How to import omni.isaac.synthetic_utils with IsaacSim 2023.1.0

Hello experts.

I am using the replicator code found in the following link to generate synthetic images. I intend to make the following code work with the latest version (Isaac Sim 2023.1.0).

robot_freespace_seg_Isaac_TAO/IsaacSim at main · NVIDIA-AI-IOT/robot_freespace_seg_Isaac_TAO (

I have a question.

How can I import omni.isaac.synthetic_utils to make it work with Isaac Sim 2023.1.0?

It seems that I can no longer import the omni.isaac.synthetic_utils library in Isaac Sim 2023.1.0. It was importable in Isaac Sim 2022.2.1.

I have checked the library folder for Isaac Sim 2023.1.0, and omni.isaac.synthetic_utils is present.

When I tried to import it in the script editor of Isaac Sim 2023.1.0’s GUI, I initially encountered an error. However, it became importable after enabling the extension enclosed in a circle.

How can I import omni.isaac.synthetic_utils when using it in a .sh script?

Hi there,

synthetic_utils has been deprecated in favor of using the Replicator API.

One can however still access it in 2023.1.0 by enabling it in the Extensions window:

Or via code:

from omni.isaac.core.utils.extensions import enable_extension

Hi ahaibu, thank you for your response.

I enabled the above extension in the code, so the import error no longer occurs. However, RGB images and semantic images are no longer being saved.

The following new errors and warnings have appeared.

If I need to make changes using the Replicator API, where should I refer to?

2023.1.0_error_log.txt (11.8 KB)

Various functionalities no longer work in synthetic_utils such as the global semantic id mapping. Is this something you require?

The errors seems to be related that the image data is empty. Can you provide a small repro script for easier debug?
Is there any reason stopping you for switching to replicator API?


Here is the reproduction script. (9.9 KB)

If the ISAAC_SIM_PATH in the .sh file is set to 2022, synthetic data will be generated.
However, in the case of 2023, an error occurs.

Is there any reason stopping you for switching to replicator API?

Due to the possibility that the current extension may become unusable with future updates to IsaacSim, I am considering whether the replicator API is recommended.

However, for now, my primary goal is to make image generation work with the latest version of IsaacSim2023. Therefore, I am open to any method that resolves the current error.