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Isaac Sim 利用Python实现虚拟现实仿真，并输出语义数据全流程

作者：Li_阴宅 | 2024-07-06 13:11:19

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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

  1. import omni.replicator.core as rep
  2. import omni.usd
  3. import asyncio
  4. import numpy as np
  5. from omni.isaac.core.world import World
  6. from omni.isaac.core.prims import RigidPrimView
  7. from omni.isaac.core.objects import DynamicCuboid
  8. from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf
  9. import os
  10. from PIL import Image
  11. import matplotlib.pyplot as plt
  12. import matplotlib.patches as patches
  13. import json
  14. import omni.usd
  15. from pxr import Usd, UsdGeom, UsdLux
  16. import random
  17. import time
  18.  
  19. stage = omni.usd.get_context().get_stage()
  20.  
  21. async def example():
  22.     if World.instance():
  23.         World.instance().clear_instance()
  24.     world = World()
  25.  
  26.     stage = omni.usd.get_context().get_stage()
  27.     UsdGeom.SetStageUpAxis
  28.  
  29.  
  30. with rep.new_layer():
  31.  
  32.     # 小车
  33.     CAR = 'omniverse://localhost/model/car_0702.usd'
  34.  
  35.     # <-----树木----->
  36.     # 4.5m 树（绿色）
  37.     PROPS_TREE = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Trees/Blue_Berry_Elder.usd'
  38.     # 18m 树（绿色）
  39.     TREE_BLACK_OAK = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Trees/Black_Oak.usd'
  40.  
  41.     # <-----草----->
  42.     # 短草（绿色）
  43.     PROPS_GRASS = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Grass_Short_A.usd'
  44.     # 中间带石头的条状草地 未配置
  45.     ROCK_GRASS = 'omniverse://localhost/model/some_/Rocks_Grass_2/scene.usdc'
  46.  
  47.     # <-----灌木----->
  48.     # 1.2m（高度到人类胸口） 灌木（绿色）
  49.     PROPS_SHRUB = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Holly.usd'
  50.     # 0.9m（高度到人类腰部） 灌木（绿色）
  51.     FOUNTAIN_GRASS_SHORT = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Fountain_Grass_Short.usd'
  52.     # 0.75m（高度到人类大腿中段） 灌木（绿色）
  53.     BOXWOOD = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/Boxwood.usd'
  54.  
  55.     # <-----花朵----->
  56.     # 小花（白色）
  57.     PROPS_FLOWER = 'omniverse://localhost/model/some_/Margarita_flower/scene.usdc'
  58.     # 一簇小花（白色）
  59.     DAISIES_FLOWERS = 'omniverse://localhost/model/some_/Margarita_flower_bush/scene.usdc'
  60.  
  61.     # <-----场景障碍物----->
  62.     # 木质公园椅（浅黄色）
  63.     PARK_BENCH = 'omniverse://localhost/model/some_/Park_Bench2/scene.usdc'
  64.     # 铁质公园椅（橙色）
  65.     PARK_BENCH_2 = 'omniverse://localhost/model/some_/Park_Bech_Low-poly/scene.usdc'
  66.     # 帐篷
  67.     TENT = 'omniverse://localhost/model/some_/Camping_tent/scene.usdc'
  68.     # 铁质秋千
  69.     SEESAW = 'omniverse://localhost/model/some_/Recreational_place_Play_Children_Seesaw/scene.usdc'
  70.     # 铁质滑梯
  71.     SLIDE = 'omniverse://localhost/model/some_/the_slide_Park_Play_Child/scene.usdc'
  72.     # 消防栓（红色）
  73.     FIRE_HYDRANT = 'omniverse://localhost/model/some_/Rusty_Fire_Hydrant/scene.usdc'
  74.     # 公园草地灯（下黑上白）
  75.     LIGHT = 'omniverse://localhost/Library/NVIDIA Package/Residential/Outdoors/Lighting/CircularBollard.usd'
  76.  
  77.     # 木质箱（黄）
  78.     PILES = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Piles/'
  79.     # 货架和货物（蓝色框架，纸质箱子）
  80.     RACKS = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Racks/'
  81.     # 货架（蓝色框架）
  82.     SHELVES = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Shelves/'
  83.  
  84.     # 栏杆（黄色）
  85.     RAILING = 'omniverse://localhost/Library/NVIDIA Package/Assets/ArchVis/Industrial/Railing/'
  86.  
  87.     # 砖块 （淡灰色）
  88.     BRICK_GREY = 'omniverse://localhost/model/some_/brick/Brick/scene.usdc'
  89.     # 砖块 （红色）杂乱一堆
  90.     BRICK_RED_PILE = 'omniverse://localhost/model/some_/brick/Heap_of_construction_old_debris_bricks/scene.usdc'
  91.     # 砖块 （红色）工整一堆
  92.     BRICK_RED_CUBEQILE = 'omniverse://localhost/model/some_/brick/Stacked_bricks/scene.usdc'
  93.     # 砖块 （红色）一块
  94.     BRICK_RED_ONE = 'omniverse://localhost/model/some_/brick/Red_Brick/scene.usdc'
  95.  
  96.     # 松果 （两个未配置）
  97.     PINE = 'omniverse://localhost/model/some_/pine/Empty_pine_cone/scene.usdc'
  98.     PINE_02 = 'omniverse://localhost/model/some_/pine/Pine_Cone/scene.usdc'
  99.  
  100.     # <-----材质----->
  101.     GROUND_MATERIAL = 'omniverse://localhost/Library/NVIDIA Package/Assets/Vegetation/Shrub/materials/Pampas_grass_Mat.mdl'
  102.  
  103. ground = rep.create.plane(scale=33, semantics=[('class', 'grass')], visible=True, parent='/World')  # 单位：m
  104.  
  105. # 相机参数
  106. # camera = rep.create.camera(
  107. #     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
  108. #     rotation=(-90, 0, 0),
  109. #     focus_distance=rep.distribution.normal(400.0, 100),
  110. #     f_stop=0.5,
  111. # )
  112.  
