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

[mona.jalal]

import omni.replicator.core as rep

with rep.new_layer():

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

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

    torus = rep.create.torus(semantics=[('class', 'torus')] , position=(0, -200 , 100))

    sphere = rep.create.sphere(semantics=[('class', 'sphere')], position=(0, 100, 100))

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

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

    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")

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

    writer.attach([render_product])

    rep.orchestrator.preview()

I used this code from

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

However, it keeps showing this warning “translate is overriden in a stronger layer” warning and no output is produced.

Could you please guide why it’s not working in Isaac Sim Script Editor?

[7.010s] [ext: omni.isaac.sim.base-2022.2.0] startup
[7.010s] [ext: omni.isaac.sim-2022.2.0] startup
2023-02-27 14:22:39 [7,115ms] [Warning] [omni.client.plugin]  HTTP Client: provider_http: CC-493: Request through cache failed. Retrying without cache for http://omniverse-content-production.s3-us-west-2.amazonaws.com/.cloudfront.toml
2023-02-27 14:22:39 [7,115ms] [Warning] [omni.client.plugin]  HTTP Client: omniclient: CC-873: Bypassing cache until the application is restarted
[7.163s] app ready
2023-02-27 14:22:39 [7,346ms] [Warning] [omni.client.plugin]  HTTP Client: provider_http: CC-493: Request through cache failed. Retrying without cache for http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2022.2.0/Isaac/
[9.564s] RTX ready
[9.564s] RTX ready
[9.571s] Isaac Sim App is loaded.
2023-02-27 14:24:09 [97,585ms] [Warning] [carb.flatcache.plugin] UsdRelationship /Replicator/SDGPipeline/OgnGroup_08.inputs:prims has multiple targets, which is not supported

2023-02-27 14:24:10 [97,893ms] [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Camera_Xform.xformOp:translate is overridden in a stronger layer (Root Layer).
2023-02-27 14:24:10 [97,893ms] [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Torus_Xform.xformOp:translate is overridden in a stronger layer (Root Layer).
2023-02-27 14:24:10 [97,893ms] [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Sphere_Xform.xformOp:translate is overridden in a stronger layer (Root Layer).
2023-02-27 14:24:10 [97,893ms] [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Cube_Xform.xformOp:translate is overridden in a stronger layer (Root Layer).

[mona.jalal]

After I clicked on Replicator → Start, I was able to capture frames. However, everything is black.

Here is rgb_0009.png:

[mona.jalal]

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():

    # 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)


      
    plane = rep.create.plane(scale=10, visible=True)
    
 
        
    def randomize_cube():
        cube = rep.create.cube(semantics=[('class', 'cube')])  
        with cube:
            rep.modify.pose(
                position=rep.distribution.uniform((-40, 0, -40), (40, 0, 40)),
                rotation=rep.distribution.uniform((0, 0, 0), (90, 90, 0)),
                scale=rep.distribution.normal(0.5, 1.5)
            )
        return cube
    
    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=100):
        cube = rep.randomizer.randomize_cube()
        with camera:
            rep.modify.pose(position=rep.distribution.uniform((-80, 100, -80), (100, 300, 100)), look_at=cube)

[mona.jalal]

You need to run this tutorial inside Omniverse Code Replicator not Isaac Sim Replicator.

Thanks a lot to Austin Klein for help.