Perception Data Generation with Isaac Sim Replicator

Title: Perception Data Generation (Replicator) — Isaac Sim Documentation

URL Source: https://docs.isaacsim.omniverse.nvidia.com/latest/replicator_tutorials/index.html

Published Time: Tue, 21 Oct 2025 19:25:24 GMT

Markdown Content: Perception Data Generation (Replicator)#

Isaac Sim Replicator offers various tools and workflows for synthetic data generation (SDG), primarily using the omni.replicator extension. The examples and tutorials in this section showcase practical applications for robotics, including domain randomization, sensor simulation, and data collection with annotators and writers.

Basics and Getting Started#

Overview
Synthetic Data Recorder
Getting Started Scripts

Tutorials#

Scene Based Synthetic Dataset Generation
Object Based Synthetic Dataset Generation
Environment Based Synthetic Dataset Generation with Infinigen
Randomization in Simulation – AMR Navigation
Randomization in Simulation – UR10 Palletizing
Cosmos Synthetic Data Generation

Customization Tools and Techniques#

Data Augmentation
Custom Replicator Randomization Nodes
Modular Behavior Scripting
Randomization Snippets
Useful Snippets

Troubleshooting#

Replicator Troubleshooting

Deprecated Tutorials#

Online Generation
Pose Estimation Synthetic Data Generation
Training Pose Estimation Model with Synthetic Data
Scene Generation with SceneBlox

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