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name: tasks-scenes-assets description: "This skill guides selection and customization of RoboCasa kitchen tasks, scenes, fixtures, objects, placement configurations, and asset prerequisites." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Tasks, scenes, and assets

Use this sub-skill when the user is deciding what kitchen task to run or customize, which layout/style and object registry to use, or which fixture/object configuration and assets are needed. Read the focused references before writing a task class or changing scene sampling:

• Task catalog — atomic/composite coverage and registration facts.
• Scenes, fixtures, and objects — split mappings, selectors, registries, and asset boundaries.
• Custom task configuration — Kitchen subclass lifecycle, object placement schema, and fixture overrides.
• Troubleshooting — failure diagnosis and verification limits.

Route the request

1. Pick a task. Match the requested behavior to an existing atomic task or composite activity. Preserve the registered class name; do not invent a Gym id when an existing task already expresses the behavior.
2. Select a scene. Choose split="pretrain", "target", or "all" only when the corresponding layout/style and object split is intended. For a precise scene, use a layout/style pair and do not also pass the mutually exclusive selector families. Run the no-download validator when integer selectors are supplied: python scripts/validate_scene_selection.py ....
3. Select assets. Use the object groups and fixture types required by the task, then check that the referenced MJCF, mesh, and texture files exist in the user's asset installation. Package imports and YAML registries alone do not prove that a reset can load a complete kitchen.
4. Customize narrowly. Subclass Kitchen, set fixture references in _setup_kitchen_references, return object configurations from _get_obj_cfgs, and implement the success predicate. Reuse the source placement idioms rather than bypassing the placement initializer.

Scope boundary

This sub-skill owns task/scene/fixture/object selection and configuration. Generic create_env, Gym registration, reset/step, rendering, and rollout execution belong to simulation-environments. Dataset task registries, recording formats, and playback belong to datasets-demonstrations. Teleoperation and demonstration collection belong to teleoperation-and-collection. Asset downloading is an opt-in user action, not part of validation; asset conversion pipelines, Blender, VHACD/COACD, and large generated documentation are intentionally excluded.

The inspected package registers 374 kitchen environment classes. The checkout contains the Python APIs and scene YAMLs, but it does not contain the complete external kitchen fixture/object asset collection. A direct constructor probe was possible; reset was not claimed because fixture XML/mesh prerequisites were absent. Treat that limitation as an asset gate, not as a task-selection failure.