On linux with isaac sim 2022.2.1 when using the following randomizer, the bounding_box_3d rotation matrix in the npy file is plausible:
def env_props():
size = rep.distribution.uniform(1, 5)
instances = rep.randomizer.instantiate(
rep.utils.get_usd_files(assets_path), size=size, mode="scene_instance"
)
with instances:
rep.modify.pose(
position=rep.distribution.uniform((3, 0.615, 0.015), (5, 2, 0.015)),
rotation=rep.distribution.uniform((0, 0, -180), (0, 0, +180)),
)
rep.modify.semantics([("class", "object")])
return instances.node
However when using scatter_2D the rotation matrix in the bounding_box_3d npy is always and identity matrix (and the objects collides with themselves) but the objects are correctly generated on the desired planes:
def env_props():
size = rep.distribution.uniform(1, 5)
instances = rep.randomizer.instantiate(
rep.utils.get_usd_files(assets_path), size=size, mode="point_instance"
)
with instances:
surface_prims = [
"/Replicator/Plane_Xform/Plane",
"/Replicator/Plane_Xform_01/Plane",
]
rep.randomizer.scatter_2d(
surface_prims=surface_prims, check_for_collisions=True
)
rep.modify.pose(
rotation=rep.distribution.uniform((0, 0, -180), (0, 0, +180)),
)
return instances.node