Unreleased staging: GRScenes Portable v1.0.0-rc1

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ATTRIBUTION.md

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+# Attribution and modification notice
+
+## Upstream work
+
+This artifact is a GRScenes laboratory-authorized portable release maintained by a
+project member. It is derived from GRScenes / InternUtopia and must not be presented
+as an unrelated or newly authored scene dataset.
+
+- GRScenes Dataset Card: https://huggingface.co/datasets/InternRobotics/GRScenes
+- InternUtopia project: https://github.com/InternRobotics/InternUtopia
+- Paper: *GRUtopia: Dream General Robots in a City at Scale*, arXiv:2407.10943,
+  https://arxiv.org/abs/2407.10943
+
+Use the citation in `README.md` and preserve this notice with redistributed
+adaptations.
+
+## License and access
+
+The open-sourced GRScenes data is under the Creative Commons
+Attribution-NonCommercial-ShareAlike 4.0 International license. Attribution,
+non-commercial use, and compatible ShareAlike terms are required. The full license
+text is included as `LICENSE-GRSCENES-CC-BY-NC-SA-4.0.txt`.
+
+The upstream project additionally directs users to complete the GRScenes-100 Dataset
+Access User Agreement. Recipients remain responsible for that access requirement and
+terms applicable to bundled third-party material resources.
+
+## Changes in portable-v1.0.0-rc1
+
+The maintainer made compatibility and integrity changes only:
+
+1. Restored two USD scene layers damaged in transport from the laboratory canonical
+   source.
+2. Re-authored the approved private `/cpfs/.../Material/` AssetPath prefix as
+   layer-relative POSIX-style paths without changing non-path USD content.
+3. Localized one authored Twinbru HTTP material path to a bundled local module.
+4. Added seven missing official NVIDIA MDL modules plus their required runtime
+   dependency closure.
+5. Added one disclosed neutral MDL fallback and one disclosed neutral JPEG fallback.
+6. Added manifests, deterministic packaging, safe extraction, verification tools,
+   and release documentation.
+
+## Missing-target resolution
+
+| Required target | v1.0.0-rc1 resolution | Source/disclosure |
+|---|---|---|
+| `Material/mdl/Base/Glass/Tinted_Glass_R50.mdl` | Official original | NVIDIA Omniverse material distribution |
+| `Material/mdl/Base/Glass/Tinted_Glass_R75.mdl` | Official original | NVIDIA Omniverse material distribution |
+| `Material/mdl/Base/Wood/Ash_Planks.mdl` | Official original | NVIDIA Omniverse material distribution |
+| `Material/mdl/Graphical_White_Jacquard_FL_3075963.mdl` | Neutral compatibility fallback | The official Twinbru candidate did not reliably register under the full dataset MDL search root. The shipped module is texture-free 50% gray, preserves the expected symbol, and has SHA-256 `9af2cddf57e5458c29f31601a6a386f4264a9b3f782f7fd33dfd07a98684e834`. |
+| `Material/mdl/vMaterials_2/Concrete/Mortar.mdl` | Official original | NVIDIA Omniverse material distribution |
+| `Material/mdl/vMaterials_2/Glass/Glass_Glazing_Spandrel.mdl` | Official original | NVIDIA Omniverse material distribution |
+| `Material/mdl/vMaterials_2/Ground/Ground_Leaves.mdl` | Official original | NVIDIA Omniverse material distribution |
+| `Material/mdl/vMaterials_2/Other/Retroreflective/Retroreflective_Material.mdl` | Official original | NVIDIA Omniverse material distribution |
+| `Material/mdl/textures/eyes03A.jpg` | Neutral compatibility fallback | Generated true-JPEG 64×64 RGB image, uniform value 128, SHA-256 `94b2f9daa78a89a37eced1a78698e54f9201ad0908106f52d03d760fbc1d552f`; the original texture is not represented. |
+
+The seven shipped official MDL modules, expected USD `subIdentifier` symbols, and
+runtime resources were validated with the Isaac Sim 6.0.1 MDL registry. The official
+Twinbru candidate's source hash and the generated replacement hash are recorded in
+`PORTABLE_RELEASE.json`. The release contains no live HTTP material dependency.
+
+## Third-party material notice
+
+The compatibility closure includes resources obtained from official NVIDIA
+Omniverse and Twinbru distribution locations. Their inclusion does not imply that CC
+BY-NC-SA relicenses trademarks or components governed by separate upstream terms.
+The laboratory has represented that this public release is authorized; downstream
+users remain responsible for applicable third-party terms.
+
+Isaac Sim, Omniverse Kit, NVIDIA drivers, and the software packages used for
+validation are not included in this dataset release.

