diff --git a/1.py b/1.py deleted file mode 100644 index ceaaa7d..0000000 --- a/1.py +++ /dev/null @@ -1,116 +0,0 @@ -# from pxr import Usd, UsdGeom -# stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd') -# print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage)) -# print('upAxis:', UsdGeom.GetStageUpAxis(stage)) -# dp = stage.GetDefaultPrim() -# print('defaultPrim:', dp.GetPath() if dp else 'None') -# xf = UsdGeom.Xformable(dp) -# for op in xf.GetOrderedXformOps(): -# print(f' xformOp: {op.GetName()} = {op.Get()}') -# for child in dp.GetChildren(): -# cxf = UsdGeom.Xformable(child) -# ops = cxf.GetOrderedXformOps() -# if ops: -# for op in ops: -# print(f' child {child.GetPath()} xformOp: {op.GetName()} = {op.Get()}') - -# from pxr import Usd, UsdGeom -# stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd') -# print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage)) -# print('upAxis:', UsdGeom.GetStageUpAxis(stage)) -# for prim in stage.Traverse(): -# print(f' {prim.GetPath()} type={prim.GetTypeName()}') -# xf = UsdGeom.Xformable(prim) -# if xf: -# for op in xf.GetOrderedXformOps(): -# print(f' {op.GetName()} = {op.Get()}') - -from pxr import Usd, UsdGeom -import yaml, os - -with open('workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml') as f: - cfg = yaml.safe_load(f) - -tasks = cfg.get('tasks', [cfg]) -for task in tasks: - asset_root = task.get('asset_root', '') - for obj in task.get('objects', []): - name = obj['name'] - path = obj.get('path', '') - full = os.path.join(asset_root, path) - print(f'=== {name}: {full} ===') - try: - stage = Usd.Stage.Open(full) - print(f' metersPerUnit: {UsdGeom.GetStageMetersPerUnit(stage)}') - print(f' upAxis: {UsdGeom.GetStageUpAxis(stage)}') - except Exception as e: - print(f' ERROR: {e}') - -# ===== Check mesh vertex ranges ===== -print("\n===== Mesh vertex ranges =====") -import numpy as np -usd_files = { - 'pick_object_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd', - 'gso_box_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd', -} -for name, path in usd_files.items(): - stage = Usd.Stage.Open(path) - for prim in stage.Traverse(): - if prim.GetTypeName() == 'Mesh': - mesh = UsdGeom.Mesh(prim) - pts = mesh.GetPointsAttr().Get() - if pts: - pts = np.array(pts) - print(f'{name} mesh={prim.GetPath()} npts={len(pts)}') - print(f' X: [{pts[:,0].min():.4f}, {pts[:,0].max():.4f}]') - print(f' Y: [{pts[:,1].min():.4f}, {pts[:,1].max():.4f}] (upAxis=Y, this is height)') - print(f' Z: [{pts[:,2].min():.4f}, {pts[:,2].max():.4f}]') - print(f' Y_max * 0.01 = {pts[:,1].max()*0.01:.6f} m') - print(f' Y_extent = {pts[:,1].max()-pts[:,1].min():.4f}') - print(f' Y_max (raw cm) = {pts[:,1].max():.4f}') - # 109.75 / Y_max ? - if pts[:,1].max() > 0: - print(f' 109.75 / Y_max = {109.75 / pts[:,1].max():.4f}') - print(f' 109.75 / (Y_max*0.01) = {109.75 / (pts[:,1].max()*0.01):.4f}') - -# ===== Fix USD metadata: set metersPerUnit=1.0 and upAxis=Z ===== -print("\n===== Fixing USD metadata =====") -import shutil - -fix_files = [ - 'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd', - 'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd', - 'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd', -] -# Also try to find pick_object_left USD -pick_left_path = 'workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd' -if os.path.exists(pick_left_path): - fix_files.append(pick_left_path) - -for fpath in fix_files: - if not os.path.exists(fpath): - print(f' SKIP (not found): {fpath}') - continue - # Backup - bak = fpath + '.bak' - if not os.path.exists(bak): - shutil.copy2(fpath, bak) - print(f' Backed up: {fpath} -> {bak}') - else: - print(f' Backup already exists: {bak}') - - stage = Usd.Stage.Open(fpath) - old_mpu = UsdGeom.GetStageMetersPerUnit(stage) - old_up = UsdGeom.GetStageUpAxis(stage) - print(f' {fpath}: old metersPerUnit={old_mpu}, upAxis={old_up}') - - UsdGeom.SetStageMetersPerUnit(stage, 1.0) - UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z) - stage.GetRootLayer().Save() - - # Verify - stage2 = Usd.Stage.Open(fpath) - print(f' -> new metersPerUnit={UsdGeom.GetStageMetersPerUnit(stage2)}, upAxis={UsdGeom.GetStageUpAxis(stage2)}') - -print("\nDone! Now run launcher to test if Z is normal.") -print("To restore: for each .bak file, copy it back over the .usd file") \ No newline at end of file diff --git a/migerate/runtime_warnings.md b/migerate/runtime_warnings.md new file mode 100644 index 0000000..a73537a --- /dev/null +++ b/migerate/runtime_warnings.md @@ -0,0 +1,222 @@ +# Runtime Warnings & Errors Analysis + +Pipeline: `python launcher.py --config configs/simbox/de_plan_and_render_template.yaml` +Environment: IS 5.0.0, RTX PRO 6000 Blackwell, conda `banana500` +Date: 2026-04-03 + +--- + +## Errors + +### 1. PhysicsUSD: triangle mesh collision on dynamic body + +``` +[Error] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification) +cannot be a part of a dynamic body, falling back to convexHull approximation: +/World/task_0/split_aloha/.../lifting_link/collisions +``` + +**Severity:** Medium (PhysX auto-fallback, but logs error every reset) +**Root cause:** Robot USD `lifting_link/collisions` mesh 使用 `meshSimplification` 碰撞近似，PhysX 不支持动态物体使用 triangle mesh collision。 +**Fix:** 修改 robot USD 将 `MeshCollisionAPI.approximation` 从 `meshSimplification` 改为 `convexHull`。 + +```python +from pxr import Usd, UsdPhysics +stage = Usd.Stage.Open('workflows/simbox/example_assets/split_aloha_mid_360/robot.usd') +prim = stage.GetPrimAtPath('/Root/.../lifting_link/collisions') +UsdPhysics.MeshCollisionAPI(prim).GetApproximationAttr().Set('convexHull') +stage.GetRootLayer().Save() +``` + +**Status:** FIXED. Backup: `robot.usd.bak` + +--- + +### 2. Physics scenes stepping mismatch + +``` +[Error] Physics scenes stepping is not the same, step subscription will be send with later step, +per scene step is not yet supported. +``` + +**Severity:** Low (仅首次 reset 时出现一次) +**Root cause:** IS 5.0.0 内部 physics scene 步进调度问题。physics_dt 和 rendering_dt 均为 1/30，配置一致。 +**Status:** IGNORED. IS 内部行为，不影响仿真结果。 + +--- + +## Warnings — Fixed + +### 3. Camera aperture inconsistent with resolution + +``` +[Warning] 'verticalAperture' (1.529) and 'horizontalAperture' (2.095) are inconsistent with +the pixel resolution aspect ratio (1.333). Setting 'verticalAperture' to 1.572 to ensure square pixels. +``` + +**Severity:** Low (IS 自动修正，但每个相机打 2 条 warning) +**Root cause:** `custom_camera.py` 在 `self.initialize()` 之后才设置 aperture/focal_length，但 `initialize()` 时就用默认 aperture 做一致性检查。 +**Fix:** 重构 `custom_camera.py`，将 aperture/focal_length 设置移到 `initialize()` 之前。 + +```python +# Before (wrong order): +super().__init__(...) +self.initialize() # <-- checks aperture here with default values +# ... later ... +self.set_horizontal_aperture(...) # too late, warning already printed + +# After (correct order): +super().