Hi,
I want to to generate synthetic data of a robot manipulator with random camera poses and joint positions. I did a minimal example based on randomization_demo.py.
The problem is that the robot moves when the writer is rendering/saving the images, and consequently, the generated images are blurry. How could I circumvent this?
Generated image:
I really apreciate if anyone can help me.
Thank you in advance,
Juan
Minimal example:
from omni.isaac.kit import SimulationApp CONFIG = {"renderer": "PathTracing", "headless": False, "width": 512, "height": 512, "num_frames": 10, "multi_gpu": True} simulation_app = SimulationApp(CONFIG) import carb import numpy as np from omni.isaac.core import World from omni.isaac.core.prims import RigidPrimView from omni.isaac.core.articulations import ArticulationView from omni.isaac.core.utils.prims import get_prim_at_path, define_prim from omni.isaac.core.utils.stage import get_current_stage, add_reference_to_stage from omni.isaac.core.utils.nucleus import get_assets_root_path from omni.isaac.core.objects import DynamicSphere from omni.isaac.cloner import GridCloner # create the world world = World(stage_units_in_meters=1.0, physics_prim_path="/physicsScene", backend="numpy") assets_root_path = get_assets_root_path() if assets_root_path is None: carb.log_error("Could not find Isaac Sim assets folder, closing app..") simulation_app.close() usd_path = assets_root_path + "/Isaac/Environments/Grid/default_environment.usd" add_reference_to_stage(usd_path=usd_path, prim_path="/World/defaultGroundPlane") # set up grid cloner cloner = GridCloner(spacing=1.5) cloner.define_base_env("/World/envs") define_prim("/World/envs/env_0") # set up the first environment DynamicSphere(prim_path="/World/envs/env_0/object", radius=0.1, position=np.array([0.75, 0.0, 0.2])) add_reference_to_stage( usd_path=assets_root_path + "/Isaac/Robots/Franka/franka.usd", prim_path="/World/envs/env_0/franka" ) # clone environments num_envs = 1 prim_paths = cloner.generate_paths("/World/envs/env", num_envs) env_pos = cloner.clone(source_prim_path="/World/envs/env_0", prim_paths=prim_paths) # creates the views and set up world object_view = RigidPrimView(prim_paths_expr="/World/envs/*/object", name="object_view") franka_view = ArticulationView(prim_paths_expr="/World/envs/*/franka", name="franka_view") world.scene.add(object_view) world.scene.add(franka_view) world.reset() num_dof = franka_view.num_dof # set up randomization with omni.replicator.isaac, imported as dr import omni.replicator.isaac as dr import omni.replicator.core as rep dr.physics_view.register_simulation_context(world) dr.physics_view.register_rigid_prim_view(object_view) dr.physics_view.register_articulation_view(franka_view) with dr.trigger.on_rl_frame(num_envs=num_envs): with dr.gate.on_interval(interval=20): dr.physics_view.randomize_simulation_context( operation="scaling", gravity=rep.distribution.uniform((1, 1, 0.0), (1, 1, 2.0)) ) with dr.gate.on_interval(interval=50): dr.physics_view.randomize_rigid_prim_view( view_name=object_view.name, operation="direct", force=rep.distribution.uniform((0, 0, 2.5), (0, 0, 5.0)) ) with dr.gate.on_interval(interval=10): dr.physics_view.randomize_articulation_view( view_name=franka_view.name, operation="direct", joint_velocities=rep.distribution.uniform(tuple([-2] * num_dof), tuple([2] * num_dof)), ) with dr.gate.on_env_reset(): dr.physics_view.randomize_rigid_prim_view( view_name=object_view.name, operation="additive", position=rep.distribution.normal((0.0, 0.0, 0.0), (0.2, 0.2, 0.0)), velocity=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], ) dr.physics_view.randomize_articulation_view( view_name=franka_view.name, operation="additive", joint_positions=rep.distribution.uniform(tuple([-0.5] * num_dof), tuple([0.5] * num_dof)), position=rep.distribution.normal((0.0, 0.0, 0.0), (0.2, 0.2, 0.0)), ) frames = 1000 camera = rep.create.camera(position=(3, 3, 3), clipping_range=(0.01, 10000.0)) #rep.set_global_seed(23) rep.settings.set_render_pathtraced(samples_per_pixel=512) rep.settings.carb_settings("/omni/replicator/RTSubframes", 3) render_product = rep.create.render_product(camera, (512, 512)) with rep.trigger.on_frame(num_frames=frames, interval=1, rt_subframes=3): with camera: rep.modify.pose( position=rep.distribution.uniform((2, 2, 2), (4, 4, 4)), look_at="/World/envs/env_0/franka", #scale=rep.distribution.uniform(0.1, 2) ) # Initialize and attach writer writer = rep.WriterRegistry.get("BasicWriter") output_directory = r"E:\output\_out_sdrec_1" print("Outputting data to ", output_directory) writer.initialize( output_dir=output_directory, rgb=True, ) writer.attach([render_product]) rep.orchestrator.run() # Wait until started while not rep.orchestrator.get_is_started(): simulation_app.update() frame_idx = 0 while simulation_app.is_running(): if world.is_playing(): reset_inds = list() if frame_idx % 200 == 0: # triggers reset every 200 steps reset_inds = np.arange(num_envs) dr.physics_view.step_randomization(reset_inds) world.step(render=True) frame_idx += 1 simulation_app.close() 
