How to access file names for randomly chosen objects

Omniverse Isaac Sim
1

I’m using the rep.randomizer.instantiate function to randomly choose a few object files from a specific folder, and I want to be able to access the file names for the specific files that it has chosen. The first print statement I use below returns the entire list of files that are in the folder, and the second simply returns the function I use to choose the files. Let me know if there are any suggestions on this. Thank you!

boxes = '/splost/all_models'
def get_random_object(size):
        get_objects = rep.randomizer.instantiate(rep.utils.get_usd_files(boxes, recursive=True), size=size, mode='point_instance')
        with get_objects:
            print(rep.utils.get_usd_files(boxes)) #this prints all usd files that are in the all_models folder
            print(get_objects) #this prints 'omni.replicator.core.randomizer.instantiate'
            rep.randomizer.materials(mat_list)
            rep.modify.pose(
                position=rep.distribution.uniform((-200, -200, 200), (-200, -200, 200)),
                rotation=rep.distribution.uniform((-90, -180, 0), (-90, 180, 0))
            )
        return get_objects.node
    rep.randomizer.register(get_random_object)
4

Hi @michael.wood3 , now we don’t have a way to directly access in the code right not, but you can definitely access it in the writer. Here is an example:

import omni.replicator.core as rep
from omni.replicator.core import Writer, AnnotatorRegistry, BackendDispatch

cube = rep.create.cube(semantics=[("class", "cube")])
camera = rep.create.camera()

with rep.trigger.on_frame(num_frames=10):
    with cube:
        rep.modify.pose(
            position=rep.distribution.log_uniform((0.1, 0.1, 0.1), (1, 1, 1), name="test_position")
        )
render_product = rep.create.render_product(camera, resolution=(640, 480))

class CustomWriter(Writer):
    def __init__(self, output_dir):
        self._output_dir = output_dir
        self._backend = BackendDispatch({"paths": {"out_dir": output_dir}})

        self.annotators.append(AnnotatorRegistry.get_annotator("bounding_box_3d"))


    def write(self, data):
        print(data["distribution_outputs"])
        print(data["bounding_box_3d"]["data"]["transform"])

rep.WriterRegistry.register(CustomWriter)
writer = rep.WriterRegistry.get("CustomWriter")

writer.initialize(
    output_dir="./"
)

writer.attach([render_product])

data["distribution_outputs"] will be a dictionary where its keys will be the names of the distribution nodes. In this case, it will contain test_position and the values will be the distribution nodes’ values.

Hope this helps!