  113. # 1
  114. # camera1_pos = [(-5, -5, 0.5),(0, 5, 0.5)]
  115. # # camera2_pos = [(0, -5, 0.5),(5, 5, 0.5)]
  116. # # 相机位置及旋转角度
  117. # camera_look_at = (0, 0, 0)
  118. # camera = rep.create.camera(position=camera1_pos[0], look_at = camera_look_at)
  119.  
  120.  
  121. # camera2 = rep.create.camera(position=camera2_pos[0], look_at=(0,0,0))
  122.  
  123. # light = rep.create.light(
  124. #     light_type="Distant",
  125. #     intensity=3000,  # 光强度
  126. #     angle=1,  # 角度
  127. #     position=light_position,
  128. #     rotation=(0, 0, 0)  # 光源旋转
  129. # )
  130.  
  131. # 获取当前的 USD stage
  132. stage = omni.usd.get_context().get_stage()
  133.  
  134. async def example():
  135.     if World.instance():
  136.         World.instance().clear_instance()
  137.     world = World()
  138.  
  139.     stage = omni.usd.get_context().get_stage()
  140.     UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
  141.  
  142.     # 单位(m)
  143.     # UsdGeom.SetStageMetersPerUnit(stage, 0.01)
  144.     UsdGeom.SetStageMetersPerUnit(stage, 1.0)
  145.     # # 新建一个物理场景
  146.     # scene = UsdPhysics.Scene.Define(stage, "/physicsScene")
  147.  
  148.     # # 重力方向，下；重力大小，9.81m/s^2
  149.     # scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
  150.     # scene.CreateGravityMagnitudeAttr().Set(981.0)
  151.  
  152.     # 获取当前的 USD stage
  153.     stage = omni.usd.get_context().get_stage()
  154.  
  155.     if stage:
  156.         default_light_path = "/Environment/defaultLight"
  157.         default_light_prim = stage.GetPrimAtPath(default_light_path)
  158.  
  159.         # 确保 defaultLight 原语存在
  160.         if default_light_prim:
  161.             # 设置 defaultLight 的可见性为不可见
  162.             # visibility_attr = default_light_prim.GetAttribute('visibility')
  163.             # if not visibility_attr:
  164.             #     visibility_attr = default_light_prim.CreateAttribute('visibility', Sdf.ValueTypeNames.Token)
  165.             # visibility_attr.Set('invisible')
  166.  
  167.             # 设置defaultLight 的 intensity
  168.             intensity_attr = default_light_prim.GetAttribute('inputs:intensity')
  169.             if not intensity_attr:
  170.                 intensity_attr = default_light_prim.CreateAttribute('inputs:intensity', Sdf.ValueTypeNames.Float)
  171.             intensity_attr.Set(200.0)  # 设置 intensity 的值为 150.0
  172.  
  173.     # 使用系统时间戳作为随机数种子
  174.     random_seed = int(time.time())
  175.     np.random.seed(random_seed)
  176.     random.seed(random_seed)
  177.  
  178. # 随机化光源
  179.     # def disk_lights():
  180.     #     lights = rep.create.light(
  181.     #         light_type="Disk",
  182.     #         # temperature=rep.distribution.normal(6500, 500),
  183.     #         # intensity=rep.distribution.normal(3000, 500),
  184.     #         temperature = 65000,
  185.     #         # intensity = 20000,
  186.     #         intensity = 4500,
  187.     #         # 位置 均匀分布，范围
  188.     #         position = camera1_pos[0],  # 光源位置与相机位置相同
  189.     #         rotation = [90, -10, 0],
  190.     #         # 比例 均匀分布
  191.     #         scale = (2.0, 2.0, 1.0)
  192.     #     )
  193.     #     return lights.node
  194.     # rep.randomizer.register(disk_lights)
  195.  
  196.     def dome_lights():
  197.         lights = rep.create.light(
  198.             light_type="Dome",
  199.  
  200.             # 色温 正态分布，均值6500，标准差500
  201.             # 刚开始日出日落：2000k-3000k  蓝天白光：6500k  北方平均太阳光：7500k  
  202.             # 模拟太阳光：5000k  白中明显带蓝：7000k-8000k
  203.             # 欧洲商店灯光：4000k（美国4100k）
  204.             temperature=rep.distribution.normal(2700, 100),
  205.                     
  206.             # 光强 正态分布，均值35000，标准差5000
  207.             # 赤道地区光强大，随着纬度的增加而减少
  208.             # 夏季光强大，冬季少
  209.             # 植株密度大，植株间光强小
  210.             # intensity=rep.distribution.normal(200, 50),
  211.             intensity=rep.distribution.normal(200, 10),
  212.  
  213.             rotation= (360,0,0),
  214.             texture=rep.distribution.choice([
  215.                 'omniverse://localhost/NVIDIA/Assets/Skies/Cloudy/champagne_castle_1_4k.hdr',
  216.                 'omniverse://localhost/NVIDIA/Assets/Skies/Clear/qwantani_4k.hdr'
  217.                 ])
  218.                 )
  219.         return lights.node
  220.     rep.randomizer.register(dome_lights)
  221.  
  222. # 随机地面纹理
  223.     def get_ground():
  224.         with ground:
  225.             rep.randomizer.texture(
  226.                 textures=[
  227.                     'omniverse://localhost/model/some_/Grass_with_autumn_leaves/0/material_0_baseColor.jpg'
  228.                 ],
  229.                 texture_scale=rep.distribution.uniform((35.0,35.0), (35.0, 35.0))  # 缩放
  230.             )
  231.         return ground.node
  232.  
  233.     rep.randomizer.register(get_ground)
  234.  
  235.  
  236. # 车
  237.     def get_car(size):
  238.         instance_car = rep.randomizer.instantiate(rep.utils.get_usd_files(CAR, recursive=True), size=size)
  239.         with instance_car:
  240.             rep.modify.pose(
  241.                 # 单位：m
  242.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),                  # 区域
  243.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),                        # 角度
  244.                 scale=rep.distribution.uniform((1.0, 1.0, 1.0), (1.0, 1.0, 1.0))                # 缩放
  245.                 # 单位：cm
  246.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  247.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  248.             )
  249.             # rep.physics.rigid_body(
  250.             #     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  251.             #     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  252.  
