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# Copyright (c) 2025, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
'''
Dataset class for loading and processing grasp data from a WebDataset.
Installation:
pip install trimesh==4.5.3 objaverse==0.1.7 meshcat==0.0.12 webdataset==0.2.111
'''
import os
import json
import time
import webdataset as wds
import glob
from pathlib import Path
from tqdm import tqdm
from typing import Dict, Optional
def load_uuid_list(uuid_list_path: str):
if not os.path.exists(uuid_list_path):
raise FileNotFoundError(f"UUID list file not found: {uuid_list_path}")
if uuid_list_path.endswith(".json"):
with open(uuid_list_path, 'r') as f:
uuids = json.load(f)
if type(uuids) == list:
return uuids
elif type(uuids) == dict:
return list(uuids.keys())
else:
raise ValueError(f"UUID list is not a list or dict: {uuids}")
elif uuid_list_path.endswith(".txt"):
with open(uuid_list_path, 'r') as f:
uuids = [line.strip() for line in f.readlines()]
else:
raise ValueError(f"Unsupported file format: {uuid_list_path}")
return uuids
class GraspWebDatasetReader:
"""Class to efficiently read grasps data using a pre-loaded index."""
def __init__(self, dataset_path: str):
"""
Initialize the reader with dataset path and load the index.
Args:
dataset_path (str): Path to directory containing WebDataset shards
"""
self.dataset_path = dataset_path
self.shards_dir = self.dataset_path
# Load the UUID index
index_path = os.path.join(self.shards_dir, "uuid_index.json")
with open(index_path, 'r') as f:
self.uuid_index = json.load(f)
# Cache for open datasets
self.shard_datasets = {}
def read_grasps_by_uuid(self, object_uuid: str) -> Optional[Dict]:
"""
Read grasps data for a specific object UUID using the index.
Args:
object_uuid (str): UUID of the object to retrieve
Returns:
Optional[Dict]: Dictionary containing the grasps data if found, None otherwise
"""
if object_uuid not in self.uuid_index:
return None
shard_idx = self.uuid_index[object_uuid]
# Get or create dataset for this shard
if shard_idx not in self.shard_datasets:
shard_path = f"{self.shards_dir}/shard_{shard_idx:03d}.tar"
self.shard_datasets[shard_idx] = wds.WebDataset(shard_path)
dataset = self.shard_datasets[shard_idx]
# Search for the UUID in the specific shard
for sample in dataset:
if sample["__key__"] == object_uuid:
return json.loads(sample["grasps.json"])
return None |