__init__(...) +self.set_horizontal_aperture(...) # set aperture first +self.set_vertical_aperture(...) +self.set_focal_length(...) +self.initialize() # now checks with correct values +``` + +**Status:** FIXED in `workflows/simbox/core/cameras/custom_camera.py` + +--- + +### 4. Camera.set_projection_type deprecated + +``` +[Warning] Camera.set_projection_type is deprecated and will be removed in a future release. +Please use Camera.set_lens_distortion_model instead. +``` + +**Severity:** Low +**Fix:** 替换 API 调用，带 fallback 兼容旧版本。 + +```python +# Before: +self.set_projection_type("pinhole") +# After: +try: + self.set_lens_distortion_model("pinhole") +except AttributeError: + self.set_projection_type("pinhole") +``` + +**Status:** FIXED in `workflows/simbox/core/cameras/custom_camera.py` + +--- + +## Warnings — Requires Manual Action + +### 5. CPU powersave mode + +``` +[Warning] CPU performance profile is set to powersave. This profile sets the CPU to the +lowest frequency reducing performance. +``` + +**Severity:** Medium (影响整体性能) +**Fix:** 需要 sudo 权限手动设置。 + +```bash +# 临时切换到 performance 模式 (重启后恢复) +echo performance | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor + +# 永久设置 (Ubuntu) +sudo apt install cpufrequtils +echo 'GOVERNOR="performance"' | sudo tee /etc/default/cpufrequtils +sudo systemctl restart cpufrequtils +``` + +**Status:** MANUAL. 需要用户自行设置。 + +--- + +## Warnings — Ignored (Safe) + +### 6. IS 5.0 API deprecation warnings (~100 条) + +``` +[Warning] omni.isaac.core has been deprecated in favor of isaacsim.core.api. +Please update your code accordingly. +``` + +**Severity:** None +**说明:** IS 5.0 对所有 `omni.isaac.*` 模块重命名为 `isaacsim.*`。旧 API 仍然可用，仅打印 deprecation 提示。不影响功能，无需修改。如果将来升级到 IS 6.x 可能需要迁移。 + +--- + +### 7. Curobo warp cache warnings + +``` +[Warning] [curobo] Object already in warp cache, using existing instance for: +/World/task_0/pick_object_left/Aligned/mesh +``` + +**Severity:** None +**说明:** Curobo 内部 warp kernel 缓存机制。同一 mesh 在多次 world update 中被重复加载时复用缓存。完全正常，无害。 + +--- + +### 8. Robot dummy_base inertia tensor warnings + +``` +[Warning] The rigid body at .../dummy_base_rotate has a possibly invalid inertia tensor of +{1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. +``` + +**Severity:** None +**说明:** Robot USD 中 `dummy_base_rotate/x/y` 是虚拟关节（用于全局位移），不需要真实质量属性。PhysX 自动使用球体近似惯性张量，功能正常。 + +--- + +### 9. Table mesh corrupted normal primvar + +``` +[Warning] Mesh '/World/task_0/table/Instance/Group_default_00/SM_08_component6_0' has corrupted +data in primvar 'normal': buffer size 14880 doesn't match expected size 2482 +``` + +**Severity:** Low +**说明:** Table USD 中一个子网格的 normal 数据大小不匹配。IS 会忽略损坏的 normal 并自动计算。不影响渲染和物理。如需修复，需在 DCC 工具（Blender/Maya）中重新导出 table USD。 + +--- + +### 10. GPU / Hardware warnings + +``` +[Warning] Skipping unsupported non-NVIDIA GPU: AMD Ryzen 7 9800X3D (RADV RAPHAEL_MENDOCINO) +[Warning] ECC is enabled on physical device 0 +[Warning] IOMMU is enabled. +``` + +**Severity:** None +**说明:** 系统有 AMD 集显（跳过正常）。RTX PRO 6000 默认开启 ECC（牺牲约 6% 显存带宽换数据可靠性）。IOMMU 已启用。均为信息提示。 + +--- + +### 11. SdRenderVarPtr missing LdrColorSDhost + +``` +[Warning] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +``` + +**Severity:** None +**说明:** Synthetic data pipeline 中 LDR color 渲染变量在 headless 模式下首帧未就绪。后续帧正常。不影响输出。 + +--- + +### 12. trimesh sampling warning + +``` +[Warning] [trimesh] only got 3/4 samples! +``` + +**Severity:** Low +**说明:** Grasp pose 采样时某个物体只获得 3 个（期望 4 个）抓取采样点。不影响功能，pipeline 会使用获得的采样继续运行。 + +--- + +## Summary + +| Category | Count | Fixed | Ignored | Manual | +|----------|-------|-------|---------|--------| +| Errors | 2 | 1 | 1 | 0 | +| Warnings (actionable) | 3 | 2 | 0 | 1 | +| Warnings (safe to ignore) | 7 | 0 | 7 | 0 | +| **Total** | **12** | **3** | **8** | **1** | diff --git a/workflows/simbox/core/cameras/custom_camera.py b/workflows/simbox/core/cameras/custom_camera.py index a007694..2b92c66 100644 --- a/workflows/simbox/core/cameras/custom_camera.py +++ b/workflows/simbox/core/cameras/custom_camera.py @@ -40,6 +40,34 @@ class CustomCamera(Camera): *args, **kwargs, ) + + # ===== From cfg ===== + pixel_size = cfg["params"].get("pixel_size") + f_number = cfg["params"].get("f_number") + focus_distance = cfg["params"].get("focus_distance") + fx, fy, cx, cy = cfg["params"].get("camera_params") + width = cfg["params"].get("resolution_width") + height = cfg["params"].get("resolution_height") + self.output_mode = cfg.get("output_mode", "rgb") + + # ===== Compute and set camera parameters (before initialize to avoid aperture mismatch warnings) ===== + horizontal_aperture = pixel_size * 1e-3 * width + vertical_aperture = pixel_size * 1e-3 * height + focal_length_x = fx * pixel_size * 1e-3 + focal_length_y = fy * pixel_size * 1e-3 + focal_length = (focal_length_x + focal_length_y) / 2 + + self.set_focal_length(focal_length / 10.0) + self.set_focus_distance(focus_distance) + self.set_lens_aperture(f_number * 100.0) + self.set_horizontal_aperture(horizontal_aperture / 10.0) + self.set_vertical_aperture(vertical_aperture / 10.0) + self.set_clipping_range(0.05, 1.0e5) + try: + self.set_lens_distortion_model("pinhole") + except AttributeError: + self.set_projection_type("pinhole") + self.initialize() self.with_distance = cfg["params"].get("with_distance", True) self.with_semantic = cfg["params"].get("with_semantic", False) @@ -61,30 +89,6 @@ class CustomCamera(Camera): if self.with_motion_vector: self.add_motion_vectors_to_frame() - # ===== From cfg ===== - pixel_size = cfg["params"].get("pixel_size") - f_number = cfg["params"].get("f_number") - focus_distance = cfg["params"].get("focus_distance") - fx, fy, cx, cy = cfg["params"].get("camera_params") - width = cfg["params"].get("resolution_width") - height = cfg["params"].get("resolution_height") - self.output_mode = cfg.get("output_mode", "rgb") - - # ===== Compute and set camera parameters ===== - horizontal_aperture = pixel_size * 1e-3 * width - vertical_aperture = pixel_size * 1e-3 * height - focal_length_x = fx * pixel_size * 1e-3 - focal_length_y = fy * pixel_size * 1e-3 - focal_length = (focal_length_x + focal_length_y) / 2 - - self.set_focal_length(focal_length / 10.0) - self.set_focus_distance(focus_distance) - self.set_lens_aperture(f_number * 100.0) - self.set_horizontal_aperture(horizontal_aperture / 10.0) - self.set_vertical_aperture(vertical_aperture / 10.0) - self.set_clipping_range(0.05, 1.0e5) - self.set_projection_type("pinhole") - fx = width * self.get_focal_length() / self.get_horizontal_aperture() fy = height * self.get_focal_length() / self.get_vertical_aperture() self.is_camera_matrix = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]]) diff --git a/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd index 58dee91..81aa154 100644 Binary files a/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd and b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd differ diff --git a/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd.bak b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd.bak new file mode 100644 index 0000000..58dee91 Binary files /dev/null and b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd.bak differ