Hello everyone,
I’m having trouble using the new Omniverse Kit Version 106.0.2 with Replicator 1.11.18. After executing my script for Domain Randomization the GPU Memory overloads. It increases 1GB steadily until it reaches more than the maximum of my GPU.
If I remember correctly, it started to happen after I switched from Omniverse Code to Kit and the newer Replicator Version. The only thing I changed in the code was chanig from the BasicWriter to the CocoWriter.
Any tips on solving this? Could my python code be the problem?
import omni.replicator.core as rep
import os
import datetime
import carb
import numpy as np
from pxr import Sdf, Usd, Gf
import omni.kit.commands
# Configuration constants
BASE_PATH = "D:/USERS/xy/Omniverse/Assets"
COMPONENTS_PATH = os.path.join(BASE_PATH, "bauteile")
RENDERED_PATH = os.path.join(BASE_PATH, "MA_Omniverse", "data", "rendered")
COMPONENT_NAME = "Napf_1108"
COMPONENT_PATH = os.path.join(COMPONENTS_PATH, f"{COMPONENT_NAME}.usd")
NUM_FRAMES = 50
# Table coordinates
X_MIN, X_MAX = -225.6, -198
Y_MIN, Y_MAX = -266, -83.7
Z_HEIGHT = 98
# Calculate middle point
X_MID = (X_MIN + X_MAX) / 2
Y_MID = (Y_MIN + Y_MAX) / 2
TABLE_ORIGIN = (X_MID, Y_MID, Z_HEIGHT)
# Camera movement ranges
FRONT_CAM_X_MIN, FRONT_CAM_X_MAX = 0, 30
FRONT_CAM_Y_MIN, FRONT_CAM_Y_MAX = -200, -150
FRONT_CAM_Z_MIN, FRONT_CAM_Z_MAX = 110, 150
RIGHT_CAM_X_MIN, RIGHT_CAM_X_MAX = X_MIN, X_MAX + 30
RIGHT_CAM_Y_MIN, RIGHT_CAM_Y_MAX = Y_MIN - 30, Y_MIN - 10
RIGHT_CAM_Z_MIN, RIGHT_CAM_Z_MAX = Z_HEIGHT + 20, Z_HEIGHT + 100
LEFT_CAM_X_MIN, LEFT_CAM_X_MAX = X_MIN, X_MAX
LEFT_CAM_Y_MIN, LEFT_CAM_Y_MAX = Y_MAX + 30, Y_MAX + 70
LEFT_CAM_Z_MIN, LEFT_CAM_Z_MAX = Z_HEIGHT + 20, Z_HEIGHT + 100
TOP_CAM_X_MIN, TOP_CAM_X_MAX = X_MIN, X_MAX
TOP_CAM_Y_MIN, TOP_CAM_Y_MAX = -216, -158
TOP_CAM_Z_MIN, TOP_CAM_Z_MAX = Z_HEIGHT + 100, Z_HEIGHT + 150
# Light parameters
LIGHT_Z_HEIGHT = Z_HEIGHT + 200
LIGHT_INTENSITY_MIN, LIGHT_INTENSITY_MAX = 70000, 400000
LIGHT_TEMPERATURE_MIN, LIGHT_TEMPERATURE_MAX = 4000, 10000
LIGHT_INTENSITY_DEFAULT = 30000
LIGHT_TEMPERATURE_DEFAULT = 8000
# Define which lights are enabled (True) or disabled (False)
enabled_lights = {
"light_1": True,
"light_2": True,
"light_3": True,
"light_4": True,
"light_5": True,
"light_6": True
}
# Material property ranges
MATERIAL_PROPERTIES = {
"inputs:ground_coat_influence": (0.0, 1.0),
"inputs:ground_coat_brightness": (0.0, 1.0),
"inputs:edge_darkening": (0.0, 1.0),
"inputs:flakes_roughness": (0.0, 1.0)
}
def translate_coordinates(x_offset=0, y_offset=0, z_offset=0):
translated_x = X_MID + x_offset
translated_y = Y_MID + y_offset
translated_z = Z_HEIGHT + z_offset
return translated_x, translated_y, translated_z
def randomize_component():
instances = rep.create.from_usd(COMPONENT_PATH, semantics=[("class", COMPONENT_NAME)])
with instances:
rep.modify.pose(
position=rep.distribution.uniform((X_MIN, Y_MIN, Z_HEIGHT), (X_MAX, Y_MAX, Z_HEIGHT)),
rotation=(0, 0, 0),
scale=(1, 1, 1)
)
return instances
def randomize_front_camera(camera):
with camera:
rep.modify.pose(
position=rep.distribution.uniform(
(FRONT_CAM_X_MIN, FRONT_CAM_Y_MIN, FRONT_CAM_Z_MIN),
(FRONT_CAM_X_MAX, FRONT_CAM_Y_MAX, FRONT_CAM_Z_MAX)
),
look_at=TABLE_ORIGIN
)
return camera
def randomize_right_camera(camera):
with camera:
rep.modify.pose(
position=rep.distribution.uniform(
(RIGHT_CAM_X_MIN, RIGHT_CAM_Y_MIN, RIGHT_CAM_Z_MIN),
(RIGHT_CAM_X_MAX, RIGHT_CAM_Y_MAX, RIGHT_CAM_Z_MAX)
),
look_at=TABLE_ORIGIN
)
return camera
def randomize_left_camera(camera):
with camera:
rep.modify.pose(
position=rep.distribution.uniform(
(LEFT_CAM_X_MIN, LEFT_CAM_Y_MIN, LEFT_CAM_Z_MIN),
(LEFT_CAM_X_MAX, LEFT_CAM_Y_MAX, LEFT_CAM_Z_MAX)
),
look_at=TABLE_ORIGIN
)
return camera
def randomize_top_camera(camera):
with camera:
rep.modify.pose(
position=rep.distribution.uniform(
(TOP_CAM_X_MIN, TOP_CAM_Y_MIN, TOP_CAM_Z_MIN),
(TOP_CAM_X_MAX, TOP_CAM_Y_MAX, TOP_CAM_Z_MAX)
),
look_at=TABLE_ORIGIN
)
return camera
def randomize_light(light):
with light:
rep.modify.attribute(
"intensity",
rep.distribution.uniform(LIGHT_INTENSITY_MIN, LIGHT_INTENSITY_MAX)
)
rep.modify.attribute(
"temperature",
rep.distribution.uniform(LIGHT_TEMPERATURE_MIN, LIGHT_TEMPERATURE_MAX)
)
return light
def setup_lights(intensity=LIGHT_INTENSITY_DEFAULT, temperature=LIGHT_TEMPERATURE_DEFAULT):
light_positions = [
(-268, -215, 400),
(-268, -380, 400),
(200, -380, 400),
(200, -215, 400),
(500, -380, 400),
(500, -215, 400)
]
lights = []
for i, pos in enumerate(light_positions):
light_name = f"light_{i + 1}"
if enabled_lights.get(light_name, False):
light = rep.create.light(
light_type="cylinder",
position=pos,
rotation=(0, 0, 90),
scale=(324, 10, 4),
intensity=intensity,
temperature=temperature
)
lights.append(light)
print(f"{light_name} created at position {pos}")
else:
print(f"{light_name} is disabled.")
