fix: rename migerate -> migrate (typo fix)

feat: migrate omni.isaac.* imports to isaacsim.* via compat layer
- Add core/compat.py: compatibility module with try/except imports supporting both IS 4.x (omni.isaac.*) and IS 5.x+ (isaacsim.*) - Migrate 152 imports across 47 files from direct omni.isaac.* to core.compat - Handle class renames: RigidPrim→SingleRigidPrim, GeometryPrim→SingleGeometryPrim, XFormPrim→SingleXFormPrim, Articulation→SingleArticulation (aliased for compatibility) - Add migerate/migrate_imports.py: automated migration script for future use - Leave debug_draw and env_loader try/except imports as-is This eliminates ~100 deprecation warnings from our code on IS 5.0, and future-proofs for IS 6.x when old APIs may be removed. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
2026-04-03 15:24:41 +08:00 · 2026-04-03 15:09:50 +08:00 · 2026-04-03 14:41:00 +08:00 · 2026-04-03 12:07:16 +08:00 · 2026-04-03 11:47:15 +08:00 · 2026-04-03 11:17:43 +08:00
109 changed files with 1656 additions and 302 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -18,4 +18,5 @@ _isaac_sim_410
 InterDataEngine-docs
 debug.sh
 debug.yaml
-depre
+depre
+workflows/simbox/src/nvidia-curobo/
--- a/README.md
+++ b/README.md
@@ -1,6 +1,8 @@
 <div align="center">

-# InternDataEngine: Pioneering High-Fidelity Synthetic Data Generator for Robotic Manipulation
+# InternDataEngine
+
+**High-Fidelity Synthetic Data Generator for Robotic Manipulation**

 </div>

@@ -15,30 +17,127 @@

 </div>

-## 💻 About
+## About

 <div align="center">
  <img src="./docs/images/intern_data_engine.jpeg" alt="InternDataEngine Overview" width="80%">
 </div>

-InternDataEngine is a synthetic data generation engine for embodied AI that powers large-scale model training and iteration. Built on NVIDIA Isaac Sim, it unifies high-fidelity physical interaction from InternData-A1, semantic task and scene generation from InternData-M1, and high-throughput scheduling from the Nimbus framework to deliver realistic, task-aligned, and massively scalable robotic manipulation data.
+InternDataEngine is a synthetic data generation engine for embodied AI, built on NVIDIA Isaac Sim. It unifies high-fidelity physical interaction (InternData-A1), semantic task and scene generation (InternData-M1), and high-throughput scheduling (Nimbus) to deliver realistic, task-aligned, and scalable robotic manipulation data.

- **More realistic physical interaction**: Unified simulation of rigid, articulated, deformable, and fluid objects across single-arm, dual-arm, and humanoid robots, enabling long-horizon, skill-composed manipulation that better supports sim-to-real transfer.
- **More diverse data generation**: By leveraging the internal state of the simulation engine to extract high-quality ground truth, coupled with multi-dimensional domain randomization (e.g., layout, texture, structure, and lighting), the data distribution is significantly expanded. This approach produces precise and diverse operational data, while simultaneously exporting rich multimodal annotations such as bounding boxes, segmentation masks, and keypoints.
- **More efficient large-scale production**: Nimbus-powered asynchronous pipelines that decouple planning, rendering, and storage, achieving 2–3× end-to-end throughput, cluster-level load balancing and fault tolerance for billion-scale data generation.
+**Key capabilities:**

-## 🔥 Latest News
+- **Realistic physical interaction** -- Unified simulation of rigid, articulated, deformable, and fluid objects across single-arm, dual-arm, and humanoid robots. Supports long-horizon, skill-composed manipulation for sim-to-real transfer.
+- **Diverse data generation** -- Multi-dimensional domain randomization (layout, texture, structure, lighting) with rich multimodal annotations (bounding boxes, segmentation masks, keypoints).
+- **Efficient large-scale production** -- Nimbus-powered asynchronous pipelines that decouple planning, rendering, and storage, achieving 2-3x end-to-end throughput with cluster-level load balancing and fault tolerance.

- **[2026/03]** We release the InternDataEngine codebase v1.0, which includes the core modules: InternData-A1 and Nimbus.
+## Prerequisites

-## 🚀 Quickstart
+| Dependency | Version |
+|------------|---------|
+| NVIDIA Isaac Sim | 5.0.0 (Kit 107.x) |
+| CUDA Toolkit | >= 12.8 |
+| Python | 3.10 |
+| GPU | NVIDIA RTX (tested on RTX PRO 6000 Blackwell) |

-Please refer to the [Installation](https://internrobotics.github.io/InternDataEngine-Docs/guides/installation.html) and [Usage](https://internrobotics.github.io/InternDataEngine-Docs/guides/quickstart.html) to start the installation and run your first synthetic data generation task.
+> For detailed environment setup (conda, CUDA, PyTorch, curobo), see [install.md](install.md).
+>
+> If migrating from Isaac Sim 4.5.0, see [migrate/migrate.md](migrate/migrate.md) for known issues and fixes.

-For more details, please check [Documentation](https://internrobotics.github.io/InternDataEngine-Docs/).
+## Quick Start
+
+### 1. Install
+
+```bash
+# Create conda environment
+conda create -n banana500 python=3.10
+conda activate banana500
+
+# Install CUDA 12.8 and set up Isaac Sim 5.0.0
+conda install -y cuda-toolkit=12.8
+source ~/isaacsim500/setup_conda_env.sh
+export CUDA_HOME="$CONDA_PREFIX"
+
+# Install PyTorch (CUDA 12.8)
+pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
+
+# Install project dependencies
+pip install -r requirements.txt
+
+# Install curobo (motion planning)
+cd workflows/simbox/curobo
+export TORCH_CUDA_ARCH_LIST="12.0+PTX"  # Set to your GPU's compute capability
+pip install -e .[isaacsim] --no-build-isolation
+cd ../../..
+```
+
+See [install.md](install.md) for the full step-by-step guide including troubleshooting.
+
+### 2. Run Data Generation
+
+```bash
+# Full pipeline: plan trajectories + render + save
+python launcher.py --config configs/simbox/de_plan_and_render_template.yaml
+```
+
+Output is saved to `output/simbox_plan_and_render/` including:
+- `demo.mp4` -- rendered video from robot cameras
+- LMDB data files for model training
+
+### 3. Available Pipeline Configs
+
+| Config | Description |
+|--------|-------------|
+| `de_plan_and_render_template.yaml` | Full pipeline: plan + render + save |
+| `de_plan_template.yaml` | Plan trajectories only (no rendering) |
+| `de_render_template.yaml` | Render from existing plans |
+| `de_plan_with_render_template.yaml` | Plan with live rendering preview |
+| `de_pipe_template.yaml` | Pipelined mode for throughput |
+
+### 4. Configuration
+
+The main config file (`configs/simbox/de_plan_and_render_template.yaml`) controls:
+
+```yaml
+simulator:
+  headless: True              # Set False for GUI debugging
+  renderer: "RayTracedLighting"  # Or "PathTracing" for higher quality
+  physics_dt: 1/30
+  rendering_dt: 1/30
+```
+
+Task configs are in `workflows/simbox/core/configs/tasks/`. The example task (`sort_the_rubbish`) demonstrates a dual-arm pick-and-place scenario.
+
+## Project Structure
+
+```
+InternDataEngine/
+  configs/simbox/             # Pipeline configuration files
+  launcher.py                 # Main entry point
+  nimbus_extension/           # Nimbus framework components
+  workflows/simbox/
+    core/
+      configs/                # Task, robot, arena, camera configs
+      controllers/            # Motion planning (curobo integration)
+      skills/                 # Manipulation skills (pick, place, etc.)
+      tasks/                  # Task definitions
+    example_assets/           # Example USD assets (robots, objects, tables)
+    curobo/                   # GPU-accelerated motion planning library
+  migrate/                   # Migration tools and documentation
+  output/                     # Generated data output
+```
+
+## Documentation
+
+- [Installation Guide](install.md) -- Environment setup and dependency installation
+- [Migration Guide](migrate/migrate.md) -- Isaac Sim 4.5.0 to 5.0.0 migration notes and tools
+- [Online Documentation](https://internrobotics.github.io/InternDataEngine-Docs/) -- Full API docs, tutorials, and advanced usage

