#!/usr/bin/env python3 # Copyright (c) 2023-2026, AgiBot Inc. All Rights Reserved. # Author: Genie Sim Team # License: Mozilla Public License Version 2.0 """ list_usd_prims.py Walk through ./assets, read object_parameters.json, open the referenced USD file and list every prim's full path and name. """ import os import sys from pathlib import Path import numpy as np try: from pxr import Usd, UsdGeom, UsdPhysics, Gf, Sdf, Tf except ImportError: sys.exit("❌ Missing pxr.Usd. Install OpenUSD: pip install usd-core") from geniesim_assets import ASSETS_INDEX, ASSETS_PATH def compute_bbox_info(prim: Usd.Prim) -> Gf.Range3d: bbox_cache = UsdGeom.BBoxCache( Usd.TimeCode.Default(), [ UsdGeom.Tokens.default_, UsdGeom.Tokens.render, UsdGeom.Tokens.proxy, UsdGeom.Tokens.guide, ], # useExtentsHint=True, useExtentsHint=False, ) bbox_cache.Clear() # world_xform = bbox_cache.ComputeRelativeTransform( # prim, # prim whose bbox we want # stage.GetPseudoRoot() # relative to world # ) # UsdGeom.BBoxCache already gives a *world-space* Gf.BBox3d world_bbox = bbox_cache.ComputeWorldBound(prim) waligned_range = world_bbox.ComputeAlignedRange() woriented_box = world_bbox.GetBox() wmatrix = world_bbox.GetMatrix() wrot = Gf.Quatd(wmatrix.ExtractRotationQuat()) wcenter = waligned_range.GetMidpoint() wsize = waligned_range.GetSize() local_bbox = bbox_cache.ComputeLocalBound(prim) laligned_range = local_bbox.ComputeAlignedRange() lsize = laligned_range.GetSize() lcenter = laligned_range.GetMidpoint() def compute_true_bbox(parent_prim): bbox_cache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_], useExtentsHint=False) merged = None for p in Usd.PrimRange(parent_prim): if p.IsA(UsdGeom.Mesh): b = bbox_cache.ComputeWorldBound(p).ComputeAlignedRange() if merged is None: merged = Gf.Range3d(b.GetMin(), b.GetMax()) else: merged = merged.UnionWith(b) # ✅ correct method return merged bbox = compute_true_bbox(prim) return bbox.GetMidpoint(), bbox.GetSize(), Gf.Quatd(1, 0, 0, 0) ASSETS_PATH_OBJ = ASSETS_PATH / "objects" def load_scene(scene_path: str) -> Usd.Stage: abs_scene_path = os.path.join(ASSETS_PATH, scene_path) if scene_path and os.path.exists(abs_scene_path): print(f"Loading scene file: {abs_scene_path}") # usd_context = Usd.Stage.CreateNew("s.usda") usd_context = Usd.Stage.Open(abs_scene_path) # , load=Usd.Stage.LoadNone print("Scene load complete") else: print(f"Scene file not found: {abs_scene_path}; creating new empty stage") # usd_context = Usd.Stage.CreateInMemory() usd_context = Usd.Stage.CreateNew(scene_path) return usd_context def check_item(object_id, info): usda_url = str(ASSETS_PATH / info["url"]) thumnail_url = usda_url.replace("Aligned.usda", "recorder.usda") if os.path.exists(thumnail_url): os.remove(thumnail_url) stage = load_scene(thumnail_url) # Set up units and stage UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z) stage.SetMetadata(UsdGeom.Tokens.metersPerUnit, 1.0) # Root /World xform0 = UsdGeom.Xform.Define(stage, Sdf.Path("/World")) UsdGeom.Xformable(xform0.GetPrim()).AddOrientOp().Set(Gf.Quatf(1, 0, 0, 0)) stage.SetDefaultPrim(stage.GetPrimAtPath("/World")) # Object prim xform = UsdGeom.Xform.Define(stage, Sdf.Path("/World/object")) xform.ClearXformOpOrder() prim = xform.GetPrim() prim.GetPayloads().AddPayload(usda_url) # prim.GetPayloads().AddPayload(str(usda_url)[:-1]) # Compute bounding box info bbox_center, bbox_size, bbox_rotq = compute_bbox_info(prim) # Compute camera distance based on object size max_dimension = max(bbox_size[0], bbox_size[1], bbox_size[2]) if max_dimension < 0.5: camera_distance = max_dimension * 2.0 + 0.1 else: camera_distance = max_dimension * 2.0 camera_distance = float(camera_distance) # ensure scalar # Create 3 cameras at 45°, -45° pitch angles num_cameras = 2 pitch_angles = [45.0, -45.0] # degrees: top, horizontal, bottom rot = Gf.Matrix3d(bbox_rotq) camera_paths = [] camera_names = [] cam_idx = 0 for i in range(num_cameras): # Use fixed pitch angles: 45°, 0°, -45° pitch_deg = pitch_angles[i] # Yaw: keep at 0° (cameras in same vertical plane) yaw_deg = 0.0 yaw = np.radians(yaw_deg) pitch = np.radians(pitch_deg) # Spherical direction vector d = Gf.Vec3d( np.cos(pitch) * np.cos(yaw), np.cos(pitch) * np.sin(yaw), np.sin(pitch), ) world_dir = rot * d world_dir.Normalize() pos = bbox_center + world_dir * camera_distance # Define camera name = f"Camera{cam_idx+1}" camera_names.append(name) cam_idx += 1 cam_prim = UsdGeom.Camera.Define(stage, Sdf.Path(f"/World/{name}")) camera = UsdGeom.Camera(cam_prim) # Set FOV and clipping camera.CreateFocalLengthAttr(18.14756) # in mm (optional) camera.CreateHorizontalApertureAttr(15.290) # default in mm camera.CreateVerticalApertureAttr(15.290) # default in mm camera.CreateFStopAttr(0.0) # optional, for depth of field camera.CreateFocusDistanceAttr(camera_distance) # optional camera.CreateClippingRangeAttr().Set(Gf.Vec2f(0.05, 100.0)) camera.GetVisibilityAttr().Set(UsdGeom.Tokens.invisible) xf = UsdGeom.Xformable(cam_prim) # Build look-at matrix (camera always looks at bbox_center) forward = (bbox_center - pos).GetNormalized() z_axis = -forward up = Gf.Vec3d(0, 0, 1) x_axis = Gf.Cross(up, z_axis) if x_axis.GetLength() < 1e-4: up = Gf.Vec3d(0, 1, 0) x_axis = Gf.Cross(up, z_axis) x_axis = x_axis.GetNormalized() y_axis = Gf.Cross(z_axis, x_axis).GetNormalized() M = Gf.Matrix4d( x_axis[0], x_axis[1], x_axis[2], 0.0, y_axis[0], y_axis[1], y_axis[2], 0.0, z_axis[0], z_axis[1], z_axis[2], 0.0, pos[0], pos[1], pos[2], 1.0, ) xf.ClearXformOpOrder() xf.AddTransformOp().Set(M) camera_paths.append(str(cam_prim.GetPath())) stage.GetRootLayer().Save() def main(): for object_id in ASSETS_INDEX: info = ASSETS_INDEX[object_id] usd_filepath = info["url"] visualization_path = ASSETS_PATH / "extra" / "visualization" / object_id video_path = visualization_path / "video" / "merged.mp4" if os.path.exists(video_path): continue print(usd_filepath) check_item(object_id, info) if __name__ == "__main__": main()