Modify environment attribute in offline_generation

Hi everyone~

I am trying offline_generation to generate some data for training.

#################
STAGE = “/Isaac/Environments/Simple_Room/simple_room.usd”
with rep.new_layer():
env = rep.create.from_usd(prefix_with_isaac_asset_server(STAGE))

*How to modify the RectLight's Intensity from here?

##################

I could create some robots and camera to generate synthetic data in Simple_Room.
Then, I would like to modify the RectLight 's intensity in Simple_Room and make the light randomized.
But I can’t find the way(api) to access the attributes from Simple_Room.
How can I do it?

Hi there,

simplest way would be to use the replicator light randomizer examples. If the existing light source interferes with the scenario it can be disabled or removed from the stage.

Best,
Andrei