I am following a tutorial and I get this error. What is causing this error? I am running the code in Isaac Sim.
> /tmp/carb.uHGX1y/script_1675179111.py AttributeError: module 'omni.replicator.core.scripts.randomizer' has no attribute 'scatter_boxes' at: /tmp/carb.uHGX1y/script_167579111.py(272):<module> from omni.isaac.kit import SimulationApp import os # Set rendering parameters and create an instance of kit CONFIG = {"renderer": "RayTracedLighting", "headless": True, "width": 1024, "height": 1024, "num_frames": 10} #simulation_app = SimulationApp(launch_config=CONFIG) ENV_URL = "omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/Isaac/Environments/Simple_Warehouse/full_warehouse.usd" FORKLIFT_URL = "omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/Isaac/Props/Forklift/forklift.usd" PALLET_URL = "omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/Isaac/Environments/Simple_Warehouse/Props/SM_PaletteA_01.usd" CARDBOX_URL = "omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/Isaac/Environments/Simple_Warehouse/Props/SM_CardBoxD_04.usd" CONE_URL = "omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/Isaac/Environments/Simple_Warehouse/Props/S_TrafficCone.usd" SCOPE_NAME = "/MyScope" import carb import random import math import numpy as np from pxr import UsdGeom, Usd, Gf, UsdPhysics, PhysxSchema import omni.usd from omni.isaac.core import World from omni.isaac.core.utils import prims from omni.isaac.core.prims import RigidPrim from omni.isaac.core.utils.nucleus import get_assets_root_path from omni.isaac.core.utils.stage import get_current_stage, open_stage from omni.isaac.core.utils.rotations import euler_angles_to_quat, quat_to_euler_angles, lookat_to_quatf from omni.isaac.core.utils.bounds import compute_combined_aabb, create_bbox_cache import omni.replicator.core as rep def main(): # Open the environment in a new stage print(f"Loading Stage {ENV_URL}") open_stage(prefix_with_isaac_asset_server(ENV_URL)) driver_cam_prim = prims.create_prim( prim_path=f"{SCOPE_NAME}/DriverCamera", prim_type="Camera", position=driver_cam_pos_gf, orientation=look_at_pallet_xyzw, attributes={"focusDistance": 400, "focalLength": 24, "clippingRange": (0.1, 10000000)}, ) driver_cam_node = rep.get.prim_at_path(str(driver_cam_prim.GetPath())) # Camera looking at the pallet pallet_cam = rep.create.camera() # Camera looking at the forklift from a top view with large min clipping to see the scene through the ceiling top_view_cam = rep.create.camera(clipping_range=(6.0, 1000000.0)) # Initialize and attach writer writer = rep.WriterRegistry.get("BasicWriter") output_directory = os.getcwd() + "/_output_headless" print("Outputting data to ", output_directory) writer.initialize( output_dir=output_directory, rgb=True, bounding_box_2d_tight=True, semantic_segmentation=True, instance_segmentation=True, distance_to_image_plane=True, bounding_box_3d=True, occlusion=True, normals=True, ) RESOLUTION = (CONFIG["width"], CONFIG["height"]) driver_rp = rep.create.render_product(str(driver_cam_prim.GetPrimPath()), RESOLUTION) pallet_rp = rep.create.render_product(pallet_cam, RESOLUTION) forklift_rp = rep.create.render_product(top_view_cam, RESOLUTION) writer.attach([driver_rp, forklift_rp, pallet_rp]) # Spawn a new forklift at a random pose forklift_prim = prims.create_prim( prim_path=f"{SCOPE_NAME}/Forklift", position=(random.uniform(-20, -2), random.uniform(-1, 3), 0), orientation=euler_angles_to_quat([0, 0, random.uniform(0, math.pi)]), usd_path=prefix_with_isaac_asset_server(FORKLIFT_URL), semantic_label="Forklift", ) # Spawn the pallet in front of the