Upload scripts/run_convex_decomposition.py with huggingface_hub

scripts/run_convex_decomposition.py

@@ -185,7 +185,24 @@ def filter_coacd_params(coacd, params):
 def run_coacd_for_mesh(mesh_path: Path, output_dir: Path, params):
     coacd, trimesh = import_deps()
 
-    mesh = trimesh.load(mesh_path, force="mesh")
+    # Convex decomposition only needs geometry. Skipping materials avoids a
+    # Pillow dependency for textured OBJ files from sources such as RoboCasa.
+    loaded = trimesh.load(mesh_path, skip_materials=True)
+    if isinstance(loaded, trimesh.Scene):
+        meshes = []
+        for node_name in loaded.graph.nodes_geometry:
+            transform, geometry_name = loaded.graph[node_name]
+            geom = loaded.geometry[geometry_name].copy()
+            geom.visual = trimesh.visual.ColorVisuals(geom)
+            geom.apply_transform(transform)
+            meshes.append(geom)
+        if not meshes:
+            raise RuntimeError(f"no mesh geometry in scene: {mesh_path}")
+        mesh = trimesh.util.concatenate(meshes)
+    else:
+        mesh = loaded
+        mesh.visual = trimesh.visual.ColorVisuals(mesh)
+
     if mesh.is_empty:
         raise RuntimeError(f"empty mesh: {mesh_path}")
 
@@ -330,13 +347,18 @@ def main():
 
     if derived_dir.exists() and not args.overwrite:
         raise SystemExit(f"destination already exists: {derived_dir}. Use --overwrite only if you intend to replace files inside it.")
+    work_dir = derived_dir
+    if not args.overwrite:
+        work_dir = derived_dir.parent / f".{derived_dir.name}.tmp"
+        if work_dir.exists():
+            raise SystemExit(f"temporary output already exists from a previous failed run: {work_dir}")
 
     # Fail before creating derived files if the real decomposition backend is unavailable.
     import_deps()
 
-    (derived_dir / "meshes").mkdir(parents=True, exist_ok=True)
-    (derived_dir / "mjcf").mkdir(parents=True, exist_ok=True)
-    (derived_dir / "logs").mkdir(parents=True, exist_ok=True)
+    (work_dir / "meshes").mkdir(parents=True, exist_ok=True)
+    (work_dir / "mjcf").mkdir(parents=True, exist_ok=True)
+    (work_dir / "logs").mkdir(parents=True, exist_ok=True)
 
     coacd_params = {
         "threshold": args.threshold,
@@ -353,14 +375,14 @@ def main():
 
     for mesh_path in meshes:
         mesh_stem = safe_name(mesh_path.stem)
-        out_dir = derived_dir / "meshes" / mesh_stem
+        out_dir = work_dir / "meshes" / mesh_stem
         part_paths, actual_tool_version, actual_params = run_coacd_for_mesh(mesh_path, out_dir, coacd_params)
         inputs_log.append({
             "path": rel_to_root(mesh_path),
             "sha256": sha256_file(mesh_path),
         })
         for part_path in part_paths:
-            part_rel = part_path.relative_to(derived_dir).as_posix()
+            part_rel = part_path.relative_to(work_dir).as_posix()
             part_index = int(part_path.stem.split("_")[-1])
             mesh_name = safe_name(f"{source}_{source_asset_id}_{mesh_stem}_convex_{part_index:03d}")
             part_records.append({
@@ -377,7 +399,7 @@ def main():
             })
 
     write_xml_files(
-        derived_dir / "mjcf",
+        work_dir / "mjcf",
         source_asset_id,
         part_records,
         args.class_name,
@@ -414,7 +436,7 @@ def main():
         metadata["readiness_level"] = raw_meta["readiness_level"]
     if "source_commit" in raw_meta:
         metadata["source_commit"] = raw_meta["source_commit"]
-    (derived_dir / "metadata.yaml").write_text("\n".join(dump_yaml(metadata)) + "\n")
+    (work_dir / "metadata.yaml").write_text("\n".join(dump_yaml(metadata)) + "\n")
 
     source_refs = {
         "raw_asset": rel_to_root(raw_asset_dir),
@@ -423,7 +445,7 @@ def main():
         else "",
         "raw_meshes": [rel_to_root(p) for p in meshes],
     }
-    (derived_dir / "source_refs.yaml").write_text("\n".join(dump_yaml(source_refs)) + "\n")
+    (work_dir / "source_refs.yaml").write_text("\n".join(dump_yaml(source_refs)) + "\n")
 
     log = {
         "tool": "coacd",
@@ -440,7 +462,7 @@ def main():
             "standalone_include": "mjcf/convex_collision_include.xml",
         },
     }
-    (derived_dir / "logs" / "decomposition.json").write_text(json.dumps(log, indent=2, ensure_ascii=False) + "\n")
+    (work_dir / "logs" / "decomposition.json").write_text(json.dumps(log, indent=2, ensure_ascii=False) + "\n")
 
     readme = f"""# Convex decomposition: {source_asset_id}
 
@@ -464,7 +486,10 @@ MuJoCo integration:
 
 Do not edit the raw source asset in place.
 """
-    (derived_dir / "README.md").write_text(readme)
+    (work_dir / "README.md").write_text(readme)
+
+    if work_dir != derived_dir:
+        work_dir.rename(derived_dir)
 
     if args.register_manifest:
         row = {