When I use 'Stand Alone' to run 'Repligator', an error occurs

Omniverse Isaac Sim
,
1

Hello everyone, I’m very sorry, I encountered a problem while using Isaac sim to collect data.
I want to use ‘Repligator’ to collect data in ‘Stand Alone’
When I execute the code:


while simulation_app.is_running():
    my_world.step(render=True)
    writer.schedule_write()

It’s no problem. But I have to use ‘myw_world.step (render=True)’. In that case, I have to create a world. I want to open a ‘USD’ directly instead of creating a world and adding USD to it, which is not in line with my production process.
I want to directly open a USD to collect data, so I wrote the following code:

stage = omni.usd.get_context().get_stage()

usd_file_path = "/home/mm/OM/test/caijirgb.usd"

omni.usd.get_context().open_stage(usd_file_path)

stage = omni.usd.get_context().get_stage()
camera = stage.GetPrimAtPath("/World/Camera")
rp = rep.create.render_product(camera.GetPrimPath(), (1600, 1200))
writer = rep.writers.get(
        name = "BasicWriter",
        init_params = {"output_dir": "/home/mm/OM/test/rgb3",
                       "rgb": True,
                       "image_output_format": "png",
                       "distance_to_camera": False,
                       "bounding_box_2d_tight": False,
                       "bounding_box_2d_loose": True,
                       "semantic_segmentation": True,
                       "bounding_box_3d": True,
                       "pointcloud": True},

        render_products = rp,
        trigger = None,
)
while simulation_app.is_running():
    simulation_app.update()
    writer.schedule_write()

However, it reported an error, with the error message being:
Could not find category ‘Replicator:Annotators’ for removal

I want to know how to directly open USD and use ‘Repligator’ in ‘Stand Alone’ mode.
I hope to receive some help