# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # SPDX-License-Identifier: Apache-2.0 # # 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. __all__ = ["PhysicsGrippersValidation"] import simready.foundation.tier_core.requirements as cap import usd_validation_nvidia from pxr import Usd, UsdGeom try: from pxr import IsaacSensorSchema except ImportError: IsaacSensorSchema = None _SOCKET_TYPE_ATTR = "simready:attachment:socketType" _SOCKET_TYPE_VALUE = "Gripper" _MUJOCO_SITE_API = "MjcSiteAPI" _ISAAC_SITE_API = "IsaacSiteAPI" # Canonical gripper_-prefixed name first, then unprefixed alternates for # assets authored before the gripper_ convention was settled. The runtime # benchmark harness accepts the same spellings; see # simready_benchmark_kit_suite.articulation_phases.gripper_sites. _FORWARD_AXIS_NAMES = ("gripper_forward_axis", "forward_axis") _GRIP_LINE_NAMES = ("gripper_grip_line", "grip_line") _MAX_OPENING_NAMES = ("gripper_maxOpening", "custom:maxOpening") _MUJOCO_GR_001 = cap.PhysicsGrippersRequirements.MUJOCO_GR_001 def _applied_api_schemas(prim: Usd.Prim) -> set[str]: schemas = {str(schema) for schema in prim.GetAppliedSchemas()} op = prim.GetMetadata("apiSchemas") if op is None: return schemas for items in ( op.explicitItems, op.prependedItems, op.appendedItems, op.addedItems, op.orderedItems, ): schemas.update(str(schema) for schema in items) return schemas def _has_mujoco_site_api(prim: Usd.Prim) -> bool: return _MUJOCO_SITE_API in _applied_api_schemas(prim) def _has_isaac_site_api(prim: Usd.Prim) -> bool: """Return True when IsaacSiteAPI is applied to prim. Falls back to authored opinions because GetAppliedSchemas() drops IsaacSiteAPI wherever the Isaac schema plugin is not registered. """ if IsaacSensorSchema is not None: try: if IsaacSensorSchema.IsaacSiteAPI(prim): return True except Exception: pass return _ISAAC_SITE_API in _applied_api_schemas(prim) def _is_gripper_site(prim: Usd.Prim) -> bool: """Return True for prims that qualify as gripper sites. A prim is a gripper site if it has simready:attachment:socketType = "Gripper". This covers both the Neutral and Isaac formats without requiring a specific prim name. """ attr = prim.GetAttribute(_SOCKET_TYPE_ATTR) if not attr or not attr.IsDefined(): return False return attr.Get() == _SOCKET_TYPE_VALUE def _first_child(prim: Usd.Prim, names: tuple[str, ...]) -> Usd.Prim | None: """Return the first existing child among the accepted name spellings.""" for name in names: child = prim.GetChild(name) if child and child.IsValid(): return child return None def _first_attribute(prim: Usd.Prim, names: tuple[str, ...]): """Return the first defined attribute among the accepted name spellings.""" for name in names: attr = prim.GetAttribute(name) if attr and attr.IsDefined(): return attr return None def _get_curve_points(prim: Usd.Prim): """Return the points array of a BasisCurves prim, or None if unavailable.""" curves = UsdGeom.BasisCurves(prim) if not curves: return None attr = prim.GetAttribute("points") if not attr: return None return attr.Get() @usd_validation_nvidia.register_rule("PhysicsGrippers") @usd_validation_nvidia.register_requirements(cap.PhysicsGrippersRequirements.GR_001, override=True) class GripperSocketType(usd_validation_nvidia.BaseRuleChecker): """Validates that gripper site prims are Xform and carry socketType = Gripper (Neutral).""" def CheckStage(self, stage: Usd.Stage) -> None: default_prim = stage.GetDefaultPrim() if not default_prim: self._AddFailedCheck( message="Stage has no default prim.", at=stage, ) return for prim in Usd.PrimRange(default_prim): attr = prim.GetAttribute(_SOCKET_TYPE_ATTR) if not attr or not attr.IsDefined(): continue if attr.Get() != _SOCKET_TYPE_VALUE: continue # Prim has the attribute with "Gripper" value — must be Xform if not prim.IsA(UsdGeom.Xform): self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_001, message=( f"Prim '{prim.GetPath()}' has {_SOCKET_TYPE_ATTR} = '{_SOCKET_TYPE_VALUE}' " f"but is not an Xform, got '{prim.GetTypeName()}'." ), at=prim, ) @usd_validation_nvidia.register_rule("PhysicsGrippers") @usd_validation_nvidia.register_requirements(cap.PhysicsGrippersRequirements.GR_002, override=True) class GripperForwardAxis(usd_validation_nvidia.BaseRuleChecker): """Validates that gripper site prims contain a valid forward_axis BasisCurves child (Neutral).""" def CheckStage(self, stage: Usd.Stage) -> None: default_prim = stage.GetDefaultPrim() if not default_prim: return for prim in Usd.PrimRange(default_prim): if not _is_gripper_site(prim): continue forward_axis = _first_child(prim, _FORWARD_AXIS_NAMES) if forward_axis is None: self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_002, message=f"Gripper site '{prim.GetPath()}' is missing a 'gripper_forward_axis' child prim.", at=prim, ) continue if not UsdGeom.BasisCurves(forward_axis): self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_002, message=f"Gripper site '{prim.GetPath()}': '{forward_axis.GetName()}' is not a BasisCurves prim.", at=forward_axis, ) continue points = _get_curve_points(forward_axis) if not points or len(points) < 