Replicator Composer Parameter List

Note

Replicator Composer is deprecated. Please view the documentation for Replicator YAML.

Replicator Composer is a tool for creating parameterizable offline datasets in Isaac Sim.

This page provides the list of input parameters for dataset generation. All examples are generated with Replicator Composer.

• The Replicator Composer Manual explains how to write the input parameter file with the parameters.

• The Replicator Composer Tutorial explains how to run Replicator Composer.

Parameter Tree

Object Parameters

• Object Appearance – model and surface properties on an object

• Object Dimensions – dimensions of an object

• Object Placement – location of an object

• Object Movement – movement of an object during a sequence

• Object Class – class ID of an object group

Light Parameters

• Light Luminescence – color and brightness of a light

• Light Shape – shape or form of a light

• Light Placement – location of a light

• Light Movement – movement of a light during a sequence

Scenario Parameters

• Scenario Model – model / type of the base scenario

• Scenario Room – dimensions and appearance of the scenario room

• Sky Box – toggle, texture, and brightness of the sky box

• Scenario Class - class ID of the base scenario

Camera Parameters

• Camera Lens – resolution and lens characteristics of the camera(s)

• Camera Placement – stereo vs mono toggle and location of the camera(s)

• Camera Movement – movement of the camera(s) during a sequence

Output Parameters

• Dataset – name and size of the output dataset

• Sequence – toggle and configurations of a sequential dataset

• Output Data Types – toggles and configurations of output data types

Other Parameters

• Simulation – rendering, unit, and physics configurations in Isaac Sim

• Model Store – Nucleus Server URL

Parameter List

Object Parameters

Object Appearance

Parameters for object model and surface properties.

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obj_model

Model of an object.

• Value: String of model (file type: USD) on Nucleus Server

• Example: /Isaac/Props/Forklift/forklift.usd

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obj_color

Color of an object.

Overrides native material of an object. If obj_texture and obj_material are not given, a solid color is painted.

Otherwise, a color tint is overlayed.

Below are the same colors, where obj_material is /NVIDIA/Materials/Base/Wood/Parquet_Floor.mdl.

• Value: Tuple of 3 numbers, each an RGB value from 0 to 1

• Example: Uniform((0, 0, 0), (1, 1, 1))

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obj_texture

Texture of an object.

Overrides native material of an object.

Below are pattern-style textures from /Isaac/Materials/Textures/Patterns.

Below are background-style textures from /Isaac/Materials/Textures/Backgrounds.

• Value: String of image (file types: PNG / JPEG / HDR / EXR) on Nucleus Server.

• Example: Choice(["assets/textures/backgrounds.txt"])

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obj_texture_scale

Scale of the texture tile on an object. Requires obj_texture to be set.

Two values. One indicates horizontal scale, and other one vertical scale.

A value < 1 introduces a tiling effect (e.g. value = 0.5 produces a 2x2 tiling).

Note that models composed of submodels will have each submodel textured individually.

• Value: Positive number

• Example: Choice([(0.01, 0.01), (0.1, 0.1), (1, 1)])

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obj_texture_rot

Rotation in degrees of a texture on an object. Requires obj_texture to be set.

• Value: Positive number

• Example: Uniform(0, 360)

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obj_material

Material of an object.

Material contains both texture and surface properties.

Overrides the native material of an object.

• Value: String of material (file type: MDL) on Nucleus Server

• Example: /NVIDIA/Materials/Base/Wood/Cherry_Planks.mdl

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Object Dimensions

Parameters that determine the dimensions of an object.

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obj_size_enabled

if True: obj_size determines an object dimensions (default value).

if False: obj_scale determines the dimensions of an object.

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obj_size

The size of the largest axis of an object. Requires obj_size_enabled to be True.

• Value: Number or Tuple of 3 numbers, which specify different size values for each axis.

• Example: Uniform(100, 200)

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obj_scale

Multiplies the native dimensions of an object model. Requires obj_size_enabled to be True.

If value is 1, then, the dimensions are set to the native dimensions of model.

• Value: Number or Tuple of 3 numbers, which specify different scale values for each axis.