  253.         # 设置固定路径
  254.         fixed_path = "/Replicator/SampledAssets/car"
  255.         instance_car.set_path(fixed_path)
  256.  
  257.         return instance_car.node
  258.     rep.randomizer.register(get_car)
  259.  
  260. # 树
  261.     # 4.5m 树（绿色）
  262.     def get_tree(size):
  263.         instances_tree = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_TREE, recursive=True), size=size)
  264.         with instances_tree:
  265.             rep.modify.pose(
  266.                 # 单位：m
  267.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  268.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),
  269.                 scale=rep.distribution.uniform((0.008, 0.008, 0.008), (0.013, 0.013, 0.013))
  270.                 # 单位：cm
  271.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  272.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  273.             )
  274.             rep.physics.rigid_body(
  275.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  276.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  277.         return instances_tree.node
  278.     rep.randomizer.register(get_tree)
  279.  
  280.     # 18m 树（绿色）
  281.     def get_tree_02(size):
  282.         instances_tree_02 = rep.randomizer.instantiate(rep.utils.get_usd_files(TREE_BLACK_OAK, recursive=True), size=size)
  283.         with instances_tree_02:
  284.             rep.modify.pose(
  285.                 # 单位：m
  286.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  287.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),
  288.                 scale=rep.distribution.uniform((0.008, 0.008, 0.008), (0.013, 0.013, 0.013))
  289.                 # 单位：cm
  290.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  291.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  292.             )
  293.             rep.physics.rigid_body(
  294.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  295.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  296.         return instances_tree_02.node
  297.     rep.randomizer.register(get_tree_02)
  298.  
  299. # 草
  300.     # 短草（绿色）
  301.     def get_grass(size):
  302.         instances_grass = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)
  303.         with instances_grass:
  304.             rep.modify.semantics([('class', 'grass')])
  305.             rep.modify.pose(
  306.                 # 单位：m
  307.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  308.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),
  309.                 scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.017))
  310.                 # 单位：cm
  311.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  312.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  313.             )
  314.             # rep.physics.rigid_body(
  315.             #     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  316.             #     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  317.         return instances_grass.node
  318.     rep.randomizer.register(get_grass)
  319.  
  320. # 花
  321.     # 小花（白色）
  322.     def get_flower(size):
  323.         instance_files = rep.utils.get_usd_files(PROPS_FLOWER, recursive=True)
  324.         instances_flower = rep.randomizer.instantiate(instance_files, size=size)
  325.         with instances_flower:
  326.             rep.modify.semantics([('class', 'grass')])
  327.             rep.modify.pose(
  328.                 # 单位：m
  329.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  330.                 rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),
  331.                 scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))
  332.                 # 单位：cm
  333.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  334.                 # rotation=rep.distribution.uniform((90, -35, -10), (90, 35, 10)),
  335.                 # scale=rep.distribution.uniform((0.05, 0.05, 0.05), (0.15, 0.15, 0.15))
  336.             )
  337.             # rep.physics.rigid_body(
  338.             #     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  339.             #     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  340.         return instances_flower.node
  341.     rep.randomizer.register(get_flower)
  342.  
  343.     # 一簇小花（白色）
  344.     def get_daisies_flower(size):
  345.         instances_daisies_flower = rep.randomizer.instantiate(rep.utils.get_usd_files(DAISIES_FLOWERS, recursive=True), size=size)
  346.         with instances_daisies_flower:
  347.             rep.modify.semantics([('class', 'grass')])
  348.             rep.modify.pose(
  349.                 # 单位：m
  350.                 position=rep.distribution.uniform((-17, -17, -3.05), (17, 17, -3)),
  351.                 rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),
  352.                 scale=rep.distribution.uniform((0.001, 0.001, 0.001), (0.001, 0.001, 0.001))
  353.                 # 单位：cm
  354.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  355.                 # rotation=rep.distribution.uniform((90, -35, -10), (90, 35, 10)),
  356.                 # scale=rep.distribution.uniform((0.05, 0.05, 0.05), (0.15, 0.15, 0.15))
  357.             )
  358.             # rep.physics.rigid_body(
  359.             #     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  360.             #     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  361.         return instances_daisies_flower.node
  362.     rep.randomizer.register(get_daisies_flower)
  363.  
  364. # 灌木
  365.     # 1.2m（高度到人类胸口） 灌木（绿色）
  366.     def get_shrub(size):
  367.         instances_shrub = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_SHRUB, recursive=True), size=size)
  368.         with instances_shrub:
  369.             rep.modify.pose(
  370.                 # 单位：m
  371.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  372.                 rotation=rep.distribution.uniform((0, 0, -90), (0, 0, 90)),
  373.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.008, 0.008, 0.008))
  374.                 # 单位：cm
  375.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  376.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  377.             )
  378.             # rep.physics.rigid_body(
  379.             #     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  380.             #     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  381.         return instances_shrub.node
  382.     rep.randomizer.register(get_shrub)
  383.  
  384.     # 0.9m（高度到人类腰部） 灌木（绿色）
  385.     def get_Fountain_Grass_Short(size):
  386.         Fountain_Grass_Short = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)
  387.         with Fountain_Grass_Short:
  388.             rep.modify.pose(
  389.                 # 单位：m
  390.                 position=rep.distribution.uniform((-2, -2, 0), (0, 0, 0)),
  391.                 rotation=rep.distribution.uniform((0, 0, -90), (0, 0, 90)),
  392.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.008, 0.008, 0.008))
  393.                 # 单位：cm
  394.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  395.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  396.             )
  397.             # rep.physics.rigid_body(
  398.             #     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  399.             #     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  400.         return Fountain_Grass_Short.node
  401.     rep.randomizer.register(get_Fountain_Grass_Short)
  402.  
