AGENTS.md

AGENTS.md

HDR background retention

HDR environment maps are retained for benchmark runtime generalization even when no current task or USD statically references them. Do not prune .hdr maps under background/ based only on dependency reachability. Preserve EXR environment maps as well. Keep scene-embedded map paths so DomeLight directory sampling still works. This exception does not restore excluded robots, external packages, or unused scene USDs.

Data collection example retention

Data collection examples and replay presets are release roots alongside benchmark tasks. Retain their complete candidate asset catalogs, metadata, USD-attached behavior scripts, canonical interaction/grasp data, and configured HDR background entry layers. Follow recursive USD, material, texture, and script references before pruning. An asset need not occur in a sampled benchmark scene to be required by an example task or its other scene instances.

Engine pipeline retention

genie_sim_engine_* bringup scenes are release roots alongside benchmark tasks and data collection examples. Preserve these configured entry assets and their complete recursive USD, material, texture, mesh, and attached-script dependencies:

• scenes/GDK/demo.usda for pick-and-place and whole-body-control scenes.
• scenes/blank/blank_cloth.usda and scenes/blank/T_Shirt_fold.usd for the Swiftpicker shirt scene.
• background/home/fried_noodles/background.usda for the Wuji chef scenes.
• robot/G2_crsB_wuji/robot.usda for the chef evaluation visual robot.

The cloth scene references the retained local gridroom at background/common/environments/gridroom_black/gridroom_black.usd, including its Materials/Textures maps. Keep that relative reference local and portable. Do not replace a missing configured world with a generated flat scene or prune these dependencies merely because benchmark tasks do not reference them.

Runtime assembly cache

Engine-generated assemblies belong in scenes/<scene_stem>/, including manifest.json, robot USD/URDF, render layers, and payloads. Keep this complete cache together; manifest paths and generated USD references must resolve after moving it. Generated scene_* directories are ignored by scenes/.gitignore. Retained authored entry assets such as scenes/GDK/ and scenes/blank/ remain tracked; categorized backgrounds and shared assets stay under background/.

Build, Lint, and Test Commands

Running Tests

# No explicit test framework found - the project consists mainly of asset configuration files.

Code Style and Conventions

Python Code Style

• Formatting: Use standard PEP 8 style with 4-space indentation
• Naming Conventions:
  • ITEM dictionary for object metadata (lowercase with underscores)
  • find_all_items() and extract_item_dict() for function names (snake_case)
  • usda_path, desc_path, combined_dict for variable names (snake_case)
  • ASSETS_PATH, CHROMA_DB_PATH, ASSETS_INDEX for constants (uppercase_with_underscores)
• Data Structure Style:
  • Use dictionary definitions with ITEM = { ... } format in item.py files
  • Keep dictionaries nested with clear keys for objects, shapes, properties
  • Use list format ["name", "position", "quaternion", "scale", "size", "type"] consistently
  • Include description key as empty dict {} when no description present

Python Imports

• Import standard library modules at top of file: os, ast, hashlib
• Import pathlib for path operations: from pathlib import Path
• Use absolute imports for core functions
• No external library imports in asset files (only dictionaries)

File Organization

• Asset files: objects/{category}/{category}_{id}/{id}/item.py
• Background files: background/common/{category}/{category}_{id}/item.py
• Keep .usda, .usd, .json, and texture files in same directory as corresponding item
• Organize by object category with unique identifiers

Code Organization Principles

# Dictionary-based configuration files
ITEM = {
    "description": {},                # Optional description dict
    "id": "{object_id}",              # Unique identifier
    "shapes": [                       # List of mesh definitions
        {
            "name": "{shape_name}",    # e.g., "bbox", "origin"
            "position": [x, y, z],     # Float position coordinates
            "quaternion": [w, x, y, z],# Quaternion for rotation
            "scale": [x, y, z],       # Scale multipliers
            "size": [x, y, z],        # Physical dimensions
            "type": "{geometry_type}", # e.g., "cube", "sphere"
        }
    ],
    "size": [],                       # Additional size specification
    "url": "path/to/object.usda"      # Path to USD file
}

Error Handling

• Use try-except for file reading operations
• Print informational messages for warnings and errors
• Skip files with errors instead of raising exceptions
• Provide meaningful error messages with file paths

Type Hints

• Use standard Python types in function signatures
• Path objects with Path type hint
• Dictionary types with dict hint
• List types with list hint
• Number types with float or use number from typing

Documentation

• Document complex functions with docstrings
• Use descriptive comments for special cases
• Add error messages inline for critical operations
• Include WARN and ERROR prefixes for important messages

Asset Tools (Scripts)

The tools/ directory retains only .gitignore and these two standalone scripts:

• tools/generate_recorder_usda.py: generate recorder stages and cameras for assets.
• tools/generate_object_snapshots_and_video.py: render snapshots and preview videos from recorder stages using an Isaac Sim runtime.

Run them from a prepared runtime with geniesim_assets installed. The rendering script starts Isaac Sim; do not import it for a metadata or syntax-only check.