Running in 4.0.0 we get around 10% of output images with no labels for boxes and pallets while the objects are clearly visible in the rgb outputs. This issue is not present in 2023.1.1. This problem together with Isaac v4.0.0 Container cannot load our YAML scenarios from v2023.1.1 - #8 by Turowicz is properly blocking us from upgrading to 4.0.0.
Video proving they all have semantics:
Example rgb output:
Example labels tight/loose output:
{}
Reproduction scenario:
import os
import random
import omni.replicator.core as rep
from pathlib import Path
from typing import Tuple
from usd_scene_construction_utils import (
add_usd_ref,
rotate_x,
rotate_y,
rotate_z,
scale,
compute_bbox,
add_xform,
compute_bbox_center,
translate,
set_visibility,
new_omniverse_stage,
add_dome_light,
add_plane,
add_mdl_material,
bind_material
)
stage = new_omniverse_stage()
floor_materials = [
"/Replicator/Ref_Xform_01/Ref/Looks/Concrete_Floor_Damage",
"/Replicator/Ref_Xform_01/Ref/Looks/Concrete_Polished",
"/Replicator/Ref_Xform_01/Ref/Looks/Concrete_Precast",
"/Replicator/Ref_Xform_01/Ref/Looks/Spongy_Concrete_Weathered_Mossy_Dark_Dirt",
"/Replicator/Ref_Xform_01/Ref/Looks/Brass",
"/Replicator/Ref_Xform_01/Ref/Looks/Cast_Metal_Silver_Vein",
"/Replicator/Ref_Xform_01/Ref/Looks/Asphalt",
"/Replicator/Ref_Xform_01/Ref/Looks/Granite_Light",
"/Replicator/Ref_Xform_01/Ref/Looks/Gravel",
"/Replicator/Ref_Xform_01/Ref/Looks/Gravel_River_Rock",
"/Replicator/Ref_Xform_01/Ref/Looks/Slate",
]
box_asset_urls = [
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Flat_A/FlatBox_A02_15x21x8cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Flat_A/FlatBox_A06_28x30x8cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Cube_A/CubeBox_A01_10cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Cube_A/CubeBox_A03_21cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Cube_A/CubeBox_A06_42cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Long_A/LongBox_A01_8x16x8cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/Long_A/LongBox_A04_11x51x10cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/White_A/WhiteCorrugatedBox_A03_15x15x15cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/White_A/WhiteCorrugatedBox_A22_30x41x30cm_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Shipping/Cardboard_Boxes/White_A/WhiteCorrugatedBox_A31_25x30x15cm_PR_NVD_01.usd",
]
base_asset_urls = [
"http://omniverse-content-production.s3-us-west-2.amazonaws.com//Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Wood/Block_B/BlockPallet_B01_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com//Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Wood/Block_B/BlockPallet_B02_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com//Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Wood/Block_B/BlockPallet_B03_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com//Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Metal/Aluminum_A/AluminumPallet_A01_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com//Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Metal/Aluminum_A/AluminumPallet_A02_PR_NVD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com//Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/Metal/GalvanizedSteel_A/GalvanizedSteelPallet_A01_PR_NVD_01.usd",
# "http://omniverse-content-production.s3-us-west-2.amazonaws.com//Assets/DigitalTwin/Assets/Warehouse/Shipping/Pallets/",
]
clutter_asset_urls = [
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Demos/AEC/BrownstoneDemo/Props/Hydrant/Hydrant.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Machinima/PostScriptum/Maps/EntryMap/Props/SM_trashcans.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/NVIDIA/Assets/ArchVis/Residential/Outdoors/Planters/SquareGardenPlanter_Tall.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/NVIDIA/Assets/ArchVis/Residential/Outdoors/Planters/Anza_Large.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/NVIDIA/Assets/ArchVis/Residential/Outdoors/Planters/ChippedPlanter_Large.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Machinima/PostScriptum/Maps/EntryMap/Props/SM_Workshop_Ladder.