File size: 4,939 Bytes
3ea69ef | 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 75 76 77 | """Render-only camera persistence fix and actual camera/light telemetry."""
from pathlib import Path
import json, os
_context={'frame':None,'chunk':-1}
_logged=set()
def setup(env):
from isaaclab.utils.math import convert_camera_frame_orientation_convention
path=Path(os.environ['PILOT_CAMERA_LOG'])
episodes=json.loads(os.environ['PILOT_RENDER_EPISODES'])
gen=Path(os.environ.get('PILOT_GEN_ROOT',str(Path(__file__).parent/'data_gen/pilot')))
episodes.sort(key=lambda e:(json.loads((gen/e/'meta.json').read_text())['steps'],str(gen/e)))
lengths=[json.loads((gen/e/'meta.json').read_text())['steps'] for e in episodes]
stream=path.open('x',buffering=1)
origins=env.iscene.env_origins.detach().cpu().tolist()
from pxr import UsdLux
light = UsdLux.LightAPI(env.sim.stage.GetPrimAtPath('/World/light'))
path.with_suffix('.grid.json').write_text(json.dumps({'num_envs':env.num_envs,'origins':origins,
'actual_light_intensity':float(light.GetIntensityAttr().Get()),
'pilot_parts_box_prim_present':[bool(env.sim.stage.GetPrimAtPath(f'/World/envs/env_{i}/PilotPartsBox').IsValid()) for i in range(env.num_envs)],
'episodes_in_render_order':episodes,'pose_source':'Isaac camera XformPrimView after forced update',
'world_quaternion':'wxyz, +X forward +Z up','ros_quaternion':'wxyz, +Z forward -Y up'},indent=2))
for name,cam in env.iscene.sensors.items():
if not hasattr(cam.cfg,'data_types') or 'rgb' not in cam.cfg.data_types:continue
# TiledCamera otherwise returns INITIALIZATION poses even as pixels move.
cam.cfg.update_latest_camera_pose=True
if '/front' in cam.cfg.prim_path:
original_set=cam.set_world_poses
def persistent_set(positions=None,orientations=None,env_ids=None,convention='ros',
_original=original_set,_cam=cam):
_original(positions,orientations,env_ids,convention)
# In this installed Fabric backend, the next sim tick overwrites
# a world-only camera edit from its nominal USD local transform.
# External cameras are direct children of untranslated/identity
# env frames except for the audited env-origin translation.
ids=slice(None) if env_ids is None else env_ids
local=positions-env.iscene.env_origins[ids] if positions is not None else None
gl=convert_camera_frame_orientation_convention(orientations,origin=convention,target='opengl') if orientations is not None else None
_cam._view.set_local_poses(local,gl,env_ids)
_cam._pilot_expected_position=positions.detach().clone()
if convention=='world':_cam._pilot_expected_quat_world=orientations.detach().clone()
cam.set_world_poses=persistent_set
original=cam.update
def update(*a,_original=original,_cam=cam,_name=name,**kw):
result=_original(*a,**kw)
if kw.get('force_recompute') and _context['frame'] is not None:
d=_cam.data
for slot in range(env.num_envs):
j=_context['chunk']*env.num_envs+slot
if j>=len(episodes) or _context['frame']>=lengths[j]:continue
key=(j,_context['frame'],_name)
if key in _logged:continue
row={'episode':episodes[j],'env_slot':slot,'env_origin':origins[slot],
'frame_index':_context['frame'],'camera':_name,
'pos_w':d.pos_w[slot].detach().cpu().tolist(),
'quat_w_world':d.quat_w_world[slot].detach().cpu().tolist(),
'quat_w_ros':d.quat_w_ros[slot].detach().cpu().tolist(),
'intrinsic_matrix':d.intrinsic_matrices[slot].detach().cpu().tolist(),
'size':[_cam.cfg.width,_cam.cfg.height],
'clipping_range':list(_cam.cfg.spawn.clipping_range)}
if hasattr(_cam,'_pilot_expected_position'):
error=float((d.pos_w[slot]-_cam._pilot_expected_position[slot]).norm())
if error>.0001:raise RuntimeError(f'Camera pose did not persist: {_name} {error}')
row['requested_pose_error_m']=error
if hasattr(_cam,'_pilot_expected_quat_world'):
qerror=1-abs(float((d.quat_w_world[slot]*_cam._pilot_expected_quat_world[slot]).sum()))
if qerror>.0001:raise RuntimeError(f'Camera rotation did not persist: {_name} {qerror}')
row['requested_rotation_dot_error']=qerror
stream.write(json.dumps(row)+'\n');_logged.add(key)
return result
cam.update=update
def per_frame(env,t):
if t==0:_context['chunk']+=1
_context['frame']=int(t)
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