Problem with dummy cube example in Script Editor for SDG

[mona.jalal]

I am trying to capture photos of a cube in the view of the camera and I am not sure why every captured photo is black and why I can’t see any randomization when I click on Replicator → Step or Replicator → Start after hitting Run on Script Editor Python code.

Here’s the dummy script:

# click on Replicator --> Start to start the capture
# with current state of the code, everything is captured as black

import omni.replicator.core as rep
from datetime import datetime

with rep.new_layer():

    camera = rep.create.camera(position=(0, 0, 1000))

    render_product = rep.create.render_product(camera, (1024, 1024))

    cube = rep.create.cube(semantics=[('class', 'cube')],  position=(100, -200 , 100) )

    with rep.trigger.on_frame(num_frames=10):
        with cube:
            rep.modify.pose(
                position=rep.distribution.uniform((-100, -100, -100), (200, 200, 200)),
                scale=rep.distribution.uniform(0.1, 2))


    timestamp = datetime.now().strftime("%Y_%m_%d-%I_%M_%S_%p")
    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")

    writer.initialize( output_dir="/home/mona/Desktop/Isaac_Sim_Dummy_Out/cube_out/" + timestamp, rgb=True,   bounding_box_2d_tight=True)

    writer.attach([render_product])

    rep.orchestrator.preview()

and here’s the screenshot of my window:

as a basic goal, I want the following:

1. spawn a cube
2. create a camera
3. create a plane
4. make sure the cube is always spawn inside the plane
5. make sure the camera is always taking photos of the cube

If you could guide me to a tutorial that does these minimal things I’d really appreciate. Some of the tutorials start too big and some are just too minimal and I am not sure how to fill in the gaps.

Also, everytime I click on Run, I get this warning: Overridden in multiple layers as shown below.

[mona.jalal]

I used this other code, still cannot see the cube after I click on run and then Replicator → Start and also all captured frames are black. Can you please help me fix this problem?

import omni.replicator.core as rep
from datetime import datetime

# Randomize the camera position using basic uniform distribution

with rep.new_layer():

    # Create camera
    # https://docs.omniverse.nvidia.com/py/replicator/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera
    camera = rep.create.camera(focus_distance=200,f_stop=0.5)

    cube = rep.create.cube(semantics=[('class', 'cube')],  position=(0, 0, 0))
    render_product  = rep.create.render_product(camera, (1024, 1024))
    timestamp = datetime.now().strftime("%Y_%m_%d-%I_%M_%S_%p")
    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")
    writer.initialize(output_dir="/home/mona/Desktop/Isaac_Sim_Dummy_Out/cube_out/" + timestamp, rgb=True, bounding_box_2d_tight=True)
    writer.attach([render_product])

    with rep.trigger.on_frame(num_frames=10):
        with camera:
            rep.modify.pose(position=rep.distribution.uniform((-500, 200, -500), (500, 500, 500)), look_at=(0,0,0))

The example is taken from Randomizing a camera’s position uniformly from Camera Examples — Omniverse Extensions documentation

Here’s what I see after clicking on Run and then Replicator → Start.

[mona.jalal]

Here’s another script I used. I still have problem:

import omni.replicator.core as rep
from datetime import datetime
from pxr import UsdPhysics, PhysxSchema, Gf, PhysicsSchemaTools, UsdGeom
import omni.graph.core as og

import numpy as np
# Randomize the camera position using basic uniform distribution

with rep.new_layer():

    # Create camera
    # https://docs.omniverse.nvidia.com/py/replicator/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera
    camera = rep.create.camera(focus_distance=200,f_stop=0.5)
    camera_positions = [(-5, -5, 10), (5, 5, 20)]

    cube = rep.create.cube(semantics=[('class', 'cube')],  position=(0, 0, 0))    
    plane = rep.create.plane(scale=100, visible=True)
    
 
        
    def randomize_cube():
        cube = rep.get.prims(semantics=[('class', 'cube')])
        with cube:
            rep.modify.pose(
                position=rep.distribution.uniform((-40, -40, 40), (40, 40, 40)),
                rotation=rep.distribution.uniform((0, 0, 0), (90, 90, 0)),
                scale=rep.distribution.normal(3, 7),
                color =rep.distribution.uniform((0,0,0), (1,1,1))
            )
        return cube.node
    
    rep.randomizer.register(randomize_cube)
    
    
  
    
    render_product  = rep.create.render_product(camera, (1024, 1024))
    timestamp = datetime.now().strftime("%Y_%m_%d-%I_%M_%S_%p")
    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")
    writer.initialize(output_dir="/home/mona/Desktop/Isaac_Sim_Dummy_Out/cube_out/" + timestamp, rgb=True, bounding_box_2d_tight=True)
    writer.attach([render_product])

    with rep.trigger.on_frame(num_frames=10):
        rep.randomizer.randomize_cube()
        with camera:
            rep.modify.pose(position=rep.distribution.choice(camera_positions), look_at=(0, 0, 0))

Here’s what I see after clicking on run:

Also, still when I click on Replicator → Step or Replicator → start the position doesn’t change neither the color of cube despite registering the randomize_cube function in rep.

Further, still all captured frames are black.

[mona.jalal]

Running the example for Basic Functionalities in Python in Script Editor doesn't work

I kinda got this working thanks to suggestions from Austin Klein for using Omniverse Code Replicator instead of Omniverse Isaac Sim Replicator. Please not the captures are not that perfect but it is ok for the purpose. import omni.replicator.core as rep from datetime import datetime from pxr import UsdPhysics, PhysxSchema, Gf, PhysicsSchemaTools, UsdGeom import omni.graph.core as og import numpy as np # Randomize the camera position using basic uniform distribution with rep.new_layer(): …