API

Core Functions

omni.replicator.core.new_layer(name: str = None)

Create a new authoring layer context. Use new_layer to keep replicator changes into a contained layer. If a layer of the same name already exists, the layer will be cleared before new changes are applied.

Parameters

name – Name of the layer to be created. If ommitted, the name “Replicator” is used.

Example

>>> import omni.replicator.core as rep
>>> with rep.new_layer():
>>>     rep.create.cone(count=100, position=rep.distribution.uniform((-100,-100,-100),(100,100,100)))
omni.replicator.core.set_global_seed(seed: int)

Set a global seed.

Parameters

seed – Seed to use as initialization for the pseudo-random number generator. Seed is expected to be a non-negative integer.

Annotators

class omni.replicator.core.AnnotatorRegistry

Registry of annotators providing groundtruth data to writers.

register_annotator_from_aov() → None

Register annotator from an Arbitrary Output Variable (AOV).

Parameters

aov – AOV name

classmethod register_annotator_from_node(name: str, input_rendervars: List[Union[str, list, omni.syntheticdata.SyntheticData.NodeConnectionTemplate]], node_type_id: str, init_params: Optional[dict] = None, render_product_idxs: tuple = (0), output_rendervars: Optional[List[Union[str, list]]] = None, output_data_type: Optional[Any] = None, output_is_2d: bool = False, output_channels: int = 1) → omni.replicator.core.scripts.annotator_registry.AnnotatorTemplate

Register annotator from an omnigraph node definition.

Parameters

  • name – Annotator name. This name will be used to retrieve the annotator from the registry and will be used as the key in the data dictionary provided to the writer.

  • input_rendervars – List of rendervars or other nodes that supply inputs to the node.

  • node_type_id – Node type ID

  • init_params – Set node attributes to static values

  • render_product_idxs – Index of render prodcuts to utilize.

  • output_rendervars – Specifies the render vars output by the node.

  • output_data_type – Specifies the output data type.

  • output_is_2d – Set to True if output is a 2D array

  • output_channels – Specifies the number of output channels of the array. Ignored if output_is_2d is set to False.

Writers

class omni.replicator.core.BasicWriter(output_dir: str, semantic_types: Optional[List[str]] = None, rgb: bool = False, bounding_box_2d_tight: bool = False, bounding_box_2d_loose: bool = False, semantic_segmentation: bool = False, instance_id_segmentation: bool = False, instance_segmentation: bool = False, distance_to_camera: bool = False, distance_to_image_plane: bool = False, bounding_box_3d: bool = False, occlusion: bool = False, normals: bool = False, motion_vectors: bool = False, camera_params: bool = False, pointcloud: bool = False, image_output_format: str = 'png', colorize_semantic_segmentation: bool = True, colorize_instance_id_segmentation: bool = True, colorize_instance_segmentation: bool = True, skeleton_data: bool = False, frame_padding: int = 4)

Basic writer capable of writing built-in annotator groundtruth.

output_dir

Output directory string that indicates the directory to save the results.

semantic_types

List of semantic types to consider when filtering annotator data. Default: [“class”]

rgb

Boolean value that indicates whether the rgb annotator will be activated and the data will be written or not. Default: False.

bounding_box_2d_tight

Boolean value that indicates whether the bounding_box_2d_tight annotator will be activated and the data will be written or not. Default: False.

bounding_box_2d_loose

Boolean value that indicates whether the bounding_box_2d_loose annotator will be activated and the data will be written or not. Default: False.

semantic_segmentation

Boolean value that indicates whether the semantic_segmentation annotator will be activated and the data will be written or not. Default: False.

instance_id_segmentation

Boolean value that indicates whether the instance_id_segmentation annotator will be activated and the data will be written or not. Default: False.

instance_segmentation

Boolean value that indicates whether the instance_segmentation annotator will be activated and the data will be written or not. Default: False.

distance_to_camera

Boolean value that indicates whether the distance_to_camera annotator will be activated and the data will be written or not. Default: False.

distance_to_image_plane

Boolean value that indicates whether the distance_to_image_plane annotator will be activated and the data will be written or not. Default: False.

bounding_box_3d

Boolean value that indicates whether the bounding_box_3d annotator will be activated and the data will be written or not. Default: False.

occlusion

Boolean value that indicates whether the occlusion annotator will be activated and the data will be written or not. Default: False.

normals

Boolean value that indicates whether the normals annotator will be activated and the data will be written or not. Default: False.

motion_vectors

Boolean value that indicates whether the motion_vectors annotator will be activated and the data will be written or not. Default: False.

camera_params

Boolean value that indicates whether the camera_params annotator will be activated and the data will be written or not. Default: False.

pointcloud

Boolean value that indicates whether the pointcloud annotator will be activated and the data will be written or not. Default: False.

image_output_format

String that indicates the format of saved RGB images. Default: “png”

colorize_semantic_segmentation

If True, semantic segmentation is converted to an image where semantic IDs are mapped to colors and saved as a uint8 4 channel PNG image. If False, the output is saved as a uint32 PNG image. Defaults to True.

