File size: 7,890 Bytes
da6a6c0 | 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 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 | """Export final GLB transforms and provenance-aware physics inputs.
Friction values are explicit language-model priors, not fitted measurements.
Missing/unregistered colliders remain disabled; this script does not invent them.
"""
import argparse
import json
from pathlib import Path
import re
import numpy as np
import trimesh
import yaml
from package_trajectories import digest, write_json
def read(path):
return json.loads(path.read_text()) if path.exists() else {}
def friction_prior(name):
text = name.lower()
if any(w in text for w in ('cloth', 'towel', 'fabric', 'sponge', 'rubber')):
return dict(static=0.8, dynamic=0.6, assumed_material='soft_or_rubber_like')
if any(w in text for w in ('glass', 'metal', 'steel', 'pan', 'pot', 'spoon')):
return dict(static=0.4, dynamic=0.3, assumed_material='smooth_rigid')
return dict(static=0.6, dynamic=0.5, assumed_material='unspecified_rigid_surface')
def world_geometry(scene, node):
mat, geom = scene.graph[node]
mesh = scene.geometry[geom]
return mesh, trimesh.transform_points(mesh.vertices, mat), mat
def fit_collision_frame(mesh_path, target):
source = trimesh.load(mesh_path, force='scene', process=False)
vertices = np.concatenate([world_geometry(source, n)[1] for n in source.graph.nodes_geometry])
if vertices.shape != target.shape:
return None, 'vertex_count_mismatch'
select = np.linspace(0, len(vertices) - 1, min(len(vertices), 10000), dtype=int)
a = np.column_stack([vertices[select], np.ones(len(select))])
coeff, _, rank, _ = np.linalg.lstsq(a, target[select], rcond=None)
if rank < 4:
return None, 'rank_deficient_correspondence'
matrix = np.eye(4)
matrix[:3] = coeff.T
error = float(np.linalg.norm(trimesh.transform_points(vertices, matrix) - target, axis=1).max())
if error > 2e-5:
return None, f'vertex_correspondence_error_{error:.6g}'
return matrix.tolist(), dict(max_vertex_error_scene_units=error, method='same_index_affine_fit_to_final_glb')
def export(scene):
glb = scene / 'fully_refined_foreground.glb'
meshes = trimesh.load(glb, force='scene', process=False)
metadata = {int(o['id']): o for o in read(scene / 'sam3d/object_metadata.json').get('objects', [])}
recovered = read(scene / 'physics/colliders/manifest.json').get('objects', {})
objects = []
for node in meshes.graph.nodes_geometry:
match = re.fullmatch(r'(?:obj|object)_(\d+)(?:_geometry_\d+)?', node)
oid = int(match[1]) if match else None
meta = metadata.get(oid, {})
name = meta.get('name', node)
mesh, target, mat = world_geometry(meshes, node)
obj_dir = scene / 'refinement/sf_real2sim/results' / f'obj_{oid}'
parts = sorted((obj_dir / 'collision').glob('collision_part_*.glb'))
mesh_path = obj_dir / 'mesh_scaled.glb'
collision_transform, evidence = (None, 'no_retained_collision_input')
if parts and mesh_path.is_file():
collision_transform, evidence = fit_collision_frame(mesh_path, target)
retained_record = recovered.get(node)
if retained_record:
assert retained_record['foreground_sha256'] == digest(glb), 'Recovered collider refers to changed foreground'
artifacts = retained_record['artifacts']
mesh_path = scene / artifacts['mesh_scaled.glb']['path']
parts = [scene / v['path'] for k, v in sorted(artifacts.items()) if k.startswith('collision_part_')]
assert all(digest(scene / v['path']) == v['sha256'] for v in artifacts.values()), 'Retained collider checksum mismatch'
collision_transform, evidence = fit_collision_frame(mesh_path, target)
assert collision_transform is not None, 'Retained collider registration no longer valid'
prior = friction_prior(name)
prior.update(provenance='language_model_material_class_prior', measured=False, optimized=False,
confidence='low', combination_rule='average',
caveat='Pair-dependent coefficient; validate on contacts before dynamic tasks.')
objects.append(dict(id=oid, name=name, node=node,
visual=dict(path='fully_refined_foreground.glb', geometry=meshes.graph[node][1],
transform_world_from_node=mat.tolist(), vertices=len(mesh.vertices),
world_bounds=np.stack([target.min(axis=0), target.max(axis=0)]).tolist()),
support_parent_id=meta.get('support_parent_id'), support_relation=meta.get('support_relation'),
collision=dict(parts=[str(p.relative_to(scene)) for p in parts],
input_mesh=str(mesh_path.relative_to(scene)) if mesh_path.is_file() else None,
transform_world_from_collision=collision_transform,
registration_evidence=evidence,
load_validated=False, cavity_validated=False,
enabled_for_replay=False),
friction=prior, restitution=dict(value=0.0, provenance='conservative_replay_prior'),
mass_kg=None, mass_provenance='not_measured',
dynamic_enabled=False))
native = read(scene / 'refinement/status.json')
physics = dict(format='droid_sim_physics_v1', scene=scene.name,
geometry_authority='fully_refined_foreground.glb', foreground_sha256=digest(glb),
units=dict(scene_length='reconstruction_units', meters_per_scene_unit=None,
metric_scale_verified=False),
gravity=dict(vector_si_m_s2=[0.0, 0.0, -9.81], frame='gravity_aligned_scene',
provenance='earth_gravity_default_not_fitted', enabled=False,
enable_condition='Establish metric scale and validate colliders before dynamic replay'),
camera_contract='render/scene.json' if (scene / 'render/scene.json').exists() else None,
trajectory_manifest='trajectory/manifest.json',
validation=dict(visual_review='accepted_by_user', physics_revalidated=False,
native_status=native),
metadata_ids_not_in_final_glb=sorted(set(metadata) - {o['id'] for o in objects}), objects=objects)
(scene / 'parameters.yaml').write_text(yaml.safe_dump(physics, sort_keys=False, allow_unicode=True))
return dict(scene=scene.name, final_objects=len(objects),
collider_objects_retained=sum(bool(o['collision']['parts']) for o in objects),
collider_objects_registered=sum(o['collision']['transform_world_from_collision'] is not None for o in objects),
metadata_ids_not_in_final_glb=physics['metadata_ids_not_in_final_glb'],
physics_validated=False)
def main():
p = argparse.ArgumentParser(description=__doc__)
p.add_argument('--dataset', type=Path, default=Path(__file__).resolve().parents[2] / 'batch_1st_scene')
p.add_argument('--report', type=Path, required=True)
args = p.parse_args()
rows = []
for scene in sorted(args.dataset.iterdir()):
if not scene.is_dir() or not scene.name[:4].isdigit():
continue
try:
row = export(scene)
except Exception as e:
row = dict(scene=scene.name, error=f'{type(e).__name__}: {e}')
rows.append(row)
print(json.dumps(row), flush=True)
args.report.parent.mkdir(parents=True, exist_ok=True)
write_json(args.report, dict(total=len(rows), scenes=rows))
if __name__ == '__main__':
main()
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