Codebase Overview#

Here is an outline of prominent components of the codebase:

• robocasa/demos/: interactive scripts to explore tasks and environments (see quick start section for details)

• robocasa/environments/kitchen/: all implementations for kitchen tasks

  • kitchen.py: base class from which all kitchen tasks extend from

  • single_stage/: implementations of all single-stage (aka “atomic”) tasks

  • multi_stage/: implementations of all multi-stage (aka “composite”) tasks

• robocasa/scripts/: utility scripts

  • download_kitchen_assets.py: downloads all assets. called automatically during setup in setup.sh

  • download_datasets.py: downloads datasets (see datasets section for details)

  • collect_demos.py: collect demonstration trajectories for any task and environment

• robocasa/utils/: utilities

  • dataset_registry.py: registry of all datasets (see using datasets for more details)

• robocasa/models/: assets and implementations for objects, fixtures, and scenes

  • objects/kitchen_objects.py: registry for all object categories and groups

  • assets/objects/: raw assets for all objects

  • fixtures/: implementations of all fixture classes

  • assets/fixtures/: raw assets for all environment fixtures

    • assets/fixtures/fixture_registry/: registry for all fixture assets

  • scenes/: implementations for constructing kitchen scenes

    • scene_registry.py: registry of all kitchen scenes, including layouts and styles

  • assets/scenes/: blueprints for kitchen scenes, including layouts and styles