Pose

This node outputs the poses of assets with semantic labels

Installation

To use this node enable isaacsim.replicator.writers in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Buffer Size (inputs:bufferSize)	uint	Size (in bytes) of the buffer (0 if the input is a texture)	0
Camera Projection (inputs:cameraProjection)	matrixd[4]	Camera projection matrix	[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]
Camera Rotation (inputs:cameraRotation)	float[]	Rotation of the desired camera frame from the default camera frame, as XYZ Euler angles	[]
Camera View Transform (inputs:cameraViewTransform)	matrixd[4]	Camera view matrix	[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]
Data (inputs:data)	uchar[]	Buffer array data	[]
Exec (inputs:exec)	execution	Trigger	None
Get Centers (inputs:getCenters)	bool	Set to True if producing center coordinates of every semantic entity projected in the image space	False
Image Height (inputs:imageHeight)	uint	Height of the viewport	0
Image Width (inputs:imageWidth)	uint	Width of the viewport	0
Include Occluded Prims (inputs:includeOccludedPrims)	bool	Set to True if poses (and if enabled, centers) of fully occluded/out-of-frame semantic entities should be output	False
Sd IM Instance Semantic Map (inputs:sdIMInstanceSemanticMap)	uchar[]	Raw array of uint16_t of size sdIMNumInstances*sdIMMaxSemanticHierarchyDepth containing the mapping from the instances index to their inherited semantic entities	[]
Sd IM Max Semantic Hierarchy Depth (inputs:sdIMMaxSemanticHierarchyDepth)	uint	Maximal number of semantic entities inherited by an instance	0
Sd IM Min Semantic Index (inputs:sdIMMinSemanticIndex)	uint	Semantic id of the first instance in the instance arrays	0
Sd IM Num Semantic Tokens (inputs:sdIMNumSemanticTokens)	uint	Number of semantics token including the semantic entity path, the semantic entity types and if the number of semantic types is greater than one	0
Sd IM Num Semantics (inputs:sdIMNumSemantics)	uint	Number of semantic entities in the semantic arrays	0
Sd IM Semantic Token Map (inputs:sdIMSemanticTokenMap)	token[]	Semantic array of token of size numSemantics * numSemanticTypes containing the mapping from the semantic entities to the semantic entity path and semantic types	[]
Sd IM Semantic World Transform (inputs:sdIMSemanticWorldTransform)	float[]	Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity	[]
Semantic Types (inputs:semanticTypes)	token[]	Semantic Types to consider	[‘class’]

Outputs

Name	Type	Descripton	Default
Buffer Size (outputs:bufferSize)	uint	Size (in bytes) of the buffer (0 if the input is a texture)	None
Data (outputs:data)	uchar[]	Semantic array of 4x4 float matrices containing the transform from local to view space for every semantic entity. Additionally, an optional semantic array of float[2] vectors containing the center coordinates of every semantic entity projected in the image space	None
Exec (outputs:exec)	execution	Trigger	None
Height (outputs:height)	uint	Shape of the data	None
Id To Labels (outputs:idToLabels)	string	Mapping from id to semantic labels.	None
Prim Paths (outputs:primPaths)	token[]	Prim paths corresponding to each pose.	None
Width (outputs:width)	uint	Shape of the data	None

Metadata

Name	Value
Unique ID	isaacsim.replicator.writers.Pose
Version	1
Extension	isaacsim.replicator.writers
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Pose
Generated Class Name	OgnPoseDatabase
Python Module	isaacsim.replicator.writers