From babc85b553db11942029c165ccf4390b0bb53b5d Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 17 Apr 2026 13:14:10 +0100 Subject: [PATCH] fix(docker): also download tex_generative for robocasa benchmark RoboCasa's lightwheel kitchen fixtures embed references to `generative_textures/wall/tex*.png` directly in their MuJoCo XML, so `MjModel.from_xml_string` errors out at reset time with "No such file or directory" even when the env is constructed with `generative_textures=None`. The generative textures live under a separate asset registry key (`tex_generative`) in `download_kitchen_assets`, distinct from the base `tex` pack we were already fetching. - Add `tex_generative` to the download list so the fixture XMLs resolve. - Document the remaining omissions (objaverse/aigen, ~30GB) and how the runtime side pairs this with obj_registries=["lightwheel"] to avoid sampling from categories whose assets aren't on disk. Made-with: Cursor --- docker/Dockerfile.benchmark.robocasa | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/docker/Dockerfile.benchmark.robocasa b/docker/Dockerfile.benchmark.robocasa index 7a134301a..dafa8332a 100644 --- a/docker/Dockerfile.benchmark.robocasa +++ b/docker/Dockerfile.benchmark.robocasa @@ -28,12 +28,21 @@ RUN git clone --depth 1 https://github.com/robocasa/robocasa.git ~/robocasa && \ git clone --depth 1 https://github.com/ARISE-Initiative/robosuite.git ~/robosuite && \ uv pip install --no-cache -e ~/robocasa -e ~/robosuite -# Set up robocasa macros and download kitchen assets. Include tex + fixtures_lw -# + objs_lw (kitchen tasks reference lightwheel object meshes like stools); skip -# objaverse/aigen object categories (~8GB extra, not used by the smoke tasks). +# Set up robocasa macros and download kitchen assets. We need: +# - tex : base environment textures +# - tex_generative : AI-generated textures; kitchen fixture XMLs embed +# refs to generative_textures/wall/tex*.png +# unconditionally, so MjModel.from_xml_string fails +# at reset time without them (even if the env is +# constructed with generative_textures=None). +# - fixtures_lw : lightwheel kitchen fixtures (fridge, counters...) +# - objs_lw : lightwheel object meshes (stools, misc props) +# We skip the objaverse/aigen object packs (~30GB combined) by pairing +# this with --env.obj_registries=["lightwheel"] on the lerobot side. # The download script prompts interactively, so pipe 'y' to auto-accept. RUN python -m robocasa.scripts.setup_macros && \ - yes y | python -m robocasa.scripts.download_kitchen_assets --type tex fixtures_lw objs_lw + yes y | python -m robocasa.scripts.download_kitchen_assets \ + --type tex tex_generative fixtures_lw objs_lw # Overlay the PR's source code on top of the nightly image. COPY --chown=user_lerobot:user_lerobot . .