Isaac Sim 利用Python实现虚拟现实仿真，并输出语义数据全流程

没写完呢：(   拽走开会去了

        在 Isaac Sim 中，使用 Python 实现虚拟现实的仿真，并输出语义分割等数据，可以应用于ai模型训练等场景。注：我打算将传感器发布Ros话题的部分放到小车中。控制一个物体，对这个物体的状态发布imu等，觉得这样比较实际一点。

        主要分为以下几个步骤点：
        1.确定使用的模型文件，做好分类，写明调用路径。

        2.对场景Stage做初步的设置，比如设定单位m或cm，重力的大小及方向，对场景添加物理等。

        3.camera的角度设置，这是获取语义数据和rgb等数据的相机角度，多方位，全方面，不这样做的话图片数据相似度太高了。

        4.对每个模型进行大小，缩放，角度等精细设置。

        5.设置随机化帧数等。

        6.设置获取的渲染图像的大小和类别，输出路径。

        目前 Isaac Sim 的使用过程中遇到的Bug们：

        1.小车刚体连接错误，没有形成闭合链。前一天晚上用着还好好的，第二天就报错不能用了，我人麻了。

        2.时间戳为无效浮点值。

        3.无法更新保存USD文件。

        4.缓存更新失败。

        5. Nucleus 加载错误。

（问题1~4：卸载isaacsim重新下载。问题5：卸载Nucleus重新下载。sim论坛里的解决方法没有一点用，啧）

个人随机化代码：

注释部分按个人需要看看要不要开

import omni.replicator.core as rep
import omni.usd
import asyncio
import numpy as np
from omni.isaac.core.world import World
from omni.isaac.core.prims import RigidPrimView
from omni.isaac.core.objects import DynamicCuboid
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
import os
from PIL import Image
import matplotlib.pyplot as plt
import matplotlib.patches as patches
import json
import omni.usd
from pxr import Usd, UsdGeom, UsdLux
import random
import timestage = omni.usd.get_context().get_stage()async def example():if World.instance():World.instance().clear_instance()world = World()stage = omni.usd.get_context().get_stage()UsdGeom.SetStageUpAxiswith rep.new_layer():# 小车CAR = 'omniverse://localhost/model/car_0702.usd'# <-----树木-----># 4.5m 树（绿色）PROPS_TREE = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Trees/Blue_Berry_Elder.usd'# 18m 树（绿色）TREE_BLACK_OAK = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Trees/Black_Oak.usd'# <-----草-----># 短草（绿色）PROPS_GRASS = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Grass_Short_A.usd'# 中间带石头的条状草地 未配置ROCK_GRASS = 'omniverse://localhost/model/some_/Rocks_Grass_2/scene.usdc'# <-----灌木-----># 1.2m（高度到人类胸口） 灌木（绿色）PROPS_SHRUB = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Holly.usd'# 0.9m（高度到人类腰部） 灌木（绿色）FOUNTAIN_GRASS_SHORT = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Fountain_Grass_Short.usd'# 0.75m（高度到人类大腿中段） 灌木（绿色）BOXWOOD = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Boxwood.usd'# <-----花朵-----># 小花（白色）PROPS_FLOWER = 'omniverse://localhost/model/some_/Margarita_flower/scene.usdc'# 一簇小花（白色）DAISIES_FLOWERS = 'omniverse://localhost/model/some_/Margarita_flower_bush/scene.usdc'# <-----场景障碍物-----># 木质公园椅（浅黄色）PARK_BENCH = 'omniverse://localhost/model/some_/Park_Bench2/scene.usdc'# 铁质公园椅（橙色）PARK_BENCH_2 = 'omniverse://localhost/model/some_/Park_Bech_Low-poly/scene.usdc'# 帐篷TENT = 'omniverse://localhost/model/some_/Camping_tent/scene.usdc'# 铁质秋千SEESAW = 'omniverse://localhost/model/some_/Recreational_place_Play_Children_Seesaw/scene.usdc'# 铁质滑梯SLIDE = 'omniverse://localhost/model/some_/the_slide_Park_Play_Child/scene.usdc'# 消防栓（红色）FIRE_HYDRANT = 'omniverse://localhost/model/some_/Rusty_Fire_Hydrant/scene.usdc'# 公园草地灯（下黑上白）LIGHT = 'omniverse://localhost/Library/NVIDIA Package/Residential/Outdoors/Lighting/CircularBollard.usd'# 木质箱（黄）PILES = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Piles/'# 货架和货物（蓝色框架，纸质箱子）RACKS = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Racks/'# 货架（蓝色框架）SHELVES = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Shelves/'# 栏杆（黄色）RAILING = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Railing/'# 砖块 （淡灰色）BRICK_GREY = 'omniverse://localhost/model/some_/brick/Brick/scene.usdc'# 砖块 （红色）杂乱一堆BRICK_RED_PILE = 'omniverse://localhost/model/some_/brick/Heap_of_construction_old_debris_bricks/scene.usdc'# 砖块 （红色）工整一堆BRICK_RED_CUBEQILE = 'omniverse://localhost/model/some_/brick/Stacked_bricks/scene.usdc'# 砖块 （红色）一块BRICK_RED_ONE = 'omniverse://localhost/model/some_/brick/Red_Brick/scene.usdc'# 松果 （两个未配置）PINE = 'omniverse://localhost/model/some_/pine/Empty_pine_cone/scene.usdc'PINE_02 = 'omniverse://localhost/model/some_/pine/Pine_Cone/scene.usdc'# <-----材质----->GROUND_MATERIAL = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/materials/Pampas_grass_Mat.mdl'ground = rep.create.plane(scale=33, semantics=[('class', 'grass')], visible=True, parent='/World')  # 单位：m# 相机参数
