| |
| |
| |
|
|
| """Author the per-state machine USDs the scene loads: ``data/assets/<machine>/usd/model_*_v0<suffix>.usda``. |
| |
| Until 2026-10-21 ``dishsim.machine`` called ``usd_prep`` at import and authored these on demand; now they ship in the |
| asset dataset and this script (Kit-free, pxr from ``run_py.sh``) is the only writer. Each file bakes in the rack |
| geometry (``rack_gen`` from ``config.RACK_GEN``), the door clamp and the state's rack drive targets, and carries a |
| stamp of all three; an existing file whose stamp matches is left untouched. ``artvip_compact`` derives from the |
| ArtVIP originals in ``../../artvip_dishwasher_2/usd`` (``fetch_artvip.py`` there) and writes next to them. |
| |
| code/util/run_py.sh data/assets/bosch800/source/export_usd.py --machine bosch800 --states placement both_in |
| code/util/run_py.sh data/assets/bosch800/source/export_usd.py --machine artvip_compact # every cached state |
| """ |
|
|
| import argparse |
| import os |
| import sys |
|
|
| REPO = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))) |
| sys.path.insert(0, os.path.join(REPO, "code", "src")) |
|
|
| from dishsim import config |
|
|
| import usd_prep |
|
|
|
|
| def export(machine: str, state: str) -> str: |
| config.apply_machine(machine) |
| config.apply_scenario(state) |
| kw = dict(door_open_deg=config.DOOR_OPEN_DEG, door_band_deg=config.DOOR_BAND_DEG, |
| rack_targets=config.RACK_JOINT_TARGETS, suffix="" if state == "both_out" else f"_{state}") |
| if machine == "bosch800": |
| return usd_prep.make_bosch800_usd(**kw) |
| src = os.path.join(config.machine_asset_dir(machine), "usd", "model_dishwasher_2.usda") |
| return usd_prep.make_dishwasher_v0_usd(src, **kw) |
|
|
|
|
| def main() -> None: |
| parser = argparse.ArgumentParser(description="Author the per-state machine USDs.") |
| parser.add_argument("--machine", choices=sorted(config.MACHINE_ASSET_DIRS), default="bosch800") |
| parser.add_argument("--states", nargs="*", default=None, |
| help="rack states (default: every state with a cache under <machine>/cache/)") |
| args = parser.parse_args() |
| cache = os.path.join(config.machine_asset_dir(args.machine), "cache") |
| states = args.states or sorted(d for d in os.listdir(cache) if d != "coacd") |
| for state in states: |
| print(f"[INFO] {args.machine} / {state}: {export(args.machine, state)}") |
| print(f"[RESULT] PASS {len(states)} machine USDs") |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