  403.     # 0.75m（高度到人类大腿中段） 灌木（绿色）
  404.     def get_Boxwood(size):
  405.         Boxwood = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)
  406.         with Boxwood:
  407.             rep.modify.pose(
  408.                 # 单位：m
  409.                 position=rep.distribution.uniform((-5, -5, 0), (-5, 5, 0)),
  410.                 rotation=rep.distribution.uniform((0, 0, -90), (0, 0, 90)),
  411.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.008, 0.008, 0.008))
  412.                 # 单位：cm
  413.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  414.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  415.             )
  416.             # rep.physics.rigid_body(
  417.             #     velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  418.             #     angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  419.         return Boxwood.node
  420.     rep.randomizer.register(get_Boxwood)
  421.  
  422. # 障碍物
  423.     # 木质公园椅（浅黄色）
  424.     def get_park_bench(size):
  425.         instances_park_bench = rep.randomizer.instantiate(rep.utils.get_usd_files(PARK_BENCH, recursive=True), size=size)
  426.         with instances_park_bench:
  427.             rep.modify.pose(
  428.                 # 单位：m
  429.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  430.                 rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),
  431.                 scale=rep.distribution.uniform((0.002, 0.002, 0.002), (0.002, 0.002, 0.002))
  432.                 # 单位：cm
  433.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  434.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  435.             )
  436.             rep.physics.rigid_body(
  437.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  438.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  439.         return instances_park_bench.node
  440.     rep.randomizer.register(get_park_bench)
  441.  
  442.     # 铁质公园椅（橙色）
  443.     def get_park_bench_02(size):
  444.         instances_park_bench_02 = rep.randomizer.instantiate(rep.utils.get_usd_files(PARK_BENCH_2, recursive=True), size=size)
  445.         with instances_park_bench_02:
  446.             rep.modify.pose(
  447.                 # 单位：m
  448.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  449.                 rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),
  450.                 scale=rep.distribution.uniform((0.018, 0.018, 0.018), (0.018, 0.018, 0.018))
  451.                 # 单位：cm
  452.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  453.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  454.             )
  455.             rep.physics.rigid_body(
  456.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  457.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  458.         return instances_park_bench_02.node
  459.     rep.randomizer.register(get_park_bench_02)
  460.  
  461.     # 帐篷
  462.     def get_park_tent(size):
  463.         instances_park_tent = rep.randomizer.instantiate(rep.utils.get_usd_files(TENT, recursive=True), size=size)
  464.         with instances_park_tent:
  465.             rep.modify.pose(
  466.                 # 单位：m
  467.                 position=rep.distribution.uniform((-12, -12, 0), (12, 12, 0)),
  468.                 rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),
  469.                 scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.01, 0.01, 0.01))
  470.                 # 单位：cm
  471.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  472.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  473.             )
  474.             rep.physics.rigid_body(
  475.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  476.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  477.         return instances_park_tent.node
  478.     rep.randomizer.register(get_park_tent)
  479.  
  480.     # 铁质秋千
  481.     def get_park_seesaw(size):
  482.         instances_park_seesaw = rep.randomizer.instantiate(rep.utils.get_usd_files(SEESAW, recursive=True), size=size)
  483.         with instances_park_seesaw:
  484.             rep.modify.pose(
  485.                 # 单位：m
  486.                 position=rep.distribution.uniform((-17, -17, 1), (17, 17, 1)),
  487.                 rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),
  488.                 scale=rep.distribution.uniform((0.008, 0.008, 0.008), (0.008, 0.008, 0.008))
  489.                 # 单位：cm
  490.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  491.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  492.             )
  493.             rep.physics.rigid_body(
  494.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  495.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  496.         return instances_park_seesaw.node
  497.     rep.randomizer.register(get_park_seesaw)
  498.  
  499.     # 铁质滑梯
  500.     def get_park_slide(size):
  501.         instances_park_slide = rep.randomizer.instantiate(rep.utils.get_usd_files(SLIDE, recursive=True), size=size)
  502.         with instances_park_slide:
  503.             rep.modify.pose(
  504.                 # 单位：m
  505.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  506.                 rotation=rep.distribution.uniform((90, 0, 0), (90, 0, 0)),
  507.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005))
  508.                 # 单位：cm
  509.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  510.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  511.             )
  512.             rep.physics.rigid_body(
  513.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  514.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  515.         return instances_park_slide.node
  516.     rep.randomizer.register(get_park_slide)
  517.  
  518.     # 消防栓（红色）
  519.     def get_park_fire_hydrant(size):
  520.         instances_park_fire_hydrant = rep.randomizer.instantiate(rep.utils.get_usd_files(FIRE_HYDRANT, recursive=True), size=size)
  521.         with instances_park_fire_hydrant:
  522.             rep.modify.pose(
  523.                 # 单位：m
  524.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  525.                 rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),
  526.                 scale=rep.distribution.uniform((0.002, 0.002, 0.002), (0.002, 0.002, 0.002))
  527.                 # 单位：cm
  528.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  529.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  530.             )
  531.             rep.physics.rigid_body(
  532.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  533.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  534.         return instances_park_fire_hydrant.node
  535.     rep.randomizer.register(get_park_fire_hydrant)
  536.  
  537.     # 公园草地灯（下黑上白）
  538.     def get_park_light(size):
  539.         instances_park_light = rep.randomizer.instantiate(rep.utils.get_usd_files(LIGHT, recursive=True), size=size)
  540.         with instances_park_light:
  541.             rep.modify.pose(
  542.                 # 单位：m
  543.                 position=rep.distribution.uniform((-17, -17, 0), (17, 17, 0)),
  544.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  545.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  546.                 # 单位：cm
  547.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  548.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  549.             )
  550.             rep.physics.rigid_body(
  551.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  552.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  553.         return instances_park_light.node
  554.     rep.randomizer.register(get_park_light)
  555.  
  556.     # 木质箱（黄）
  557.     def get_piles(size):
  558.         instances_piles = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size, mode='point_instance')
  559.         with instances_piles:
  560.             rep.modify.pose(
  561.                 position=rep.distribution.uniform((-10, -10, 0), (10, 10, 0)),
  562.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  563.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  564.             )
  565.             rep.physics.rigid_body(
  566.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  567.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  568.         return instances_piles.node
  569.     rep.randomizer.register(get_piles)
  570.  
