Randomizing floor breaks instance randomization on said floor

Omniverse Synthetic Data Generation (SDG)
1

In my with.trigger I have the following block:

    # Randomize floor
    with.floor:
      modify.material:
        value:
          - /Replicator/Ref_Xform/Ref/SM_floor27/Looks/MI_Floor_02b
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Floor_Damage
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Polished
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Precast

If I put it in the beginning of the with.trigger and then randomize instances, like this:

    # Create and scatter
    uniformm0027_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0027/Actor/uniform-m-0027/uniform-m-0027.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0027_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0027_animations
      randomizer.scatter_2d:
        seed: 20
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

Then the randomization will result with all people in a single place and no animations will be applied.

If I move the with.floor to the end of the file, it works well.

Is this a known issue? I can see it impacting other use cases.

@pcallender @dennis.lynch

3

Hi @Turowicz , can you provide a complete yaml? I don’t see the with.floor used anywhere/

4

This works ok:

# 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: omniverse://localhost/Library/wh1.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]]

light:
  get.prim_at_path:
    path: /Environment/defaultLight

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: KittiWriter
    init_params:
      partly_occluded_threshold: 0.24
      fully_visible_threshold: 0.25
      semantic_filter_predicate: class:person
      output_dir: /workspaces/Surveily.Datasets.Generator.Omniverse/.out/Surveily.Omniverse.Worlds/Warehouse/

writer_attach:
  writer.attach:
    render_products: render_product
# Load the animations
businessmbb0001476549_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, businessmbb0001476549]]
    dir_path: omniverse://localhost/Library/Assets/People/business-m-bb-0001-476549/Motion/

businessmbb0001476549_animations:
  get.prims:
    semantics: [[animation, businessmbb0001476549]]
# Load the animations
businessmbb0003476551_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, businessmbb0003476551]]
    dir_path: omniverse://localhost/Library/Assets/People/business-m-bb-0003-476551/Motion/

businessmbb0003476551_animations:
  get.prims:
    semantics: [[animation, businessmbb0003476551]]
# Load the animations
casualfbb0001476556_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, casualfbb0001476556]]
    dir_path: omniverse://localhost/Library/Assets/People/casual-f-bb-0001-476556/Motion/

casualfbb0001476556_animations:
  get.prims:
    semantics: [[animation, casualfbb0001476556]]
# Load the animations
casualfbb0002476554_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, casualfbb0002476554]]
    dir_path: omniverse://localhost/Library/Assets/People/casual-f-bb-0002-476554/Motion/

casualfbb0002476554_animations:
  get.prims:
    semantics: [[animation, casualfbb0002476554]]
# Load the animations
casualmbb0002476553_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, casualmbb0002476553]]
    dir_path: omniverse://localhost/Library/Assets/People/casual-m-bb-0002-476553/Motion/

casualmbb0002476553_animations:
  get.prims:
    semantics: [[animation, casualmbb0002476553]]
# Load the animations
uniformf0002_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0002]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0002/Motion/

uniformf0002_animations:
  get.prims:
    semantics: [[animation, uniformf0002]]
# Load the animations
uniformf0003_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0003]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0003/Motion/

uniformf0003_animations:
  get.prims:
    semantics: [[animation, uniformf0003]]
# Load the animations
uniformf0004_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0004]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0004/Motion/

uniformf0004_animations:
  get.prims:
    semantics: [[animation, uniformf0004]]
# Load the animations
uniformf0015_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0015]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0015/Motion/

uniformf0015_animations:
  get.prims:
    semantics: [[animation, uniformf0015]]
# Load the animations
uniformf0016_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0016]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0016/Motion/

uniformf0016_animations:
  get.prims:
    semantics: [[animation, uniformf0016]]
# Load the animations
uniformf0017_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0017]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0017/Motion/

uniformf0017_animations:
  get.prims:
    semantics: [[animation, uniformf0017]]
# Load the animations
uniformm0004_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0004]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0004/Motion/