 ## License and Citation
-All the code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our papers if it helps your research.
+
+This project is based on [InternDataEngine](https://github.com/InternRobotics/InternDataEngine) by InternRobotics, licensed under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).
+
+If this project helps your research, please cite the following papers:

 ```BibTeX
@article{tian2025interndata,
@@ -62,13 +161,3 @@ All the code within this repo are under [CC BY-NC-SA 4.0](https://creativecommon
  year={2025}
 }
 ```
-
-<!--
-```BibTeX
-@misc{interndataengine2026,
-  title={InternDataEngine: A Synthetic Data Generation Engine for Robotic Learning},
-  author={InternDataEngine Contributors},
-  year={2026},
-  }
-}
-``` -->
--- a/configs/simbox/de_plan_and_render_template.yaml
+++ b/configs/simbox/de_plan_and_render_template.yaml
@@ -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
--- a/install.md
+++ b/install.md
@@ -0,0 +1,33 @@
+conda create -n banana450 python=3.10
+conda activate banana450
+# 看看12.8安装了么？
+conda list | grep cuda 
+# 安装12.8
+conda install -y cuda-toolkit=12.8 
+# 其他的cuda版本在conda中的需要卸载
+conda list | grep cuda 
+source ~/isaacsim450/setup_conda_env.sh 
+# 导入conda环境的12.8cuda环境
+export CUDA_HOME="$CONDA_PREFIX"
+export PATH="$CONDA_PREFIX/bin:$PATH"
+# 看一下应该是12.8
+nvcc -V 
+# 换掉torch版本，换成cu128编译的版本
+pip list | grep torch
+pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
+pip list | grep torch
+pip install -r requirements.txt
+pip list | grep cuda
+# 卸载掉cu11的那些包
+pip uninstall nvidia-cuda-cupti-cu11 nvidia-cuda-nvrtc-cu11 nvidia-cuda-runtime-cu11
+
+# 安装curobo
+cd workflows/simbox/curobo
+# 12.0是显卡的算力 要自己去查 不要信AI的 PRO6000是12.0
+export TORCH_CUDA_ARCH_LIST="12.0+PTX"
+pip install -e .[isaacsim] --no-build-isolation
+
+# 降级numpy
+pip install numpy==1.26.0
+pip install opencv-python==4.11.0.86
+python launcher.py --config configs/simbox/de_plan_and_render_template.yaml
--- a/migrate/fix_usd_metadata.py
+++ b/migrate/fix_usd_metadata.py
@@ -0,0 +1,159 @@
+"""
+Batch fix USD metadata for IS 5.0.0 compatibility.
+
+IS 4.5.0 auto-added 'Rotate:unitsResolve' and 'Scale:unitsResolve' xformOps
+to compensate for metersPerUnit/upAxis differences. IS 5.0.0 no longer does this,
+causing RigidObject physics to break (objects fly away).
+
+Fix: Change metersPerUnit to 1.0 and upAxis to Z in USD metadata.
+Vertex data stays unchanged (already in correct scale for the scene).
+
+Usage:
+    # Scan only (dry run):
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
+
+    # Fix all:
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets
+
+    # Fix specific pattern:
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
+
+    # Skip specific directories (e.g. robot models, curobo assets):
+    python migrate/fix_usd_metadata.py --root . --skip curobo,robot
+
+    # Restore from backups:
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+"""
+import argparse
+import glob
+import os
+import shutil
+import sys
+
+from pxr import Usd, UsdGeom
+
+
+def fix_usd_files(root: str, pattern: str = "*.usd", target_mpu: float = 1.0,
+                   target_up: str = "Z", dry_run: bool = False, skip: list = None):
+    usd_files = glob.glob(os.path.join(root, "**", pattern), recursive=True)
+    usd_files = [f for f in usd_files if not f.endswith(".bak")]
+    usd_files.sort()
+
+    skip = skip or []
+
+    print(f"Scanning {len(usd_files)} USD files under: {root}")
+    if dry_run:
+        print("[DRY RUN] No files will be modified.\n")
+    print()
+
+    fixed = 0
+    skipped = 0
+    skipped_dir = 0
+    errors = 0
+
+    for fpath in usd_files:
+        rel = os.path.relpath(fpath, root)
+
+        # Check skip patterns
+        if any(s in rel for s in skip):
+            print(f"  SKIP (dir filter): {rel}")
+            skipped_dir += 1
+            continue
+
+        try:
+            stage = Usd.Stage.Open(fpath)
+            if stage is None:
+                print(f"  ERROR: Cannot open {rel}")
+                errors += 1
+                continue
+
+            mpu = UsdGeom.GetStageMetersPerUnit(stage)
+            up = UsdGeom.GetStageUpAxis(stage)
+
+            needs_fix = (mpu != target_mpu) or (up != target_up)
+            if not needs_fix:
+                print(f"  OK: {rel} (mpu={mpu}, up={up})")
+                skipped += 1
+                continue
+
+            if dry_run:
+                print(f"  WOULD FIX: {rel} (mpu={mpu}, up={up} -> mpu={target_mpu}, up={target_up})")
+                fixed += 1
+                continue
+
+            # Backup
+            bak = fpath + ".bak"
+            if not os.path.exists(bak):
+                shutil.copy2(fpath, bak)
+
+            # Fix
+            UsdGeom.SetStageMetersPerUnit(stage, target_mpu)
+            UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z if target_up == "Z" else UsdGeom.Tokens.y)
+            stage.GetRootLayer().Save()
+
+            print(f"  FIXED: {rel} (mpu={mpu}/{up} -> {target_mpu}/{target_up})")
+            fixed += 1
+
+        except Exception as e:
+            print(f"  ERROR: {rel} -> {e}")
+            errors += 1
+
+    print(f"\nDone: {fixed} {'would fix' if dry_run else 'fixed'}, {skipped} already OK, "
+          f"{skipped_dir} skipped (dir filter), {errors} errors.")
+
+    if not dry_run and fixed > 0:
+        print("Backups saved as *.bak.")
+        print("To restore: python migrate/fix_usd_metadata.py --root <DIR> --restore")
+
+    return fixed
+
+
+def restore_backups(root: str, pattern: str = "*.usd"):
+    bak_files = glob.glob(os.path.join(root, "**", pattern + ".bak"), recursive=True)
+    bak_files.sort()
+
+    if not bak_files:
+        print(f"No .bak files found under: {root}")
+        return
+
+    print(f"Found {len(bak_files)} backup files. Restoring...")
+    for bak in bak_files:
+        original = bak[:-4]  # remove .bak
+        shutil.copy2(bak, original)
+        print(f"  Restored: {os.path.relpath(original, root)}")
+    print(f"\nDone: {len(bak_files)} files restored.")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description="Batch fix USD metersPerUnit/upAxis metadata for IS 5.0.0 compatibility",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Examples:
+  # Dry run on example assets:
+  python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
+
+  # Fix all Aligned_obj.usd in example assets:
+  python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
+
+  # Fix everything except robot/curobo dirs:
+  python migrate/fix_usd_metadata.py --root . --skip curobo,robot
+
+  # Restore all backups:
+  python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+""")
+    parser.add_argument("--root", default="workflows/simbox/example_assets",
+                        help="Root directory to scan (default: workflows/simbox/example_assets)")
+    parser.add_argument("--pattern", default="*.usd", help="Filename glob pattern (default: *.usd)")
+    parser.add_argument("--target-mpu", type=float, default=1.0, help="Target metersPerUnit (default: 1.0)")
+    parser.add_argument("--target-up", choices=["Y", "Z"], default="Z", help="Target upAxis (default: Z)")
+    parser.add_argument("--dry-run", action="store_true", help="Scan and report only, do not modify files")
+    parser.add_argument("--skip", default="", help="Comma-separated dir substrings to skip (e.g. 'curobo,robot')")
+    parser.add_argument("--restore", action="store_true", help="Restore all .bak files to originals")
+    args = parser.parse_args()
+
+    if args.restore:
+        restore_backups(args.root, args.pattern)
+    else:
+        skip_list = [s.strip() for s in args.skip.split(",") if s.strip()]
+        fix_usd_files(args.root, args.pattern, args.target_mpu, args.target_up, args.dry_run, skip_list)
--- a/migrate/migrate.md
+++ b/migrate/migrate.md
@@ -0,0 +1,199 @@
+# Isaac Sim 4.5.0 -> 5.0.0 Migration Guide
+
+## Background
+
+- GPU: NVIDIA RTX PRO 6000 Blackwell (SM_120, compute capability 12.0)
+- IS 4.5.0 = Kit 106.5.0, DLSS Ray Reconstruction not supported on Blackwell (needs Kit >= 106.5.3), rendering has noise
+- IS 5.0.0 = Kit 107.x, fixes Blackwell rendering noise
+- IS 5.1.0 headless camera rendering completely broken (known bug GitHub #3250), abandoned
+
+## Issues & Solutions
+
+### 1. SimulationApp import path changed
+
+**Error:** `ModuleNotFoundError: No module named 'omni.isaac.kit'`
+
+**Cause:** IS 5.x changed the import path.
+
+**Fix** (`nimbus_extension/components/load/env_loader.py`):
+```python
+try:
+    from isaacsim import SimulationApp  # IS 5.x
+except ImportError:
+    from omni.isaac.kit import SimulationApp  # IS 4.x
+```
+
+### 2. USD metersPerUnit / upAxis not auto-compensated
+
+**Error:** RigidObject Z coordinate flying to 109.75+ after `world.reset()`, curobo `plan_single()` fails with "Plan did not converge" (goal_pos Z = 25261 meters).
+
+**Cause:** IS 4.5.0 auto-added `Rotate:unitsResolve` (X=90) and `Scale:unitsResolve` (0.01, 0.01, 0.01) xformOps to compensate for USD files with `metersPerUnit=0.01, upAxis=Y`. IS 5.0.0 no longer does this, causing PhysX to misinterpret RigidObject positions.
+
+GeometryObjects (no physics) were unaffected — only RigidObjects with PhysX simulation had the issue.
+
+**Fix:** Change USD metadata directly using pxr scripting. Run `fix_usd_metadata.py`:
+```python
+from pxr import Usd, UsdGeom
+stage = Usd.Stage.Open(usd_path)
+UsdGeom.SetStageMetersPerUnit(stage, 1.0)   # was 0.01
+UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)  # was Y
+stage.GetRootLayer().Save()
+```
+
+All 14 `Aligned_obj.usd` files under `workflows/simbox/example_assets` have been batch-fixed. Backups saved as `.bak`.
+
+**Verification:** After fix, pick_object_right Z went from 109.75 to 0.7968 (normal).
+
+### 3. scipy `scalar_first` parameter not supported
+
+**Error:** `Rotation.as_quat() takes no keyword arguments`
+
+**Cause:** IS 5.0.0 ships scipy < 1.11 which doesn't support `scalar_first` parameter in `Rotation.from_quat()` / `Rotation.as_quat()`. Dozens of files use this parameter.
+
+**Fix** (`launcher.py`): Monkey-patch via subclass at startup:
+```python
+try:
+    from scipy.spatial.transform import Rotation as _R
+    _R.from_quat([1, 0, 0, 0], scalar_first=True)
+except TypeError:
+    # Install Rotation subclass that handles scalar_first
+    # See launcher.py for full implementation
+    pass
+```
+
+### 4. `arena_file_path` is None on second reset
+
+**Error:** `arena_file_path` becomes None after first episode.
+
+**Cause:** `self.task_cfg.pop("arena_file", None)` on line 107 of `simbox_dual_workflow.py` deletes the key after first use.
+
+**Fix** (`workflows/simbox_dual_workflow.py`): Cache the value:
+```python
+self._arena_file_path = None  # in __init__
+
+# in reset():
+arena_file_path = self.task_cfg.get("arena_file", None) or self._arena_file_path
+if arena_file_path:
+    self._arena_file_path = arena_file_path
+```
+
+### 5. "Task name should be unique in the world"
+
+**Error:** `AssertionError` when calling `world.add_task()` on second episode.
+
+**Cause:** World retains tasks from previous episode.
+
+**Fix** (`workflows/simbox_dual_workflow.py`):
+```python
+self.world._current_tasks.clear()
+self.world.add_task(self.task)
+```
+
+### 6. "A prim already exists at prim path"
+
+**Error:** Scene setup tries to re-create existing prims on repeated `world.reset()` calls.
+
+**Fix** (`workflows/simbox/core/tasks/banana.py`): Add `_scene_initialized` guard:
+```python
+def set_up_scene(self, scene):
+    if getattr(self, '_scene_initialized', False):
+        self._task_objects = {}
+        self._task_objects |= (
+            getattr(self, 'fixtures', {}) |
+            getattr(self, 'objects', {}) |
+            getattr(self, 'robots', {}) |
+            getattr(self, 'cameras', {})
+        )
+        return
+    self._scene_initialized = True
+    super().set_up_scene(scene)
+```
+
+### 7. Collision group prim already exists
+
+**Error:** Collision group prims persist across resets.
+
+**Fix** (`workflows/simbox/core/utils/collision_utils.py`): Remove existing collision prims before re-creating:
+```python
+collision_prim = stage.GetPrimAtPath(collision_root_path)
+if collision_prim.IsValid():
+    stage.RemovePrim(collision_root_path)
+```
+
+### 8. DomeLight environment map tilted
+
+**Error:** HDR environment map appears rotated/tilted in viewport and rendered output.
+
+**Cause:** DomeLight rotation was randomized on all 3 axes (X, Y, Z). Rotating X/Y tilts the environment.
+
+**Fix** (`workflows/simbox/core/tasks/banana.py`): Only rotate Z axis:
+```python
+# Before:
+rotation = [random.uniform(r[0], r[1]) for _ in range(3)]
+# After:
+rotation = [0.0, 0.0, random.uniform(r[0], r[1])]
+```
+
+## Files Modified
+
+| File | Change |
+|------|--------|
+| `nimbus_extension/components/load/env_loader.py` | SimulationApp import compatibility |
+| `launcher.py` | scipy Rotation monkey-patch |
+| `workflows/simbox_dual_workflow.py` | arena_file caching, task clearing, task reuse |
+| `workflows/simbox/core/tasks/banana.py` | Scene re-init guard, DomeLight rotation fix |
+| `workflows/simbox/core/utils/collision_utils.py` | Collision group cleanup |
+| `workflows/simbox/example_assets/**/Aligned_obj.usd` | metersPerUnit=1.0, upAxis=Z |