# camera = rep.create.camera(
#     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
#     rotation=(-90, 0, 0),
#     focus_distance=rep.distribution.normal(400.0, 100),
#     f_stop=0.5,
# )# 1
# camera1_pos = [(-5, -5, 0.5),(0, 5, 0.5)]
# # camera2_pos = [(0, -5, 0.5),(5, 5, 0.5)]
# # 相机位置及旋转角度
# camera_look_at = (0, 0, 0)
# camera = rep.create.camera(position=camera1_pos[0], look_at = camera_look_at)# camera2 = rep.create.camera(position=camera2_pos[0], look_at=(0,0,0))# light = rep.create.light(
#     light_type="Distant",
#     intensity=3000,  # 光强度
#     angle=1,  # 角度
#     position=light_position,
#     rotation=(0, 0, 0)  # 光源旋转
# )# 获取当前的 USD stage
stage = omni.usd.get_context().get_stage()async def example():if World.instance():World.instance().clear_instance()world = World()stage = omni.usd.get_context().get_stage()UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)# 单位(m)# UsdGeom.SetStageMetersPerUnit(stage, 0.01)UsdGeom.SetStageMetersPerUnit(stage, 1.0)# # 新建一个物理场景# scene = UsdPhysics.Scene.Define(stage, "/physicsScene")# # 重力方向，下；重力大小，9.81m/s^2# scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))# scene.CreateGravityMagnitudeAttr().Set(981.0)# 获取当前的 USD stagestage = omni.usd.get_context().get_stage()if stage:default_light_path = "/Environment/defaultLight"default_light_prim = stage.GetPrimAtPath(default_light_path)# 确保 defaultLight 原语存在if default_light_prim:# 设置 defaultLight 的可见性为不可见# visibility_attr = default_light_prim.GetAttribute('visibility')# if not visibility_attr:#     visibility_attr = default_light_prim.CreateAttribute('visibility', Sdf.ValueTypeNames.Token)# visibility_attr.Set('invisible')# 设置defaultLight 的 intensityintensity_attr = default_light_prim.GetAttribute('inputs:intensity')if not intensity_attr:intensity_attr = default_light_prim.CreateAttribute('inputs:intensity', Sdf.ValueTypeNames.Float)intensity_attr.Set(200.0)  # 设置 intensity 的值为 150.0# 使用系统时间戳作为随机数种子random_seed = int(time.time())np.random.seed(random_seed)random.seed(random_seed)# 随机化光源# def disk_lights():#     lights = rep.create.light(#         light_type="Disk",#         # temperature=rep.distribution.normal(6500, 500),#         # intensity=rep.distribution.normal(3000, 500),#         temperature = 65000,#         # intensity = 20000,#         intensity = 4500,#         # 位置 均匀分布，范围#         position = camera1_pos[0],  # 光源位置与相机位置相同#         rotation = [90, -10, 0],#         # 比例 均匀分布#         scale = (2.0, 2.0, 1.0)#     )#     return lights.node# rep.randomizer.register(disk_lights)def dome_lights():lights = rep.create.light(light_type="Dome",# 色温 正态分布，均值6500，标准差500# 刚开始日出日落：2000k-3000k  蓝天白光：6500k  北方平均太阳光：7500k  # 模拟太阳光：5000k  白中明显带蓝：7000k-8000k# 欧洲商店灯光：4000k（美国4100k）temperature=rep.distribution.normal(2700, 100),# 光强 正态分布，均值35000，标准差5000# 赤道地区光强大，随着纬度的增加而减少# 夏季光强大，冬季少# 植株密度大，植株间光强小# intensity=rep.distribution.normal(200, 50),intensity=rep.distribution.normal(200, 10),rotation= (360,0,0),texture=rep.distribution.choice(['omniverse://localhost/NVIDIA/Assets/Skies/Cloudy/champagne_castle_1_4k.hdr','omniverse://localhost/NVIDIA/Assets/Skies/Clear/qwantani_4k.hdr']))return lights.noderep.randomizer.register(dome_lights)# 随机地面纹理def get_ground():with ground:rep.randomizer.texture(textures=['omniverse://localhost/model/some_/Grass_with_autumn_leaves/0/material_0_baseColor.jpg'],texture_scale=rep.distribution.uniform((35.0,35.0), (35.0, 35.0))  # 缩放)return ground.noderep.randomizer.register(get_ground)# 车def get_car(size):instance_car = rep.randomizer.instantiate(rep.utils.get_usd_files(CAR, recursive=True), size=size)with instance_car:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),                  # 区域rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),                        # 角度scale=rep.distribution.uniform((1.0, 1.0, 1.0), (1.0, 1.0, 1.0))                # 缩放# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))# rep.physics.rigid_body(#     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),#     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))# 设置固定路径fixed_path = "/Replicator/SampledAssets/car"instance_car.set_path(fixed_path)return instance_car.noderep.randomizer.register(get_car)# 树# 4.5m 树（绿色）def get_tree(size):instances_tree = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_TREE, recursive=True), size=size)with instances_tree:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),scale=rep.distribution.uniform((0.008, 