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Replicator Domain Randomization Extension#

Isaac Sim 6.0 deprecates the isaacsim.replicator.domain_randomization extension. Use isaacsim.replicator.experimental.domain_randomization for new domain-randomization workflows.

Concept Mapping#

Deprecated extension	Replacement
`isaacsim.replicator.domain_randomization`	`isaacsim.replicator.experimental.domain_randomization`

Migration Approach#

Follow these steps to migrate:

Enable isaacsim.replicator.experimental.domain_randomization instead of isaacsim.replicator.domain_randomization.
Update extension dependencies to the experimental package and update Python imports to the new namespace. The experimental package re-exports most top-level modules (context, gate, physics_view, trigger, utils) and attribute constants, but this is not a pure namespace rename. In particular, physics_view.register_rigid_prim_view now takes a RigidPrim view plus an explicit registration name:

Isaac Sim 5.x:
```
import isaacsim.replicator.domain_randomization as dr
from isaacsim.core.prims import RigidPrim

object_view = RigidPrim(prim_paths_expr="/World/Objects/*", name="objects")
dr.physics_view.register_rigid_prim_view(object_view)
```
Isaac Sim 6.0:
```
import isaacsim.replicator.experimental.domain_randomization as dr
from isaacsim.core.experimental.prims import RigidPrim

object_view = RigidPrim("/World/Objects/.*")
dr.physics_view.register_rigid_prim_view(object_view, name="objects")
```
Calls such as dr.trigger.on_rl_frame(...) and dr.gate.on_interval(...) keep the same general usage pattern. Physics view registration changed: create the experimental RigidPrim view first, then call dr.physics_view.register_rigid_prim_view(object_view, name="..."). See standalone_examples/api/isaacsim.replicator.experimental.domain_randomization/randomization_demo.py for a complete working example.
Run the scenario once with a small frame count and verify that randomization triggers, writer output, and physics stepping still occur in the expected order.

Dependency Changes#

Update extension dependencies from:

"isaacsim.replicator.domain_randomization" = {}

to:

"isaacsim.replicator.experimental.domain_randomization" = {}

If your 5.x app still depends on the historical omni.replicator.isaac umbrella compatibility extension, remove that dependency and enable the current packages you actually use, such as isaacsim.replicator.experimental.domain_randomization, isaacsim.replicator.examples, and isaacsim.replicator.writers.

Removed APIs and APIs Without a Direct Replacement#

Removed or non-drop-in API	Migration guidance
Direct `impl` / private-submodule imports	Import through the package namespace (`isaacsim.replicator.experimental.domain_randomization`) and its documented top-level modules (`context`, `gate`, `physics_view`, `trigger`, `utils`) rather than reaching into `impl` or other private submodules, whose internal layout may change between releases.
`omni.replicator.isaac` umbrella dependency	Isaac Sim 6.0 removes this umbrella dependency. Enable the focused Replicator extensions directly.
`PytorchWriter` and `PytorchListener` (`isaacsim.replicator.writers`)	Isaac Sim 6.0 deprecates these classes with no direct replacement. Retrieve tensor data through the standard Replicator writer and annotator APIs in `omni.replicator.core` (for example, attach annotators to render products and read device-resident data with `get_data(device="cuda")`).

Validation Checklist#

Verify the following after migration:

Action Graphs load without missing-node errors.
Randomization triggers still fire on the intended frame, interval, or reset.
For physics randomization, articulation and rigid-prim targets are registered through the experimental core prim APIs.