File size: 6,507 Bytes
6dd5de1 | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 | #!/usr/bin/env python3
import argparse
import json
from datetime import date
from pathlib import Path
ROOT = Path(__file__).resolve().parents[1]
def parse_simple_yaml(path: Path):
data = {}
current_key = None
for raw in path.read_text().splitlines():
if not raw.strip() or raw.lstrip().startswith("#"):
continue
if raw.startswith(" - ") and current_key:
data.setdefault(current_key, []).append(raw.strip()[2:].strip())
continue
if ":" in raw and not raw.startswith(" "):
key, value = raw.split(":", 1)
key = key.strip()
value = value.strip()
current_key = key
if value == "":
data[key] = []
else:
data[key] = value.strip('"').strip("'")
return data
def yaml_scalar(value):
if isinstance(value, bool):
return "true" if value else "false"
if value is None:
return "null"
if isinstance(value, (int, float)):
return str(value)
text = str(value)
if text == "":
return '""'
if any(ch in text for ch in [":", "#", "{", "}", "[", "]", ",", "\"", "'", "\n"]) or text.startswith(" ") or text.endswith(" "):
return json.dumps(text, ensure_ascii=False)
return text
def dump_yaml(mapping, indent=0):
lines = []
pad = " " * indent
for key, value in mapping.items():
if isinstance(value, dict):
lines.append(f"{pad}{key}:")
lines.extend(dump_yaml(value, indent + 2))
elif isinstance(value, list):
if not value:
lines.append(f"{pad}{key}: []")
else:
lines.append(f"{pad}{key}:")
for item in value:
if isinstance(item, dict):
lines.append(f"{pad} -")
lines.extend(dump_yaml(item, indent + 4))
else:
lines.append(f"{pad} - {yaml_scalar(item)}")
else:
lines.append(f"{pad}{key}: {yaml_scalar(value)}")
return lines
def main():
parser = argparse.ArgumentParser(description="Scaffold a derived convex decomposition asset directory.")
parser.add_argument("raw_asset_dir", help="Path to a raw asset directory under assets/<source>/raw/...")
parser.add_argument("--variant", default="vhacd_v1", help="Derived asset variant suffix.")
parser.add_argument("--tool", default="vhacd", help="Convex decomposition tool name.")
parser.add_argument("--tool-version", default="TBD", help="Convex decomposition tool version.")
args = parser.parse_args()
raw_asset_dir = Path(args.raw_asset_dir).resolve()
raw_rel = raw_asset_dir.relative_to(ROOT / "assets")
parts = raw_rel.parts
if len(parts) < 5 or parts[1] != "raw":
raise SystemExit("raw_asset_dir must be under assets/<source>/raw/<asset_type>/<category>/<asset_id>")
source = parts[0]
asset_type = parts[2]
category = parts[3]
asset_id = parts[4]
raw_meta_path = raw_asset_dir / "metadata.yaml"
raw_meta = parse_simple_yaml(raw_meta_path) if raw_meta_path.exists() else {}
license_name = raw_meta.get("license", "unknown")
origin_url = raw_meta.get("origin_url", "")
source_commit = raw_meta.get("source_commit")
derived_asset_id = f"{asset_id}_{args.variant}"
derived_dir = ROOT / "assets" / source / "derived" / "convex_decompositions" / category / derived_asset_id
if derived_dir.exists():
raise SystemExit(f"destination already exists: {derived_dir}")
(derived_dir / "meshes").mkdir(parents=True, exist_ok=False)
(derived_dir / "mjcf").mkdir(parents=True, exist_ok=False)
(derived_dir / "logs").mkdir(parents=True, exist_ok=False)
metadata = {
"asset_id": f"{source}.convex_decompositions.{category}.{derived_asset_id}",
"source": source,
"source_asset_id": asset_id,
"asset_type": "convex_decompositions",
"category": category,
"format": "obj_mjcf_include",
"entry_file": "mjcf/convex_collision_include.xml",
"license": license_name,
"origin_url": origin_url,
"path": derived_dir.relative_to(ROOT).as_posix(),
"storage_mode": "derived",
"derived_from": [raw_asset_dir.relative_to(ROOT).as_posix()],
"derivation_method": "convex_decomposition",
"decomposition_tool": args.tool,
"decomposition_version": args.tool_version,
"decomposition_params_file": "logs/decomposition.json",
"validation_status": "scaffolded",
"tags": [source, "convex_decomposition", "collision"],
}
if source_commit:
metadata["source_commit"] = source_commit
if "readiness_level" in raw_meta:
metadata["readiness_level"] = raw_meta["readiness_level"]
(derived_dir / "metadata.yaml").write_text("\n".join(dump_yaml(metadata)) + "\n")
source_refs = {
"raw_asset": raw_asset_dir.relative_to(ROOT).as_posix(),
"raw_entry_file": (raw_asset_dir / raw_meta.get("entry_file", "model.xml")).relative_to(ROOT).as_posix(),
}
(derived_dir / "source_refs.yaml").write_text("\n".join(dump_yaml(source_refs)) + "\n")
include_xml = f"""<!-- Scaffolded convex collision include for {raw_asset_dir.relative_to(ROOT).as_posix()} -->
<mujocoinclude>
<!-- Replace with convex collision geoms generated by {args.tool} -->
</mujocoinclude>
"""
(derived_dir / "mjcf" / "convex_collision_include.xml").write_text(include_xml)
logs = {
"tool": args.tool,
"tool_version": args.tool_version,
"created_at": str(date.today()),
"raw_asset": raw_asset_dir.relative_to(ROOT).as_posix(),
"derived_asset": derived_dir.relative_to(ROOT).as_posix(),
"params": {},
"inputs": [],
"outputs": [],
}
(derived_dir / "logs" / "decomposition.json").write_text(json.dumps(logs, indent=2, ensure_ascii=False) + "\n")
readme = f"""# Convex decomposition scaffold
Raw asset:
```text
{raw_asset_dir.relative_to(ROOT).as_posix()}
```
Derived asset:
```text
{derived_dir.relative_to(ROOT).as_posix()}
```
This directory is a scaffold only. Populate `meshes/` and replace the include file with real convex collision geometry before registering it in the manifest.
"""
(derived_dir / "README.md").write_text(readme)
print(derived_dir.relative_to(ROOT).as_posix())
if __name__ == "__main__":
main()
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