Refactor NuRec renderer utilities

compass/residual_rl/residual_ppo_trainer.py

@@ -54,7 +54,8 @@ def __init__(self,
                  debug_viz=False,
                  max_debug_images=2,
                  debug_image_interval=10,
-                 debug_image_step=0):
+                 debug_image_step=0,
+                 save_debug_viewport_images=False):
         # Prepare log directory. exist_ok=True avoids a TOCTOU race when several
         # torchrun ranks check + create concurrently.
         os.makedirs(output_dir, exist_ok=True)
@@ -128,6 +129,7 @@ def __init__(self,
         # Save one rollout step every `debug_image_interval` iterations.
         self.debug_image_interval = debug_image_interval
         self.debug_image_step = debug_image_step
+        self.save_debug_viewport_images = save_debug_viewport_images
 
         self.env.reset()
 
@@ -583,9 +585,9 @@ def _upload_video(self, iteration):
         # Video generation can be slower than this function call, so add one iteration
         # delay for video upload.
         target_iteration = iteration - 1
-        target_video_path = os.path.join(
-            self.output_dir, 'videos',
-            f'rl-video-step-{target_iteration*self.num_steps_per_env}.mp4')
+        video_step = target_iteration * self.num_steps_per_env
+        target_video_path = os.path.join(self.output_dir, 'videos', 'robot_camera',
+                                         f'rl-video-step-{video_step}.mp4')
         print(target_video_path)
         if os.path.exists(target_video_path):
             self.logger.log_video(name="episode_video",
@@ -726,7 +728,8 @@ def _save_debug_images(self, obs_dict, iteration, step):
                                               image_path=grid_image_path,
                                               step=iteration)
 
-            self._save_debug_viewport_image(iteration, step)
+            if self.save_debug_viewport_images:
+                self._save_debug_viewport_image(iteration, step)
 
         except (KeyError, IOError, OSError, ValueError, RuntimeError, AttributeError) as e:
             print(f"Warning: Failed to save debug images: {e}")

compass/rl_env/exts/mobility_es/mobility_es/config/nurec_scenes.py

@@ -20,7 +20,6 @@
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg
 
-from compass.utils.nurec_utils import NUREC_SCENE_NAMES
 from mobility_es.config.environments import EnvSceneAssetCfg, OMAP_PATHS, USD_PATHS
 
 _USD_DIR = os.path.join(os.path.dirname(__file__), "../usd")
@@ -50,23 +49,37 @@ def _make_prim_leaf(scene_name: str) -> str:
         "omap_file": "occupancy_map_with_sim_objects.yaml",
     },
 }
-NUREC_SCENES = [
-    NurecScene(scene_name, _make_prim_leaf(scene_name), **NUREC_SCENE_OVERRIDES.get(scene_name, {}))
-    for scene_name in NUREC_SCENE_NAMES
-]
 
 
-def _make_nurec_scene_asset_cfg(scene: NurecScene, usd_file: str) -> EnvSceneAssetCfg:
+def _make_nurec_scene(scene_name: str, omap_file: str | None = None) -> NurecScene:
+    """Build NuRec scene metadata from a scene folder name."""
+    overrides = dict(NUREC_SCENE_OVERRIDES.get(scene_name, {}))
+    if omap_file is not None:
+        overrides["omap_file"] = omap_file
+    return NurecScene(scene_name, _make_prim_leaf(scene_name), **overrides)
+
+
+def make_nurec_scene_asset_cfg(scene_name: str,
+                               usd_file: str,
+                               omap_file: str | None = None) -> EnvSceneAssetCfg:
     """Build the shared :class:`EnvSceneAssetCfg` for a NuRec Real2Sim scene."""
+    scene = _make_nurec_scene(scene_name, omap_file)
     usd_dir = os.path.join(_USD_DIR, scene.folder)
+    usd_path = os.path.join(usd_dir, usd_file)
+    omap_path = os.path.join(usd_dir, scene.omap_file)
+    USD_PATHS[scene.prim_leaf] = usd_path
+    OMAP_PATHS[scene.prim_leaf] = {
+        "path": omap_path,
+        "origin_convention": scene.origin_convention,
+    }
     return EnvSceneAssetCfg(
         prim_path="{ENV_REGEX_NS}/" + scene.prim_leaf,
         init_state=AssetBaseCfg.InitialStateCfg(
             pos=(0, 0, 0.01),
             rot=(0.0, 0.0, 0.0, 1.0),
         ),
         spawn=sim_utils.UsdFileCfg(
-            usd_path=os.path.join(usd_dir, usd_file),
+            usd_path=usd_path,
             scale=(1.0, 1.0, 1.0),
             rigid_props=sim_utils.RigidBodyPropertiesCfg(
                 disable_gravity=None,
@@ -76,17 +89,3 @@ def _make_nurec_scene_asset_cfg(scene: NurecScene, usd_file: str) -> EnvSceneAss
         ),
         env_spacing=scene.env_spacing,
     )
-
-
-def make_nurec_scene_asset_cfg_map(usd_file: str) -> dict[str, EnvSceneAssetCfg]:
-    """Register NuRec paths and build scene configs keyed by ``--environment``."""
-    envs = {}
-    for scene in NUREC_SCENES:
-        usd_dir = os.path.join(_USD_DIR, scene.folder)
-        USD_PATHS[scene.prim_leaf] = os.path.join(usd_dir, usd_file)
-        OMAP_PATHS[scene.prim_leaf] = {
-            "path": os.path.join(usd_dir, scene.omap_file),
-            "origin_convention": scene.origin_convention,
-        }
-        envs[scene.folder] = _make_nurec_scene_asset_cfg(scene, usd_file)
-    return envs

