fix: resolve camera aperture warnings and collision error

- Fix camera aperture mismatch: set aperture/focal_length before initialize()
- Replace deprecated set_projection_type with set_lens_distortion_model
- Fix lifting_link collision: meshSimplification -> convexHull in robot USD
- Add runtime_warnings.md documenting all warnings analysis and fixes
- Remove temporary debug script 1.py

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

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]])