fix: IS 4.5.0 -> 5.0.0 migration — USD metadata, DomeLight, scene reuse
- Fix USD metersPerUnit/upAxis for IS 5.0.0 (no longer auto-compensated) - Batch fix all Aligned_obj.usd, table, and art USD files with backups - Fix DomeLight rotation to Z-axis only (prevent tilted environment map) - Fix scene reuse across episodes (arena_file caching, task clearing, prim guard) - Add migration tools: scan_usd_metadata.py, fix_usd_metadata.py - Add migration guide: migerate/migerate.md - Add nvidia-curobo to .gitignore - Fix sort_the_rubbish config: obj_0 -> obj_1 (obj_0 does not exist) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Tangger
3
.gitignore
vendored
3
.gitignore
vendored
@@ -18,4 +18,5 @@ _isaac_sim_410
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InterDataEngine-docs
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debug.sh
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debug.yaml
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depre
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depre
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workflows/simbox/src/nvidia-curobo/
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116
1.py
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116
1.py
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# from pxr import Usd, UsdGeom
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# stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd')
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# print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage))
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# print('upAxis:', UsdGeom.GetStageUpAxis(stage))
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# dp = stage.GetDefaultPrim()
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# print('defaultPrim:', dp.GetPath() if dp else 'None')
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# xf = UsdGeom.Xformable(dp)
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# for op in xf.GetOrderedXformOps():
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# print(f' xformOp: {op.GetName()} = {op.Get()}')
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# for child in dp.GetChildren():
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# cxf = UsdGeom.Xformable(child)
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# ops = cxf.GetOrderedXformOps()
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# if ops:
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# for op in ops:
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# print(f' child {child.GetPath()} xformOp: {op.GetName()} = {op.Get()}')
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# from pxr import Usd, UsdGeom
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# stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd')
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# print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage))
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# print('upAxis:', UsdGeom.GetStageUpAxis(stage))
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# for prim in stage.Traverse():
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# print(f' {prim.GetPath()} type={prim.GetTypeName()}')
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# xf = UsdGeom.Xformable(prim)
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# if xf:
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# for op in xf.GetOrderedXformOps():
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# print(f' {op.GetName()} = {op.Get()}')
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from pxr import Usd, UsdGeom
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import yaml, os
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with open('workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml') as f:
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cfg = yaml.safe_load(f)
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tasks = cfg.get('tasks', [cfg])
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for task in tasks:
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asset_root = task.get('asset_root', '')
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for obj in task.get('objects', []):
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name = obj['name']
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path = obj.get('path', '')
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full = os.path.join(asset_root, path)
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print(f'=== {name}: {full} ===')
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try:
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stage = Usd.Stage.Open(full)
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print(f' metersPerUnit: {UsdGeom.GetStageMetersPerUnit(stage)}')
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print(f' upAxis: {UsdGeom.GetStageUpAxis(stage)}')
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except Exception as e:
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print(f' ERROR: {e}')
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# ===== Check mesh vertex ranges =====
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print("\n===== Mesh vertex ranges =====")
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import numpy as np
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usd_files = {
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'pick_object_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd',
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'gso_box_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd',
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}
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for name, path in usd_files.items():
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stage = Usd.Stage.Open(path)
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for prim in stage.Traverse():
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if prim.GetTypeName() == 'Mesh':
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mesh = UsdGeom.Mesh(prim)
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pts = mesh.GetPointsAttr().Get()
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if pts:
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pts = np.array(pts)
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print(f'{name} mesh={prim.GetPath()} npts={len(pts)}')
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print(f' X: [{pts[:,0].min():.4f}, {pts[:,0].max():.4f}]')
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print(f' Y: [{pts[:,1].min():.4f}, {pts[:,1].max():.4f}] (upAxis=Y, this is height)')
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print(f' Z: [{pts[:,2].min():.4f}, {pts[:,2].max():.4f}]')
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print(f' Y_max * 0.01 = {pts[:,1].max()*0.01:.6f} m')
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print(f' Y_extent = {pts[:,1].max()-pts[:,1].min():.4f}')
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print(f' Y_max (raw cm) = {pts[:,1].max():.4f}')
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# 109.75 / Y_max ?
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if pts[:,1].max() > 0:
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print(f' 109.75 / Y_max = {109.75 / pts[:,1].max():.4f}')
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print(f' 109.75 / (Y_max*0.01) = {109.75 / (pts[:,1].max()*0.01):.4f}')
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# ===== Fix USD metadata: set metersPerUnit=1.0 and upAxis=Z =====
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print("\n===== Fixing USD metadata =====")
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import shutil
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fix_files = [
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'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd',
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'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd',
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'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd',
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]
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# Also try to find pick_object_left USD
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pick_left_path = 'workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd'
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if os.path.exists(pick_left_path):
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fix_files.append(pick_left_path)
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for fpath in fix_files:
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if not os.path.exists(fpath):
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print(f' SKIP (not found): {fpath}')
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continue
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# Backup
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bak = fpath + '.bak'
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if not os.path.exists(bak):
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shutil.copy2(fpath, bak)
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print(f' Backed up: {fpath} -> {bak}')
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else:
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print(f' Backup already exists: {bak}')
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stage = Usd.Stage.Open(fpath)
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old_mpu = UsdGeom.GetStageMetersPerUnit(stage)
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old_up = UsdGeom.GetStageUpAxis(stage)
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print(f' {fpath}: old metersPerUnit={old_mpu}, upAxis={old_up}')
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UsdGeom.SetStageMetersPerUnit(stage, 1.0)
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UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
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stage.GetRootLayer().Save()
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# Verify
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stage2 = Usd.Stage.Open(fpath)
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print(f' -> new metersPerUnit={UsdGeom.GetStageMetersPerUnit(stage2)}, upAxis={UsdGeom.GetStageUpAxis(stage2)}')
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print("\nDone! Now run launcher to test if Z is normal.")
