File size: 3,761 Bytes
41aebeb | 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 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 | # Copyright (c) 2026, dishsim project.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Kit side: dump the settled scene's geometry into the collision-world cache.
Builds the locked statics scene, settles it, then writes per-rigid-body meshes (statics +
the active object's body-frame OBJ) + ``scene_state.json`` to ``data/assets/<machine>/cache/<state>/<object>/``. Runs with
``use_fabric=False`` so live USD prim transforms are trustworthy (the Fabric staleness trap).
Run with:
code/util/run_kit.sh data/assets/bosch800/source/extract_geometry.py --headless
"""
"""Launch Isaac Sim Simulator first."""
import argparse
import os
from isaaclab.app import AppLauncher
PROJECT_ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))) # data/assets/bosch800/source/<file>.py
parser = argparse.ArgumentParser(description="Dump the collision-world cache from the settled scene.")
parser.add_argument("--settle_steps", type=int, default=200)
parser.add_argument("--placement", type=str, default=None,
help="Named base placement (see config.BASE_PLACEMENTS); default: the machine's.")
parser.add_argument("--machine", type=str, default=None,
help="Machine name (see config.MACHINES); default: the v1 baseline.")
parser.add_argument("--object", type=str, default="mug", help="Object class (see config.OBJECTS).")
parser.add_argument("--scenario", type=str, default="both_out",
help="Rack-state scenario (see config.SCENARIOS).")
AppLauncher.add_app_launcher_args(parser)
args_cli = parser.parse_args()
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import sys
import isaaclab.sim as sim_utils
from isaaclab.scene import InteractiveScene
from isaaclab.sim import SimulationContext
sys.path.insert(0, os.path.join(PROJECT_ROOT, "code", "src"))
from dishsim import config # noqa: E402
# scenario BEFORE scene/machine imports — they bind rack targets + the derived USD at import
if args_cli.machine:
config.apply_machine(args_cli.machine) # first: it resets scenario + base placement
config.set_active_object(args_cli.object)
config.apply_scenario(args_cli.scenario)
if args_cli.placement:
config.apply_base_placement(args_cli.placement) # after machine/scenario — they reset it
import cache_dump as dgeom # noqa: E402 (this folder: dump_cache)
from dishsim.media import release_sim_for_close # noqa: E402
from dishsim import scene as dscene # noqa: E402
def main() -> None:
sim = SimulationContext(
sim_utils.SimulationCfg(dt=config.SIM_DT, device=args_cli.device, use_fabric=False)
)
scene = InteractiveScene(dscene.make_scene_cfg())
sim.reset()
dscene.write_default_states(scene)
dt = sim.get_physics_dt()
for _ in range(args_cli.settle_steps):
dscene.hold_targets(scene)
scene.write_data_to_sim()
sim.step()
scene.update(dt)
dscene.assert_frames(scene)
# the settled racks must sit at the scenario targets — also catches a stale derived USD
# whose baked drive targets fight the configured scenario
sr = dscene.statics_report(scene)
rack_err = max(sr["rack_lower_err_m"], sr["rack_upper_err_m"])
assert rack_err < 5e-3, f"racks off scenario targets by {rack_err * 1e3:.1f} mm: {sr}"
manifest_path = dgeom.dump_cache(scene, sim, cache_dir=config.scenario_cache_dir())
print(f"[INFO] scenario {config.SCENARIO_NAME}: rack_lower {sr['rack_lower_m']:+.3f} m, "
f"rack_upper {sr['rack_upper_m']:+.3f} m")
print(f"[RESULT] PASS ({manifest_path})")
if __name__ == "__main__":
main()
release_sim_for_close()
simulation_app.close()
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