| """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)) |
|
|