uniformm0004_animations:
  get.prims:
    semantics: [[animation, uniformm0004]]
# Load the animations
uniformm0005_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0005]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0005/Motion/

uniformm0005_animations:
  get.prims:
    semantics: [[animation, uniformm0005]]
# Load the animations
uniformm0006_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0006]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0006/Motion/

uniformm0006_animations:
  get.prims:
    semantics: [[animation, uniformm0006]]
# Load the animations
uniformm0021_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0021]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0021/Motion/

uniformm0021_animations:
  get.prims:
    semantics: [[animation, uniformm0021]]
# Load the animations
uniformm0022_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0022]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0022/Motion/

uniformm0022_animations:
  get.prims:
    semantics: [[animation, uniformm0022]]
# Load the animations
uniformm0023_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0023]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0023/Motion/

uniformm0023_animations:
  get.prims:
    semantics: [[animation, uniformm0023]]
# Load the animations
uniformm0024_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0024]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0024/Motion/

uniformm0024_animations:
  get.prims:
    semantics: [[animation, uniformm0024]]
# Load the animations
uniformm0025_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0025]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0025/Motion/

uniformm0025_animations:
  get.prims:
    semantics: [[animation, uniformm0025]]
# Load the animations
uniformm0026_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0026]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0026/Motion/

uniformm0026_animations:
  get.prims:
    semantics: [[animation, uniformm0026]]
# Load the animations
uniformm0027_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0027]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0027/Motion/

uniformm0027_animations:
  get.prims:
    semantics: [[animation, uniformm0027]]
# Overwrite Seed
# set_seed:
#   core.set_global_seed:
#     seed: 123456789

# Set the trigger as on_frame
trigger:
  trigger.on_frame:
    interval: 2
    max_execs: 100
    #rt_subframes: 10

# Set sun intensity
with.light:
  modify.attribute:
    name: intensity
    value: 4000

# When the trigger executes, run the following logic
with_trigger:
  with.trigger:

    # Randomize sun
    with.light:
      modify.attribute:
        name: angle
        value:
          distribution.uniform:
            lower: -20
            upper: 0.53
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 60, 180]

    # 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]

    # move the forklift around and rotate
    with.forklift:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      # randomizer.scatter_2d:
      #   seed: 100
      #   surface_prims: floor
      #   no_coll_prims: racks_and_walls
      #   check_for_collisions: True

    # create and scatter forklifts
    fork_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.1/Isaac/Props/Forklift/forklift.usd
        size: 20
        mode: scene_instance

    with.fork_instance:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 100
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # create and scatter cones
    cone_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/S_TrafficCone.usd
        size: 50
        mode: scene_instance

    with.cone_instance:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 101
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # create and scatter wet floor signs
    wet_floor_sign_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/S_WetFloorSign.usd
        size: 50
        mode: scene_instance

    with.wet_floor_sign_instance:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 103
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # create and scatter cage trolleys
    trolley_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/trolley1-fbx.usd
        size: 50
        use_cache: False

    trolley_wall:
      get.prims:
        semantics: [[class, cagesteel], [class, cagedarksteel]]

    trolley_floor:
      get.prims:
        semantics: [[class, cagefloor]]

    with.trolley_wall:
      randomizer.materials:
        materials:
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Yellow_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Yellow_Glossy_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Grey_Glossy_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Orange_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Red_A
          # - /Replicator/Ref_Xform/Ref/Looks/Powdercoat_A
      # randomizer.color:
      #   colors:
      #     - [5, 5, 0]
      #     - [111, 111, 111]
      #     - [155, 155, 104]
      #     - [155, 155, 53]

    with.trolley_floor:
      randomizer.materials:
        materials:
          - /Replicator/Ref_Xform/Ref/Looks/Gold_Scratched
          - /Replicator/Ref_Xform/Ref/Looks/Aluminum_Scratched
          - /Replicator/Ref_Xform/Ref/Looks/Stainless_Steel_Milled

