[Question]: Black Screen during Evaluation: MP3D Dataset Setup (.glb vs .usd) and Directory Structure

[Leo24-m]

Question

Hi, I am trying to set up the environment and run the evaluation using h1_internvla_n1_async_cfg.py.
The simulator launches successfully (the log shows app ready and no crash occurs), but I am facing a black screen issue where the scene does not load at all.

1. Symptom (Video Attached) As shown in the video below, the viewport remains black after the simulation starts. (Please check the attached video: fps_0.mp4)

2. Potential Cause: File Format (.glb vs .usd) I suspect the issue might be related to the dataset format. Currently, my mp3d_n1 and mp3d_pe folders contain .glb files directly from the dataset.

• Question: Does InternNav support loading .glb files directly in Isaac Sim?
• Question: Or do I need to pre-convert these assets to .usd format? If so, is there a specific script or guide for this conversion?

3. Directory Structure For reference, this is my current directory structure. I renamed the unzipped scans folder to mp3d_ce to match the hierarchy.

.
├── Embodiments
│   ├── README.md
│   └── vln-pe
│   └── h1
├── sample_episodes
├── scene_data
│   ├── gradio_scene_assets.zip
│   ├── mp3d_ce.tar.gz
│   ├── mp3d_n1
│   │   ├── 17DRP5sb8fy
│   │   ├── 1LXtFkjw3qL
│   │   ├── ...
│   ├── mp3d_n1.tar.gz
│   ├── mp3d_pe
│   │   ├── 17DRP5sb8fy
│   │   ├── 1LXtFkjw3qL
│   │   ├── ...
│   ├── mp3d_pe.tar.gz
│   ├── n1_eval_scenes
│   │   ├── cluttered_easy.tar.gz
│   │   ├── cluttered_hard.tar.gz
│   │   ├── internscenes_commercial.tar.gz
│   │   ├── internscenes_home
│   │   ├── Materials.tar.gz
│   │   └── SkyTexture.tar.gz
│   ├── README.md
│   ├── scans
│   │   ├── 17DRP5sb8fy
│   │   ├── 1LXtFkjw3qL
│   │   ├── ...
│   └── scene_assets
├── vln_ce
│   ├── raw_data
│   │   ├── envdrop
│   │   ├── r2r
│   │   └── rxr
│   └── traj_data
│   ├── envdrop
│   ├── r2r
│   ├── r2r_v1-3
│   └── rxr
├── vln_n1
│   └── traj_data
└── vln_pe
├── raw_data
│   └── r2r
└── traj_data
└── r2r

Could you please confirm if this structure and file format are correct?

When I didn't covert glb file
https://github.com/user-attachments/assets/949d4883-f741-4903-bee7-afccc8d97f42

---

When I convert glb to usd
https://github.com/user-attachments/assets/397530a5-aea7-4c15-863f-3d2718702fcd

---

Thanks for your help!

[kew6688]

#171 this issue may help

Hi — thanks for the detailed report (and the video). From what you described, the black viewport is very likely because the scene assets aren’t in the format/path that Isaac Sim + our pipeline expects.

Isaac sim couldn't load glb files directly, it need to convert to usd to use. Please refer to #208 for explaination.

the directory structure seems incorrect, please add a folder this way INTERNNAV/data/scene_data/mp3d_ce/mp3d/1LXtFkjw3qL.../