LICENSE-GRSCENES-CC-BY-NC-SA-4.0.txt

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+      "isaac_sim_version": "6.0.1",
+      "module_count": 7,
+      "modules": [
+        {
+          "relative_path": "Material/mdl/Base/Glass/Tinted_Glass_R50.mdl",
+          "registry_added": true,
+          "registry_loaded": true,
+          "expected_symbols": [
+            "Tinted_Glass_R50"
+          ],
+          "all_expected_symbols_resolved": true
+        },
+        {
+          "relative_path": "Material/mdl/Base/Glass/Tinted_Glass_R75.mdl",
+          "registry_added": true,
+          "registry_loaded": true,
+          "expected_symbols": [
+            "Tinted_Glass_R75"
+          ],
+          "all_expected_symbols_resolved": true
+        },
+        {
+          "relative_path": "Material/mdl/Base/Wood/Ash_Planks.mdl",
+          "registry_added": true,
+          "registry_loaded": true,
+          "expected_symbols": [
+            "Ash_Planks"
+          ],
+          "all_expected_symbols_resolved": true
+        },
+        {
+          "relative_path": "Material/mdl/vMaterials_2/Concrete/Mortar.mdl",
+          "registry_added": true,
+          "registry_loaded": true,
+          "expected_symbols": [
+            "Mortar_White"
+          ],
+          "all_expected_symbols_resolved": true
+        },
+        {
+          "relative_path": "Material/mdl/vMaterials_2/Glass/Glass_Glazing_Spandrel.mdl",
+          "registry_added": true,
+          "registry_loaded": true,
+          "expected_symbols": [
+            "Glass_Glazing_Spandrel_Dark_Blue"
+          ],
+          "all_expected_symbols_resolved": true
+        },
+        {
+          "relative_path": "Material/mdl/vMaterials_2/Ground/Ground_Leaves.mdl",
+          "registry_added": true,
+          "registry_loaded": true,
+          "expected_symbols": [
+            "ground_leaves_green"
+          ],
+          "all_expected_symbols_resolved": true
+        },
+        {
+          "relative_path": "Material/mdl/vMaterials_2/Other/Retroreflective/Retroreflective_Material.mdl",
+          "registry_added": true,
+          "registry_loaded": true,
+          "expected_symbols": [
+            "Retroreflective_Material_Yellow"
+          ],
+          "all_expected_symbols_resolved": true
+        }
+      ]
+    },
+    "official_twinbru_candidate": {
+      "relative_path": "Material/mdl/Graphical_White_Jacquard_FL_3075963.mdl",
+      "sha256": "50b0320f499201f6537cb12934a519853b4e8b46448609827b315c6216e1139c",
+      "shipped": false,
+      "replacement_reason": "The official Twinbru MDL reproducibly failed to terminate in UsdMdl.RegistryUtils.AddModuleToRegistry under the full dataset MDL search root; the same bytes only passed in a reduced staging root."
+    },
+    "fallbacks": [
+      {
+        "kind": "neutral_mdl_fallback",
+        "generator_version": "grscenes-runtime-mdl-fallback-v1",
+        "target_relative_path": "Material/mdl/Graphical_White_Jacquard_FL_3075963.mdl",
+        "reason": "The official Twinbru MDL reproducibly failed to terminate in UsdMdl.RegistryUtils.AddModuleToRegistry under the full dataset MDL search root; the same bytes only passed in a reduced staging root.",
+        "exported_symbols": [
+          "Graphical_White_Jacquard_FL_3075963"
+        ],
+        "official_candidate_sha256": "50b0320f499201f6537cb12934a519853b4e8b46448609827b315c6216e1139c",
+        "generated_sha256": "9af2cddf57e5458c29f31601a6a386f4264a9b3f782f7fd33dfd07a98684e834",
+        "generated_size_bytes": 1156,
+        "module_dependency": "Material/mdl/KooPbr.mdl",
+        "texture_dependencies": [],
+        "appearance": {
+          "diffuse": [
+            0.5,
+            0.5,
+            0.5
+          ],
+          "metallic": 0.0,
+          "emissive": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "opacity": 1.0
+        },
+        "generated_utc": "2026-08-05T12:37:33.526255+00:00"
+      },
+      {
+        "kind": "neutral_texture_fallback",
+        "generator_version": "grscenes-eyes-neutral-jpeg/1.0.0",
+        "target_relative_path": "Material/mdl/textures/eyes03A.jpg",
+        "reason": "Original texture absent from the canonical dataset and approved laboratory search roots.",
+        "visual_semantics": "uniform 50% gray; no attempt to reconstruct the original eye texture",
+        "encoding": {
+          "format": "JPEG",
+          "mode": "RGB",
+          "width": 64,
+          "height": 64,
+          "rgb": [
+            128,
+            128,
+            128
+          ],
+          "quality": 95,
+          "subsampling": 0,
+          "progressive": false,
+          "optimize": false
+        },
+        "size_bytes": 737,
+        "sha256": "94b2f9daa78a89a37eced1a78698e54f9201ad0908106f52d03d760fbc1d552f",
+        "generated_utc": "2026-08-04T14:06:53.310558+00:00"
+      }
+    ]
+  },
+  "validation": {
+    "windows_isaac_sim": {
+      "version": "6.0.1",
+      "status": "PASS",
+      "stages": 99,
+      "passed": 99,
+      "failed": 0
+    },
+    "windows_gui": {
+      "status": "INCOMPLETE_DISCLOSED",
+      "launch_gate": false,
+      "strict_automated_report_status": "FAIL",
+      "targeted_scene_count": 13,
+      "strict_automated_passed": 0,
+      "known_limitations": [
+        "The strict GUI survey did not reach PASS because of unapproved Kit/RTX/SdfPath/normal-primvar warnings and memory limits.",
+        "Scene 10 produced a black automated frame.",
+        "Scene 12 later produced a dark frame with warnings.",
+        "Scene 13 remained memory-blocked and has no accepted screenshot.",
+        "The neutral eyes03A.jpg fallback has not been visually confirmed from a front-facing character view."
+      ]
+    },
+    "wsl_ubuntu_22_04": {
+      "status": "PASS",
+      "platform": "linux",
+      "distribution": "Ubuntu-22.04-isaac",
+      "payload_paths": 394508,
+      "fast_manifest": "PASS",
+      "keyfiles_manifest": "PASS",
+      "relative_path_validation": "PASS",
+      "case_validation": "PASS",
+      "link_validation": "PASS"
+    },
+    "linux_isaac_sim": {
+      "status": "PENDING_RECIPIENT_FEEDBACK",
+      "launch_gate": false
+    }
+  },
+  "packaging": {
+    "shard_count": 21,
+    "asset_buckets": 18,
+    "material_buckets": 2,
+    "scene_buckets": 1,
+    "zstandard_level": 3,
+    "zstandard_frame_checksum": true,
+    "python_version": "3.13.9",
+    "zstandard_version": "0.25.0",
+    "tar_format": "PAX_FORMAT",
+    "shards": [
+      {
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+      },
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+      },
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+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-assets-08.tar.zst"
+      },
+      {
+        "sha256": "152b51d2da8cc6d590dd6e8baf4edaa3490ad0b9830a6187ce46ebf36d847846",
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+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-assets-09.tar.zst"
+      },
+      {
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+      },
+      {
+        "sha256": "1ca6ce47ca5b25fcec2be35f229620557e0aadc2b516053f3da3530ebaff4be8",
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+      },
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+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-assets-15.tar.zst"
+      },
+      {
+        "sha256": "e9842b149b2cdbe7025c6eddf63f05d29bc161e1d8fc61903fb0028a54852b57",
+        "size_bytes": 8941426631,
+        "payload_files": 21315,
+        "payload_bytes": 16215998712,
+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-assets-16.tar.zst"
+      },
+      {
+        "sha256": "fd909cab4b378f91326176f1a2a9114f66d6a3810ddfc3b6dbd69f7a4ea7dde4",
+        "size_bytes": 7920457184,
+        "payload_files": 20853,
+        "payload_bytes": 15142282788,
+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-assets-17.tar.zst"
+      },
+      {
+        "sha256": "3363748e9615c172966c1ac8e41290fb591afe13e2d8607f49dd43f9e4a10cc1",
+        "size_bytes": 14898069980,
+        "payload_files": 11093,
+        "payload_bytes": 15086533017,
+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-material-00.tar.zst"
+      },
+      {
+        "sha256": "1eebe30293bc0dd87d6c0ed70d338cfab0d0621a4f3ca87a9435136ec02fdce1",
+        "size_bytes": 14970706850,
+        "payload_files": 11145,
+        "payload_bytes": 15139654381,
+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-material-01.tar.zst"
+      },
+      {
+        "sha256": "5b906f5e5596ad0b1fe3f8997d5c6e783f52b459396f657387441149b7b50aaa",
+        "size_bytes": 26503108,
+        "payload_files": 99,
+        "payload_bytes": 170462831,
+        "relative_path": "shards/grscenes-portable-v1.0.0-rc1-scenes.tar.zst"
+      }
+    ]
+  },
+  "download_toolchain": {
+    "python": "3.13.9",
+    "huggingface_hub": "1.26.0",
+    "hf_xet": "1.6.0",
+    "zstandard": "0.25.0",
+    "hf_xet_high_performance": false
+  },
+  "limitations": [
+    "No MDL-to-UsdPreviewSurface conversion is included.",
+    "The original eyes03A.jpg could not be recovered and is represented by the disclosed neutral fallback.",
+    "The Twinbru Graphical White Jacquard module is represented by a disclosed neutral MDL fallback because its official candidate did not reliably register under the full dataset search root.",
+    "Complete Windows GUI visual acceptance is pending and is not a v1.0.0-rc1 launch gate.",
+    "Actual Linux Isaac Sim 6.x validation is pending recipient feedback and is not a v1.0.0-rc1 launch gate.",
+    "Isaac Sim, Omniverse Kit, and NVIDIA drivers are not distributed."
+  ]
+}

README.md

@@ -1,22 +1,215 @@
 ---
 license: cc-by-nc-sa-4.0
+language:
+- en
+- zh
 tags:
 - robotics
 - embodied-ai
+- simulation
 - isaac-sim
 - openusd
+- grscenes
+- 3d-scenes
+pretty_name: GRScenes Portable v1.0.0-rc1
+size_categories:
+- 100B<n<1T
 ---
 
-# GRScenes Portable v1.0.0-rc1 — upload in progress
+# GRScenes Portable v1.0.0-rc1
 
-This public Dataset repository is being initialized for the GRScenes Portable
-`v1.0.0-rc1` release candidate.
+> **Release candidate.** Complete Windows GUI visual acceptance and actual Linux
+> Isaac Sim validation are still pending. Reproducible downloads must use the
+> immutable `v1.0.0-rc1` tag, not the mutable `main` branch. A `refs/pr/*` view is
+> public upload staging and must not be treated as a release.
 
-The release is **not available yet**. A public `refs/pr/*` revision is unreleased
-validation staging. Do not download, cite, mirror, or use it until the same tree is
-merged to `main` and published under the immutable `v1.0.0-rc1` tag.
+GRScenes Portable is a GRScenes laboratory-authorized portable release maintained
+by a project member. It preserves the original scene and asset organization while
+removing private `/cpfs` material paths, restoring two transport-damaged USD layers
+from the laboratory canonical copy, and closing a small set of missing material
+dependencies. It is a compatibility repair, not a new dataset.
 