    with.trolley_instance:
      # modify.semantics:
      #   semantics: [[class, cagetrolley]]
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 102
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # Create and scatter
    businessmbb0001476549_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/business-m-bb-0001-476549/Actor/business-m-bb-0001-476549/business-m-bb-0001-476549.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.businessmbb0001476549_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: businessmbb0001476549_animations
      randomizer.scatter_2d:
        seed: 0
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    businessmbb0003476551_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/business-m-bb-0003-476551/Actor/business-m-bb-0003-476551/business-m-bb-0003-476551.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.businessmbb0003476551_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: businessmbb0003476551_animations
      randomizer.scatter_2d:
        seed: 1
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    casualfbb0001476556_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/casual-f-bb-0001-476556/Actor/casual-f-bb-0001-476556/casual-f-bb-0001-476556.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.casualfbb0001476556_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: casualfbb0001476556_animations
      randomizer.scatter_2d:
        seed: 2
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    casualfbb0002476554_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/casual-f-bb-0002-476554/Actor/casual-f-bb-0002-476554/casual-f-bb-0002-476554.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.casualfbb0002476554_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: casualfbb0002476554_animations
      randomizer.scatter_2d:
        seed: 3
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    casualmbb0002476553_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/casual-m-bb-0002-476553/Actor/casual-m-bb-0002-476553/casual-m-bb-0002-476553.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.casualmbb0002476553_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: casualmbb0002476553_animations
      randomizer.scatter_2d:
        seed: 4
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0002_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0002/Actor/uniform-f-0002/uniform-f-0002.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0002_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0002_animations
      randomizer.scatter_2d:
        seed: 5
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0003_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0003/Actor/uniform-f-0003/uniform-f-0003.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0003_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0003_animations
      randomizer.scatter_2d:
        seed: 6
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0004_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0004/Actor/uniform-f-0004/uniform-f-0004.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0004_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0004_animations
      randomizer.scatter_2d:
        seed: 7
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0015_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0015/Actor/uniform-f-0015/uniform-f-0015.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0015_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0015_animations
      randomizer.scatter_2d:
        seed: 8
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0016_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0016/Actor/uniform-f-0016/uniform-f-0016.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0016_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0016_animations
      randomizer.scatter_2d:
        seed: 9
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0017_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0017/Actor/uniform-f-0017/uniform-f-0017.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0017_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0017_animations
      randomizer.scatter_2d:
        seed: 10
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0004_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0004/Actor/uniform-m-0004/uniform-m-0004.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0004_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0004_animations
      randomizer.scatter_2d:
        seed: 11
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0005_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0005/Actor/uniform-m-0005/uniform-m-0005.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0005_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0005_animations
      randomizer.scatter_2d:
        seed: 12
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0006_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0006/Actor/uniform-m-0006/uniform-m-0006.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0006_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0006_animations
      randomizer.scatter_2d:
        seed: 13
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0021_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0021/Actor/uniform-m-0021/uniform-m-0021.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0021_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0021_animations
      randomizer.scatter_2d:
        seed: 14
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0022_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0022/Actor/uniform-m-0022/uniform-m-0022.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0022_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0022_animations
      randomizer.scatter_2d:
        seed: 15
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0023_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0023/Actor/uniform-m-0023/uniform-m-0023.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0023_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0023_animations
      randomizer.scatter_2d:
        seed: 16
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0024_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0024/Actor/uniform-m-0024/uniform-m-0024.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0024_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0024_animations
      randomizer.scatter_2d:
        seed: 17
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0025_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0025/Actor/uniform-m-0025/uniform-m-0025.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0025_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0025_animations
      randomizer.scatter_2d:
        seed: 18
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0026_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0026/Actor/uniform-m-0026/uniform-m-0026.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0026_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0026_animations
      randomizer.scatter_2d:
        seed: 19
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0027_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0027/Actor/uniform-m-0027/uniform-m-0027.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0027_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0027_animations
      randomizer.scatter_2d:
        seed: 20
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # Randomize floor
    with.floor:
      modify.material:
        value:
          - /Replicator/Ref_Xform/Ref/SM_floor27/Looks/MI_Floor_02b
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Floor_Damage
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Polished
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Precast