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Machinima/PostScriptum/Maps/EntryMap/Props/WoodenBox_Stack_C.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Machinima/BannerlordII/Props/market_potteryPile4.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Machinima/BannerlordII/Props/weapon_rack_vlandia_a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Machinima/Squad/Stages/Desert/Props/Ace_Van.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/NVIDIA/Assets/Vegetation/Trees/Common_Apple.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/NVIDIA/Assets/Vegetation/Trees/Red_Oak.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/NVIDIA/Assets/Vegetation/Trees/Japanese_Maple_Fall.usd",
]
clutter_sm_asset_urls = [
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BarelPlastic_B_03.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BarelPlastic_C_02.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BottlePlasticA_02.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BottlePlasticB_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BottlePlasticA_02.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BottlePlasticA_02.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BottlePlasticD_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BottlePlasticE_01.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/Props/SM_BucketPlastic_B.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Props/Forklift/forklift.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/Pharmacy_Low.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_BedSideTable_01b.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_BooksSet_26.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_BottleB.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_BottleA.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_BottleC.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Cart_01a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Chair_02a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Chair_01a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Computer_02b.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Desk_04a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_DisposalStand_02.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_FirstAidKit_01a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_GasCart_01c.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Gurney_01b.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_HospitalBed_01b.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_MedicalBag_01a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Mirror.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_MopSet_01b.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_SideTable_02a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_SupplyCabinet_01c.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_SupplyCart_01e.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_TrashCan.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_Washbasin.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Hospital/Props/SM_WheelChair_01a.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_WaterCooler.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_TV.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_TableC.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_Recliner.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_Personenleitsystem_Red1m.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_Lamp02_162.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_Lamp02.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_HandDryer.usd",
"http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Office/Props/SM_Extinguisher.usd",
]
def add_box_of_size(
stage,
path: str,
size: Tuple[float, float, float]
):
"""Adds a box and re-scales it to match the specified dimensions
"""
# Add USD box
prim = add_usd_ref(stage, path, usd_path=box_asset_urls[random.randint(0, len(box_asset_urls) - 1)])
rotate_x(prim, random.choice([-90, 0, 90, 180]))
rotate_y(prim, random.choice([-90, 0, 90, 180]))
# Scale USD box to fit dimensions
usd_min, usd_max = compute_bbox(prim)
usd_size = (
