# 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.