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Quick Start for SDG

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For a quick start with SDG, we are providing a sample scene asset that includes NavMesh, semantic labels, and camera placement. With this setup, getting started with SDG should be straightforward by following these two steps (first load asset in Isaac Sim takes longer time):

Basic hardware requirements:

  • Use RTX-Enabled GPUs for SDG
  • 48GB GPU memory for 6 cameras
  • 128GB RAM
  • 1Ti SSD storage for output data
  1. Download the warehouse_20×20 USD file by the command:
$ ngc registry resource download-version "nvidia/vss-warehouse/vss-warehouse-usd-files:3.2.0"

  1. Start SDG with UI or script:

The configuration file format differs between Isaac Sim 5.1 and 6.0. Please refer to the documentation for your Isaac Sim version to ensure correct configuration, the example configuration file is as follows:

  • Set scene asset path to the warehouse_20x20 USD file.
  • Enable the following necessary fields under IRABasicWriter.
IRABasicWriter:
  output_dir: [Path to the output directory]
  object_info_bounding_box_3d: true
  object_info_bounding_box_2d_tight: true
  object_info_bounding_box_2d_loose: true
  semantic_filter_predicate: class:character|flatbox|multidepthbox|whitecorrugatedbox|printersbox|basket|woodencrate|cardbox|officepaperbox|cubebox|longbox|blockpallet|wooddrumpallet|rackablepallet|exportpallet|pallet|rack|barel|bottle|nova_carter|iw_hub|forklift|GR1_T2|Agility_Digit|crate|cart;id:*
  image_output_format: jpg
  rgb: true
  camera_params: true
  distance_to_image_plane: true
  • For scene customization (Adding cameras, relabeling, NavMesh), refer to the Scene Customization section.