f338199bcb
- Add scipy Rotation scalar_first monkey-patch for older scipy (<1.11) - Fix SimulationApp import to support both IS 4.x and 5.x - Reuse task object across reset() calls to prevent duplicate prims - Add _scene_initialized guard in set_up_scene() for repeated resets - Cache arena_file_path to survive task_cfg.pop() - Clean up collision groups before re-creating - Switch to PathTracing renderer for clean output on Blackwell GPU Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
85 lines
2.8 KiB
Python
85 lines
2.8 KiB
Python
# pylint: disable=C0413
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# flake8: noqa: E402
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from nimbus.utils.utils import init_env
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init_env()
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# Patch scipy.spatial.transform module so that `from_quat` and `as_quat`
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# accept `scalar_first=` on older scipy (< 1.11).
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try:
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from scipy.spatial.transform import Rotation as _R
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_R.from_quat([1, 0, 0, 0], scalar_first=True)
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except TypeError:
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import numpy as _np
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import scipy.spatial.transform as _sst
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from scipy.spatial.transform import Rotation as _OrigR
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class Rotation(_OrigR):
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@classmethod
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def from_quat(cls, quat, *args, scalar_first=False, **kwargs):
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quat = _np.asarray(quat, dtype=float)
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if scalar_first:
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if quat.ndim == 1:
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quat = _np.array([quat[1], quat[2], quat[3], quat[0]])
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else:
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quat = _np.concatenate([quat[..., 1:], quat[..., :1]], axis=-1)
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return super().from_quat(quat, *args, **kwargs)
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def as_quat(self, *args, scalar_first=False, **kwargs):
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q = super().as_quat(*args, **kwargs)
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if scalar_first:
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if q.ndim == 1:
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q = _np.array([q[3], q[0], q[1], q[2]])
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else:
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q = _np.concatenate([q[..., 3:], q[..., :3]], axis=-1)
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return q
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_sst.Rotation = Rotation
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import sys
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sys.modules['scipy.spatial.transform._rotation'].Rotation = Rotation
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sys.modules['scipy.spatial.transform'].Rotation = Rotation
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import argparse
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from nimbus import run_data_engine
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from nimbus.utils.config_processor import ConfigProcessor
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from nimbus.utils.flags import set_debug_mode, set_random_seed
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def main():
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parser = argparse.ArgumentParser()
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parser.add_argument("--config", required=True, help="path to config file")
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parser.add_argument("--random_seed", help="random seed")
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parser.add_argument("--debug", action="store_true", help="enable debug mode: all errors raised immediately")
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args, extras = parser.parse_known_args()
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processor = ConfigProcessor()
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try:
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config = processor.process_config(args.config, cli_args=extras)
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except ValueError as e:
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print(f"Configuration Error: {e}")
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print(f"\n Available configuration paths can be found in: {args.config}")
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print(" Use dot notation to override nested values, e.g.:")
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print(" --stage_pipe.worker_num='[2,4]'")
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print(" --load_stage.layout_random_generator.args.random_num=500")
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return 1
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processor.print_final_config(config)
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if args.debug:
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set_debug_mode(True)
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if args.random_seed is not None:
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set_random_seed(int(args.random_seed))
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try:
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run_data_engine(config, args.random_seed)
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except Exception as e:
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raise e
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if __name__ == "__main__":
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main()
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