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print("To restore: for each .bak file, copy it back over the .usd file")
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@@ -10,7 +10,7 @@ load_stage:
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rendering_dt: 1/30 # Render update rate
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stage_units_in_meters: 1.0 # Stage unit scale
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headless: True # Headless mode (no GUI); set false for visual debugging
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renderer: "PathTracing" # PathTracing: higher quality, less noise on Blackwell
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renderer: "RayTracedLighting" # PathTracing: higher quality, less noise on Blackwell 改回快速渲染器就改成 "RayTracedLighting"
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anti_aliasing: 0 # Anti-aliasing level
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layout_random_generator: # Scene randomization
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type: env_randomizer
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33
install.md
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33
install.md
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conda create -n banana450 python=3.10
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conda activate banana450
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# 看看12.8安装了么？
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conda list | grep cuda
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# 安装12.8
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conda install -y cuda-toolkit=12.8
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# 其他的cuda版本在conda中的需要卸载
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conda list | grep cuda
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source ~/isaacsim450/setup_conda_env.sh
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# 导入conda环境的12.8cuda环境
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export CUDA_HOME="$CONDA_PREFIX"
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export PATH="$CONDA_PREFIX/bin:$PATH"
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# 看一下应该是12.8
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nvcc -V
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# 换掉torch版本，换成cu128编译的版本
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pip list | grep torch
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pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
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pip list | grep torch
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pip install -r requirements.txt
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pip list | grep cuda
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# 卸载掉cu11的那些包
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pip uninstall nvidia-cuda-cupti-cu11 nvidia-cuda-nvrtc-cu11 nvidia-cuda-runtime-cu11
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# 安装curobo
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cd workflows/simbox/curobo
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# 12.0是显卡的算力 要自己去查 不要信AI的 PRO6000是12.0
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export TORCH_CUDA_ARCH_LIST="12.0+PTX"
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pip install -e .[isaacsim] --no-build-isolation
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# 降级numpy
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pip install numpy==1.26.0
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pip install opencv-python==4.11.0.86
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python launcher.py --config configs/simbox/de_plan_and_render_template.yaml
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159
migerate/fix_usd_metadata.py
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159
migerate/fix_usd_metadata.py
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"""
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Batch fix USD metadata for IS 5.0.0 compatibility.
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IS 4.5.0 auto-added 'Rotate:unitsResolve' and 'Scale:unitsResolve' xformOps
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to compensate for metersPerUnit/upAxis differences. IS 5.0.0 no longer does this,
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causing RigidObject physics to break (objects fly away).
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Fix: Change metersPerUnit to 1.0 and upAxis to Z in USD metadata.
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Vertex data stays unchanged (already in correct scale for the scene).
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Usage:
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# Scan only (dry run):
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python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
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# Fix all:
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python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets
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# Fix specific pattern:
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python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
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# Skip specific directories (e.g. robot models, curobo assets):
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python migerate/fix_usd_metadata.py --root . --skip curobo,robot
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# Restore from backups:
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python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
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"""
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import argparse
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import glob
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import os
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import shutil
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import sys
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from pxr import Usd, UsdGeom
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def fix_usd_files(root: str, pattern: str = "*.usd", target_mpu: float = 1.0,
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target_up: str = "Z", dry_run: bool = False, skip: list = None):
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usd_files = glob.glob(os.path.join(root, "**", pattern), recursive=True)
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usd_files = [f for f in usd_files if not f.endswith(".bak")]
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usd_files.sort()
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skip = skip or []
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print(f"Scanning {len(usd_files)} USD files under: {root}")
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if dry_run:
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print("[DRY RUN] No files will be modified.\n")
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print()
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fixed = 0
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skipped = 0
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skipped_dir = 0
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errors = 0
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for fpath in usd_files:
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rel = os.path.relpath(fpath, root)
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# Check skip patterns
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if any(s in rel for s in skip):
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print(f" SKIP (dir filter): {rel}")
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skipped_dir += 1
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continue
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try:
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stage = Usd.Stage.Open(fpath)
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if stage is None:
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print(f" ERROR: Cannot open {rel}")
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errors += 1
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continue
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mpu = UsdGeom.GetStageMetersPerUnit(stage)
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up = UsdGeom.GetStageUpAxis(stage)
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needs_fix = (mpu != target_mpu) or (up != target_up)
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if not needs_fix:
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print(f" OK: {rel} (mpu={mpu}, up={up})")
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skipped += 1
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continue
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if dry_run:
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print(f" WOULD FIX: {rel} (mpu={mpu}, up={up} -> mpu={target_mpu}, up={target_up})")
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fixed += 1
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continue
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# Backup
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bak = fpath + ".bak"
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if not os.path.exists(bak):
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shutil.copy2(fpath, bak)
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# Fix
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UsdGeom.SetStageMetersPerUnit(stage, target_mpu)
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UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z if target_up == "Z" else UsdGeom.Tokens.y)
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stage.GetRootLayer().Save()
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print(f" FIXED: {rel} (mpu={mpu}/{up} -> {target_mpu}/{target_up})")
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fixed += 1
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except Exception as e:
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print(f" ERROR: {rel} -> {e}")
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errors += 1
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print(f"\nDone: {fixed} {'would fix' if dry_run else 'fixed'}, {skipped} already OK, "
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f"{skipped_dir} skipped (dir filter), {errors} errors.")
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if not dry_run and fixed > 0:
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print("Backups saved as *.bak.")
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print("To restore: python migerate/fix_usd_metadata.py --root <DIR> --restore")
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return fixed
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def restore_backups(root: str, pattern: str = "*.usd"):
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bak_files = glob.glob(os.path.join(root, "**", pattern + ".bak"), recursive=True)
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bak_files.sort()
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if not bak_files:
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print(f"No .bak files found under: {root}")
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return
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print(f"Found {len(bak_files)} backup files. Restoring...")
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for bak in bak_files:
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original = bak[:-4] # remove .bak
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shutil.copy2(bak, original)
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print(f" Restored: {os.path.relpath(original, root)}")
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print(f"\nDone: {len(bak_files)} files restored.")