colorize_instance_id_segmentation

If True, instance id segmentation is converted to an image where instance IDs are mapped to colors. and saved as a uint8 4 channel PNG image. If False, the output is saved as a uint32 PNG image. Defaults to True.

colorize_instance_segmentation

If True, instance segmentation is converted to an image where instance are mapped to colors. and saved as a uint8 4 channel PNG image. If False, the output is saved as a uint32 PNG image. Defaults to True.

frame_padding

Pad the frame number with leading zeroes. Default: 4

Example

>>> import omni.replicator.core as rep
>>> camera = rep.create.camera()
>>> render_product = rep.create.render_product(camera, (1024, 1024))
>>> writer = rep.WriterRegistry.get("BasicWriter")
>>> import carb
>>> tmp_dir = carb.tokens.get_tokens_interface().resolve("${temp}/rgb")
>>> writer.initialize(output_dir=tmp_dir, rgb=True)
>>> writer.attach([render_product])
>>> rep.orchestrator.run()
write(data: dict)

Write function called from the OgnWriter node on every frame to process annotator output.

Parameters

data – A dictionary containing the annotator data for the current frame.

class omni.replicator.core.Writer

Base Writer class.

Writers must specify a list of required annotators which will be called during data collection and which return their output in a data dict of the form <annotator_name>: <annotator_data>.

An optional on_final_frame function can be defined to run on the final data writing frame.

on_final_frame()

Run after final frame is written.

abstract write(data: dict)

Write ground truth.

Create

omni.replicator.core.create.register(fn: Callable[[…], Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, omni.graph.core._omni_graph_core.Node]], override: bool = True) → None

Register a new function under omni.replicator.core.create. Extend the default capabilities of omni.replicator.core.create by registering new functionality. New functions must return a ReplicatorItem or an OmniGraph node.

Parameters

  • fn – A function that returns a ReplicatorItem or an OmniGraph node.

  • override – If True, will override existing functions of the same name. If false, an error is raised.

Example

>>> import omni.replicator.core as rep
>>> def light_cluster(num_lights: int = 10):
...     lights = rep.create.light(
...         light_type="sphere",
...         count=num_lights,
...         position=rep.distribution.uniform((-500, -500, -500), (500, 500, 500)),
...         intensity=rep.distribution.uniform(10000, 20000),
...         temperature=rep.distribution.uniform(1000, 10000),
...     )
...     return lights
>>> rep.create.register(light_cluster)
>>> lights = rep.create.light_cluster(50)
omni.replicator.core.create.sphere(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, semantics: List[Tuple[str, str]] = None, material: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, pxr.Usd.Prim] = None, visible: bool = True, as_mesh: bool = True, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a sphere

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value.

  • pivot – Pivot that sets the center point of translate and rotate operation. Pivot values are normalized between [-1, 1] for each axis based on the prim’s axis aligned extents.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • semantics – List of semantic type-label pairs.

  • material – Material to attach to the sphere.

  • visible – If false, the prim will be invisible. This is often useful when creating prims to use as bounds with other randomizers.

  • as_mesh – If false, create a Usd.Sphere prim. If true, create a mesh.

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> sphere = rep.create.sphere(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     scale=2,
...     rotation=(45, 45, 0),
...     semantics=[("class", "sphere")],
... )
omni.replicator.core.create.torus(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, semantics: List[Tuple[str, str]] = None, material: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, pxr.Usd.Prim] = None, visible: bool = True, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a torus

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value.

  • pivot – Pivot that sets the center point of translate and rotate operation. Pivot values are normalized between [-1, 1] for each axis based on the prim’s axis aligned extents.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • semantics – List of semantic type-label pairs.

  • material – Material to attach to the torus.

  • visible – If false, the prim will be invisible. This is often useful when creating prims to use as bounds with other randomizers.

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> torus = rep.create.torus(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     scale=2,
...     rotation=(45, 45, 0),
...     semantics=[("class", "torus")],
... )
omni.replicator.core.create.disk(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, semantics: List[Tuple[str, str]] = None, material: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, pxr.Usd.Prim] = None, visible: bool = True, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a disk

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value.

  • pivot – Pivot that sets the center point of translate and rotate operation. Pivot values are normalized between [-1, 1] for each axis based on the prim’s axis aligned extents.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • semantics – List of semantic type-label pairs.

  • material – Material to attach to the disk.

  • visible – If false, the prim will be invisible. This is often useful when creating prims to use as bounds with other randomizers.

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> disk = rep.create.disk(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     scale=2,
...     rotation=(45, 45, 0),
...     semantics=[("class", "disk")],
... )
omni.replicator.core.create.plane(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, semantics: List[Tuple[str, str]] = None, material: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, pxr.Usd.Prim] = None, visible: bool = True, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a plane

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value.

  • pivot – Pivot that sets the center point of translate and rotate operation. Pivot values are normalized between [-1, 1] for each axis based on the prim’s axis aligned extents.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • semantics – List of semantic type-label pairs.

  • material – Material to attach to the plane.

  • visible – If false, the prim will be invisible. This is often useful when creating prims to use as bounds with other randomizers.