  571.     # 货架和货物（蓝色框架，纸质箱子）
  572.     def get_racks(size):
  573.         instances_racks = rep.randomizer.instantiate(rep.utils.get_usd_files(RACKS, recursive=True), size=size, mode='point_instance')
  574.         with instances_racks:
  575.             rep.modify.pose(
  576.                 position=rep.distribution.uniform((-10, -10, 0), (10, 10, 0)),
  577.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  578.                 scale=rep.distribution.uniform((0.004, 0.004, 0.004), (0.004, 0.004, 0.004))
  579.             )
  580.             rep.physics.rigid_body(
  581.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  582.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  583.         return instances_racks.node
  584.     rep.randomizer.register(get_racks)
  585.  
  586.     # 货架（蓝色框架）
  587.     def get_shelves(size):
  588.         instances_shelves = rep.randomizer.instantiate(rep.utils.get_usd_files(SHELVES, recursive=True), size=size, mode='point_instance')
  589.         with instances_shelves:
  590.             rep.modify.pose(
  591.                 position=rep.distribution.uniform((-10, -10, 0), (10, 10, 0)),
  592.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  593.                 scale=rep.distribution.uniform((0.004, 0.004, 0.004), (0.004, 0.004, 0.004))
  594.             )
  595.             rep.physics.rigid_body(
  596.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  597.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  598.         return instances_shelves.node
  599.     rep.randomizer.register(get_shelves)
  600.  
  601.     # 栏杆（黄色）
  602.     def get_railing(size):
  603.         instances_railing = rep.randomizer.instantiate(rep.utils.get_usd_files(RAILING, recursive=True), size=size, mode='point_instance')
  604.         with instances_railing:
  605.             rep.modify.pose(
  606.                 position=rep.distribution.uniform((-10, -5, 0), (-9, 5, 0)),
  607.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  608.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005))
  609.             )
  610.             rep.physics.rigid_body(
  611.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  612.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  613.         return instances_railing.node
  614.     rep.randomizer.register(get_railing)
  615.  
  616.     # 砖块 （淡灰色）
  617.     def get_brick_grey(size):
  618.         instances_brick_grey = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_GREY, recursive=True), size=size, mode='point_instance')
  619.         with instances_brick_grey:
  620.             rep.modify.pose(
  621.                 position=rep.distribution.uniform((-1, -1, 0), (1, 1, 0)),
  622.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  623.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005))
  624.             )
  625.             rep.physics.rigid_body(
  626.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  627.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  628.         return instances_brick_grey.node
  629.     rep.randomizer.register(get_brick_grey)
  630.  
  631.     # 砖块 （红色）杂乱一堆
  632.     def get_brick_red_pile(size):
  633.         instances_brick_red_pile = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_RED_PILE, recursive=True), size=size, mode='point_instance')
  634.         with instances_brick_red_pile:
  635.             rep.modify.pose(
  636.                 position=rep.distribution.uniform((-4, -4, -0.4), (4, 4, -0.4)),
  637.                 rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),
  638.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005))
  639.             )
  640.             rep.physics.rigid_body(
  641.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  642.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  643.         return instances_brick_red_pile.node
  644.     rep.randomizer.register(get_brick_red_pile)
  645.  
  646.     # 砖块 （红色）工整一堆
  647.     def get_brick_red_cubepile(size):
  648.         instances_red_cubepile2 = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_RED_CUBEQILE, recursive=True), size=size, mode='point_instance')
  649.         with instances_red_cubepile2:
  650.             rep.modify.pose(
  651.                 position=rep.distribution.uniform((-2, -2, -2.2), (3, 3, -2.2)),
  652.                 rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),
  653.                 scale=rep.distribution.uniform((0.005, 0.005, 0.005), (0.005, 0.005, 0.005))
  654.             )
  655.             rep.physics.rigid_body(
  656.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  657.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  658.         return instances_red_cubepile2.node
  659.     rep.randomizer.register(get_brick_red_cubepile)
  660.  
  661.     # 砖块 （红色）一块
  662.     def get_brick_red_one(size):
  663.         instances_brick_red_one = rep.randomizer.instantiate(rep.utils.get_usd_files(BRICK_RED_ONE, recursive=True), size=size, mode='point_instance')
  664.         with instances_brick_red_one:
  665.             rep.modify.pose(
  666.                 position=rep.distribution.uniform((-3.5, -3.5, 0.1), (-1, -1, 0.1)),
  667.                 rotation=rep.distribution.uniform((90, 0, -45), (90, 0, 45)),
  668.                 scale=rep.distribution.uniform((0.0002, 0.0002, 0.0002), (0.0002, 0.0002, 0.0002))
  669.             )
  670.             rep.physics.rigid_body(
  671.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  672.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  673.         return instances_brick_red_one.node
  674.     rep.randomizer.register(get_brick_red_one)
  675.  
  676. # 分区域生成模型
  677.     # 短草（绿色）
  678.     def get_grass_area1(size):
  679.         instances_grass_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)
  680.         with instances_grass_area1:
  681.             rep.modify.semantics([('class', 'grass')])
  682.             rep.modify.pose(
  683.                 # 单位：m
  684.                 position=rep.distribution.uniform((-17, -17, 0), (-2, -2, 0)),
  685.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),
  686.                 scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))
  687.                 # 单位：cm
  688.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  689.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  690.             )
  691.             rep.physics.rigid_body(
  692.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  693.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  694.         return instances_grass_area1.node
  695.     rep.randomizer.register(get_grass_area1)
  696.     def get_grass_area2(size):
  697.         instances_grass_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)
  698.         with instances_grass_area2:
  699.             rep.modify.semantics([('class', 'grass')])
  700.             rep.modify.pose(
  701.                 # 单位：m
  702.                 position=rep.distribution.uniform((-17, 2, 0), (-2, 17, 0)),
  703.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),
  704.                 scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))
  705.                 # 单位：cm
  706.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  707.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  708.             )
  709.             rep.physics.rigid_body(
  710.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  711.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  712.         return instances_grass_area2.node
  713.     rep.randomizer.register(get_grass_area2)
  714.     def get_grass_area3(size):
  715.         instances_grass_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)
  716.         with instances_grass_area3:
  717.             rep.modify.semantics([('class', 'grass')])
  718.             rep.modify.pose(
  719.                 # 单位：m
  720.                 position=rep.distribution.uniform((2, -17, 0), (17, -2, 0)),
  721.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),
  722.                 scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))
  723.                 # 单位：cm
  724.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  725.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  726.             )
  727.             rep.physics.rigid_body(
  728.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  729.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  730.         return instances_grass_area3.node
  731.     rep.randomizer.register(get_grass_area3)
  732.     def get_grass_area4(size):
  733.         instances_grass_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_GRASS, recursive=True), size=size)
  734.         with instances_grass_area4:
  735.             rep.modify.semantics([('class', 'grass')])
  736.             rep.modify.pose(
  737.                 # 单位：m
  738.                 position=rep.distribution.uniform((2, 2, 0), (17, 17, 0)),
  739.                 rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0)),
  740.                 scale=rep.distribution.uniform((0.01, 0.01, 0.01), (0.02, 0.02, 0.01))
  741.                 # 单位：cm
  742.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  743.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  744.             )
  745.             rep.physics.rigid_body(
  746.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  747.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  748.         return instances_grass_area4.node
  749.     rep.randomizer.register(get_grass_area4)
  750.  
