I am trying to gather some synthetic data for training my jetbot for collision avoidance. I am using the replicator composer to generate random data with objects on the ground blocking the jetbot.
However, I cannot collect data with object fell on the ground. Instead, I got only object floating around.
obj_physics is set to True; ‘scene_gravity’ is also set to True.
I found this topic which faced a similar problem to mine (Object Physics (obj_physics) not working in Replicator Composer. Objects are still flying) , but I still cannot get my objects fall to the ground.
Here is my input script:
# dropped warehouse objects
objects:
obj_model: Choice(["assets/models/jetbot_room.txt"])
obj_count: Range(3, 10)
obj_size_enabled: False
obj_scale: Uniform(5, 10)
obj_coord_camera_relative: True
obj_distance: Uniform(0.1, 3)
obj_rot: (Normal(0, 45), Normal(0, 45), Uniform(0, 360))
obj_physics: True
obj_vel: (0, 0, 0)
obj_rot_vel: (0, 0, 0)
# colorful ceiling lights
lights:
light_count: Range(0, 2)
light_coord_camera_relative: False
light_coord: (Uniform(-2, 2), Uniform(-2, 2), 5)
light_color: Uniform((0, 0, 0), (1, 1, 1))
light_intensity: Uniform(0, 300000)
light_radius: 1
# warehouse scenario
scenario_model: Library/Environment/simple_room(no_table).usd
# camera
focal_length: 0.75
focus_distance: 0.0
f_stop: 0.0
horiz_aperture: 2.35
vert_aperture: 2.35
camera_coord: (2.5, 0, 0.2)
camera_rot: (0,-10,0)
# output
output_dir: dataset
num_scenes: 10
img_width: 1024
img_height: 1024
rgb: True
# simulate
physics_simulate_time: 10
scene_meters_per_unit: 1
scene_gravity: True
