, then decompose |
| `test_rack_gen_frozen.py` | `code/tests/` | rack digests, pinned per numeric environment |
| `lower_rack_asset.py`, `polish_lower_rack.py`, `lower_rack_polish_evidence.py`, `lower_rack_polish.md` | `code/frigidaire/src/dishsim_frigidaire/`, `code/initialization/frigidaire/`, `code/frigidaire/docs/` | the photo-informed lower-rack revision of the standalone asset (staged, never installed) |
| `bosch800_asset_evidence.py` | `code/initialization/bosch/` | Isaac Lab 2.1 load and articulation evidence of the standalone asset |

Last runs:

- Caches: the content of archive tag `20260910_b3584ae` (cut on corallab at commit `b3584ae`), unchanged. Each was
  baked with (code repo root, then-paths):

  ```bash
  code/util/run_kit.sh code/initialization/bosch/extract_geometry.py --headless \
      --machine bosch800 --placement side_winner --scenario placement --object plate
  code/util/run_py.sh code/initialization/bosch/decompose_meshes.py \
      --machine bosch800 --placement side_winner --scenario placement --object plate
  ```

- Machine USDs: `model_bosch800_v0_placement.usda` was authored on 2026-10-21 by `dishsim.machine` at import (commit
  `1290c6c`, the first Kit run of the restored archive); the other states by `export_usd.py` the same day, from these
  files. Their stamps match the config (checked).
- Standalone asset: built and validated outside this repo on Isaac Sim 6.0.1-rc.7 / Isaac Lab 3.0 (archive tag
  `20260910_b3584ae`, `models`); its evidence is in the code repo's docs and `data/media/bosch800_asset/` on the box.

Now (code repo root, inside the container):

```bash
code/util/run_py.sh data/assets/bosch800/source/export_usd.py --machine bosch800 --states placement
code/util/run_kit.sh data/assets/bosch800/source/extract_geometry.py --headless \
    --machine bosch800 --placement side_winner --scenario placement --object plate
code/util/run_py.sh data/assets/bosch800/source/decompose_meshes.py \
    --machine bosch800 --placement side_winner --scenario placement --object plate
code/util/run_py.sh -m pytest data/assets/bosch800/source -q
```