mesh-to-usd-setup

# 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 ```bash 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: ```bash 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: ```text v2d_hoi_mesh_to_usd v2d_hoi_mesh_to_usd_validator ``` Inspect them with `docker image inspect`. Build both when either is missing: ```bash 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: ```bash 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: ```bash 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.