Asset Retrieval

Asset Retrieval

Look up simulation-ready assets from dataset_index.csv and return .urdf paths. The CSV index is the single source of truth.

Workflow

Preferred — agent reads CSV directly:

1. Read dataset_index.csv into context.
2. Semantically match the user's description (open-ended, fuzzy, or in any language) against category, secondary_category, primary_category, and description columns.
3. Return the best-matching absolute .urdf path; return multiple candidates when the request is broad or explicitly asks for several.
4. Briefly explain why the returned asset matches.

This path handles open-ended queries like "a tall chair suitable for a coffee shop" or "能放在客厅角落的落地灯" that pure keyword matching cannot resolve.

Fallback — CLI script (no network / no LLM):

When the agent is unavailable, use the helper script which performs offline keyword-based ranking:

python embodied_gen/skills/asset-retrieval/scripts/retrieve_asset.py \
  "modern dining chair curved backrest"

For the CLI path, rewrite open-ended or Chinese descriptions into compact English keywords first (e.g. 能放在客厅角落的落地灯 → floor lamp).

Index Resolution

Checked in order — first match wins:

1. --index-file CLI argument
2. $EMBODIEDGEN_DATASET_INDEX environment variable
3. $EMBODIEDGEN_DATASET_ROOT/dataset_index.csv
4. <repo-root>/outputs/EmbodiedGenData/dataset/dataset_index.csv

Dataset root follows a parallel order (--dataset-root → $EMBODIEDGEN_DATASET_ROOT → repo default).

Required CSV Columns

uuid, primary_category, secondary_category, category, description, generate_time, urdf_path

Query Guidelines

• Use explicit object words: chair, bar stool, remote control.
• Keep discriminating modifiers: wooden, orange, modern, round.
• Open-ended or Chinese descriptions are fine for the agent path; rewrite to English keywords only when using the CLI script.

Script Usage

# Single best match (absolute path on stdout)
python embodied_gen/skills/asset-retrieval/scripts/retrieve_asset.py \
  "modern dining chair curved backrest"

# Multiple candidates with scores
python embodied_gen/skills/asset-retrieval/scripts/retrieve_asset.py \
  "orange cushioned bar stool" \
  --top-k 5 --format json

# Custom dataset location
python embodied_gen/skills/asset-retrieval/scripts/retrieve_asset.py \
  "black remote control" \
  --dataset-root /path/to/dataset \
  --index-file /path/to/dataset/dataset_index.csv

# Relative paths instead of absolute
python embodied_gen/skills/asset-retrieval/scripts/retrieve_asset.py \
  "wooden bar stool" --relative-paths

Exit code 1 with "No matching assets found." on stderr when nothing matches.