Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can always edit your post later to include additional information if needed.
Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
Model: Geforce RTX 4080 Super
Driver Version: 550.120
Topic Description
Detailed Description
I duplicated a prim (e.g., Boston Dynamics Spot), which has the semantic type of class and semantic data of spot. However, while the duplicated prims have the semantic information on their property, the semantic segmentation viewpoint does not show the semantic segmentation information for the duplicated prims. Because all four spots have the same semantic value, I expected the semantic segmentation viewpoint to show the semantic segmentation for all of them (and not only the first one). Thank you for your time.
Steps to Reproduce
Open Isaac 4.5.0
Make a ground plane (Create → Physics → Ground Plane)
Load Spot (Isaac Sim Assets → Robots → Spot)
Set semantic information (Semantics Schema Editor → Type: class, data: spot)
Duplicate Spot prim → right click → Duplicate (x3)
See the semantic results from RenderVar → SemanticSegmentation
I tested the same procedure in Isaac Sim 4.2.0, and this problem does not happen in the lower version and can see all four spots’ semantic segmentation.
@dongki i was able to reproduce the issue on my end. that said, i am not sure if it’s design as intended or an actual bug, so i’ll defer to the mods/devs to confirm. the cause for the display issue relates to whether instanceable prims are present as far as the few robots shipped with Isaac Sim.
there is a workaround for you in the meantime. but, if you need some clarification on why instanceable assets were there from the getgo, feel free to check out the official doc: Instanceable Assets — Isaac Sim Documentation.
without further ado, below are two recordings of me reproducing the issue followed by steps to said workaround mentioned above:
Repro:
Workaround:
hope this is a feasible workaround while we wait for the mods/devs to offer some clarifications on the behavior you are seeing.
Thank you for reporting this issue. As noted in the Isaac Lab 2.0.0, this is a known issue:
Attention
We have identified a breaking feature for semantic segmentation and instance segmentation when using Camera and TiledCamera with instanceable assets. Since the Isaac Sim 4.5 / Isaac Lab 2.0 release, semantic and instance segmentation outputs only render the first tile correctly and produces blank outputs for the remaining tiles. We will be introducing a workaround for this fix to remove scene instancing if semantic segmentation or instance segmentation is required for Camera and TiledCamera until we receive a proper fix from Omniverse as part of the next Isaac Sim release.