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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description="Batch fix USD metersPerUnit/upAxis metadata for IS 5.0.0 compatibility",
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formatter_class=argparse.RawDescriptionHelpFormatter,
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epilog="""
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Examples:
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# Dry run on example assets:
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python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
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# Fix all Aligned_obj.usd in example assets:
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python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
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# Fix everything except robot/curobo dirs:
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python migerate/fix_usd_metadata.py --root . --skip curobo,robot
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# Restore all backups:
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python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
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""")
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parser.add_argument("--root", default="workflows/simbox/example_assets",
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help="Root directory to scan (default: workflows/simbox/example_assets)")
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parser.add_argument("--pattern", default="*.usd", help="Filename glob pattern (default: *.usd)")
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parser.add_argument("--target-mpu", type=float, default=1.0, help="Target metersPerUnit (default: 1.0)")
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parser.add_argument("--target-up", choices=["Y", "Z"], default="Z", help="Target upAxis (default: Z)")
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parser.add_argument("--dry-run", action="store_true", help="Scan and report only, do not modify files")
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parser.add_argument("--skip", default="", help="Comma-separated dir substrings to skip (e.g. 'curobo,robot')")
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parser.add_argument("--restore", action="store_true", help="Restore all .bak files to originals")
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args = parser.parse_args()
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if args.restore:
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restore_backups(args.root, args.pattern)
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else:
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skip_list = [s.strip() for s in args.skip.split(",") if s.strip()]
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fix_usd_files(args.root, args.pattern, args.target_mpu, args.target_up, args.dry_run, skip_list)
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199
migerate/migerate.md
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199
migerate/migerate.md
Normal file
@@ -0,0 +1,199 @@
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# Isaac Sim 4.5.0 -> 5.0.0 Migration Guide
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## Background
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- GPU: NVIDIA RTX PRO 6000 Blackwell (SM_120, compute capability 12.0)
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- IS 4.5.0 = Kit 106.5.0, DLSS Ray Reconstruction not supported on Blackwell (needs Kit >= 106.5.3), rendering has noise
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- IS 5.0.0 = Kit 107.x, fixes Blackwell rendering noise
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- IS 5.1.0 headless camera rendering completely broken (known bug GitHub #3250), abandoned
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## Issues & Solutions
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### 1. SimulationApp import path changed
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**Error:** `ModuleNotFoundError: No module named 'omni.isaac.kit'`
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**Cause:** IS 5.x changed the import path.
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**Fix** (`nimbus_extension/components/load/env_loader.py`):
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```python
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try:
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from isaacsim import SimulationApp # IS 5.x
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except ImportError:
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from omni.isaac.kit import SimulationApp # IS 4.x
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```
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### 2. USD metersPerUnit / upAxis not auto-compensated
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**Error:** RigidObject Z coordinate flying to 109.75+ after `world.reset()`, curobo `plan_single()` fails with "Plan did not converge" (goal_pos Z = 25261 meters).
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**Cause:** IS 4.5.0 auto-added `Rotate:unitsResolve` (X=90) and `Scale:unitsResolve` (0.01, 0.01, 0.01) xformOps to compensate for USD files with `metersPerUnit=0.01, upAxis=Y`. IS 5.0.0 no longer does this, causing PhysX to misinterpret RigidObject positions.
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GeometryObjects (no physics) were unaffected — only RigidObjects with PhysX simulation had the issue.
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**Fix:** Change USD metadata directly using pxr scripting. Run `fix_usd_metadata.py`:
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```python
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from pxr import Usd, UsdGeom
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stage = Usd.Stage.Open(usd_path)
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UsdGeom.SetStageMetersPerUnit(stage, 1.0) # was 0.01
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UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z) # was Y
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stage.GetRootLayer().Save()
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```
|
||||
|
||||
All 14 `Aligned_obj.usd` files under `workflows/simbox/example_assets` have been batch-fixed. Backups saved as `.bak`.
|
||||
|
||||
**Verification:** After fix, pick_object_right Z went from 109.75 to 0.7968 (normal).
|
||||
|
||||
### 3. scipy `scalar_first` parameter not supported
|
||||
|
||||
**Error:** `Rotation.as_quat() takes no keyword arguments`
|
||||
|
||||
**Cause:** IS 5.0.0 ships scipy < 1.11 which doesn't support `scalar_first` parameter in `Rotation.from_quat()` / `Rotation.as_quat()`. Dozens of files use this parameter.
|
||||
|
||||
**Fix** (`launcher.py`): Monkey-patch via subclass at startup:
|
||||
```python
|
||||
try:
|
||||
from scipy.spatial.transform import Rotation as _R
|
||||
_R.from_quat([1, 0, 0, 0], scalar_first=True)
|
||||
except TypeError:
|
||||
# Install Rotation subclass that handles scalar_first
|
||||
# See launcher.py for full implementation
|
||||
pass
|
||||
```
|
||||
|
||||
### 4. `arena_file_path` is None on second reset
|
||||
|
||||
**Error:** `arena_file_path` becomes None after first episode.
|
||||
|
||||
**Cause:** `self.task_cfg.pop("arena_file", None)` on line 107 of `simbox_dual_workflow.py` deletes the key after first use.
|
||||
|
||||
**Fix** (`workflows/simbox_dual_workflow.py`): Cache the value:
|
||||
```python
|
||||
self._arena_file_path = None # in __init__
|
||||
|
||||
# in reset():
|
||||
arena_file_path = self.task_cfg.get("arena_file", None) or self._arena_file_path
|
||||
if arena_file_path:
|
||||
self._arena_file_path = arena_file_path
|
||||
```
|
||||
|
||||
### 5. "Task name should be unique in the world"
|
||||
|
||||
**Error:** `AssertionError` when calling `world.add_task()` on second episode.
|
||||
|
||||
**Cause:** World retains tasks from previous episode.
|
||||
|
||||
**Fix** (`workflows/simbox_dual_workflow.py`):
|
||||
```python
|
||||
self.world._current_tasks.clear()
|
||||
self.world.add_task(self.task)
|
||||
```
|
||||
|
||||
### 6. "A prim already exists at prim path"
|
||||
|
||||
**Error:** Scene setup tries to re-create existing prims on repeated `world.reset()` calls.
|
||||
|
||||
**Fix** (`workflows/simbox/core/tasks/banana.py`): Add `_scene_initialized` guard:
|
||||
```python
|
||||
def set_up_scene(self, scene):
|
||||
if getattr(self, '_scene_initialized', False):
|
||||
self._task_objects = {}
|
||||
self._task_objects |= (
|
||||
getattr(self, 'fixtures', {}) |
|
||||
getattr(self, 'objects', {}) |
|
||||
getattr(self, 'robots', {}) |
|
||||
getattr(self, 'cameras', {})
|
||||
)
|
||||
return
|
||||
self._scene_initialized = True
|
||||
super().set_up_scene(scene)
