Overview and Getting Started#
Isaac Sim Replicator is a collection of extensions (mainly omni.replicator), Python APIs, workflows, and tools, such as Replicator YAML,that enable a variety of synthetic data generation tasks.
The Semantics Schema Editor#
To use the annotation capabilities of Replicator (for example, semantic segmentation or 3d bounding boxes) the entities in the scene need to be semantically annotated. The Semantics Schema Editor extension is a GUI-based tool that can view, add, edit, or remove, class types or other key-value semantic information to prims in a stage.
To access the editor, navigate to Replicator > Semantics Schema Editor at the top of Kit. The editor appears as a tab in the Properties pane by default.
For more information about the Semantics Schema Editor, please further refer to its documentation. For programmatically iterating and labeling a whole stage using various rules see the following example snippet as a starting point.
The Synthetic Data Visualizer#
Visualizing the output of synthetic sensors is done using the visualizer tool in the Viewport window and selecting the desired output formats.
For a more thorough introduction to the visualizer tool, see the Visualizing Synthetic Data tutorial in the omni.replicator documentation.
Note
Cross Correspondence visualization requires a specific two-camera setup explained in the Cross Correspondence section of the annotator details page.
The Synthetic Data Recorder#
The Synthetic Data Recorder extension can be used as a GUI-based synthetic data acquisition tool built on top of Replicator’s API.
Additional Information#
The On-Demand sessions: Synthetic Data Generation using the Omniverse Replicator SDK and How to Generate Synthetic Data for Training AI Models with Isaac Replicator, together with the Isaac Sim/Robotics Weekly Livestream: Synthetic Data Generation are additional recommended resources for a deeper understanding of Replicator.
Note
Access to some On-Demand content is available only after completing the free registration to the NVIDIA Developer Network.