# Simple, forklift only - no people # invoke with # ./python.sh tools/composer/src/main.py --input */parameters/take1/simp-Forklift.yaml --output */dataset/take2-fork-1 --mount ~/composer-workspace --num-scenes 50 object_forklift: obj_model: /Isaac/Props/Forklift/forklift.usd obj_count: 1 obj_size_enabled: False obj_scale: 1 obj_coord_camera_relative: True obj_distance: 1400 obj_horiz_fov_loc: Uniform(-1,1) obj_vert_fov_loc: 0.04 # floats a little, but none in the floor obj_rot: (0, 0, Uniform(0, 360)) obj_class_id: 2 obj_physics: False # if True, person just falls to floot # colorful ceiling lights lights: light_count: Range(0, 2) light_coord_camera_relative: False light_coord: (Uniform(-200, 200), Uniform(-200, 200), 500) light_color: Uniform((0, 0, 0), (255, 255, 255)) light_intensity: Uniform(0, 300000) light_radius: 100 scenario_room_enabled: False scenario_model: /Isaac/Environments/Simple_Warehouse/warehouse.usd # scenario_class_id: 0 # Tried both ways # camera focal_length: 30 camera_coord: (900, Uniform(-200,200), 100) # 950 too far camera_rot: (0, 0, Uniform(150,200)) # output output_dir: dataset num_scenes: 10 img_width: 1280 img_height: 720 # output types rgb: True depth: True semantic_seg: True instance_seg: True groundtruth_visuals: True # model store nucleus_server: localhost sequential: False sequence_step_count: 1 sequence_step_time: 0.1