+| `fix_usd_metadata.py` | Batch USD metadata fix script |
+
+## Tools
+
+Migration tools are located in the `migrate/` directory.
+
+### scan_usd_metadata.py — Scan USD metadata
+
+Scan all USD files and report their `metersPerUnit` / `upAxis`:
+
+```bash
+conda activate banana500
+
+# Scan entire project
+python migrate/scan_usd_metadata.py --root .
+
+# Scan specific directory
+python migrate/scan_usd_metadata.py --root workflows/simbox/example_assets
+```
+
+Exit code: 0 = all OK, 1 = found files with non-standard metadata.
+建议扫描后丢给大模型分析一下然后再做下一步
+### fix_usd_metadata.py — Batch fix USD metadata
+
+Fix `metersPerUnit` and `upAxis` in USD files, with backup/restore support:
+
+```bash
+conda activate banana500
+
+# Dry run — see what would be fixed, no changes made
+python migrate/fix_usd_metadata.py --root . --dry-run --skip curobo,robot
+
+# Fix example assets only (default)
+python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets
+
+# Fix all USD in project, skip robot/curobo models
+python migrate/fix_usd_metadata.py --root . --skip curobo,robot
+
+# Fix only Aligned_obj.usd files
+python migrate/fix_usd_metadata.py --root . --pattern "Aligned_obj.usd"
+
+# Restore from backups (undo all fixes)
+python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+```
+
+**Important:** Do NOT fix robot USD (curobo, split_aloha) — their metersPerUnit/upAxis are intentionally set for their own coordinate systems. Use `--skip` to exclude them.
+
+## Notes
+
+- `plan_single()` occasionally returns None for edge-case target poses (workspace boundary). This is normal and happens in IS 4.5.0 too.
+- Example HDR is only 1k resolution — production should use 4k/8k for better background quality.
+- Example `envmap_lib` only has 1 HDR file — add more for randomization diversity.
+- `non_recyclable_garbage/obj_0` does not exist in example assets (only obj_1~obj_11). Config changed to use `obj_1`.
--- a/migrate/migrate_imports.py
+++ b/migrate/migrate_imports.py
@@ -0,0 +1,177 @@
+"""
+Batch migrate omni.isaac.* imports to use core.compat module.
+
+Usage:
+    python migrate/migrate_imports.py --dry-run   # preview changes
+    python migrate/migrate_imports.py              # apply changes
+"""
+import argparse
+import os
+import re
+
+# Files to process (relative to project root)
+SCAN_DIRS = [
+    "workflows/simbox/core/cameras",
+    "workflows/simbox/core/controllers",
+    "workflows/simbox/core/objects",
+    "workflows/simbox/core/robots",
+    "workflows/simbox/core/skills",
+    "workflows/simbox/core/tasks",
+    "workflows/simbox/core/utils",
+    "workflows/simbox/solver",
+    "workflows/",  # simbox_dual_workflow.py
+    "nimbus_extension/components/load",
+]
+
+# Skip these files/dirs
+SKIP = ["curobo", "__pycache__", "compat.py", "tools/art"]
+
+# Mapping: old import pattern -> compat import
+# Format: (regex_pattern, replacement_imports_from_compat)
+IMPORT_MAP = {
+    # Full module imports
+    r"from omni\.isaac\.core import World": "from core.compat import World",
+    r"from omni\.isaac\.core\.controllers import BaseController": "from core.compat import BaseController",
+    r"from omni\.isaac\.core\.tasks import BaseTask": "from core.compat import BaseTask",
+    r"from omni\.isaac\.core\.robots\.robot import Robot": "from core.compat import Robot",
+    r"from omni\.isaac\.core\.robots import Robot": "from core.compat import Robot",
+    r"from omni\.isaac\.core\.prims import XFormPrim": "from core.compat import XFormPrim",
+    r"from omni\.isaac\.core\.prims import RigidPrim": "from core.compat import RigidPrim",
+    r"from omni\.isaac\.core\.prims import GeometryPrim": "from core.compat import GeometryPrim",
+    r"from omni\.isaac\.core\.prims import RigidContactView": "from core.compat import RigidContactView",
+    r"from omni\.isaac\.core\.prims import RigidContactView, XFormPrim": "from core.compat import RigidContactView, XFormPrim",
+    r"from omni\.isaac\.core\.articulations\.articulation import Articulation": "from core.compat import Articulation",
+    r"from omni\.isaac\.core\.objects\.cylinder import VisualCylinder": "from core.compat import VisualCylinder",
+    r"from omni\.isaac\.core\.objects import cuboid, sphere": "from core.compat import cuboid, sphere",
+    r"from omni\.isaac\.core\.objects import cuboid": "from core.compat import cuboid",
+    r"from omni\.isaac\.core\.objects import sphere": "from core.compat import sphere",
+    r"from omni\.isaac\.core\.materials import PreviewSurface": "from core.compat import PreviewSurface",
+    r"from omni\.isaac\.core\.materials import OmniPBR": "from core.compat import OmniPBR",
+    r"from omni\.isaac\.core\.materials\.omni_pbr import OmniPBR.*": "from core.compat import OmniPBR",
+    r"from omni\.isaac\.core\.materials import OmniGlass, OmniPBR": "from core.compat import OmniGlass, OmniPBR",
+    r"from omni\.isaac\.core\.materials import OmniGlass": "from core.compat import OmniGlass",
+    r"from omni\.isaac\.core\.scenes\.scene import Scene": "from core.compat import Scene",
+    r"from omni\.isaac\.sensor import Camera": "from core.compat import Camera",
+
+    # Utils
+    r"from omni\.isaac\.core\.utils\.prims import get_prim_at_path\b(?!,)": "from core.compat import get_prim_at_path",
+    r"from omni\.isaac\.core\.utils\.prims import create_prim, get_prim_at_path": "from core.compat import create_prim, get_prim_at_path",
+    r"from omni\.isaac\.core\.utils\.prims import create_prim, is_prim_path_valid": "from core.compat import create_prim, is_prim_path_valid",
+    r"from omni\.isaac\.core\.utils\.prims import is_prim_path_valid": "from core.compat import is_prim_path_valid",
+    r"from omni\.isaac\.core\.utils\.prims import create_prim\b": "from core.compat import create_prim",
+    r"from omni\.isaac\.core\.utils\.transformations import get_relative_transform\b(?!,)": "from core.compat import get_relative_transform",
+    r"from omni\.isaac\.core\.utils\.transformations import pose_from_tf_matrix": "from core.compat import pose_from_tf_matrix",
+    r"from omni\.isaac\.core\.utils\.stage import get_current_stage": "from core.compat import get_current_stage",
+    r"from omni\.isaac\.core\.utils\.stage import add_reference_to_stage": "from core.compat import add_reference_to_stage",
+    r"from omni\.isaac\.core\.utils\.stage import get_stage_units": "from core.compat import get_stage_units",
+    r"from omni\.isaac\.core\.utils\.xforms import get_world_pose": "from core.compat import get_world_pose",
+    r"from omni\.isaac\.core\.utils\.types import ArticulationAction": "from core.compat import ArticulationAction",
+    r"from omni\.isaac\.core\.utils\.viewports import set_camera_view": "from core.compat import set_camera_view",
+    r"from omni\.isaac\.core\.utils\.semantics import add_update_semantics": "from core.compat import add_update_semantics",
+    r"from omni\.isaac\.core\.utils\.string import find_unique_string_name": "from core.compat import find_unique_string_name",
+    r"from omni\.isaac\.core\.utils\.extensions import enable_extension": "from core.compat import enable_extension",
+    r"from omni\.isaac\.core\.utils\.nucleus import get_assets_root_path as nucleus_path": "from core.compat import nucleus_path",
+}
+
+# Multi-line import blocks that need special handling
+MULTILINE_PATTERNS = [
+    # get_relative_transform, pose_from_tf_matrix block
+    (
+        r"from omni\.isaac\.core\.utils\.transformations import \(\s*\n\s*get_relative_transform,\s*\n\s*pose_from_tf_matrix,?\s*\n\s*\)",
+        "from core.compat import get_relative_transform, pose_from_tf_matrix",
+    ),
+    # prims multi-import blocks
+    (
+        r"from omni\.isaac\.core\.utils\.prims import \(\s*\n\s*get_prim_at_path,\s*\n\s*create_prim,\s*\n\s*is_prim_path_valid,?\s*\n\s*\)",
+        "from core.compat import get_prim_at_path, create_prim, is_prim_path_valid",
+    ),
+    (
+        r"from omni\.isaac\.core\.utils\.prims import \(\s*\n[^)]+\)",
+        None,  # skip complex blocks, handle manually
+    ),
+]
+
+
+def should_skip(filepath):
+    for s in SKIP:
+        if s in filepath:
+            return True
+    return False
+
+
+def migrate_file(filepath, dry_run=False):
+    with open(filepath, "r") as f:
+        content = f.read()
+
+    original = content
+    changes = []
+
+    # Handle multi-line imports first
+    for pattern, replacement in MULTILINE_PATTERNS:
+        if replacement is None:
+            continue
+        matches = list(re.finditer(pattern, content))
+        for m in matches:
+            changes.append(f"  MULTI: {m.group()[:60]}... -> {replacement}")
+        content = re.sub(pattern, replacement, content)
+
+    # Handle single-line imports
+    for pattern, replacement in IMPORT_MAP.items():
+        matches = list(re.finditer(pattern, content))
+        for m in matches:
+            changes.append(f"  {m.group().strip()} -> {replacement}")
+        content = re.sub(pattern, replacement, content)
+
+    if content != original:
+        if not dry_run:
+            with open(filepath, "w") as f:
+                f.write(content)
+        return changes
+    return []
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Migrate omni.isaac imports to core.compat")
+    parser.add_argument("--dry-run", action="store_true", help="Preview changes without modifying files")
+    parser.add_argument("--root", default=".", help="Project root directory")
+    args = parser.parse_args()
+
+    total_files = 0
+    total_changes = 0
+
+    for scan_dir in SCAN_DIRS:
+        full_dir = os.path.join(args.root, scan_dir)
+        if not os.path.exists(full_dir):
+            continue
+
+        if os.path.isfile(full_dir):
+            files = [full_dir]
+        else:
+            files = []
+            for root, dirs, filenames in os.walk(full_dir):
+                for fn in filenames:
+                    if fn.endswith(".py"):
+                        files.append(os.path.join(root, fn))
+
+        for filepath in sorted(files):
+            if should_skip(filepath):
+                continue
+
+            rel = os.path.relpath(filepath, args.root)
+            changes = migrate_file(filepath, args.dry_run)
+            if changes:
+                total_files += 1
+                total_changes += len(changes)
+                print(f"\n{rel}:")
+                for c in changes:
+                    print(c)
+
+    action = "would change" if args.dry_run else "changed"
+    print(f"\n{'='*60}")
+    print(f"Done: {total_changes} imports {action} in {total_files} files.")
+    if args.dry_run:
+        print("Run without --dry-run to apply changes.")
+
+
+if __name__ == "__main__":
+    main()
--- a/migrate/runtime_warnings.md
+++ b/migrate/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** |
--- a/migrate/scan_usd_metadata.py
+++ b/migrate/scan_usd_metadata.py
@@ -0,0 +1,70 @@
+"""
+Scan all USD files in the project and report their metersPerUnit / upAxis metadata.
+
+Usage:
+    python migrate/scan_usd_metadata.py [--root DIR]
+
+Default root: current working directory (project root).
+"""
+import argparse
+import glob
+import os
+import sys
+
+from pxr import Usd, UsdGeom
+
+
+def scan(root: str, target_mpu: float = 1.0, target_up: str = "Z"):
+    usd_files = glob.glob(os.path.join(root, "**", "*.usd"), recursive=True)
+    usd_files = [f for f in usd_files if not f.endswith(".bak")]
+    usd_files.sort()
+
+    ok_files = []
+    diff_files = []
+    error_files = []
+
+    for fpath in usd_files:
+        try:
+            stage = Usd.Stage.Open(fpath)
+            if stage is None:
+                error_files.append((fpath, "Cannot open stage"))
+                continue
+            mpu = UsdGeom.GetStageMetersPerUnit(stage)
+            up = UsdGeom.GetStageUpAxis(stage)
+            rel = os.path.relpath(fpath, root)
+            if mpu == target_mpu and up == target_up:
+                ok_files.append((rel, mpu, up))
+            else:
+                diff_files.append((rel, mpu, up))
+        except Exception as e:
+            error_files.append((fpath, str(e)))
+
+    # Report
+    print(f"Scanned {len(ok_files) + len(diff_files) + len(error_files)} USD files under: {root}")
+    print(f"  OK (mpu={target_mpu}, up={target_up}): {len(ok_files)}")
+    print(f"  Different: {len(diff_files)}")
+    print(f"  Errors: {len(error_files)}")
+
+    if diff_files:
+        print(f"\n{'='*80}")
+        print(f"Files with non-standard metadata (mpu != {target_mpu} or up != {target_up}):")
+        print(f"{'='*80}")
+        for rel, mpu, up in diff_files:
+            print(f"  mpu={mpu:<8} up={up:<4}  {rel}")
+
+    if error_files:
+        print(f"\n{'='*80}")
+        print("Files with errors:")
+        print(f"{'='*80}")
+        for fpath, err in error_files:
+            print(f"  ERROR: {fpath} -> {err}")
+
+    return diff_files
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Scan USD files for metersPerUnit/upAxis metadata")
+    parser.add_argument("--root", default=os.getcwd(), help="Root directory to scan (default: cwd)")
+    args = parser.parse_args()
+    diff = scan(args.root)
+    sys.exit(1 if diff else 0)
--- a/nimbus_extension/components/load/env_loader.py
+++ b/nimbus_extension/components/load/env_loader.py
@@ -75,7 +75,7 @@ class EnvLoader(SceneLoader):
        )