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> plane = rep.create.plane(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     scale=2,
...     rotation=(45, 45, 0),
...     semantics=[("class", "plane")],
... )
omni.replicator.core.create.cube(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, semantics: List[Tuple[str, str]] = None, material: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, pxr.Usd.Prim] = None, visible: bool = True, as_mesh: bool = True, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a cube

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value.

  • pivot – Pivot that sets the center point of translate and rotate operation. Pivot values are normalized between [-1, 1] for each axis based on the prim’s axis aligned extents.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • semantics – List of semantic type-label pairs.

  • material – Material to attach to the cube.

  • visible – If false, the prim will be invisible. This is often useful when creating prims to use as bounds with other randomizers.

  • as_mesh – If false, create a Usd.Cube prim. If true, create a mesh.

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> cube = rep.create.cube(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     scale=2,
...     rotation=(45, 45, 0),
...     semantics=[("class", "cube")],
... )
omni.replicator.core.create.cylinder(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, semantics: List[Tuple[str, str]] = None, material: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, pxr.Usd.Prim] = None, visible: bool = True, as_mesh: bool = True, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a cylinder

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value.

  • pivot – Pivot that sets the center point of translate and rotate operation. Pivot values are normalized between [-1, 1] for each axis based on the prim’s axis aligned extents.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • semantics – List of semantic type-label pairs.

  • material – Material to attach to the cylinder.

  • visible – If false, the prim will be invisible. This is often useful when creating prims to use as bounds with other randomizers.

  • as_mesh – If false, create a Usd.Cylinder prim. If true, create a mesh.

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> cylinder = rep.create.cylinder(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     scale=2,
...     rotation=(45, 45, 0),
...     semantics=[("class", "cylinder")],
... )
omni.replicator.core.create.cone(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, semantics: List[Tuple[str, str]] = None, material: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, pxr.Usd.Prim] = None, visible: bool = True, as_mesh: bool = True, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a cone

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value.

  • pivot – Pivot that sets the center point of translate and rotate operation. Pivot values are normalized between [-1, 1] for each axis based on the prim’s axis aligned extents.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • semantics – List of semantic type-label pairs.

  • material – Material to attach to the cone.

  • visible – If false, the prim will be invisible. This is often useful when creating prims to use as bounds with other randomizers.

  • as_mesh – If false, create a Usd.Cone prim. If true, create a mesh.

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> cone = rep.create.cone(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     scale=2,
...     rotation=(45, 45, 0),
...     semantics=[("class", "cone")],
... )
omni.replicator.core.create.camera(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, focal_length: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 24.0, focus_distance: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 400.0, f_stop: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, horizontal_aperture: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 20.955, horizontal_aperture_offset: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, vertical_aperture_offset: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, clipping_range: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float, float]] = (1.0, 1000000.0), projection_type: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str] = 'pinhole', fisheye_nominal_width: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 1936.0, fisheye_nominal_height: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 1216.0, fisheye_optical_centre_x: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 970.94244, fisheye_optical_centre_y: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 600.37482, fisheye_max_fov: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 200.0, fisheye_polynomial_a: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, fisheye_polynomial_b: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.00245, fisheye_polynomial_c: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, fisheye_polynomial_d: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, fisheye_polynomial_e: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, count: int = 1, parent: omni.replicator.core.scripts.utils.utils.ReplicatorItem = None) → omni.graph.core._omni_graph_core.Node

Create a camera

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • focal_length – Physical focal length of the camera in units equal to 0.1 * world units.

  • focus_distance – Distance from the camera to the focus plane in world units.

  • f_stop – Lens aperture. Default 0.0 turns off focusing.

  • horizontal_aperture – Horizontal aperture in units equal to 0.1 * world units. Default simulates a 35mm spherical projection aperture.

  • horizontal_aperture_offset – Horizontal aperture offset in units equal to 0.1 * world units.

  • vertical_aperture_offset – Vertical aperture offset in units equal to 0.1 * world units.

  • clipping_range – (Near, Far) clipping distances of the camera in world units.

  • projection_type – Camera projection model. Select from [pinhole, fisheye_polynomial].

  • fisheye_nominal_width – Nominal width of fisheye lens model.

  • fisheye_nominal_height – Nominal height of fisheye lens model.

  • fisheye_optical_centre_x – Horizontal optical centre position of fisheye lens model.

  • fisheye_optical_centre_y – Vertical optical centre position of fisheye lens model.

  • fisheye_max_fov – Maximum field of view of fisheye lens model.

  • fisheye_polynomial_a – First component of fisheye polynomial (only valid for fisheye_polynomial projection type).

  • fisheye_polynomial_b – Second component of fisheye polynomial (only valid for fisheye_polynomial projection type).

  • fisheye_polynomial_c – Third component of fisheye polynomial (only valid for fisheye_polynomial projection type).

  • fisheye_polynomial_d – Fourth component of fisheye polynomial (only valid for fisheye_polynomial projection type).

  • fisheye_polynomial_e – Fifth component of fisheye polynomial (only valid for fisheye_polynomial projection type).