This spawns all instances in a single spot:

# 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: omniverse://localhost/Library/wh1.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]]

light:
  get.prim_at_path:
    path: /Environment/defaultLight

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: KittiWriter
    init_params:
      partly_occluded_threshold: 0.24
      fully_visible_threshold: 0.25
      semantic_filter_predicate: class:person
      output_dir: /workspaces/Surveily.Datasets.Generator.Omniverse/.out/Surveily.Omniverse.Worlds/Warehouse/

writer_attach:
  writer.attach:
    render_products: render_product
# Load the animations
businessmbb0001476549_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, businessmbb0001476549]]
    dir_path: omniverse://localhost/Library/Assets/People/business-m-bb-0001-476549/Motion/

businessmbb0001476549_animations:
  get.prims:
    semantics: [[animation, businessmbb0001476549]]
# Load the animations
businessmbb0003476551_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, businessmbb0003476551]]
    dir_path: omniverse://localhost/Library/Assets/People/business-m-bb-0003-476551/Motion/

businessmbb0003476551_animations:
  get.prims:
    semantics: [[animation, businessmbb0003476551]]
# Load the animations
casualfbb0001476556_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, casualfbb0001476556]]
    dir_path: omniverse://localhost/Library/Assets/People/casual-f-bb-0001-476556/Motion/

casualfbb0001476556_animations:
  get.prims:
    semantics: [[animation, casualfbb0001476556]]
# Load the animations
casualfbb0002476554_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, casualfbb0002476554]]
    dir_path: omniverse://localhost/Library/Assets/People/casual-f-bb-0002-476554/Motion/

casualfbb0002476554_animations:
  get.prims:
    semantics: [[animation, casualfbb0002476554]]
# Load the animations
casualmbb0002476553_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, casualmbb0002476553]]
    dir_path: omniverse://localhost/Library/Assets/People/casual-m-bb-0002-476553/Motion/

casualmbb0002476553_animations:
  get.prims:
    semantics: [[animation, casualmbb0002476553]]
# Load the animations
uniformf0002_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0002]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0002/Motion/

uniformf0002_animations:
  get.prims:
    semantics: [[animation, uniformf0002]]
# Load the animations
uniformf0003_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0003]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0003/Motion/

uniformf0003_animations:
  get.prims:
    semantics: [[animation, uniformf0003]]
# Load the animations
uniformf0004_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0004]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0004/Motion/

uniformf0004_animations:
  get.prims:
    semantics: [[animation, uniformf0004]]
# Load the animations
uniformf0015_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0015]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0015/Motion/

uniformf0015_animations:
  get.prims:
    semantics: [[animation, uniformf0015]]
# Load the animations
uniformf0016_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0016]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0016/Motion/

uniformf0016_animations:
  get.prims:
    semantics: [[animation, uniformf0016]]
# Load the animations
uniformf0017_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformf0017]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-f-0017/Motion/

uniformf0017_animations:
  get.prims:
    semantics: [[animation, uniformf0017]]
# Load the animations
uniformm0004_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0004]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0004/Motion/

uniformm0004_animations:
  get.prims:
    semantics: [[animation, uniformm0004]]
# Load the animations
uniformm0005_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0005]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0005/Motion/

uniformm0005_animations:
  get.prims:
    semantics: [[animation, uniformm0005]]
# Load the animations
uniformm0006_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0006]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0006/Motion/

uniformm0006_animations:
  get.prims:
    semantics: [[animation, uniformm0006]]
# Load the animations
uniformm0021_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0021]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0021/Motion/

uniformm0021_animations:
  get.prims:
    semantics: [[animation, uniformm0021]]
# Load the animations
uniformm0022_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0022]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0022/Motion/