        self.logger.info(f"simulator params: physics dt={physics_dt}, rendering dt={rendering_dt}")
-        from omni.isaac.core import World
+        from core.compat import World

        world = World(
            physics_dt=physics_dt,
--- a/scripts/download_assets_direct.py
+++ b/scripts/download_assets_direct.py
@@ -0,0 +1,168 @@
+#!/usr/bin/env python3
+"""
+Direct HuggingFace dataset downloader that avoids full repo enumeration.
+Uses the HF tree API per-directory, then downloads files via HTTP.
+
+Usage:
+    python scripts/download_assets_direct.py [OPTIONS]
+
+Options:
+    --min           Download only required scene assets
+    --full          Download all scene assets (default)
+    --with-curobo   Also download CuRobo package
+    --with-drake    Also download panda_drake package
+    --local-dir DIR Where to save (default: current directory)
+    --mirror URL    HF mirror base URL (default: https://hf-mirror.com)
+"""
+
+import os
+import sys
+import argparse
+import time
+from pathlib import Path
+from concurrent.futures import ThreadPoolExecutor, as_completed
+
+import requests
+
+REPO_ID = "InternRobotics/InternData-A1"
+ASSET_PREFIX = "InternDataAssets"
+
+def get_token():
+    token = os.environ.get("HF_TOKEN", "")
+    if not token:
+        token_file = Path.home() / ".cache/huggingface/token"
+        if token_file.exists():
+            token = token_file.read_text().strip()
+    return token
+
+def list_dir(api_base, repo_id, path, token, session):
+    """List files in a specific directory via HF tree API (non-recursive for speed)."""
+    url = f"{api_base}/api/datasets/{repo_id}/tree/main/{path}"
+    headers = {"Authorization": f"Bearer {token}"} if token else {}
+    files = []
+    cursor = None
+    while True:
+        params = {"expand": "false", "recursive": "true", "limit": "1000"}
+        if cursor:
+            params["cursor"] = cursor
+        r = session.get(url, headers=headers, params=params, timeout=30)
+        r.raise_for_status()
+        data = r.json()
+        if isinstance(data, list):
+            items = data
+            cursor = None
+        else:
+            items = data.get("items", [])
+            cursor = data.get("nextCursor")
+        for item in items:
+            if item.get("type") == "file":
+                files.append(item["path"])
+        if not cursor or not items:
+            break
+    return files
+
+def download_file(mirror_base, repo_id, file_path, local_dir, token, session):
+    """Download a single file."""
+    url = f"{mirror_base}/datasets/{repo_id}/resolve/main/{file_path}"
+    headers = {"Authorization": f"Bearer {token}"} if token else {}
+    local_path = Path(local_dir) / file_path
+    local_path.parent.mkdir(parents=True, exist_ok=True)
+    if local_path.exists():
+        return file_path, "skipped"
+    for attempt in range(3):
+        try:
+            with session.get(url, headers=headers, stream=True, timeout=60) as r:
+                r.raise_for_status()
+                with open(local_path, "wb") as f:
+                    for chunk in r.iter_content(chunk_size=1024 * 1024):
+                        f.write(chunk)
+            return file_path, "ok"
+        except Exception as e:
+            if attempt == 2:
+                return file_path, f"error: {e}"
+            time.sleep(2 ** attempt)
+
+def download_dir(api_base, mirror_base, repo_id, path, local_dir, token, label, workers=8):
+    print(f"[INFO] Listing {label} ...")
+    session = requests.Session()
+    try:
+        files = list_dir(api_base, repo_id, path, token, session)
+    except Exception as e:
+        print(f"[ERROR] Failed to list {path}: {e}")
+        return
+    print(f"[INFO] Downloading {label} ({len(files)} files) ...")
+    errors = []
+    done = 0
+    with ThreadPoolExecutor(max_workers=workers) as pool:
+        futures = {pool.submit(download_file, mirror_base, repo_id, f, local_dir, token, session): f for f in files}
+        for fut in as_completed(futures):
+            fp, status = fut.result()
+            done += 1
+            if "error" in status:
+                errors.append((fp, status))
+                print(f"  [{done}/{len(files)}] FAIL {fp}: {status}")
+            else:
+                print(f"  [{done}/{len(files)}] {status.upper()} {fp}", end="\r")
+    print()
+    if errors:
+        print(f"[WARN] {len(errors)} files failed in {label}")
+
+def download_file_single(api_base, mirror_base, repo_id, file_path, local_dir, token, label):
+    print(f"[INFO] Downloading {label} ...")
+    session = requests.Session()
+    fp, status = download_file(mirror_base, repo_id, file_path, local_dir, token, session)
+    if "error" in status:
+        print(f"[ERROR] {fp}: {status}")
+    else:
+        print(f"[INFO] {label} done.")
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--min", action="store_true")
+    parser.add_argument("--full", action="store_true")
+    parser.add_argument("--with-curobo", action="store_true")
+    parser.add_argument("--with-drake", action="store_true")
+    parser.add_argument("--local-dir", default=".")
+    parser.add_argument("--mirror", default="https://hf-mirror.com")
+    parser.add_argument("--workers", type=int, default=8)
+    args = parser.parse_args()
+
+    mode = "min" if args.min else "full"
+    mirror = os.environ.get("HF_ENDPOINT", args.mirror).rstrip("/")
+    api_base = mirror
+    token = get_token()
+    local_dir = args.local_dir
+
+    if not token:
+        print("[WARN] No HF token found. Gated datasets will fail.")
+
+    print(f"[INFO] Mirror: {mirror}, mode={mode}, curobo={args.with_curobo}, drake={args.with_drake}")
+
+    base = f"{ASSET_PREFIX}/assets"
+
+    # Required scene assets
+    print("[INFO] ========== Downloading required scene assets ==========")
+    for d in ["background_textures", "envmap_lib", "floor_textures", "table_textures", "table0"]:
+        download_dir(api_base, mirror, REPO_ID, f"{base}/{d}", local_dir, token, d, args.workers)
+    download_file_single(api_base, mirror, REPO_ID, f"{base}/table_info.json", local_dir, token, "table_info.json")
+
+    # Full mode extras
+    if mode == "full":
+        print("[INFO] ========== Downloading all robots and tasks ==========")
+        for robot in ["lift2", "franka", "frankarobotiq", "split_aloha_mid_360", "G1_120s"]:
+            download_dir(api_base, mirror, REPO_ID, f"{base}/{robot}", local_dir, token, f"robot:{robot}", args.workers)
+        for task in ["basic", "art", "long_horizon", "pick_and_place"]:
+            download_dir(api_base, mirror, REPO_ID, f"{base}/{task}", local_dir, token, f"task:{task}", args.workers)
+
+    if args.with_curobo:
+        print("[INFO] ========== Downloading CuRobo ==========")
+        download_dir(api_base, mirror, REPO_ID, f"{ASSET_PREFIX}/curobo", local_dir, token, "curobo", args.workers)
+
+    if args.with_drake:
+        print("[INFO] ========== Downloading panda_drake ==========")
+        download_dir(api_base, mirror, REPO_ID, f"{ASSET_PREFIX}/panda_drake", local_dir, token, "panda_drake", args.workers)
+
+    print(f"[INFO] Done!")
+
+if __name__ == "__main__":
+    main()
--- a/workflows/simbox/core/cameras/custom_camera.py
+++ b/workflows/simbox/core/cameras/custom_camera.py
@@ -2,13 +2,10 @@ import numpy as np
 import omni.replicator.core as rep
 from core.cameras.base_camera import register_camera
 from core.utils.camera_utils import get_src
-from omni.isaac.core.prims import XFormPrim
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-)
-from omni.isaac.sensor import Camera
+from core.compat import XFormPrim
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix
+from core.compat import Camera