2: self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_002, message=( f"Gripper site '{prim.GetPath()}': '{forward_axis.GetName()}' must have at least 2 points, " f"but has {len(points) if points else 0}." ), at=forward_axis, ) @usd_validation_nvidia.register_rule("PhysicsGrippers") @usd_validation_nvidia.register_requirements(cap.PhysicsGrippersRequirements.GR_003, override=True) class GripperGripLine(usd_validation_nvidia.BaseRuleChecker): """Validates that gripper site prims contain a valid grip_line BasisCurves child (Neutral).""" def CheckStage(self, stage: Usd.Stage) -> None: default_prim = stage.GetDefaultPrim() if not default_prim: return for prim in Usd.PrimRange(default_prim): if not _is_gripper_site(prim): continue grip_line = _first_child(prim, _GRIP_LINE_NAMES) if grip_line is None: self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_003, message=f"Gripper site '{prim.GetPath()}' is missing a 'gripper_grip_line' child prim.", at=prim, ) continue if not UsdGeom.BasisCurves(grip_line): self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_003, message=f"Gripper site '{prim.GetPath()}': '{grip_line.GetName()}' is not a BasisCurves prim.", at=grip_line, ) continue points = _get_curve_points(grip_line) if not points or len(points) < 2: self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_003, message=( f"Gripper site '{prim.GetPath()}': '{grip_line.GetName()}' must have at least 2 points, " f"but has {len(points) if points else 0}." ), at=grip_line, ) @usd_validation_nvidia.register_rule("PhysicsGrippers") @usd_validation_nvidia.register_requirements(cap.PhysicsGrippersRequirements.GR_004, override=True) class GripperMaxOpening(usd_validation_nvidia.BaseRuleChecker): """Validates that gripper site prims declare a positive custom:maxOpening attribute (Neutral).""" def CheckStage(self, stage: Usd.Stage) -> None: default_prim = stage.GetDefaultPrim() if not default_prim: return for prim in Usd.PrimRange(default_prim): if not _is_gripper_site(prim): continue attr = _first_attribute(prim, _MAX_OPENING_NAMES) if attr is None: self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_004, message=f"Gripper site '{prim.GetPath()}' is missing 'gripper_maxOpening' attribute.", at=prim, ) continue value = attr.Get() if value is None: self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_004, message=f"Gripper site '{prim.GetPath()}': '{attr.GetName()}' has no value.", at=attr, ) continue if value <= 0: self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_004, message=f"Gripper site '{prim.GetPath()}': '{attr.GetName()}' must be > 0, got {value}.", at=attr, ) @usd_validation_nvidia.register_rule("PhysicsGrippers") @usd_validation_nvidia.register_requirements(_MUJOCO_GR_001, override=True) class MuJoCoGripperSiteAPI(usd_validation_nvidia.BaseRuleChecker): """Validates that gripper site prims carry MjcSiteAPI for MuJoCo.""" MUJOCO_GRIPPER_SITE_REQUIREMENT = _MUJOCO_GR_001 def CheckStage(self, stage: Usd.Stage) -> None: default_prim = stage.GetDefaultPrim() if not default_prim: return for prim in Usd.PrimRange(default_prim): if not _is_gripper_site(prim): continue if not _has_mujoco_site_api(prim): self._AddFailedCheck( requirement=self.MUJOCO_GRIPPER_SITE_REQUIREMENT, message=f"MuJoCo gripper site '{prim.GetPath()}' is missing MjcSiteAPI.", at=prim, ) continue group_attr = prim.GetAttribute("mjc:group") if not group_attr.IsValid() or not group_attr.HasAuthoredValueOpinion(): continue group_value = group_attr.Get() try: numeric_value = int(group_value) except (TypeError, ValueError): numeric_value = None if numeric_value is None or numeric_value < 0 or numeric_value != group_value: self._AddFailedCheck( requirement=self.MUJOCO_GRIPPER_SITE_REQUIREMENT, message=f"MuJoCo gripper site '{prim.GetPath()}' must author 'mjc:group' as a non-negative integer.", at=group_attr, ) @usd_validation_nvidia.register_rule("PhysicsGrippers") @usd_validation_nvidia.register_requirements(cap.PhysicsGrippersRequirements.GR_ISA_001, override=True) class IsaacGripperSiteAPI(usd_validation_nvidia.BaseRuleChecker): """Validates that gripper site prims carry IsaacSiteAPI and isaac:Description (Isaac format).""" def CheckStage(self, stage: Usd.Stage) -> None: default_prim = stage.GetDefaultPrim() if not default_prim: return for prim in Usd.PrimRange(default_prim): if not _is_gripper_site(prim): continue if not _has_isaac_site_api(prim): self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_ISA_001, message=f"Gripper site '{prim.GetPath()}' is missing IsaacSiteAPI.", at=prim, ) continue desc_attr = prim.GetAttribute("isaac:Description") if not desc_attr or not desc_attr.IsDefined(): self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_ISA_001, message=f"Gripper site '{prim.GetPath()}' has IsaacSiteAPI but is missing 'isaac:Description'.", at=prim, ) continue desc_value = desc_attr.Get() if not desc_value or not str(desc_value).strip(): self._AddFailedCheck( requirement=cap.PhysicsGrippersRequirements.GR_ISA_001, message=f"Gripper site '{prim.GetPath()}': 'isaac:Description' must be a non-empty string.", at=desc_attr, )