| # 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 |
| ``` |
|
|