compass/rl_env/exts/mobility_es/mobility_es/config/scene_assets.py

@@ -18,7 +18,6 @@
 from isaaclab.sensors import CameraCfg, TiledCameraCfg
 from isaaclab.sensors.camera.camera_isp import CameraISPMode
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab_physx.renderers import IsaacRtxRendererCfg, IsaacRtxRendererGlobalSettingsCfg
 
 # Terrain
 terrain = TerrainImporterCfg(
@@ -41,16 +40,6 @@
     width=512,
     data_types=["rgb", "depth"],
     isp_cfg=CameraISPMode.AUTO_ANY,
-    renderer_cfg=IsaacRtxRendererCfg(global_settings=IsaacRtxRendererGlobalSettingsCfg(
-        enable_dl_denoiser=True,
-        antialiasing_mode="DLSS",
-        carb_settings={
-            "/rtx/rtpt/gaussian/skipTonemapping/enabled": False,
-            "/rtx/rtpt/gaussian/accumulatedDepth/allHits/enabled": True,
-            "/rtx/rtpt/gaussian/accumulatedAlbedo/enabled": True,
-            "/rtx/rtpt/gaussian/maxGaussiansToAccumulate": 360,
-        },
-    )),
     spawn=sim_utils.PinholeCameraCfg(focal_length=10.0,
                                      focus_distance=400.0,
                                      horizontal_aperture=20.955,

compass/utils/logger.py

@@ -17,11 +17,14 @@
 """
 
 import os
+import re
 from typing import Dict, Any, Optional
 
 import wandb
 from tensorboardX import SummaryWriter
 
+_ARTIFACT_COMPONENT_PATTERN = re.compile(r"[^A-Za-z0-9_.-]+")
+
 
 class Logger:
     """
@@ -70,6 +73,16 @@ def __init__(self,
 
         print(f"Logger initialized with backend: {self.backend}")
 
+    @staticmethod
+    def _sanitize_artifact_component(value: str) -> str:
+        """Convert a run name into a W&B artifact-name-safe component."""
+        sanitized = _ARTIFACT_COMPONENT_PATTERN.sub("-", value).strip("._-")
+        return sanitized or "run"
+
+    def _run_scoped_artifact_name(self, name: str) -> str:
+        run_name = self._sanitize_artifact_component(self.experiment_name)
+        return f"{name}_{run_name}"
+
     def log_image(self, name: str, image_path: str, step: Optional[int] = None):
         """
         Log an image.
@@ -136,13 +149,14 @@ def log_artifact(self,
             type: Type of the artifact
             description: Description of the artifact
         """
+        artifact_name = self._run_scoped_artifact_name(name)
         if self.backend == "wandb":
-            artifact = wandb.Artifact(name=name, type=type, description=description)
+            artifact = wandb.Artifact(name=artifact_name, type=type, description=description)
             artifact.add_file(artifact_path)
             wandb.log_artifact(artifact)
         else:
             # TensorBoard doesn't support artifacts directly
-            print(f"Artifacts not supported in TensorBoard. Artifact '{name}' not logged.")
+            print(f"Artifacts not supported in TensorBoard. Artifact '{artifact_name}' not logged.")
 
     def log_config(self, config: Dict[str, Any]):
         """