|
||||
```
|
||||
|
||||
### 7. Collision group prim already exists
|
||||
|
||||
**Error:** Collision group prims persist across resets.
|
||||
|
||||
**Fix** (`workflows/simbox/core/utils/collision_utils.py`): Remove existing collision prims before re-creating:
|
||||
```python
|
||||
collision_prim = stage.GetPrimAtPath(collision_root_path)
|
||||
if collision_prim.IsValid():
|
||||
stage.RemovePrim(collision_root_path)
|
||||
```
|
||||
|
||||
### 8. DomeLight environment map tilted
|
||||
|
||||
**Error:** HDR environment map appears rotated/tilted in viewport and rendered output.
|
||||
|
||||
**Cause:** DomeLight rotation was randomized on all 3 axes (X, Y, Z). Rotating X/Y tilts the environment.
|
||||
|
||||
**Fix** (`workflows/simbox/core/tasks/banana.py`): Only rotate Z axis:
|
||||
```python
|
||||
# Before:
|
||||
rotation = [random.uniform(r[0], r[1]) for _ in range(3)]
|
||||
# After:
|
||||
rotation = [0.0, 0.0, random.uniform(r[0], r[1])]
|
||||
```
|
||||
|
||||
## Files Modified
|
||||
|
||||
| File | Change |
|
||||
|------|--------|
|
||||
| `nimbus_extension/components/load/env_loader.py` | SimulationApp import compatibility |
|
||||
| `launcher.py` | scipy Rotation monkey-patch |
|
||||
| `workflows/simbox_dual_workflow.py` | arena_file caching, task clearing, task reuse |
|
||||
| `workflows/simbox/core/tasks/banana.py` | Scene re-init guard, DomeLight rotation fix |
|
||||
| `workflows/simbox/core/utils/collision_utils.py` | Collision group cleanup |
|
||||
| `workflows/simbox/example_assets/**/Aligned_obj.usd` | metersPerUnit=1.0, upAxis=Z |
|
||||
| `fix_usd_metadata.py` | Batch USD metadata fix script |
|
||||
|
||||
## Tools
|
||||
|
||||
Migration tools are located in the `migerate/` directory.
|
||||
|
||||
### scan_usd_metadata.py — Scan USD metadata
|
||||
|
||||
Scan all USD files and report their `metersPerUnit` / `upAxis`:
|
||||
|
||||
```bash
|
||||
conda activate banana500
|
||||
|
||||
# Scan entire project
|
||||
python migerate/scan_usd_metadata.py --root .
|
||||
|
||||
# Scan specific directory
|
||||
python migerate/scan_usd_metadata.py --root workflows/simbox/example_assets
|
||||
```
|
||||
|
||||
Exit code: 0 = all OK, 1 = found files with non-standard metadata.
|
||||
建议扫描后丢给大模型分析一下然后再做下一步
|
||||
### fix_usd_metadata.py — Batch fix USD metadata
|
||||
|
||||
Fix `metersPerUnit` and `upAxis` in USD files, with backup/restore support:
|
||||
|
||||
```bash
|
||||
conda activate banana500
|
||||
|
||||
# Dry run — see what would be fixed, no changes made
|
||||
python migerate/fix_usd_metadata.py --root . --dry-run --skip curobo,robot
|
||||
|
||||
# Fix example assets only (default)
|
||||
python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets
|
||||
|
||||
# Fix all USD in project, skip robot/curobo models
|
||||
python migerate/fix_usd_metadata.py --root . --skip curobo,robot
|
||||
|
||||
# Fix only Aligned_obj.usd files
|
||||
python migerate/fix_usd_metadata.py --root . --pattern "Aligned_obj.usd"
|
||||
|
||||
# Restore from backups (undo all fixes)
|
||||
python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
|
||||
```
|
||||
|
||||
**Important:** Do NOT fix robot USD (curobo, split_aloha) — their metersPerUnit/upAxis are intentionally set for their own coordinate systems. Use `--skip` to exclude them.
|
||||
|
||||
## Notes
|
||||
|
||||
- `plan_single()` occasionally returns None for edge-case target poses (workspace boundary). This is normal and happens in IS 4.5.0 too.
|
||||
- Example HDR is only 1k resolution — production should use 4k/8k for better background quality.
|
||||
- Example `envmap_lib` only has 1 HDR file — add more for randomization diversity.
|
||||
- `non_recyclable_garbage/obj_0` does not exist in example assets (only obj_1~obj_11). Config changed to use `obj_1`.
|
||||
70
migerate/scan_usd_metadata.py
Normal file
70
migerate/scan_usd_metadata.py
Normal file
@@ -0,0 +1,70 @@
|
||||
"""
|
||||
Scan all USD files in the project and report their metersPerUnit / upAxis metadata.
|
||||
|
||||
Usage:
|
||||
python migerate/scan_usd_metadata.py [--root DIR]
|
||||
|
||||
Default root: current working directory (project root).
|
||||
"""
|
||||
import argparse
|
||||
import glob
|
||||
import os
|
||||
import sys
|
||||
|
||||
from pxr import Usd, UsdGeom
|
||||
|
||||
|
||||
def scan(root: str, target_mpu: float = 1.0, target_up: str = "Z"):
|
||||
usd_files = glob.glob(os.path.join(root, "**", "*.usd"), recursive=True)
|
||||
usd_files = [f for f in usd_files if not f.endswith(".bak")]
|
||||
usd_files.sort()
|
||||
|
||||
ok_files = []
|
||||
diff_files = []
|
||||
error_files = []
|
||||
|
||||
for fpath in usd_files:
|
||||
try:
|
||||
stage = Usd.Stage.Open(fpath)
|
||||
if stage is None:
|
||||
error_files.append((fpath, "Cannot open stage"))
|
||||
continue
|
||||
mpu = UsdGeom.GetStageMetersPerUnit(stage)
|
||||
up = UsdGeom.GetStageUpAxis(stage)
|
||||
rel = os.path.relpath(fpath, root)
|
||||
if mpu == target_mpu and up == target_up:
|
||||
ok_files.append((rel, mpu, up))
|
||||
else:
|
||||
diff_files.append((rel, mpu, up))
|
||||
except Exception as e:
|
||||
error_files.append((fpath, str(e)))
|
||||
|
||||
# Report
|
||||
print(f"Scanned {len(ok_files) + len(diff_files) + len(error_files)} USD files under: {root}")
|
||||
print(f" OK (mpu={target_mpu}, up={target_up}): {len(ok_files)}")
|
||||
print(f" Different: {len(diff_files)}")
|
||||
print(f" Errors: {len(error_files)}")
|
||||
|
||||
if diff_files:
|
||||
print(f"\n{'='*80}")
|
||||
print(f"Files with non-standard metadata (mpu != {target_mpu} or up != {target_up}):")
|
||||
print(f"{'='*80}")
|
||||
for rel, mpu, up in diff_files:
|
||||
print(f" mpu={mpu:<8} up={up:<4} {rel}")
|
||||
|
||||
if error_files:
|
||||
print(f"\n{'='*80}")
|
||||
print("Files with errors:")
|
||||
print(f"{'='*80}")
|
||||
for fpath, err in error_files:
|
||||
print(f" ERROR: {fpath} -> {err}")
|
||||
|
||||
return diff_files
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="Scan USD files for metersPerUnit/upAxis metadata")
|
||||
parser.add_argument("--root", default=os.getcwd(), help="Root directory to scan (default: cwd)")
|
||||
args = parser.parse_args()
|
||||
diff = scan(args.root)
|
||||
sys.exit(1 if diff else 0)
|
||||
168
scripts/download_assets_direct.py
Normal file
168
scripts/download_assets_direct.py
Normal file
@@ -0,0 +1,168 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Direct HuggingFace dataset downloader that avoids full repo enumeration.
|
||||
Uses the HF tree API per-directory, then downloads files via HTTP.
|
||||
|
||||
Usage:
|
||||
python scripts/download_assets_direct.py [OPTIONS]
|
||||
|
||||
Options:
|
||||
--min Download only required scene assets
|
||||
--full Download all scene assets (default)
|
||||
--with-curobo Also download CuRobo package
|
||||
--with-drake Also download panda_drake package
|
||||
--local-dir DIR Where to save (default: current directory)
|
||||
--mirror URL HF mirror base URL (default: https://hf-mirror.com)
|
||||
"""
|
||||
|
||||
import os
|
||||
import sys
|
||||
import argparse
|
||||
import time
|
||||
from pathlib import Path
|
||||
from concurrent.futures import ThreadPoolExecutor, as_completed
|
||||
|
||||
import requests
|
||||
|
||||
REPO_ID = "InternRobotics/InternData-A1"
|
||||
ASSET_PREFIX = "InternDataAssets"
|
||||
|
||||
def get_token():
|
||||
token = os.environ.get("HF_TOKEN", "")
|
||||
if not token:
|
||||
token_file = Path.home() / ".cache/huggingface/token"
|
||||
if token_file.exists():
|
||||
token = token_file.read_text().strip()
|
||||
return token
|
||||
|
||||
def list_dir(api_base, repo_id, path, token, session):
|
||||
"""List files in a specific directory via HF tree API (non-recursive for speed)."""
|
||||
url = f"{api_base}/api/datasets/{repo_id}/tree/main/{path}"
|
||||
headers = {"Authorization": f"Bearer {token}"} if token else {}
|
||||
files = []
|
||||
cursor = None
|
||||
while True:
|
||||
params = {"expand": "false", "recursive": "true", "limit": "1000"}
|
||||
if cursor:
|
||||
params["cursor"] = cursor
|
||||
r = session.get(url, headers=headers, params=params, timeout=30)
|
||||
r.raise_for_status()
|
||||
data = r.json()
|
||||
if isinstance(data, list):
|
||||
items = data
|
||||
cursor = None
|
||||
else:
|
||||
items = data.get("items", [])
|
||||
cursor = data.get("nextCursor")
|
||||
for item in items:
|
||||
if item.get("type") == "file":
|
||||
files.append(item["path"])
|
||||
if not cursor or not items:
|
||||
break
|
||||
return files
|
||||
|
||||
def download_file(mirror_base, repo_id, file_path, local_dir, token, session):
|
||||
"""Download a single file."""
|
||||
url = f"{mirror_base}/datasets/{repo_id}/resolve/main/{file_path}"
|
||||
headers = {"Authorization": f"Bearer {token}"} if token else {}
|
||||
local_path = Path(local_dir) / file_path
|
||||
local_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
if local_path.exists():
|
||||
return file_path, "skipped"
|
||||
for attempt in range(3):
|
||||
try:
|
||||
with session.get(url, headers=headers, stream=True, timeout=60) as r:
|
||||
r.raise_for_status()
|
||||
with open(local_path, "wb") as f:
|
||||
for chunk in r.iter_content(chunk_size=1024 * 1024):
|
||||
f.write(chunk)
|
||||
return file_path, "ok"
|
||||
except Exception as e:
|
||||
if attempt == 2:
|
||||
return file_path, f"error: {e}"
|
||||
time.sleep(2 ** attempt)
|
||||
|
||||
def download_dir(api_base, mirror_base, repo_id, path, local_dir, token, label, workers=8):
|
||||
print(f"[INFO] Listing {label} ...")
|
||||
session = requests.Session()
|
||||
try:
|
||||
files = list_dir(api_base, repo_id, path, token, session)
|
||||
except Exception as e:
|
||||
print(f"[ERROR] Failed to list {path}: {e}")
|
||||
return
|
||||
print(f"[INFO] Downloading {label} ({len(files)} files) ...")
|
||||
errors = []
|
||||
done = 0
|
||||
with ThreadPoolExecutor(max_workers=workers) as pool:
|
||||
futures = {pool.submit(download_file, mirror_base, repo_id, f, local_dir, token, session): f for f in files}
|
||||
for fut in as_completed(futures):
|
||||
fp, status = fut.result()
|
||||
done += 1
|
||||
if "error" in status:
|
||||
errors.append((fp, status))
|
||||
print(f" [{done}/{len(files)}] FAIL {fp}: {status}")
|
||||
else:
|
||||
print(f" [{done}/{len(files)}] {status.upper()} {fp}", end="\r")
|
||||
print()
|
||||
if errors:
|
||||
print(f"[WARN] {len(errors)} files failed in {label}")
|
||||
|
||||
def download_file_single(api_base, mirror_base, repo_id, file_path, local_dir, token, label):
|
||||
print(f"[INFO] Downloading {label} ...")
|
||||
session = requests.Session()
|
||||
fp, status = download_file(mirror_base, repo_id, file_path, local_dir, token, session)
|
||||
if "error" in status:
|
||||
print(f"[ERROR] {fp}: {status}")
|
||||
else:
|
||||
print(f"[INFO] {label} done.")
