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:

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

Example:

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:

assets/discoverse/raw/collections/models/discoverse_models/

This avoids breaking MJCF includes and mesh paths.

Derived outputs must live under:

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:

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

Preferred generator:

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:

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:

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

Preferred generator:

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:

proxy/primitive_collision_proxy.json

Generated downstream fragments:

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:

docs/primitive_collision_proxy_spec.md

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

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:

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:

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:

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:

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:

manifest/assets.jsonl

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

Validation

Before upload, run:

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:

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:

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