Where is the Domain Randomizer(DR)?

I am following the tutorial on training JetBot to Avoid Collisions Using NVIDIA Isaac Sim (Training Your NVIDIA JetBot to Avoid Collisions Using NVIDIA Isaac Sim | NVIDIA Technical Blog). The Tutorial said to use Isaac DR to randomize the light and movement of the objects. However I cannot find any DR in my Isaac Sim 2022.2.1. I was assuming it may be some version issue but I cannot find anyone discussing it was disabled or something like that.

Hi @ming_johnson , the Domain Randomizer is now a part of Isaac Sim via Omniverse Replicator They have samples there which will allow you to paste code snippets in the script editor window (Randomize lights, textures and object poses). Following this, you can also record the data to train your model using Writer’s from replicator.

Hope this helps, please let us know if you have further questions!