uniformm0022_animations:
  get.prims:
    semantics: [[animation, uniformm0022]]
# Load the animations
uniformm0023_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0023]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0023/Motion/

uniformm0023_animations:
  get.prims:
    semantics: [[animation, uniformm0023]]
# Load the animations
uniformm0024_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0024]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0024/Motion/

uniformm0024_animations:
  get.prims:
    semantics: [[animation, uniformm0024]]
# Load the animations
uniformm0025_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0025]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0025/Motion/

uniformm0025_animations:
  get.prims:
    semantics: [[animation, uniformm0025]]
# Load the animations
uniformm0026_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0026]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0026/Motion/

uniformm0026_animations:
  get.prims:
    semantics: [[animation, uniformm0026]]
# Load the animations
uniformm0027_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, uniformm0027]]
    dir_path: omniverse://localhost/Library/Assets/People/uniform-m-0027/Motion/

uniformm0027_animations:
  get.prims:
    semantics: [[animation, uniformm0027]]
# Overwrite Seed
# set_seed:
#   core.set_global_seed:
#     seed: 123456789

# Set the trigger as on_frame
trigger:
  trigger.on_frame:
    interval: 2
    max_execs: 100
    #rt_subframes: 10

# Set sun intensity
with.light:
  modify.attribute:
    name: intensity
    value: 4000

# When the trigger executes, run the following logic
with_trigger:
  with.trigger:

    # Randomize sun
    with.light:
      modify.attribute:
        name: angle
        value:
          distribution.uniform:
            lower: -20
            upper: 0.53
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 60, 180]

    # Randomize floor
    with.floor:
      modify.material:
        value:
          - /Replicator/Ref_Xform/Ref/SM_floor27/Looks/MI_Floor_02b
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Floor_Damage
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Polished
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Precast

    # 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]

    # move the forklift around and rotate
    with.forklift:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      # randomizer.scatter_2d:
      #   seed: 100
      #   surface_prims: floor
      #   no_coll_prims: racks_and_walls
      #   check_for_collisions: True

    # create and scatter forklifts
    fork_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.1/Isaac/Props/Forklift/forklift.usd
        size: 20
        mode: scene_instance

    with.fork_instance:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 100
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # create and scatter cones
    cone_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/S_TrafficCone.usd
        size: 50
        mode: scene_instance

    with.cone_instance:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 101
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # create and scatter wet floor signs
    wet_floor_sign_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/S_WetFloorSign.usd
        size: 50
        mode: scene_instance

    with.wet_floor_sign_instance:
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 103
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # create and scatter cage trolleys
    trolley_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/trolley1-fbx.usd
        size: 50
        use_cache: False

    trolley_wall:
      get.prims:
        semantics: [[class, cagesteel], [class, cagedarksteel]]

    trolley_floor:
      get.prims:
        semantics: [[class, cagefloor]]

    with.trolley_wall:
      randomizer.materials:
        materials:
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Yellow_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Yellow_Glossy_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Grey_Glossy_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Orange_A
          - /Replicator/Ref_Xform/Ref/Looks/Painted_Metal_Red_A
          # - /Replicator/Ref_Xform/Ref/Looks/Powdercoat_A
      # randomizer.color:
      #   colors:
      #     - [5, 5, 0]
      #     - [111, 111, 111]
      #     - [155, 155, 104]
      #     - [155, 155, 53]

    with.trolley_floor:
      randomizer.materials:
        materials:
          - /Replicator/Ref_Xform/Ref/Looks/Gold_Scratched
          - /Replicator/Ref_Xform/Ref/Looks/Aluminum_Scratched
          - /Replicator/Ref_Xform/Ref/Looks/Stainless_Steel_Milled

