...

TOTAL_ROWS = 250_000_000 # 10GB 約需要 2 億到 3 億筆資料 (視壓縮率而定)
SKEW_RATIO = 0.8  # 80% 的資料會集中在少數幾個 material 上

df_skewed = df.withColumn(
    "material",
    F.when(F.col("id") < (TOTAL_ROWS * SKEW_RATIO), "M_0001").otherwise(
        F.concat(F.lit("M_"), F.format_string("%04d", (F.rand() * 10000).cast("int")))
    ),
)

df_final = (
    df_skewed.withColumn("line", F.concat(F.lit("Line-"), (F.rand() * 10).cast("int")))
    .withColumn("machine", F.concat(F.lit("MC-"), (F.rand() * 50).cast("int")))
    .withColumn("module", F.concat(F.lit("MOD-"), (F.rand() * 5).cast("int")))
    .withColumn("slot", (F.rand() * 20).cast("int").cast("string"))
    .withColumn("product", F.concat(F.lit("PROD-"), (F.rand() * 100).cast("int")))
    .withColumn(
        "status",
        F.expr(
            "case when rand() > 0.99 then 'ERROR' when rand() > 0.01 then 'OK' else 'UNKNOWN' end"
        ),
    )
    .withColumn("count", (F.rand() * 100).cast("int"))
)

geom = UsdGeom.Xform.Define(stage, path)
geom.GetPrim().GetReferences().AddReference(
    "./veh.usda"
)

from pxr import UsdGeom

ctx = omni.usd.get_context()
stage = ctx.get_stage()
UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.y)

# 修改 \isaac-sim-standalone@4.5.0-rc.36\exts\my_company.my_python_ui_extension\my_company\my_python_ui_extension\extension.py

# 1. 新增的套件
from pydantic import BaseModel, Field
from typing import List
from pxr import UsdGeom, Gf

# 2. 在 def on_startup(self, _ext_id): 加入
main.register_endpoint(
    url="/mcp/spawn_cube",
    verb="post",
    func=create_cube_handler,
    tags=["MCP Actions"],
)

# 3. 加入 create_cube_handler function
class CubeModel(BaseModel):
    name: str = Field(..., description="方塊的名稱 (必須唯一)", example="my_box_01")
    size: float = Field(100.0, description="方塊的大小")
    position: List[float] = Field([0.0, 0.0, 0.0], description="位置 [x, y, z]")


async def create_cube_handler(request: CubeModel) -> dict:
    print(f"Received request to create cube: {request}")
    # 獲取當前的舞台 (Stage)
    ctx = omni.usd.get_context()
    stage = ctx.get_stage()

    if not stage:
        return {"status": "error", "message": "沒有開啟任何舞台 (Stage)"}

    # 組合路徑，例如：/World/my_box_01
    # 注意：Omniverse 的路徑通常從 /World 開始
    path = f"/World/{request.name}"

    # 檢查該路徑是否已經存在物件，避免覆蓋
    if stage.GetPrimAtPath(path):
        return {"status": "error", "message": f"物件 {path} 已經存在！"}

    # --- USD 核心操作開始 ---

    # A. 定義一個 Cube (立方體)
    cube_prim = UsdGeom.Cube.Define(stage, path)

    # B. 設定大小
    cube_prim.GetSizeAttr().Set(request.size)

    # C. 設定位置 (Translation)
    # 為了移動它，我們需要加入一個 Translate 的操作 (Op)
    xform_api = UsdGeom.XformCommonAPI(cube_prim)
    xform_api.SetTranslate(
        Gf.Vec3d(request.position[0], request.position[1], request.position[2])
    )

    # B. 設定顏色 (選用，設為紅色讓它明顯一點)
    cube_prim.GetDisplayColorAttr().Set([Gf.Vec3f(1.0, 0.0, 0.0)])

    # --- USD 核心操作結束 ---

    return {"status": "success", "path": path, "message": f"已建立方塊：{request.name}"}

# 到 \isaac-sim-standalone@4.5.0-rc.36\exts\my_company.my_python_ui_extension\config\extension.toml 的 [dependencies] 加上依賴的 extension
[dependencies]
"omni.kit.uiapp" = {}
"omni.services.core" = {}
"omni.services.transport.server.http" = {}