| """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 |
| |
| 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) |
| |
| |
| |
| |
| 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) |
|
|
