Fix OmniReset metadata bug

source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/events.py

@@ -1017,8 +1017,7 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv):
         # Load all datasets
         self.datasets = []
         num_states = []
-        rank = int(os.getenv("RANK", "0"))
-        download_dir = os.path.join(tempfile.gettempdir(), f"rank_{rank}")
+        download_dir = utils.get_temp_dir()
         for dataset_file in dataset_files:
             # Handle both local files and URLs
             local_file_path = retrieve_file_path(dataset_file, download_dir=download_dir)

source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/terminations.py

@@ -373,9 +373,6 @@ def __init__(self, cfg: TerminationTermCfg, env: ManagerBasedEnv):
         self.insertive_object_cfg = cfg.params.get("insertive_object_cfg")
         self.insertive_object = env.scene[self.insertive_object_cfg.name]
 
-        insertive_metadata = utils.read_metadata_from_usd_directory(self.insertive_object.cfg.spawn.usd_path)
-
-        self.insertive_target_mesh_path = insertive_metadata.get("target_mesh_path")
         self.enable_visualization = cfg.params.get("enable_visualization", False)
 
         # Initialize OBB computation cache and compute OBBs once
@@ -397,13 +394,7 @@ def __init__(self, cfg: TerminationTermCfg, env: ManagerBasedEnv):
     def _compute_object_obbs(self):
         """Compute OBB for insertive object and convert to body frame."""
         # Get prim path (use env 0 as template)
-        insertive_base_path = self.insertive_object.cfg.prim_path.replace(".*", "0", 1)
-
-        # Determine object prim path - use specific mesh if provided
-        if self.insertive_target_mesh_path is not None:
-            insertive_prim_path = f"{insertive_base_path}/{self.insertive_target_mesh_path}"
-        else:
-            insertive_prim_path = insertive_base_path
+        insertive_prim_path = self.insertive_object.cfg.prim_path.replace(".*", "0", 1)
 
         # Compute OBB in world frame using Isaac Sim's built-in functions
         insertive_centroid_world, insertive_axes_world, insertive_half_extents = bounds_utils.compute_obb(

source/uwlab_tasks/uwlab_tasks/manager_based/manipulation/reset_states/mdp/utils.py

@@ -304,15 +304,38 @@ def temporary_seed(seed: int, restore_numpy: bool = True, restore_python: bool =
             random.setstate(py_state)
 
 
+def get_temp_dir(rank: int | None = None) -> str:
+    """Get a user/job-specific temporary directory under /tmp/uwlab/.
+
+    Creates a directory structure that avoids conflicts between users and jobs:
+    /tmp/uwlab/{uid}/{job_id}/{rank}/
+
+    Args:
+        rank: Process rank (defaults to RANK env var or 0)
+
+    Returns:
+        Path to the temporary directory (created if it doesn't exist)
+    """
+    if rank is None:
+        rank = int(os.getenv("RANK", "0"))
+
+    uid = os.getuid()
+    job_id = os.getenv("SLURM_JOB_ID") or os.getenv("PBS_JOBID") or "local"
+
+    download_dir = os.path.join("/tmp", "uwlab", str(uid), str(job_id), f"rank_{rank}")
+    os.makedirs(download_dir, mode=0o700, exist_ok=True)
+
+    return download_dir
+
+
 def read_metadata_from_usd_directory(usd_path: str) -> dict:
     """Read metadata from metadata.yaml in the same directory as the USD file."""
     # Get the directory containing the USD file
     usd_dir = os.path.dirname(usd_path)
 
     # Look for metadata.yaml in the same directory
     metadata_path = os.path.join(usd_dir, "metadata.yaml")
-    rank = int(os.getenv("RANK", "0"))
-    download_dir = os.path.join(tempfile.gettempdir(), f"rank_{rank}")
+    download_dir = get_temp_dir()
     with open(retrieve_file_path(metadata_path, download_dir=download_dir)) as f:
         metadata_file = yaml.safe_load(f)