  • count – Number of objects to create.

  • parent – Optional parent prim path. The camera will be created as a child of this prim.

Example

>>> import omni.replicator.core as rep
>>> # Create camera
>>> camera = rep.create.camera(
...     position=rep.distribution.uniform((0,0,0), (100, 100, 100)),
...     rotation=(45, 45, 0),
...     focus_distance=rep.distribution.normal(400.0, 100),
...     f_stop=1.8,
... )
>>> # Attach camera to render product
>>> render_product = rep.create.render_product(camera, resolution=(1024, 1024))
omni.replicator.core.create.light(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path, Tuple[float, float, float]] = None, look_at_up_axis: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, light_type: str = 'Distant', color: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float, float, float]] = (1.0, 1.0, 1.0), intensity: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 1000.0, exposure: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = None, temperature: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 6500, texture: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str] = None, count: int = 1) → omni.graph.core._omni_graph_core.Node

Create a light

Parameters

  • position – XYZ coordinates in world space. If a single value is provided, all axes will be set to that value. Ignored for dome and distant light types.

  • scale – Scaling factors for XYZ axes. If a single value is provided, all axes will be set to that value. Ignored for dome and distant light types.

  • rotation – Euler angles in degrees in XYZ order. If a single value is provided, all axes will be set to that value.

  • look_at – Look-at target, specified either as a ReplicatorItem, a prim path or as coordinates. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – Look-at up axis of the created prim.

  • light_type – Light type. Select from [“cylinder”, “disk”, “distant”, “dome”, “rect”, “sphere”]

  • color – Light color in RGB colorspace.

  • intensity – Light intensity. Scales the power of the light linearly.

  • exposure – Scales the power of the light exponentially as a power of 2. The result is multiplied with intensity.

  • temperature – Color temperature in degrees Kelvin indicating the white point. Lower values are warmer, higher values are cooler. Valid range [1000, 10000].

  • texture – Image texture to use for dome light such as an HDR (High Dynamic Range) intended for IBL (Image Based Lighting). Ignored for other light types.

  • count – Number of objects to create.

Examples

>>> import omni.replicator.core as rep
>>> distance_light = rep.create.light(
... rotation=rep.distribution.uniform((0,-180,-180), (0,180,180)),
... intensity=rep.distribution.normal(10000, 1000),
... temperature=rep.distribution.normal(6500, 1000),
... light_type="distant")
>>> dome_light = rep.create.light(
... rotation=rep.distribution.uniform((0,-180,-180), (0,180,180)),
... texture=rep.distribution.choice(rep.example.TEXTURES),
... light_type="dome")
omni.replicator.core.create.from_usd(usd: str, semantics: List[Tuple[str, str]] = None, count: int = 1) → omni.graph.core._omni_graph_core.Node

Reference a USD into the current USD stage.

Parameters

  • usd – Path to a usd file (*.usd, *.usdc, *.usda)

  • semantics – List of semantic type-label pairs.

Example

>>> import omni.replicator.core as rep
>>> usd_path = rep.example.ASSETS[0]
>>> asset = rep.create.from_usd(usd_path, semantics=[("class", "example")])
omni.replicator.core.create.group(items: List[Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, str, pxr.Sdf.Path]], semantics: List[Tuple[str, str]] = None) → omni.graph.core._omni_graph_core.Node

Group assets into a common node. Grouping assets makes it easier and faster to apply randomizations to multiple assets simultaneously.

Parameters

  • items – Assets to be grouped together.

  • semantics – List of semantic type-label pairs.

Example

>>> import omni.replicator.core as rep
>>> cones = [rep.create.cone() for _ in range(100)]
>>> group = rep.create.group(cones, semantics=[("class", "cone")])
omni.replicator.core.create.material_omnipbr(diffuse: Tuple[float] = None, diffuse_texture: str = None, roughness: float = None, roughness_texture: str = None, metallic: float = None, metallic_texture: str = None, specular: float = None, emissive_color: Tuple[float] = None, emissive_texture: str = None, emissive_intensity: float = 0.0, project_uvw: bool = False, semantics: List[Tuple[str, str]] = None, count: int = 1)

Create an OmniPBR Material

Parameters

  • diffuse – Diffuse/albedo color in RGB colorspace

  • diffuse_texture – Path to diffuse texture

  • roughness – Material roughness in the range [0, 1]

  • roughness_texture – Path to roughness texture

  • metallic – Material metallic value in the range [0, 1]. Typically, metallic is assigned either 0.0 or 1.0

  • metallic_texture – Path to metallic texture

  • specular – Intensity of specular reflections in the range [0, 1]

  • emissive_color – Color of emissive light emanating from material in RGB colorspace

  • emissive_texture – Path to emissive texture

  • emissive_intensity – Emissive intensity of the material. Setting to 0.0 (default) disables emission.

  • project_uvw – When True, UV coordinates will be generated by projecting them from a coordinate system.

  • semantics – Assign semantics to material

  • count – Number of objects to create.

