AGENTS.md

# AGENTS.md

This repository is a reusable robotics and simulation asset library hosted as a Hugging Face Dataset.

## Scope

The asset library stores normalized, reusable assets from multiple sources:

- RoboCasa
- Discoverse
- TinyForge
- Hunter
- third-party asset sites

RoboCasa is one source inside this library, not the root format for the whole library.

## Directory layout

Use this canonical layout:

```text
assets/<source>/raw/<asset_type>/<category>/<asset_id>/
```

Example:

```text
assets/robocasa/raw/fixtures/dishwashers/Dishwasher031/
```

Each asset directory must contain the source asset files and a `metadata.yaml`.

For large upstream asset trees with many internal relative references, still use the canonical four-level layout under `raw/` and index the tree as one collection-level asset. Current example:

```text
assets/discoverse/raw/collections/models/discoverse_models/
```

This avoids breaking MJCF includes and mesh paths.

Derived outputs must live under:

```text
assets/<source>/derived/<asset_type>/<category>/<asset_id>/
```

Use `derived/` for convex decomposition, collision meshes, cleaned meshes, conversions, and other generated outputs. Do not overwrite raw assets.

For convex decomposition, use:

```text
assets/<source>/derived/convex_decompositions/<category>/<asset_id>_<variant>/
```

Preferred generator:

```bash
python scripts/run_convex_decomposition.py assets/<source>/raw/<asset_type>/<category>/<asset_id> --mesh <relative_mesh_path> --variant coacd_v1
```

Generated MuJoCo include files have different insertion contexts:

```text
mjcf/convex_assets_include.xml      # include at MJCF root/top level
mjcf/convex_geoms_include.xml       # include inside the target body
mjcf/convex_collision_include.xml   # standalone wrapper for preview/convenience
```

Do not edit the raw source `model.xml` when adding convex collision geometry. Integrate the derived includes in downstream task scenes or in separate derived MJCF files.

For thin rod, rack, grid, shelf, and slot-like structures where convex hulls may bridge functional gaps, prefer primitive collision proxies:

```text
assets/<source>/derived/primitive_collision_proxies/<category>/<asset_id>_<variant>/
```

Preferred generator:

```bash
python scripts/run_primitive_collision_proxy.py assets/<source>/raw/<asset_type>/<category>/<asset_id> --mesh <relative_obj_path> --variant primitive_boxes_v1
```

Primitive proxy source of truth:

```text
proxy/primitive_collision_proxy.json
```

Generated downstream fragments:

```text
mjcf/primitive_geoms_include.xml       # include inside the target body
mjcf/primitive_collision_include.xml   # standalone wrapper for preview/convenience
curobo/primitive_world.yml             # cuRobo cuboid fragment from forbidden cuboids
```

Use primitive proxies only after inspecting that boxes do not bridge task-critical gaps. For temporary trials, do not use `--register-manifest`.

Detailed rules are in:

```text
docs/primitive_collision_proxy_spec.md
```

Whenever a source is reorganized during import, record the original upstream layout and the current layout in:

```text
docs/structure_mapping.md
docs/source_notes/<source>.md
```

Do not change source paths without recording the correspondence.

## Naming rules

- `source`: lowercase snake_case, for example `robocasa`, `discoverse`, `tinyforge`, `hunter`, `third_party`.
- `asset_type`: lowercase snake_case plural when it represents a collection, for example `fixtures`, `objects`, `scenes`, `textures`, `robots`, `environments`, `convex_decompositions`, `primitive_collision_proxies`.
- `category`: lowercase snake_case, usually preserving common upstream category wording, for example `dishwashers`, `cabinets`, `cups`.
- `asset_id`: preserve upstream IDs when they are stable and meaningful, for example `Dishwasher031`.
- Global `asset_id`: `<source>.<asset_type>.<category>.<upstream_id>`.

## Required metadata

Every asset directory must include `metadata.yaml` with at least:

- `asset_id`
- `source`
- `source_asset_id`
- `asset_type`
- `category`
- `format`
- `entry_file`
- `license`
- `origin_url`
- `path`
- `tags`

Recommended additional fields for production-oriented assets:

- `readiness_level`
- `source_commit`
- `retrieval_date`
- `conversion_tool`
- `conversion_notes`
- `raw_sha256`
- `validation_status`

Readiness levels are defined in:

```text
docs/asset_readiness_classification.md
```

## Third-party asset rule

If any external third-party asset is used by a project, experiment, dataset, or generated scene, copy that exact used asset into this repository under:

```text
assets/third_party/raw/<asset_type>/<category>/<asset_id>/
```

Do not rely only on remote third-party URLs for reproducibility. Record the original URL, license, retrieval date, and any conversion steps in `metadata.yaml`.

Before use, candidate external sources may be recorded as links only in:

```text
docs/external_source_catalog.md
docs/placement_asset_notes.md
docs/source_notes/third_party.md
```

Do not add link-only candidates to `manifest/assets.jsonl`; the manifest is only for assets physically stored in this repository.

When evaluating or importing external assets, keep these counts separate:

```text
candidate_count
license_pass_count
downloaded_count
load_pass_count
physics_pass_count
policy_pass_count
L0_count
```

Do not equate source dataset size or downloaded file count with production-ready assets.

## Manifest rule

Every asset must also be listed in:

```text
manifest/assets.jsonl
```

The manifest is the global index. Keep one JSON object per line.

## Validation

Before upload, run:

```bash
python scripts/validate_asset.py assets/<source>/raw/<asset_type>/<category>/<asset_id>
python scripts/validate_asset.py assets/<source>/derived/<asset_type>/<category>/<asset_id>
python scripts/validate_asset.py --all
```

For MJCF assets, validation should verify:

- `metadata.yaml` exists
- the declared entry file exists
- mesh and texture references in `model.xml` resolve relative to the asset directory
- the asset has a matching row in `manifest/assets.jsonl`

## Hugging Face workflow

This repository is intended to be uploaded to a Hugging Face Dataset repo.

Recommended commands:

```bash
export HF_ENDPOINT=https://hf-mirror.com
hf auth login
hf repo create <namespace>/<dataset_repo> --type dataset --private
hf upload <namespace>/<dataset_repo> . . --repo-type dataset
hf download <namespace>/<dataset_repo> --repo-type dataset --local-dir ./asset-library --max-workers 4
```

Prefer the wrapper scripts in this repository:

```bash
scripts/upload_to_hf.sh <namespace>/<dataset_repo>
scripts/download_from_hf.sh <namespace>/<dataset_repo> ./asset-library
```