0.008, 0.008), (0.013, 0.013, 0.013))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_tree.noderep.randomizer.register(get_tree)# 18m 树（绿色）def get_tree_02(size):instances_tree_02 = rep.randomizer.instantiate(rep.utils.get_usd_files(TREE_BLACK_OAK, recursive=True), size=size)with instances_tree_02:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),scale=rep.distribution.uniform((0.008, 0.008, 0.008), (0.013, 0.013, 0.013))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_tree_02.noderep.randomizer.register(get_tree_02)# 草# 短草（绿色）def get_grass(size):instances_grass = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)with instances_grass:rep.modify.semantics([('class', 'grass')])rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.017))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))# rep.physics.rigid_body(#     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),#     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_grass.noderep.randomizer.register(get_grass)# 花# 小花（白色）def get_flower(size):instance_files = rep.utils.get_usd_files(PROPS_FLOWER, recursive=True)instances_flower = rep.randomizer.instantiate(instance_files, size=size)with instances_flower:rep.modify.semantics([('class', 'grass')])rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((90, -35, -10), (90, 35, 10)),# scale=rep.distribution.uniform((0.05, 0.05, 0.05), (0.15, 0.15, 0.15)))# rep.physics.rigid_body(#     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),#     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_flower.noderep.randomizer.register(get_flower)# 一簇小花（白色）def get_daisies_flower(size):instances_daisies_flower = rep.randomizer.instantiate(rep.utils.get_usd_files(DAISIES_FLOWERS, recursive=True), size=size)with instances_daisies_flower:rep.modify.semantics([('class', 'grass')])rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, -3.05), (17, 17, -3)),rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),scale=rep.distribution.uniform((0.001, 0.001, 0.001), (0.001, 0.001, 0.001))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((90, -35, -10), (90, 35, 10)),# scale=rep.distribution.uniform((0.05, 0.05, 0.05), (0.15, 0.15, 0.15)))# rep.physics.rigid_body(#     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),#     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_daisies_flower.noderep.randomizer.register(get_daisies_flower)# 灌木# 1.2m（高度到人类胸口） 灌木（绿色）def get_shrub(size):instances_shrub = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_SHRUB, recursive=True), size=size)with instances_shrub:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((0, 0, -90), (0, 0, 90)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.008, 0.008, 0.008))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))# rep.physics.rigid_body(#     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),#     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_shrub.noderep.randomizer.register(get_shrub)# 0.9m（高度到人类腰部） 灌木（绿色）def get_Fountain_Grass_Short(size):Fountain_Grass_Short = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)with Fountain_Grass_Short:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-2, -2, 0), (0, 0, 0)),rotation=rep.distribution.uniform((0, 0, -90), (0, 0, 90)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.008, 0.008, 0.008))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))# rep.physics.rigid_body(#     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),#     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return Fountain_Grass_Short.noderep.randomizer.register(get_Fountain_Grass_Short)# 0.75m（高度到人类大腿中段） 灌木（绿色）def get_Boxwood(size):Boxwood = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)with Boxwood:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-5, -5, 0), (-5, 5, 0)),rotation=rep.distribution.uniform((0, 0, -90), (0, 0, 90)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.008, 0.008, 0.008))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))# rep.physics.rigid_body(#     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),#     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return Boxwood.noderep.randomizer.register(get_Boxwood)# 障碍物# 木质公园椅（浅黄色）def get_park_bench(size):instances_park_bench = rep.randomizer.instantiate(rep.utils.get_usd_files(PARK_BENCH, recursive=True), size=size)with instances_park_bench:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),scale=rep.distribution.uniform((0.002, 0.002, 0.002), (0.002, 0.002, 0.002))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_park_bench.noderep.randomizer.register(get_park_bench)# 铁质公园椅（橙色）def get_park_bench_02(size):instances_park_bench_02 = rep.randomizer.instantiate(rep.utils.get_usd_files(PARK_BENCH_2, recursive=True), size=size)with instances_park_bench_02:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),scale=rep.distribution.uniform((0.018, 0.018, 0.018), (0.018, 0.018, 0.018))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_park_bench_02.noderep.randomizer.register(get_park_bench_02)# 帐篷def get_park_tent(size):instances_park_tent = rep.randomizer.instantiate(rep.utils.get_usd_files(TENT, recursive=True), size=size)with instances_park_tent:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-12, -12, 0), (12, 12, 0)),rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.01, 0.01, 0.01))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_park_tent.noderep.randomizer.register(get_park_tent)# 铁质秋千def get_park_seesaw(size):instances_park_seesaw = rep.randomizer.instantiate(rep.utils.get_usd_files(SEESAW, recursive=True), size=size)with instances_park_seesaw:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 1), (17, 17, 1)),rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),scale=rep.distribution.uniform((0.008, 0.008, 0.008), (0.008, 0.008, 0.008))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_park_seesaw.noderep.randomizer.register(get_park_seesaw)# 铁质滑梯def get_park_slide(size):instances_park_slide = rep.randomizer.instantiate(rep.utils.get_usd_files(SLIDE, recursive=True), size=size)with instances_park_slide:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_park_slide.noderep.randomizer.register(get_park_slide)# 消防栓（红色）def get_park_fire_hydrant(size):instances_park_fire_hydrant = rep.randomizer.instantiate(rep.utils.get_usd_files(FIRE_HYDRANT, recursive=True), size=size)with instances_park_fire_hydrant:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),scale=rep.distribution.uniform((0.002, 0.002, 0.002), (0.002, 0.002, 0.002))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_park_fire_hydrant.noderep.randomizer.register(get_park_fire_hydrant)# 公园草地灯（下黑上白）def get_park_light(size):instances_park_light = rep.randomizer.instantiate(rep.utils.get_usd_files(LIGHT, recursive=True), size=size)with instances_park_light:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_park_light.noderep.randomizer.register(get_park_light)# 木质箱（黄）def get_piles(size):instances_piles = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size, mode='point_instance')with instances_piles:rep.modify.pose(position=rep.distribution.uniform((-10, -10, 0), (10, 10, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_piles.noderep.randomizer.register(get_piles)# 货架和货物（蓝色框架，纸质箱子）def get_racks(size):instances_racks = rep.randomizer.instantiate(rep.utils.get_usd_files(RACKS, recursive=True), size=size, mode='point_instance')with instances_racks:rep.modify.pose(position=rep.distribution.uniform((-10, -10, 0), (10, 10, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.004, 0.004, 0.004), (0.004, 0.004, 0.004)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_racks.noderep.randomizer.register(get_racks)# 货架（蓝色框架）def get_shelves(size):instances_shelves = rep.randomizer.instantiate(rep.utils.get_usd_files(SHELVES, recursive=True), size=size, mode='point_instance')with instances_shelves:rep.modify.pose(position=rep.distribution.uniform((-10, -10, 0), (10, 10, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.004, 0.004, 0.004), (0.004, 0.004, 0.004)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_shelves.noderep.randomizer.register(get_shelves)# 栏杆（黄色）def get_railing(size):instances_railing = rep.randomizer.instantiate(rep.utils.get_usd_files(RAILING, recursive=True), size=size, mode='point_instance')with instances_railing:rep.modify.pose(position=rep.distribution.uniform((-10, -5, 0), (-9, 5, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_railing.noderep.randomizer.register(get_railing)# 砖块 （淡灰色）def get_brick_grey(size):instances_brick_grey = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_GREY, recursive=True), size=size, mode='point_instance')with instances_brick_grey:rep.modify.pose(position=rep.distribution.uniform((-1, -1, 0), (1, 1, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_brick_grey.noderep.randomizer.register(get_brick_grey)# 砖块 （红色）杂乱一堆def get_brick_red_pile(size):instances_brick_red_pile = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_RED_PILE, recursive=True), size=size, mode='point_instance')with instances_brick_red_pile:rep.modify.pose(position=rep.distribution.uniform((-4, -4, -0.4), (4, 4, -0.4)),rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_brick_red_pile.noderep.randomizer.register(get_brick_red_pile)# 砖块 （红色）工整一堆def get_brick_red_cubepile(size):instances_red_cubepile2 = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_RED_CUBEQILE, recursive=True), size=size, mode='point_instance')with instances_red_cubepile2:rep.modify.pose(position=rep.distribution.uniform((-2, -2, -2.2), (3, 3, -2.2)),rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_red_cubepile2.noderep.randomizer.register(get_brick_red_cubepile)# 砖块 （红色）一块def get_brick_red_one(size):instances_brick_red_one = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_RED_ONE, recursive=True), size=size, mode='point_instance')with instances_brick_red_one:rep.modify.pose(position=rep.distribution.uniform((-3.5, -3.5, 0.1), (-1, -1, 0.1)),rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),scale=rep.distribution.uniform((0.0002, 0.0002, 0.0002), (0.0002, 0.0002, 0.0002)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_brick_red_one.noderep.randomizer.register(get_brick_red_one)# 分区域生成模型# 短草（绿色）def get_grass_area1(size):instances_grass_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)with instances_grass_area1:rep.modify.semantics([('class', 'grass')])rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (-2, -2, 0)),rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_grass_area1.noderep.randomizer.register(get_grass_area1)def get_grass_area2(size):instances_grass_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)with instances_grass_area2:rep.modify.semantics([('class', 'grass')])rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, 2, 0), (-2, 17, 0)),rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_grass_area2.noderep.randomizer.register(get_grass_area2)def get_grass_area3(size):instances_grass_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)with instances_grass_area3:rep.modify.semantics([('class', 'grass')])rep.modify.pose(# 单位：mposition=rep.distribution.uniform((2, -17, 0), (17, -2, 0)),rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_grass_area3.noderep.randomizer.register(get_grass_area3)def get_grass_area4(size):instances_grass_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)with instances_grass_area4:rep.modify.semantics([('class', 'grass')])rep.modify.pose(# 单位：mposition=rep.distribution.uniform((2, 2, 0), (17, 17, 0)),rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_grass_area4.noderep.randomizer.register(get_grass_area4)# 小花（白色）def get_flower_area1(size):instances_flower_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)with instances_flower_area1:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (-2, -2, 0)),rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_flower_area1.noderep.randomizer.register(get_flower_area1)def get_flower_area2(size):instances_flower_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)with instances_flower_area2:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, 2, 0), (-2, 17, 0)),rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_flower_area2.noderep.randomizer.register(get_flower_area2)def get_flower_area3(size):instances_flower_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)with instances_flower_area3:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((2, -17, 0), (17, -2, 0)),rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_flower_area3.noderep.randomizer.register(get_flower_area3)def get_flower_area4(size):instances_flower_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)with instances_flower_area4:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((2, 2, 0), (17, 17, 0)),rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_flower_area4.noderep.randomizer.register(get_flower_area4)# 