Example

>>> import omni.replicator.core as rep
>>> mat1 = rep.create.material_omnipbr(
...    diffuse=rep.distribution.uniform((0, 0, 0), (1, 1, 1)),
...    roughness=rep.distribution.uniform(0, 1),
...    metallic=rep.distribution.choice([0, 1]),
...    emissive_color=rep.distribution.uniform((0, 0, 0.5), (0, 0, 1)),
...    emissive_intensity=rep.distribution.uniform(0, 1000),
... )
>>> mat2 = rep.create.material_omnipbr(
...    diffuse_texture=rep.distribution.choice(rep.example.TEXTURES),
...    roughness_texture=rep.distribution.choice(rep.example.TEXTURES),
...    metallic_texture=rep.distribution.choice(rep.example.TEXTURES),
...    emissive_texture=rep.distribution.choice(rep.example.TEXTURES),
...    emissive_intensity=rep.distribution.uniform(0, 1000),
... )
>>> cone = rep.create.cone(material=mat1)
>>> torus = rep.create.torus(material=mat2)

Distribution

omni.replicator.core.distribution.register(fn: Callable[[…], Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, omni.graph.core._omni_graph_core.Node]], override: bool = True) → None

Register a new function under omni.replicator.core.distribution. Extend the default capabilities of omni.replicator.core.distribution by registering new functionality. New functions must return a ReplicatorItem or an OmniGraph node.

Parameters

  • fn – A function that returns a ReplicatorItem or an OmniGraph node.

  • override – If True, will override existing functions of the same name. If false, an error is raised.

omni.replicator.core.distribution.uniform(lower: Tuple, upper: Tuple, num_samples: int = 1, seed: Optional[int] = None, name: Optional[str] = None)

Provides sampling with a uniform distribution

Parameters

  • lower – Lower end of the distribution.

  • upper – Upper end of the distribution.

  • num_samples – The number of times to sample.

  • seed (optional) – A seed to use for the sampling.

  • name (optional) – A name for the given distribution. Named distributions will have their values available to the Writer.

omni.replicator.core.distribution.normal(mean: Tuple, std: Tuple, num_samples: int = 1, seed: Optional[int] = None, name: Optional[str] = None)

Provides sampling with a normal distribution

Parameters

  • mean – Average value for the distribution.

  • std – Standard deviation value for the distribution.

  • num_samples – The number of times to sample.

  • seed (optional) – A seed to use for the sampling.

  • name (optional) – A name for the given distribution. Named distributions will have their values available to the Writer.

omni.replicator.core.distribution.choice(choices: List[str], weights: List[float] = None, num_samples: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, int] = 1, seed: Optional[int] = None, with_replacements: bool = True, name: Optional[str] = None)

Provides sampling from a list of values

Parameters

  • choices – Values in the distribution to choose from.

  • weights – Matching list of weights for each choice.

  • num_samples – The number of times to sample.

  • seed (optional) – A seed to use for the sampling.

  • with_replacements – If True, allow re-sampling the same element. If False, each element can only be sampled once. Note that in this case, the size of the elements being sampled must be larger than the sampling size. Default is True.

  • name (optional) – A name for the given distribution. Named distributions will have their values available to the Writer.

Get

omni.replicator.core.get.register(fn, override=True)

Register a new function under omni.replicator.core.get. Extend the default capabilities of omni.replicator.core.get by registering new functionality. New functions must return a ReplicatorItem or an OmniGraph node.

Parameters

  • fn – A function that returns a ReplicatorItem or an OmniGraph node.

  • override – If True, will override existing functions of the same name. If false, an error is raised.

omni.replicator.core.get.prims(path_pattern: str = None, path_pattern_exclusion: str = None, prim_types: Union[str, List[str]] = None, prim_types_exclusion: Union[str, List[str]] = None, semantics: Union[List[Tuple[str, str]], Tuple[str, str]] = None, semantics_exclusion: Union[List[Tuple[str, str]], Tuple[str, str]] = None, cache_result: bool = True)

Get prims based on specified constraints.

Search the stage for stage paths with matches to the specified constraints.

Parameters

  • path_pattern – The RegEx (Regular Expression) path pattern to match.

  • path_pattern_exclusion – The RegEx (Regular Expression) path pattern to ignore.

  • prim_types – List of prim types to include

  • prim_types_exclusion – List of prim types to ignore

  • semantics – Semantic type-value pairs of semantics to include

  • semantics_exclusion – Semantic type-value pairs of semantics to ignore

  • cache_result – Run get prims a single time, then return the cached result

Modify

omni.replicator.core.modify.register(fn, override=True)

Register a new function under omni.replicator.core.modify. Extend the default capabilities of omni.replicator.core.modify by registering new functionality. New functions must return a ReplicatorItem or an OmniGraph node.

Parameters

  • fn – A function that returns a ReplicatorItem or an OmniGraph node.

  • override – If True, will override existing functions of the same name. If false, an error is raised.

omni.replicator.core.modify.semantics(semantics: List[Tuple[str, str]] = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None) → omni.graph.core._omni_graph_core.Node

Modify the orientation of the prims specified in input_prims to look at the specified target.

