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fix: IS 4.5.0 -> 5.0.0 migration — USD metadata, DomeLight, scene reuse

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- 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
2026-04-03 11:10:39 +08:00
parent f338199bcb
commit 03d9a5b909
65 changed files with 862 additions and 6 deletions
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configs/simbox/de_plan_and_render_template.yaml
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@@ -10,7 +10,7 @@ load_stage:
rendering_dt: 1/30 # Render update rate
stage_units_in_meters: 1.0 # Stage unit scale
headless: True # Headless mode (no GUI); set false for visual debugging
renderer: "PathTracing" # PathTracing: higher quality, less noise on Blackwell
renderer: "RayTracedLighting" # PathTracing: higher quality, less noise on Blackwell 改回快速渲染器就改成 "RayTracedLighting"
anti_aliasing: 0 # Anti-aliasing level
layout_random_generator: # Scene randomization
type: env_randomizer