File size: 2,749 Bytes
327ef01 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | #!/usr/bin/env python3
"""Batch export scenesmith outputs -> self-contained MuJoCo scene dirs.
Mirrors export_full.py (house_state build + export_scene_to_mujoco.py) for
every scene that batch generation produced. Runs inside the scenesmith docker
image so pydrake/mujoco/trimesh are available.
Usage (on server, scenesmith conda env):
python export_batch.py # all scenes in batch_logs
python export_batch.py <scene_000_path> <name> # single scene
"""
import json
import subprocess
import sys
from pathlib import Path
REPO = Path("/home/zhanghao/scene/scenesmith_full")
LOG_DIR = Path("/home/zhanghao/scene/batch_logs")
def export_one(scene_dir: Path, name: str) -> str:
# The scene generator already wrote scene_000/combined_house/house_state.json
# with all asset paths relative to scene_000 - pass scene_000 as the scene
# path so every reference (SDF, floor gltf, furniture assets) resolves.
scene_dir = Path(scene_dir)
if not scene_dir.exists():
return "dir-missing"
s000 = scene_dir / "scene_000"
if not (s000 / "combined_house" / "house_state.json").exists():
return "no-house-state"
out_name = f"mujoco_scene_{name}"
rel = s000.relative_to(REPO / "outputs")
cmd = [
"docker", "run", "--rm", "--network", "host",
"-v", f"{REPO}:/app",
"scenesmith:latest",
"python", "scripts/export_scene_to_mujoco.py",
f"/app/outputs/{rel}", "--output", f"/app/outputs/{out_name}",
]
print(f"[{name}] exporting scene_000 -> outputs/{out_name} ...")
proc = subprocess.run(cmd, capture_output=True, text=True, timeout=2400)
combined_out = proc.stdout + proc.stderr
out_dir = REPO / "outputs" / out_name
ok = (out_dir / "scene.xml").exists() and (out_dir / "meshes").is_dir()
if not ok:
print(combined_out[-1800:])
return "OK" if ok else f"FAIL rc={proc.returncode}"
def main():
if len(sys.argv) >= 3:
print(f"[{sys.argv[2]}] -> {export_one(Path(sys.argv[1]), sys.argv[2])}")
return
names = sorted(p.stem for p in LOG_DIR.glob("home_*.dir"))
print(f"{len(names)} scenes from batch_logs: {names}")
results = {}
for name in names:
dirfile = LOG_DIR / f"{name}.dir"
scene_dir = Path(dirfile.read_text().strip())
if not scene_dir.exists() or "FAILED" in dirfile.read_text():
results[name] = "skipped(failed)"
print(f"[{name}] -> {results[name]}")
continue
results[name] = export_one(scene_dir, name)
print(f"[{name}] -> {results[name]}")
print("\n=== SUMMARY ===")
for n, r in results.items():
print(f" {n}: {r}")
if __name__ == "__main__":
main()
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