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--min", action="store_true")
|
||||
parser.add_argument("--full", action="store_true")
|
||||
parser.add_argument("--with-curobo", action="store_true")
|
||||
parser.add_argument("--with-drake", action="store_true")
|
||||
parser.add_argument("--local-dir", default=".")
|
||||
parser.add_argument("--mirror", default="https://hf-mirror.com")
|
||||
parser.add_argument("--workers", type=int, default=8)
|
||||
args = parser.parse_args()
|
||||
|
||||
mode = "min" if args.min else "full"
|
||||
mirror = os.environ.get("HF_ENDPOINT", args.mirror).rstrip("/")
|
||||
api_base = mirror
|
||||
token = get_token()
|
||||
local_dir = args.local_dir
|
||||
|
||||
if not token:
|
||||
print("[WARN] No HF token found. Gated datasets will fail.")
|
||||
|
||||
print(f"[INFO] Mirror: {mirror}, mode={mode}, curobo={args.with_curobo}, drake={args.with_drake}")
|
||||
|
||||
base = f"{ASSET_PREFIX}/assets"
|
||||
|
||||
# Required scene assets
|
||||
print("[INFO] ========== Downloading required scene assets ==========")
|
||||
for d in ["background_textures", "envmap_lib", "floor_textures", "table_textures", "table0"]:
|
||||
download_dir(api_base, mirror, REPO_ID, f"{base}/{d}", local_dir, token, d, args.workers)
|
||||
download_file_single(api_base, mirror, REPO_ID, f"{base}/table_info.json", local_dir, token, "table_info.json")
|
||||
|
||||
# Full mode extras
|
||||
if mode == "full":
|
||||
print("[INFO] ========== Downloading all robots and tasks ==========")
|
||||
for robot in ["lift2", "franka", "frankarobotiq", "split_aloha_mid_360", "G1_120s"]:
|
||||
download_dir(api_base, mirror, REPO_ID, f"{base}/{robot}", local_dir, token, f"robot:{robot}", args.workers)
|
||||
for task in ["basic", "art", "long_horizon", "pick_and_place"]:
|
||||
download_dir(api_base, mirror, REPO_ID, f"{base}/{task}", local_dir, token, f"task:{task}", args.workers)
|
||||
|
||||
if args.with_curobo:
|
||||
print("[INFO] ========== Downloading CuRobo ==========")
|
||||
download_dir(api_base, mirror, REPO_ID, f"{ASSET_PREFIX}/curobo", local_dir, token, "curobo", args.workers)
|
||||
|
||||
if args.with_drake:
|
||||
print("[INFO] ========== Downloading panda_drake ==========")
|
||||
download_dir(api_base, mirror, REPO_ID, f"{ASSET_PREFIX}/panda_drake", local_dir, token, "panda_drake", args.workers)
|
||||
|
||||
print(f"[INFO] Done!")
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -29,7 +29,7 @@ tasks:
|
||||
objects:
|
||||
-
|
||||
name: pick_object_left
|
||||
path: task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd
|
||||
path: task/sort_the_rubbish/non_recyclable_garbage/obj_1/Aligned_obj.usd
|
||||
target_class: RigidObject
|
||||
dataset: oo3d
|
||||
category: bottle
|
||||
|
||||
@@ -249,6 +249,12 @@ class TemplateController(BaseController):
|
||||
obstacles = self.usd_help.get_obstacles_from_stage(
|
||||
ignore_substring=self.ignore_substring, reference_prim_path=self.reference_prim_path
|
||||
).get_collision_check_world()
|
||||
# Diagnostic: print what curobo sees as the collision world
|
||||
n_cuboid = len(obstacles.cuboid) if obstacles.cuboid else 0
|
||||
n_mesh = len(obstacles.mesh) if obstacles.mesh else 0
|
||||
mesh_names = [m.name for m in obstacles.mesh] if obstacles.mesh else []
|
||||
print(f"[CUROBO_WORLD] cuboids={n_cuboid}, meshes={n_mesh}, "
|
||||
f"mesh_names={mesh_names[:5]}{'...' if n_mesh > 5 else ''}", flush=True)
|
||||
if self.motion_gen is not None:
|
||||
self.motion_gen.update_world(obstacles)
|
||||
self.world_cfg = obstacles
|
||||
@@ -277,6 +283,10 @@ class TemplateController(BaseController):
|
||||
self.T_world_base_init = get_relative_transform(
|
||||
get_prim_at_path(self.robot_base_path), get_prim_at_path(self.task.root_prim_path)
|
||||
)
|
||||
print(f"[TRANSFORM_DBG] robot_base_path={self.robot_base_path}", flush=True)
|
||||
print(f"[TRANSFORM_DBG] root_prim_path={self.task.root_prim_path}", flush=True)
|
||||
print(f"[TRANSFORM_DBG] T_world_base_init translation={self.T_world_base_init[:3, 3]}", flush=True)
|
||||
print(f"[TRANSFORM_DBG] T_world_base_init full=\n{self.T_world_base_init}", flush=True)
|
||||
self.T_world_ee_init = self.T_world_base_init @ self.T_base_ee_init
|
||||
self._ee_trans, self._ee_ori = self.get_ee_pose()
|
||||
self._ee_trans = self.tensor_args.to_device(self._ee_trans)
|
||||
|
||||
@@ -47,6 +47,21 @@ class RigidObject(RigidPrim):
|
||||
self.base_prim_path = prim_path
|
||||
rigid_prim_path = os.path.join(self.base_prim_path, cfg["prim_path_child"])
|
||||
self.mesh_prim_path = str(get_prim_at_path(rigid_prim_path).GetChildren()[0].GetPrimPath())
|
||||
# [LOAD_DBG] Print xformOps right after create_prim, before physics
|
||||
try:
|
||||
from pxr import UsdGeom
|
||||
_xf = UsdGeom.Xformable(get_prim_at_path(rigid_prim_path))
|
||||
for _op in _xf.GetOrderedXformOps():
|
||||
print(f"[LOAD_DBG] {cfg_name} after_create_prim: {_op.GetName()} = {_op.Get()}", flush=True)
|
||||
_l2w = _xf.ComputeLocalToWorldTransform(0)
|
||||
