Bug when rendering the home scenes

[MiangChen]

Ubuntu 20.04
IsaacSim 4.2.0

The table_scene.usd can be rendered properly:

python toolkits/grscenes_scripts/play_scene.py -f /home/ubuntu/PycharmProjects/GRUtopia/grutopia/assets/scenes/demo_scenes/franka_mocap_teleop/table_scene.usd

However, when I try the scene in the commercial and home scenes, there is nothing:

 python toolkits/grscenes_scripts/play_scene.py -f /home/ubuntu/PycharmProjects/GRUtopia/grutopia/assets/scenes/GRScenes-100/home_scenes/scenes/MV7J6NIKTKJZ2AABAAAAADA8_usd/start_result_raw.usd

and the error occurs:

2025-03-09 14:33:20 [7,087ms] [Error] [omni.usd] USD_MDL: in LoadModule at line 247 of ../../source/plugins/usdMdl/neuray.cpp -- 'rtx::neuraylib::MdlModuleId' for 'Materials/DayMaterial.mdl' is Invalid

2025-03-09 14:33:20 [7,087ms] [Error] [omni.usd] USD_MDL: in GetSdrFromDiscoveryResult at line 178 of ../../source/plugins/usdMdl/moduleRegistry.cpp -- Module: 'Materials/DayMaterial.mdl' with version '1' not found in 'MdlModuleRegistry::ModuleDataMap'.

2025-03-09 14:33:20 [7,087ms] [Error] [omni.hydra] Failed to create MDL shade node for prim '/Root/Looks/DayMaterial/DayMaterial'. Empty identifier: ''         and/or subIdentifier: ''

[MiangChen]

I have try the method 2 in #30 (comment)

from pxr import Usd

stage = Usd.Stage.Open("/home/ubuntu/PycharmProjects/GRUtopia/grutopia/assets/scenes/GRScenes-100/home_scenes/scenes/MV7J6NIKTKJZ2AABAAAAADA8_usd/start_result_raw.usd")
hdr_prim = stage.GetPrimAtPath("/Root/__default_setting/HDR_Sphere")
hdr_prim.SetActive(False)
stage.GetRootLayer().Save()

the error disappers, but there is still nothing:

[HanqingWangAI]

Hi @MiangChen, the black screen might be caused by the poor pose of the perspective camera. You may expand the stage panel on the right, select an object, and then press the F key to align the current camera to that object. Thus you can check whether the scene is correctly loaded.

[MiangChen]

Hi @MiangChen, the black screen might be caused by the poor pose of the perspective camera. You may expand the stage panel on the right, select an object, and then press the F key to align the current camera to that object. Thus you can check whether the scene is correctly loaded.

hi, I try this, and I can see a coordinate system indicating the position of that thing, but they are not rendered properly.

2025.03.10.08.41.22.webm

[HanqingWangAI]

It seems that the references are broken. Can you check the existence of the referred usd files? You can find the reference path in the Property panel.

[MiangChen]

thanks, I check the reference path, and there is some error.
the origin reference path is models/layout/articulated……, so the usd and mdl files cann't be found.

and I change the true usd path to ../../models/layout/articulated…… manually, then the cabinet can be found and rendered.

the content in the modesl is ../../models and in the Materials is ../../Materials:

but this files doesn't work for some reason, so the scenes are not rendered properly.
I will try to find the reason today.

[HanqingWangAI]

Hi @MiangChen , thank you for the details about the issue. It is caused due to the broken symlinks of the Materials and models folder. You can fix this by rebuilding the symlinks. Note that the simlinks are not only under the individual scene folders, there are also simlinks pointing to Materials folder for each model instance under models/{type}/{category}/{instance} for proper scene loading and rendering.

[HanqingWangAI]

Hi @tianshihan818 , can you provide a script for automatic symlink fixing?

[MiangChen]

Hi @MiangChen , thank you for the details about the issue. It is caused due to the broken symlinks of the Materials and models folder. You can fix this by rebuilding the symlinks. Note that the simlinks are not only under the individual scene folders, there are also simlinks pointing to Materials folder for each model instance under models/{type}/{category}/{instance} for proper scene loading and rendering.

Hi @tianshihan818 , can you provide a script for automatic symlink fixing?

tks, looking forward to the script for repair. I can help test the effect later if necessary.

[tianshihan818]

@MiangChen Hello! Thanks for your feedback! You could try this script to fix/recreate the symlinks inside the scenes folder:

import os


def create_symlinks(scenes_folder):
    if not os.path.exists(scenes_folder):
        raise FileNotFoundError(f"scenes_folder {scenes_folder} not found!")
    
    models_dir = os.path.abspath(os.path.join(scenes_folder, 'models'))
    scenes_dir = os.path.abspath(os.path.join(scenes_folder, 'scenes'))
    materials_dir = os.path.abspath(os.path.join(scenes_folder, 'Materials'))

    # create "Materials" symlink in models_dir
    for root, _, files in os.walk(models_dir):
        for _ in files:
            link_path = os.path.join(root, "Materials")
            materials_dir_relpath = os.path.relpath(materials_dir, root)
            if not os.path.islink(link_path):
                os.symlink(materials_dir_relpath, link_path)
    
    # create "Materials" and "models" symlink in scenes_dir
    for root, _, files in os.walk(scenes_dir):
        for _ in files:
            materials_link_path = os.path.join(root, "Materials")
            models_link_path = os.path.join(root, "models")
            materials_dir_relpath = os.path.relpath(materials_dir, root)
            models_dir_relpath = os.path.relpath(models_dir, root)
            if not os.path.islink(materials_link_path):
                os.symlink(materials_dir_relpath, materials_link_path)
            if not os.path.islink(models_link_path):
                os.symlink(models_dir_relpath, models_link_path)


SCENES_FOLDER = 'commercial_scenes'
create_symlinks(SCENES_FOLDER)

[m-muaz]

Hi @HanqingWangAI, I am facing somewhat similar issue. When I try to play the table scene given in demo franka scene dir via the command

python toolkits/grscenes_scripts/preprocess.py -f /root/Documents/grutopia_assets/scenes/demo_scenes/franka_mocap_teleop/table_scene.usd -i

Then streaming client does not display anything and the logs I see on terminal are the following:

I also tried to load the usd file through this method (#41 (comment)) but then I get this error:

Is there anything I am doing wrong here?@MiangChen can you guide me as how you are able to play the scene? Any help will be appreciated!

