Replicator: is executing asynchronous randomization possible?

Greetings all.

Is there a way to execute kind of “nested” randomization? My case is as follows:
In a warehouse scenario, I want to randomize, let’s say, palette positions. For each randomized palette position, i want to get a recording with 5 different camera poses. After that, the palette config is randomized again and again is recorded from different poses and so on. The goal is then to use the BasicWriter. So far I am using the rep.modify.pose function to randomize the palette config as well as camera position, but wasn’t able to figure out how to randomize them non-simultaneously.

Thanks in advance!


Take a look at our Synthetic Data Examples repository. One of the ways you can accomplish this is with the use of multiple triggers at separate intervals.

synthetic-data-examples/omni.replicator/snippets/ at main · NVIDIA-Omniverse/synthetic-data-examples (

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