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SIM1 rendering (USD → Blender → photorealistic data)

Turns replay output (npz/ + usd/ under a session folder) into blended scenes and, optionally, path-traced MP4s + LMDB for training.

Submodule: components/render/MeisterRender tracks the main branch of InternRobotics/SIM1MeisterRender (see .gitmodules at repo root).

Minimal run (Steps 1–3, CPU)

From the Sim1 repo root (after Installation and bash download_assets.sh):

conda activate sim1
python components/render/main.py --root_dir ./replay/<your_session>

Use the folder that contains npz/ and usd/ (e.g. replay/pipeline_output_0001).

Step 4 (GPU, MeisterRender)

1. Get MeisterRender (if components/render/MeisterRender is missing):

cd components/render
git clone https://github.com/InternRobotics/SIM1MeisterRender.git MeisterRender
cd ../..

Or from repo root: git submodule update --init --recursive (see .gitmodules).

2. Render (after Steps 1–3 produced blend_out/ etc.):

bash components/render/batch_step4.sh ./replay/<your_session> "Fold the shirt"

To run Step 4 inline with main.py, use --step4 (see python components/render/main.py --help).

Multi-GPU (optional)

bash components/render/main_parallel.sh ./replay/<your_session> <num_gpus>
# Step 4 in parallel:
bash components/render/batch_step4_parallel.sh ./replay/<your_session> "Fold the shirt" <num_gpus> 0

Logs: /tmp/sim1_worker_*.log, /tmp/sim1_step4_worker_*.log.

Assets

Robot URDF plus scene assets (HDRI, glTF tables/materials) are resolved from SIM1_ASSETS_ROOT (default <repo>/assets/). Step 3 uses random/{bg,table,mat}/ under that root by default — see scripts/sim1_asset_paths.py. Set SIM1_BG_ROOT, SIM1_TABLE_ROOT, or SIM1_MAT_ROOT only if you need non-default paths.

Pre-render filtering (optional)

Same as the main repo: scripts/filter_cloth_quality.py, and with replay randomization also scripts/filter_joint_unreachable.py. See Data Generation in the root README.

More options

python components/render/main.py --help

Examples: --shard_id / --num_shards, --step3 no_random, --language_instruction "...".