Fruitbox in Code 2023.1.1 from VSCode Embedded Plugin

Omniverse Synthetic Data Generation (SDG)
1

Here’s the code:

import datetime
now = datetime.datetime.now()
import omni.replicator.core as rep
import inspect

with rep.new_layer():
    CRATE = 'omniverse://localhost/NVIDIA/Samples/Marbles/assets/standalone/SM_room_crate_3/SM_room_crate_3.usd'    
    SURFACE = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/display_riser.usd'    
    ENVS = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Interior/ZetCG_ExhibitionHall.usd'
    FRUIT_PROPS = {
        'apple': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Apple.usd',
        'avocado': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Avocado01.usd',
        'kiwi': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Kiwi01.usd',
        'lime': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Lime01.usd',
        'lychee': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Lychee01.usd',
        'pomegranate': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Pomegranate01.usd',
        'onion': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Vegetables/RedOnion.usd',
        'lemon': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Decor/Tchotchkes/Lemon_01.usd',
        'orange': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Decor/Tchotchkes/Orange_01.usd'    }
    
    def random_props(file_name, class_name, max_number=1, one_in_n_chance=3):
        instances = rep.randomizer.instantiate(file_name, size=max_number, mode='scene_instance')
        print(file_name)
        with instances:
            rep.modify.semantics([('class', class_name)])
            rep.modify.pose(
                position=rep.distribution.uniform((-8, 5, -25), (8, 30, 25)),
                rotation=rep.distribution.uniform((-180,-180, -180), (180, 180, 180)),
                scale = rep.distribution.uniform((0.8), (1.2)), 
            )

            # rep.modify.visibility(rep.distribution.choice([True],[False]*(one_in_n_chance)))
            a = [True]
            a.extend([False]*(one_in_n_chance))
            rep.modify.visibility(rep.distribution.choice(a))
        return instances.node
    
    def sphere_lights(num):
        lights = rep.create.light(
            light_type="Sphere",
            temperature=rep.distribution.normal(6500, 500),
            intensity=rep.distribution.normal(30000, 5000),
            position=rep.distribution.uniform((-300, -300, -300), (300, 300, 300)),
            scale=rep.distribution.uniform(50, 100),
            count=num        )
        return lights.node    
    rep.randomizer.register(sphere_lights)
    
    env = rep.create.from_usd(ENVS)
    surface = rep.create.from_usd(SURFACE)
    with surface:
        rep.physics.collider()
    crate = rep.create.from_usd(CRATE)
    with crate:
        rep.physics.collider()
        rep.physics.mass(mass=10000)
        rep.modify.pose(
                position=(0, 20, 0),
                rotation=(0, 0, 90)
            )
        
    
    # camera = rep.randomizer.register.camera()
    camera = rep.create.camera()
    render_product = rep.create.render_product(camera, resolution=(1024, 1024))
    # with camera:
    #     print('list of all methods: ', dir(rep.modify))
        
        # f_x = 35 
        # f_y = 35
        # c_x = 512
        # c_y = 384
        # rep.modify.focal_length(fx=f_x, fy=f_y)
        # rep.modify.principal_point_offset(cx=c_x, cy=c_y)
    
    # cam_params = rep.annotators.get("CameraParams").attach(render_product)
    # with open('/hdd/SDG_out/fruit_box/cam_params.txt', 'w') as f:
    #     f.write(str(cam_params.get_data()))
    
 
    rep.randomizer.register(random_props)
    rep.randomizer.register(sphere_lights)
    
    # trigger on frame for an interval
    with rep.trigger.on_frame(num_frames=100):
        rep.modify.timeline(5, "frame")
        for n, f in FRUIT_PROPS.items():
            print("testing on frame")
            random_props(f, n)
        rep.randomizer.sphere_lights(5)
        with camera:
            rep.modify.pose(position=rep.distribution.uniform((-20, 90, -17), (10, 140, -15)), look_at=crate)
            # rep.modify.pose(position=rep.distribution.uniform((-20, 90, -17), (10, 140, -15)), look_at=(0, 20, 20))
            
    # initialize and attach writer

    
    # print('writer.initialize args: ', inspect.signature(writer.initialize))

    # def print_initialize_kwargs(writer):
    #     sig = inspect.signature(writer.initialize)
    #     bound_args = sig.bind(**writer.initialize_kwargs)
    #     print("all args in writers are: ", bound_args.arguments)
        
    writer = rep.WriterRegistry.get("BasicWriter")

