Hi! You can find details in the tutorial on Object Based Synthetic Dataset Generation.
The code is in the standalone examples in your installation -
<install_path>/standalone_examples/replicator/object_based_sdg/object_based_sdg.py
What I want to ask is whether there is a complete code for tabletop. Just like the 2022 version of composer, the object based synthetic dataset generation given now is a bit complicated.