-The completed release candidate will include CC BY-NC-SA 4.0 licensing, attribution,
-material fallback disclosure, deterministic shard manifests, safe extraction tools,
-and its validation status. Complete GUI visual acceptance and real Linux Isaac Sim
-validation are not claimed for this RC.
+The payload contains 99 environments (69 home and 30 commercial), their
+deduplicated asset library, and the required MDL/material resources. The release
+contains 394,508 payload files and 291,181,357,750 bytes before archive compression.
+All authored USD asset paths are intended to resolve after extraction at an
+arbitrary Windows or Linux location. Isaac Sim, Omniverse Kit, and NVIDIA drivers
+are not included.
+
+For a Chinese quick start, see [README_zh-CN.md](README_zh-CN.md).
+
+## License and access terms
+
+The released GRScenes data is licensed under
+[CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).
+Attribution, non-commercial use, and ShareAlike requirements apply. Preserve
+`LICENSE-GRSCENES-CC-BY-NC-SA-4.0.txt` and `ATTRIBUTION.md` when sharing adaptations.
+
+The upstream project also asks users to complete the GRScenes-100 Dataset Access
+User Agreement. This public mirror does not waive that requirement. See the
+[official GRScenes Dataset Card](https://huggingface.co/datasets/InternRobotics/GRScenes)
+and [InternUtopia assets documentation](https://github.com/InternRobotics/InternUtopia#-assets).
+
+## Requirements
+
+- Approximately 291 GB (271 GiB) for the extracted payload, plus compressed shards,
+  Hugging Face cache, and a safety margin during installation.
+- Python 3.10 or newer for downloading and verification.
+- `huggingface_hub` with `hf_xet`, plus `zstandard`; tested versions are pinned in
+  `requirements-download.txt`.
+- NVIDIA Isaac Sim 6.x to render and run USD stages with MDL materials.
+
+## Download, verify, and extract
+
+Install the downloader requirements from this repository, then run the public
+interface pinned to the release-candidate tag:
+
+```bash
+python -m pip install -r requirements-download.txt
+python tools/download_and_extract.py \
+  --repo-id jandan138/GRScenes-portable \
+  --revision v1.0.0-rc1 \
+  --output /data/grscenes
+```
+
+The downloader retrieves all 21 `tar.zst` shards through Hugging Face/Xet, verifies
+every shard SHA-256, rejects unsafe archive members, extracts with per-file atomic
+replacement, and automatically runs both payload checks. It refuses to overwrite a
+non-empty output directory.
+
+```text
+--cache-dir PATH    place the Hugging Face cache on a selected volume
+--download-only     verify downloads without extracting
+--extract-only      extract an already downloaded local shard set
+--resume            reuse only files whose path, size, and SHA-256 match
+--keep-shards       retain materialized shard copies after success
+```
+
+Manual verification after extraction:
+
+```bash
+python /data/grscenes/tools/verify_dataset.py --dataset /data/grscenes --fast
+python /data/grscenes/tools/verify_dataset.py --dataset /data/grscenes --keyfiles
+```
+
+## Isaac Sim usage
+
+On Linux, add the bundled MDL root only for the current shell:
+
+```bash
+source /data/grscenes/tools/setup_isaacsim_env.sh
+```
+
+Then open a scene such as:
+
+```text
+/data/grscenes/GRScenes100/home/MV7J6NIKTKJZ2AABAAAAADA8_usd/layout.usd
+```
+
+Validate every layout using the Python environment shipped with Isaac Sim:
+
+```bash
+/path/to/isaac-sim/python.sh \
+  /data/grscenes/tools/validate_stages.py \
+  --dataset /data/grscenes \
+  --output-json /data/grscenes/stage-validation.json \
+  --output-csv /data/grscenes/stage-validation.csv
+```
+
+On Windows, use Isaac Sim's `python.bat` with Windows paths. A generic PyPI
+`usd-core` environment is not a substitute for MDL/Kit validation.
+
+## Payload and archive layout
+
+```text
+dataset/
+├── GRScenes100/       # 99 layout.usd entry points
+├── GRScenes_assets/   # deduplicated object and layout assets
+├── Material/          # MDL modules and texture resources
+├── tools/             # verification and Isaac Sim helper scripts
+├── MANIFEST.payload.csv
+├── MANIFEST.keyfiles.sha256
+├── PORTABLE_RELEASE.json
+├── README.md
+└── ATTRIBUTION.md
+```
+
+The Hub payload is stored in 21 deterministic archives: one scenes shard, 18
+hash-stable asset shards, and two hash-stable Material shards. Members are rooted at
+`dataset/` and contain only regular files and directories. The release does not rely
+on symlinks, junctions, hardlinks, or device files.
+
+## Portable repair and material disclosure
+
+The release replaces the approved private Material prefix with layer-relative
+POSIX-style AssetPaths and localizes one authored Twinbru URL. Layout layers were not
+rewritten by the portability pass; the two transport-damaged layouts were restored
+byte-for-byte from the laboratory canonical source before release.
+
+Seven formerly missing MDL modules and their required runtime closure came from
+official NVIDIA distribution locations and passed Isaac Sim 6.0.1 MDL validation.
+Two compatibility fallbacks are disclosed:
+
+- `Material/mdl/Graphical_White_Jacquard_FL_3075963.mdl` is a neutral, texture-free
+  50% gray MDL fallback. The official Twinbru candidate did not reliably terminate
+  registration under the full dataset MDL search root. The fallback preserves the
+  USD-required symbol and has SHA-256
+  `9af2cddf57e5458c29f31601a6a386f4264a9b3f782f7fd33dfd07a98684e834`.
+- `Material/mdl/textures/eyes03A.jpg` is a true-JPEG 64×64 uniform 50% gray
+  compatibility texture. It does not reconstruct the missing eye texture and has
+  SHA-256 `94b2f9daa78a89a37eced1a78698e54f9201ad0908106f52d03d760fbc1d552f`.
+
+No MDL-to-UsdPreviewSurface conversion was performed. Software without NVIDIA MDL
+support may display geometry without complete materials.
+
+## Validation status and known GUI limitations
+
+The immutable tag records machine-readable details in `PORTABLE_RELEASE.json`.
+The non-GUI release-candidate gates are:
+
+- Windows Isaac Sim 6.0.1 structural validation: 99/99 layouts passed; unresolved
+  references, outside-dataset dependencies, and Stage hard errors were zero.
+- MDL validation: 1,574/1,574 unique bindings passed with zero failed batches.
+- Local and Hugging Face PR archive round-trips must pass shard hashes, payload
+  manifests, Windows Stage/MDL validation, and WSL structure validation before the
+  PR is merged and tagged.
+- WSL Ubuntu 22.04 checks exact filename case, relative-path containment, absence of
+  link/reparse dependencies, and both manifest modes.
+
+Complete GUI visual acceptance is **not** claimed for `v1.0.0-rc1`:
+
+- the strict targeted GUI survey did not reach PASS because of unapproved
+  Kit/RTX/SdfPath/normal-primvar warnings and memory limits;
+- Scene 10 produced a black automated frame;
+- Scene 12 later produced a dark frame with warnings;
+- Scene 13 remained memory-blocked and has no accepted screenshot;
+- the neutral `eyes03A.jpg` fallback has not been confirmed from a front-facing
+  character view.
+
+These observations do not mean the structural or MDL gates failed. Complete Windows
+GUI acceptance and at least one real Linux Isaac Sim 6.x recipient validation are
+required before a stable `v1.0.0` release.
+
+## Upstream and citation
+
+- [Official GRScenes Dataset Card](https://huggingface.co/datasets/InternRobotics/GRScenes)
+- [InternUtopia](https://github.com/InternRobotics/InternUtopia)
+- [GRUtopia: Dream General Robots in a City at Scale](https://arxiv.org/abs/2407.10943)
+
+```bibtex
+@inproceedings{grutopia,
+  title={GRUtopia: Dream General Robots in a City at Scale},
+  author={Wang, Hanqing and Chen, Jiahe and Huang, Wensi and Ben, Qingwei and Wang, Tai and Mi, Boyu and Huang, Tao and Zhao, Siheng and Chen, Yilun and Yang, Sizhe and Cao, Peizhou and Yu, Wenye and Ye, Zichao and Li, Jialun and Long, Junfeng and Wang, ZiRui and Wang, Huiling and Zhao, Ying and Tu, Zhongying and Qiao, Yu and Lin, Dahua and Pang, Jiangmiao},
+  year={2024},
+  booktitle={arXiv}
+}
+```
+
+## Versioning and support
+
+`v1.0.0-rc1` is immutable. A payload correction will use a new tag such as
+`v1.0.0-rc2`; this tag and its manifests will never be moved or overwritten. Stable
+`v1.0.0` will be published through a separate reviewed tree after the remaining GUI
+and Linux gates pass. Report problems with the scene path, platform, Isaac Sim
+version, validator JSON, and failing manifest path without attaching licensed
+payload files to public issues.