    with.trolley_instance:
      # modify.semantics:
      #   semantics: [[class, cagetrolley]]
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      randomizer.scatter_2d:
        seed: 102
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    # Create and scatter
    businessmbb0001476549_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/business-m-bb-0001-476549/Actor/business-m-bb-0001-476549/business-m-bb-0001-476549.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.businessmbb0001476549_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: businessmbb0001476549_animations
      randomizer.scatter_2d:
        seed: 0
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    businessmbb0003476551_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/business-m-bb-0003-476551/Actor/business-m-bb-0003-476551/business-m-bb-0003-476551.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.businessmbb0003476551_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: businessmbb0003476551_animations
      randomizer.scatter_2d:
        seed: 1
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    casualfbb0001476556_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/casual-f-bb-0001-476556/Actor/casual-f-bb-0001-476556/casual-f-bb-0001-476556.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.casualfbb0001476556_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: casualfbb0001476556_animations
      randomizer.scatter_2d:
        seed: 2
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    casualfbb0002476554_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/casual-f-bb-0002-476554/Actor/casual-f-bb-0002-476554/casual-f-bb-0002-476554.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.casualfbb0002476554_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: casualfbb0002476554_animations
      randomizer.scatter_2d:
        seed: 3
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    casualmbb0002476553_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/casual-m-bb-0002-476553/Actor/casual-m-bb-0002-476553/casual-m-bb-0002-476553.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.casualmbb0002476553_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: casualmbb0002476553_animations
      randomizer.scatter_2d:
        seed: 4
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0002_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0002/Actor/uniform-f-0002/uniform-f-0002.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0002_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0002_animations
      randomizer.scatter_2d:
        seed: 5
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0003_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0003/Actor/uniform-f-0003/uniform-f-0003.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0003_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0003_animations
      randomizer.scatter_2d:
        seed: 6
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0004_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0004/Actor/uniform-f-0004/uniform-f-0004.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0004_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0004_animations
      randomizer.scatter_2d:
        seed: 7
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0015_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0015/Actor/uniform-f-0015/uniform-f-0015.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0015_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0015_animations
      randomizer.scatter_2d:
        seed: 8
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0016_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0016/Actor/uniform-f-0016/uniform-f-0016.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0016_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0016_animations
      randomizer.scatter_2d:
        seed: 9
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformf0017_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-f-0017/Actor/uniform-f-0017/uniform-f-0017.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformf0017_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformf0017_animations
      randomizer.scatter_2d:
        seed: 10
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0004_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0004/Actor/uniform-m-0004/uniform-m-0004.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0004_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0004_animations
      randomizer.scatter_2d:
        seed: 11
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0005_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0005/Actor/uniform-m-0005/uniform-m-0005.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0005_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0005_animations
      randomizer.scatter_2d:
        seed: 12
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0006_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0006/Actor/uniform-m-0006/uniform-m-0006.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0006_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0006_animations
      randomizer.scatter_2d:
        seed: 13
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0021_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0021/Actor/uniform-m-0021/uniform-m-0021.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0021_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0021_animations
      randomizer.scatter_2d:
        seed: 14
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0022_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0022/Actor/uniform-m-0022/uniform-m-0022.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0022_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0022_animations
      randomizer.scatter_2d:
        seed: 15
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0023_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0023/Actor/uniform-m-0023/uniform-m-0023.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0023_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0023_animations
      randomizer.scatter_2d:
        seed: 16
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0024_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0024/Actor/uniform-m-0024/uniform-m-0024.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0024_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0024_animations
      randomizer.scatter_2d:
        seed: 17
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0025_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0025/Actor/uniform-m-0025/uniform-m-0025.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0025_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0025_animations
      randomizer.scatter_2d:
        seed: 18
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0026_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0026/Actor/uniform-m-0026/uniform-m-0026.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0026_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0026_animations
      randomizer.scatter_2d:
        seed: 19
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
    # Create and scatter
    uniformm0027_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/uniform-m-0027/Actor/uniform-m-0027/uniform-m-0027.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.uniformm0027_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: uniformm0027_animations
      randomizer.scatter_2d:
        seed: 20
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
5

Got it. @Turowicz Can you create a minimum yaml file that still repro this issue? I’ll look into this more deeply.