usd_max[0] - usd_min[0],
usd_max[1] - usd_min[1],
usd_max[2] - usd_min[2]
)
required_scale = (
size[0] / usd_size[0],
size[1] / usd_size[1],
size[2] / usd_size[2]
)
scale(prim, required_scale)
return prim
def add_random_box_stack(
stage,
path: str,
count_range=(1, 5),
size_range=((30, 30, 10), (50, 50, 25)),
angle_range=(-5, 5),
jitter_range=(-3,3)
):
container = add_xform(stage, path)
count = random.randint(*count_range)
# get sizes and sort
sizes = [
(
random.uniform(size_range[0][0], size_range[1][0]),
random.uniform(size_range[0][1], size_range[1][1]),
random.uniform(size_range[0][2], size_range[1][2])
)
for i in range(count)
]
sizes = sorted(sizes, key=lambda x: x[0]**2 + x[1]**2, reverse=True)
boxes = []
for i in range(count):
box_i = add_box_of_size(stage, os.path.join(path, f"box_{i}"), sizes[i])
boxes.append(box_i)
if count > 0:
center = compute_bbox_center(boxes[0])
for i in range(1, count):
prev_box, cur_box = boxes[i - 1], boxes[i]
cur_bbox = compute_bbox(cur_box)
cur_center = compute_bbox_center(cur_box)
prev_bbox = compute_bbox(prev_box)
offset = (
center[0] - cur_center[0],
center[1] - cur_center[1],
prev_bbox[1][2] - cur_bbox[0][2]
)
translate(cur_box, offset)
# add some noise
for i in range(count):
rotate_z(boxes[i], random.uniform(*angle_range))
translate(boxes[i], (
random.uniform(*jitter_range),
random.uniform(*jitter_range),
0
))
return container, boxes
def add_random_box_stacks(
stage,
path: str,
base_bbox,
count_range=(0, 3),
):
container = add_xform(stage, path)
stacks = []
count = random.randint(*count_range)
for i in range(count):
stack, items = add_random_box_stack(stage, os.path.join(path, f"stack_{i}"),(1,10),((30, 30, 10), (base_bbox[1][0]*2, base_bbox[1][1]*2, 30)))
stacks.append(stack)
for i in range(count):
cur_stack = stacks[i]
cur_bbox = compute_bbox(cur_stack)
cur_center = compute_bbox_center(cur_stack)
translate(cur_stack, (0, -cur_center[1], -cur_bbox[0][2]))
if i > 0:
prev_bbox = compute_bbox(stacks[i - 1])
translate(cur_stack, (prev_bbox[1][0] - cur_bbox[0][0], 0, 0))
return container, stacks
def add_pallet_stack(stage, path: str):
container = add_xform(stage, path)
base_path = f"{path}/truck"
box_stacks_path = f"{path}/box_stacks"
add_usd_ref(
stage,
base_path,
base_asset_urls[random.randint(0, len(base_asset_urls) - 1)]
)
base_bbox = compute_bbox(container)
box_stacks_container, box_stacks = add_random_box_stacks(stage, box_stacks_path, base_bbox, count_range=(0,6))
rotate_z(box_stacks_container, 90)
translate(
box_stacks_container,
offset=(0, random.uniform(8, 12), base_bbox[1][2])
)
# remove out of bounds stacks
if(len(box_stacks)>0):
last_visible = box_stacks[0]
for i in range(len(box_stacks)):
_, stack_bbox_max = compute_bbox(box_stacks[i])
if stack_bbox_max[1] > (base_bbox[1][1] - base_bbox[0][1])*4/5:
set_visibility(box_stacks[i], "invisible")
else:
last_visible = box_stacks[i]
# wiggle inide bounds
boxes_bbox = compute_bbox(last_visible)
wiggle = (0 - boxes_bbox[1][1])
translate(box_stacks_container, (0, random.uniform(0, wiggle), 1))
return container
# Set settings
rep.settings.set_stage_up_axis(up_axis="Z")
rep.settings.set_stage_meters_per_unit(meters_per_unit=1)
rep.settings.set_render_pathtraced(samples_per_pixel=32)
rep.settings.carb_settings(setting="/omni/replicator/backend/writeThreads",value=24)
# Load the sky
rep.create.from_usd(usd="https://omniverse-content-production.s3.us-west-2.amazonaws.com/Environments/2023_1/DomeLights/Dynamic/CumulusLight.usd")
# Load the materials
rep.create.from_usd(usd="omniverse://10.100.1.30/Library/materials.usd")
# Select the objects in the stage
sky = rep.get.prim_at_path(path="/Replicator/Ref_Xform/Ref/Looks/SkyMaterial/Shader")
# Create cameras
cameras = []
camera = rep.create.camera(position=[0, 0, 0],rotation=[0, 0, 0])
camera_positions = [[200,0,0],[-2300,0,0],[200,2800,0],[-2300,2800,0],[200,-1300,0],[-2300,-1300,0]]
for camera_position in camera_positions:
cameras.append(rep.create.camera(position=camera_position,rotation=[0, 0, 0]))
# Create output
render_products = []
render_products.append(rep.create.render_product(camera=camera,resolution=[1280, 720]))
for cam in cameras:
render_products.append(rep.create.render_product(camera=cam,resolution=[1280, 720]))
writer = rep.writers.get(name="BasicWriter",
init_params={
"rgb": True,
"image_output_format": "jpg",
"bounding_box_2d_tight": True,
"bounding_box_2d_loose": True,
"instance_segmentation": True,
# "use_common_output_dir": True,
"semantic_filter_predicate": "class:*",
"output_dir": "/workspaces/Datasets.Generator.Omniverse/.out/scripted/pallet-stacks.py.d/"
}
)
writer.attach(render_products=render_products)
# Create scene
floor = rep.create.plane(scale=5000, position=[0, 0, 0])
boundary = rep.create.plane(scale=10000, position=[0, 0, -1])
all_objects_container = add_xform(stage, "/scene/objects")
# Create object groups
rep_pallet_group=rep.get.xform(path_pattern="hand_truck_[0-9]*_[0-9]*\/truck")
rep_box_group=rep.get.xform(path_pattern="hand_truck_[0-9]*_[0-9]*\/box_stacks\/stack_[0-9]*\/box_[0-9]*")
# Create material groups
rep_pallet_material_group=rep.get.material(path_pattern="truck\/ref\/Looks")
rep_box_material_group=rep.get.material(path_pattern="box_stacks\/.*\/Looks")
rep_floor_material_group=rep.get.material(path_pattern="\/Replicator\/Ref_Xform_01")
# Set the trigger as on_frame
with rep.trigger.on_frame(max_execs=1429,rt_subframes=5,interval=2):
with rep.new_layer(name="mylayer"):
pallet_stacks=[]
for i in range(9):
for j in range(9):
path = f"/scene/objects/hand_truck_{i}_{j}"
current_object = add_pallet_stack(stage, path)
translate(current_object, (200*i, 300*j, 0))
pallet_stacks.append(path)
# Set sun position and time of day
with sky:
rep.modify.attribute(name="inputs:SunPositionFromTOD",value=True)
rep.modify.attribute(name="inputs:TimeOfDay",value=rep.distribution.uniform(lower=5.5,upper=19.5))
# Randomize cameras
with camera:
rep.modify.pose(position=rep.distribution.uniform([-4500, -4500, 250],[4500, 4500, 750]),
rotation=rep.distribution.uniform([0, -30, -180],[0, 0, 180]))
for cam in cameras:
with cam:
rep.modify.pose(position_z=rep.distribution.uniform(250,700),
rotation=rep.distribution.uniform([-10, -30, -180],[10, 0, 180]))
# Randomize stacks
with rep.create.group(pallet_stacks):
rep.modify.pose(position=rep.distribution.uniform((-4500, -4500, 0), (4500, 4500, 0)),
rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 360)))
# Randomize box tints
with rep_box_material_group:
rep.modify.attribute(name="inputs:diffuse_tint",
attribute_type="color3f",
value=rep.distribution.uniform(lower=[0.0,0.0,0.0],
upper=[1.0,1.0,1.0]))
# Randomize pallet tints
with rep_pallet_material_group:
rep.modify.attribute(name="inputs:diffuse_tint",
attribute_type="color3f",
value=rep.distribution.uniform(lower=[0.0,0.0,0.0],
upper=[1.0,1.0,1.0]))
# Apply box semantics
with rep_box_group:
rep.modify.semantics(semantics=[("class","box")])
# Apply pallet semantics
with rep_pallet_group:
rep.modify.semantics(semantics=[("class","pallet")])
# Randomize floor
with floor:
rep.modify.material(value=floor_materials)
# Randomize boundary
with boundary:
rep.modify.material(value=floor_materials)
# Randomize floor materials tints
with rep_floor_material_group:
rep.modify.attribute(name="inputs:diffuse_tint",
attribute_type="color3f",
value=rep.distribution.uniform(lower=[0.0,0.0,0.0],
upper=[1.0,1.0,1.0]))
# Randomize clutter
with rep.randomizer.instantiate(paths=clutter_asset_urls,size=50,mode="scene_instance"):
rep.modify.pose(scale=rep.distribution.uniform(0.8,1.2),
rotation=rep.distribution.uniform([0, 0, -180],[0, 0, 180]))
rep.randomizer.scatter_2d(seed=1100,surface_prims=[floor,boundary],check_for_collisions=True)
# Randomize sm clutter
with rep.randomizer.instantiate(paths=clutter_sm_asset_urls,size=50,mode="scene_instance"):
rep.modify.pose(scale=rep.distribution.uniform(80,120),
rotation=rep.distribution.uniform([0, 0, -180],[0, 0, 180]))
rep.randomizer.scatter_2d(seed=1200,surface_prims=[floor,boundary],check_for_collisions=True)
Reproduction script
#!/bin/bash
#set -e
FILE=$1
echo $FILE
if [ -f "$FILE" ]; then
/isaac-sim/runheadless.native.sh --no-window \
--/app/viewport/grid/enabled=false \
--/app/viewport/defaults/guide/grid/visible=false \
--/omni/replicator/script=$FILE
exit $?
else
echo "File not found: $FILE"
exit 1
fi