Making the camera pose randomized around a dome or hemisphere above the mean positions of objects of interest

Omniverse Isaac Sim
4

Using Replicator randomizers you can generate a list of sample poses of the camera and then use this as input for the randomizer function, using choice or sequence.

You can also generate the orientations yourself and include them as a list as well, or you can use the look_at argument to generate this internally.

Here is an example of sampling poses on a sphere/dome:

And an example of using a list to randomize the camera poses:

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