Hello there,
I am trying to generate synthetic pose data from Pose Estimation Synthetic Data Generation in Isaac Sim 2023.1.1. Since DOPE struggles with symmetric objects I wanted to limit the rotation on the y-axis of my object to 0. Despite adding this to the dope config file, when generating the data the object still rotates on the y axis. Any tips?
config file:
---
# Default rendering parameters
CONFIG:
renderer: RayTracedLighting
headless: false
width: 512
height: 512
# Index of part in array of classes in PoseCNN training
CLASS_NAME_TO_INDEX:
m6: 1
# prim_type is determined by the usd file.
# To determine, open the usd file in Isaac Sim and see the prim path. If you load it in /World, the path will be /World/<prim_type>
OBJECTS_TO_GENERATE:
- { part_name: m6, num: 1, prim_type: drill_6}
# Maximum force component to apply to objects to keep them in motion
FORCE_RANGE: 30
# Camera Intrinsics
WIDTH: 512
HEIGHT: 512
F_X: 768.1605834960938
F_Y: 768.1605834960938
C_X: 256
C_Y: 256
# Default Camera Horizontal Aperture
HORIZONTAL_APERTURE: 20.955
# Number of sphere lights added to the scene
NUM_LIGHTS: 6
# Minimum and maximum distances of objects away from the camera (along the optical axis)
MIN_DISTANCE: 0.4
MAX_DISTANCE: 1
# Rotation of camera rig with respect to world frame, expressed as XYZ euler angles
CAMERA_RIG_ROTATION:
- 0
- 0
- 0
# Rotation of camera with respect to camera rig, expressed as XYZ euler angles. Please note that in this example, we
# define poses with respect to the camera rig instead of the camera prim. By using the rig's frame as a surrogate for
# the camera's frame, we effectively change the coordinate system of the camera. When
# CAMERA_RIG_ROTATION = np.array([0, 0, 0]) and CAMERA_ROTATION = np.array([0, 0, 0]), this corresponds to the default
# Isaac-Sim camera coordinate system of -z out the face of the camera, +x to the right, and +y up. When
# CAMERA_RIG_ROTATION = np.array([0, 0, 0]) and CAMERA_ROTATION = np.array([180, 0, 0]), this corresponds to
# the YCB Video Dataset camera coordinate system of +z out the face of the camera, +x to the right, and +y down.
CAMERA_ROTATION:
- 180
- 0
- 0
# Minimum and maximum XYZ euler angles for the part being trained on to be rotated, with respect to the camera rig
MIN_ROTATION_RANGE:
- -180
- 0
- -180
# Minimum and maximum XYZ euler angles for the part being trained on to be rotated, with respect to the camera rig
MAX_ROTATION_RANGE:
- 180
- 0
- 180
# How close the center of the part being trained on is allowed to be to the edge of the screen
FRACTION_TO_SCREEN_EDGE: 0.9
# MESH and DOME datasets
SHAPE_SCALE:
- 0.05
- 0.05
- 0.05
SHAPE_MASS: 1
OBJECT_SCALE:
- 2
- 2
- 2
OBJECT_MASS: 1
# MESH dataset
NUM_MESH_SHAPES: 0
NUM_MESH_OBJECTS: 0
MESH_FRACTION_GLASS: 0.15
MESH_FILENAMES:
- 002_master_chef_can
- 004_sugar_box
- 005_tomato_soup_can
- 006_mustard_bottle
- 007_tuna_fish_can
- 008_pudding_box
- 009_gelatin_box
- 010_potted_meat_can
- 011_banana
- 019_pitcher_base
- 021_bleach_cleanser
- 024_bowl
- 025_mug
- 035_power_drill
- 036_wood_block
- 037_scissors
- 040_large_marker
- 051_large_clamp
- 052_extra_large_clamp
- 061_foam_brick
# DOME dataset
NUM_DOME_SHAPES: 0
NUM_DOME_OBJECTS: 0
DOME_FRACTION_GLASS: 0.2
DOME_TEXTURES:
- Clear/evening_road_01_4k
- Clear/kloppenheim_02_4k
- Clear/mealie_road_4k
- Clear/noon_grass_4k
- Clear/qwantani_4k
- Clear/signal_hill_sunrise_4k
- Clear/sunflowers_4k
- Clear/syferfontein_18d_clear_4k
- Clear/venice_sunset_4k
- Clear/white_cliff_top_4k
- Cloudy/abandoned_parking_4k
- Cloudy/champagne_castle_1_4k
- Cloudy/evening_road_01_4k
- Cloudy/kloofendal_48d_partly_cloudy_4k
- Cloudy/lakeside_4k
- Cloudy/sunflowers_4k
- Cloudy/table_mountain_1_4k
- Evening/evening_road_01_4k
- Indoor/adams_place_bridge_4k
- Indoor/autoshop_01_4k
- Indoor/bathroom_4k
- Indoor/carpentry_shop_01_4k
- Indoor/en_suite_4k
- Indoor/entrance_hall_4k
- Indoor/hospital_room_4k
- Indoor/hotel_room_4k
- Indoor/lebombo_4k
- Indoor/old_bus_depot_4k
- Indoor/small_empty_house_4k
- Indoor/studio_small_04_4k
- Indoor/surgery_4k
- Indoor/vulture_hide_4k
- Indoor/wooden_lounge_4k
- Night/kloppenheim_02_4k
- Night/moonlit_golf_4k
- Storm/approaching_storm_4k