# Usage
    # print_initialize_kwargs(writer)
    now = now.strftime("%Y-%m-%d_%H:%M:%S")
    output_dir = "/hdd/SDG_out/fruit_box/" + now
    writer.initialize(output_dir=output_dir, 
                      rgb=True,
                      bounding_box_2d_tight=True,
                      bounding_box_2d_loose=True,
                      semantic_segmentation=True,
                      instance_segmentation=True,
                      distance_to_camera=True,
                      distance_to_image_plane=True,
                      bounding_box_3d=True,
                      occlusion=True,
                      normals=True)
                    #   camera_params=True)
                    #  skeleton_data=True,)
    writer = rep.WriterRegistry.get("BasicWriter")

    writer.attach([render_product])
    


print('finished writing!!')

When I run it from VSCode Embedded, I get this error:

[4:29:13 PM] executing at 127.0.0.1:8226...
Overriding function {sphere_lights} for replicator.randomizer.
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Apple.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Avocado01.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Kiwi01.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Lime01.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Lychee01.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Pomegranate01.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Vegetables/RedOnion.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Decor/Tchotchkes/Lemon_01.usd
testing on frame
omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Decor/Tchotchkes/Orange_01.usd
--------------------------------------------------
Traceback (most recent call last) line 126
  File "/home/mona/.local/share/ov/pkg/deps/8021e278fce7781f5bb307a5b4b24ed4/extscache/omni.replicator.core-1.9.8+105.0.lx64.r.cp310/omni/replicator/core/scripts/writers.py", line 344, in attach
    WriterRegistry.attach(self, render_products)
  File "/home/mona/.local/share/ov/pkg/deps/8021e278fce7781f5bb307a5b4b24ed4/extscache/omni.replicator.core-1.9.8+105.0.lx64.r.cp310/omni/replicator/core/scripts/writers.py", line 485, in attach
    writer_node = cls._attach(writer, active_writer_id, render_products, **combined_kwargs)
  File "/home/mona/.local/share/ov/pkg/deps/8021e278fce7781f5bb307a5b4b24ed4/extscache/omni.replicator.core-1.9.8+105.0.lx64.r.cp310/omni/replicator/core/scripts/writers.py", line 637, in _attach
    dispatcher_node.get_attribute("outputs:exec").get_downstream_connections()[0].get_node()
IndexError: list index out of range

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/mona/.local/share/ov/data/Kit/Code/2023.1/exts/3/semu.misc.vscode-0.0.3-beta+linu.wind.r.-/semu/misc/vscode/scripts/extension.py", line 331, in _exec_code_async
    result = eval(code, self._globals, self._locals)
  File "<string>", line 6
  File "/home/mona/.local/share/ov/pkg/deps/53eecfb6325f36fca7f76796eab8a71c/python/lib/python3.10/contextlib.py", line 153, in __exit__
    self.gen.throw(typ, value, traceback)
  File "/home/mona/.local/share/ov/pkg/deps/8021e278fce7781f5bb307a5b4b24ed4/extscache/omni.replicator.core-1.9.8+105.0.lx64.r.cp310/omni/replicator/core/scripts/utils/utils.py", line 116, in new_layer
    carb.log_warn(e)
  File "/home/mona/.local/share/ov/data/Kit/Code/2023.1/exts/3/semu.misc.vscode-0.0.3-beta+linu.wind.r.-/semu/misc/vscode/scripts/extension.py", line 39, in _log_warn
    carb.log(mod, carb.logging.LEVEL_WARN, file, func, lno, msg)
TypeError: log(): incompatible function arguments. The following argument types are supported:
    1. (source: str, level: int, fileName: str, functionName: str, lineNumber: int, message: str) -> None

Invoked with: 'omni.replicator.core.scripts.utils.utils', 0, '/home/mona/.local/share/ov/pkg/deps/8021e278fce7781f5bb307a5b4b24ed4/extscache/omni.replicator.core-1.9.8+105.0.lx64.r.cp310/omni/replicator/core/scripts/utils/utils.py', 'new_layer', 116, IndexError('list index out of range')
2

Running the code below in Script Editor yields similar error. Any update on how to fix this in Omniverse Code 2023.1.1?

