Changelog

The format is based on Keep a Changelog.

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)
Fix bug where node attribute __device may be applied twice
Fix omnigraph category warnings on startup
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.

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)