README_zh-CN.md

@@ -0,0 +1,102 @@
+# GRScenes Portable v1.0.0-rc1 中文快速说明
+
+> 这是公开的候选版，不是稳定版。完整 Windows GUI 视觉验收和实际 Linux
+> Isaac Sim 验证仍未完成。可复现实验必须固定使用不可变标签
+> `v1.0.0-rc1`，不要依赖可变的 `main`；`refs/pr/*` 只是公众可访问的上传验收区。
+
+这是由 GRScenes 实验室授权、团队成员维护的跨平台兼容发行版。它不是新数据集：
+主要变更是把私有 `/cpfs` 材质路径改为相对路径、从实验室权威副本恢复两个传输
+损坏的 USD，并补齐少量材质依赖。
+
+解包后的 payload 包含 394,508 个文件、291,181,357,750 字节，约 271 GiB。
+
+## 许可与访问要求
+
+GRScenes 数据采用 [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/)：
+必须署名、仅限非商用，并以相同许可分享修改版本。上游项目还要求用户完成
+GRScenes-100 数据访问协议；本公开镜像不免除该要求。请保留
+`LICENSE-GRSCENES-CC-BY-NC-SA-4.0.txt` 和 `ATTRIBUTION.md`。
+
+## 下载、校验和解包
+
+安装仓库中固定的下载依赖，然后运行：
+
+```bash
+python -m pip install -r requirements-download.txt
+python tools/download_and_extract.py \
+  --repo-id jandan138/GRScenes-portable \
+  --revision v1.0.0-rc1 \
+  --output /data/grscenes
+```
+
+脚本下载全部 21 个 `tar.zst` 分片，逐分片校验 SHA-256，拒绝绝对路径、`..`、
+Symlink、Hardlink、设备文件、重复或越界成员，再执行原子解包和两种 payload 验证。
+它默认拒绝覆盖非空目录。
+
+```text
+--cache-dir PATH    把 Hugging Face 缓存放到指定磁盘
+--download-only     只下载并验证分片
+--extract-only      解包已下载的本地分片
+--resume            仅复用路径、大小和 SHA-256 全部匹配的文件
+--keep-shards       成功后保留物化的分片副本
+```
+
+## Isaac Sim 使用
+
+Linux 当前终端先执行：
+
+```bash
+source /data/grscenes/tools/setup_isaacsim_env.sh
+```
+
+然后在 Isaac Sim 6.x 中打开某个 `layout.usd`，例如：
+
+```text
+/data/grscenes/GRScenes100/home/MV7J6NIKTKJZ2AABAAAAADA8_usd/layout.usd
+```
+
+验证全部 99 个场景：
+
+```bash
+/path/to/isaac-sim/python.sh \
+  /data/grscenes/tools/validate_stages.py \
+  --dataset /data/grscenes
+```
+
+Windows 使用 Isaac Sim 自带的 `python.bat`。普通 PyPI `usd-core` 环境不能替代
+Isaac Sim 的 MDL/Kit 验证。
+
+## 材质兼容处理
+
+- 7 个缺失 MDL 及其必要依赖来自 NVIDIA 官方分发位置，并通过 Isaac Sim 6.0.1
+  MDL 验证。
+- `Graphical_White_Jacquard_FL_3075963.mdl` 使用无纹理、50% 中性灰的兼容 MDL。
+  Twinbru 官方候选在完整数据集搜索根下无法可靠完成运行时注册；发行版没有保留在线依赖。
+- `Material/mdl/textures/eyes03A.jpg` 使用真正 JPEG 编码的 64×64 中性灰兼容图；
+  它不代表无法恢复的原始眼部纹理。
+- 没有把 MDL 转换为 UsdPreviewSurface；不支持 NVIDIA MDL 的查看器可能只有几何，
+  没有完整材质。
+
+## 验证状态与 GUI 限制
+
+已通过的候选版硬门槛：
+
+- Windows Isaac Sim 6.0.1：99/99 Stage 结构验证通过；
+- 1,574/1,574 个唯一 MDL binding 通过；
+- unresolved、数据集外依赖和 MDL 硬失败为 0；
+- 本地与 Hugging Face PR 回环必须完成分片哈希、payload manifest、Windows Stage/MDL
+  和 WSL 结构验证，才能合并并创建标签。
+
+`v1.0.0-rc1` 不声称完整 GUI 视觉验收通过：
+
+- 严格 GUI 调查受到 Kit/RTX/SdfPath/normal-primvar 警告和内存限制影响；
+- Scene 10 自动截图为黑帧；
+- Scene 12 后续截图较暗且仍有警告；
+- Scene 13 仍被内存门槛阻塞，没有可接受截图；
+- `eyes03A.jpg` 中性 fallback 尚未通过正面人物视角确认。
+
+这些现象不等于 Stage 结构或 MDL 编译失败。正式 `v1.0.0` 必须补齐 GUI 视觉验收，
+并由至少一名接收者在真实 Linux Isaac Sim 6.x 环境验证。
+
+完整英文说明、引用和机器可读验证状态请查看 [README.md](README.md)、
+`ATTRIBUTION.md` 和 `PORTABLE_RELEASE.json`。