return lights
def randomize_material_properties():
stage = omni.usd.get_context().get_stage()
material_path = Sdf.Path("/Replicator/Ref_Xform/Ref/Looks/Gunmetal_Matte_Metallic/Shader")
for property_name, (min_value, max_value) in MATERIAL_PROPERTIES.items():
material_property = stage.GetPrimAtPath(material_path).GetAttribute(property_name)
if not material_property:
print(f"Property '{property_name}' does not exist on material at '{material_path}'")
continue
new_value = np.random.uniform(min_value, max_value)
current_value = material_property.Get()
omni.kit.commands.execute(
"ChangeProperty",
prop_path=material_property.GetPath(),
value=new_value,
prev=current_value
)
print(f"Changed '{property_name}' from {current_value} to {new_value}")
# Register randomizer functions
rep.randomizer.register(randomize_component)
rep.randomizer.register(randomize_front_camera)
rep.randomizer.register(randomize_right_camera)
rep.randomizer.register(randomize_left_camera)
rep.randomizer.register(randomize_top_camera)
rep.randomizer.register(randomize_light)
def setup_scene():
with rep.new_layer():
rep.settings.set_stage_up_axis("Z")
print("Setting up the cameras...")
front_camera = rep.create.camera(position=translate_coordinates(80, -5, 30), look_at=TABLE_ORIGIN)
right_camera = rep.create.camera(position=translate_coordinates(0, 40, 10), look_at=TABLE_ORIGIN)
left_camera = rep.create.camera(position=translate_coordinates(0, -40, 10), look_at=TABLE_ORIGIN)
top_camera = rep.create.camera(position=translate_coordinates(0, 0, 50), look_at=TABLE_ORIGIN)
front_render_product = rep.create.render_product(front_camera, resolution=(640, 480))
right_render_product = rep.create.render_product(right_camera, resolution=(640, 480))
left_render_product = rep.create.render_product(left_camera, resolution=(640, 480))
top_render_product = rep.create.render_product(top_camera, resolution=(640, 480))
print("Cameras setup complete.")
print("Setting up the lights...")
lights = setup_lights()
print("Lights setup complete.")
print("Setting up the component...")
component = rep.create.from_usd(COMPONENT_PATH, semantics=[("class", COMPONENT_NAME)])
with component:
rep.modify.pose(
position=TABLE_ORIGIN,
rotation=(0, 0, 0),
scale=(1, 1, 1)
)
print("Component setup complete.")
print("Initializing the writer...")
output_dir = os.path.join(RENDERED_PATH, f"{COMPONENT_NAME}_{datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')}")
writer = rep.WriterRegistry.get("CocoWriter")
coco_categories = {
COMPONENT_NAME: {
'name': COMPONENT_NAME,
'id': 1,
'supercategory': 'bowl'
}
}
writer.initialize(
output_dir=output_dir,
semantic_types=["class"],
rgb=True,
bounding_box_2d_tight=True,
image_output_format="png",
coco_categories=coco_categories
)
writer.attach([front_render_product, right_render_product, left_render_product, top_render_product])
print(f"Writer initialized. Output will be saved to: {output_dir}")
rep.settings.set_render_rtx_realtime()
print("Setting up randomization trigger...")
with rep.trigger.on_frame(num_frames=NUM_FRAMES):
rep.randomizer.randomize_component()
rep.randomizer.randomize_front_camera(front_camera)
rep.randomizer.randomize_right_camera(right_camera)
rep.randomizer.randomize_left_camera(left_camera)
rep.randomizer.randomize_top_camera(top_camera)
for light in lights:
rep.randomizer.randomize_light(light)
randomize_material_properties()
print("Randomization trigger set up for", NUM_FRAMES, "frames.")
print("Starting the simulation...")
try:
rep.orchestrator.run()
print(f"Simulation completed successfully. Images saved in: {output_dir}")
except Exception as e:
carb.log_error(f"An error occurred during simulation: {str(e)}")
if __name__ == "__main__":
setup_scene()
print("Script execution finished.")
