File size: 4,953 Bytes
e60cbb3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 | import os, ast, hashlib
from pathlib import Path
import json
ASSETS_PATH = Path(__file__).parent
ASSETS_PATH_ABS = Path(__file__).parent.resolve()
def extract_item_dict(file_path):
try:
with open(file_path, "r", encoding="utf-8") as f:
content = f.read()
tree = ast.parse(content)
if len(tree.body) == 1 and isinstance(tree.body[0], ast.Expr) and isinstance(tree.body[0].value, ast.Dict):
return ast.literal_eval(tree.body[0].value)
return None
except Exception as e:
print(f"Error processing {file_path}: {e}")
return None
def collect_all_items(item_file_list, base_path="."):
"""Collect ITEM dicts from all item.py files"""
combined_dict = {}
num = 0
visualization_path = ASSETS_PATH / "extra" / "visualization"
has_visualization = visualization_path.exists()
for item_path in item_file_list:
# Assuming item_path is a file path like "objects/carton/benchmark_carton_003/item.py"
file_path = Path(base_path) / item_path
usda_path = (Path(item_path).parent / "Aligned.usda").relative_to(ASSETS_PATH).as_posix()
desc_path = (Path(base_path) / item_path).parent / "description.py"
# Use the directory name as key, or customize as needed
key = file_path.parent.name
interaction_path = ASSETS_PATH / "interaction" / key / "interaction.json"
# visualization paths (similar to interaction)
visualization_video_path = visualization_path / key / "video" / "merged.mp4"
visualization_snapshot_dir_path = visualization_path / key / "snapshot"
if file_path.exists():
item_dict = extract_item_dict(file_path)
if item_dict:
if key in combined_dict:
print("ERROR!!! Duplicated object detected!", file_path)
print(" ", usda_path)
combined_dict[key] = item_dict
combined_dict[key]["url"] = str(usda_path)
if desc_path.exists():
desc_dict = extract_item_dict(desc_path)
if desc_dict:
combined_dict[key]["description"] = desc_dict
else:
combined_dict[key]["description"] = {}
print("WARN !!! Empty LLM description!", file_path)
# video path - from visualization folder
if visualization_video_path.exists():
combined_dict[key]["video"] = str(visualization_video_path)
else:
combined_dict[key]["video"] = ""
if has_visualization:
print("WARN !!! Empty video!", visualization_video_path)
# snapshot dir path - from visualization folder
if visualization_snapshot_dir_path.exists():
snapshot_files = list(visualization_snapshot_dir_path.glob("*"))
combined_dict[key]["snapshot"] = snapshot_files
else:
combined_dict[key]["snapshot"] = []
if len(combined_dict[key]["snapshot"]) == 0:
if has_visualization:
print("WARN !!! Empty snapshot!", visualization_snapshot_dir_path)
# interaction
if interaction_path.exists():
try:
interaction_dict = json.load(open(interaction_path))
combined_dict[key]["interaction"] = interaction_dict["interaction"]
except Exception as e:
# print(f"Error loading interaction.json: {e}")
combined_dict[key]["interaction"] = {}
else:
combined_dict[key]["interaction"] = {}
# print("WARN !!! Empty interaction.json!", interaction_path)
else:
print(f"No ITEM dict found in {file_path}")
else:
print(f"File not found: {file_path}")
num += 1
if num != len(combined_dict):
error = f"ERROR! there're items using the same name!!! {num} != {len(combined_dict)}"
print(error)
# raise Exception(error)
return combined_dict
def find_all_items():
base = Path(__file__).parent / "objects"
for root, dirs, files in os.walk(base, followlinks=True):
if "object_parameters.json" in files:
yield Path(root) / "item.py"
########
print(f"Initializing GenieSim Asset Lib at", Path(__file__).parent)
# Collect all ITEM dicts
ASSETS_INDEX = collect_all_items(find_all_items())
ASSETS_PAYLOAD = "".join(f"{k}={v}\n" for k, v in sorted(ASSETS_INDEX.items())).encode("utf-8")
ASSETS_INDEX_HASH = hashlib.sha256(ASSETS_PAYLOAD).hexdigest()
print(f"Initialized GenieSim Asset Lib, Found {len(ASSETS_INDEX)} items, hash: {ASSETS_INDEX_HASH}")
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