• Example: Uniform(0.5, 2)

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Object Placement

• Parameter for determining the location of an object

obj_count

Number of objects spawned.

Note, default value is 0. Therefore, to spawn objects, must be set to a non-zero value.

• Value: Non-negative integer

• Example: Range(0, 10)

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obj_physics

If True: object is given a hitbox and dropped.

If False: object is flying (default value).

In the last three images, a new group with AprilTag-type objects is added where obj_physics is False.

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obj_centered

If True: object origin is centered at the model center (default value)

If False: object origin is the authored origin of the model. Object will rotate around this origin.

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obj_rot

Rotation of an object

• Value: Tuple of three numbers (pitch, roll, yaw) in degrees

• Example: Uniform((0, 0, 0), (360, 360, 360))

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obj_coord

Coordinates of an object. Requires obj_coord_camera_relative to be False.

• Value: Tuple of three values in scene units

• Example: Uniform((-200, -200, 0), (200, 200, 0))

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obj_coord_camera_relative

If True: obj_distance, obj_horiz_fov_loc, and obj_vert_fov_loc determine the object location (default value).

If False: obj_coord determines the determine object location.

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obj_distance

The distance of the object from the camera. Requires obj_coord_camera_relative to be True.

• Value: Number

• Example: Uniform(300, 800)

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Object Movement

Parameters to determine how an object moves during a sequence.

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obj_{horiz/vert}_fov_loc

The FOV location of an object. Requires obj_coord_camera_relative is True.

A value of -1 maps to left/bottom edge and +1 maps to right/top edge.

• Value: Number

• Example: Uniform(-1, 1)

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obj_vel

The velocity of an object. Requires sequential to be True.

For step i in a sequence, the object coordinate is updated:

coord[i] = coord[i-1] + obj_vel * step_time + 0.5 * obj_accel * step_time**2

• Value: Tuple of 3 numbers

• Example: Normal((0, 0, 0), (50, 50, 50))

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obj_rot_vel

The rotational velocity of an object. Requires sequential to be True.

For step i in a sequence, the object rotation is updated:

rot[i] = rot[i-1] + obj_rot_vel * step_time + 0.5 * obj_rot_accel * step_time**2

• Value: Tuple of 3 numbers in degrees

• Example: Normal((0, 0, 0), (10, 10, 10))

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Object Class

Parameter to assign class id to an object.

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obj_class_id

The class id of an object.

Used in semantic segmentation output. Note, all objects in a group are assigned this class id.

• Value: Integer between 0 and 255 or string that represents semantic labels.

• Example: 1

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Light Parameters

Light Luminescence

Parameters for light color and brightness.

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light_color

---

If light_temp_enabled is False: Analogous to obj_color.

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light_temp

If light_temp_enabled is True: the light color temperature (in Kelvins).

• Value: Positive number

• Example: 5000

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light_temp_enabled

If True: light color is determined by light_temp.

If False: light color is determined by light_color (default value).

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light_intensity

Brightness of light source.

• Value: Positive number

• Example: Uniform(10000, 50000)

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Light Shape

Parameters describing the shape or form of a light source.

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light_distant

If True: light is an Isaac Sim DistantLight, which is distant plane of light rays (like sunlight).

This plane is positionless; light rays are determined by light_rot only.

If light_rot is (0, 0, 0): sets the rays of light like noontime.

Note that a floor/ceiling/wall can block this light, depending on light_rot.

If False and light_directed is False: light is a point source (default value).

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light_directed

If True and light_distant is False: light is a Isaac Sim DiskLight.

A light source with focused rays of light.

If False and light_distant is False: light is a point source (default value).

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Light Placement

Parameters for determining the location of a light.

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light_count

Analogous to obj_count

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light_rot

Analogous to obj_rot

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light_distance

Analogous to obj_distance

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light_{horiz/vert}_fov_loc

Analogous to obj_{horiz/vert}_fov_loc

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light_coord

Analogous to obj_coord

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light_coord_camera_relative

Analogous to obj_coord_camera_relative

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Light Movement

Parameters to determine how a light moves during a sequence.