import datetime
now = datetime.datetime.now()
import omni.replicator.core as rep
import inspect

with rep.new_layer():
    CRATE = 'omniverse://localhost/NVIDIA/Samples/Marbles/assets/standalone/SM_room_crate_3/SM_room_crate_3.usd'    
    SURFACE = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/display_riser.usd'    
    ENVS = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Interior/ZetCG_ExhibitionHall.usd'
    FRUIT_PROPS = {
        'apple': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Apple.usd',
        'avocado': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Avocado01.usd',
        'kiwi': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Kiwi01.usd',
        'lime': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Lime01.usd',
        'lychee': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Lychee01.usd',
        'pomegranate': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Fruit/Pomegranate01.usd',
        'onion': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Food/Vegetables/RedOnion.usd',
        'lemon': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Decor/Tchotchkes/Lemon_01.usd',
        'orange': 'omniverse://localhost/NVIDIA/Assets/ArchVis/Residential/Decor/Tchotchkes/Orange_01.usd'   
        }
    
    def random_props(file_name, class_name, max_number=1, one_in_n_chance=3):
        instances = rep.randomizer.instantiate(file_name, size=max_number, mode='scene_instance')
        print(file_name)
        with instances:
            rep.modify.semantics([('class', class_name)])
            rep.modify.pose(
                position=rep.distribution.uniform((-8, 5, -25), (8, 30, 25)),
                rotation=rep.distribution.uniform((-180,-180, -180), (180, 180, 180)),
                scale = rep.distribution.uniform((0.8), (1.2)), 
            )

            # rep.modify.visibility(rep.distribution.choice([True],[False]*(one_in_n_chance)))
            a = [True]
            a.extend([False]*(one_in_n_chance))
            rep.modify.visibility(rep.distribution.choice(a))
        return instances.node
    
    def sphere_lights(num):
        lights = rep.create.light(
            light_type="Sphere",
            temperature=rep.distribution.normal(6500, 500),
            intensity=rep.distribution.normal(30000, 5000),
            position=rep.distribution.uniform((-300, -300, -300), (300, 300, 300)),
            scale=rep.distribution.uniform(50, 100),
            count=num        )
        return lights.node    
    rep.randomizer.register(sphere_lights)
    
    env = rep.create.from_usd(ENVS)
    surface = rep.create.from_usd(SURFACE)
    with surface:
        rep.physics.collider()
    crate = rep.create.from_usd(CRATE)
    with crate:
        rep.physics.collider()
        rep.physics.mass(mass=10000)
        rep.modify.pose(
                position=(0, 20, 0),
                rotation=(0, 0, 90)
            )
        
    
    # camera = rep.randomizer.register.camera()
    camera = rep.create.camera()
    render_product = rep.create.render_product(camera, resolution=(1024, 1024))
    rep.randomizer.register(random_props)
    rep.randomizer.register(sphere_lights)
    
    # trigger on frame for an interval
    with rep.trigger.on_frame(num_frames=100):
        rep.modify.timeline(5, "frame")
        for n, f in FRUIT_PROPS.items():
            print("testing on frame")
            random_props(f, n)
        rep.randomizer.sphere_lights(5)
        with camera:
            rep.modify.pose(position=rep.distribution.uniform((-20, 90, -17), (10, 140, -15)), look_at=crate)

    # Initialize and attach the writer        
    writer = rep.WriterRegistry.get("BasicWriter")

# Usage
    # print_initialize_kwargs(writer)
    now = now.strftime("%Y-%m-%d_%H:%M:%S")
    output_dir = "/hdd/SDG_out/fruit_box/" + now
    writer.initialize(output_dir=output_dir, 
                      rgb=True,
                      bounding_box_2d_tight=True)
   
    writer = rep.WriterRegistry.get("BasicWriter")

    writer.attach([render_product])
    


print('finished writing!!')

The error:

image
image1920×1080 217 KB

3

Also to add, when I click run, I see this

Screenshot from 2023-09-18 09-26-34
Screenshot from 2023-09-18 09-26-341920×1080 436 KB

and when I click on preview and change camera from perspective to camera, I see this

Screenshot from 2023-09-18 09-26-51
Screenshot from 2023-09-18 09-26-511920×1080 174 KB

However, clicking on replicator → start yields no result

Screenshot from 2023-09-18 09-28-32
Screenshot from 2023-09-18 09-28-321920×1080 105 KB

4

that’s odd, i ran the code and there was no error in Code 2023.1.1?

image
image1184×925 188 KB

1 Like