Capturing Specific Moment in Image Sequence with Isaac Sim Replicator

Hallo, I want to use isaac sim replicator to generate some rgb images, which show the final moment that the objects fall into a container. However what I get now is multiple images of each sample showing the sequential of the objects falling down. (like “rgb_0_0.png”, “rgb_0_1.png”… to “rgb_0_23.png”).

Here is the part of my yaml file, the obj_physics is already set to True. I have modified the following parameters serval times, but it still generates about 23 images for each sample.

physics_simulate_time: 40
scene_meters_per_unit: 1
sequential: True
sequence_step_count: 1
sequence_step_time: 1

obj_vel: (0, 0, 0)
obj_rot_vel: (0, 0, 0)
scene_gravity: True

I find a similar problem:

Since this is a question from May of this year, I’d like to ask if a new Writer has been developed?

Unfortunately, I have not worked on this topic any further. If you find a solution, I would be very interested to hear it.

Here is an example snippet doing something similar:

You can basically call rep.orchestrator.step() at the custom event to trigger a write.