Hi,
Reading the forums, I understand that I need to set up different scatter_2d calls in a utils.sequential() with block. (This would be a terrific replicator tutorial item, by the way.)
I think I have everything properly set up in this simple script, but I’m still seeing the occasional collision. See attached image:
Is there something I may be missing?
Running Code 2023.1.1 headlessly via /omni.code.sh --no-window --/omni/replicator/script=script.py:
import datetime as dt
import omni.replicator.core as rep
with rep.new_layer():
rep.settings.carb_settings("/omni/replicator/RTSubframes", 8)
distance_light = rep.create.light(rotation=(315,0,0), intensity=3000, light_type="distant")
ENV = 'omniverse://localhost/NVIDIA/Assets/Isaac/4.0/Isaac/Environments/Simple_Room/simple_room.usd'
CRACKER_BOX = 'omniverse://localhost/NVIDIA/Assets/Isaac/4.0/Isaac/Props/YCB/Axis_Aligned/003_cracker_box.usd'
SUGAR_BOX = 'omniverse://localhost/NVIDIA/Assets/Isaac/4.0/Isaac/Props/YCB/Axis_Aligned/004_sugar_box.usd'
SOUP_CAN = 'omniverse://localhost/NVIDIA/Assets/Isaac/4.0/Isaac/Props/YCB/Axis_Aligned/005_tomato_soup_can.usd'
MUSTARD_BOTTLE = 'omniverse://localhost/NVIDIA/Assets/Isaac/4.0/Isaac/Props/YCB/Axis_Aligned/006_mustard_bottle.usd'
def randomize_objects():
cracker_box = rep.create.from_usd(CRACKER_BOX, semantics=[('class', 'red cracker box')])
cracker_plane_samp = rep.create.plane(scale=1, position=(0, 0, 0.1), rotation=(90, 0, 0), visible=False)
sugar_box = rep.create.from_usd(SUGAR_BOX, semantics=[('class', 'yellow and white sugar box')])
sugar_plane_samp = rep.create.plane(scale=1, position=(0, 0, 0.085), rotation=(90, 0, 0), visible=False)
soup_can = rep.create.from_usd(SOUP_CAN, semantics=[('class', 'red and white soup can')])
soup_plane_samp = rep.create.plane(scale=1, position=(0, 0, 0.05), rotation=(90, 0, 0), visible=False)
mustard_bottle = rep.create.from_usd(MUSTARD_BOTTLE, semantics=[('class', 'yellow mustard bottle')])
mustard_plane_samp = rep.create.plane(scale=1, position=(0, 0, 0.095), rotation=(90, 0, 0), visible=False)
with rep.utils.sequential():
with cracker_box:
rep.modify.pose(rotation=rep.distribution.uniform((-90, 0, -180), (-90, 0, 180)))
rep.randomizer.scatter_2d(
cracker_plane_samp,
seed=1,
no_coll_prims=[],
check_for_collisions=True
)
with sugar_box:
rep.modify.pose(rotation=rep.distribution.uniform((-90, 0, -180), (-90, 0, 180)))
rep.randomizer.scatter_2d(
sugar_plane_samp,
seed=2,
no_coll_prims=[rep.get.prims(path_match='03_cracker_box', prim_types=['Mesh'])],
check_for_collisions=True
)
with soup_can:
rep.modify.pose(rotation=rep.distribution.uniform((-90, 0, -180), (-90, 0, 180)))
rep.randomizer.scatter_2d(
soup_plane_samp,
seed=3,
no_coll_prims=[
rep.get.prims(path_match='03_cracker_box', prim_types=['Mesh']),
rep.get.prims(path_match='04_sugar_box', prim_types=['Mesh'])
],
check_for_collisions=True
)
with mustard_bottle:
rep.modify.pose(rotation=rep.distribution.uniform((-90, 0, -180), (-90, 0, 180)))
rep.randomizer.scatter_2d(
mustard_plane_samp,
seed=4,
no_coll_prims=[
rep.get.prims(path_match='03_cracker_box', prim_types=['Mesh']),
rep.get.prims(path_match='04_sugar_box', prim_types=['Mesh']),
rep.get.prims(path_match='05_tomato_soup_can', prim_types=['Mesh']),
],
check_for_collisions=True
)
return [cracker_box.node, sugar_box.node, soup_can.node, mustard_bottle.node]
rep.randomizer.register(randomize_objects)
env = rep.create.from_usd(ENV)
camera = rep.create.camera(
focal_length=24.0,
position=(0, 1.6, 0.9),
rotation=(60, 0, 180)
)
render_product = rep.create.render_product(camera, resolution=(1024, 1024))
writer = rep.WriterRegistry.get("BasicWriter")
writer.initialize(
output_dir=f"~/replicator_test_output/{dt.datetime.now().strftime('%Y%m%d_%H%M%S')}",
semantic_segmentation=True,
colorize_instance_segmentation=True,
rgb=True
)
writer.attach([render_product])
with rep.trigger.on_frame(num_frames=50):
rep.randomizer.randomize_objects()
rep.orchestrator.run()