@register_camera
@@ -32,14 +29,44 @@ class CustomCamera(Camera):
            reference_path: Reference prim path for camera mounting
            name: Camera name
        """
+        # ===== 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")
+
+        horizontal_aperture = pixel_size * 1e-3 * width / 10.0
+        vertical_aperture = pixel_size * 1e-3 * height / 10.0
+        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 / 10.0
+
        # ===== Initialize camera =====
+        # Note: Camera.__init__ triggers aperture consistency warnings with default USD values.
+        # These are cosmetic — IS auto-corrects, and we override with correct values below.
        super().__init__(
            prim_path=prim_path,
            name=name,
-            resolution=(cfg["params"]["resolution_width"], cfg["params"]["resolution_height"]),
+            resolution=(width, height),
            *args,
            **kwargs,
        )
+
+        # ===== Set camera parameters =====
+        self.set_focal_length(focal_length)
+        self.set_focus_distance(focus_distance)
+        self.set_lens_aperture(f_number * 100.0)
+        self.set_horizontal_aperture(horizontal_aperture)
+        self.set_vertical_aperture(vertical_aperture)
+        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 +88,6 @@ 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]])
--- a/workflows/simbox/core/compat.py
+++ b/workflows/simbox/core/compat.py
@@ -0,0 +1,198 @@
+"""
+Isaac Sim 4.x / 5.x API compatibility layer.
+
+IS 5.0 renamed all `omni.isaac.*` modules to `isaacsim.*`.
+This module provides unified imports that work across both versions.
+Import from here instead of directly from omni.isaac.* or isaacsim.*.
+"""
+
+# ===== Core =====
+try:
+    from isaacsim.core.api import World
+except ImportError:
+    from omni.isaac.core import World
+
+# ===== Controllers =====
+try:
+    from isaacsim.core.api.controllers.base_controller import BaseController
+except ImportError:
+    from omni.isaac.core.controllers import BaseController
+
+# ===== Tasks =====
+try:
+    from isaacsim.core.api.tasks.base_task import BaseTask
+except ImportError:
+    from omni.isaac.core.tasks import BaseTask
+
+# ===== Robots =====
+try:
+    from isaacsim.core.api.robots.robot import Robot
+except ImportError:
+    from omni.isaac.core.robots.robot import Robot
+
+# ===== Prims (class names changed in IS 5.x) =====
+try:
+    from isaacsim.core.prims import SingleXFormPrim as XFormPrim
+except ImportError:
+    from omni.isaac.core.prims import XFormPrim
+
+try:
+    from isaacsim.core.prims import SingleRigidPrim as RigidPrim
+except ImportError:
+    from omni.isaac.core.prims import RigidPrim
+
+try:
+    from isaacsim.core.prims import SingleGeometryPrim as GeometryPrim
+except ImportError:
+    from omni.isaac.core.prims import GeometryPrim
+
+try:
+    from isaacsim.core.api.sensors.rigid_contact_view import RigidContactView
+except ImportError:
+    from omni.isaac.core.prims import RigidContactView
+
+# ===== Articulations =====
+try:
+    from isaacsim.core.prims import SingleArticulation as Articulation
+except ImportError:
+    from omni.isaac.core.articulations.articulation import Articulation
+
+# ===== Objects =====
+try:
+    from isaacsim.core.api.objects.cylinder import VisualCylinder
+except ImportError:
+    from omni.isaac.core.objects.cylinder import VisualCylinder
+
+try:
+    from isaacsim.core.api.objects import cuboid, sphere
+except ImportError:
+    from omni.isaac.core.objects import cuboid, sphere
+
+# ===== Materials =====
+try:
+    from isaacsim.core.api.materials import PreviewSurface
+except ImportError:
+    from omni.isaac.core.materials import PreviewSurface
+
+try:
+    from isaacsim.core.api.materials import OmniPBR
+except ImportError:
+    try:
+        from omni.isaac.core.materials import OmniPBR
+    except ImportError:
+        from omni.isaac.core.materials.omni_pbr import OmniPBR
+
+try:
+    from isaacsim.core.api.materials import OmniGlass
+except ImportError:
+    from omni.isaac.core.materials import OmniGlass
+
+# ===== Scenes =====
+try:
+    from isaacsim.core.api.scenes.scene import Scene
+except ImportError:
+    from omni.isaac.core.scenes.scene import Scene
+
+# ===== Utils: prims =====
+try:
+    from isaacsim.core.utils.prims import (
+        get_prim_at_path,
+        create_prim,
+        delete_prim,
+        is_prim_path_valid,
+    )
+except ImportError:
+    from omni.isaac.core.utils.prims import (
+        get_prim_at_path,
+        create_prim,
+        delete_prim,
+        is_prim_path_valid,
+    )
+
+# ===== Utils: transformations =====
+try:
+    from isaacsim.core.utils.transformations import (
+        get_relative_transform,
+        pose_from_tf_matrix,
+        tf_matrix_from_pose,
+        tf_matrices_from_poses,
+    )
+except ImportError:
+    from omni.isaac.core.utils.transformations import (
+        get_relative_transform,
+        pose_from_tf_matrix,
+        tf_matrix_from_pose,
+        tf_matrices_from_poses,
+    )
+
+# ===== Utils: stage =====
+try:
+    from isaacsim.core.utils.stage import (
+        get_current_stage,
+        add_reference_to_stage,
+    )
+except ImportError:
+    from omni.isaac.core.utils.stage import (
+        get_current_stage,
+        add_reference_to_stage,
+    )
+
+# ===== Utils: xforms =====
+try:
+    from isaacsim.core.utils.xforms import get_world_pose
+except ImportError:
+    from omni.isaac.core.utils.xforms import get_world_pose
+
+# ===== Utils: types =====
+try:
+    from isaacsim.core.utils.types import ArticulationAction
+except ImportError:
+    from omni.isaac.core.utils.types import ArticulationAction
+
+# ===== Utils: viewports =====
+try:
+    from isaacsim.core.utils.viewports import set_camera_view
+except ImportError:
+    from omni.isaac.core.utils.viewports import set_camera_view
+
+# ===== Utils: semantics =====
+try:
+    from isaacsim.core.utils.semantics import add_update_semantics
+except ImportError:
+    from omni.isaac.core.utils.semantics import add_update_semantics
+
+# ===== Utils: string =====
+try:
+    from isaacsim.core.utils.string import find_unique_string_name
+except ImportError:
+    from omni.isaac.core.utils.string import find_unique_string_name
+
+# ===== Utils: stage units =====
+try:
+    from isaacsim.core.utils.stage import get_stage_units
+except ImportError:
+    from omni.isaac.core.utils.stage import get_stage_units
+
+# ===== Utils: extensions =====
+try:
+    from isaacsim.core.utils.extensions import enable_extension
+except ImportError:
+    from omni.isaac.core.utils.extensions import enable_extension
+
+# ===== Utils: nucleus =====
+try:
+    from isaacsim.storage.native import get_assets_root_path as nucleus_path
+except ImportError:
+    from omni.isaac.core.utils.nucleus import get_assets_root_path as nucleus_path
+
+# ===== Sensor: Camera =====
+try:
+    from isaacsim.sensors.camera import Camera
+except ImportError:
+    from omni.isaac.sensor import Camera
+
+# ===== SimulationApp =====
+try:
+    from isaacsim import SimulationApp
+except ImportError:
+    from omni.isaac.kit import SimulationApp
--- a/workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml
+++ b/workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml
@@ -29,7 +29,7 @@ tasks:
    objects:
      -
        name: pick_object_left
-        path: task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd
+        path: task/sort_the_rubbish/non_recyclable_garbage/obj_1/Aligned_obj.usd
        target_class: RigidObject
        dataset: oo3d
        category: bottle
--- a/workflows/simbox/core/controllers/template_controller.py
+++ b/workflows/simbox/core/controllers/template_controller.py
@@ -34,15 +34,12 @@ from curobo.wrap.reacher.motion_gen import (
    MotionGenPlanConfig,
    PoseCostMetric,
 )
-from omni.isaac.core import World
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-)
-from omni.isaac.core.utils.types import ArticulationAction
+from core.compat import World
+from core.compat import BaseController
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix
+from core.compat import ArticulationAction


