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fix: resolve camera aperture warnings and collision error

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- 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>
This commit is contained in:
Tangger
2026-04-03 11:47:15 +08:00
parent 6b78ba0d6f
commit 8d2fec09e0
5 changed files with 250 additions and 140 deletions
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116
1.py
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@@ -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")

222
migerate/runtime_warnings.md Normal file
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@@ -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** |

52
workflows/simbox/core/cameras/custom_camera.py
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@@ -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]])

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