Randomizing the color of a prim without using a registered function

[mona.jalal]

I am trying to randomize the color of floor (say only once and not triggered every frame). I am following this tutorial:

https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator/randomizer_details.html

def main():
    # Open the environment in a new stage
    print(f"Loading Stage {ENV_URL}")
    open_stage(prefix_with_isaac_asset_server(ENV_URL))

    # Create a custom scope for newly added prims
    stage = get_current_stage()
    
    floor_prims = [x.GetPath() for x in stage.Traverse() if "SM_floor" in x.GetName() and prims_utils.get_prim_type_name(x.GetPath()) == "Xform"]
    with floor_prims:
        rep.randomizer.color(colors=rep.distribution.uniform((0, 0, 0), (1, 1, 1)))

Here’s the error I got:

2023-02-21 14:15:41 [16,367ms] [Warning] [rtx.neuraylib.plugin] Compiler Core: omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/NVIDIA/Assets/Characters/Reallusion/Worker/Materials/OmniRL_PBR.mdl?watch=00007f2bf2290410(111,19): C183 unused parameter 'emissive_intensity'
2023-02-21 14:15:41 [16,367ms] [Warning] [rtx.neuraylib.plugin] Compiler Core: omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/NVIDIA/Assets/Characters/Reallusion/Worker/Materials/OmniRL_PBR.mdl?watch=00007f2bf2290410(111,19): C183 unused parameter 'emissive_intensity'
2023-02-21 14:15:42 [16,984ms] [Warning] [omni.isaac.core.simulation_context.simulation_context] A new stage was opened, World or Simulation Object are invalidated and you would need to initialize them again before using them.
2023-02-21 14:15:42 [17,033ms] [Error] [__main__] Exception: __enter__
Traceback (most recent call last):
  File "/home/mona/SDG/omniverse-sdg/offline_generation.py", line 711, in <module>
    main()
  File "/home/mona/SDG/omniverse-sdg/offline_generation.py", line 425, in main
    with floor_prims:
AttributeError: __enter__
[17.177s] Simulation App Shutting Down

I also tried this other version and still same error:

def main():
    # Open the environment in a new stage
    print(f"Loading Stage {ENV_URL}")
    open_stage(prefix_with_isaac_asset_server(ENV_URL))

    # Create a custom scope for newly added prims
    stage = get_current_stage()
    
    floor_prims = [x.GetPath() for x in stage.Traverse() if "SM_floor" in x.GetName() and prims_utils.get_prim_type_name(x.GetPath()) == "Xform"]
    
    for floor_prim in floor_prims:
        with floor_prim:
            rep.randomizer.color(colors=rep.distribution.uniform((0, 0, 0), (1, 1, 1)))
            
    
    
    # with floor_prims:
    #     rep.randomizer.color(colors=rep.distribution.uniform((0, 0, 0), (1, 1, 1)))

Error is:

2023-02-21 14:20:12 [15,960ms] [Warning] [rtx.neuraylib.plugin] Compiler Core: omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/NVIDIA/Assets/Characters/Reallusion/Worker/Materials/OmniRLBase.mdl?watch=00007f2212e02bb0(102,32): C302 conversion from 'float' to 'float3' must be explicit
2023-02-21 14:20:12 [15,960ms] [Warning] [rtx.neuraylib.plugin] Compiler Core: omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/NVIDIA/Assets/Characters/Reallusion/Worker/Materials/OmniRL_PBR.mdl?watch=00007f2182355880(111,19): C183 unused parameter 'emissive_intensity'
2023-02-21 14:20:12 [15,960ms] [Warning] [rtx.neuraylib.plugin] Compiler Core: omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/NVIDIA/Assets/Characters/Reallusion/Worker/Materials/OmniRL_PBR.mdl?watch=00007f2182355880(111,19): C183 unused parameter 'emissive_intensity'
2023-02-21 14:20:13 [16,575ms] [Warning] [omni.isaac.core.simulation_context.simulation_context] A new stage was opened, World or Simulation Object are invalidated and you would need to initialize them again before using them.
2023-02-21 14:20:13 [16,624ms] [Error] [__main__] Exception: __enter__
Traceback (most recent call last):
  File "/home/mona/SDG/omniverse-sdg/offline_generation.py", line 718, in <module>
    main()
  File "/home/mona/SDG/omniverse-sdg/offline_generation.py", line 427, in main
    with floor_prim:
AttributeError: __enter__
[16.791s] Simulation App Shutting Down

[mona.jalal]

actually I figured it. This is what I need. Thanks a lot for pointers and help @ahaidu and @toni.sm

def register_color_randomizer(prim_path):
    prim = rep.get.prims(semantics=[('class', 'floor')])
    def randomize_color():
        mats = rep.create.material_omnipbr(
            metallic=rep.distribution.uniform(0.0, 1.0),
            roughness=rep.distribution.uniform(0.0, 1.0),
            diffuse=rep.distribution.uniform((0, 0, 0), (1, 1, 1)),
            specular=rep.distribution.uniform(0.0, 1.0), 
            count=1000,
        )
        with prim:
            rep.randomizer.materials(mats)
        return prim.node

    rep.randomizer.register(randomize_color)

^Please let me know if this function has caveats or problems though or could be improved.