Added everything I missed for Omniverse Replicator. Fixed README

README.md

@@ -1,8 +1,8 @@
-# Cornhole
+# Follow Mini Me!
 
-All files necessary for autonomous off-road navigation of the La Z Bot!
+All files necessary for autonomous tracker following
 
-[<img src="https://img.youtube.com/vi/h0uvkaR6fvo/0.jpg">](https://youtu.be/h0uvkaR6fvo)
+[<img src="https://img.youtube.com/vi/YfQvBd4r_QU/0.jpg">](https://www.youtube.com/watch?v=YfQvBd4r_QU)
 
 ## License
 <a rel="license" href="http://creativecommons.org/licenses/by/3.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by/3.0/88x31.png" /></a><br />This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by/3.0/">Creative Commons Attribution 3.0 Unported License</a>.

followminime_omniverse/HouseRender.py

@@ -0,0 +1,59 @@
+import omni.replicator.core as rep
+
+with rep.new_layer():
+    # Define paths for the character, the props, the environment and the surface where the assets will be scattered in.
+
+    TRACKER = 'omniverse://localhost/Projects/FollowMe/TrackerTarget.usdc'
+    SURFACE = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/display_riser.usd'
+    # Environments.  Large so not swapping
+    PUDDLES = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Outdoor/Puddles.usd'
+    PARK='omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/abandoned_parking_lot.usd'
+    WAREHOUSE='omniverse://localhost/NVIDIA/Assets/XR/Stages/Indoor/Warehouse_XR.usd'
+    INDOOR='omniverse://localhost/NVIDIA/Assets/XR/Stages/Indoor/Modern_House_XR.usd'
+
+    ENVS=INDOOR
+
+    def tracker():
+        tracker = rep.create.from_usd(TRACKER, semantics=[('class', 'tracker')])
+
+        with tracker:
+            rep.modify.pose(
+                position=rep.distribution.uniform((-200, 100, -200), (200, 200, 200)),
+                rotation=rep.distribution.uniform((-90,-90, 0), (-90, 90, 0)),
+            )
+        return tracker
+
+    # Register randomization
+    rep.randomizer.register(tracker)
+
+    # Rotate the world so it is correct
+    env = rep.create.from_usd(ENVS)
+    with env:
+        rep.modify.pose(
+            position=(-450,0,550),
+            rotation=(-90,0, 0),
+        )
+    # Make the surface tiny so you can't see it in renders, and move it around so the shots are more varied
+    surface = rep.create.from_usd(SURFACE)
+    with surface:
+        rep.modify.pose(
+            position=rep.distribution.uniform((0, 100,  0), (0, 200, 0)),
+            scale=(0.001, 0.001, 0.001),
+        )
+
+    # Setup camera and attach it to render product
+    camera = rep.create.camera(
+        focus_distance=600,
+        f_stop=1.8
+    )
+    render_product = rep.create.render_product(camera, resolution=(1920, 1080))
+
+    # Initialize and attach writer
+    writer = rep.WriterRegistry.get("BasicWriter")
+    writer.initialize(output_dir="Kitchen", rgb=True, bounding_box_2d_tight=True)
+    writer.attach([render_product])
+
+    with rep.trigger.on_frame(num_frames=100):
+        rep.randomizer.tracker()
+        with camera:
+            rep.modify.pose(position=rep.distribution.uniform((-200, 100, -200), (200, 200, 200)), look_at=surface)

followminime_omniverse/OutdoorRender.py

@@ -0,0 +1,76 @@
+import omni.replicator.core as rep
+
+with rep.new_layer():
+    # Define paths for the character, the props, the environment and the surface where the assets will be scattered in.
+
+    TRACKER = 'omniverse://localhost/Projects/FollowMe/TrackerTarget.usdc'
+    SURFACE = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/display_riser.usd'
+    # Environments.  Large so not swapping
+    PUDDLES = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Outdoor/Puddles.usd'
+    PARK='omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/abandoned_parking_lot.usd'
+    WAREHOUSE='omniverse://localhost/NVIDIA/Assets/XR/Stages/Indoor/Warehouse_XR.usd'
+    INDOOR='omniverse://localhost/NVIDIA/Assets/XR/Stages/Indoor/Modern_House_XR.usd'
+    # Prop Sets
+    INDOOR_PROPS = 'omniverse://localhost/Projects/FollowMe/Indoor'
+    OUTDOOR_PROPS='omniverse://localhost/Projects/FollowMe/Outdoor'
+    INDUSTRIAL_PROPS='omniverse://localhost/Projects/FollowMe/Industrial'
+
+    PROPS=OUTDOOR_PROPS
+    ENVS=PUDDLES
+
+    # Define randomizer function for Base assets. This randomization includes placement and rotation of the assets on the surface.
+    def env_props(size=50):
+        instances = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS, True), size=size, mode='point_instance')
+        with instances:
+            rep.modify.pose(
+                position=rep.distribution.uniform((-1000, 0, -1000), (1000, 0, 1000)),
+                rotation=rep.distribution.uniform((-90,-180, 0), (-90, 180, 0)),
+            )
+        return instances.node
+
+    def tracker():
+        tracker = rep.create.from_usd(TRACKER, semantics=[('class', 'tracker')])
+
+        with tracker:
+            rep.modify.pose(
+                position=rep.distribution.uniform((-300, 100, -300), (300, 300, 300)),
+                rotation=rep.distribution.uniform((-90,-90, 0), (-90, 90, 0)),
+            )
+        return tracker
+
+    # Register randomization
+    rep.randomizer.register(env_props)
+    rep.randomizer.register(tracker)
+
+    # Rotate the world so it is correct
+    env = rep.create.from_usd(ENVS)
+    with env:
+        rep.modify.pose(
+            position=(0,0,0),
+            rotation=(0,0, 0),
+        )
+    # Make the surface tiny so you can't see it in renders, and move it around so the shots are more varied
+    surface = rep.create.from_usd(SURFACE)
+    with surface:
+        rep.modify.pose(
+            position=rep.distribution.uniform((0, 100,  0), (0, 250, 0)),
+            scale=(0.001, 0.001, 0.001),
+        )
+
+    # Setup camera and attach it to render product
+    camera = rep.create.camera(
+        focus_distance=800,
+        f_stop=1.8
+    )
+    render_product = rep.create.render_product(camera, resolution=(1920, 1080))
+
+    # Initialize and attach writer
+    writer = rep.WriterRegistry.get("BasicWriter")
+    writer.initialize(output_dir="Outdoor", rgb=True, bounding_box_2d_tight=True)
+    writer.attach([render_product])
+
+    with rep.trigger.on_frame(num_frames=500):
+        rep.randomizer.env_props(25)
+        rep.randomizer.tracker()
+        with camera:
+            rep.modify.pose(position=rep.distribution.uniform((-1000, 20, -1000), (1000, 500, 1000)), look_at=surface)

