Creating props and export it out of a bunch of selected files

[mona.jalal]

I am trying to create distractors by selecting a bunch of objects in the scene and export them as distractor props and I am doing this in Isaac Sim. However, I am getting error. Is this a good way to create props and and if so, how should I fix this error?

[ahaidu]

Can you provide more details about the distractors and how you are planning to create them? Also at which step are you getting the error?

[mona.jalal]

I am interested in grouping these, name them PROPS and randomize their location. They will be considered as “not objects of interest”.

[ahaidu]

You can then read out their paths in nucleus and use something like this:

from omni.isaac.core.utils.nucleus import get_assets_root_path
import omni.replicator.core as rep

WAREHOUSE_ASSETS = [
    "/NVIDIA/Assets/Isaac/2022.2.1/Isaac/Props/Dolly/dolly.usd",
    "/NVIDIA/Assets/Isaac/2022.2.1/Isaac/Props/KLT_Bin/small_KLT.usd",
    "/NVIDIA/Assets/Isaac/2022.2.1/Isaac/Props/Pallet/pallet.usd",
]

assets_root_path = get_assets_root_path()
if assets_root_path is None:
    raise Exception("Nucleus server not found, could not access Isaac Sim assets folder")
print(f"assets_root_path={assets_root_path}")

object_paths = [assets_root_path + path for path in WAREHOUSE_ASSETS]
object_nodes = [rep.create.from_usd(path) for path in object_paths]
objects = rep.create.group(object_nodes)

with rep.trigger.on_frame(num_frames=NUM_FRAMES):
    with objects:
        rep.modify.pose(
            position=rep.distribution.uniform((-8, 9, 0), (2, 14, 7)),
            rotation=rep.distribution.uniform((0, 0, 0), (360, 360, 360)),
            scale=rep.distribution.uniform(0.5, 2),
        )