docs/placement_asset_notes.md

Placement Task Asset Notes

This repository is intended to support placement-oriented robotics tasks such as:

• placing objects into containers
• placing tableware or food on plates, trays, counters, and shelves
• loading objects into articulated fixtures such as dishwashers, drawers, and cabinets
• composing tabletop or kitchen scenes from reusable object, receptacle, fixture, robot, and environment assets

Currently available local assets

For any imported source, the upstream-to-local directory mapping is recorded in:

docs/structure_mapping.md

RoboCasa

RoboCasa currently contributes dishwasher fixtures:

assets/robocasa/raw/fixtures/dishwashers/
assets/robocasa/raw/fixtures/fixture_registry/dishwasher.yaml

These are useful for placement tasks involving loading dishes or objects into a dishwasher.

DISCOVERSE

DISCOVERSE is imported as a collection-level asset:

assets/discoverse/raw/collections/models/discoverse_models/
├── mjcf/
├── meshes/
└── urdf/

Placement-relevant DISCOVERSE MJCF task/environment files include:

assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_block.xml
assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_coffeecup.xml
assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_jujube.xml
assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_jujube_coffeecup.xml
assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_kiwi_fruit.xml
assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/place_spoon.xml
assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/coffeecup_plate.xml
assets/discoverse/raw/collections/models/discoverse_models/mjcf/task_environments/stack_block.xml

Placement-relevant DISCOVERSE object assets include bowls, plates, cups, fruit, boxes, baskets, pans, spoons, towels, trashbins, and cabinets under:

assets/discoverse/raw/collections/models/discoverse_models/mjcf/object/
assets/discoverse/raw/collections/models/discoverse_models/meshes/object/

Candidate external sources

The following sources are recorded as link-only candidates. Do not copy assets from them into this repository until a downstream task actually uses them and the license has been reviewed.

Source	Link	Placement relevance	Intake rule
MuJoCo Menagerie	https://github.com/google-deepmind/mujoco_menagerie	Robot grippers, robot arms, hands, and robot-ready MJCF assets	Import exact used robot/object model with license and upstream commit.
PartNet-Mobility	https://sapien.ucsd.edu/browse	Articulated cabinets, drawers, doors, and household objects	Import only selected object IDs after checking license and conversion notes.
Objaverse / Objaverse-XL	https://objaverse.allenai.org	Large-scale everyday objects for object placement and scene variety	Import exact used asset IDs with original UID, license, source URL, and conversion pipeline.
Google Scanned Objects	https://app.ignitionrobotics.org/GoogleResearch/fuel/collections/Google%20Scanned%20Objects	Scanned household objects suitable for manipulation and placement	Import exact used model with provider URL and license metadata.
RoboCasa	https://robocasa.ai	Kitchen fixtures, objects, scenes, textures, and placement-style tasks	Import normalized assets under assets/robocasa/....
DISCOVERSE	https://github.com/discoverse-dev/DISCOVERSE	MJCF task environments, manipulation objects, robots, and scenes	Already imported as assets/discoverse/raw/collections/models/discoverse_models/.

Third-party intake checklist

When a placement task uses an external asset:

1. Copy the exact used asset into this repository.
2. Preserve upstream filenames and relative paths where practical.
3. Add metadata.yaml in the asset directory.
4. Add one JSONL row to manifest/assets.jsonl.
5. Record license, upstream URL, retrieval date, source asset ID, and conversion steps.
6. Run:

python scripts/validate_asset.py --all