How to transfer bbox3d to ros2 topic with id?

Omniverse Isaac Sim
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1

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Isaac Sim Version

[Y ] 4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Isaac Lab Version (if applicable)

[Y] 1.2
1.1
1.0
Other (please specify):

Operating System

[Y] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
QUESTION********
① question1: I really dont knwo how to apply id to bbox3d defined in issac by replicator
header:
stamp:
sec: 0
nanosec: 0
frame_id: ‘’
results:

  • hypothesis:
    class_id: ‘0’
    score: 1.0
    pose:
    pose:
    position:
    x: 0.0
    y: 0.0
    z: 0.0
    orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
    covariance:
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
    • 0.0
      bbox:
      center:
      position:
      x: 5.599999904632568
      y: -0.5
      z: 0.0
      orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
      size:
      x: 1.019092082977295
      y: 1.019092082977295
      z: 1.019092082977295
      id: ‘’

header:
stamp:
sec: 370
nanosec: 16685964
frame_id: sim_camera
detections:

  • header:
    stamp:
    sec: 0
    nanosec: 0
    frame_id: ‘’
    results:
    • hypothesis:
      class_id: ‘0’
      score: 1.0
      pose:
      pose:
      position:
      x: 0.0
      y: 0.0
      z: 0.0
      orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
      covariance:
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
        bbox:
        center:
        position:
        x: 5.599999904632568
        y: 3.5
        z: 0.0
        orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
        size:
        x: 1.019092082977295
        y: 1.019092082977295
        z: 1.019092082977295
        id: ‘’
  • header:
    stamp:
    sec: 0
    nanosec: 0
    frame_id: ‘’
    results:
    • hypothesis:
      class_id: ‘0’
      score: 1.0
      pose:
      pose:
      position:
      x: 0.0
      y: 0.0
      z: 0.0
      orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
      covariance:
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
      • 0.0
        bbox:
        center:
        position:
        x: 5.599999904632568
        y: -0.5
        z: 0.0
        orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
        size:
        x: 1.019092082977295
        y: 1.019092082977295
        z: 1.019092082977295
        id: ‘’

② question2: when i am using the office scene, I use semantics schema editor to apply semantic data to prims, their prefix include SM and BP，but SM(almost floor) will be taged, BP(almost objects) wont be taged，

image
image1487×1092 100 KB

and it showed that the BP(or some SM) mesh seems be locked, it is grey colour

2

is there any body can help me, please!!!

3

hello!!!

5

Hey @3478428491 Sorry for my late reply.
For the first question, you can refer to the doc ROS2 Camera Helper — Isaac Sim. If you enable “Enable Semantic Labels” or set “Semantic Labels Topic Name”, it should automatically apply id.

For the second question, could you please provide the prim path that you want to apply semantic data? We can try to replicate it on our end. Thanks

1 Like
6

Hello, Thanks for your rely.
For the second question, Wewant to set semantic data on the prim which have real size on various objects, we only can set it on the floor now, as the image shows.

7

Hey @3478428491 are you following this tutorial: Adding Semantics to a Scene — Omniverse Extensions

1 Like
8

Thank you for your reply

image
image950×698 57.7 KB

I attempted to annotate them again, but it still didn’t work. Then I tried annotating it individually, and a message indicated that the object is locked.

2025-03-21 09:12:00 [Error] [omni.ui.python] Error in ‘pxrInternal_v0_22__pxrReserved__::UsdStage::_ValidateEditPrim’ at line 1330 in file /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp : ‘Cannot create prim spec at path </Environment/office/SM_ColumnA28/SM_ColumnA>; authoring to an instance proxy is not allowed.’

image
image1277×756 98.6 KB

9

@3478428491 , try collecting the stage and then setting the mesh. The env has been loaded as a reference and it seems that it cannot change the parent mesh properties.

1 Like
10

Thank you! This has been incredibly helpful.

1 Like