# dropped warehouse objects objects: ## default # obj_model: Choice(["*/assets/models/office_chair.txt"]) # obj_model: /Isaac/Props/Forklift/forklift.usd obj_model: /Isaac/Environments/Simple_Warehouse/Props/S_TrafficCone.usd obj_color: (0.1, 0.5, 0.5) obj_texture: Choice(["*/assets/textures/patterns.txt"]) # obj_material: "" obj_material: Choice(["*/assets/materials/materials.txt"]) # obj_material: /NVIDIA/Materials/Base/Wood/Cherry_Planks.mdl # obj_material: /Isaac/Environments/Simple_Warehouse/Materials/MI_Floor_02b.mdl obj_metallicness: float("NaN") obj_reflectance: float("NaN") obj_size_enabled: False obj_size: Range(1, 3) # obj_size_enabled: True obj_scale: Uniform(0.15, 1.0) # obj_size_enabled: False obj_texture_scale: 1 obj_texture_rot: 0 obj_rot: (0, 0, Uniform(0, 360)) # pitch/ roll/ yaw obj_coord: (0, 0, 0) # obj_coord_camera_relative: False obj_centered: True obj_physics: False obj_rot_camera_relative: True obj_coord_camera_relative: True obj_distance: 3 #Uniform(3, 5) # obj_coord_camera_relative/obj_rot_camera_relative: True obj_horiz_fov_loc: Uniform(-1, 1) #Uniform(0, 0) # obj_coord_camera_relative: True obj_vert_fov_loc: Uniform(-0.5, -0.5) #Uniform(0, 0) # obj_coord_camera_relative: True -1 underline; -0.5 line obj_count: 1 obj_vel: (0, 0, 0) obj_rot_vel: (0, 0, 0) obj_accel: (0, 0, 0) obj_rot_accel: (0, 0, 0) obj_movement_obj_relative: False obj_class_id: 1 # colorful ceiling lights lights: light_count: Range(0, 2) light_coord_camera_relative: False light_coord: (Uniform(-2, 2), Uniform(-2, 2), 5) light_color: Uniform((0, 0, 0), (1, 1, 1)) light_intensity: Uniform(0, 300000) light_radius: 1 # warehouse scenario scenario_room_enabled: True # True -> parameterize scenario_model: /Isaac/Environments/Simple_Warehouse/warehouse.usd #scenario_room_enabled: False scenario_class_id: 0 sky_texture: "" sky_light_intensity: 1000 floor: True wall: True ceiling: True wall_height: 20 floor_size: 20 floor_color: () wall_color: () ceiling_color: () floor_texture: Choice(["*/assets/textures/indoor.txt"]) wall_texture: Choice(["*/assets/textures/indoor.txt"]) ceiling_texture: "" floor_texture_scale: 1 wall_texture_scale: 1 ceiling_texture_scale: 1 floor_texture_rot: 0 wall_texture_rot: 0 ceiling_texture_rot: 0 floor_material: Choice(["*/assets/materials/materials.txt"]) wall_material: Choice(["*/assets/materials/materials.txt"]) ceiling_material: "" floor_reflectance: float("NaN") wall_reflectance: float("NaN") ceiling_reflectance: float("NaN") floor_metallicness: float("NaN") wall_metallicness: float("NaN") ceiling_metallicness: float("NaN") # camera stereo: False stereo_baseline: 0.2 # Viewpoint 1 camera_coord: (0, 0, Uniform(.20, 1)) camera_rot: (Normal(0, 1), 0, Uniform(0, 360)) # # camera movement parameters (uncomment to add) # camera_vel: Normal((.30, 0, 0), (.10, .10, .10)) # camera_accel: Normal((0, 0, 0), (.05, .05, .05)) # camera_rot_vel: Normal((0, 0, 0), (.05, .05, .05)) # camera_movement_camera_relative: False # output output_dir: dataset num_scenes: 10 img_width: 1920 img_height: 1080 rgb: True depth: True semantic_seg: True bbox_2d_tight: True groundtruth_visuals: True groundtruth_stereo: True sequential: False sequence_step_count: 10 sequence_step_time: 2 # simulate physics_simulate_time: 2 scene_meters_per_unit: 1