Parameters

  • target – The target to orient towards. If multiple prims are set, the target point will be the mean of their positions.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> with rep.create.sphere():
...     rep.modify.semantics([("class", "sphere")])
omni.replicator.core.modify.semantics
omni.replicator.core.modify.pose(position: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, rotation: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, rotation_order: str = 'XYZ', scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, size: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float, Tuple[float]] = None, pivot: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float]] = None, look_at: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[Union[str, pxr.Sdf.Path]]] = None, look_at_up_axis: Union[str, Tuple[float, float, float]] = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None) → omni.graph.core._omni_graph_core.Node

Modify the position, rotation, scale, and/or look-at target of the prims specified in input_prims.

NOTE: rotation and look_at cannot both be specified.

NOTE: size and scale cannot both be specified.

NOTE: size is converted to scale based on the prim’s current axis-aligned bounding box size. If a scale is already applied, it might not be able to reflect the true size of the prim.

Parameters

  • position – XYZ coordinates in world space.

  • rotation – Rotation in degrees for the axes specified in rotation_order

  • rotation_order – Order of rotation. Select from [XYZ, XZY, YXZ, YZX, ZXY, ZYX]

  • scale – Scale factor for each of XYZ axes.

  • size – Desired size of the input prims. Each input prim is scaled to match the specified size extents in each of the XYZ axes.

  • pivot – Pivot that sets the center point of translate and rotate operation.

  • look_at – The look at target to orient towards. If multiple prims are set, the target point will be the mean of their positions.

  • look_at_up_axis – The up axis used in look_at function

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> with rep.create.cube():
...     rep.modify.pose(position=rep.distribution.uniform((0, 0, 0), (100, 100, 100)),
...                     scale=rep.distribution.uniform(0.1, 10),
...                     look_at=(0, 0, 0))
omni.replicator.core.modify.pose
omni.replicator.core.modify.attribute(name: str, value: Union[Any, omni.replicator.core.scripts.utils.utils.ReplicatorItem], attribute_type: str = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None) → omni.graph.core._omni_graph_core.Node

Modify the attribute of the prims specified in input_prims.

Parameters

  • name – The name of the attribute to modify.

  • value – The value to set the attribute to.

  • attribute_type – The data type of the attribute. This parameter is required if the attribute specified does not already exist and must be created.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> sphere = rep.create.sphere(as_mesh=False)
>>> with sphere:
...     rep.modify.attribute("radius", rep.distribution.uniform(1, 5))
omni.replicator.core.modify.attribute
omni.replicator.core.modify.visibility(value: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[bool]] = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None) → omni.graph.core._omni_graph_core.Node

Orchestrator

omni.replicator.core.orchestrator.run()

Run the replicator scenario

omni.replicator.core.orchestrator.stop()

Stop the replicator scenario

omni.replicator.core.orchestrator.preview()

Run the replicator scenario for a single iteration. Writers are disabled during preview.

Physics

omni.replicator.core.physics.rigid_body(velocity: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float, float, float]] = (0.0, 0.0, 0.0), angular_velocity: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, Tuple[float, float, float]] = (0.0, 0.0, 0.0), input_prims: List = None)
Randomizes the velocity and angular velocity of the prims specified in input_prims. If they do not have

the RigidBody API then one will be created for the prim.

Parameters

  • velocity – The velocity of the prim.

  • angular_velocty – The angular velocity of the prim (degrees / time).

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> with rep.create.cube():
...     rep.physics.rigid_body(
...         velocity=rep.distribution.uniform((0, 0, 0), (100, 100, 100)),
...         angular_velocity=rep.distribution.uniform((30, 30, 30), (300, 300, 300))
...     )
omni.replicator.core.physics.rigid_body
omni.replicator.core.physics.collider(approximation_shape: str = 'convexHull', input_prims: Optional[Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List]] = None)

Applies the Physx Collision API to the prims specified in input_prims.

Parameters

  • approximation_shape – The approximation used in the collider (by default, convex hull). Other approximations include “convexDecomposition”, “boundingSphere”, “boundingCube”, “meshSimplification”, and “none”. “none” will just use default mesh geometry.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> with rep.create.cube():
...     rep.physics.collider()
omni.replicator.core.physics.mass(mass: Optional[float] = None, density: Optional[float] = None, center_of_mass: Optional[List] = None, diagonal_inertia: Optional[List] = None, principal_axes: Optional[List] = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List] = None)
Applies the Physx Mass API to the prims specified in input_prims, if necessary. This function sets up randomization

parameters for various mass-related properties in the mass API.

Parameters

  • mass – The mass of the prim. By default mass is derived from the volume of the collision geometry multiplied by a density.

  • density – The density of the prim.

  • center_of_mass – Center of the mass of the prim in local coordinates.

  • diagonal_inertia – Constructs a diagonalized inertia tensor along the principal axes.