requirements-download.txt

@@ -0,0 +1,2 @@
+huggingface_hub[hf_xet]==1.26.0
+zstandard==0.25.0

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+size 26503108

tools/download_and_extract.py

@@ -0,0 +1,437 @@
+#!/usr/bin/env python3
+"""Download, verify, and safely extract GRScenes Portable release shards."""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import hashlib
+import json
+import os
+import re
+import shutil
+import subprocess
+import sys
+import tarfile
+import time
+from datetime import datetime, timezone
+from pathlib import Path, PurePosixPath
+
+import zstandard
+from huggingface_hub import hf_hub_download
+
+
+DEFAULT_REPO = "jandan138/GRScenes-portable"
+DEFAULT_REVISION = "v1.0.0-rc1"
+READ_SIZE = 8 * 1024 * 1024
+SHA256_RE = re.compile(r"^([0-9a-fA-F]{64})\s{2}(.+)$")
+PAYLOAD_ROOTS = ("GRScenes100", "GRScenes_assets", "Material")
+CONTROL_FILES = (
+    ".gitattributes",
+    "README.md",
+    "README_zh-CN.md",
+    "LICENSE-GRSCENES-CC-BY-NC-SA-4.0.txt",
+    "ATTRIBUTION.md",
+    "PORTABLE_RELEASE.json",
+    "MANIFEST.payload.csv",
+    "MANIFEST.keyfiles.sha256",
+    "MANIFEST.shards.sha256",
+    "requirements-download.txt",
+    "tools/download_and_extract.py",
+    "tools/verify_dataset.py",
+    "tools/validate_stages.py",
+    "tools/setup_isaacsim_env.sh",
+)
+
+
+def sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb", buffering=0) as stream:
+        for chunk in iter(lambda: stream.read(READ_SIZE), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def load_sha256_manifest(path: Path) -> list[tuple[str, str]]:
+    rows: list[tuple[str, str]] = []
+    seen: set[str] = set()
+    for line_number, line in enumerate(path.read_text(encoding="utf-8-sig").splitlines(), 1):
+        if not line:
+            continue
+        match = SHA256_RE.match(line)
+        if not match:
+            raise RuntimeError(f"invalid SHA-256 manifest line {line_number}: {path}")
+        digest, rel = match.groups()
+        if (
+            rel.startswith("/")
+            or "\\" in rel
+            or any(part in {"", ".", ".."} or ":" in part for part in rel.split("/"))
+        ):
+            raise RuntimeError(f"unsafe manifest path: {rel!r}")
+        if rel in seen:
+            raise RuntimeError(f"duplicate manifest path: {rel}")
+        seen.add(rel)
+        rows.append((digest.lower(), rel))
+    return rows
+
+
+def load_payload_manifest(path: Path) -> dict[str, dict[str, object]]:
+    result: dict[str, dict[str, object]] = {}
+    folded: dict[str, str] = {}
+    with path.open("r", encoding="utf-8-sig", newline="") as stream:
+        reader = csv.DictReader(stream)
+        required = {"relative_path", "size_bytes", "mtime_utc", "shard_name", "sha256"}
+        if not reader.fieldnames or not required.issubset(reader.fieldnames):
+            raise RuntimeError(f"payload manifest lacks required fields: {reader.fieldnames}")
+        for row in reader:
+            rel = row["relative_path"]
+            parts = rel.split("/")
+            if (
+                not rel
+                or rel.startswith("/")
+                or "\\" in rel
+                or any(part in {"", ".", ".."} or ":" in part for part in parts)
+                or parts[0] not in PAYLOAD_ROOTS
+            ):
+                raise RuntimeError(f"unsafe payload path: {rel!r}")
+            if rel in result:
+                raise RuntimeError(f"duplicate payload path: {rel}")
+            prior = folded.setdefault(rel.casefold(), rel)
+            if prior != rel:
+                raise RuntimeError(f"case-ambiguous payload paths: {prior!r} / {rel!r}")
+            digest = row["sha256"].lower()
+            if not re.fullmatch(r"[0-9a-f]{64}", digest):
+                raise RuntimeError(f"invalid payload SHA-256: {rel}")
+            result[rel] = {
+                "size_bytes": int(row["size_bytes"]),
+                "mtime_utc": row["mtime_utc"],
+                "mtime_seconds": int(
+                    datetime.fromisoformat(row["mtime_utc"].replace("Z", "+00:00")).timestamp()
+                ),
+                "shard_name": row["shard_name"],
+                "sha256": digest,
+            }
+    return result
+
+
+def download_file(
+    repo_id: str,
+    revision: str,
+    filename: str,
+    local_dir: Path,
+    cache_dir: Path | None,
+) -> Path:
+    result = hf_hub_download(
+        repo_id=repo_id,
+        repo_type="dataset",
+        revision=revision,
+        filename=filename,
+        cache_dir=str(cache_dir) if cache_dir else None,
+    )
+    cached = Path(result)
+    # Hub snapshots normally expose cached blobs through relative symlinks.
+    # Hard-linking the snapshot entry itself on Windows can reproduce that
+    # symlink in ``local_dir`` with a now-invalid relative target.  Resolve the
+    # snapshot entry first so the round-trip repository always contains a
+    # regular file (or a hard link to the real blob), never a cache symlink.
+    source = cached.resolve(strict=True)
+    if not source.is_file() or source.is_symlink():
+        raise RuntimeError(f"Hub cache did not resolve to a regular file: {filename}")
+    target = local_dir.joinpath(*filename.split("/"))
+    target.parent.mkdir(parents=True, exist_ok=True)
+    if target.exists():
+        if not target.is_symlink() and target.is_file() and os.path.samefile(target, source):
+            return target
+    temporary = target.with_name(target.name + ".cache-link-part")
+    if temporary.exists():
+        temporary.unlink()
+    try:
+        os.link(source, temporary)
+    except OSError:
+        shutil.copyfile(source, temporary)
+    if temporary.is_symlink() or not temporary.is_file():
+        raise RuntimeError(f"download staging is not a regular file: {filename}")
+    os.replace(temporary, target)
+    if target.is_symlink() or not target.is_file():
+        raise RuntimeError(f"download target is not a regular file: {filename}")
+    return target
+
+
+def download_release(
+    repo_id: str,
+    revision: str,
+    repo_dir: Path,
+    cache_dir: Path | None,
+) -> list[tuple[str, str]]:
+    repo_dir.mkdir(parents=True, exist_ok=True)
+    for filename in CONTROL_FILES:
+        print(f"download control: {filename}", flush=True)
+        download_file(repo_id, revision, filename, repo_dir, cache_dir)
+    shard_manifest = load_sha256_manifest(repo_dir / "MANIFEST.shards.sha256")
+    for expected, rel in shard_manifest:
+        if not rel.startswith("shards/") or not rel.endswith(".tar.zst"):
+            raise RuntimeError(f"unexpected shard path in manifest: {rel}")
+        print(f"download shard: {rel}", flush=True)
+        download_file(repo_id, revision, rel, repo_dir, cache_dir)
+    return shard_manifest
+
+
+def verify_local_shards(repo_dir: Path) -> list[tuple[str, str]]:
+    rows = load_sha256_manifest(repo_dir / "MANIFEST.shards.sha256")
+    if len(rows) != 21:
+        raise RuntimeError(f"expected 21 shards, manifest has {len(rows)}")
+    for index, (expected, rel) in enumerate(rows, 1):
+        path = repo_dir.joinpath(*rel.split("/"))
+        if not path.is_file():
+            raise RuntimeError(f"missing shard: {rel}")
+        actual = sha256_file(path)
+        if actual != expected:
+            raise RuntimeError(f"shard SHA-256 mismatch: {rel}: {actual} != {expected}")
+        print(f"verified shard {index}/{len(rows)}: {rel}", flush=True)
+    return rows
+
+
+def safe_member_name(name: str) -> tuple[str, str]:
+    if "\\" in name or not name or name.startswith("/"):
+        raise RuntimeError(f"unsafe tar member name: {name!r}")
+    pure = PurePosixPath(name)
+    parts = pure.parts
+    if any(part in {"", ".", ".."} or ":" in part for part in parts):
+        raise RuntimeError(f"unsafe tar member name: {name!r}")
+    if not parts or parts[0] != "dataset":
+        raise RuntimeError(f"tar member is outside dataset/: {name!r}")
+    if len(parts) == 1:
+        return "", "dataset"
+    rel = PurePosixPath(*parts[1:]).as_posix()
+    return rel, pure.as_posix()
+
+
+def file_matches(path: Path, expected: dict[str, object]) -> bool:
+    if not path.is_file() or path.is_symlink():
+        return False
+    if path.stat().st_size != int(expected["size_bytes"]):
+        return False
+    return sha256_file(path) == expected["sha256"]
+
+
+def preflight_resume_output(output: Path, payload: dict[str, dict[str, object]]) -> None:
+    for root_name in PAYLOAD_ROOTS:
+        root = output / root_name
+        if not root.exists():
+            continue
+        if not root.is_dir() or root.is_symlink():
+            raise RuntimeError(f"resume payload root is not a regular directory: {root_name}")
+        for current, dirs, files in os.walk(root, followlinks=False):
+            current_path = Path(current)
+            for name in list(dirs):
+                path = current_path / name
+                if path.is_symlink():
+                    raise RuntimeError(
+                        f"resume output contains a directory link: {path.relative_to(output).as_posix()}"
+                    )
+            for name in files:
+                path = current_path / name
+                rel = path.relative_to(output).as_posix()
+                if path.is_symlink() or not path.is_file():
+                    raise RuntimeError(f"resume output contains a non-regular entry: {rel}")
+                if path.stat().st_nlink != 1:
+                    raise RuntimeError(f"resume output contains a hard-linked payload file: {rel}")
+                if rel not in payload:
+                    if not rel.endswith(".grscenes-part") or rel[: -len(".grscenes-part")] not in payload:
+                        raise RuntimeError(f"resume output contains an extra payload file: {rel}")
+
+
+def extract_shards(
+    repo_dir: Path,
+    output: Path,
+    payload: dict[str, dict[str, object]],
+    shard_rows: list[tuple[str, str]],
+    *,
+    resume: bool,
+    workspace: Path,
+) -> None:
+    if output.exists() and any(output.iterdir()) and not resume:
+        raise RuntimeError(
+            f"output already exists and is non-empty: {output}; use --resume only for this release"
+        )
+    output.mkdir(parents=True, exist_ok=True)
+    if resume:
+        preflight_resume_output(output, payload)
+    orphans = workspace / "orphan-partials"
+    seen_files: set[str] = set()
+    seen_folded: dict[str, str] = {}
+
+    by_shard: dict[str, set[str]] = {}
+    for rel, record in payload.items():
+        by_shard.setdefault(str(record["shard_name"]), set()).add(rel)
+    manifest_shards = {Path(rel).name for _, rel in shard_rows}
+    if set(by_shard) != manifest_shards:
+        raise RuntimeError(
+            f"payload/shard manifest disagree: payload={sorted(by_shard)} shards={sorted(manifest_shards)}"
+        )
+
+    for shard_index, (_digest, shard_rel) in enumerate(shard_rows, 1):
+        shard_path = repo_dir.joinpath(*shard_rel.split("/"))
+        shard_name = shard_path.name
+        expected_files = by_shard[shard_name]
+        expected_dirs = {""}
+        for rel in expected_files:
+            parts = rel.split("/")
+            expected_dirs.update("/".join(parts[:i]) for i in range(1, len(parts)))
+        found_in_shard: set[str] = set()
+        print(f"extract shard {shard_index}/{len(shard_rows)}: {shard_name}", flush=True)
+        with shard_path.open("rb", buffering=0) as raw:
+            with zstandard.ZstdDecompressor().stream_reader(raw) as decompressed:
+                with tarfile.open(fileobj=decompressed, mode="r|", bufsize=READ_SIZE) as archive:
+                    for member in archive:
+                        rel, normalized = safe_member_name(member.name)
+                        if member.issym() or member.islnk() or member.isdev() or member.isfifo():
+                            raise RuntimeError(f"dangerous tar member type: {member.name}")
+                        if member.isdir():
+                            if rel not in expected_dirs:
+                                raise RuntimeError(f"unexpected directory in shard {shard_name}: {rel}")
+                            if rel:
+                                target_dir = output.joinpath(*rel.split("/"))
+                                if target_dir.exists() and not target_dir.is_dir():
+                                    raise RuntimeError(f"directory collides with file: {rel}")
+                                target_dir.mkdir(parents=True, exist_ok=True)
+                                try:
+                                    target_dir.chmod(0o755)
+                                except OSError:
+                                    pass
+                            continue
+                        if not member.isreg():
+                            raise RuntimeError(f"non-regular tar member: {member.name}")
+                        if rel not in expected_files:
+                            raise RuntimeError(f"unexpected payload member in {shard_name}: {rel}")
+                        if rel in seen_files or rel in found_in_shard:
+                            raise RuntimeError(f"duplicate payload member: {rel}")
+                        prior = seen_folded.setdefault(rel.casefold(), rel)
+                        if prior != rel:
+                            raise RuntimeError(f"case-ambiguous tar members: {prior!r} / {rel!r}")
+                        expected = payload[rel]
+                        if member.size != int(expected["size_bytes"]):
+                            raise RuntimeError(
+                                f"tar member size mismatch: {rel}: {member.size} != {expected['size_bytes']}"
+                            )
+                        target = output.joinpath(*rel.split("/"))
+                        target.parent.mkdir(parents=True, exist_ok=True)
+                        temporary = target.with_name(target.name + ".grscenes-part")
+                        if temporary.exists():
+                            orphans.mkdir(parents=True, exist_ok=True)
+                            temporary.replace(
+                                orphans / f"{hashlib.sha256(rel.encode()).hexdigest()}-{int(time.time())}.part"
+                            )
+                        if resume and target.exists() and file_matches(target, expected):
+                            found_in_shard.add(rel)
+                            seen_files.add(rel)
+                            continue
+                        source = archive.extractfile(member)
+                        if source is None:
+                            raise RuntimeError(f"could not read tar payload: {rel}")
+                        digest = hashlib.sha256()
+                        copied = 0
+                        with temporary.open("xb") as destination:
+                            while True:
+                                chunk = source.read(READ_SIZE)
+                                if not chunk:
+                                    break
+                                destination.write(chunk)
+                                digest.update(chunk)
+                                copied += len(chunk)
+                            destination.flush()
+                            os.fsync(destination.fileno())
+                        if copied != int(expected["size_bytes"]) or digest.hexdigest() != expected["sha256"]:
+                            raise RuntimeError(f"extracted payload verification failed: {rel}")
+                        os.replace(temporary, target)
+                        try:
+                            target.chmod(0o644)
+                        except OSError:
+                            pass
+                        os.utime(target, (int(expected["mtime_seconds"]), int(expected["mtime_seconds"])))
+                        found_in_shard.add(rel)
+                        seen_files.add(rel)
+        missing = expected_files - found_in_shard
+        if missing:
+            raise RuntimeError(f"shard {shard_name} lacks {len(missing)} manifest files")
+    if seen_files != set(payload):
+        raise RuntimeError(
+            f"extracted payload set mismatch: seen={len(seen_files)} expected={len(payload)}"
+        )
+
+
+def copy_release_metadata(repo_dir: Path, output: Path) -> None:
+    for rel in CONTROL_FILES:
+        source = repo_dir.joinpath(*rel.split("/"))
+        target = output.joinpath(*rel.split("/"))
+        target.parent.mkdir(parents=True, exist_ok=True)
+        temporary = target.with_name(target.name + ".metadata-part")
+        shutil.copyfile(source, temporary)
+        os.replace(temporary, target)
+
+
+def run_verifiers(output: Path) -> None:
+    verifier = output / "tools" / "verify_dataset.py"
+    for mode in ("--fast", "--keyfiles"):
+        command = [sys.executable, str(verifier), "--dataset", str(output), mode]
+        print("run:", subprocess.list2cmdline(command), flush=True)
+        subprocess.run(command, check=True)
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--repo-id", default=DEFAULT_REPO)
+    parser.add_argument("--revision", default=DEFAULT_REVISION)
+    parser.add_argument("--output", required=True, type=Path)
+    parser.add_argument("--cache-dir", type=Path)
+    modes = parser.add_mutually_exclusive_group()
+    modes.add_argument("--download-only", action="store_true")
+    modes.add_argument("--extract-only", action="store_true")
+    parser.add_argument("--resume", action="store_true")
+    parser.add_argument("--keep-shards", action="store_true")
+    args = parser.parse_args()
+
+    output = args.output.resolve()
+    workspace = output.parent / f".{output.name}.grscenes-portable-{args.revision.replace('/', '_')}"
+    repo_dir = workspace / "repo"
+    cache_dir = args.cache_dir.resolve() if args.cache_dir else None
+    try:
+        if not args.extract_only:
+            download_release(args.repo_id, args.revision, repo_dir, cache_dir)
+        shard_rows = verify_local_shards(repo_dir)
+        if args.download_only:
+            print(f"download status=PASS repository_files={repo_dir}")
+            return 0
+        payload = load_payload_manifest(repo_dir / "MANIFEST.payload.csv")
+        extract_shards(
+            repo_dir,
+            output,
+            payload,
+            shard_rows,
+            resume=args.resume,
+            workspace=workspace,
+        )
+        copy_release_metadata(repo_dir, output)
+        run_verifiers(output)
+        completion = {
+            "schema_version": 1,
+            "status": "PASS",
+            "repo_id": args.repo_id,
+            "revision": args.revision,
+            "completed_utc": datetime.now(timezone.utc).isoformat(),
+            "payload_files": len(payload),
+            "shards": len(shard_rows),
+        }
+        marker = output / ".GRSCENES_PORTABLE_COMPLETE.json"
+        marker.write_text(json.dumps(completion, indent=2) + "\n", encoding="utf-8")
+        if not args.keep_shards:
+            shutil.rmtree(repo_dir / "shards")
+        print(f"extract status=PASS output={output}")
+        return 0
+    except Exception as exc:
+        print(f"FATAL: {exc}", file=sys.stderr)
+        return 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