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light_vel

Analogous to obj_vel

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light_rot_vel

Analogous to obj_rot_vel

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Scenario Parameters

Scenario Model

Parameters to determining the model of a scenario.

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scenario_room_enabled

The base scenario is a collection of models where each scene is housed within.

if True: base scenario is a parameterizable rectangular prism (a “room”) centered at the origin.

if False: base scenario is a USD provided by scenario_model (default value).

Below are examples where scenario_room_enabled is True.

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scenario_model

If scenario_room_enabled is False: the model of the base scenario.

Note, value is set once per dataset.

• Value: String of model (file type: USD) on Nucleus Server

• Example: /Isaac/Environments/Simple_Warehouse/warehouse.usd

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Scenario Room

Parameters describing a scenario room’s appearance and size.

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{floor/wall/ceiling}

If scenario_room_enabled is True: then True or False determines if that room face is generated.

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wall_height

If scenario_room_enabled is True: the height of the room.

Note, this value is set once per dataset.

• Value: Number

• Example: 2000

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floor_size

If scenario_room_enabled is True: size of the floor and ceiling of the room.

Note, this value is set once per dataset.

• Value: Number

• Example: 2000

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{floor/wall/ceiling}_color

Analogous to obj_color

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{floor/wall/ceiling}_texture

Analogous to obj_texture

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{floor/wall/ceiling}_texture_scale

Analogous to obj_texture_scale

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{floor/wall/ceiling}_texture_rot

Analogous to obj_texture_rot

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{floor/wall/ceiling}_material

Analogous to obj_material

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Sky Box

Parameters describing the sky box - a scene-encompassing cube with textures on its inner faces to simulate a sky or backdrop.

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sky_texture

If provided, texture of a sky box.

If not provided, no sky box is created.

Below are sky textures from assets/textures/skies.txt.

• Value: String of image (file types: PNG / JPEG / HDR / EXR) on Nucleus Server

• Example: Choice(["assets/textures/skies.txt"])

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sky_light_intensity

The light intensity of the sky box.

If value is 0, the sky box is black.

• Value: Positive number

• Example: 1000

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Scenario Class

Parameter to assign class id to base scenario.

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scenario_class_id

Analogous to obj_class_id. Applies scenario_class_id to the entire base scenario.

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Camera Parameters

Camera Lens

Parameters for the resolution and lens properties.

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img_{width/height}

The dimensions of the data

• Value: Positive integer

• Example: 1280 / 720

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focal_length

Physical focal length of the camera in mm.

• Value: Positive number

• Example: 50

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focus_distance

Distance at which perfect sharpness is achieved.

• Value: Positive number

• Example: 400

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f_stop

Controls distance blurring. Lower numbers decrease focus range, larger numbers increase it.

• Value: Positive number

• Example: 0

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{horiz/vert}_aperture

Emulates sensor/film width/height on a camera, measured in mm.

• Value: Positive number

• Example: 20.955 / 15.2908

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Camera Placement

Parameters for placing mono or stereo cameras.

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stereo

If True: stereo cameras are used and output RGB data is in stereo.

Note, left stereo camera is centered at camera_coord.

If groundtruth_stereo is True: output groundtruth data is also in stereo.

If False: a mono camera is used (default value).

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stereo_baseline

If stereo is True: distance between stereo camera pairs.

• Value: Number

• Example: 20

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camera_coord

Analogous to obj_coord.

• Example: Uniform((-500, -500, 20), (500, 500, 100))

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camera_rot

Analogous to obj_rot.

• Example: Uniform(0, 360)

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Camera Movement

Parameters for determining how the camera(s) move in a sequence.

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camera_vel

Analogous to obj_vel

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camera_rot_vel

Analogous to obj_rot_vel

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Output Parameters

Dataset

Parameters for determining dataset name and size.

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output_dir

The output files directory. Follows Paths rules.

Note, the command line argument --output will override parameter value of output_dir.

• Value: String path

• Example: dataset

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num_scenes

If sequential is True: number of sequences in dataset.

If sequential is False: number of samples in dataset.

Note, the command line argument --num-scenes will override the parameter value of num_scenes.

• Value: Positive integer

• Example: 10000

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Sequence

Parameters for enabling and configuring a dataset sequence.

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sequential

If True: num_scene sequences are generated.

Each sequence consists of one scene updated over sequence_step_count steps.

Objects, lights, and cameras move each step according to *_vel, *_accel, and *_movement_*_relative parameters.

Output files are formatted as {sequence_id}_{sample_in_sequence_id}.

For instance, 003_16.png (sample 16 in sequence 3).

If False: num_scene samples are generated, where each scene is used for 1 sample (default value).

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sequence_step_count

If sequential is True: number of steps in a sequence.

• Value: Positive integer

• Example: 10

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sequence_step_time

If sequential is True: time taken per step in a sequence.

Then, for each object / light / camera in a scene:

coord[i] = coord[i-1] +     vel * step_time + 0.5     * accel * step_time**2
  rot[i] =   rot[i-1] + rot_vel * step_time + 0.5 * rot_accel * step_time**2

• Value: Positive number

• Example: 0.5

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Output Data Types

Parameters for enabling and configuring output data types.

Underlying, it is using annoators from omni.replicator.core.

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rgb

If True: images (3 channel PNG) are output.

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depth(distance_to_camera)

If True: depth maps (NPY) are output.

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instance_seg

If True: instance segmentations (8 bit PNG) are output.

Each coord of the matrix corresponds to the instance id of the pixel, where each model in the scene is given a unique instance id.

If groundtruth_visuals` is false - instance data will be stored as a non-rgb png file, where each pixel corresponds a instance id.

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semantic_seg

If True: semantic segmentations (8 bit PNG) are output.

Each coord of the matrix corresponds to the {obj/scenario}_class_id of the pixel.

Pixels corresponding to empty void have id is 0.

If groundtruth_visuals` is false - semantic data will be stored as a non-rgb png file, where each pixel corresponds a semantic id.

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bbox_2d_tight

If True: tight 2d bounding box data (NPY) are output. Note that the visuals are not supported for now.

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bbox_2d_loose

If True: loose 2d bounding box data (NPY) are output. Note that the visuals are not supported for now.

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bbox_3d

If True: 3d bounding box data (NPY) are output.

Note, groundtruth visuals are not supported.

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occlusion

If True: occlusion data (NPY) are output.

Note, groundtruth visuals are not supported.

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groundtruth_stereo

If True and stereo is True: then the right stereo data for each active groundtruth will also be output.

Note, increases dataset memory footprint.

If False: no right stereo data is output for groundtruth (default value).

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groundtruth_visuals

If True: then PNG visualizations of each output groundtruth will also be output.

Excludes wireframe and bbox_3d.

Note, increases dataset memory footprint.

If False: no groundtruth visuals are output (default value).

Other Parameters

Simulation

Parameters for rendering, unit, and physics configurations in Isaac Sim.

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physics_simulate_time

If obj_physics is True for at least 1 object in a scene: the number of seconds Isaac Sim will simulate the scene..

• Value: Positive number

• Example: 1

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scene_meters_per_unit

How many units in one meter, which is used to generate scenes and capture data. Default is 1.

• Value: Positive number

• Example: 1

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path_tracing

If True: Isaac Sim is rendered using PathTracing. Higher quality and slower.

If False: Isaac Sim is rendered using RayTracedLighting (default value).

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samples_per_pixel_per_frame

If path_tracing is True: the numbers of rays traced per pixel per frame.

Increasing the value increases the rendering quality and time.

• Value: Positive integer

• Example: 32

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Model Store

Parameters for describing where models are stored. Currently, only the Nucleus Server is supported.

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nucleus_server

The URL of nucleus server where all models, materials, and textures are stored.

Note, the command line argument --nucleus-server will override parameter value of nucleus_server.

Second note, omniverse:// is prepended, if :// is not found in nucleus_server.

Note: if model is not present in nucleaus, it will search locally/

• Value: String URL

• Example: localhost

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scene_gravity

Whether to enable gravity or not in the scene. Default is set to false.

• Value: Boolean

• Example: True

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