sim-ready pipeline

embodichain/toolkits/simready_pipeline/__init__.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from __future__ import annotations
+
+__all__: list[str] = []

embodichain/toolkits/simready_pipeline/cli/__init__.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from __future__ import annotations
+
+__all__: list[str] = []

embodichain/toolkits/simready_pipeline/cli/start.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+import argparse
+from pathlib import Path
+import os
+
+os.environ["PYOPENGL_PLATFORM"] = "egl"
+
+from embodichain.toolkits.simready_pipeline.pipeline.ingest import ingest_one_asset
+from embodichain.toolkits.simready_pipeline.io.json_store import JsonStore
+from embodichain.toolkits.simready_pipeline.parser.base import ParserManager
+
+
+def cli_ingest_single(
+    input_dir: str, output_dir: str, category: str, simple_ingest: bool
+):
+    input_path = Path(input_dir)
+    output_path = Path(output_dir)
+
+    if not input_path.exists():
+        raise FileNotFoundError(f"Input directory not found: {input_path}")
+
+    output_path.mkdir(parents=True, exist_ok=True)
+    store = JsonStore(output_path)
+    manager = ParserManager()
+
+    print(f"Processing Single Asset: {input_path.name} (Category: {category})")
+
+    asset = ingest_one_asset(
+        asset_dir=input_path,
+        category=category,
+        output_root=output_path,
+        store=store,
+        manager=manager,
+        simple_ingest=simple_ingest,
+    )
+
+    if asset:
+        print(f"Successfully Processed")
+    else:
+        print("no asset returned (might be direct_copy mode)")
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="embodichain.toolkits.simready_pipeline Asset Ingestion Pipeline"
+    )
+
+    parser.add_argument(
+        "--input_dir", type=str, help="Path to the single asset directory"
+    )
+    parser.add_argument("--output_root", type=str, help="Path to the output directory")
+    parser.add_argument(
+        "--category",
+        type=str,
+        required=True,
+        help="Specify the category for this asset (e.g., 'cup', 'chair')",
+    )
+    parser.add_argument(
+        "--simple", action="store_true", help="trimesh only, skip Blender"
+    )
+
+    args = parser.parse_args()
+
+    cli_ingest_single(
+        args.input_dir, args.output_root, args.category, simple_ingest=args.simple
+    )
+
+
+if __name__ == "__main__":
+    main()

embodichain/toolkits/simready_pipeline/configs/__init__.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from __future__ import annotations
+
+__all__: list[str] = []

embodichain/toolkits/simready_pipeline/configs/gen_config.json

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+{
+  "ingest": {
+    "canonical_asset_name": "asset.obj",
+    "unprocessed_formats": [".urdf", ".usd"],
+    "parseable_mesh_formats": [".glb", ".gltf", ".obj", ".ply", ".stl"],
+    "blender_texture_size": 2048,
+    "blender_texture_name": "surface_texture.png",
+    "blender_remesh_bake": {
+      "voxel_size": 0.01,
+      "decimate_ratio": 0.9
+    }
+  },
+  "geometry_cleanup": {
+    "ratio": 0.5,
+    "weld_distance": 0.0001,
+    "merge_dist": 0.00001,
+    "remove_non_manifold": true,
+    "triangulate": false
+  },
+  "llm": {
+    "azure_openai": {
+      "api_key": "",
+      "model": "gpt-4o",
+      "base_url": "",
+      "api_version": "2024-02-15-preview"
+    }
+  }
+}

embodichain/toolkits/simready_pipeline/core/__init__.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from __future__ import annotations
+
+__all__: list[str] = []