tools/setup_isaacsim_env.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+# Source this file; do not execute it: source tools/setup_isaacsim_env.sh
+
+_grscenes_this="${BASH_SOURCE[0]}"
+_grscenes_tools_dir="$(cd -- "$(dirname -- "${_grscenes_this}")" >/dev/null 2>&1 && pwd -P)" || return 1
+export GRSCENES_DATASET_ROOT="$(cd -- "${_grscenes_tools_dir}/.." >/dev/null 2>&1 && pwd -P)" || return 1
+_grscenes_mdl="${GRSCENES_DATASET_ROOT}/Material/mdl"
+
+if [[ ":${MDL_SYSTEM_PATH:-}:" == *":${_grscenes_mdl}:"* ]]; then
+    :
+elif [[ -n "${MDL_SYSTEM_PATH:-}" ]]; then
+    export MDL_SYSTEM_PATH="${_grscenes_mdl}:${MDL_SYSTEM_PATH}"
+else
+    export MDL_SYSTEM_PATH="${_grscenes_mdl}"
+fi
+
+unset _grscenes_this _grscenes_tools_dir _grscenes_mdl
+printf 'GRSCENES_DATASET_ROOT=%s\n' "${GRSCENES_DATASET_ROOT}"
+printf 'MDL_SYSTEM_PATH prepended with %s/Material/mdl\n' "${GRSCENES_DATASET_ROOT}"