  • principal_axes – A quaternion (wxyz) representing the orientation of the principal axes in the local coordinate frame.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> with rep.create.cube():
...     rep.physics.mass(mass=rep.distribution.uniform(1.0, 50.0))
omni.replicator.core.physics.mass
omni.replicator.core.physics.drive_properties(stiffness: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, damping: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = 0.0, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List] = None)
Applies the Drive API to the prims specified in input_prims, if necessary. Prims must be either revolute or

prismatic joints. For D6 joint randomization, please refer to omni.replicator.core.modify.attribute and provide the exact attribute name of the drive parameter to be randomized.

Parameters

  • stiffness – The stiffness of the drive (unitless).

  • damping – The damping of the drive (unitless).

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

omni.replicator.core.physics.physics_material(static_friction: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = None, dynamic_friction: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = None, restitution: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, float] = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List] = None)
If input prim is a material, the physics material API will be applied if necessary. Otherwise, if the prim has a

bound material, then randomizations will be made on this material (where once again, with the physics material API being bound if necessary). If the prim does not have a bound material, then a physics material will be created at <prim_path>/PhysicsMaterial and bound at the prim.

Parameters

  • static_friction – Static friction coefficient (unitless).

  • dynamic_friction – Dynamic friction coefficient (unitless).

  • restitution – Restitution coefficient (unitless).

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> with rep.create.cube():
...     rep.physics.physics_material(
...         static_friction=rep.distribution.uniform(0.0, 1.0),
...         dynamic_friction=rep.distribution.uniform(0.0, 1.0),
...         restitution=rep.distribution.uniform(0.0, 1.0)
...     )
omni.replicator.core.physics.physics_material

Randomizer

omni.replicator.core.randomizer.scatter_2d(surface_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]], seed: int = None, offset: int = 0, check_for_collisions: bool = False, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None)

Scatter input prims across the surface of the specified surface prims.

Parameters

  • surface_prims – The prims across which to scatter the input prims. These can be meshes or GeomSubsets which specify a subset of a mesh’s polygons on which to scatter.

  • seed – Seed to use as initialization for the pseudo-random number generator. If not specified, the global seed will be used.

  • offset – The distance the prims should be offset along the normal of the surface of the mesh.

  • check_for_collisions – Whether the scatter operation should ensure that objects are not intersecting.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> spheres = rep.create.sphere(count=100)
>>> surface_prim = rep.create.torus(scale=20, visible=False)
>>> with spheres:
...     rep.randomizer.scatter_2d(surface_prim)
omni.replicator.core.randomizer.scatter_2d
omni.replicator.core.randomizer.scatter_3d(volume_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]], resolution_scaling: float = 1.0, check_for_collisions: bool = False, seed: int = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None)

Scatter input prims within the bounds of the specified volume prims.

Parameters

  • volume_prims – The prims within which to scatter the input prims. Currently, only meshes are supported.

  • resolution_scaling – The scale factor that should be applied to the resolution of the voxelgrid. Higher values

  • ensure more fine-grained voxels (will) –

  • will come at the cost of performance. (but) –

  • check_for_collisions – Whether the scatter operation should ensure that objects are not intersecting.

  • seed – Seed to use as initialization for the pseudo-random number generator. If not specified, the global seed will be used.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> spheres = rep.create.sphere(count=100)
>>> volume_prim = rep.create.torus(scale=20, visible=False)
>>> with spheres:
...     rep.randomizer.scatter_3d(volume_prim)
omni.replicator.core.randomizer.scatter_3d
omni.replicator.core.randomizer.materials(materials: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]], seed: int = None, input_prims=None)

Sample materials from provided materials and bind to the input_prims.

Note that binding materials is a relatively expensive operation. It is generally more efficient to modify materials already bound to prims.

Parameters

  • materials – The list of materials to sample from and bind to the input prims. The materials can be prim paths, MDL paths or a ReplicatorItem.

  • seed – Seed to use as initialization for the pseudo-random number generator. If not specified, the global seed will be used.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> mats = rep.create.material_omnipbr(diffuse=rep.distribution.uniform((0,0,0), (1,1,1)), count=100)
>>> spheres = rep.create.sphere(
...     scale=0.2,
...     position=rep.distribution.uniform((-100,-100,-100), (100,100,100)),
...     count=100
... )
>>> with spheres:
...     rep.randomizer.materials(mats)
omni.replicator.core.randomizer.materials
omni.replicator.core.randomizer.instantiate(paths: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]], size: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, int], weights: List[float] = None, mode: str = 'scene_instance', with_replacements=True, seed: int = None, use_cache: bool = True)

Sample size number of prims from the paths provided.

Parameters

  • paths – The list of USD paths pointing to the assets to sample from.

  • size – The number of samples to sample.

  • weights – The weights to use for sampling. If provided, the length of weights must match the length of paths. If omitted, uniform sampling will be used.

  • mode – The instantiation mode. Choose from [scene_instance, point_instance, reference]. Defaults to scene_instance. Scene Instance creates a prototype in the cache, and new instances reference the prototype. Point Instances are best suited for situations requiring a very large number of samples, but only pose attributes can be modified per instance. Reference mode is used for asset references that need to be modified (WARNING: this mode has know material loading issue.).

  • with_replacements – When False, avoids duplicates when sampling. Default True.

  • seed – Seed to use as initialization for the pseudo-random number generator. If not specified, the global seed will be used.

  • use_cache – If True, cache the assets in paths to speed up randomization. Set to False if the size of the population is too large to be cached. Default: True.

Example

>>> import omni.replicator.core as rep
>>> usds = rep.utils.get_usd_files(rep.example.ASSETS_DIR)
>>> with rep.randomizer.instantiate(usds, size=100):
...     rep.modify.pose(position=rep.distribution.uniform((-50,-50,-50),(50,50,50)))
omni.replicator.core.modify.pose
omni.replicator.core.randomizer.rotation(min_angle: Tuple[float, float, float] = (- 180.0, - 180.0, - 180.0), max_angle: Tuple[float, float, float] = (180.0, 180.0, 180.0), seed: int = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None)

Randomize the rotation of the input prims

This randomizer produces a truly uniformly distributed rotations to the input prims. In contrast, rotations are not truly uniformly distributed when simply sampling uniformly for each rotation axis.

Parameters

  • min_angle – Minimum value for Euler angles in XYZ form (degrees)

  • max_angle – Maximum value for Euler angles in XYZ form (degrees)

  • seed – Seed to use as initialization for the pseudo-random number generator. If not specified, the global seed will be used.

  • input_prims – The prims to be modified. If using with syntax, this argument can be omitted.

Example

>>> import omni.replicator.core as rep
>>> cubes = rep.create.cube(position=rep.distribution.uniform((-100,-100,-100),(100,100,100)), count=100)
>>> with cubes:
...     rep.randomizer.rotation()
omni.replicator.core.randomizer.rotation
omni.replicator.core.randomizer.texture(textures: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]], texture_scale: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[Tuple[float, float]]] = None, texture_rotate: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[int]] = None, per_sub_mesh: bool = False, project_uvw: bool = False, seed: int = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None) → omni.graph.core._omni_graph_core.Node

Randomize texture Creates and binds an OmniPBR material to each prim in input_prims and modifies textures.

Parameters

  • textures – List of texture paths, or a ReplicatorItem that outputs a list of texture paths. If a list of texture paths is provided, they will be sampled uniformly using the global seed.

  • texture_scale – List of texture scales in (X, Y) represented by positive floats. Larger values will make the texture appear smaller on the asset.

  • texture_rotate – Rotation in degrees of the texture.

  • per_sub_mesh – If True, bind a material to each mesh and geom_subset. If False, a material is bound only to the specified prim.

  • project_uvw – When True, UV coordinates will be generated by projecting them from a coordinate system.

  • seed – Seed to use as initialization for the pseudo-random number generator. If not specified, the global seed will be used.

  • input_prims – List of input_prims. If constructing using with structure, set to None to bind input_prims to the current context.

Example

>>> import omni.replicator.core as rep
>>> with rep.create.cone(position=rep.distribution.uniform((-100,-100,-100),(100,100,100)), count=100):
...     rep.randomizer.texture(textures=rep.example.TEXTURES, texture_scale=[(0.5, 0.5)], texture_rotate=[45])
omni.replicator.core.randomizer.texture
omni.replicator.core.randomizer.color(colors: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[Tuple[float]]], per_sub_mesh: bool = False, seed: int = None, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None) → omni.graph.core._omni_graph_core.Node

Randomize colors Creates and binds an OmniPBR material to each prim in input_prims and modifies colors.

Parameters

  • textures – List of texture paths, or a ReplicatorItem that outputs a list of texture paths. The number of textures must correspond with the number of input_prims.

  • per_sub_mesh – If True, bind a material to each mesh and geom_subset. If False, a material is bound only to the specified prim.

  • input_prims – List of input_prims. If constructing using with structure, set to None to bind input_prims to the current context.

Example

>>> import omni.replicator.core as rep
>>> cones = rep.create.cone(position=rep.distribution.uniform((-100,-100,-100),(100,100,100)), count=100)
>>> with cones:
...     rep.randomizer.color(colors=rep.distribution.uniform((0, 0, 0), (1, 1, 1)))
omni.replicator.core.randomizer.color

Settings

omni.replicator.core.settings.carb_settings(setting: str, value: Union[List, float, omni.replicator.core.scripts.utils.utils.ReplicatorItem])

Set a specific carb setting

Parameters

  • setting – Carb setting to modify.

  • value – Modified carb value.

Trigger

omni.replicator.core.trigger.on_key_press(key)

Execute when a keyboard key is input.

Parameters

key – The key to listen for.

omni.replicator.core.trigger.on_frame(interval: int = 1, num_frames: int = 0, name: str = 'on_frame')

Execute on a specific generation frame.

Parameters

  • interval – The generation frame interval to execute on.

  • num_frames – The total number of frames to execute on.

omni.replicator.core.trigger.on_time(interval: float = 1, num: int = 0, name: str = 'on_time')

Execute on a specific time interval. This is based on clock time.

Parameters

  • interval – The interval of elapsed time to execute on.

  • num – The number of times to execute.

  • name – The name of the trigger.