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.

Parameter Tree

Object Parameters
Light Parameters
Scenario Parameters
Camera Parameters
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

  • Debug – debugging configurations

Parameter List

Object Parameters

Object Appearance

Parameters for object model and surface properties.


obj_model

Model of an object.
../_images/isaac_replicator_composer_parameters_obj_model_0.jpg ../_images/isaac_replicator_composer_parameters_obj_model_5.jpg ../_images/isaac_replicator_composer_parameters_obj_model_3.jpg ../_images/isaac_replicator_composer_parameters_obj_model_4.jpg ../_images/isaac_replicator_composer_parameters_obj_model_2.jpg ../_images/isaac_replicator_composer_parameters_obj_model_1.jpg
  • Value: String of model (file type: USD) on Nucleus Server

  • Example: /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.
../_images/isaac_replicator_composer_parameters_obj_color_4.jpg ../_images/isaac_replicator_composer_parameters_obj_color_0.jpg ../_images/isaac_replicator_composer_parameters_obj_color_1.jpg ../_images/isaac_replicator_composer_parameters_obj_color_2.jpg ../_images/isaac_replicator_composer_parameters_obj_color_5.jpg ../_images/isaac_replicator_composer_parameters_obj_color_3.jpg
Otherwise, a color tint is overlayed.
Below are the same colors, where obj_material is /NVIDIA/Materials/Base/Wood/Parquet_Floor.mdl.
../_images/isaac_replicator_composer_parameters_obj_color_10.jpg ../_images/isaac_replicator_composer_parameters_obj_color_6.jpg ../_images/isaac_replicator_composer_parameters_obj_color_7.jpg ../_images/isaac_replicator_composer_parameters_obj_color_8.jpg ../_images/isaac_replicator_composer_parameters_obj_color_11.jpg ../_images/isaac_replicator_composer_parameters_obj_color_9.jpg
  • Value: Tuple of 3 numbers, each an RGB value from 0 to 255

  • Example: Uniform((0, 0, 0), (255, 255, 255))


obj_texture

Texture of an object.
Overrides native material of an object.
Below are pattern-style textures from /Isaac/Materials/Textures/Patterns.
../_images/isaac_replicator_composer_parameters_obj_texture_0.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_5.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_2.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_3.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_1.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_4.jpg
Below are background-style textures from /Isaac/Materials/Textures/Backgrounds.
../_images/isaac_replicator_composer_parameters_obj_texture_6.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_7.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_8.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_9.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_10.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_11.jpg
  • Value: String of image (file types: PNG / JPEG / HDR / EXR) on Nucleus Server.

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


obj_texture_scale

Scale of the texture tile on an object. Requires obj_texture to be set.
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.
../_images/isaac_replicator_composer_parameters_obj_texture_scale_0.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_scale_1.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_scale_2.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_scale_3.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_scale_4.jpg ../_images/isaac_replicator_composer_parameters_obj_texture_scale_5.jpg
  • Value: Positive number

  • Example: Choice([0.01, 0.1, 1])


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)


obj_material

Material of an object.
Material contains both texture and surface properties.
Overrides the native material of an object.
../_images/isaac_replicator_composer_parameters_obj_material_5.jpg ../_images/isaac_replicator_composer_parameters_obj_material_0.jpg ../_images/isaac_replicator_composer_parameters_obj_material_2.jpg ../_images/isaac_replicator_composer_parameters_obj_material_4.jpg ../_images/isaac_replicator_composer_parameters_obj_material_1.jpg ../_images/isaac_replicator_composer_parameters_obj_material_3.jpg
  • Value: String of material (file type: MDL) on Nucleus Server

  • Example: /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.
../_images/isaac_replicator_composer_parameters_obj_metallicness_0.jpg ../_images/isaac_replicator_composer_parameters_obj_metallicness_1.jpg ../_images/isaac_replicator_composer_parameters_obj_metallicness_2.jpg ../_images/isaac_replicator_composer_parameters_obj_metallicness_3.jpg ../_images/isaac_replicator_composer_parameters_obj_metallicness_4.jpg ../_images/isaac_replicator_composer_parameters_obj_metallicness_5.jpg
  • Value: Number from 0 (least) to 1 (most)

  • Example: Uniform(0, 1)


obj_reflectance

Reflectance of an object. Requires at least one of obj_color, obj_texture, or obj_material to be set.
../_images/isaac_replicator_composer_parameters_obj_reflectance_0.jpg ../_images/isaac_replicator_composer_parameters_obj_reflectance_1.jpg ../_images/isaac_replicator_composer_parameters_obj_reflectance_2.jpg ../_images/isaac_replicator_composer_parameters_obj_reflectance_3.jpg ../_images/isaac_replicator_composer_parameters_obj_reflectance_4.jpg ../_images/isaac_replicator_composer_parameters_obj_reflectance_5.jpg
  • Value: Number from 0 (least) to 1 (most)

  • Example: 0.25


Object Dimensions

Parameters that determine the dimensions of an object.


obj_size_enabled

if True: obj_size determines an object dimensions (default value).
if 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 True.
../_images/isaac_replicator_composer_parameters_obj_size_0.jpg ../_images/isaac_replicator_composer_parameters_obj_size_1.jpg ../_images/isaac_replicator_composer_parameters_obj_size_2.jpg ../_images/isaac_replicator_composer_parameters_obj_size_3.jpg ../_images/isaac_replicator_composer_parameters_obj_size_4.jpg ../_images/isaac_replicator_composer_parameters_obj_size_5.jpg
  • Value: Number

  • Example: Uniform(100, 200)


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

  • Example: 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.
../_images/isaac_replicator_composer_parameters_obj_count_0.jpg ../_images/isaac_replicator_composer_parameters_obj_count_1.jpg ../_images/isaac_replicator_composer_parameters_obj_count_2.jpg ../_images/isaac_replicator_composer_parameters_obj_count_3.jpg ../_images/isaac_replicator_composer_parameters_obj_count_4.jpg ../_images/isaac_replicator_composer_parameters_obj_count_5.jpg
  • Value: Non-negative integer

  • Example: Range(0, 10)


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.
../_images/isaac_replicator_composer_parameters_obj_physics_0.jpg ../_images/isaac_replicator_composer_parameters_obj_physics_1.jpg ../_images/isaac_replicator_composer_parameters_obj_physics_2.jpg ../_images/isaac_replicator_composer_parameters_obj_physics_3.jpg ../_images/isaac_replicator_composer_parameters_obj_physics_4.jpg ../_images/isaac_replicator_composer_parameters_obj_physics_5.jpg

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.

obj_rot

Rotation of an object
../_images/isaac_replicator_composer_parameters_obj_rot_0.jpg ../_images/isaac_replicator_composer_parameters_obj_rot_1.jpg ../_images/isaac_replicator_composer_parameters_obj_rot_2.jpg ../_images/isaac_replicator_composer_parameters_obj_rot_3.jpg ../_images/isaac_replicator_composer_parameters_obj_rot_4.jpg ../_images/isaac_replicator_composer_parameters_obj_rot_5.jpg
  • Value: Tuple of three numbers (pitch, roll, yaw) in degrees

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

../_images/isaac_replicator_composer_obj_axes.png

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))


obj_rot_camera_relative

If 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 False: obj_rot is unadjusted and, thus, relative to world axes.

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.

obj_distance

The distance of the object from the camera. Requires obj_rot_camera_relative to be True.
  • Value: Number

  • Example: 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 True.
A value of -1 maps to left/bottom edge and +1 maps to right/top edge.
../_images/isaac_replicator_composer_parameters_obj_fov_0.jpg ../_images/isaac_replicator_composer_parameters_obj_fov_1.jpg ../_images/isaac_replicator_composer_parameters_obj_fov_2.jpg ../_images/isaac_replicator_composer_parameters_obj_fov_3.jpg ../_images/isaac_replicator_composer_parameters_obj_fov_4.jpg ../_images/isaac_replicator_composer_parameters_obj_fov_5.jpg
  • Value: Number

  • Example: Uniform(-1, 1)


obj_{vel/accel}

The velocity/acceleration 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))


obj_rot_{vel/accel}

The rotational velocity/acceleration 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))


obj_movement_obj_relative

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

  • Example: 1


Light Parameters

Light Luminescence

Parameters for light color and brightness.


light_color


If light_temp_enabled is False: Analogous to obj_color.

../_images/isaac_replicator_composer_parameters_light_color_0.jpg ../_images/isaac_replicator_composer_parameters_light_color_1.jpg ../_images/isaac_replicator_composer_parameters_light_color_2.jpg ../_images/isaac_replicator_composer_parameters_light_color_3.jpg ../_images/isaac_replicator_composer_parameters_light_color_4.jpg ../_images/isaac_replicator_composer_parameters_light_color_5.jpg

light_temp

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

  • Value: Positive number

  • Example: 5000


light_temp_enabled

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

light_intensity

Brightness of light source.

../_images/isaac_replicator_composer_parameters_light_intensity_0.jpg ../_images/isaac_replicator_composer_parameters_light_intensity_1.jpg ../_images/isaac_replicator_composer_parameters_light_intensity_2.jpg ../_images/isaac_replicator_composer_parameters_light_intensity_3.jpg ../_images/isaac_replicator_composer_parameters_light_intensity_4.jpg ../_images/isaac_replicator_composer_parameters_light_intensity_5.jpg
  • Value: Positive number

  • Example: Uniform(10000, 50000)


Light Shape

Parameters describing the shape or form of a light source.


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).

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).

light_directed_focus

If light_directed is True: determines how focused the DiskLight is.

  • Value: Positive number

  • Example: 20


light_directed_focus_softness

If light_directed is True: the softness of the edge of the DiskLight’s light beam.

  • Value: Positive number

  • Example: 0


light_radius

If light_distant is False: the radius of a light.

  • Value: Positive number

  • Example: 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/accel}

Analogous to obj_{vel/accel}


light_rot_{vel/accel}

Analogous to obj_rot_{vel/accel}


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 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.
../_images/isaac_replicator_composer_parameters_scenario_room_enabled_0.jpg ../_images/isaac_replicator_composer_parameters_scenario_room_enabled_1.jpg ../_images/isaac_replicator_composer_parameters_scenario_room_enabled_2.jpg ../_images/isaac_replicator_composer_parameters_scenario_room_enabled_3.jpg ../_images/isaac_replicator_composer_parameters_scenario_room_enabled_4.jpg ../_images/isaac_replicator_composer_parameters_scenario_room_enabled_5.jpg

scenario_model

If scenario_room_enabled is False: the model of the base scenario.
Note, value is set once per dataset.
../_images/isaac_replicator_composer_parameters_scenario_model_0.jpg ../_images/isaac_replicator_composer_parameters_scenario_model_1.jpg ../_images/isaac_replicator_composer_parameters_scenario_model_2.jpg ../_images/isaac_replicator_composer_parameters_scenario_model_3.jpg ../_images/isaac_replicator_composer_parameters_scenario_model_4.jpg ../_images/isaac_replicator_composer_parameters_scenario_model_5.jpg
  • Value: String of model (file type: USD) on Nucleus Server

  • Example: /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 True: then True or False determines if that room face is generated.

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


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


{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 assets/textures/skies.txt.
../_images/isaac_replicator_composer_parameters_sky_texture_0.jpg ../_images/isaac_replicator_composer_parameters_sky_texture_1.jpg ../_images/isaac_replicator_composer_parameters_sky_texture_2.jpg ../_images/isaac_replicator_composer_parameters_sky_texture_3.jpg ../_images/isaac_replicator_composer_parameters_sky_texture_4.jpg ../_images/isaac_replicator_composer_parameters_sky_texture_5.jpg
  • Value: String of image (file types: PNG / JPEG / HDR / EXR) on Nucleus Server

  • Example: Walk("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: 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.

../_images/isaac_replicator_composer_parameters_focal_length_1.jpg ../_images/isaac_replicator_composer_parameters_focal_length_2.jpg ../_images/isaac_replicator_composer_parameters_focal_length_0.jpg ../_images/isaac_replicator_composer_parameters_focal_length_3.jpg ../_images/isaac_replicator_composer_parameters_focal_length_4.jpg ../_images/isaac_replicator_composer_parameters_focal_length_5.jpg
  • Value: Positive number

  • Example: 50


focus_distance

Distance at which perfect sharpness is achieved.

  • Value: Positive number

  • Example: 400


f_stop

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

  • Value: Positive number

  • Example: 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 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).

stereo_baseline

If stereo is True: distance between stereo camera pairs.

  • Value: Number

  • Example: 20


camera_coord

Analogous to obj_coord.

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


camera_rot

Analogous to obj_rot.
  • Example: Uniform(0, 360)


Camera Movement

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


camera_{vel/accel}

Analogous to obj_{vel/accel}


camera_rot_{vel/accel}

Analogous to obj_rot_{vel/accel}


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 Paths rules.

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

  • Value: String path

  • Example: dataset


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


Sequence

Parameters for enabling and configuring a dataset sequence.


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).


sequential_step_count

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

  • Value: Positive integer

  • Example: Range(10, 30)


sequential_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: Uniform(0.1, 0.5)


Output Data Types

Parameters for enabling and configuring output data types.


rgb

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

../_images/isaac_replicator_composer_parameters_groundtruths_rgb_0.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_rgb_1.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_rgb_5.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_rgb_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_rgb_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_rgb_29.jpg

depth

If True: depth maps (PFM) are output.

../_images/isaac_replicator_composer_parameters_groundtruths_depth_0.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_depth_1.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_depth_5.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_depth_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_depth_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_depth_29.jpg

disparity

If True: and stereo is True: disparity data (PFM) are output.
Stereo RGB pairs
../_images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_left_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_right_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_left_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_right_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_left_29.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_rgb_right_29.jpg
Stereo Disparity pairs
../_images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_left_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_right_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_left_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_right_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_left_29.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_disparity_disparity_right_29.jpg

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.
../_images/isaac_replicator_composer_parameters_groundtruths_instance_seg_0.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_instance_seg_1.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_instance_seg_5.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_instance_seg_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_instance_seg_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_instance_seg_29.jpg

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.
Number of classes per dataset is capped at 256.
../_images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_0.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_1.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_5.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_semantic_seg_29.jpg

bbox_2d_tight

If True: tight 2d bounding box data (NPY) are output.

../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_0.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_1.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_5.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_tight_29.jpg

bbox_2d_loose

If True: loose 2d bounding box data (NPY) are output.

../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_0.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_1.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_5.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_bbox_2d_loose_29.jpg

bbox_3d

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

wireframe

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

../_images/isaac_replicator_composer_parameters_groundtruths_wireframe_0.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_wireframe_1.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_wireframe_5.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_wireframe_10.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_wireframe_16.jpg ../_images/isaac_replicator_composer_parameters_groundtruths_wireframe_29.jpg

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).

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.


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


scene_units_in_meters

The number of meters per scene unit used to generate scenes and capture data. Default is 0.01.

  • Value: Positive number

  • Example: 0.01


path_tracing

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

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


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.
  • Value: String URL

  • Example: localhost


Debug

Parameters useful for debugging a scene.
Also, in the command line arguments, removing --headless and adding --nap can be useful (see 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: 5


verbose

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