File size: 4,093 Bytes
d1cf5f8 | 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 | """Readies one package of this dataset for NVIDIA's SimReady Robot-Body profile, then re-hashes it.
- Writes the provenance fields of SR.004 into the root USD's `SimReady_Metadata` (customLayerData).
- Makes the guide-purpose collision meshes invisible: VG.008 only skips invisible meshes, so a
collider that coincides with its visual mesh fails it. Physics ignores visibility.
- Rewrites the package's file list and hashes (`.metadata/com.nvidia.simready.packaging.bom.json`,
`com.nvidia.simready.packaging.json`), per PKG.HASH.001.
usage: simready.py <package dir> <category> <Wikidata Q-code> <package version, e.g. 2026.11.03>
"""
import datetime
import hashlib
import json
import os
import sys
from pxr import Gf, Usd, UsdGeom, UsdPhysics
DEFINITION = "com.nvidia.simready.packaging.json"
BOM = "com.nvidia.simready.packaging.bom.json"
pkg, category, qcode, version = sys.argv[1:5]
package = os.path.basename(os.path.normpath(pkg))
with open(os.path.join(pkg, DEFINITION)) as f:
license_id = json.load(f)["license"]
with open(os.path.join(pkg, ".metadata", "com.nvidia.simready.root_usds.json")) as f:
(root_usd,) = json.load(f)["entries"]
stage = Usd.Stage.Open(os.path.join(pkg, root_usd))
layer = stage.GetRootLayer()
for prim in stage.Traverse():
if prim.HasAPI(UsdPhysics.CollisionAPI) and prim.IsA(UsdGeom.Gprim) and UsdGeom.Imageable(prim).ComputePurpose() == UsdGeom.Tokens.guide:
UsdGeom.Imageable(prim).GetVisibilityAttr().Set(UsdGeom.Tokens.invisible)
bodies = [p for p in stage.Traverse() if p.HasAPI(UsdPhysics.RigidBodyAPI)]
extents = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_, UsdGeom.Tokens.render]).ComputeWorldBound(stage.GetDefaultPrim()).ComputeAlignedRange().GetSize()
layer.customLayerData = {
**layer.customLayerData,
"SimReady_Metadata": {
"author": "Hugging Face LeRobot",
"asset_name": package,
"asset_type": "robot",
"asset_license": license_id,
"category": category,
"source_file": layer.customLayerData["lerobot:source"],
"usd_date_generated": datetime.date.today().isoformat(),
"qcode": qcode,
"rigid_body_count": len(bodies),
"asset_extents": Gf.Vec3f(*(round(v, 4) for v in extents)),
"mass": round(sum(UsdPhysics.MassAPI(b).GetMassAttr().Get() or 0.0 for b in bodies), 3),
},
}
layer.Save()
def sha256(data):
return hashlib.sha256(data).hexdigest()
items = []
for root, _, files in os.walk(pkg):
for name in files:
path = os.path.join(root, name)
rel = os.path.relpath(path, pkg).replace(os.sep, "/")
if rel == DEFINITION or rel.startswith(".metadata/"):
continue
with open(path, "rb") as f:
items.append({"relative_path": rel, "size": os.path.getsize(path), "hash": {"sha256": sha256(f.read())}})
items.sort(key=lambda i: i["relative_path"].encode())
bom_json = json.dumps({"format_version": "1.0", "items": items}, indent=2)
with open(os.path.join(pkg, ".metadata", BOM), "w") as f:
f.write(bom_json)
content = bytearray()
for item in items:
content += item["relative_path"].encode() + b"\0" + bytes.fromhex(item["hash"]["sha256"])
content_hash = sha256(bytes(content))
metadata = [{"name": BOM, "hash": {"sha256": sha256(bom_json.encode())}}]
package_id = f"simready.hf.lerobot.robot-usds.{package}.{version}"
buf = bytearray(package_id.encode() + b"\0" + license_id.encode() + b"\0" + bytes.fromhex(content_hash))
for entry in sorted(metadata, key=lambda e: e["name"].encode()):
buf += entry["name"].encode() + b"\0" + bytes.fromhex(entry["hash"]["sha256"])
with open(os.path.join(pkg, DEFINITION), "w") as f:
definition = {
"format_version": "1.0",
"package_id": package_id,
"license": license_id,
"metadata": metadata,
"content_hash": {"sha256": content_hash},
"package_hash": {"sha256": sha256(bytes(buf))},
}
f.write(json.dumps(definition, indent=2) + "\n")
print(package, json.dumps(dict(layer.customLayerData["SimReady_Metadata"]), default=list))
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