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>
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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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