Replicator¶
Isaac Sim Replicator is a collection of extensions, python APIs, workflows, and tools such as Replicator Composer that enable a variety of synthetic data generation tasks.
Interacting with GUI¶
These extensions provide UI interfaces to common tasks and examples you can interact with
Editing Semantic Information: Use the Semantic Schema Editor extension to label objects of interest in your scene. Also see the tutorial Applying and Visualizing Semantic Data
Visualizing Semantics: Use the Synthetic Data Visualizer extension to quickly view and debug synthetic data for your scene. Also see the tutorial Applying and Visualizing Semantic Data
Recording Synthetic Data: Use the Synthetic Data Recorder extension to generate data via the UI, also see the tutorial: Recording Synthetic Data
Adding Randomization: Use the Domain Randomization extension to add pose, material, lighting, etc. randomization to your scene.
Generating and Training: See the Replicator Playground for a high level interactive workflow from generating data to training.
Useful Python APIs¶
Details about image based sensors: See the omni.syntheticdata extension documentation. This extension provides the core interfaces used to acquire image based synthetic data.
Synthetic data helper utils See the Synthetic Utils API Documentation for helper functions that wrap functionality provided by omni.syntheticdata
Standalone Python Workflows¶
Once you have configured, tested, and validated your scene’s semantic information and randomization, the following tutorials provide useful examples for different synthetic generation workflows via standalone python scripts.
Replicator Composer¶
Replicator Composer is a tool for creating parameterizable offline datasets in Isaac Sim.
Using Replicator Composer: See the Replicator Composer tutorial for a walkthrough on how to generate a dataset with Replicator Composer.
Parameter List: See the Replicator Composer Parameter List manual for a list of dataset generation parameters.
Detailed Manual: See the Replicator Composer Manual manual for writing an input file with the dataset generation parameters.