3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
48 lines
1.4 KiB
Python
48 lines
1.4 KiB
Python
"""
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Fix material bindings on repackaged test tube USD.
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The referenced meshes have bindings pointing to /Test_Tube_AA_01/Looks/...
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which is outside the reference scope. This script overrides them to
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point to /World/Looks/... instead.
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Usage:
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python migrate/fix_test_tube_materials.py
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"""
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from pxr import Usd, UsdShade
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USD_PATH = "workflows/simbox/example_assets/task/pick_test_tube/test_tube/Aligned_obj.usd"
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# Mapping: mesh prim path -> material path in new structure
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MATERIAL_BINDINGS = {
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"/World/Aligned/_______005": "/World/Looks/SimPBR_Translucent",
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"/World/Aligned/tags/_______007": "/World/Looks/OmniPBR",
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"/World/Aligned/Test_Tube_lid/_______006": "/World/Looks/OmniPBR_01",
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}
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def fix():
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stage = Usd.Stage.Open(USD_PATH)
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for mesh_path, mat_path in MATERIAL_BINDINGS.items():
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mesh_prim = stage.GetPrimAtPath(mesh_path)
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mat_prim = stage.GetPrimAtPath(mat_path)
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if not mesh_prim.IsValid():
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print(f" SKIP: {mesh_path} not found")
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continue
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if not mat_prim.IsValid():
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print(f" SKIP: material {mat_path} not found")
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continue
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mat = UsdShade.Material(mat_prim)
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UsdShade.MaterialBindingAPI.Apply(mesh_prim)
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UsdShade.MaterialBindingAPI(mesh_prim).Bind(mat)
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print(f" Bound {mesh_path} -> {mat_path}")
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stage.GetRootLayer().Save()
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print(f"\nSaved: {USD_PATH}")
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if __name__ == "__main__":
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fix()
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