README

Overview and tutorials

Replicator API Documentation

Getting Started

Build

Windows Run .\build.bat -r

Linux Run ./build.sh -r

Note: -r will produce the release build only, leave out if you need the debug build

Launch

Windows Run .\_build\windows-x86_64\release\omni_replicator.bat

Linux Run ./_build/linux-x86_64/release/omni_replicator.sh

Testing

Windows Run .\repo.bat test

Linux Run ./repo.sh test

Note: A specific test file can be targeted by adding the -f <partial file name> flag. (ie. -f onframe)

Example

Launch omni.replicator and open the Script Editor (Window->Script Editor), then run the following script:

import omni.replicator.core as rep

BASE = 'omniverse://ov-content/Users/jlafleche@nvidia.com/Where_is_TJ/'
TJ = 'omniverse://ov-content/Users/ecameracci@nvidia.com/Toy_Jensen_Copy/Collected_ToyJensen/ToyJensen.usd'

def env_props(size=50):
    instances = rep.randomizer.instantiate(rep.utils.get_usd_files(BASE + 'props'), size=size, mode='point_instance')
    with instances:
        rep.modify.pose(
            position=rep.distribution.uniform((-500, 0, -500), (500, 0, 500)),
            rotation=rep.distribution.uniform((0,-180, 0), (0, 180, 0)),
        )
    return instances.node

def toy_jensen():
    tj = rep.create.from_usd(BASE + "TJ/TJ.usd", semantics=[('class', 'toy_jensen')])

    with tj:
        with rep.get.prims("shirt|pants", prim_types=["Mesh"]):
            rep.randomizer.materials(rep.get.prims("Toy_JHH_MDL_Ver", prim_types=["Material"]))
        rep.modify.pose(
            position=rep.distribution.uniform((-500, 0, -500), (500, 0, 500)),
            rotation=rep.distribution.uniform((0,-45, 0), (0, 45, 0)),
        )
    return tj

rep.randomizer.register(env_props)
rep.randomizer.register(toy_jensen)

with rep.new_layer():
    # Setup the static elements
    env = rep.create.from_usd(BASE + 'env/room.usd')
    table = rep.create.from_usd(BASE + 'env/table.usd')

    # Setup camera and attach it to render product
    camera = rep.create.camera(
        focus_distance=800,
        f_stop=0.5
    )

    # Setup randomization
    with rep.trigger.on_frame(num_frames=10000):
        rep.randomizer.env_props(75)
        rep.randomizer.toy_jensen()
        with camera:
            rep.modify.pose(position=rep.distribution.uniform((-500, 200, 1000), (500, 500, 1500)), look_at=table)

    render_product = rep.create.render_product(camera, resolution=(1024, 1024))

    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")
    writer.initialize(output_dir="_output", rgb=True, bounding_box_2d_tight=True)
    writer.attach([render_product])

Replicator Orchestration

Preview SDG

In the script editor, run rep.orchestrator.preview()
In the toolbar, find the Replicator menu and select Preview

Run SDG

In the script editor, run rep.orchestrator.run()
In the toolbar, find the Replicator menu and select Run

Stop SDG

In the script editor, run rep.orchestrator.stop()
In the toolbar, find the Replicator menu and select Stop