I am trying to generate pallet jacks like in the tutorial with the only difference being that I use randomizer to instantiate the pallet jacks instead of loading from_usd.
In the script below (with OV cloud links only) you will see the pallet jacks are spawned but the colors are not being changed.
Log hint is: [Warning] [omni.replicator.core.ogn.python._impl.nodes.OgnGetPrims] No prims found with given inputs: SteerAxles
# Default scene settings. This script default is 1 (IsaacSim), so if you change
# the meters per unit or up axis, you need to alter the coordinates and rotations.
# IsaacSim default is 1, Code is 0.01
stage_unit_setting:
settings.set_stage_meters_per_unit:
meters_per_unit: 1
# IsaacSim default is "Z"", Code is "Y"
stage_up_axis_setting:
settings.set_stage_up_axis:
up_axis: Z
# Enable Path Tracing
path_tracing:
settings.set_render_pathtraced:
samples_per_pixel: 32
path_tracing_clamp:
settings.carb_settings:
setting: /rtx/pathtracing/clampSpp
value: 0
# Load the stage
load_stage:
create.from_usd:
usd: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/full_warehouse.usd
# Select the objects in the stage
forklift:
get.prim_at_path:
path: /Replicator/Ref_Xform/Ref/forklift
floor:
get.prims:
semantics: [[class, floor]]
racks_and_walls:
get.prims:
semantics: [[class, rack], [class, wall]]
camera:
create.camera:
position: [0, 0, 0]
rotation: [0, 0, 0]
# Create output
render_product:
create.render_product:
camera: camera
resolution: [1280, 720]
writer:
writers.get:
name: BasicWriter
init_params:
rgb: True
bounding_box_2d_tight: True
semantic_filter_predicate: class:palletjack
output_dir: /workspaces/Surveily.Datasets.Generator.Omniverse/.out/Issues/colors
writer_attach:
writer.attach:
render_products: render_product
# Set the trigger as on_frame
trigger:
trigger.on_frame:
interval: 2
max_execs: 20
#rt_subframes: 10
# When the trigger executes, run the following logic
with_trigger:
with.trigger:
# create and scatter palletjacks
palletjack_instance:
randomizer.instantiate:
paths:
- http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment/Pallet_Trucks/Scale_A/PalletTruckScale_A01_PR_NVD_01.usd
- http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment/Pallet_Trucks/Heavy_Duty_A/HeavyDutyPalletTruck_A01_PR_NVD_01.usd
- http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment/Pallet_Trucks/Low_Profile_A/LowProfilePalletTruck_A01_PR_NVD_01.usd
size: #20
distribution.uniform:
lower: 15
upper: 30
use_cache: False
with.palletjack_instance:
modify.pose:
scale: 0.01
rotation:
distribution.uniform:
lower: [0, 0, -180]
upper: [0, 0, 180]
modify.semantics:
semantics: [[class, palletjack]]
randomizer.scatter_2d:
seed: 104
surface_prims: floor
no_coll_prims: racks_and_walls
check_for_collisions: True
palletjack_axles:
get.prims:
cache_result: False
path_pattern: SteerAxles
with.palletjack_axles:
randomizer.color:
colors:
distribution.uniform:
lower: [0, 0, 0]
upper: [1, 1, 1]
# move the camera around and rotate
with.camera:
modify.pose:
position:
distribution.uniform:
lower: [-23.6, -3, 2.5]
upper: [3.03, 3, 7.5]
rotation:
distribution.uniform:
lower: [0, -30, -120]
upper: [0, -10, -60]