I am trying to generate synthetic data using Replicator Composer. When I select the room scenario to be a USD file and provide texture/material domain randomization, there are no changes in the wall or floor while executing Replicator Composer.
When I create a normal floor and wall with “scenario_room_enabled” as true and then provide the same texture/material argument, I can see the changes in texture/material in each frame.
Can we change texture/material of the floor or wall of a USD file or not ?
Note: I have named all the respective meshes as either wall or floor in the stage area.
My replicator Composer file: backup_2.yaml (1013 Bytes)
Try using the Omniverse Replicator with the script editor for generating synthetic data. It has lots of parameters you can change and you will be able to visualize all those changes when the pipeline runs. Check this out for further reference.
Hi @Ayizui. I was facing the same issues where I was not able to apply textures/colors domain randomization to USD files but it was possible to apply it on the ground and wall created using the yaml file. So, I moved to the latest replicator composer SDK. You will still be using ‘replicator composer’ but from the SDK itself with script editor instead of command line argument. The API calls in the backend would still be the same I think. And yes, you can apply any textures you want with SDK, I don’t know what the issue is with applying textures when we create a yaml file and run it through the command line.
Please check your updated code with changes done by me. Please note that I am not loading the environment with script editor. I have already loaded the warehouse scene and based on the size of the warehouse, I have limited the translation of the forklift so it doesn’t gets out of the warehouse. warehouse_forklift.py (1.3 KB)
Note - This is running on Isaac-sim-2022.1 so you might need to change the translation range based on whatever version you use.