 # pylint: disable=line-too-long,unused-argument
@@ -249,6 +246,12 @@ class TemplateController(BaseController):
        obstacles = self.usd_help.get_obstacles_from_stage(
            ignore_substring=self.ignore_substring, reference_prim_path=self.reference_prim_path
        ).get_collision_check_world()
+        # Diagnostic: print what curobo sees as the collision world
+        n_cuboid = len(obstacles.cuboid) if obstacles.cuboid else 0
+        n_mesh = len(obstacles.mesh) if obstacles.mesh else 0
+        mesh_names = [m.name for m in obstacles.mesh] if obstacles.mesh else []
+        print(f"[CUROBO_WORLD] cuboids={n_cuboid}, meshes={n_mesh}, "
+              f"mesh_names={mesh_names[:5]}{'...' if n_mesh > 5 else ''}", flush=True)
        if self.motion_gen is not None:
            self.motion_gen.update_world(obstacles)
        self.world_cfg = obstacles
@@ -277,6 +280,10 @@ class TemplateController(BaseController):
        self.T_world_base_init = get_relative_transform(
            get_prim_at_path(self.robot_base_path), get_prim_at_path(self.task.root_prim_path)
        )
+        print(f"[TRANSFORM_DBG] robot_base_path={self.robot_base_path}", flush=True)
+        print(f"[TRANSFORM_DBG] root_prim_path={self.task.root_prim_path}", flush=True)
+        print(f"[TRANSFORM_DBG] T_world_base_init translation={self.T_world_base_init[:3, 3]}", flush=True)
+        print(f"[TRANSFORM_DBG] T_world_base_init full=\n{self.T_world_base_init}", flush=True)
        self.T_world_ee_init = self.T_world_base_init @ self.T_base_ee_init
        self._ee_trans, self._ee_ori = self.get_ee_pose()
        self._ee_trans = self.tensor_args.to_device(self._ee_trans)
--- a/workflows/simbox/core/objects/articulated_object.py
+++ b/workflows/simbox/core/objects/articulated_object.py
@@ -5,11 +5,11 @@ import random

 import numpy as np
 from core.objects.base_object import register_object
-from omni.isaac.core.articulations.articulation import Articulation
-from omni.isaac.core.utils.stage import add_reference_to_stage
+from core.compat import Articulation
+from core.compat import add_reference_to_stage

 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
    from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0

--- a/workflows/simbox/core/objects/conveyor_object.py
+++ b/workflows/simbox/core/objects/conveyor_object.py
@@ -1,8 +1,8 @@
 import os

 from core.objects.base_object import register_object
-from omni.isaac.core.prims import GeometryPrim
-from omni.isaac.core.utils.prims import create_prim
+from core.compat import GeometryPrim
+from core.compat import create_prim
 from pxr import Gf, UsdPhysics


--- a/workflows/simbox/core/objects/geometry_object.py
+++ b/workflows/simbox/core/objects/geometry_object.py
@@ -3,15 +3,11 @@ import os
 import random

 from core.objects.base_object import register_object
-from omni.isaac.core.prims import GeometryPrim
-from omni.isaac.core.utils.prims import (
-    create_prim,
-    get_prim_at_path,
-    is_prim_path_valid,
-)
+from core.compat import GeometryPrim
+from core.compat import create_prim, get_prim_at_path, is_prim_path_valid

 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
    from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0

--- a/workflows/simbox/core/objects/plane_object.py
+++ b/workflows/simbox/core/objects/plane_object.py
@@ -3,12 +3,12 @@ import os
 import random

 from core.objects.base_object import register_object
-from omni.isaac.core.prims import XFormPrim
-from omni.isaac.core.utils.prims import is_prim_path_valid
-from omni.isaac.core.utils.stage import get_current_stage
+from core.compat import XFormPrim
+from core.compat import is_prim_path_valid
+from core.compat import get_current_stage

 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
    from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0

--- a/workflows/simbox/core/objects/rigid_object.py
+++ b/workflows/simbox/core/objects/rigid_object.py
@@ -3,11 +3,11 @@ import os
 import random

 from core.objects.base_object import register_object
-from omni.isaac.core.prims import RigidPrim
-from omni.isaac.core.utils.prims import create_prim, get_prim_at_path
+from core.compat import RigidPrim
+from core.compat import create_prim, get_prim_at_path

 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
    from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0

@@ -47,6 +47,21 @@ class RigidObject(RigidPrim):
        self.base_prim_path = prim_path
        rigid_prim_path = os.path.join(self.base_prim_path, cfg["prim_path_child"])
        self.mesh_prim_path = str(get_prim_at_path(rigid_prim_path).GetChildren()[0].GetPrimPath())
+        # [LOAD_DBG] Print xformOps right after create_prim, before physics
+        try:
+            from pxr import UsdGeom
+            _xf = UsdGeom.Xformable(get_prim_at_path(rigid_prim_path))
+            for _op in _xf.GetOrderedXformOps():
+                print(f"[LOAD_DBG] {cfg_name} after_create_prim: {_op.GetName()} = {_op.Get()}", flush=True)
+            _l2w = _xf.ComputeLocalToWorldTransform(0)
+            print(f"[LOAD_DBG] {cfg_name} after_create_prim l2w=({_l2w[3][0]:.6f}, {_l2w[3][1]:.6f}, {_l2w[3][2]:.6f})", flush=True)
+            # Also check the USD file's own metersPerUnit
+            _ref_stage = get_prim_at_path(prim_path).GetStage()
+            _mpu = UsdGeom.GetStageMetersPerUnit(_ref_stage)
+            _up = UsdGeom.GetStageUpAxis(_ref_stage)
+            print(f"[LOAD_DBG] {cfg_name} stage metersPerUnit={_mpu} upAxis={_up}", flush=True)
+        except Exception as _e:
+            print(f"[LOAD_DBG] {cfg_name} error: {_e}", flush=True)
        super().__init__(prim_path=rigid_prim_path, name=cfg["name"], *args, **kwargs)

    def get_observations(self):
--- a/workflows/simbox/core/objects/shape_object.py
+++ b/workflows/simbox/core/objects/shape_object.py
@@ -3,10 +3,10 @@ import os
 import random

 from core.objects.base_object import register_object
-from omni.isaac.core.prims import GeometryPrim
+from core.compat import GeometryPrim

 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
    from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0

--- a/workflows/simbox/core/objects/xform_object.py
+++ b/workflows/simbox/core/objects/xform_object.py
@@ -3,11 +3,11 @@ import os
 import random

 from core.objects.base_object import register_object
-from omni.isaac.core.prims import XFormPrim
-from omni.isaac.core.utils.prims import create_prim, is_prim_path_valid
+from core.compat import XFormPrim
+from core.compat import create_prim, is_prim_path_valid

 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
    from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0

--- a/workflows/simbox/core/robots/template_robot.py
+++ b/workflows/simbox/core/robots/template_robot.py
@@ -7,12 +7,9 @@ from copy import deepcopy

 import numpy as np
 from core.robots.base_robot import register_robot
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.utils.prims import create_prim, get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import Robot
+from core.compat import create_prim, get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from scipy.interpolate import interp1d


--- a/workflows/simbox/core/skills/approach_rotate.py
+++ b/workflows/simbox/core/skills/approach_rotate.py
@@ -3,15 +3,11 @@ import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.interpolate_utils import linear_interpolation
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/skills/artpreplan.py
+++ b/workflows/simbox/core/skills/artpreplan.py
@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from solver.planner import KPAMPlanner


--- a/workflows/simbox/core/skills/close.py
+++ b/workflows/simbox/core/skills/close.py
@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from scipy.spatial.transform import Rotation as R
 from solver.planner import KPAMPlanner

--- a/workflows/simbox/core/skills/dexpick.py
+++ b/workflows/simbox/core/skills/dexpick.py
@@ -4,15 +4,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig, OmegaConf
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/dexplace.py
+++ b/workflows/simbox/core/skills/dexplace.py
@@ -5,15 +5,11 @@ import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.usd_geom_utils import compute_bbox
 from omegaconf import DictConfig, OmegaConf
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 from scipy.spatial.transform import Slerp