6

here

# 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: omniverse://localhost/Library/wh1.usd
    
floor:
  get.prims:
    semantics: [[class, floor]]

light:
  get.prim_at_path:
    path: /Environment/defaultLight

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: KittiWriter
    init_params:
      partly_occluded_threshold: 0.24
      fully_visible_threshold: 0.25
      semantic_filter_predicate: class:person
      output_dir: /workspaces/Surveily.Datasets.Generator.Omniverse/.out/Surveily.Omniverse.Worlds/Warehouse/

writer_attach:
  writer.attach:
    render_products: render_product

# Load the animations
businessmbb0001476549_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, businessmbb0001476549]]
    dir_path: omniverse://localhost/Library/Assets/People/business-m-bb-0001-476549/Motion/

businessmbb0001476549_animations:
  get.prims:
    semantics: [[animation, businessmbb0001476549]]

# Set the trigger as on_frame
trigger:
  trigger.on_frame:
    interval: 2
    max_execs: 100
    #rt_subframes: 10

# Set sun intensity
with.light:
  modify.attribute:
    name: intensity
    value: 4000

# When the trigger executes, run the following logic
with_trigger:
  with.trigger:

    # Randomize sun
    with.light:
      modify.attribute:
        name: angle
        value:
          distribution.uniform:
            lower: -20
            upper: 0.53
      modify.pose:
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 60, 180]

    # Randomize floor
    with.floor:
      modify.material:
        value:
          - /Replicator/Ref_Xform/Ref/SM_floor27/Looks/MI_Floor_02b
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Floor_Damage
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Polished
          - /Replicator/Ref_Xform/Ref/Looks/Concrete_Precast

    # 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]

    # Create and scatter
    businessmbb0001476549_instance:
      randomizer.instantiate:
        paths:
          - omniverse://localhost/Library/Assets/People/business-m-bb-0001-476549/Actor/business-m-bb-0001-476549/business-m-bb-0001-476549.usd
        size: #15
          distribution.uniform:
            lower: [1]
            upper: [3]
        use_cache: False

    with.businessmbb0001476549_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: businessmbb0001476549_animations
      randomizer.scatter_2d:
        seed: 0
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True
7

@jiehanw there was a bug in one URL in my script, please use the following and make sure to update the output_dir:

# 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

floor:
  get.prims:
    semantics: [[class, floor]]

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:person
      output_dir: /workspaces/Surveily.Datasets.Generator.Omniverse/.out/Issues/floor

writer_attach:
  writer.attach:
    render_products: render_product

# Load the animations
actor_load_animations:
  create.from_dir:
    recursive: True
    semantics: [[animation, actor]]
    dir_path: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Characters/Reallusion/ActorCore/Business_F_0002/Motion/

actor_animations:
  get.prims:
    semantics: [[animation, actor]]

# 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:
    # Randomize floor
    with.floor:
      modify.material:
        value:
          - /Replicator/Ref_Xform/Ref/SM_floor27/Looks/MI_Floor_02b
          - /Replicator/Ref_Xform/Ref/SM_WallA_3M42/SM_WallA_6M/Looks/MI_WallA_01

    # 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]

    # Create and scatter actor
    actor_instance:
      randomizer.instantiate:
        paths:
          - http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Characters/Reallusion/ActorCore/Business_F_0002/Actor/business-f-0002/business-f-0002.usd
        size: #15
          distribution.uniform:
            lower: 1
            upper: 10
        use_cache: False

    with.actor_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, person]]
      modify.animation:
        values: 
          distribution.sequence:
            items: actor_animations
      randomizer.scatter_2d:
        seed: 1
        surface_prims: floor
        check_for_collisions: True
8

paging @jiehanw

9

Any updates on this @jiehanw @pcallender

10

This issue has been mitigated in the 4.0.0 release.

11

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