Openusd from json file with semantics

hi all,

I have created a scene in Replicator to generate synthetic data for training a object detection model. I have used 2 USDs, i opened the 2 USDs in the begining and then executed some randomizations.

I would like to know how can i create a group of USDs dynamically from a json file? So i can run the same scene with any colletion of objects, reading a json or a text file containing the path to usd and its label to put in the semantics parameter.

thanks in advance

The code is below.

import omni.replicator.core as rep

with rep.new_layer():

lights = rep.create.light(
    light_type="Dome",
)

t51 = rep.create.from_usd("C:\1\repOmniverse\51\Versao_01.usd",semantics=[('class', '51')]  ) 
t52 = rep.create.from_usd("C:\1\repOmniverse\52\Versao_01.usd",semantics=[('class', '52')]  ) 

with rep.trigger.on_frame(num_frames=10):


    with rep.create.group([t51,t52]):
        rep.modify.pose(
            position=rep.distribution.uniform((-100, -100, -100), (-100, -100, 0)),
        )

rep.orchestrator.run()