forklift with a random offset on the Y axis forklift_tf = omni.usd.get_world_transform_matrix(forklift_prim) pallet_offset_tf = Gf.Matrix4d().SetTranslate(Gf.Vec3d(0, random.uniform(-1.2, -2.4), 0)) pallet_pos_gf = (pallet_offset_tf * forklift_tf).ExtractTranslation() forklift_quat_gf = forklift_tf.ExtractRotation().GetQuaternion() forklift_quat_xyzw = (forklift_quat_gf.GetReal(), *forklift_quat_gf.GetImaginary()) pallet_prim = prims.create_prim( prim_path=f"{SCOPE_NAME}/Pallet", position=pallet_pos_gf, orientation=forklift_quat_xyzw, usd_path=prefix_with_isaac_asset_server(PALLET_URL), semantic_label="Pallet", ) def simulate_falling_objects(prim, num_sim_steps=250, num_boxes=8): # Create a simulation ready world world = World(physics_dt=1.0 / 90.0, stage_units_in_meters=1.0) # Choose a random spawn offset relative to the given prim prim_tf = omni.usd.get_world_transform_matrix(prim) spawn_offset_tf = Gf.Matrix4d().SetTranslate(Gf.Vec3d(random.uniform(-0.5, 0.5), random.uniform(3, 3.5), 0)) spawn_pos_gf = (spawn_offset_tf * prim_tf).ExtractTranslation() # Spawn pallet prim # Spawn boxes falling on the pallet for i in range(num_boxes): # Spawn box prim cardbox_prim_name = f"SimulatedCardbox_{i}" box_prim = prims.create_prim( prim_path=f"{SCOPE_NAME}/{cardbox_prim_name}", usd_path=prefix_with_isaac_asset_server(CARDBOX_URL), semantic_label="Cardbox", ) # Add the height of the box to the current spawn height curr_spawn_height += bb_cache.ComputeLocalBound(box_prim).GetRange().GetSize()[2] * 1.1 # Wrap the cardbox prim into a rigid prim to be able to simulate it box_rigid_prim = RigidPrim( prim_path=str(box_prim.GetPrimPath()), name=cardbox_prim_name, position=spawn_pos_gf + Gf.Vec3d(random.uniform(-0.2, 0.2), random.uniform(-0.2, 0.2), curr_spawn_height), orientation=euler_angles_to_quat([0, 0, random.uniform(0, math.pi)]), ) # Make sure physics are enabled on the rigid prim box_rigid_prim.enable_rigid_body_physics() # Register rigid prim with the scene world.scene.add(box_rigid_prim) # Reset world after adding simulated assets for physics handles to be propagated properly world.reset() # Simulate the world for the given number of steps or until the highest box stops moving last_box = world.scene.get_object(f"SimulatedCardbox_{num_boxes - 1}") for i in range(num_sim_steps): world.step(render=False) if last_box and np.linalg.norm(last_box.get_linear_velocity()) < 0.001: print(f"Simulation stopped after {i} steps") break # Randomize boxes materials and their location on the surface of the given prim def register_scatter_boxes(prim): # Calculate the bounds of the prim to create a scatter plane of its size bb_cache = create_bbox_cache() bbox3d_gf = bb_cache.ComputeLocalBound(prim) prim_tf_gf = omni.usd.get_world_transform_matrix(prim) # Calculate the bounds of the prim bbox3d_gf.Transform(prim_tf_gf) range_size = bbox3d_gf.GetRange().GetSize() # Get the quaterion of the prim in xyzw format from usd prim_quat_gf = prim_tf_gf.ExtractRotation().GetQuaternion() prim_quat_xyzw = (prim_quat_gf.GetReal(), *prim_quat_gf.GetImaginary()) # Create a plane on the pallet to scatter the boxes on plane_scale = (range_size[0] * 0.8, range_size[1] * 0.8, 1) plane_pos_gf = prim_tf_gf.ExtractTranslation() + Gf.Vec3d(0, 0, range_size[2]) plane_rot_euler_deg = quat_to_euler_angles(np.array(prim_quat_xyzw), degrees=True) scatter_plane = rep.create.plane( scale=plane_scale, position=plane_pos_gf, rotation=plane_rot_euler_deg, visible=False ) cardbox_mats = [ prefix_with_isaac_asset_server("omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/Isaac/Environments/Simple_Warehouse/Materials/MI_PaperNotes_01.mdl"), prefix_with_isaac_asset_server("omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.0/Isaac/Environments/Simple_Warehouse/Materials/MI_CardBoxB_05.mdl"), ] def scatter_boxes(): cardboxes = rep.create.from_usd( prefix_with_isaac_asset_server(CARDBOX_URL), semantics=[("class", "Cardbox")], count=5 ) with cardboxes: rep.randomizer.scatter_2d(scatter_plane, check_for_collisions=True) rep.randomizer.materials(cardbox_mats) return cardboxes.node rep.randomizer.register(scatter_boxes) # Randomly place cones from calculated locations around the working area (combined bounds) of the forklift and pallet def register_cone_placement(forklift_prim, pallet_prim): # Helper function to get the combined bounds of the forklift and pallet bb_cache = create_bbox_cache() combined_range_arr = compute_combined_aabb(bb_cache, [forklift_prim.GetPrimPath(), pallet_prim.GetPrimPath()]) min_x = float(combined_range_arr[0]) min_y = float(combined_range_arr[1]) min_z = float(combined_range_arr[2]) max_x = float(combined_range_arr[3]) max_y = float(combined_range_arr[4]) corners = [(min_x, min_y, min_z), (max_x, min_y, min_z), (min_x, max_y, min_z), (max_x, max_y, min_z)] def place_cones(): cones = rep.create.from_usd(prefix_with_isaac_asset_server(CONE_URL), semantics=[("class", "TrafficCone")]) with cones: rep.modify.pose(position=rep.distribution.sequence(corners)) return cones.node rep.randomizer.register(place_cones) # Randomize lights around the scene def register_lights_placement(forklift_prim, pallet_prim): bb_cache = create_bbox_cache() combined_range_arr = compute_combined_aabb(bb_cache, [forklift_prim.GetPrimPath(), pallet_prim.GetPrimPath()]) pos_min = (combined_range_arr[0], combined_range_arr[1], 6) pos_max = (combined_range_arr[3], combined_range_arr[4], 7) def randomize_lights(): lights = rep.create.light( light_type="Sphere", color=rep.distribution.uniform((0.2, 0.1, 0.1), (0.9, 0.8, 0.8)), intensity=rep.distribution.uniform(500, 2000), position=rep.distribution.uniform(pos_min, pos_max), scale=rep.distribution.uniform(5, 10), count=3, ) return lights.node rep.randomizer.register(randomize_lights) with rep.trigger.on_frame(num_frames=CONFIG["num_frames"]): rep.randomizer.scatter_boxes() rep.randomizer.place_cones() rep.randomizer.randomize_lights() pallet_cam_min = (pallet_pos_gf[0] - 2, pallet_pos_gf[1] - 2, 2) pallet_cam_max = (pallet_pos_gf[0] + 2, pallet_pos_gf[1] + 2, 4) with pallet_cam: rep.modify.pose( position=rep.distribution.uniform(pallet_cam_min, pallet_cam_max), look_at=str(pallet_prim.GetPrimPath()), ) top_view_cam_min = (foklift_pos_gf[0], foklift_pos_gf[1], 9) top_view_cam_max = (foklift_pos_gf[0], foklift_pos_gf[1], 11) with top_view_cam: rep.modify.pose( position=rep.distribution.uniform(top_view_cam_min, top_view_cam_max), rotation=rep.distribution.uniform((0, -90, 0), (0, -90, 180)), ) driver_cam_min = (driver_cam_pos_gf[0], driver_cam_pos_gf[1], driver_cam_pos_gf[2] - 0.25) driver_cam_max = (driver_cam_pos_gf[0], driver_cam_pos_gf[1], driver_cam_pos_gf[2] + 0.25) with driver_cam_node: rep.modify.pose( position=rep.distribution.uniform(driver_cam_min, driver_cam_max), look_at=str(pallet_prim.GetPrimPath()), ) # # Starts replicator and waits until all data was successfully written # def run_orchestrator(): # rep.orchestrator.run() # # Wait until started # # while not rep.orchestrator.get_is_started(): # # simulation_app.update() # # Wait until stopped # while rep.orchestrator.get_is_started(): # simulation_app.update() # rep.BackendDispatch.wait_until_done() # rep.orchestrator.stop()