Changelog

The format is based on Keep a Changelog.

UNRELEASED

FIXED

  • Fix error creating Replicator graph when encountering an unknown omnigraph node in the stage

1.11.16 - 2024-07-31

CHANGED

  • Removed unused extension dependencies

1.11.15 - 2024-07-30

FIXED

  • Restore render settings on replicator stop

  • Fix issue where stereo cameras are incorrectly rotated when rotation or `look_at`` specified on creation. (METROPERF-353)

  • Fix parsing attributes as lists that should be tuples

  • Improve performance of CUDA annoators

  • Fix slowdown when creating certain graph structures

CHANGED

  • Avoid re-using render product if specified name does not match an existing render product

  • Initialization will wait until all assets and materials are loaded before Replicator data generation commences (OMPE-16024)

ADDED

  • Add support for /exts/omni.kit.hydra_texture/renderProduct/path/prefix render product prefix setting

  • Add on_time_end trigger to activate on the last frame of a simulation (OMPE-15811)

1.11.14 - 2024-07-18

FIXED

  • Fix issue that can occur with pointcloud annotator with a multi-GPU system (ISIM-1547)

1.11.13 - 2024-07-16

FIXED

  • Fix issue where detaching a specific NodeWriter instance would detach all node writers of the same type (ISIM-1538)

  • Fix error when applying randomizer.rotation on prims with opOrders that don’t already include rotateXYZ (ISIM-1479)

  • Fix bug restricting GPU augmentations from correctly returning a different data type than input

  • Fix augmentation error when providing a name that wasn’t registered

1.11.12 - 2024-07-04

FIXED

  • Fix bug causing error when writing to attributes of dtype=float4

  • Fix errow when applying randomizer.rotation on prims with opOrders that don’t already include rotateXYZ (ISIM-1479)

CHANGED

  • Improved pointcloud annotator performance (OMREQ-905)

1.11.11 - 2024-06-28

FIXED

  • Address projection material issue (OMPE-12973)

  • Fix issue with semantic segmentation not resolving hierarchical semantics more than 1 layer deep

  • Fix bug causing instance segmentation to return only background IDs when no semantic prim is visible

CHANGED

  • Improved pointcloud annotator performance (OMREQ-905)

  • Improved semantic segmentation annotator performance

1.11.10 - 2024-06-25

CHANGED

  • Support Kit 106.0.1

1.11.9 - 2024-06-14

FIXED

  • Fix error raised when specifying rest_offset and/or contact_offset in physics.rigid_body and physics.collider

  • Fix on_condition trigger to default to rt_subframes=1 instead of 16

  • Fix BasicWriter writing to both S3 and local disk when specifying S3 parameters (ISIM-1340)

ADDED

  • Add rt_subframe argument to on_condition trigger

  • Add backend argument to BasicWriter to allow optional backends to be passed directly to the writer

CHANGED

  • BasicWriter’s output_dir argument is optional if a backend is passed in instead

  • Improve performance when scenes have many graph nodes.

1.11.8 - 2024-05-28

FIXED

  • Fix SPP not accumulate because of fixed clampSpp. (ISIM-1249)

  • Avoid endless step skipped if stop is hit within a step loop (ISIM-1244)

1.11.7 - 2024-05-23

FIXED

  • Better workaround for RTX related crash with tests, tickets ISIM-974, ISIM-1180, ISIM-1206, ISIM-1212, METROPERF-207, OMREQ-907

1.11.6 - 2024-05-22

FIXED

  • Added in missing bits to orchestrator.step from step_async that should have been there - these broke standalone ISIM-972 and ISIM-973

  • Fix motion blur not working in ray tracing mode. (ISIM-1116)

  • Fix SdRenderVarPtr missing valid input renderVar RtxSensorCpu, but test_writers test for it does not work yet (commented) (OM-124604)

  • Fix crash caused by setting clampSpp to zero and ensure it is < 416, which also crashes unless /rtx/pathtracing/maxSamplesPerLaunch is very high (OM-1180)

1.11.5 - 2024-05-10

FIXED

  • Fix warning showing as error when re-initializing an attached annotator (ISIM-994)

  • Fix issue causing crash when creating physics scene during orchestrator.step() in standalone mode (ISIM-950)

  • Enable switching from real-time render mode to pathtracing with motion blur during generation (ISIM-972)

  • Fix pathtraced motion blur breaking timeline advancement (ISIM-973)

  • Fix pathtraced motion blur ignoring SPP setting (ISIM-974)

ADDED

  • Add support for multiple instances of fabric Reader Annotator, where each of them reads different attributes.

  • Add CocoWriter to output in the MS-COCO format

CHANGED

  • Removed unused backround_rand from BasicWriter

1.11.4 - 2024-04-29

FIXED

  • Fix rep.randomizer.scatter_2d failing to update surface-prim position (OM-118953)

  • Fix rep.randomizer.scatter_3d failing to update volume_prim position (OM-118953)

  • Fix issue where multiple get nodes are not grouped together when used as inputs to randomizers (OM-123915)

  • Disable /rtx-transient/post/aa/limitedOps when selecting RT AA mode other than DLSS or DLAA

  • Fix frame not written when num_frame=1 and capture_on_play=True (ISIM-943)

  • Fix writers failing to attach when also attaching stand-alone annotators (ISIM-942)

CHANGED

  • create.group now connects to ReplicatorItem inputs (OM-123915)

ADDED

  • Add path_match to get sub-methods to match get.prims

1.11.3 - 2024-04-18

FIXED

  • Fix bug in colorize_depth option of BasicWriter

  • Fix issue with physics and animation timestep not being in sync (OM-121967)

  • Fix issue with setting timeline when render mode is not pathtracing and we have motion blur, update test to reflect it (OM-122147)

CHANGED

  • rt_subframe values now take effect for any render mode.

  • camera and resolution default metadata values from OgnWriter moved to <render product>: {camera: ..., resolution: ...} and "camera": <render product>: ..., "resolution": <render product>: ... for dataStructure modes renderProduct and annotator, respectively.

  • Annotator .attach() method will raise an error if attempting to initialize an annotator with multiple render products. (OM-120713)

ADDED

  • Add semantics to rep.randomizer.instantiate (OM-56048)

  • Add annotator to allow user to read custom data from fabric. (DRIVE-11414)

  • Add user warning when specified delta time is greater than the physx timestep, and added setting to let the user alter this

1.11.2 - 2024-04-12

FIXED

  • Fix endpoint_url key in S3 backend

  • Fix bucket creation in S3 backend

  • Fix scatter crash upon upgrade to kit 106 caused by using wrong cpp API call

  • Fix bug in glass blur causing flaky test

  • Fix orchestrator incorrectly stepping timeline on step if pause_timeline=True (OM-117977)

  • Fix bug in AdjustSigmoid augmentation

  • Fix physx error when try to apply rigid body api on prim which has child prim that already has a rigid body api. (OM-84462)

  • Fix issue with annotator failure if render product is toggled off after annotator is attached (OM-121249)

  • Fix bug in look_at when passing in distributions of coordinates

ADDED

  • Add mapping_dict to KittiWriter to take a Python dictionary of label:color mappings

  • Add data_structure attribute to rep.writers.Writer base class

  • Add use_legacy_structure argument to rep.Annotator.get_data

  • Add use_common_output_dir argument to BasicWriter (OM-92619)

  • Add colorize_depth parameter to BasicWriter

CHANGED

  • Update docstring for get_annotator() method

  • Modify BasicWriter`` data structure to use new annotator` data structure

  • Update LookAt node to remove obsolete targetPrimPath input

1.11.1 - 2024-02-29

FIXED

  • Fix modify.semantics mode input not set when semantics is a `ReplicatorItem``

  • Fix setting sequential value when connected to a non-list input

  • Fix modify.material modifying multiple prims with a sampled material distribution

  • Fix BindMaterial node to correctly modify prims with material per prim

  • Fix randomizer.materials to avoid duplicating materials when defined using MDL paths

  • Fix create.render_product error after updating kit. (OM-120321)

CHANGED

  • randomizer.materials now takes a max_cached_materials to limit number of cached materials stored in the scene.

  • Update to Kit 106.0 Release (formerly 105.2)

ADDED

  • Add RGB output support for tiled sensor.

  • Add delta_time in step/step_async in orchestrator.py to control the step size of timeline when motion blur is enabled in path tracing mode. (OM-119511)

  • Add /omni/replicator/pathTracedMotionBlurSubSamples to modify the number of sub samples to render when motion blur is enabled in path tracing mode. (OM-119511)

  • Add support for modifying annotator node’s attributes even if it has been activated. (OM-119779)

  • Added a name parameter to methods that create an OmniGraph node

1.11.0 - 2024-01-22

CHANGED

  • Update to Kit 105.2

ADDED

  • Add create.tiled_renderer_sensor to support tiled RTX Sensor.

  • Add RtxSensorGpu and RtxSensorCpu annotator that output data from tiled RTX Sensor.

  • Add rep.open_stage() method to open a new stage

  • Add mesh decal creation using Warp (OM-83118)

1.10.20 - 2023-12-14

FIXED

  • Don’t evaluate orchestrator graphs if they don’t exist

1.10.19 - 2023-12-14

FIXED

  • Fix orchestrator graph failing to be found

1.10.18 - 2023-12-14

FIXED

  • Fix incorrect id_to_labels for semantic segmentation when there is no prim in the scene. (OM-116911)

  • Fix S3 compatibility of BasicWriter and KittiWriter (OM-116532)

  • Restore DiskBackend default to overwrite existing directories (overwrite=True)

  • Prevent orchestrator from evaluating non-replicator graphs

CHANGED

  • Backends can be initialized with .initialize(...) or .get(<name>, init_params={...})

  • BackendGroup is registered as a default backend, enabling multiple backends to be grouped together

1.10.17 - 2023-12-07

FIXED

  • Fix incorrect buffersize reported by pointcloud annotator under Windows

  • Fix io_funcions.write_np error when passing in warp data (OM-116596)

1.10.16 - 2023-12-07

FIXED

  • Protect against graph reset clearing annotator device attribute causing data retrieval error (OM-116164)

1.10.15 - 2023-12-06

FIXED

  • Fix pointcloud annotator semgmentation output returning as incorrect datatype (OM-115434)

1.10.14 - 2023-12-05

FIXED

  • Fix array datatype reduced to 1 when width and height are both 1 (OM-116189)

1.10.13 - 2023-12-05

FIXED

  • Return support for dynamically changing render product resolution

  • Fix incorrect array shape when format is unspecified and array height == 1 (OM-116189)

1.10.12 - 2023-12-01

CHANGED

  • /Replicator/Orchestrator graph moved to /Orchestrator in the session layer (OM-107606)

  • Default writer scheduling graphs moved to session layer (OM-107606)

  • Revert python directory structure for backward compatibility.

FIXED

  • Fix error raised when attaching writer in the context of another layer (OM-107606)

  • Fix issue when creating randomization graph in certain situation resulting in deltas occurring in the SessionLayer (OM-107877)

1.10.11 - 2023-11-30

CHANGED

  • Scene instance + reference sampling for scatter nodes 40% faster

  • Point instance sampling for scatter nodes 70% faster

  • No-collision prims extra arg in scatter now accepts point and scene instances

  • Fast voxel sampling visualization in scatter3d

  • Move node OgnCount to C++ for better performance

  • Exposed sample population custom name argument (OM-112221)

  • Extend list of valid item types for randomizer.instantiate path argument

  • Replicator graph changed to SIMULATION

FIXED

  • Fix typo in OgnSamplePopulation node (OM-112221)

  • Fix how some usda files have set translate from issue with incompatible xformable in scatter nodes (OM-103181)

  • Fix incorrect element count of returned arrays when using certain resolutions with DirectX (Windows) (OM-113849)

  • Fix bug affecting determinism of OgnSamplePopulation (rep.randomizer.instantiate) node

  • Fix error raised on annotators returning an array of size 1 (OM-114654)

  • Fix trigger argument not being passed to attach_async for writers

  • Fix endless scroll issue in script editor (OM-114249)

  • Fix error raised on annotators returning an array of size 1

  • Fix user being able to name prims with invalid Usd names (OM-115472)

  • Fix Replicator failing to restart after num_frames has been reached (OM-112257)

  • Fix instantiate node failing to create populations when populated by prims

  • Fix crash on Preview in certain scenarios (OM-104917)

1.10.10 - 2023-10-04

CHANGED

  • Revert projection material offset vertices calculation for correctness at the cost of performance

  • db.outputs.exec is set to og.ExecutionAttributeState.ENABLED for some nodes if the input is empty to prevent downstream node from stopping running. (OM-111243)

FIXED

  • Fix missing first frame when on_time trigger used together with /omni/replicator/RTSubframes set to > 1

  • Fix issue resulting in numpy data buffer potentially being overwritten before dispatcher write when using a CPU device annotator (OM-111243)

1.10.9 - 2023-09-27

FIXED

  • Fix bug when retrieving multiple annotator arrays of differing and unspecified shapes

1.10.8 - 2023-09-26

FIXED

  • Fix error reporting annotator attributes with Data suffix

1.10.7 - 2023-09-25

FIXED

  • Fix error when using Type annotator attribute output (OM-110164)

  • Fix typo causing <anno>Width to be unused

  • Fix error raised when dispatch sync gate is not connected to downstream node (OM-110166)

  • Fix bug which could result in invalid annotator parameters being cached

  • Fix crash due to incorrect cuda buffer shape when using single channel arrays

  • Fix extra axis in output array shape when retrieving warp arrays

  • Fix error retrieving annotator parameters with certain AOVs

  • Fix custom render product name when stereo cameras are attached.

  • Fix bug causing writers to fail to reattach to more than one render product after being detached

  • Fix bug with warp augmentations with 2D output arrays calculating incorrect kernel dimensions

CHANGED

  • AugmentCPU data input/output can support additional array datatypes

  • Support paths arg of type ReplicatorItem which has output type target to randomizer.instantiate.

1.10.6 - 2023-09-20

FIXED

  • Fix incorrect RefTime annotator denominator value (OM-106926)

1.10.5 - 2023-09-20

ADDED

  • Add create.xform & cleaned-up _create_prim method

  • Add get_annotators, get_annotator, add_annotator, augment_annotator methods to Writer class. (OM-97635)

  • Add name argument to augmentation functions to specify augmented annotator name.

  • Add capability for annotators to output multiple Ptr type arrays

FIXED

  • Fix orchestrator typo (omni.kit.app.get_app().next_update() to omni.kit.app.get_app().update())

  • Fix incorrect GlassBlur augmentation

  • Fix identical semantics being applied to prims multiple times (OM-108397)

  • Fix automatic attribute creation when calling modify.attribute with a datatype if the input prim is a material (OM-108408)

  • Fix missing first frame when attaching a writer to replicator when already in STARTED mode. (OM-109114)

  • Fix broken attribute_mappings when specifying a node annotator

  • Fix return type in function signature of register_annotator_from_node (OM-105208)

  • Fix error raised when detaching writers tied to multiple render products in certain scenarios (OM-108036)

CHANGED

  • Warp augmentation now maintain source AOV data on the GPU to improve performance

  • Register default augmentations

  • modify.visibility can now take a single bool and apply it to multiple meshes

  • Augmented annotators now take the source annotator’s name by default. (OM-97635)

  • Cache annotator params that change infrequently when retrieving data for better performance

1.10.4 - 2023-08-30

ADDED

  • Add ReferenceTime annotator that provides the time corresponding with the render and associated annotators.

  • Add pointInstance to info of the pointcloud annotator with instance segmentation array, to be alongside pointSemantic, a semantic segmentation array.

FIXED

  • Fix bug in RefTimeGate that could result in a crash

  • Fix broken KittiWriter instance segmentation colorize option (OM-106180)

CHANGED

  • create.render_product() no longer re-uses render products assigned to the /OmniverseKit_Persp camera. (OM-107105)

  • create.render_product() will set force_new=True when naming a new render product

1.10.3 - 2023-08-29

ADDED

  • Add parent parameter to prim creation

  • Add create.xform

1.10.3 - 2023-08-29

FIXED

  • Fix standalone orchestrator calls (wait_until_complete, start, initialize) (OM-105046)

  • Fix num_frames argument being incorrectly reset on scenario restart (OM-105046)

  • Fix validation of synchronous orchestrator functions to prevent calling them from within Kit

  • Fix KittiWriter semantic segmentation writing when using multiple render products.

  • Fix wait_until_complete and wait_until_complete_async incorrectly stopping a playing timeline (OM-105032, OM-105046, OM-103399)

  • Fix validation of synchronous orchestrator functions to prevent calling them from within Kit

  • Fix <writer>.trigger() call to schedule current simulation frame rather than write current writer payload (OM-105077)

  • Fix step_async(rt_subframe) getting overwritten by subframe input of replicator triggers (OM-107103)

CHANGED

  • When calling rep.create.render_product, if the input cameras are a stereo camera pair, the render product name will have a L or R suffix.

  • wait_until_complete and wait_until_complete_async no longer stop replicator (OM-105032, OM-105046)

  • Change <writer>.trigger() to <writer>.schedule_write for better clarify of function.

  • Change rep.writer.get() to take render_products and trigger arguments for convenience.

  • Disallow parenting to gprims

1.10.2 - 2023-08-12

FIXED

  • Update WritePrimAttributes node to automatically add inputs: prefix when required.

1.10.1 - 2023-08-08

ADDED

  • Add rep.modify.variant for modifying prims variants (OM-102987)

  • Add modify.pose_orbit function to position objects in terms of orbits around a point. This is particularly useful for positioning cameras.

FIXED

  • Fix annotators and writers not capturing data if attached on a playing scene with Capture On Play enabled

CHANGED

  • rep.create.render_product now returns a HydraTexture object which can be destroyed using .destroy(). .path will return the prim path per previous behaviour. (OM-87164)

1.10.0 - 2023-07-31

FIXED

  • Fix for OgnPerAxisPose, where same value will apply to all prims inside a group using a distribution node. (OM-97739)

  • Replicator will not run if no replicator component exists in the scene

  • Fix support for ReplicatorItem objects as input to rep.modify.semantics

  • Fix bug in rep.modify.material when randomizing across materials

  • Fix bug in camera relative node when using certain camera paths

  • Improve rep.settings documentation

  • Improve performance by removing commands calls that decreased performance over time

  • Fix crash on MGPU systems when AOVs are assigned to device > 0 and using AOV annotators

  • Fix global_translations data error in skeleton_data annotator (DHS-372)

  • Fix occlusion index out of range error (OM-89639)

  • Fixed URLs for Documentation

  • Fix OgnWritePrimAttribute, where bool type is wrapped by numpy. (OM-102647)

  • Fix create.stereo_camera where if the stage’s up axis is Z axis, the two camreas will be created along the X axis. (OM-100414)

  • Fix issue where create.stereo_camera’s look_at does not work if the up axis is Z.

CHANGED

  • OnFrame trigger subframe attribute changed from rt_subframes to rtSubframes for consistency

  • OnTime trigger subframe attribute changed from rt_subframes to rtSubframes for consistency

  • Adding a rigid body (rep.physics.rigid_body) no longer sets timeline to play

  • Samples per pixels (spp) no longer set to 1 on replicator start unless /omni/replicator/captureMotionBlur is set to True

  • Timeline is no longer controlled by replicator during replicator start unless /omni/replicator/captureMotionBlur is set to True

  • Deprecate pause_timeline argument from step and step_async functions, timeline is no longer paused by default on step.

  • rep.modify.projection_material now supports non-mesh prims and assets composed for multiple meshes.

  • rep.randomizer.scatter_2d now supports non-mesh prims as surface prims.

  • SampleOmniPBR now automatically disables scene instances in order to correctly propagate material assignments.

  • rep.trigger.on_frame argument num_frames will be deprecated. It is now replaced with max_execs for consistency and clarity.

  • rep.trigger.on_time argument num will be deprecated. It is now replaced with max_execs for consistency and clarity.

  • create.render_product now takes a name argument enabling custom names of new Render Products (OM-87165)

  • rep.modify.projection_material now takes a texture_group argument to handle randomized groups of material types. (OM-101053)

ADDED

  • Add /omni/replicator/captureMotionBlur bool flag to control whether to capture motion blur (both RealTime and PathTracing modes supported)

  • Add reset_physics argument to OnTime trigger to control whether to restart physics simulation on trigger activation

  • Add exposed metallic argument when modifying projection material

  • Add some usage telemetry (OM-94206)

  • Add /omni/replicator/asyncRendering setting to enable async rendering during replicator start

  • Add trigger.on_condition trigger which can be activated by evaluating a python function (OM-95126)

  • Add modifier argument to rep.trigger.on_key_press to allow combining keys with modifiers.

  • rep.modify.semantics now takes a mode argument allowing adding to, replacing or clearing existing semantics. Defaults to add.

  • Add trigger argument to writer attach method. Writers will by default continue to be activated by an on-frame trigger but can now also be triggered by any trigger or condition (ie. a Python function returning a bool) (OM-95127)

  • Support specifying device index (eg. “cuda:1”) when initializing an AOV annotator such as LdrColor

  • Add a new argument fn_name in randomizer.register to allow user to custom registered function name. (OM-100409)

  • Add a get_file_group utility to get groups of files based on the suffixes and group by the prefix (OM-101053)

1.9.8 - 2023-06-07

FIXED

  • Increase scheduling robustness for nodes depending on multiple upstream prims (OM-61696)

  • Fix named outputs missing from payload

CHANGED

  • Compute GetPrims and GetPrimAtPath nodes on attribute change

  • Refactored projection material node functionality (OM-95568)

1.9.7 - 2023-06-01

FIXED

  • Improve documentation

  • Fix incorrect occlusion values reported when a labelled asset has multiple unlabelled or semantically filtered child prims.

  • Fix issue where point instancer selects new prototypes as they’re pulled from cache

  • Fix AOV lifetime bug which resulted in incorrect frame data written to disk in certain circumstances (OM-95907)

  • Fix material binding in OgnMaterialSampler failing on first frame

  • Fix incorrect autograph connection when using OgnGetPrimAtPath

  • Fix issue correctly scheduling nodes with multiple ReplicatorItem connections

  • Fix scheduling issue when using Sdf Paths as attribute inputs (OM-61696)

CHANGED

  • Switch from bundle to target attribute type for all prim relationship node attributes

  • Remove warmup period (ie. preview frames) on first Replicator step (OM-96084)

  • Reset RNG on replicator initialize command rather than on start for better reliability

  • distribution.sequence and distribution.choice now support sampling from [Sdf.Path, Usd.Prim, ReplicatorItem] (OM-61696)

ADDED

  • ReplicatorItem class provides additional methods: get_inputs, get_outputs, get_input_value, get_output_value and set_input_value which provides an easier way with which to retrieve and modify node values. (OM-94465)

  • Add get_registered_annotators to annotators module and AnnotatorRegistry class that exposes available annotators (OM-94465)

  • Add documentation to each default annotator, accessible through rep.annotators.get(<annotator_name>).docs (OM-94465)

  • Add convenience methods to ReplicatorItem class: get_prims, get_input, get_output, get_inputs, get_outputs, set_input (OM-94465, OM-62718)

  • Add OgnSampleChoicePrim and OgnSampleSequencePrim for sampling prims (OM-61696)

1.9.6 - 2023-05-15

FIXED

  • Fix warp error when data array is empty.

  • instantiate with mode point_instancer no longer re-generates prototypes unnecessarily (OM-94390)

  • Fix issue with skeleton data output handling empty data (OM-83739)

CHANGED

  • Remove the pip dependencies to use omni.pip.compute extension.

1.9.5 - 2023-05-05

FIXED

  • Fix “apply material” warnings

  • Fix crash printing from OmniGraph (OM-93494)

1.9.4 - 2023-05-02

FIXED

  • Fix bug in cutmix augmentation node caused by using warp 0.8.2 on ETM (previously only tested 0.7.2). Updated code so works on both.

CHANGED

  • No longer specify exact warp version in extcache.kit

1.9.3 - 2023-05-01

FIXED

  • Fix a bug in orchestrator.py’s step function.

  • Fix bug in scatter2d where it used local vertex transform for offset normal computation as well as for pruning bounds. now it is global and both are fixed.

  • Fix bug in scatter3d where sometimes the triangle mesh extended over the newly partitioned voxel space.

ADDED

  • Add 360 degree bounding box annotator (DRIVE-11803)

1.9.2 - 2023-04-26

ADDED

  • Add annotator type to the basic writer so augmented rgb images could be saved (OM-89827)

  • Add Replicator MDLs and register them in material preferences (OM-87755)

  • Add projection material to objects and update via proxy prims (OM-88170)

  • Can now specify additional prims to scatter nodes that contain meshes to prevent collisions with (OM-89697, OM-76055)

  • Add 8 tests for no_coll_prims feature for both variants of prim type (point instance/scene instance), collision true/false, and node type (2D/3D). (OM-89697, OM-76055)

  • Update voxelization method for Scatter3D node to cast voxels in global space to prevent double sampling up upon overlap - preventing is default but the user can switch it off (OM-90830)

  • Add test for Scatter3D to confirm that there is no doubling up upon overlap (OM-90830)

  • Add a feature for specifying volume exclusion based on prims in (Scatter3D only) - volume_excl_prims. This is more sample efficient but less accurate. (OM-90948, OM-76055)

  • Add test for volume_excl_prims feature. (OM-90948, OM-76055)

  • Add min and max sampling extents for scatter nodes implemented with rejection sampling (OM-85756 and OM-85757)

  • Add efficient pruning of triangle meshes based (Scatter2D) and efficient pruning of voxel grids (Scatter3D) for sample extents. Does so conservatively and rejection sampling cleans up the rest (OM-85756 and OM-85757)

  • Add tests for min and max sampling extents in scatter nodes (OM-85756 and OM-85757)

  • Add S3 backend to KITTI writer (OM-90092)

CHANGED

  • Remove OgnGroup node since it is replaced by omni.graph.nodes.ReadPrimsBundle.

FIXED

  • Experimental replicator data augmentation nodes had random numpy seed set improperly (OM-89827)

  • Some instances of create.from_usd resulted in transform not being set properly, cleared xoporder to fix bug (OM-89583)

  • Fix get.prims and get.prim_at_path’s nodes are not scheduled properly. (OM-92211)

1.9.1 - 2023-04-21

  • DriveSim only release

1.9.0 - 2023-04-12

ADDED

  • Add function to create MDL graphs from JSON (OM-79358)

  • Add orchestrator.register_status_callback to allow registering callbacks on orchestrator status changed (OM-77512)

CHANGED

  • Migrate to Kit 105.0 (OM-89289)

  • Changed swhFrameNumber to use simTimeNumerator and simTimeDenominator (OM-89289)

FIXED

  • Fix incorrect KITTI semantic segmentation directory name.

  • Improve KITTI writer to better match spec.

1.8.1 - 2023-03-24

ADDED

  • rep.randomizer.materials can now take a list of materials created by Replicator (OM-79560)

1.8.0 - 2023-03-22

ADDED

  • Add path_match to get.prims() for faster string matching

  • Add OgnWriter output of all named node attributes through data["named_outputs"] (OM-82915)

  • Add support for OnFrame trigger through data["trigger_outputs"] (OM-82915)

  • Capability in OgnAugment.py to register warp kernels as nodes that have input 1D and 2D arrays (besides just 3D) (OM-90135)

  • 9 ogn/py data augmentation nodes flagged “Exp” for experimental - we will move these to less cumbersom functions later (OM-90135)

  • 7 data augmentation nodes implemented as warp kernels in augmentations_default.py (OM-90135)

  • wp_utils.py file that has warp utility functions in it - currently for importing filler images for augmentation nodes and zooming to size (OM-90135)

  • Tests for all data augmentation nodes. Tests check if image data can be passed to and output from the nodes. (OM-90135)

  • A few images used in data augmentation tests (OM-90135)

  • Add write_exr to dispatcher.py and corresponding backends. (OM-84024)

FIXED

  • Fix bug forcing getting children of Xforms when sampling materials (OM-83611)

1.7.12 - 2023-03-08

FIXED

  • Fix PathTracing sample accumulation bug when CaptureOnPlay is turned on

1.7.11 - 2023-03-07

FIXED

  • Ensure annotator attributes remain on session layer (OM-85212)

  • Correctly catch /omni/replicator/captureOnPlay setting on startup (OM-85259)

1.7.10 - 2023-03-07

FIXED

  • Fix incorrect KITTI semantic segmentation directory name

1.7.9 - 2023-03-06

CHANGED

  • Change KITTI writer to output semantic segmentation consistent with spec: 8-bit image containing per-pixel semantic ID

  • Change KITTI writer to offer use_kitti_dir_names option to use standard KITTI directory naming structure

  • Disable Replicator when timeline playing by default (OM-77526)

  • Replicator capture controlled by timeline controls when set to capture_on_play (OM-77526)

1.7.8 - 2023-02-28

FIXED

  • Fix replicator bug when using Movie Capture together with a playing timeline (OM-83863)

1.7.7 - 2023-02-27

FIXED

  • Fix KittiWriter’s instance segmentation output format to align with KITTI specs

  • Fix KittiWriter sky labelling

  • Fix skeleton data errors when no semantically labelled skeleton is in the scene (OM-83739)

  • Fix skeleton data output to have correct data shape for translations and rotations

CHANGED

  • Handle spaces in semantic values (spaces in semantic types remain disallowed)

  • Change backend write threads setting to "/omni/replicator/backend/writeThreads" (OM-77793)

  • Allow control of maximum backend queue size with "/omni/replicator/backend/queueSize" (OM-77793)

  • Orchestrator status will now only read STOPPED when all rendering and writing has completed (OM-82465)

1.7.6 - 2023-02-16

FIXED

  • Fix pointcloud annotator outputting incorrect data when one unlabelled prim and one labelled prim are in the scene. (OM-81230)

  • Fix contactOffset and collisionOffset increases as the MetersPerUnit of the scene increases. (OM-73794)

  • Fix issue preventing RGB from writing data with skeleton_data enabled and no skeletons in stage. (OM-75395)

  • Address error raised when modifying pose of a prim containing a transform or orient xformOp/ (OM-81273)

ADDED

  • Add includeUnlabelled attribute to pointcloud annotator to allow user to capture unlabelled prims. (OM-81230)

  • Add modify.material functionality (OM-79552)

1.7.5 - 2023-02-13

FIXED

  • Fix issue preventing detaching node writers (OM-80503)

CHANGED

  • Changed skeleton_data output from single output JSON (deprecated) to individual outputs. (OM-77982)

1.7.4 - 2023-02-09

FIXED

  • Fix node execution scheduling when depending on OgnSamplePopulation (instance) node (OM-61629)

  • Ensure distribution.sequence node is reset on replicator start (OM-79831)

  • Fix CUDA error crash when running the example in Custom Writer Tutorial.

  • Remove dependency on omni.kit.widget.viewport when using Viewport 2.0

  • Fix error creating render products when /Render prim doesn’t exist

  • Fix node execution scheduling when a node is depending on the upstream node by attribute.

1.7.3 - 2023-02-06

FIXED

  • Fix _add_auto_sync_gate where it doesn’t apply recursively to all upstream nodes before. (OM-80757)

  • Ensure visualizers are always available (OM-78426)

  • Fix on_final_frame being fired before all data is written (OM-80252)

ADDED

  • Add modify.animation functionality (OM-80095)

  • Add get.skelanimation

  • Add get.skeleton

  • Add wait_until_complete and wait_until_complete_async functions (OM-79660)

1.7.2 - 2023-02-01

ADDED

  • Add fisheyeKannalaBrandtK3 and fisheyeRadTanThinPrism as new camera types. (OM-74691)

  • Add support for per axis randomization of position and rotation. (OM-62719)

  • Add an argument to orchestrator.run to optionally start the timeline (OM-80096)

FIXED

  • Fix joint projection when using pinhole camera (OM-77757)

  • Fix setting the correct resolved type of physics.colliders. (OM-76074)

  • Pass num_frames argument in run_async function. (OM-79750)

1.7.1 - 2023-01-19

FIXED

  • Fix orchestrator hang when scene FPS is set to 0.0 (OM-77223)

  • Fix orchestrator stepping time when timeline is not playing

  • Fix orchestrator double step through timeline in certain setups (OM-77526)

1.7.0 - 2023-01-17

FIXED

  • Fix occlusionRatio data in bounding_box annotator. (OM-77094)

  • Fix bug that broke collision checking in scatter2d

  • Fix index of geomsubset in test_geomsubset to reflect ordering in Kit 104.2+release.30.e51bf939

  • Fix nodes handling uninitialized state better. (OM-73680)

  • Fix checking inputs:numSamples attribute exists before accessing it. (OM-73680)

ADDED

  • Add async versions of common functions: run_async, stop_async, preview_async, writer.attach_async (OM-73566)

  • Add fast collision method for point instances in scatter2d and scatter3d nodes

  • Add option of using skelJoints after retargetting for skeleton joints info (OM-72731)

  • Add num_frames argument to orchestrator.run() to specify maximum number of frames to capture (OM-73565)

1.6.4 - 2022-12-14

FIXED

  • Fix distribution.combine where input is a numerical value (OM-76074).

  • Fix physics properties failing to be set to a static value for more than one prim

  • Fix error when detaching a writer that contains an annotator defined as a NodeConnectionTemplate

CHANGED

  • Re-use render products created under with rep.new_layer() on script re-run (OM-52410)

  • Added argument to orchestrator.step to let user specify if it should pause timeline

1.6.3 - 2022-12-13

FIXED

  • Fix an issue where cached assets would be added under the same parent Xform (OM-52410)

1.6.2 - 2022-12-12

FIXED

  • Add InstanceSegmentationLegacy and InstanceIdSegmentationLegacy nodes to keep backward compatibility.

  • Pause playing simulation during RT Subframe rendering

  • Disable FrameGate while simulation is playing (capture every frame)

  • Writer and gates now correctly authored in session layer

  • Auto connect execution attributes of augmentation nodes

  • Fix issues with reattaching writer (OM-65028)

  • Fixed point and scene instancer bugs – now they work for use with instantiate, scatter2d, and scatter3d. Scene instancers work with fast collision in scatter nodes.

  • Fix bug where node attribute __device may be applied twice

  • Fix omnigraph category warnings on startup

ADDED

  • Add _unregister_status_callback to cleanly unregister callbacks

CHANGED

  • Instantiate cached assets no longer set to instanceable

1.6.1 - 2022-12-06

FIXED

  • Fix bug in semantic segmentation annotator that could lead to a crash

  • Fix typo error that computes wrong bbox 2D area in kitti.py.

  • Fix contactOffset and restOffset when meters_per_unit is too small, resulting inaccurate physics behavior.

  • Fix uniform, log_uniform and normal distribution nodes to support save/reload functionality.

  • Fix bug when specifying render product indices during writer initialization that resulted in incorrect node connections

ADDED

  • Add contact_offset and rest_offset as optional args to physics.collider and physics.rigid_body.

  • Add ability to use “cuda” device when getting an annotator

  • Add HdrColor annotator

CHANGED

  • Improve speed of collision checking for Scatter3D by 20X+

  • Improve performance when annotator data remains on the GPU

1.6.0 - 2022-11-21

ADDED

  • Add a way to modify timeline by frame or time (OM-54198)

  • Add ReplicatorItem support for num_samples input in uniform, log_uniform and normal distribution nodes.

  • Add ordered arg to sequence distribution node to allow sample items with or without order.

  • Add numSamples output attribute to distribution nodes.

  • Add occlusion output along with the BoundingBoxAnnotator when labelled asset is composed of a single mesh.

  • Add Augmentation class, allowing custom augmentations to be applied to annotators

FIXED

  • Fix issue whereby operations reused across triggers were reassigned rather than copied to the new trigger

  • Fix rep.randomizer.colors to correctly treat lists of colors as input

  • Fix function call in SkeletonData node causing Ill-Formed Sdf.Path warnings

  • Fix xformOpOrder enforcement in OgnWritePrimAttribute.

  • Fix check for visibility attribute before applying (OM-72567)

  • Fix function calls in SkeletonData node causing Ill-Formed Sdf.Path warnings (OM-67752)

  • Fix randomization with point instancers (OM-72137)

  • Fix distribution.combine’s num_samples when connect to a downstream node.

  • Fix OgnWritePhysics when passing a single static input value.

  • Fix get_type in OgnWritePrimAttribute to be align with Sdf’s API.

  • Fix population when path is a Sdf.Path.

  • Fix OgnSizeToScale when input prim list is empty.

  • Fix bug where annotators could be linked to additional render products when specifying render product indices (OM-75216)

CHANGED

  • Improve performance of Bounding Box Annotator node

  • Improve performance of instance id segmentation annotator

  • Improve performance of instance segmentation annotator

  • Provide additional output parameters to CameraParams annotator including focal length and aperture

  • Remove concept of a WriterTemplate class and replace with an expanded Writer class

1.5.3 - 2022-11-06

ADDED

  • Add helper methods to replicator.get for different Usd types

  • Add ability to render N subframes to remove artifacts in RTX RealTime render mode (OM-70205)

  • Add support for list of Sdf.Path as input to choice distribution node (OM-61287)

FIXED

  • Fix error in Semantic Segmentation annotator when scene is empty (OM-70189)

  • Fix broken input_prims parameters in modify operations (OM-67555)

  • Fix inconsistent look-at sequencing when combined with other operations (OM-67554, OM-61293)

  • Fix error in create.camera when count > 1 (OM-57265)

  • Fix issue with OgnSetPivot when setting the pivot on prims with origin non-centred. （OM-64820）

  • Fix skeleton annotations working again with fisheye_polynomial camera type (OM-67834)

  • Fix skeleton annotations match animated skeletons (OM-67834)

  • Fix getting attached writer/writers (OM-70733)

CHANGED

  • get.prims now takes flag for case-insensitivity in path matching

  • Add flag for case-insensitivity in get.prims path matching

  • Add ‘name’ argument to rep.create methods

  • randomizer.instantiate changed to utilize distribution.choice node for default sampler

  • Better skeleton “in_view” check (OM-67834)

1.5.2 - 2022-10-17

FIXED

  • Catch exception in skeleton joint 2D translations when view matrix is zero

1.5.1 - 2022-10-11

ADDED

  • Allow custom endpoint URLs for S3 backend

1.5.0 - 2022-10-11

ADDED

  • Compatibility with Kit 104+

  • Documentation for missing module members

  • Add get.prim_at_path function

CHANGED

  • Disable semantic inheritance by default in bounding box annotators

  • Removed compatibility with Kit < 104.0

FIXED

  • Fix bounding box 3D annotator definition when running with Kit 104

  • Fix issue with colliding path names for writer SyncGate when running with multiple writers

  • Filter out invalid 3D bounding boxes within annotator

  • Fix look_at when the look_at axis isalign with up_axis of the stage.

1.4.7 - 2022-09-08

FIXED

  • Fix incorrect skeleton joint image-space projections

  • Fix crash occurring on stage close - OM-62083

1.4.6 - 2022-09-07

CHANGED

  • Backend dispatcher now supports for writing data to AWS S3 buckets

  • BasicWriter can now be configured to write to AWS S3 buckets

1.4.5 - 2022-09-06

FIXED

  • Fix cam_local_to_world in OgnPointCloudGenerator.py. Previous behaviour used the inverse transform which resulted in incorrect point projections.

1.4.4 - 2022-08-30

CHANGED

  • look_at can now take choice and sequence distributions as input.

  • KittiWriter supports semantic segmentation and instance segmentation

  • Use HydraTextures when creating render products when available

1.4.3 - 2022-08-18

CHANGED

  • Default camera rotation on Z-up scenes modified to use more intuitive rotations - OM-60423

1.4.2 - 2022-08-17

CHANGED

  • Remove use of deprecated og.ContextHelper module

FIXED

  • Automatic camera rotation in z-up scenes moved to parent xform to avoid issues with look-at - OM-59090

1.4.1 - 2022-08-17

CHANGED

  • Support for internal reference of instantiate

FIXED

  • Fix bug causing incorrect node connections when using instantiate

  • Fix instance segmentation where the prim has invalid id

  • Fix error randomizer.instantiate where path and size are both replicator item

1.4.0 - 2022-08-17

ADDED

  • Add support for attaching multiple product renders to a writer

  • Add multi-render-product support for BasicWriter and KittiWriter

  • Add get_data() function to annotators

  • Add texture scale and rotate for randomizer.texture.

  • Add support for combining different distribution nodes.

  • Add Node that converts object’s size to scale.

  • Add xform as parent of new prims for easier modification with pivot.

  • Add function that allow users to modify the translation, rotation and scale pivot of a prim.

  • Add Node that converts object’s desired size to scale op.

  • Add camera relative positioning for prims.

  • Automatically arrange in sequence nodes of the same type under the same trigger referring to a common prim group

  • Add create stereo camera pair

  • Add a sequential sampling node

  • Add pointcloud annotator that generates pointcloud for the given scene.

  • Add log uniform distribution

  • Add parsed instance segmentation annotator.

  • Add up_axis support in modify.py’s look_at function.

  • Add support for size to be a ReplicatorItem in randomizer.instantiate.

  • Add support for internal reference in randomizer.instantiate.

  • rep.modify.attribute can now support static values

CHANGED

  • cameraParams annotator types that were transform[4] changed to matrixd[4] due to deprecation

  • Distribution nodes no longer output a bundle.

  • Changed modify.attribute to modify the child prim of the Xform

  • instance_segmentation annotator now outputs “parsed” instances. Original behaviour moved to instance_id_segmentation annotator.

  • distribution.choice node can now takes a ReplicatorItem to num_samples.

  • BasicWriter now supports sequence naming when using an on_time trigger.

FIXED

  • randomizer.instantiate now takes ReplicatorItem as input.

  • skeleton annotator data now follows standard directory formatting in basicwriter.

  • Fix modify.attribute with empty attribute_type.

  • Fix OgnWritePrimAtrribute which it fails to handle list of strings

  • Fix create.light where it fails to handle texture.

  • Fix resolved type for distribution nodes.

  • Fix distribution.choice where it will error out when input is a mix of int and float.

  • randomizer.materials now can take a choice distribution node as input.

  • Fix size attribute to maintain asset aspect ratio.

1.3.2 - 2022-07-08

FIXED

  • Split debug and release package for omni.replicator.core

1.3.1 - 2022-07-06

FIXED

  • Address compatibility issues with older writers missing backend

  • Ensure new viewports are in focus in OV Code UI

  • Fix compatibility issues with stop/run toggles in Omniverse Code

1.3.0 - 2022-06-30

ADDED

  • Add skeleton annotator nodes (OgnGetSkeletonPrims and OgnGetSkeletonData)

  • Add support for C++ nodes in replicator

1.2.4 - 2022-06-28

FIXED

  • Fix incorrect bbox_tight and bbox_loose indexing in kitti.py

  • Fixed semanic segmentation and bounding box where there is no semantic entities in the viewport.

  • Fixed instance segmentation when there is no instances in the viewport.

  • Fix bounding box to support Kit 104.0

1.2.3 - 2022-06-15

FIXED

  • Publish platform specific versions of the extension

1.2.2 - 2022-06-08

FIXED

  • Fix incorrect trigger.on_time() behaviour causing intervals to effectively increase with each execution.

1.2.1 - 2022-06-07

FIXED

  • Use pre-bundled pip packages

1.2.0 - 2022-06-02

FIXED

  • Fix semantic and instance segmentation error when colorize is set to False

  • Fix issue preventing writing data after re-running a script using rep.new_layer

ADDED

  • Add primPaths and bboxIds to bounding box 2D/3D output

  • Add colorize option to basicwriter segmentation output

CHANGED

  • Remove “UNLABELLED” label from instance segmentation mapping output

  • image_output_format only affects RGB image output

1.2.0-drivesim - 2022-06-01

FIXED

  • Fix semantic and instance segmentation error when colorize is set to False

ADDED

  • Add primPaths and bboxIds to bounding box 2D/3D output

  • Add colorize option to basicwriter segmentation output

CHANGED

  • Remove “UNLABELLED” label from instance segmentation mapping output

  • image_output_format only affects RGB image output

1.1.1 - 2022-05-30

FIXED

  • Fix incorrect semantic labels in bbox incorrectly reporting “UNLABELLED” in certain circumstances

1.1.0 - 2022-05-27

FIXED

  • Revert choice distribution default behaviour to with_replacements=True

  • Allow for multiple tokens of the same class

  • Semantic Segmentation mapping now labels unlabelled pixels from “UNLABELLED: ” to “class: UNLABELLED”

  • Semantic Segmentation no longer duplicates ids/colors for a given semantic mapping

ADDED

  • Improve configuration capabilities in KITTI writer defaults

  • Added option to set root directory for relative paths passed to disk backend.

CHANGED

  • Allow setting up get.prims() with a single tuple for semantics and semantics_exclusion

1.1.0-drivesim - 2022-05-20

FIXED

  • Revert choice distribution default behaviour to with_replacements=True

  • Allow for multiple tokens of the same class

  • Semantic Segmentation mapping now labels unlabelled pixels from “UNLABELLED: ” to “class: UNLABELLED”

ADDED

  • Improve configuration capabilities in KITTI writer defaults

1.0.1 - 2022-05-20

FIXED

  • Fix bug in semantic segmentation annotator returning incorrect labels

1.0.0 - 2022-05-18

FIXED

  • Fix camera params annotator

  • Fix viewport hiding when setting camera to Perspective camera

  • Reset timeline when on_time trigger fires

ADDED

  • Add project_uvw option to texture randomizer

  • Improve performance of segmentation annotators

  • Add camera name to KITTI writer output path for multi-camera rigs

0.0.11-isaac - 2022-05-17

  • Add project_uvw option to texture randomizer

  • Fix orchestrator for DriveSim

0.0.11-drivesim - 2022-05-18

  • Fix orchestrator for DriveSim

  • Add camera name to output to writer

  • Improve KITTI writer

0.0.11 - 2022-05-03

  • Clean up dispatcher logging

  • Fix on-time trigger

  • Fix bounding box output format

0.0.10 - 2022-04-25

  • Rename omni.replicator to omni.replicator.core

  • Update README

  • Fix semantic segmentation bug

0.0.9 - 2022-04-25

  • Update Kit

  • Fix headless operation within OV Code

  • Support autonode exec label mapping

0.0.8 - 2022-04-13

  • Update Kit

  • Increase recursive speed of get_usd_files

  • Add exit on complete

  • Add mdl input support to materials randomizer

0.0.7 - 2022-04-07

  • Ensure correct number of frames are produced

  • Ensure first frame has been randomized

  • Minimize cases where materials are not loaded, including dome light textures

0.0.6 - 2022-04-07

  • OmniPBR fix

  • Collider fix

0.0.5 - 2022-04-07

  • Fix shutdown error

0.0.4 - 2022-04-07

  • BasicWriter added

  • Many minor bug fixes and improvements

0.0.3 - 2022-04-01

Added

  • Physics tests

Changed

  • Documentation

  • “Look At” fix

Removed

  • Tests that fail (temporarily)

0.0.2 - UNPUBLISHED

0.0.1 - UNPUBLISHED