embodichain/toolkits/simready_pipeline/core/asset.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from dataclasses import dataclass, field
+from typing import Any, Dict, List, Optional
+from datetime import datetime
+
+
+@dataclass
+class Asset:
+
+    asset_id: str
+
+    identity: Dict[str, Any] = field(default_factory=dict)
+    asset_data: Dict[str, Any] = field(default_factory=dict)
+
+    parsed: Dict[str, Any] = field(
+        default_factory=dict
+    )  # Visual, Geometry, Topology, 等解析或者入库时而来的信息
+    semantics: Dict[str, Any] = field(default_factory=dict)
+    physics: Dict[str, Any] = field(default_factory=dict)
+    simulation: Dict[str, Any] = field(default_factory=dict)
+    affordance: Dict[str, Any] = field(default_factory=dict)
+    usd: Dict[str, Any] = field(default_factory=dict)
+
+    provenance: Dict[str, Any] = field(default_factory=dict)
+    quality: Dict[str, Any] = field(default_factory=dict)
+    status: Dict[str, Any] = field(default_factory=dict)
+    internal: Dict[str, Any] = field(default_factory=dict)
+
+    ingest_info: Dict[str, Any] = field(default_factory=dict)  # ingest相关的临时信息
+
+    def __post_init__(self) -> None:
+        self._init_simulation_defaults()
+        self.touch()
+
+    def _init_simulation_defaults(self) -> None:
+        self.simulation.setdefault("articulation", None)
+        self.simulation.setdefault("sim_ready", {})
+
+    def touch(self) -> None:
+        self.status["last_updated"] = datetime.now().isoformat()
+
+    def to_dict(self) -> Dict[str, Any]:
+        return {
+            "asset_id": self.asset_id,
+            "identity": self.identity,
+            "asset_data": self.asset_data,
+            "parsed": self.parsed,
+            "quality": self.quality,
+            "semantics": self.semantics,
+            "physics": self.physics,
+            "simulation": self.simulation,
+            "usd": self.usd,
+            "provenance": self.provenance,
+            "status": self.status,
+            "internal": self.internal,
+            "affordance": self.affordance,
+        }
+
+    @classmethod
+    def from_dict(cls, data: Dict[str, Any]) -> "Asset":
+        return cls(
+            asset_id=data["asset_id"],
+            identity=data.get("identity", {}),
+            asset_data=data.get("asset_data", []),
+            parsed=data.get("parsed", {}),
+            quality=data.get("quality", {}),
+            semantics=data.get("semantics", {}),
+            physics=data.get("physics", {}),
+            simulation=data.get("simulation", {}),
+            usd=data.get("usd", {}),
+            provenance=data.get("provenance", {}),
+            status=data.get("status", {}),
+            internal=data.get("internal", {}),
+            affordance=data.get("affordance", {}),
+        )

embodichain/toolkits/simready_pipeline/io/__init__.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from __future__ import annotations
+
+__all__: list[str] = []

embodichain/toolkits/simready_pipeline/io/json_store.py

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+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+import json
+from pathlib import Path
+from typing import Any, Optional
+
+from embodichain.toolkits.simready_pipeline.core.asset import Asset
+
+
+class JsonStore:
+    """
+    Simple JSON-based store for Assets and a global registry.
+    """
+
+    def __init__(self, root_dir: str | Path):
+        self.root = Path(root_dir)
+        self.registry_path = self.root / "registry.json"
+
+    def _get_asset_json_path(self, asset_id: str) -> Path:
+        return self.root / asset_id / "asset.json"
+
+    def load_registry(self) -> dict[str, Any]:
+        if not self.registry_path.exists():
+            return {"assets": {}}
+
+        registry = json.loads(self.registry_path.read_text())
+        registry.setdefault("assets", {})
+        return registry
+
+    def _write_registry(self, registry: dict[str, Any]) -> None:
+        self.registry_path.parent.mkdir(parents=True, exist_ok=True)
+        self.registry_path.write_text(json.dumps(registry, indent=2))
+
+    def _register_asset(self, asset_id: str, asset_json: dict[str, Any]) -> None:
+        registry = self.load_registry()
+        registry["assets"][asset_id] = {
+            "path": str(self.root / asset_id),
+            "category": asset_json.get("identity", {}).get("category"),
+        }
+        self._write_registry(registry)
+
+    def save_asset(self, asset: Asset) -> None:
+        asset_path = self._get_asset_json_path(asset.asset_id)
+        asset_path.parent.mkdir(parents=True, exist_ok=True)
+        asset_json = asset.to_dict()
+        asset_path.write_text(json.dumps(asset_json, indent=2))
+        self._register_asset(asset.asset_id, asset_json)
+
+    def load_asset(self, asset_id: str) -> Optional[Asset]:
+        asset_path = self._get_asset_json_path(asset_id)
+        if not asset_path.exists():
+            return None
+        data = json.loads(asset_path.read_text())
+        return Asset.from_dict(data)
+
+    def write_asset(self, asset_id: str, asset_json: dict[str, Any]) -> None:
+        asset_root = self.root / asset_id
+        asset_root.mkdir(parents=True, exist_ok=True)
+
+        asset_path = asset_root / "asset.json"
+        asset_path.write_text(json.dumps(asset_json, indent=2))
+        self._register_asset(asset_id, asset_json)
+
+    def list_asset_ids(self) -> list[str]:
+        registry = self.load_registry()
+        return list(registry.get("assets", {}).keys())