  751.     # 小花（白色）
  752.     def get_flower_area1(size):
  753.         instances_flower_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)
  754.         with instances_flower_area1:
  755.             rep.modify.pose(
  756.                 # 单位：m
  757.                 position=rep.distribution.uniform((-17, -17, 0), (-2, -2, 0)),
  758.                 rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),
  759.                 scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))
  760.                 # 单位：cm
  761.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  762.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  763.             )
  764.             rep.physics.rigid_body(
  765.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  766.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  767.         return instances_flower_area1.node
  768.     rep.randomizer.register(get_flower_area1)
  769.     def get_flower_area2(size):
  770.         instances_flower_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)
  771.         with instances_flower_area2:
  772.             rep.modify.pose(
  773.                 # 单位：m
  774.                 position=rep.distribution.uniform((-17, 2, 0), (-2, 17, 0)),
  775.                 rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),
  776.                 scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))
  777.                 # 单位：cm
  778.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  779.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  780.             )
  781.             rep.physics.rigid_body(
  782.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  783.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  784.         return instances_flower_area2.node
  785.     rep.randomizer.register(get_flower_area2)
  786.     def get_flower_area3(size):
  787.         instances_flower_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)
  788.         with instances_flower_area3:
  789.             rep.modify.pose(
  790.                 # 单位：m
  791.                 position=rep.distribution.uniform((2, -17, 0), (17, -2, 0)),
  792.                 rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),
  793.                 scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))
  794.                 # 单位：cm
  795.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  796.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  797.             )
  798.             rep.physics.rigid_body(
  799.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  800.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  801.         return instances_flower_area3.node
  802.     rep.randomizer.register(get_flower_area3)
  803.     def get_flower_area4(size):
  804.         instances_flower_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS_FLOWER, recursive=True), size=size)
  805.         with instances_flower_area4:
  806.             rep.modify.pose(
  807.                 # 单位：m
  808.                 position=rep.distribution.uniform((2, 2, 0), (17, 17, 0)),
  809.                 rotation=rep.distribution.uniform((85, -15, -10), (95, 15, 10)),
  810.                 scale=rep.distribution.uniform((0.00035, 0.00035, 0.00035), (0.00042, 0.00042, 0.00042))
  811.                 # 单位：cm
  812.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  813.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  814.             )
  815.             rep.physics.rigid_body(
  816.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  817.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  818.         return instances_flower_area4.node
  819.     rep.randomizer.register(get_flower_area4)
  820.  
  821.  
  822.     # 木质箱（黄）
  823.     def get_piles_area1(size):
  824.         instances_piles_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)
  825.         with instances_piles_area1:
  826.             rep.modify.pose(
  827.                 # 单位：m
  828.                 position=rep.distribution.uniform((-17, -17, 0), (-2, -2, 0)),
  829.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  830.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  831.                 # 单位：cm
  832.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  833.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  834.             )
  835.             rep.physics.rigid_body(
  836.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  837.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  838.         return instances_piles_area1.node
  839.     rep.randomizer.register(get_piles_area1)
  840.     def get_piles_area2(size):
  841.         instances_piles_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)
  842.         with instances_piles_area2:
  843.             rep.modify.pose(
  844.                 # 单位：m
  845.                 # position=rep.distribution.uniform((-17, 17, 0), (-2, 2, 0)),
  846.                 position=rep.distribution.uniform((-17, 2, 0), (-2, 17, 0)),
  847.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  848.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  849.                 # 单位：cm
  850.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  851.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  852.             )
  853.             rep.physics.rigid_body(
  854.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  855.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  856.         return instances_piles_area2.node
  857.     rep.randomizer.register(get_piles_area2)
  858.     def get_piles_area3(size):
  859.         instances_piles_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)
  860.         with instances_piles_area3:
  861.             rep.modify.pose(
  862.                 # 单位：m
  863.                 # position=rep.distribution.uniform((17, -17, 0), (2, -2, 0)),
  864.                 position=rep.distribution.uniform((2, -17, 0), (17, -2, 0)),
  865.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  866.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  867.                 # 单位：cm
  868.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  869.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  870.             )
  871.             rep.physics.rigid_body(
  872.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  873.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  874.         return instances_piles_area3.node
  875.     rep.randomizer.register(get_piles_area3)
  876.     def get_piles_area4(size):
  877.         instances_piles_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(PILES, recursive=True), size=size)
  878.         with instances_piles_area4:
  879.             rep.modify.pose(
  880.                 # 单位：m
  881.                 position=rep.distribution.uniform((2, 2, 0), (17, 17, 0)),
  882.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  883.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  884.                 # 单位：cm
  885.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  886.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  887.             )
  888.             rep.physics.rigid_body(
  889.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  890.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  891.         return instances_piles_area4.node
  892.     rep.randomizer.register(get_piles_area4)
  893.  
