Mesh-to-USD Setup

Prepare the workflow and prove that the requested input mode is runnable. Work from reconstruction/; keep Isaac Sim, OpenUSD, CoACD, and FoundationPose dependencies inside their existing containers.

Act before asking

• Inspect the checkout, Python, Docker, GPU, disk, images, and supplied input immediately.
• Default to GPU 0 when the user has not constrained GPU use.
• Use modules/v2d_hoi_object_reconstruction/mesh_to_usd/tests/data/toy_airplane/einstar/output_aligned.glb for a non-destructive input check when no asset was supplied.
• Build only missing images. Add FoundationPose only for cross-mesh recorded support, not for a standalone mesh or an exact recorded mesh with poses.
• Do not ask about mass, friction, output paths, or drop-test tuning during setup; those belong to mesh-to-usd-run.
• Never accept the NVIDIA Isaac Sim EULA on the user's behalf. Existing ACCEPT_EULA=Y or an explicit user instruction is sufficient for a later generation or drop-test run.
• Ask only when credentials, EULA acceptance, missing external data, or another genuinely user-only action blocks progress.

Establish the checkout

REPO_ROOT="$(git rev-parse --show-toplevel)"
cd "$REPO_ROOT/reconstruction"
git status --short
python --version
docker version
nvidia-smi
df -h .

Treat modules/v2d_hoi_object_reconstruction/mesh_to_usd/README.md and the current CLI help as authoritative:

python modules/v2d_hoi_object_reconstruction/mesh_to_usd/build.py --help
python modules/v2d_hoi_object_reconstruction/mesh_to_usd/run_mesh_to_usd_workflow.py --help
python modules/v2d_hoi_object_reconstruction/mesh_to_usd/run_drop_test.py --help

Preserve unrelated local changes and existing results.

Determine the input contract

Choose the contract from the supplied paths without interviewing the user:

• Standalone mesh: one nonempty USD/USDA/USDC, OBJ, FBX, glTF/GLB, or STL asset. Its physical scale must already be correct.
• Exact exported sequence: object_mesh/output_aligned.glb, poses.npy, and ground_plane.json.
• Catalog or cross-mesh support: a target mesh beside output_symmetry.json, plus a sequence containing edex, per-camera RGB, depth and mask H5 sources, and ground_plane.json.
• Batch: catalog directories joined to exported sequences by exact object.id in hoi_metadata.yaml.

Fail on a missing required file. Do not silently substitute geometry-derived support for missing recording data.

Build only missing images

Normal generation plus validation uses:

v2d_hoi_mesh_to_usd
v2d_hoi_mesh_to_usd_validator

Inspect them with docker image inspect. Build both when either is missing:

python modules/v2d_hoi_object_reconstruction/mesh_to_usd/build.py

Use --target generator or --target validator only for a deliberately scoped repair. Use --dev at runtime only when validating local source changes.

Cross-mesh support additionally needs FoundationPose:

python modules/v2d_foundation_pose/docker/build.py
python modules/v2d_foundation_pose/docker/run_download_weights.py \
  --output_dir data/weights/foundationpose

Do not download FoundationPose weights for modes that do not invoke it.

Prove readiness

Before declaring setup complete, show PASS, FAIL, or BLOCKED for each applicable gate:

1. All host --help commands above succeed.

2. The selected input contract exists and every required file is nonempty.

3. v2d_hoi_mesh_to_usd and v2d_hoi_mesh_to_usd_validator exist.

4. GPU 0 is visible inside the generator image:

   docker run --rm --gpus '"device=0"' --entrypoint nvidia-smi \
     v2d_hoi_mesh_to_usd
   

5. Cross-mesh mode, when selected, has the FoundationPose image, populated weights, and complete per-camera inputs.

6. The user has explicitly accepted the EULA or will provide ACCEPT_EULA=Y before an Isaac Sim command. Treat this as a run gate, not a reason to skip other setup checks.

Continue with mesh-to-usd-run when the request also includes generation or a drop test. Do not stop after setup merely because the full simulation is long.