droid2sim

Docker setup to render it headless or view it interactively in a browser.

Scene assets live on Hugging Face (Parkprogrammer/droid2sim); this repo holds the code and Docker setup to run them.

Reproduce

# 1. clone
git clone git@github.com:SNU-PI/droid2sim.git
cd droid2sim

# 2. download the scene into data/panclean/
huggingface-cli download Parkprogrammer/droid2sim --repo-type dataset \
  --include "scenes/panclean/*" \
  --local-dir /tmp/hf-droid2sim
mkdir -p data
mv /tmp/hf-droid2sim/scenes/panclean data/panclean

# 3. start Isaac Sim (pick a free GPU; opens WebRTC + fixes data/ perms)
./scripts/docker/launch.sh -g 0

The container mounts this repo at /work, so data/panclean is /work/data/panclean inside it regardless of where you cloned.

Render headless → PNG

docker exec -e SCENE_DIR=/work/data/panclean isim0-isaac-sim-1 \
  /isaac-sim/python.sh /work/scripts/docker_render/render_views.py \
  --view match --axis-convert --out kitchen.png
docker cp isim0-isaac-sim-1:/tmp/kitchen.png ./kitchen.png   # OUT_DIR defaults to /tmp

View interactively (browser)

Open http://<server-ip>:8210/ (port is 8210 + GPU). launch.sh loads the kitchen into the live GUI once the container is healthy (framed through the viewcam camera), so the browser shows the scene directly — no manual open.

Connect to the server IP directly — an SSH tunnel will not work (WebRTC media is UDP). To re-open the scene without restarting, run ./scripts/docker/open_scene.sh -g 0. Details and live-scripting in docs/interactive_gui.md.

Stop with ./scripts/docker/down.sh -g 0.

Layout

scripts/
├── docker/           launch.sh / down.sh / stream.sh   (per-GPU container control)
├── docker_render/    render_views / inspect_scene / measure_alignment / gui_send
├── glb_to_usd.py     glTF → USD conversion (NVIDIA omni.kit.asset_converter)
└── build_alchera_real.py   assemble a scene.usda placed in the robot frame
docker/               docker-compose.yml + web-viewer (WebRTC)
docs/
├── interactive_gui.md        browser GUI, live control, the teal-material gotcha
└── polaris_reproduction.md   earlier PolaRiS real-to-sim eval reproduction

Notes

• Source assets are Y-up, real scale (countertop ~1.1 m); the DROID robot frame is Z-up with the surface ~0.05 m from the base. render_views.py --axis-convert and build_alchera_real.py handle the conversion.
• If materials render teal/cyan, texture files are unreadable by the container user — launch.sh fixes this (chmod a+rX data/); see docs/interactive_gui.md.