  894.     # 0.9m（高度到人类腰部） 灌木（绿色）
  895.     def get_Fountain_area1(size):
  896.         instances_Fountain_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)
  897.         with instances_Fountain_area1:
  898.             rep.modify.pose(
  899.                 # 单位：m
  900.                 position=rep.distribution.uniform((-5, -5, 0), (-2, -2, 0)),
  901.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  902.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  903.                 # 单位：cm
  904.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  905.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  906.             )
  907.             rep.physics.rigid_body(
  908.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  909.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  910.         return instances_Fountain_area1.node
  911.     rep.randomizer.register(get_Fountain_area1)
  912.     def get_Fountain_area2(size):
  913.         instances_Fountain_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)
  914.         with instances_Fountain_area2:
  915.             rep.modify.pose(
  916.                 # 单位：m
  917.                 position=rep.distribution.uniform((-5, 2, 0), (-2, 5, 0)),
  918.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  919.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  920.                 # 单位：cm
  921.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  922.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  923.             )
  924.             rep.physics.rigid_body(
  925.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  926.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  927.         return instances_Fountain_area2.node
  928.     rep.randomizer.register(get_Fountain_area2)
  929.     def get_Fountain_area3(size):
  930.         instances_Fountain_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)
  931.         with instances_Fountain_area3:
  932.             rep.modify.pose(
  933.                 # 单位：m
  934.                 position=rep.distribution.uniform((2, -5, 0), (5, -2, 0)),
  935.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  936.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  937.                 # 单位：cm
  938.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  939.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  940.             )
  941.             rep.physics.rigid_body(
  942.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  943.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  944.         return instances_Fountain_area3.node
  945.     rep.randomizer.register(get_Fountain_area3)
  946.     def get_Fountain_area4(size):
  947.         instances_Fountain_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(FOUNTAIN_GRASS_SHORT, recursive=True), size=size)
  948.         with instances_Fountain_area4:
  949.             rep.modify.pose(
  950.                 # 单位：m
  951.                 position=rep.distribution.uniform((2, 2, 0), (5, 5, 0)), 
  952.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  953.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  954.                 # 单位：cm
  955.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  956.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  957.             )
  958.             rep.physics.rigid_body(
  959.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  960.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  961.         return instances_Fountain_area4.node
  962.     rep.randomizer.register(get_Fountain_area4)
  963.  
  964.     # 0.75m（高度到人类大腿中段） 灌木（绿色）
  965.     def get_Boxwood_area1(size):
  966.         instances_Boxwood_area1 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)
  967.         with instances_Boxwood_area1:
  968.             rep.modify.pose(
  969.                 # 单位：m
  970.                 position=rep.distribution.uniform((-5, -10, 0), (-5, -5, 0)),
  971.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  972.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  973.                 # 单位：cm
  974.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  975.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  976.             )
  977.             rep.physics.rigid_body(
  978.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  979.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  980.         return instances_Boxwood_area1.node
  981.     rep.randomizer.register(get_Boxwood_area1)
  982.     def get_Boxwood_area2(size):
  983.         instances_Boxwood_area2 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)
  984.         with instances_Boxwood_area2:
  985.             rep.modify.pose(
  986.                 # 单位：m
  987.                 position=rep.distribution.uniform((-10, 5, 0), (-5, 5, 0)),
  988.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  989.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  990.                 # 单位：cm
  991.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  992.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  993.             )
  994.             rep.physics.rigid_body(
  995.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  996.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  997.         return instances_Boxwood_area2.node
  998.     rep.randomizer.register(get_Boxwood_area2)
  999.     def get_Boxwood_area3(size):
  1000.         instances_Boxwood_area3 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)
  1001.         with instances_Boxwood_area3:
  1002.             rep.modify.pose(
  1003.                 # 单位：m
  1004.                 position=rep.distribution.uniform((5, -5, 0), (10, -5, 0)),
  1005.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  1006.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  1007.                 # 单位：cm
  1008.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  1009.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  1010.             )
  1011.             rep.physics.rigid_body(
  1012.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  1013.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  1014.         return instances_Boxwood_area3.node
  1015.     rep.randomizer.register(get_Boxwood_area3)
  1016.     def get_Boxwood_area4(size):
  1017.         instances_Boxwood_area4 = rep.randomizer.instantiate(rep.utils.get_usd_files(BOXWOOD, recursive=True), size=size)
  1018.         with instances_Boxwood_area4:
  1019.             rep.modify.pose(
  1020.                 # 单位：m
  1021.                 position=rep.distribution.uniform((5, 5, 0), (5, 10, 0)), 
  1022.                 rotation=rep.distribution.uniform((0, 0, -45), (0, 0, 45)),
  1023.                 scale=rep.distribution.uniform((0.007, 0.007, 0.007), (0.007, 0.007, 0.007))
  1024.                 # 单位：cm
  1025.                 # position=rep.distribution.uniform((-1000, -1000, 0), (1000, 1000, 0)),
  1026.                 # rotation=rep.distribution.uniform((0, 0, 0), (0, 0, 0))
  1027.             )
  1028.             rep.physics.rigid_body(
  1029.                 velocity=rep.distribution.uniform((-0,0,-0),(0,0,0)),
  1030.                 angular_velocity=rep.distribution.uniform((-0,0,-100),(0,0,0)))
  1031.         return instances_Boxwood_area4.node
  1032.     rep.randomizer.register(get_Boxwood_area4)
  1033.  
  1034. # 随机化
  1035.     with rep.trigger.on_frame(num_frames=1):
  1036.     # with rep.trigger.on_frame(num_frames=100,interval=10):
  1037.         # rep.randomizer.disk_lights()                    # 随机化光源
  1038.         rep.randomizer.dome_lights()                    # 随机穹顶
  1039.         rep.randomizer.get_ground()                     # 随机地面纹理
  1040.         # rep.randomizer.get_car(1)                       # 小车
  1041.  
  1042.         rep.randomizer.get_tree(15)                     # 4.5m 树（绿色）
  1043.         # rep.randomizer.get_tree_02(1)                   # 18m 树（绿色）
  1044.  
  1045.         rep.randomizer.get_grass(1200)                  # 短草（绿色）
  1046.  