print(f"[LOAD_DBG] {cfg_name} after_create_prim l2w=({_l2w[3][0]:.6f}, {_l2w[3][1]:.6f}, {_l2w[3][2]:.6f})", flush=True)
|
||||
# Also check the USD file's own metersPerUnit
|
||||
_ref_stage = get_prim_at_path(prim_path).GetStage()
|
||||
_mpu = UsdGeom.GetStageMetersPerUnit(_ref_stage)
|
||||
_up = UsdGeom.GetStageUpAxis(_ref_stage)
|
||||
print(f"[LOAD_DBG] {cfg_name} stage metersPerUnit={_mpu} upAxis={_up}", flush=True)
|
||||
except Exception as _e:
|
||||
print(f"[LOAD_DBG] {cfg_name} error: {_e}", flush=True)
|
||||
super().__init__(prim_path=rigid_prim_path, name=cfg["name"], *args, **kwargs)
|
||||
|
||||
def get_observations(self):
|
||||
|
||||
@@ -284,8 +284,49 @@ class Pick(BaseSkill):
|
||||
if frame == "body":
|
||||
return self.T_obj_ee
|
||||
|
||||
T_world_obj = tf_matrix_from_pose(*self.pick_obj.get_local_pose())
|
||||
local_pose = self.pick_obj.get_local_pose()
|
||||
world_pose = self.pick_obj.get_world_pose()
|
||||
print(f"[PICK_DBG] prim_path={self.pick_obj.prim_path}", flush=True)
|
||||
print(f"[PICK_DBG] local_pose trans={local_pose[0]}", flush=True)
|
||||
print(f"[PICK_DBG] world_pose trans={world_pose[0]}", flush=True)
|
||||
print(f"[PICK_DBG] local_pose ori={local_pose[1]}", flush=True)
|
||||
print(f"[PICK_DBG] world_pose ori={world_pose[1]}", flush=True)
|
||||
parent_prim = get_prim_at_path(self.pick_obj.prim_path).GetParent()
|
||||
print(f"[PICK_DBG] parent_prim_path={parent_prim.GetPrimPath()}", flush=True)
|
||||
grandparent_prim = parent_prim.GetParent()
|
||||
print(f"[PICK_DBG] grandparent_prim_path={grandparent_prim.GetPrimPath()}", flush=True)
|
||||
try:
|
||||
from pxr import UsdGeom
|
||||
obj_prim = get_prim_at_path(self.pick_obj.prim_path)
|
||||
obj_xf = UsdGeom.Xformable(obj_prim)
|
||||
xform_ops = obj_xf.GetOrderedXformOps()
|
||||
print(f"[PICK_DBG] obj_xformOps_count={len(xform_ops)}", flush=True)
|
||||
for op in xform_ops:
|
||||
print(f"[PICK_DBG] obj_xformOp: {op.GetName()} val={op.Get()}", flush=True)
|
||||
obj_l2w = obj_xf.ComputeLocalToWorldTransform(0)
|
||||
print(f"[PICK_DBG] obj_USD_l2w=({obj_l2w[3][0]:.6f}, {obj_l2w[3][1]:.6f}, {obj_l2w[3][2]:.6f})", flush=True)
|
||||
parent_xf = UsdGeom.Xformable(parent_prim)
|
||||
parent_l2w = parent_xf.ComputeLocalToWorldTransform(0)
|
||||
print(f"[PICK_DBG] parent_l2w_translate=({parent_l2w[3][0]}, {parent_l2w[3][1]}, {parent_l2w[3][2]})", flush=True)
|
||||
gp_xf = UsdGeom.Xformable(grandparent_prim)
|
||||
gp_l2w = gp_xf.ComputeLocalToWorldTransform(0)
|
||||
print(f"[PICK_DBG] grandparent_l2w_translate=({gp_l2w[3][0]}, {gp_l2w[3][1]}, {gp_l2w[3][2]})", flush=True)
|
||||
stage = parent_prim.GetStage()
|
||||
mpu = UsdGeom.GetStageMetersPerUnit(stage)
|
||||
print(f"[PICK_DBG] stage_metersPerUnit={mpu}", flush=True)
|
||||
# Check get_local_pose source
|
||||
glp_method = type(self.pick_obj).get_local_pose
|
||||
print(f"[PICK_DBG] get_local_pose_from={glp_method.__qualname__}", flush=True)
|
||||
except Exception as e:
|
||||
import traceback
|
||||
print(f"[PICK_DBG] UsdGeom error: {e}", flush=True)
|
||||
traceback.print_exc()
|
||||
print(f"[PICK_DBG] root_prim_path={self.task.root_prim_path}", flush=True)
|
||||
print(f"[PICK_DBG] reference_prim_path={self.controller.reference_prim_path}", flush=True)
|
||||
T_world_obj = tf_matrix_from_pose(*local_pose)
|
||||
print(f"[PICK_DBG] T_world_obj translation={T_world_obj[:3,3]}", flush=True)
|
||||
T_world_ee = T_world_obj[None] @ self.T_obj_ee
|
||||
print(f"[PICK_DBG] T_world_ee[0] translation={T_world_ee[0,:3,3]}", flush=True)
|
||||
|
||||
if frame == "world":
|
||||
return T_world_ee
|
||||
@@ -294,8 +335,11 @@ class Pick(BaseSkill):
|
||||
T_world_base = get_relative_transform(
|
||||
get_prim_at_path(self.controller.reference_prim_path), get_prim_at_path(self.task.root_prim_path)
|
||||
)
|
||||
print(f"[PICK_DBG] T_world_base translation={T_world_base[:3,3]}", flush=True)
|
||||
T_base_world = np.linalg.inv(T_world_base)
|
||||
print(f"[PICK_DBG] T_base_world translation={T_base_world[:3,3]}", flush=True)
|
||||
T_base_ee = T_base_world[None] @ T_world_ee
|
||||
print(f"[PICK_DBG] T_base_ee[0] translation={T_base_ee[0,:3,3]}", flush=True)
|
||||
return T_base_ee
|
||||
|
||||
def get_contact(self, contact_threshold=0.0):
|
||||
|
||||
@@ -143,6 +143,8 @@ class Track(BaseSkill):
|
||||
def cal_table_2_base(self):
|
||||
tgt = self.task.fixtures["table"]
|
||||
bbox_tgt = compute_bbox(tgt.prim)
|
||||
print(f"[BBOX_DBG] table bbox min={list(bbox_tgt.min)}, max={list(bbox_tgt.max)}", flush=True)
|
||||
print(f"[BBOX_DBG] T_base_2_world translation={self.T_base_2_world[:3, 3]}", flush=True)
|
||||
table_center = (np.asarray(bbox_tgt.min) + np.asarray(bbox_tgt.max)) / 2
|
||||
tgt_z_max = bbox_tgt.max[2]
|
||||
table_center[2] = tgt_z_max
|
||||
|
||||
@@ -335,6 +335,14 @@ class BananaBaseTask(BaseTask):
|
||||
orientation = get_orientation(cfg.get("euler"), cfg.get("quaternion"))
|
||||
obj.set_local_pose(translation=cfg.get("translation"), orientation=orientation)
|
||||