(P.S: I downloaded the assets at a different directory but I ran the python grutopia/set_assets.py to set the assets location and I also added the link to scene materials in the bashrc file (pic attached below)

[MiangChen]

hi, @m-muaz I try your command in my terminal, and the error is No preprocess method specified!

python toolkits/grscenes_scripts/preprocess.py -f /home/ubuntu/PycharmProjects/GRUtopia/grutopia/assets/scenes/demo_scenes/franka_mocap_teleop/table_scene.usd` 

I try to add a parameter -i , and there is still error:

So I try another command

python toolkits/grscenes_scripts/play_scene.py -f /home/ubuntu/PycharmProjects/GRUtopia/grutopia/assets/scenes/demo_scenes/franka_mocap_teleop/table_scene.usd

Although there may be some red error saying "No space left on device", don't worry, just wait, and then you can see the demo scene.

[MiangChen]

@MiangChen Hello! Thanks for your feedback! You could try this script to fix/recreate the symlinks inside the scenes folder:

import os


def create_symlinks(scenes_folder):
    if not os.path.exists(scenes_folder):
        raise FileNotFoundError(f"scenes_folder {scenes_folder} not found!")
    
    models_dir = os.path.abspath(os.path.join(scenes_folder, 'models'))
    scenes_dir = os.path.abspath(os.path.join(scenes_folder, 'scenes'))
    materials_dir = os.path.abspath(os.path.join(scenes_folder, 'Materials'))

    # create "Materials" symlink in models_dir
    for root, _, files in os.walk(models_dir):
        for _ in files:
            link_path = os.path.join(root, "Materials")
            materials_dir_relpath = os.path.relpath(materials_dir, root)
            if not os.path.islink(link_path):
                os.symlink(materials_dir_relpath, link_path)
    
    # create "Materials" and "models" symlink in scenes_dir
    for root, _, files in os.walk(scenes_dir):
        for _ in files:
            materials_link_path = os.path.join(root, "Materials")
            models_link_path = os.path.join(root, "models")
            materials_dir_relpath = os.path.relpath(materials_dir, root)
            models_dir_relpath = os.path.relpath(models_dir, root)
            if not os.path.islink(materials_link_path):
                os.symlink(materials_dir_relpath, materials_link_path)
            if not os.path.islink(models_link_path):
                os.symlink(models_dir_relpath, models_link_path)

SCENES_FOLDER = 'commercial_scenes'
create_symlinks(SCENES_FOLDER)

Hi, @tianshihan818 @HanqingWangAI , I have improve the code to deal with several cases.
case1: the "Materials" and "models" are files, they should be removed first.

case2: "Materials" amd “models" are true folders, nothing to do

Then the code is:

import os


def create_symlinks(scenes_folder):
    if not os.path.exists(scenes_folder):
        raise FileNotFoundError(f"scenes_folder {scenes_folder} not found!")

    models_dir = os.path.abspath(os.path.join(scenes_folder, 'models'))
    scenes_dir = os.path.abspath(os.path.join(scenes_folder, 'scenes'))
    materials_dir = os.path.abspath(os.path.join(scenes_folder, 'Materials'))
	
    def add_link_according_to_different_cases(link_type:str, link_path, dir_relpath):
        if not os.path.islink(link_path):
            if os.path.isfile(link_path):  # in case of when “Materials" or "model" is a file
                os.remove(link_path)
                os.symlink(dir_relpath, link_path)
            elif os.path.isdir(link_path): # in case of "Materials" or "model" is the true Material/model folder
                pass
            else:  # in case of some files are missing "Materials"/"model" file, or other irrelevant folder . You need to check manually according to the log. 
                print(f"No **{link_type}** file or link in {root}, please check manually")

    
    # create "Materials" symlink in models_dir
    for root, _, files in os.walk(models_dir):
        for _ in files:
            materials_link_path = os.path.join(root, "Materials")
            materials_dir_relpath = os.path.relpath(materials_dir, root)
            add_link_according_to_different_cases(link_type="Materials", link_path=materials_link_path, dir_relpath=materials_dir_relpath)


    # create "Materials" and "models" symlink in scenes_dir
    for root, _, files in os.walk(scenes_dir):
        for _ in files:
            materials_link_path = os.path.join(root, "Materials")
            materials_dir_relpath = os.path.relpath(materials_dir, root)
            add_link_according_to_different_cases(link_type="Materials", link_path=materials_link_path, dir_relpath=materials_dir_relpath)

            models_link_path = os.path.join(root, "models")
            models_dir_relpath = os.path.relpath(models_dir, root)
            add_link_according_to_different_cases(link_type="models", link_path=models_link_path, dir_relpath=models_dir_relpath)



if __name__ == '__main__':
    SCENES_FOLDER = '/home/ubuntu/PycharmProjects/GRUtopia/grutopia/assets/scenes/GRScenes-100/home_scenes'
    create_symlinks(SCENES_FOLDER)

finally the scene can be rendered properly: