.. _isaac_sim_app_manual_replicator_composer_parameter_list:

==================================
Replicator Composer Parameter List
==================================

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 :ref:`isaac_sim_app_manual_replicator_composer` explains how to write the input parameter file with the parameters.

* The :ref:`Replicator Composer Tutorial <isaac_sim_app_tutorial_replicator_composer>` explains how to run Replicator Composer.

Parameter Tree
--------------

.. raw:: html

    <details>
    <summary>Object Parameters</summary>

- `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

.. raw:: html

    </details>


.. raw:: html

    <details>
    <summary>Light Parameters</summary>

- `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

.. raw:: html

    </details>


.. raw:: html

    <details>
    <summary>Scenario Parameters</summary>

- `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

.. raw:: html

    </details>



.. raw:: html

    <details>
    <summary>Camera Parameters</summary>

- `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

.. raw:: html

    </details>



.. raw:: html

    <details>
    <summary>Output Parameters</summary>

- `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

.. raw:: html

    </details>



.. raw:: html

    <details>
    <summary>Other Parameters</summary>

- `Simulation`_ -- rendering, unit, and physics configurations in Isaac Sim
- `Model Store`_ -- Nucleus Server URL

.. - `Debug`_ -- debugging configurations

.. raw:: html

    </details>



Parameter List
--------------

Object Parameters
^^^^^^^^^^^^^^^^^

Object Appearance
*****************

Parameters for object model and surface properties.

----------------------------------

**obj_model**

| Model of an object.


.. image:: /content/images/isaac_replicator_composer_parameters_obj_model_0.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_model_1.jpg
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* Value: String of model (file type: USD) on Nucleus Server
* Example: :code:`/Isaac/Props/Forklift/forklift.usd`

----------------------------------

**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.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_color_4.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_color_3.jpg
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| Otherwise, a color tint is overlayed. 
| Below are the same colors, where **obj_material** is :code:`/NVIDIA/Materials/Base/Wood/Parquet_Floor.mdl`.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_color_10.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_color_6.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_color_9.jpg
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* Value: Tuple of 3 numbers, each an RGB value from 0 to 1
* Example: :code:`Uniform((0, 0, 0), (1, 1, 1))`


----------------------------------

**obj_texture**

| Texture of an object.
| Overrides native material of an object. 
| Below are pattern-style textures from :code:`/Isaac/Materials/Textures/Patterns`.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_texture_0.jpg
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| Below are background-style textures from :code:`/Isaac/Materials/Textures/Backgrounds`.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_texture_6.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_texture_7.jpg
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* Value: String of image (file types: PNG / JPEG / HDR / EXR) on Nucleus Server.
* Example: :code:`Choice(["assets/textures/backgrounds.txt"])`

----------------------------------

**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.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_texture_scale_0.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_texture_scale_1.jpg
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* Value: Positive number
* Example: :code:`Choice([(0.01, 0.01), (0.1, 0.1), (1, 1)])`

----------------------------------

**obj_texture_rot**

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

* Value: Positive number
* Example: :code:`Uniform(0, 360)`

----------------------------------

**obj_material**

| Material of an object.
| Material contains both texture and surface properties.
| Overrides the native material of an object.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_material_5.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_material_0.jpg
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* Value: String of material (file type: MDL) on Nucleus Server
* Example: :code:`/NVIDIA/Materials/Base/Wood/Cherry_Planks.mdl`

.. ----------------------------------

.. **obj_metallicness**

.. | Metallicness of an object. Requires at least one of **obj_color**, **obj_texture**, or **obj_material** to be set.

.. .. image:: /content/images/isaac_replicator_composer_parameters_obj_metallicness_0.jpg
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.. * Value: Number from 0 (least) to 1 (most)
.. * Example: :code:`Uniform(0, 1)`

.. ----------------------------------

.. **obj_reflectance**

.. | Reflectance of an object. Requires at least one of **obj_color**, **obj_texture**, or **obj_material** to be set.

.. .. image:: /content/images/isaac_replicator_composer_parameters_obj_reflectance_0.jpg
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.. * Value: Number from 0 (least) to 1 (most)
.. * Example: :code:`0.25`

----------------------------------


Object Dimensions
*****************

Parameters that determine the dimensions of an object.

----------------------------------

**obj_size_enabled**

| if :code:`True`: **obj_size** determines an object dimensions (default value).
| if :code:`False`: **obj_scale** determines the dimensions of an object.

----------------------------------

**obj_size**

| The size of the largest axis of an object. Requires **obj_size_enabled** to be :code:`True`.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_size_0.jpg
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* Value: Number or Tuple of 3 numbers, which specify different size values for each axis.
* Example: :code:`Uniform(100, 200)`

----------------------------------

**obj_scale**

| Multiplies the native dimensions of an object model. Requires **obj_size_enabled** to be :code:`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: :code:`Uniform(0.5, 2)`

----------------------------------

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.**

.. image:: /content/images/isaac_replicator_composer_parameters_obj_count_0.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_count_1.jpg
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* Value: Non-negative integer
* Example: :code:`Range(0, 10)`

----------------------------------

**obj_physics**

| If :code:`True`: object is given a hitbox and dropped.
| If :code:`False`: object is flying (default value).

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

.. image:: /content/images/isaac_replicator_composer_parameters_obj_physics_0.jpg
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----------------------------------

**obj_centered**

| If :code:`True`: object origin is centered at the model center (default value)
| If :code:`False`: object origin is the authored origin of the model. Object will rotate around this origin.

----------------------------------

**obj_rot**

| Rotation of an object

.. image:: /content/images/isaac_replicator_composer_parameters_obj_rot_0.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_rot_1.jpg
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* Value: Tuple of three numbers (pitch, roll, yaw) in degrees
* Example: :code:`Uniform((0, 0, 0), (360, 360, 360))`

.. image:: /content/images/isaac_replicator_composer_obj_axes.png
   :width: 200px 

----------------------------------

**obj_coord**

| Coordinates of an object. Requires **obj_coord_camera_relative** to be :code:`False`.

* Value: Tuple of three values in scene units
* Example: :code:`Uniform((-200, -200, 0), (200, 200, 0))`

.. ----------------------------------

.. **obj_rot_camera_relative**

.. | If :code:`True`: **obj_rot** is added to camera's rotation (default value). Say, **obj_rot[i]** is 0, then the object will face the camera on axis i.
.. | If :code:`False`: **obj_rot** is unadjusted and, thus, relative to world axes.

----------------------------------

**obj_coord_camera_relative**

| If :code:`True`: **obj_distance**, **obj_horiz_fov_loc**, and **obj_vert_fov_loc** determine the object location (default value).
| If :code:`False`: **obj_coord** determines the determine object location.

----------------------------------

**obj_distance**

| The distance of the object from the camera. Requires **obj_coord_camera_relative** to be :code:`True`.

* Value: Number
* Example: :code:`Uniform(300, 800)`

----------------------------------

Object Movement
***************

Parameters to determine how an object moves during a sequence.

----------------------------------

**obj_{horiz/vert}_fov_loc**

|  The FOV location of an object. Requires **obj_coord_camera_relative** is :code:`True`.
|  A value of -1 maps to left/bottom edge and +1 maps to right/top edge.

.. image:: /content/images/isaac_replicator_composer_parameters_obj_fov_0.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_obj_fov_1.jpg
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* Value: Number
* Example: :code:`Uniform(-1, 1)`

----------------------------------

**obj_vel**

| The velocity of an object. Requires **sequential** to be :code:`True`.
| For step i in a sequence, the object coordinate is updated:

.. code::

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

* Value: Tuple of 3 numbers
* Example: :code:`Normal((0, 0, 0), (50, 50, 50))`

----------------------------------

**obj_rot_vel**

| The rotational velocity of an object. Requires **sequential** to be :code:`True`.
| For step i in a sequence, the object rotation is updated:

.. code::

    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: :code:`Normal((0, 0, 0), (10, 10, 10))`

.. ----------------------------------

.. **obj_movement_obj_relative**

.. | If :code:`True`: object movement (provided by **obj_vel** and **obj_accel**) is relative to its rotation.
.. |     The object movement vectors, then, define a heading.

.. | If :code:`False`: object movement is relative to world axes.

----------------------------------

Object Class
************

Parameter to assign class id to an object.

----------------------------------

**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: :code:`1`

----------------------------------


Light Parameters
^^^^^^^^^^^^^^^^

Light Luminescence
******************

Parameters for light color and brightness.

----------------------------------

**light_color**

----------------------------------

If **light_temp_enabled** is :code:`False`: Analogous to **obj_color**.

.. image:: /content/images/isaac_replicator_composer_parameters_light_color_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_light_color_1.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_light_color_5.jpg
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----------------------------------

**light_temp**

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

* Value: Positive number
* Example: ``5000``

----------------------------------

**light_temp_enabled**

| If :code:`True`: light color is determined by **light_temp**.
| If :code:`False`: light color is determined by **light_color** (default value).

----------------------------------

**light_intensity**

Brightness of light source.

.. image:: /content/images/isaac_replicator_composer_parameters_light_intensity_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_light_intensity_1.jpg
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* Value: Positive number
* Example: :code:`Uniform(10000, 50000)`

----------------------------------

Light Shape
***********

Parameters describing the shape or form of a light source.

----------------------------------

**light_distant**

| If :code:`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 :code:`False` and **light_directed** is ``False``: light is a point source (default value).

----------------------------------

**light_directed**

| If :code:`True` and **light_distant** is ``False``: light is a Isaac Sim DiskLight.
|     A light source with focused rays of light.

| If :code:`False` and **light_distant** is ``False``: light is a point source (default value).

.. ----------------------------------

.. **light_directed_focus**

.. If **light_directed** is :code:`True`: determines how focused the DiskLight is.

.. * Value: Positive number
.. * Example: :code:`20`

.. ----------------------------------

.. **light_directed_focus_softness**

.. If **light_directed** is :code:`True`: the softness of the edge of the DiskLight's light beam.

.. * Value: Positive number
.. * Example: :code:`0`

.. ----------------------------------

.. **light_radius**

.. If **light_distant** is :code:`False`: the radius of a light.

.. * Value: Positive number
.. * Example: :code:`25`

----------------------------------

Light Placement
***************

Parameters for determining the location of a light.

----------------------------------

**light_count**

Analogous to **obj_count**

----------------------------------

**light_rot**

Analogous to **obj_rot**

----------------------------------


**light_distance**

Analogous to **obj_distance**

----------------------------------

**light_{horiz/vert}_fov_loc**

Analogous to **obj_{horiz/vert}_fov_loc**

----------------------------------

**light_coord**

Analogous to **obj_coord**

----------------------------------

**light_coord_camera_relative**

Analogous to **obj_coord_camera_relative**

.. ----------------------------------

.. **light_rot_camera_relative**

.. Analogous to **obj_rot_camera_relative**

----------------------------------

Light Movement
**************

Parameters to determine how a light moves during a sequence.

----------------------------------

**light_vel**

Analogous to **obj_vel**

----------------------------------

**light_rot_vel**

Analogous to **obj_rot_vel**

.. ----------------------------------

.. **light_movement_light_relative**

.. Analogous to **obj_movement_obj_relative**

----------------------------------



Scenario Parameters
^^^^^^^^^^^^^^^^^^^

Scenario Model
**************

Parameters to determining the model of a scenario.

----------------------------------

**scenario_room_enabled**

| The base scenario is a collection of models where each scene is housed within.
| if :code:`True`: base scenario is a parameterizable rectangular prism (a "room") centered at the origin.
| if :code:`False`: base scenario is a USD provided by **scenario_model** (default value).

| Below are examples where **scenario_room_enabled** is ``True``.

.. image:: /content/images/isaac_replicator_composer_parameters_scenario_room_enabled_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_scenario_room_enabled_1.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_scenario_room_enabled_5.jpg
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----------------------------------

**scenario_model**

| If **scenario_room_enabled** is :code:`False`: the model of the base scenario.
|    Note, value is set once per dataset.

.. image:: /content/images/isaac_replicator_composer_parameters_scenario_model_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_scenario_model_1.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_scenario_model_3.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_scenario_model_4.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_scenario_model_5.jpg
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* Value: String of model (file type: USD) on Nucleus Server
* Example: :code:`/Isaac/Environments/Simple_Warehouse/warehouse.usd`


----------------------------------

Scenario Room
*************

Parameters describing a scenario room's appearance and size.

----------------------------------


**{floor/wall/ceiling}**

| If **scenario_room_enabled** is :code:`True`: then ``True`` or ``False`` determines if that room face is generated.

----------------------------------

**wall_height**

| If **scenario_room_enabled** is :code:`True`: the height of the room.
| Note, this value is set once per dataset.

* Value: Number
* Example: :code:`2000`

----------------------------------

**floor_size**

| If **scenario_room_enabled** is :code:`True`: size of the floor and ceiling of the room.
| Note, this value is set once per dataset.

* Value: Number
* Example: :code:`2000`

----------------------------------

**{floor/wall/ceiling}_color**

Analogous to **obj_color**

----------------------------------

**{floor/wall/ceiling}_texture**

Analogous to **obj_texture**

----------------------------------

**{floor/wall/ceiling}_texture_scale**

Analogous to **obj_texture_scale**

----------------------------------

**{floor/wall/ceiling}_texture_rot**

Analogous to **obj_texture_rot**

----------------------------------

**{floor/wall/ceiling}_material**

Analogous to **obj_material**

.. ----------------------------------

.. **{floor/wall/ceiling}_reflectance**

.. Analogous to **obj_reflectance**

.. ----------------------------------

.. **{floor/wall/ceiling}_metallicness**

.. Analogous to **obj_metallicness**

----------------------------------

Sky Box
*******

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

----------------------------------

**sky_texture**

| If provided, texture of a sky box.
| If not provided, no sky box is created.

| Below are sky textures from :code:`assets/textures/skies.txt`.

.. image:: /content/images/isaac_replicator_composer_parameters_sky_texture_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_sky_texture_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_sky_texture_2.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_sky_texture_3.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_sky_texture_4.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_sky_texture_5.jpg
   :width: 140px

* Value: String of image (file types: PNG / JPEG / HDR / EXR) on Nucleus Server
* Example: :code:`Choice(["assets/textures/skies.txt"])`

----------------------------------

**sky_light_intensity**

| The light intensity of the sky box.
| If value is ``0``, the sky box is black.

* Value: Positive number
* Example: :code:`1000`

----------------------------------

Scenario Class
**************

Parameter to assign class id to base scenario.

----------------------------------

**scenario_class_id**

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

----------------------------------


Camera Parameters
^^^^^^^^^^^^^^^^^

Camera Lens
***********

Parameters for the resolution and lens properties.

----------------------------------

**img_{width/height}**

The dimensions of the data

* Value: Positive integer
* Example: ``1280`` / ``720``

----------------------------------

**focal_length**

Physical focal length of the camera in mm.

.. image:: /content/images/isaac_replicator_composer_parameters_focal_length_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_focal_length_2.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_focal_length_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_focal_length_3.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_focal_length_4.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_focal_length_5.jpg
   :width: 140px

* Value: Positive number
* Example: :code:`50`

----------------------------------

**focus_distance**

Distance at which perfect sharpness is achieved.

* Value: Positive number
* Example: :code:`400`

----------------------------------

**f_stop**

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

* Value: Positive number
* Example: :code:`0`

----------------------------------

**{horiz/vert}_aperture**

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

* Value: Positive number
* Example: ``20.955`` / ``15.2908``

----------------------------------

Camera Placement
****************

Parameters for placing mono or stereo cameras.

----------------------------------

**stereo**

| If :code:`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 :code:`True`: output groundtruth data is also in stereo.

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

----------------------------------

**stereo_baseline**

If stereo is :code:`True`: distance between stereo camera pairs.

* Value: Number
* Example: :code:`20`

----------------------------------

**camera_coord**

Analogous to **obj_coord**.

* Example: :code:`Uniform((-500, -500, 20), (500, 500, 100))`

----------------------------------

**camera_rot**

| Analogous to **obj_rot**.

* Example: :code:`Uniform(0, 360)`

----------------------------------

Camera Movement
***************

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

----------------------------------

**camera_vel**

Analogous to **obj_vel**

----------------------------------

**camera_rot_vel**

Analogous to **obj_rot_vel**

.. ----------------------------------

.. **camera_movement_camera_relative**

.. Analogous to **obj_movement_obj_relative**

----------------------------------

Output Parameters
^^^^^^^^^^^^^^^^^

Dataset
*******

Parameters for determining dataset name and size.

----------------------------------

**output_dir**

The output files directory. Follows :ref:`Paths <isaac_sim_app_manual_replicator_composer_paths>` rules.

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

* Value: String path
* Example: :code:`dataset`

----------------------------------

**num_scenes**

| If **sequential** is :code:`True`: number of sequences in dataset.
| If **sequential** is :code:`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: :code:`10000`


----------------------------------

Sequence
********

Parameters for enabling and configuring a dataset sequence.

----------------------------------

**sequential**

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

----------------------------------

**sequence_step_count**

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

* Value: Positive integer
* Example: :code:`10`

----------------------------------

**sequence_step_time**

| If **sequential** is :code:`True`: time taken per step in a sequence.
|     Then, for each object / light / camera in a scene:

.. code::

    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: :code:`0.5`

----------------------------------

.. _isaac_sim_app_manual_replicator_composer_output_data_types:

Output Data Types
*****************

| Parameters for enabling and configuring output data types.
| Underlying, it is using `annoators` from `omni.replicator.core`.

----------------------------------

**rgb**

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

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_rgb_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_rgb_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_rgb_5.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_rgb_10.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_rgb_16.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_rgb_29.jpg
   :width: 140px

----------------------------------

**depth(distance_to_camera)**

If :code:`True`: depth maps (NPY) are output.

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_depth_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_depth_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_depth_5.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_depth_10.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_depth_16.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_depth_29.jpg
   :width: 140px

.. ----------------------------------

.. **disparity**

.. | If :code:`True`: and stereo is :code:`True`: disparity data (PFM) are output.

.. | Stereo RGB pairs

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_left_10.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_right_10.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_left_16.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_right_16.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_left_29.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_right_29.jpg
..    :width: 140px

.. | Stereo Disparity pairs

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_left_10.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_right_10.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_left_16.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_right_16.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_left_29.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_right_29.jpg
..    :width: 140px


----------------------------------

**instance_seg**

| If :code:`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.

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_instance_seg_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_instance_seg_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_instance_seg_5.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_instance_seg_10.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_instance_seg_16.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_instance_seg_29.jpg
   :width: 140px

----------------------------------

**semantic_seg**

| If :code:`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.

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_5.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_10.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_16.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_29.jpg
   :width: 140px

----------------------------------

**bbox_2d_tight**

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

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_5.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_10.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_16.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_29.jpg
   :width: 140px

----------------------------------

**bbox_2d_loose**

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

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_0.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_1.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_5.jpg
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.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_10.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_16.jpg
   :width: 140px

.. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_29.jpg
   :width: 140px

----------------------------------

**bbox_3d**

| If :code:`True`: 3d bounding box data (NPY) are output.
| Note, groundtruth visuals are not supported.

----------------------------------

**occlusion**

| If :code:`True`: occlusion data (NPY) are output.
| Note, groundtruth visuals are not supported.

.. ----------------------------------

.. **wireframe**

.. If :code:`True`: wireframe images (8 bit PNG) of the scenes are output.

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_wireframe_0.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_wireframe_1.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_wireframe_5.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_wireframe_10.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_wireframe_16.jpg
..    :width: 140px

.. .. image:: /content/images/isaac_replicator_composer_parameters_groundtruths_wireframe_29.jpg
..    :width: 140px

----------------------------------

**groundtruth_stereo**

| If :code:`True` and **stereo** is :code:`True`: then the right stereo data for each active groundtruth will also be output.
|     Note, increases dataset memory footprint.

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

----------------------------------

**groundtruth_visuals**

| If :code:`True`: then PNG visualizations of each output groundtruth will also be output.
|     Excludes **wireframe** and **bbox_3d**.
|     Note, increases dataset memory footprint.

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


Other Parameters
^^^^^^^^^^^^^^^^

Simulation
**********

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

----------------------------------

**physics_simulate_time**

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

* Value: Positive number
* Example: :code:`1`

----------------------------------

**scene_meters_per_unit**

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

* Value: Positive number
* Example: :code:`1`

----------------------------------

**path_tracing**

| If :code:`True`: Isaac Sim is rendered using PathTracing. Higher quality and slower.
| If :code:`False`: Isaac Sim is rendered using RayTracedLighting (default value).

----------------------------------

**samples_per_pixel_per_frame**

| If **path_tracing** is :code:`True`: the numbers of rays traced per pixel per frame.
|     Increasing the value increases the rendering quality and time.

* Value: Positive integer
* Example: :code:`32`

----------------------------------

Model Store
***********

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

----------------------------------

**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: :code:`localhost`

----------------------------------

**scene_gravity**

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

* Value: Boolean
* Example: :code:`True`

----------------------------------



.. ----------------------------------

.. Debug
.. *****

.. | Parameters useful for debugging a scene. 
.. | Also, in the command line arguments, removing ``--headless`` and adding ``--nap`` can be useful (see :ref:`isaac_sim_app_tutorial_replicator_composer_command_line_reference`).
 
.. ----------------------------------

.. **pause**

.. | The amount of seconds Isaac Sim updates after each scene is generated.
.. | Adding pause time can increase the rendering quality of a scene if **path_tracing** is ``True``.

.. * Value: Positive number
.. * Example: :code:`5`

.. ----------------------------------

.. **verbose**

.. | If :code:`True`: the console output will include a per-scene summary.
.. | If :code:`False`: the console output will be reduced.

----------------------------------