tools/validate_stages.py

@@ -0,0 +1,334 @@
+#!/usr/bin/env python3
+"""Validate every GRScenes layout with Isaac Sim/OpenUSD and emit JSON/CSV reports."""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import gc
+import json
+import os
+import re
+import sys
+import time
+from datetime import datetime, timezone
+from pathlib import Path
+
+from isaacsim import SimulationApp
+
+
+HARD_WARNING_PATTERN = re.compile(
+    r"(unresolved|could not (?:open|resolve|find)|failed to (?:open|resolve|load|compile)|"
+    r"missing (?:asset|file|texture|material)|mdl.*(?:error|failed)|texture.*(?:error|failed)|"
+    r"(?:crate|lz4).*(?:error|fail|corrupt))",
+    re.IGNORECASE,
+)
+
+
+class LogRecorder:
+    def __init__(self, logging_module) -> None:
+        self.module = logging_module
+        self.logging = logging_module.acquire_logging()
+        self.handle = self.logging.add_logger(self._on_log)
+        self.rows: list[dict[str, object]] = []
+
+    def _on_log(self, source, level, file_name, line_number, message) -> None:
+        if int(level) not in {
+            self.module.LEVEL_WARN,
+            self.module.LEVEL_ERROR,
+            self.module.LEVEL_FATAL,
+        }:
+            return
+        self.rows.append(
+            {
+                "source": str(source),
+                "level": int(level),
+                "file": str(file_name),
+                "line": int(line_number),
+                "message": str(message),
+            }
+        )
+
+    def clear(self) -> None:
+        self.rows.clear()
+
+    def close(self) -> None:
+        self.logging.remove_logger(self.handle)
+
+
+def is_inside(path: Path, root: Path) -> bool:
+    try:
+        path.resolve(strict=False).relative_to(root.resolve(strict=False))
+        return True
+    except ValueError:
+        return False
+
+
+def asset_text(value: object) -> tuple[str, str]:
+    raw = getattr(value, "path", None)
+    resolved = getattr(value, "resolvedPath", None)
+    return str(raw if raw is not None else value), str(resolved or "")
+
+
+def dependency_report(UsdUtils, Sdf, layout: Path, dataset: Path) -> dict[str, object]:
+    layers, assets, unresolved = UsdUtils.ComputeAllDependencies(Sdf.AssetPath(str(layout)))
+    layer_rows: list[dict[str, object]] = []
+    asset_rows: list[dict[str, object]] = []
+    outside: list[str] = []
+    unresolved_rows: list[str] = []
+    for layer in layers:
+        identifier = str(getattr(layer, "realPath", "") or getattr(layer, "identifier", layer))
+        inside = bool(identifier) and is_inside(Path(identifier), dataset)
+        layer_rows.append({"path": identifier, "inside_dataset": inside})
+        if identifier and not inside and not identifier.startswith("anon:"):
+            outside.append(identifier)
+    for asset in assets:
+        raw, resolved = asset_text(asset)
+        effective = resolved or raw
+        inside = bool(effective) and is_inside(Path(effective), dataset)
+        asset_rows.append({"authored": raw, "resolved": resolved, "inside_dataset": inside})
+        if effective and not inside:
+            outside.append(effective)
+    for item in unresolved:
+        raw, resolved = asset_text(item)
+        unresolved_rows.append(resolved or raw)
+    return {
+        "layers": layer_rows,
+        "assets": asset_rows,
+        "unresolved": sorted(set(unresolved_rows)),
+        "outside_dataset": sorted(set(outside)),
+    }
+
+
+def collect_mdl_bindings(stage) -> list[tuple[str, str]]:
+    found: set[tuple[str, str]] = set()
+    for prim in stage.TraverseAll():
+        source = prim.GetAttribute("info:mdl:sourceAsset")
+        if not source or not source.HasAuthoredValueOpinion():
+            continue
+        value = source.Get()
+        raw = str(getattr(value, "path", value) or "")
+        resolved = str(getattr(value, "resolvedPath", "") or "")
+        sub_attr = prim.GetAttribute("info:mdl:sourceAsset:subIdentifier")
+        symbol = str(sub_attr.Get() or "") if sub_attr else ""
+        found.add((resolved or raw, symbol))
+    return sorted(found)
+
+
+def validate_mdl_bindings(UsdMdl, Sdf, UsdShade, stage, bindings, dataset: Path):
+    results: list[dict[str, object]] = []
+    failures: list[str] = []
+    for index, (path_text, symbol) in enumerate(bindings):
+        path = Path(path_text)
+        inside = is_inside(path, dataset)
+        exists = path.is_file()
+        source = Sdf.AssetPath(str(path), str(path) if exists else "")
+        added = bool(UsdMdl.RegistryUtils.AddModuleToRegistry(source)) if exists else False
+        loaded = bool(UsdMdl.RegistryUtils.IsModuleLoaded(source)) if exists else False
+        node_found = None
+        if exists and symbol:
+            shader = UsdShade.Shader.Define(stage, f"/PortableValidation/Mdl/M{index:06d}")
+            set_asset = bool(shader.SetSourceAsset(source, UsdMdl.Tokens.Mdl))
+            set_symbol = bool(shader.SetSourceAssetSubIdentifier(symbol, UsdMdl.Tokens.Mdl))
+            node_found = UsdMdl.RegistryUtils.FindShaderNodeForPrim(shader.GetPrim()) is not None
+        else:
+            set_asset = exists
+            set_symbol = not symbol
+        ok = inside and exists and added and loaded and set_asset and set_symbol and node_found is not False
+        if not ok:
+            failures.append(f"{path_text}::{symbol}")
+        results.append(
+            {
+                "path": path_text,
+                "symbol": symbol,
+                "inside_dataset": inside,
+                "exists": exists,
+                "registry_added": added,
+                "registry_loaded": loaded,
+                "shader_node_found": node_found,
+                "ok": ok,
+            }
+        )
+    return results, failures
+
+
+def write_csv(path: Path, rows: list[dict[str, object]]) -> None:
+    fields = [
+        "layout",
+        "status",
+        "prim_count",
+        "layer_count",
+        "asset_count",
+        "unresolved_count",
+        "outside_dataset_count",
+        "mdl_binding_count",
+        "mdl_failure_count",
+        "hard_log_count",
+        "elapsed_seconds",
+    ]
+    with path.open("w", encoding="utf-8", newline="") as stream:
+        writer = csv.DictWriter(stream, fieldnames=fields, lineterminator="\n")
+        writer.writeheader()
+        writer.writerows({field: row.get(field) for field in fields} for row in rows)
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--dataset", type=Path, default=Path(__file__).resolve().parents[1])
+    parser.add_argument("--output-json", type=Path)
+    parser.add_argument("--output-csv", type=Path)
+    parser.add_argument("--updates", type=int, default=3)
+    parser.add_argument("--limit", type=int, default=0, help="Debug only; 0 validates all 99 layouts.")
+    args, _kit_args = parser.parse_known_args()
+
+    dataset = args.dataset.resolve()
+    output_json = (args.output_json or dataset / "stage-validation.json").resolve()
+    output_csv = (args.output_csv or dataset / "stage-validation.csv").resolve()
+    layouts = sorted((dataset / "GRScenes100").glob("*/*_usd/layout.usd"))
+    if len(layouts) != 99:
+        print(f"FATAL: expected 99 layouts, found {len(layouts)}", file=sys.stderr)
+        return 2
+    if args.limit:
+        layouts = layouts[: args.limit]
+
+    app = SimulationApp({"headless": True})
+    import carb.logging
+    import omni.UsdMdl as UsdMdl
+    import omni.usd
+    from pxr import Sdf, UsdShade, UsdUtils
+
+    recorder = LogRecorder(carb.logging)
+    context = omni.usd.get_context()
+    reports: list[dict[str, object]] = []
+    summaries: list[dict[str, object]] = []
+    try:
+        for index, layout in enumerate(layouts, 1):
+            started = time.monotonic()
+            relative = layout.relative_to(dataset).as_posix()
+            recorder.clear()
+            context.close_stage()
+            app.update()
+            opened = context.open_stage(str(layout))
+            for _ in range(max(1, args.updates)):
+                app.update()
+            stage = context.get_stage()
+            errors: list[str] = []
+            if stage is None:
+                errors.append("omni.usd context returned no Stage")
+                dep = {"layers": [], "assets": [], "unresolved": [relative], "outside_dataset": []}
+                prim_count = 0
+                mdl_results: list[dict[str, object]] = []
+                mdl_failures: list[str] = []
+            else:
+                prim_count = sum(1 for _ in stage.TraverseAll())
+                try:
+                    dep = dependency_report(UsdUtils, Sdf, layout, dataset)
+                except Exception as exc:
+                    dep = {"layers": [], "assets": [], "unresolved": [str(exc)], "outside_dataset": []}
+                    errors.append(f"ComputeAllDependencies failed: {exc}")
+                bindings = collect_mdl_bindings(stage)
+                stage.SetEditTarget(stage.GetSessionLayer())
+                mdl_results, mdl_failures = validate_mdl_bindings(
+                    UsdMdl, Sdf, UsdShade, stage, bindings, dataset
+                )
+            hard_logs = [
+                row
+                for row in recorder.rows
+                if row["level"] in {carb.logging.LEVEL_ERROR, carb.logging.LEVEL_FATAL}
+                or (
+                    row["level"] == carb.logging.LEVEL_WARN
+                    and HARD_WARNING_PATTERN.search(str(row["message"]))
+                )
+            ]
+            if dep["unresolved"]:
+                errors.append(f"unresolved dependencies: {len(dep['unresolved'])}")
+            if dep["outside_dataset"]:
+                errors.append(f"dependencies outside dataset: {len(dep['outside_dataset'])}")
+            if mdl_failures:
+                errors.append(f"MDL binding failures: {len(mdl_failures)}")
+            if hard_logs:
+                errors.append(f"hard Kit log messages: {len(hard_logs)}")
+            elapsed = time.monotonic() - started
+            report = {
+                "layout": relative,
+                "status": "PASS" if not errors else "FAIL",
+                "errors": errors,
+                "prim_count": prim_count,
+                "root_layer": str(stage.GetRootLayer().realPath) if stage else None,
+                "dependencies": dep,
+                "mdl_bindings": mdl_results,
+                "mdl_failures": mdl_failures,
+                "hard_logs": hard_logs[:1000],
+                "all_warning_error_log_count": sum(
+                    1
+                    for row in recorder.rows
+                    if row["level"]
+                    in {carb.logging.LEVEL_WARN, carb.logging.LEVEL_ERROR, carb.logging.LEVEL_FATAL}
+                ),
+                "elapsed_seconds": elapsed,
+            }
+            reports.append(report)
+            summary = {
+                "layout": relative,
+                "status": report["status"],
+                "prim_count": prim_count,
+                "layer_count": len(dep["layers"]),
+                "asset_count": len(dep["assets"]),
+                "unresolved_count": len(dep["unresolved"]),
+                "outside_dataset_count": len(dep["outside_dataset"]),
+                "mdl_binding_count": len(mdl_results),
+                "mdl_failure_count": len(mdl_failures),
+                "hard_log_count": len(hard_logs),
+                "elapsed_seconds": round(elapsed, 3),
+            }
+            summaries.append(summary)
+            print(
+                f"stage {index}/{len(layouts)} {summary['status']} prims={prim_count} "
+                f"unresolved={summary['unresolved_count']} outside={summary['outside_dataset_count']} "
+                f"mdl_failures={summary['mdl_failure_count']} hard_logs={summary['hard_log_count']} "
+                f"{relative}",
+                flush=True,
+            )
+            context.close_stage()
+            app.update()
+            del stage
+            gc.collect()
+    finally:
+        recorder.close()
+        context.close_stage()
+        app.close()
+
+    failed = [row for row in summaries if row["status"] != "PASS"]
+    document = {
+        "schema_version": 1,
+        "generated_utc": datetime.now(timezone.utc).isoformat(),
+        "dataset": str(dataset),
+        "isaac_sim_validation": "Isaac Sim 6.0.1 Windows headless",
+        "status": "PASS" if not failed else "FAIL",
+        "stage_count": len(reports),
+        "passed": len(reports) - len(failed),
+        "failed": len(failed),
+        "stages": reports,
+    }
+    output_json.parent.mkdir(parents=True, exist_ok=True)
+    output_csv.parent.mkdir(parents=True, exist_ok=True)
+    output_json.write_text(json.dumps(document, ensure_ascii=False, indent=2) + "\n", encoding="utf-8")
+    write_csv(output_csv, summaries)
+    print(
+        json.dumps(
+            {
+                "status": document["status"],
+                "passed": document["passed"],
+                "failed": document["failed"],
+                "output_json": str(output_json),
+                "output_csv": str(output_csv),
+            },
+            ensure_ascii=False,
+        ),
+        flush=True,
+    )
+    return 0 if not failed else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

