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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migerate/fix_usd_metadata.py
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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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