How do I make the background still while making synthetic dataset?

Omniverse Isaac Sim
1

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04

How do I make background still while generating synthetic dataset images

I am trying to create a synthetic dataset of a custom object by following pose estimation dataset generation tutorial. I am also successful in doing so but the custom object keeps moving. I want my object to keep lying on the floor and not floating.

Screenshots

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As you can see the object is floating. But I want it on the floor. How can i do it? Please help me.

2

Hi! Try tweaking the function randomize_movement_in_view() - this function is in the pose estimation tutorial you’ve referred to. It randomizes the pose of the custom object, which you can try disabling.

Since your use-case seems to be pallets on a floor, please check out the workflow outlined in How to train AMRs to detect warehouse pallet jacks using synthetic data. This may be more relevent to the type of data you want to generate.

3

Thanks for the reply.
I have followed the tutorial and I was able to generate the data and store it in DOPE format. But I want to store it in Linemod format. Is there any way to do this??