tools/verify_dataset.py

@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+"""Verify an extracted GRScenes Portable payload using only the stdlib."""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import hashlib
+import os
+import re
+import sys
+import time
+from pathlib import Path
+
+
+PAYLOAD_ROOTS = ("GRScenes100", "GRScenes_assets", "Material")
+SHA256_RE = re.compile(r"^([0-9a-fA-F]{64})\s{2}(.+)$")
+READ_SIZE = 8 * 1024 * 1024
+FILE_ATTRIBUTE_REPARSE_POINT = 0x400
+
+
+def has_reparse_point(path: Path) -> bool:
+    stat = path.lstat()
+    return bool(getattr(stat, "st_file_attributes", 0) & FILE_ATTRIBUTE_REPARSE_POINT)
+
+
+def sha256_file(path: Path) -> str:
+    h = hashlib.sha256()
+    with path.open("rb", buffering=0) as stream:
+        for chunk in iter(lambda: stream.read(READ_SIZE), b""):
+            h.update(chunk)
+    return h.hexdigest()
+
+
+def safe_relative(value: str) -> str:
+    if "\\" in value:
+        raise ValueError(f"manifest path contains a backslash: {value!r}")
+    pure = Path(*value.split("/"))
+    if not value or value.startswith("/") or any(
+        part in {"", ".", ".."} or ":" in part for part in value.split("/")
+    ):
+        raise ValueError(f"unsafe manifest path: {value!r}")
+    if value.split("/", 1)[0] not in PAYLOAD_ROOTS:
+        raise ValueError(f"manifest path is outside payload roots: {value!r}")
+    return pure.as_posix()
+
+
+def load_payload_manifest(path: Path) -> dict[str, dict[str, object]]:
+    rows: dict[str, dict[str, object]] = {}
+    folded: dict[str, str] = {}
+    with path.open("r", encoding="utf-8-sig", newline="") as stream:
+        reader = csv.DictReader(stream)
+        required = {"relative_path", "size_bytes", "mtime_utc", "verification_category", "shard_name"}
+        if not reader.fieldnames or not required.issubset(reader.fieldnames):
+            raise RuntimeError(f"payload manifest fields are incomplete: {reader.fieldnames}")
+        for row in reader:
+            rel = safe_relative(row["relative_path"])
+            if rel in rows:
+                raise RuntimeError(f"duplicate payload manifest path: {rel}")
+            prior = folded.setdefault(rel.casefold(), rel)
+            if prior != rel:
+                raise RuntimeError(f"case-ambiguous payload paths: {prior!r} / {rel!r}")
+            size = int(row["size_bytes"])
+            if size < 0:
+                raise RuntimeError(f"negative payload size: {rel}")
+            rows[rel] = {
+                "size_bytes": size,
+                "mtime_utc": row["mtime_utc"],
+                "verification_category": row["verification_category"],
+                "shard_name": row["shard_name"],
+            }
+    return rows
+
+
+def inventory_dataset(dataset: Path) -> tuple[dict[str, int], list[str]]:
+    actual: dict[str, int] = {}
+    problems: list[str] = []
+    folded: dict[str, str] = {}
+    for root_name in PAYLOAD_ROOTS:
+        root = dataset / root_name
+        if not root.is_dir():
+            problems.append(f"missing payload root: {root_name}")
+            continue
+        for current, dirs, files in os.walk(root, followlinks=False):
+            dirs.sort(key=str.casefold)
+            files.sort(key=str.casefold)
+            current_path = Path(current)
+            for name in list(dirs):
+                path = current_path / name
+                if path.is_symlink() or has_reparse_point(path):
+                    problems.append(f"link/reparse directory is forbidden: {path.relative_to(dataset).as_posix()}")
+                    dirs.remove(name)
+            for name in files:
+                path = current_path / name
+                rel = path.relative_to(dataset).as_posix()
+                if path.is_symlink() or has_reparse_point(path):
+                    problems.append(f"link/reparse file is forbidden: {rel}")
+                    continue
+                if not path.is_file():
+                    problems.append(f"non-regular payload entry: {rel}")
+                    continue
+                prior = folded.setdefault(rel.casefold(), rel)
+                if prior != rel:
+                    problems.append(f"case-ambiguous extracted paths: {prior!r} / {rel!r}")
+                actual[rel] = path.stat().st_size
+    return actual, problems
+
+
+def verify_fast(dataset: Path, manifest: dict[str, dict[str, object]]) -> list[str]:
+    actual, problems = inventory_dataset(dataset)
+    expected_paths = set(manifest)
+    actual_paths = set(actual)
+    for rel in sorted(expected_paths - actual_paths):
+        problems.append(f"missing payload file: {rel}")
+    for rel in sorted(actual_paths - expected_paths):
+        problems.append(f"extra payload file: {rel}")
+    for rel in sorted(expected_paths & actual_paths):
+        expected_size = int(manifest[rel]["size_bytes"])
+        if actual[rel] != expected_size:
+            problems.append(
+                f"size mismatch: {rel}: actual={actual[rel]} expected={expected_size}"
+            )
+    return problems
+
+
+def load_keyfiles(path: Path) -> list[tuple[str, str]]:
+    rows: list[tuple[str, str]] = []
+    seen: set[str] = set()
+    for line_number, line in enumerate(path.read_text(encoding="utf-8-sig").splitlines(), 1):
+        if not line:
+            continue
+        match = SHA256_RE.match(line)
+        if not match:
+            raise RuntimeError(f"invalid keyfile manifest line {line_number}")
+        digest, rel_value = match.groups()
+        rel = safe_relative(rel_value)
+        if rel in seen:
+            raise RuntimeError(f"duplicate keyfile path: {rel}")
+        seen.add(rel)
+        rows.append((digest.lower(), rel))
+    return rows
+
+
+def verify_keyfiles(dataset: Path, rows: list[tuple[str, str]]) -> list[str]:
+    problems: list[str] = []
+    total = len(rows)
+    started = time.monotonic()
+    for index, (expected, rel) in enumerate(rows, 1):
+        path = dataset.joinpath(*rel.split("/"))
+        if not path.is_file() or path.is_symlink() or has_reparse_point(path):
+            problems.append(f"missing/non-regular keyfile: {rel}")
+            continue
+        actual = sha256_file(path)
+        if actual != expected:
+            problems.append(f"SHA-256 mismatch: {rel}: actual={actual} expected={expected}")
+        if index % 1000 == 0 or index == total:
+            print(
+                f"keyfiles {index}/{total} elapsed={time.monotonic() - started:.1f}s failures={len(problems)}",
+                flush=True,
+            )
+    return problems
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--dataset",
+        type=Path,
+        default=Path(__file__).resolve().parents[1],
+        help="Extracted dataset root; defaults to the parent of tools/.",
+    )
+    modes = parser.add_mutually_exclusive_group(required=True)
+    modes.add_argument("--fast", action="store_true", help="Verify all payload paths and sizes.")
+    modes.add_argument("--keyfiles", action="store_true", help="Hash every keyfile in the release manifest.")
+    parser.add_argument("--payload-manifest", type=Path)
+    parser.add_argument("--keyfile-manifest", type=Path)
+    args = parser.parse_args()
+
+    dataset = args.dataset.resolve()
+    payload_path = (args.payload_manifest or dataset / "MANIFEST.payload.csv").resolve()
+    keyfile_path = (args.keyfile_manifest or dataset / "MANIFEST.keyfiles.sha256").resolve()
+    try:
+        payload = load_payload_manifest(payload_path)
+        if args.fast:
+            problems = verify_fast(dataset, payload)
+            checked = len(payload)
+            mode = "fast"
+        else:
+            keyfiles = load_keyfiles(keyfile_path)
+            unknown = sorted(rel for _, rel in keyfiles if rel not in payload)
+            if unknown:
+                raise RuntimeError(f"keyfile manifest paths absent from payload manifest: {unknown[:10]}")
+            problems = verify_keyfiles(dataset, keyfiles)
+            checked = len(keyfiles)
+            mode = "keyfiles"
+    except Exception as exc:
+        print(f"FATAL: {exc}", file=sys.stderr)
+        return 2
+
+    if problems:
+        for problem in problems[:200]:
+            print(f"FAIL: {problem}", file=sys.stderr)
+        if len(problems) > 200:
+            print(f"FAIL: {len(problems) - 200} additional problems omitted", file=sys.stderr)
+        print(f"verification mode={mode} status=FAIL checked={checked} problems={len(problems)}")
+        return 1
+    print(f"verification mode={mode} status=PASS checked={checked}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())