File size: 2,308 Bytes
d22369f | 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 | """Inspect USD asset dimensions using usd-core (no Isaac Lab needed).
Usage:
uv run --with usd-core python scripts/inspect_assets.py
"""
from pathlib import Path
from pxr import Usd, UsdGeom
REPO_ROOT = Path(__file__).resolve().parents[1]
ASSETS = REPO_ROOT / "assets" / "toy_sorting"
FILES = {
"table": ASSETS / "Table049/Table049.usd",
"tray": ASSETS / "InteractiveAsset/SM_P_Flavour_02/Collected_SM_P_Flavour_02/Props/SM_P_Tray_01.usd",
"box": ASSETS / "Kitchen_Other/Kitchen_Box.usd",
"disk": ASSETS / "Kitchen_Other/Kitchen_Disk001.usd",
}
for name, path in FILES.items():
if not path.exists():
print(f"{name}: NOT FOUND at {path}")
continue
stage = Usd.Stage.Open(str(path))
mpu = UsdGeom.GetStageMetersPerUnit(stage)
up_axis = UsdGeom.GetStageUpAxis(stage)
bbox_cache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_])
bbox = bbox_cache.ComputeWorldBound(stage.GetPseudoRoot())
rng = bbox.GetRange()
mn, mx = rng.GetMin(), rng.GetMax()
size = (mx[0]-mn[0], mx[1]-mn[1], mx[2]-mn[2])
# Isaac Sim is Z-up. If asset is Y-up, Isaac converts Y→Z (rotates -90° around X).
# After conversion: asset_Y becomes world_Z (height), asset_Z becomes world_-Y.
if up_axis == UsdGeom.Tokens.y:
up_idx, up_label = 1, "Y (will be converted to Z by Isaac Sim)"
else:
up_idx, up_label = 2, "Z (matches Isaac Sim, no conversion needed)"
height_in_usd = size[up_idx]
surface_in_usd = mx[up_idx] # top of the bounding box in the up direction
print(f"\n=== {name} ===")
print(f" upAxis : {up_axis} → {up_label}")
print(f" metersPerUnit : {mpu}")
print(f" bbox min : ({mn[0]:.3f}, {mn[1]:.3f}, {mn[2]:.3f})")
print(f" bbox max : ({mx[0]:.3f}, {mx[1]:.3f}, {mx[2]:.3f})")
print(f" size (x,y,z) : ({size[0]:.3f}, {size[1]:.3f}, {size[2]:.3f})")
print(f" HEIGHT axis : {'Y' if up_idx==1 else 'Z'} = {height_in_usd:.3f} USD units")
print(f" surface (top) : {surface_in_usd:.3f} USD units")
print(f" => at scale=1.0: surface at world_Z = {surface_in_usd * mpu:.4f} m")
print(f" => REAL size (W x D x H): {size[0]*mpu:.3f} x {size[2 if up_idx==1 else 1]*mpu:.3f} x {height_in_usd*mpu:.3f} m")
|