followminime_omniverse/WarehouseRender.py

@@ -0,0 +1,76 @@
+import omni.replicator.core as rep
+
+with rep.new_layer():
+    # Define paths for the character, the props, the environment and the surface where the assets will be scattered in.
+
+    TRACKER = 'omniverse://localhost/Projects/FollowMe/TrackerTarget.usdc'
+    SURFACE = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/display_riser.usd'
+    # Environments.  Large so not swapping
+    PUDDLES = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Outdoor/Puddles.usd'
+    PARK='omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/abandoned_parking_lot.usd'
+    WAREHOUSE='omniverse://localhost/NVIDIA/Assets/XR/Stages/Indoor/Warehouse_XR.usd'
+    INDOOR='omniverse://localhost/NVIDIA/Assets/XR/Stages/Indoor/Modern_House_XR.usd'
+    # Prop Sets
+    INDOOR_PROPS = 'omniverse://localhost/Projects/FollowMe/Indoor'
+    OUTDOOR_PROPS='omniverse://localhost/Projects/FollowMe/Outdoor'
+    INDUSTRIAL_PROPS='omniverse://localhost/Projects/FollowMe/Industrial'
+
+    PROPS=INDUSTRIAL_PROPS
+    ENVS=WAREHOUSE
+
+    # Define randomizer function for Base assets. This randomization includes placement and rotation of the assets on the surface.
+    def env_props(size=50):
+        instances = rep.randomizer.instantiate(rep.utils.get_usd_files(PROPS, True), size=size, mode='point_instance')
+        with instances:
+            rep.modify.pose(
+                position=rep.distribution.uniform((-1000, 0, -1000), (1000, 0, 1000)),
+                rotation=rep.distribution.uniform((-90,-180, 0), (-90, 180, 0)),
+            )
+        return instances.node
+
+    def tracker():
+        tracker = rep.create.from_usd(TRACKER, semantics=[('class', 'tracker')])
+
+        with tracker:
+            rep.modify.pose(
+                position=rep.distribution.uniform((-300, 100, -300), (300, 300, 300)),
+                rotation=rep.distribution.uniform((-90,-90, 0), (-90, 90, 0)),
+            )
+        return tracker
+
+    # Register randomization
+    rep.randomizer.register(env_props)
+    rep.randomizer.register(tracker)
+
+    # Rotate the world so it is correct
+    env = rep.create.from_usd(ENVS)
+    with env:
+        rep.modify.pose(
+            position=(0,0,0),
+            rotation=(-90,0, 0),
+        )
+    # Make the surface tiny so you can't see it in renders, and move it around so the shots are more varied
+    surface = rep.create.from_usd(SURFACE)
+    with surface:
+        rep.modify.pose(
+            position=rep.distribution.uniform((0, 100,  0), (0, 250, 0)),
+            scale=(0.001, 0.001, 0.001),
+        )
+
+    # Setup camera and attach it to render product
+    camera = rep.create.camera(
+        focus_distance=800,
+        f_stop=1.8
+    )
+    render_product = rep.create.render_product(camera, resolution=(1920, 1080))
+
+    # Initialize and attach writer
+    writer = rep.WriterRegistry.get("BasicWriter")
+    writer.initialize(output_dir="Warehouse", rgb=True, bounding_box_2d_tight=True)
+    writer.attach([render_product])
+
+    with rep.trigger.on_frame(num_frames=500):
+        rep.randomizer.env_props(15)
+        rep.randomizer.tracker()
+        with camera:
+            rep.modify.pose(position=rep.distribution.uniform((-1000, 20, -1000), (1000, 500, 1000)), look_at=surface)