木质箱（黄）def get_piles_area1(size):instances_piles_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)with instances_piles_area1:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-17, -17, 0), (-2, -2, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_piles_area1.noderep.randomizer.register(get_piles_area1)def get_piles_area2(size):instances_piles_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)with instances_piles_area2:rep.modify.pose(# 单位：m# position=rep.distribution.uniform((-17, 17, 0), (-2, 2, 0)),position=rep.distribution.uniform((-17, 2, 0), (-2, 17, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_piles_area2.noderep.randomizer.register(get_piles_area2)def get_piles_area3(size):instances_piles_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)with instances_piles_area3:rep.modify.pose(# 单位：m# position=rep.distribution.uniform((17, -17, 0), (2, -2, 0)),position=rep.distribution.uniform((2, -17, 0), (17, -2, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_piles_area3.noderep.randomizer.register(get_piles_area3)def get_piles_area4(size):instances_piles_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)with instances_piles_area4:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((2, 2, 0), (17, 17, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_piles_area4.noderep.randomizer.register(get_piles_area4)# 0.9m（高度到人类腰部） 灌木（绿色）def get_Fountain_area1(size):instances_Fountain_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)with instances_Fountain_area1:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-5, -5, 0), (-2, -2, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Fountain_area1.noderep.randomizer.register(get_Fountain_area1)def get_Fountain_area2(size):instances_Fountain_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)with instances_Fountain_area2:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-5, 2, 0), (-2, 5, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Fountain_area2.noderep.randomizer.register(get_Fountain_area2)def get_Fountain_area3(size):instances_Fountain_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)with instances_Fountain_area3:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((2, -5, 0), (5, -2, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Fountain_area3.noderep.randomizer.register(get_Fountain_area3)def get_Fountain_area4(size):instances_Fountain_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)with instances_Fountain_area4:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((2, 2, 0), (5, 5, 0)), rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Fountain_area4.noderep.randomizer.register(get_Fountain_area4)# 0.75m（高度到人类大腿中段） 灌木（绿色）def get_Boxwood_area1(size):instances_Boxwood_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)with instances_Boxwood_area1:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-5, -10, 0), (-5, -5, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Boxwood_area1.noderep.randomizer.register(get_Boxwood_area1)def get_Boxwood_area2(size):instances_Boxwood_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)with instances_Boxwood_area2:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((-10, 5, 0), (-5, 5, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Boxwood_area2.noderep.randomizer.register(get_Boxwood_area2)def get_Boxwood_area3(size):instances_Boxwood_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)with instances_Boxwood_area3:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((5, -5, 0), (10, -5, 0)),rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Boxwood_area3.noderep.randomizer.register(get_Boxwood_area3)def get_Boxwood_area4(size):instances_Boxwood_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)with instances_Boxwood_area4:rep.modify.pose(# 单位：mposition=rep.distribution.uniform((5, 5, 0), (5, 10, 0)), rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))# 单位：cm# position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),# rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)))rep.physics.rigid_body(velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))return instances_Boxwood_area4.noderep.randomizer.register(get_Boxwood_area4)# 随机化with rep.trigger.on_frame(num_frames=1):# with