| |
| """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: |
| |
| |
| |
| 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() |
|
|