  1047.         rep.randomizer.get_flower(450)                  # 小花（白色）
  1048.         rep.randomizer.get_daisies_flower(50)           # 一簇小花（白色）
  1049.  
  1050.         # rep.randomizer.get_shrub(10)                    # 1.2m（高度到人类胸口） 灌木（绿色）
  1051.         # rep.randomizer.get_Fountain_Grass_Short(10)     # 0.9m（高度到人类腰部） 灌木（绿色）
  1052.         # rep.randomizer.get_Boxwood(10)                  # 0.75m（高度到人类大腿中段） 灌木（绿色）
  1053.  
  1054.         # rep.randomizer.get_park_bench(3)                # 木质公园椅（浅黄色）
  1055.         # rep.randomizer.get_park_bench_02(3)             # 铁质公园椅（橙色）
  1056.         # rep.randomizer.get_park_tent(2)                 # 帐篷
  1057.         # rep.randomizer.get_park_seesaw(4)               # 铁质秋千
  1058.         # rep.randomizer.get_park_slide(4)                # 铁质滑梯
  1059.         # rep.randomizer.get_park_fire_hydrant(10)        # 消防栓（红色）
  1060.  
  1061.         # rep.randomizer.get_park_light(20)               # 公园草地灯（下黑上白）
  1062.  
  1063.         # rep.randomizer.get_piles(10)                    # 木质箱（黄）
  1064.         # rep.randomizer.get_racks(5)                     # 货架和货物（蓝色框架，纸质箱子）
  1065.         # rep.randomizer.get_shelves(5)                   # 货架（蓝色框架）
  1066.         # rep.randomizer.get_railing(10)                  # 栏杆（黄色）
  1067.  
  1068.         # rep.randomizer.get_brick_grey(10)               # 砖块 淡灰色  
  1069.         # rep.randomizer.get_brick_red_pile(3)            # 砖块 （红色）杂乱一堆
  1070.         # rep.randomizer.get_brick_red_cubepile(2)        # 砖块 （红色）工整一堆
  1071.         # rep.randomizer.get_brick_red_one(10)            # 砖块 （红色）一块
  1072.  
  1073.  
  1074. # 分区域进行随机化
  1075. # 在isaacsim中，俯视角，横轴x水平向右，纵轴y垂直向上
  1076. # 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
  1077.         # rep.randomizer.get_grass_area1(400)             # 短草（绿色）
  1078.         # rep.randomizer.get_grass_area2(400)
  1079.         # rep.randomizer.get_grass_area3(400)
  1080.         # rep.randomizer.get_grass_area4(400)
  1081.  
  1082.         # rep.randomizer.get_flower_area1(100)            # 小花（白色）
  1083.         # rep.randomizer.get_flower_area2(100)
  1084.         # rep.randomizer.get_flower_area3(100)
  1085.         # rep.randomizer.get_flower_area4(100)
  1086.  
  1087.         # rep.randomizer.get_piles_area1(10)              # 木质箱（黄）
  1088.         # rep.randomizer.get_piles_area2(10)
  1089.         # rep.randomizer.get_piles_area3(10)
  1090.         # rep.randomizer.get_piles_area4(10)
  1091.  
  1092.         # rep.randomizer.get_Fountain_area1(10)           # 0.9m（高度到人类腰部） 灌木（绿色）
  1093.         # rep.randomizer.get_Fountain_area2(10)
  1094.         # rep.randomizer.get_Fountain_area3(10)
  1095.         # rep.randomizer.get_Fountain_area4(10)
  1096.  
  1097.         # rep.randomizer.get_Boxwood_area1(15)            # 0.75m（高度到人类大腿中段） 灌木（绿色）
  1098.         # rep.randomizer.get_Boxwood_area2(15)
  1099.         # rep.randomizer.get_Boxwood_area3(15)
  1100.         # rep.randomizer.get_Boxwood_area4(15)
  1101.  
  1102.         # Initialize and attach writer
  1103.  
  1104.     # writer = rep.WriterRegistry.get("BasicWriter")
  1105.     # writer.initialize(
  1106.     #     output_dir= "/home/lxy/Desktop/Semantic_data/test",
  1107.     #     rgb=True,
  1108.     #     semantic_segmentation=True,
  1109.     #     colorize_semantic_segmentation=True,
  1110.     # )
  1111.  
  1112. # 2
  1113.     # writer.attach([render_product])
  1114. #         with camera:
  1115. #             rep.modify.pose(look_at=(0,0,0), position=rep.distribution.uniform(camera1_pos))
  1116. #         # with camera2:
  1117. #         #     rep.modify.pose(look_at=(0,0,0), position=rep.distribution.uniform(camera2_pos))
  1118. #         await asyncio.sleep(1)
  1119.  
  1120. # # 渲染图像大小
  1121. # # render_product = rep.create.render_product(camera, (1920, 1080))
  1122. # render_product = rep.create.render_product(camera, (640, 480))
  1123.  
  1124. # basic_writer = rep.WriterRegistry.get("BasicWriter")
  1125. # basic_writer.initialize(
  1126. #     output_dir= "/home/lxy/Desktop/Semantic_data/0704",
  1127. #     rgb=True,                               # RGB
  1128. #     semantic_segmentation=True,             # 语义分割
  1129. #     # bounding_box_2d_loose=True,             # 2D检测框（松散）
  1130. #     # bounding_box_2d_tight=True,             # 2D检测框（紧密）
  1131. #     # bounding_box_3d=True,                   # 3D检测框
  1132. #     # distance_to_camera=True,                # 到相机距离
  1133. #     # distance_to_image_plane=True,           # 到图像平面的距离
  1134. #     # instance_segmentation=True,             # 实例分割
  1135. #     # normals=True,                           # 法线
  1136. #     # bbox_height_threshold=5,                # 边界框高度阈值
  1137. #     # fully_visible_threshold=0.75,           # 视觉检测对象可见阈值
  1138. #     # omit_semantic_type=True                 # 是否忽略特定语义类型的对象或信息
  1139. # )
  1140.  
  1141. # basic_writer.attach([render_product])
  1142. rep.orchestrator.run()
  1143.  
  1144. asyncio.ensure_future(example())

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