Offline data generation error

Omniverse Isaac Sim
1

Hi, I am using the “offline_generation.py” file to generate synthetic data. The code works for the default environment “full_warehouse.usd”. However, when I change the stage to “simple_room.usd”:

STAGE = “/Isaac/Environments/Simple_Room/simple_room.usd”

And corresponding changes in camera pose and target:

simple_room
simple_room709×177 70 KB

I get the following error in the run_orchestrator part:

offline_gen
offline_gen1094×168 118 KB

And data is not generated. Do you know what is the problem and how it can be solved?

3

Hi there,

I have tried out the script and it seems to work, here are some tips for testing:

  • /Isaac/Environments/Simple_Room/simple_room.usd is not annotated by default, so if you want instance segmentation etc. make sure you annotate the scene.

  • the look_at should be /Replicator/Ref_Xform/Ref/table_low_327

  • the best way to debug such scenes, especially for getting the paths is by using the Script Editor

    • this snippet would set up the stage for you, you can then check the prim path for the look_atattribute:
import carb
import os
import omni.replicator.core as rep
from omni.isaac.core.utils.nucleus import get_assets_root_path

# Find the Isaac asset server
def prefix_with_isaac_asset_server(relative_path):
    assets_root_path = get_assets_root_path()
    if assets_root_path is None:
        carb.log_error("Could not find Isaac Sim assets folder")
        return
    return assets_root_path + relative_path

STAGE = "/Isaac/Environments/Simple_Room/simple_room.usd"

with rep.new_layer():
    print("Loading Stage")
    env = rep.create.from_usd(prefix_with_isaac_asset_server(STAGE))
  • whereas this would also run the writer:
import carb
import os
from omni.isaac.core.utils.nucleus import get_assets_root_path

# Find the Isaac asset server
def prefix_with_isaac_asset_server(relative_path):
    assets_root_path = get_assets_root_path()
    if assets_root_path is None:
        carb.log_error("Could not find Isaac Sim assets folder")
        return
    return assets_root_path + relative_path

import omni.replicator.core as rep

STAGE = "/Isaac/Environments/Simple_Room/simple_room.usd"

with rep.new_layer():
    print("Loading Stage")
    env = rep.create.from_usd(prefix_with_isaac_asset_server(STAGE))

    camera = rep.create.camera(position=(-2.5, 1.2, 2.5), clipping_range=(0.01, 10000.0))
    render_product = rep.create.render_product(camera, (512, 512))

    with rep.trigger.on_frame(num_frames=10):
        with camera:
            rep.modify.pose(
                position=rep.distribution.uniform((-1, -1.0, 0.2), (1, 1, 0.5)),
                look_at="/Replicator/Ref_Xform/Ref/table_low_327",
            )

    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")
    output_directory = os.getcwd() + "/_output_headless"
    print("Outputting data to ", output_directory)
    writer.initialize(
        output_dir=output_directory,
        rgb=True,
        instance_segmentation=True,
    )

    writer.attach([render_product])

    rep.orchestrator.run()

If you are then happy with the setup, you can migrate your changes to the application script.

Cheers,
Andrei

4

Hi Andrei,

Thanks a lot for your tips and snippet. That basically solved my problem. The main issue was that the scene was not annotated.