obj.set_local_scale(cfg.get("scale", [1.0, 1.0, 1.0]))
|
||||
# [LOAD_DBG] Print after set_local_pose
|
||||
try:
|
||||
from pxr import UsdGeom
|
||||
_xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
|
||||
for _op in _xf.GetOrderedXformOps():
|
||||
print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose: {_op.GetName()} = {_op.Get()}", flush=True)
|
||||
except Exception as _e:
|
||||
print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose error: {_e}", flush=True)
|
||||
obj.set_visibility(cfg.get("visible", True))
|
||||
|
||||
# Extra behavior per type
|
||||
@@ -490,7 +498,7 @@ class BananaBaseTask(BaseTask):
|
||||
if cfg.get("apply_randomization", False):
|
||||
envmap_id = random.randint(0, len(envmap_hdr_path_list) - 1)
|
||||
intensity = random.uniform(cfg["intensity_range"][0], cfg["intensity_range"][1])
|
||||
rotation = [random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1]) for _ in range(3)]
|
||||
rotation = [0.0, 0.0, random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1])]
|
||||
else:
|
||||
envmap_id = 0
|
||||
intensity = 1000.0
|
||||
|
||||
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workflows/simbox/example_assets/table0/instance.usd.bak
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workflows/simbox/example_assets/table0/instance.usd.bak
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BIN
workflows/simbox/tools/art/close_h/9748/usd/9748.usd.bak
Normal file
BIN
workflows/simbox/tools/art/close_h/9748/usd/9748.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/close_h/9748/usd/instance.usd.bak
Normal file
BIN
workflows/simbox/tools/art/close_h/9748/usd/instance.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/close_h_down/7130/usd/7130.usd.bak
Normal file
BIN
workflows/simbox/tools/art/close_h_down/7130/usd/7130.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/close_v/7265/usd/instance.usd.bak
Normal file
BIN
workflows/simbox/tools/art/close_v/7265/usd/instance.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/close_v/7265/usd/microwave_0.usd.bak
Normal file
BIN
workflows/simbox/tools/art/close_v/7265/usd/microwave_0.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/open_h/9912/usd/9912.usd.bak
Normal file
BIN
workflows/simbox/tools/art/open_h/9912/usd/9912.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/open_h/9912/usd/instance.usd.bak
Normal file
BIN
workflows/simbox/tools/art/open_h/9912/usd/instance.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/open_v/7265/usd/instance.usd.bak
Normal file
BIN
workflows/simbox/tools/art/open_v/7265/usd/instance.usd.bak
Normal file
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BIN
workflows/simbox/tools/art/open_v/7265/usd/microwave_0.usd.bak
Normal file
BIN
workflows/simbox/tools/art/open_v/7265/usd/microwave_0.usd.bak
Normal file
Binary file not shown.
@@ -159,13 +159,44 @@ class SimBoxDualWorkFlow(NimbusWorkFlow):
|
||||
global_collision_paths,
|
||||
)
|
||||
self.world.reset()
|
||||
# [RESET_DBG] Check object xformOps right after world.reset()
|
||||
try:
|
||||
from pxr import UsdGeom
|
||||
for obj_name, obj in self.task.objects.items():
|
||||
_xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
|
||||
for _op in _xf.GetOrderedXformOps():
|
||||
if 'translate' in _op.GetName().lower():
|
||||
print(f"[RESET_DBG] {obj_name} after_world_reset: {_op.GetName()} = {_op.Get()}", flush=True)
|
||||
except Exception as _e:
|
||||
print(f"[RESET_DBG] after_world_reset error: {_e}", flush=True)
|
||||
|
||||
self.world.step(render=True)
|
||||
# [RESET_DBG] Check after first world.step(render=True)
|
||||
try:
|
||||
for obj_name, obj in self.task.objects.items():
|
||||
_xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
|
||||
for _op in _xf.GetOrderedXformOps():
|
||||
if 'translate' in _op.GetName().lower():
|
||||
print(f"[RESET_DBG] {obj_name} after_first_step: {_op.GetName()} = {_op.Get()}", flush=True)
|
||||
except Exception as _e:
|
||||
print(f"[RESET_DBG] after_first_step error: {_e}", flush=True)
|
||||
|
||||
self.controllers = self._initialize_controllers(self.task, self.task_cfg, self.world)
|
||||
self.skills = self._initialize_skills(self.task, self.task_cfg, self.controllers, self.world)
|
||||
|
||||
for _ in range(50):
|
||||
for _i in range(50):
|
||||
self._init_static_objects(self.task)
|
||||
self.world.step(render=False)
|
||||
# [RESET_DBG] Check at step 0, 1, 49
|
||||
if _i in (0, 1, 49):
|
||||
try:
|
||||
for obj_name, obj in self.task.objects.items():
|
||||
_xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
|
||||
for _op in _xf.GetOrderedXformOps():
|
||||
if 'translate' in _op.GetName().lower():
|
||||
print(f"[RESET_DBG] {obj_name} after_warmup_step_{_i}: {_op.GetName()} = {_op.Get()}", flush=True)
|
||||
except Exception as _e:
|
||||
print(f"[RESET_DBG] after_warmup_step_{_i} error: {_e}", flush=True)
|
||||
|
||||
self.logger = LmdbLogger(
|
||||
task_dir=self.task_cfg["data"]["task_dir"],
|
||||
|
||||
Reference in New Issue
Block a user