rep.trigger.on_frame(num_frames=100,interval=10):# rep.randomizer.disk_lights()                    # 随机化光源rep.randomizer.dome_lights()                    # 随机穹顶rep.randomizer.get_ground()                     # 随机地面纹理# rep.randomizer.get_car(1)                       # 小车rep.randomizer.get_tree(15)                     # 4.5m 树（绿色）# rep.randomizer.get_tree_02(1)                   # 18m 树（绿色）rep.randomizer.get_grass(1200)                  # 短草（绿色）rep.randomizer.get_flower(450)                  # 小花（白色）rep.randomizer.get_daisies_flower(50)           # 一簇小花（白色）# rep.randomizer.get_shrub(10)                    # 1.2m（高度到人类胸口） 灌木（绿色）# rep.randomizer.get_Fountain_Grass_Short(10)     # 0.9m（高度到人类腰部） 灌木（绿色）# rep.randomizer.get_Boxwood(10)                  # 0.75m（高度到人类大腿中段） 灌木（绿色）# rep.randomizer.get_park_bench(3)                # 木质公园椅（浅黄色）# rep.randomizer.get_park_bench_02(3)             # 铁质公园椅（橙色）# rep.randomizer.get_park_tent(2)                 # 帐篷# rep.randomizer.get_park_seesaw(4)               # 铁质秋千# rep.randomizer.get_park_slide(4)                # 铁质滑梯# rep.randomizer.get_park_fire_hydrant(10)        # 消防栓（红色）# rep.randomizer.get_park_light(20)               # 公园草地灯（下黑上白）# rep.randomizer.get_piles(10)                    # 木质箱（黄）# rep.randomizer.get_racks(5)                     # 货架和货物（蓝色框架，纸质箱子）# rep.randomizer.get_shelves(5)                   # 货架（蓝色框架）# rep.randomizer.get_railing(10)                  # 栏杆（黄色）# rep.randomizer.get_brick_grey(10)               # 砖块 淡灰色  # rep.randomizer.get_brick_red_pile(3)            # 砖块 （红色）杂乱一堆# rep.randomizer.get_brick_red_cubepile(2)        # 砖块 （红色）工整一堆# rep.randomizer.get_brick_red_one(10)            # 砖块 （红色）一块# 分区域进行随机化
# 在isaacsim中，俯视角，横轴x水平向右，纵轴y垂直向上
# 左下角为1区域，左上角为2区域，右下角为3区域，右上角为4区域# rep.randomizer.get_grass_area1(400)             # 短草（绿色）# rep.randomizer.get_grass_area2(400)# rep.randomizer.get_grass_area3(400)# rep.randomizer.get_grass_area4(400)# rep.randomizer.get_flower_area1(100)            # 小花（白色）# rep.randomizer.get_flower_area2(100)# rep.randomizer.get_flower_area3(100)# rep.randomizer.get_flower_area4(100)# rep.randomizer.get_piles_area1(10)              # 木质箱（黄）# rep.randomizer.get_piles_area2(10)# rep.randomizer.get_piles_area3(10)# rep.randomizer.get_piles_area4(10)# rep.randomizer.get_Fountain_area1(10)           # 0.9m（高度到人类腰部） 灌木（绿色）# rep.randomizer.get_Fountain_area2(10)# rep.randomizer.get_Fountain_area3(10)# rep.randomizer.get_Fountain_area4(10)# rep.randomizer.get_Boxwood_area1(15)            # 0.75m（高度到人类大腿中段） 灌木（绿色）# rep.randomizer.get_Boxwood_area2(15)# rep.randomizer.get_Boxwood_area3(15)# rep.randomizer.get_Boxwood_area4(15)# Initialize and attach writer# writer = rep.WriterRegistry.get("BasicWriter")# writer.initialize(#     output_dir= "/home/lxy/Desktop/Semantic_data/test",#     rgb=True,#     semantic_segmentation=True,#     colorize_semantic_segmentation=True,# )# 2# writer.attach([render_product])
#         with camera:
#             rep.modify.pose(look_at=(0,0,0), position=rep.distribution.uniform(camera1_pos))
#         # with camera2:
#         #     rep.modify.pose(look_at=(0,0,0), position=rep.distribution.uniform(camera2_pos))
#         await asyncio.sleep(1)# # 渲染图像大小
# # render_product = rep.create.render_product(camera, (1920, 1080))
# render_product = rep.create.render_product(camera, (640, 480))# basic_writer = rep.WriterRegistry.get("BasicWriter")
# basic_writer.initialize(
#     output_dir= "/home/lxy/Desktop/Semantic_data/0704",
#     rgb=True,                               # RGB
#     semantic_segmentation=True,             # 语义分割
#     # bounding_box_2d_loose=True,             # 2D检测框（松散）
#     # bounding_box_2d_tight=True,             # 2D检测框（紧密）
#     # bounding_box_3d=True,                   # 3D检测框
#     # distance_to_camera=True,                # 到相机距离
#     # distance_to_image_plane=True,           # 到图像平面的距离
#     # instance_segmentation=True,             # 实例分割
#     # normals=True,                           # 法线
#     # bbox_height_threshold=5,                # 边界框高度阈值
#     # fully_visible_threshold=0.75,           # 视觉检测对象可见阈值
#     # omit_semantic_type=True                 # 是否忽略特定语义类型的对象或信息
# )# basic_writer.attach([render_product])
rep.orchestrator.run()asyncio.ensure_future(example())

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