--- a/workflows/simbox/core/skills/dynamicpick.py
+++ b/workflows/simbox/core/skills/dynamicpick.py
@@ -12,14 +12,11 @@ from core.utils.plan_utils import (
 )
 from core.utils.transformation_utils import poses_from_tf_matrices
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from omni.timeline import get_timeline_interface
 from scipy.spatial.transform import Rotation as R

--- a/workflows/simbox/core/skills/failpick.py
+++ b/workflows/simbox/core/skills/failpick.py
@@ -5,15 +5,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/flip.py
+++ b/workflows/simbox/core/skills/flip.py
@@ -3,15 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/skills/goto_pose.py
+++ b/workflows/simbox/core/skills/goto_pose.py
@@ -10,14 +10,11 @@ from core.utils.transformation_utils import (
    poses_from_tf_matrices,
 )
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 from scipy.spatial.transform import Slerp

--- a/workflows/simbox/core/skills/gripper_action.py
+++ b/workflows/simbox/core/skills/gripper_action.py
@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/heuristic_skill.py
+++ b/workflows/simbox/core/skills/heuristic_skill.py
@@ -1,13 +1,10 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.transformations import (
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import pose_from_tf_matrix, tf_matrix_from_pose


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/home.py
+++ b/workflows/simbox/core/skills/home.py
@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/joint_ctrl.py
+++ b/workflows/simbox/core/skills/joint_ctrl.py
@@ -4,9 +4,9 @@ import torch
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.interpolate_utils import linear_interpolation
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/manualpick.py
+++ b/workflows/simbox/core/skills/manualpick.py
@@ -12,14 +12,11 @@ from core.utils.plan_utils import (
 )
 from core.utils.transformation_utils import poses_from_tf_matrices
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose


@register_skill
--- a/workflows/simbox/core/skills/mobile_rotate.py
+++ b/workflows/simbox/core/skills/mobile_rotate.py
@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/mobile_translate.py
+++ b/workflows/simbox/core/skills/mobile_translate.py
@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask


 # pylint: disable=unused-argument
--- a/workflows/simbox/core/skills/move.py
+++ b/workflows/simbox/core/skills/move.py
@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/skills/open.py
+++ b/workflows/simbox/core/skills/open.py
@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from scipy.spatial.transform import Rotation as R
 from solver.planner import KPAMPlanner

--- a/workflows/simbox/core/skills/pick.py
+++ b/workflows/simbox/core/skills/pick.py
@@ -11,14 +11,11 @@ from core.utils.plan_utils import (
 )
 from core.utils.transformation_utils import poses_from_tf_matrices
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose


 # pylint: disable=unused-argument
@@ -284,8 +281,49 @@ class Pick(BaseSkill):
        if frame == "body":
            return self.T_obj_ee

-        T_world_obj = tf_matrix_from_pose(*self.pick_obj.get_local_pose())
+        local_pose = self.pick_obj.get_local_pose()
+        world_pose = self.pick_obj.get_world_pose()
+        print(f"[PICK_DBG] prim_path={self.pick_obj.prim_path}", flush=True)
+        print(f"[PICK_DBG] local_pose  trans={local_pose[0]}", flush=True)
+        print(f"[PICK_DBG] world_pose  trans={world_pose[0]}", flush=True)
+        print(f"[PICK_DBG] local_pose  ori={local_pose[1]}", flush=True)
+        print(f"[PICK_DBG] world_pose  ori={world_pose[1]}", flush=True)
+        parent_prim = get_prim_at_path(self.pick_obj.prim_path).GetParent()
+        print(f"[PICK_DBG] parent_prim_path={parent_prim.GetPrimPath()}", flush=True)
+        grandparent_prim = parent_prim.GetParent()
+        print(f"[PICK_DBG] grandparent_prim_path={grandparent_prim.GetPrimPath()}", flush=True)
+        try:
+            from pxr import UsdGeom
+            obj_prim = get_prim_at_path(self.pick_obj.prim_path)
+            obj_xf = UsdGeom.Xformable(obj_prim)
+            xform_ops = obj_xf.GetOrderedXformOps()
+            print(f"[PICK_DBG] obj_xformOps_count={len(xform_ops)}", flush=True)
+            for op in xform_ops:
+                print(f"[PICK_DBG] obj_xformOp: {op.GetName()} val={op.Get()}", flush=True)
+            obj_l2w = obj_xf.ComputeLocalToWorldTransform(0)
+            print(f"[PICK_DBG] obj_USD_l2w=({obj_l2w[3][0]:.6f}, {obj_l2w[3][1]:.6f}, {obj_l2w[3][2]:.6f})", flush=True)
+            parent_xf = UsdGeom.Xformable(parent_prim)
+            parent_l2w = parent_xf.ComputeLocalToWorldTransform(0)
+            print(f"[PICK_DBG] parent_l2w_translate=({parent_l2w[3][0]}, {parent_l2w[3][1]}, {parent_l2w[3][2]})", flush=True)
+            gp_xf = UsdGeom.Xformable(grandparent_prim)
+            gp_l2w = gp_xf.ComputeLocalToWorldTransform(0)
+            print(f"[PICK_DBG] grandparent_l2w_translate=({gp_l2w[3][0]}, {gp_l2w[3][1]}, {gp_l2w[3][2]})", flush=True)
+            stage = parent_prim.GetStage()
+            mpu = UsdGeom.GetStageMetersPerUnit(stage)
+            print(f"[PICK_DBG] stage_metersPerUnit={mpu}", flush=True)
+            # Check get_local_pose source
+            glp_method = type(self.pick_obj).get_local_pose
+            print(f"[PICK_DBG] get_local_pose_from={glp_method.__qualname__}", flush=True)
+        except Exception as e:
+            import traceback
+            print(f"[PICK_DBG] UsdGeom error: {e}", flush=True)
+            traceback.print_exc()
+        print(f"[PICK_DBG] root_prim_path={self.task.root_prim_path}", flush=True)
+        print(f"[PICK_DBG] reference_prim_path={self.controller.reference_prim_path}", flush=True)
+        T_world_obj = tf_matrix_from_pose(*local_pose)
+        print(f"[PICK_DBG] T_world_obj translation={T_world_obj[:3,3]}", flush=True)
        T_world_ee = T_world_obj[None] @ self.T_obj_ee
+        print(f"[PICK_DBG] T_world_ee[0] translation={T_world_ee[0,:3,3]}", flush=True)

        if frame == "world":
            return T_world_ee
@@ -294,8 +332,11 @@ class Pick(BaseSkill):
            T_world_base = get_relative_transform(
                get_prim_at_path(self.controller.reference_prim_path), get_prim_at_path(self.task.root_prim_path)
            )
+            print(f"[PICK_DBG] T_world_base translation={T_world_base[:3,3]}", flush=True)
            T_base_world = np.linalg.inv(T_world_base)
+            print(f"[PICK_DBG] T_base_world translation={T_base_world[:3,3]}", flush=True)
            T_base_ee = T_base_world[None] @ T_world_ee
+            print(f"[PICK_DBG] T_base_ee[0] translation={T_base_ee[0,:3,3]}", flush=True)
            return T_base_ee

    def get_contact(self, contact_threshold=0.0):
--- a/workflows/simbox/core/skills/place.py
+++ b/workflows/simbox/core/skills/place.py
@@ -12,15 +12,11 @@ from core.utils.plan_utils import (
 from core.utils.transformation_utils import create_pose_matrices, poses_from_tf_matrices
 from core.utils.usd_geom_utils import compute_bbox
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/skills/pour_water_succ.py
+++ b/workflows/simbox/core/skills/pour_water_succ.py
@@ -7,9 +7,9 @@ from core.utils.transformation_utils import (
    perturb_position,
 )
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/skills/rotate.py
+++ b/workflows/simbox/core/skills/rotate.py
@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig, OmegaConf
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from scipy.spatial.transform import Rotation as R
 from solver.planner import KPAMPlanner

--- a/workflows/simbox/core/skills/rotate_obj.py
+++ b/workflows/simbox/core/skills/rotate_obj.py
@@ -3,15 +3,11 @@ import torch
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.interpolate_utils import linear_interpolation
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/skills/scan.py
+++ b/workflows/simbox/core/skills/scan.py
@@ -1,15 +1,11 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/skills/track.py
+++ b/workflows/simbox/core/skills/track.py
@@ -3,15 +3,12 @@ from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.transformation_utils import get_orientation, perturb_orientation
 from core.utils.usd_geom_utils import compute_bbox
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.objects.cylinder import VisualCylinder
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import VisualCylinder
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R


@@ -143,6 +140,8 @@ class Track(BaseSkill):
    def cal_table_2_base(self):
        tgt = self.task.fixtures["table"]
        bbox_tgt = compute_bbox(tgt.prim)
+        print(f"[BBOX_DBG] table bbox min={list(bbox_tgt.min)}, max={list(bbox_tgt.max)}", flush=True)
+        print(f"[BBOX_DBG] T_base_2_world translation={self.T_base_2_world[:3, 3]}", flush=True)
        table_center = (np.asarray(bbox_tgt.min) + np.asarray(bbox_tgt.max)) / 2
        tgt_z_max = bbox_tgt.max[2]
        table_center[2] = tgt_z_max
--- a/workflows/simbox/core/skills/wait.py
+++ b/workflows/simbox/core/skills/wait.py
@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask


 # pylint: disable=consider-using-generator,too-many-public-methods,unused-argument
--- a/workflows/simbox/core/tasks/banana.py
+++ b/workflows/simbox/core/tasks/banana.py
@@ -18,16 +18,12 @@ from core.utils.scene_utils import deactivate_selected_prims
 from core.utils.transformation_utils import get_orientation
 from core.utils.visual_distractor import set_distractors
 from omegaconf import DictConfig
-from omni.isaac.core.materials import PreviewSurface
-from omni.isaac.core.prims import RigidContactView, XFormPrim
-from omni.isaac.core.scenes.scene import Scene
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import (
-    delete_prim,
-    get_prim_at_path,
-    is_prim_path_valid,
-)
-from omni.isaac.core.utils.stage import get_current_stage
+from core.compat import PreviewSurface
+from core.compat import RigidContactView, XFormPrim
+from core.compat import Scene
+from core.compat import BaseTask
+from core.compat import delete_prim, get_prim_at_path, is_prim_path_valid
+from core.compat import get_current_stage
 from omni.physx.scripts import particleUtils
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdLux, UsdShade, Vt
 from scipy.spatial.transform import Rotation as R
@@ -335,6 +331,14 @@ class BananaBaseTask(BaseTask):
        orientation = get_orientation(cfg.get("euler"), cfg.get("quaternion"))
        obj.set_local_pose(translation=cfg.get("translation"), orientation=orientation)
        obj.set_local_scale(cfg.get("scale", [1.0, 1.0, 1.0]))
+        # [LOAD_DBG] Print after set_local_pose
+        try:
+            from pxr import UsdGeom
+            _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+            for _op in _xf.GetOrderedXformOps():
+                print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose: {_op.GetName()} = {_op.Get()}", flush=True)
+        except Exception as _e:
+            print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose error: {_e}", flush=True)
        obj.set_visibility(cfg.get("visible", True))

        # Extra behavior per type
@@ -490,7 +494,7 @@ class BananaBaseTask(BaseTask):
            if cfg.get("apply_randomization", False):
                envmap_id = random.randint(0, len(envmap_hdr_path_list) - 1)
                intensity = random.uniform(cfg["intensity_range"][0], cfg["intensity_range"][1])
-                rotation = [random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1]) for _ in range(3)]
+                rotation = [0.0, 0.0, random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1])]
            else:
                envmap_id = 0
                intensity = 1000.0
--- a/workflows/simbox/core/utils/camera_utils.py
+++ b/workflows/simbox/core/utils/camera_utils.py
@@ -1,7 +1,7 @@
 import numpy as np
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
-from omni.isaac.sensor import Camera
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
+from core.compat import Camera


 def _get_annotator(camera: Camera, annotator_name: str):
--- a/workflows/simbox/core/utils/transformation_utils.py
+++ b/workflows/simbox/core/utils/transformation_utils.py
@@ -1,5 +1,5 @@
 import numpy as np
-from omni.isaac.core.utils.transformations import pose_from_tf_matrix
+from core.compat import pose_from_tf_matrix
 from scipy.spatial.transform import Rotation as R


--- a/workflows/simbox/core/utils/utils.py
+++ b/workflows/simbox/core/utils/utils.py
@@ -18,7 +18,7 @@ logging.getLogger("urllib3").setLevel(logging.WARNING)


 def set_semantic_label(prim: Prim, label):
-    from omni.isaac.core.utils.semantics import add_update_semantics
+    from core.compat import add_update_semantics

    if prim.GetTypeName() == "Mesh":
        add_update_semantics(prim, semantic_label=label, type_label="class")
@@ -28,7 +28,7 @@ def set_semantic_label(prim: Prim, label):


 def set_plane_semantic_label(prim: Prim, label):
-    from omni.isaac.core.utils.semantics import add_update_semantics
+    from core.compat import add_update_semantics

    if prim.GetTypeName() == "Plane":
        add_update_semantics(prim, semantic_label=label, type_label="class")
@@ -38,7 +38,7 @@ def set_plane_semantic_label(prim: Prim, label):


 def set_robot_semantic_label(robot: Prim, parent_name: str):
-    from omni.isaac.core.utils.semantics import add_update_semantics
+    from core.compat import add_update_semantics

    if robot.GetTypeName() == "Mesh":
        prim_path = str(robot.GetPrimPath())
--- a/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd
+++ b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd
--- a/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd.bak
+++ b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd.bak
--- a/workflows/simbox/example_assets/table0/instance.usd
+++ b/workflows/simbox/example_assets/table0/instance.usd
--- a/workflows/simbox/example_assets/table0/instance.usd.bak
+++ b/workflows/simbox/example_assets/table0/instance.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_1/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_1/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_1/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_1/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_10/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_10/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_10/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_10/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_11/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_11/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_11/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_11/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_2/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_2/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_2/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_2/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_3/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_3/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_3/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_3/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_7/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_7/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_7/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_7/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_8/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_8/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_8/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_8/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_9/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_9/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_9/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_9/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_1/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_1/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_1/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_1/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_2/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_2/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_2/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_2/Aligned_obj.usd.bak
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_3/Aligned_obj.usd
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_3/Aligned_obj.usd
--- a/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_3/Aligned_obj.usd.bak
+++ b/workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_3/Aligned_obj.usd.bak
--- a/workflows/simbox/solver/planner.py
+++ b/workflows/simbox/solver/planner.py
@@ -13,17 +13,9 @@ import solver.kpam.SE3_utils as SE3_utils
 import solver.kpam.term_spec as term_spec
 import yaml
 from colored import fg
-from omni.isaac.core.utils.prims import (
-    create_prim,
-    get_prim_at_path,
-    is_prim_path_valid,
-)
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrices_from_poses,
-)
-from omni.isaac.core.utils.xforms import get_world_pose
+from core.compat import create_prim, get_prim_at_path, is_prim_path_valid
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrices_from_poses
+from core.compat import get_world_pose
 from pydrake.all import *
 from scipy.spatial.transform import Rotation as R
 from solver.kpam.mp_builder import OptimizationBuilderkPAM
@@ -966,8 +958,8 @@ if __name__ == "__main__":

    # from omni.isaac.franka.controllers.pick_place_controller import PickPlaceController
    from gensim_testing_v2.tasks.close_microwave import CloseMicrowave
-    from omni.isaac.core import World
-    from omni.isaac.core.utils.types import ArticulationAction
+    from core.compat import World
+    from core.compat import ArticulationAction

    # from solver.planner import KPAMPlanner

--- a/workflows/simbox/tools/art/close_h/9748/usd/9748.usd
+++ b/workflows/simbox/tools/art/close_h/9748/usd/9748.usd
--- a/workflows/simbox/tools/art/close_h/9748/usd/9748.usd.bak
+++ b/workflows/simbox/tools/art/close_h/9748/usd/9748.usd.bak
--- a/workflows/simbox/tools/art/close_h/9748/usd/instance.usd
+++ b/workflows/simbox/tools/art/close_h/9748/usd/instance.usd
--- a/workflows/simbox/tools/art/close_h/9748/usd/instance.usd.bak
+++ b/workflows/simbox/tools/art/close_h/9748/usd/instance.usd.bak
--- a/workflows/simbox/tools/art/close_h_down/7130/usd/7130.usd
+++ b/workflows/simbox/tools/art/close_h_down/7130/usd/7130.usd
--- a/workflows/simbox/tools/art/close_h_down/7130/usd/7130.usd.bak
+++ b/workflows/simbox/tools/art/close_h_down/7130/usd/7130.usd.bak
--- a/workflows/simbox/tools/art/close_h_down/7130/usd/instance.usd
+++ b/workflows/simbox/tools/art/close_h_down/7130/usd/instance.usd
--- a/workflows/simbox/tools/art/close_h_down/7130/usd/instance.usd.bak
+++ b/workflows/simbox/tools/art/close_h_down/7130/usd/instance.usd.bak
--- a/workflows/simbox/tools/art/close_v/7265/usd/instance.usd
+++ b/workflows/simbox/tools/art/close_v/7265/usd/instance.usd
--- a/workflows/simbox/tools/art/close_v/7265/usd/instance.usd.bak
+++ b/workflows/simbox/tools/art/close_v/7265/usd/instance.usd.bak
--- a/workflows/simbox/tools/art/close_v/7265/usd/microwave_0.usd
+++ b/workflows/simbox/tools/art/close_v/7265/usd/microwave_0.usd
--- a/workflows/simbox/tools/art/close_v/7265/usd/microwave_0.usd.bak
+++ b/workflows/simbox/tools/art/close_v/7265/usd/microwave_0.usd.bak
--- a/workflows/simbox/tools/art/open_h/9912/usd/9912.usd
+++ b/workflows/simbox/tools/art/open_h/9912/usd/9912.usd
--- a/workflows/simbox/tools/art/open_h/9912/usd/9912.usd.bak
+++ b/workflows/simbox/tools/art/open_h/9912/usd/9912.usd.bak
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Tangger	6314603676	fix: rename migerate -> migrate (typo fix)	2026-04-03 15:24:41 +08:00
Tangger	b178aafe40	feat: migrate omni.isaac.* imports to isaacsim.* via compat layer - Add core/compat.py: compatibility module with try/except imports supporting both IS 4.x (omni.isaac.) and IS 5.x+ (isaacsim.) - Migrate 152 imports across 47 files from direct omni.isaac.* to core.compat - Handle class renames: RigidPrim→SingleRigidPrim, GeometryPrim→SingleGeometryPrim, XFormPrim→SingleXFormPrim, Articulation→SingleArticulation (aliased for compatibility) - Add migerate/migrate_imports.py: automated migration script for future use - Leave debug_draw and env_loader try/except imports as-is This eliminates ~100 deprecation warnings from our code on IS 5.0, and future-proofs for IS 6.x when old APIs may be removed. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 15:09:50 +08:00
Tangger	6032b12c59	refactor: simplify camera init, document aperture warning as cosmetic Camera.__init__() internally calls UsdGeom.Camera.Define() which resets aperture to defaults, making it impossible to pre-set values. The aperture mismatch warnings are cosmetic — IS auto-corrects them and our values are applied correctly after init. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 14:41:00 +08:00
Tangger	1105a49e8f	fix: pre-set camera aperture on USD prim before Camera init Camera.__init__() checks aperture consistency against resolution before we can call set_horizontal_aperture(). Pre-set the aperture values directly on the USD prim via UsdGeom.Camera API to eliminate the mismatch warnings. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 12:07:16 +08:00
Tangger	8d2fec09e0	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>	2026-04-03 11:47:15 +08:00
Tangger	6b78ba0d6f	docs: rewrite README with quick start, project structure, and migration refs - Rewrite README with clear prerequisites, quick start guide, and project structure - Add references to install.md and migerate/migerate.md - Add pipeline config table and configuration examples - Preserve original license (CC BY-NC-SA 4.0) and paper citations - Update remote: matai as origin, merge 5.0.0 into master Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 11:17:43 +08:00
Tangger	03d9a5b909	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>	2026-04-03 11:10:39 +08:00