Omniverse Extensions

https://docs.omniverse.nvidia.com/extensions
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Omniverse Extensions is a comprehensive collection of plugins and tools for NVIDIA Omniverse that...
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### Start Recording with omni.kit.commands.execute

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html

Starts recording animation using the specified arguments. The example records two target paths, uses live mode, and sets a frame rate of 30 fps.

```python
omni.kit.commands.execute(

    'StartRecording',
    target_paths= [["/World/Character_Center", True], ["/World/Character_Left", True]],
    live_mode=True,
    use_frame_range=False,
    start_frame=0,
    end_frame=100,
    use_preroll=False,
    preroll_frame=0,
    record_to="New Layer",
    take_name="My_Cool_Take",
    record_folder="C:/Temp",
    increment_name=False,
    apply_root_anim=True,
    fps=30.0
    )
```

--------------------------------

### Start NavMesh baking asynchronously

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_navigation-mesh/api.html

Example showing how to start asynchronous NavMesh baking for the currently opened stage using the INavigation interface. Subscribe to NavMesh events to observe progress and completion.

```python
import omni.anim.navigation.core as nav

inav = nav.acquire_interface()
inav.start_navmesh_baking()
```

--------------------------------

### Set Up Static Elements and Camera

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/shrubs_and_worker_example.html

Creates the environment and surface from USD, sets up a camera with focus distance and f-stop, and attaches it to a render product with a resolution of 1024x1024.

```python
# Setup the static elements
env = rep.create.from_usd(ENVS)

surface = rep.create.from_usd(SURFACE)

# Setup camera and attach it to render product
camera = rep.create.camera(
    focus_distance=800,
    f_stop=0.5
)
render_product = rep.create.render_product(camera, resolution=(1024, 1024))
```

--------------------------------

### End-to-end example script with WorkerWriter

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/custom_writer.html

Full script to run in the Script Editor after setup. It defines asset paths for a worker, props, environment, and surface, then runs a Replicator simulation using the WorkerWriter. Requires following the setup and running steps from the getting started guide.

```python
import time
import asyncio
import json
import io

import omni.kit
import omni.usd
import omni.replicator.core as rep

from omni.replicator.core import Writer, AnnotatorRegistry, BackendDispatch


WORKER = 'omniverse://localhost/NVIDIA/Assets/Characters/Reallusion/Worker/Worker.usd'
PROPS = 'omniverse://localhost/NVIDIA/Assets/Vegetation/Shrub'
ENVS = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Outdoor/Puddles.usd'
SURFACE = 'omniverse://localhost/NVIDIA/Assets/Scenes/Templates/Basic/display_riser.usd'
```

--------------------------------

### Startup option to select the Potree client

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_point-cloud/workflow-user-guide.html

Sets the startup option --/exts/omni.pointcloud.potree2/use_potree_client=true to explicitly select the new Potree Client implementation.

```text
--/exts/omni.pointcloud.potree2/use_potree_client=true
```

--------------------------------

### Randomize sphere light parameters with Replicator

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/randomizer_details.html

Standalone script that randomizes intensity, temperature, scale, and position of a sphere light. It creates a distant light, sphere, cube, and plane for visualization, registers a custom randomizer function, and triggers it for 10 frames. Requires the Script Editor setup described in the Getting Started guide.

```python
import omni.replicator.core as rep

with rep.new_layer():

    # Add Default Light
    distance_light = rep.create.light(rotation=(315,0,0), intensity=3000, light_type="distant")

    sphere = rep.create.sphere(semantics=[('class', 'sphere')], position=(0, 100, 100))
    cube = rep.create.cube(semantics=[('class', 'cube')],  position=(200, 200 , 100) )
    plane = rep.create.plane(scale=10, visible=True)

    def sphere_lights(num):
        lights = rep.create.light(
            light_type="Sphere",
            temperature=rep.distribution.normal(6500, 500),
            intensity=rep.distribution.normal(35000, 5000),
            position=rep.distribution.uniform((-300, -300, -300), (300, 300, 300)),
            scale=rep.distribution.uniform(50, 100),
            count=num
        )
        return lights.node

    rep.randomizer.register(sphere_lights)

    with rep.trigger.on_frame(num_frames=10):
        rep.randomizer.sphere_lights(10)
```

--------------------------------

### Get agent maximum radius with INavMesh.get_agent_max_radius

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_navigation-mesh/api.html

Retrieves the maximum radius of the navigation agent for the baked NavMesh. Requires a baked NavMesh; the example acquires the interface, starts baking and waits for completion, then gets the NavMesh and calls get_agent_max_radius().

```python
import omni.anim.navigation.core as nav

inav = nav.acquire_interface()
inav.start_navmesh_baking_and_wait()
navmesh = inav.get_navmesh()
agent_max_radius = navmesh.get_agent_max_radius()
```

--------------------------------

### Replicator API basic scene setup and preview

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/basic_functionalities.html

Creates a new layer, adds a camera, render product, and three objects with semantic labels. Applies random poses to the objects over 10 frames, attaches a BasicWriter to save RGB and tight bounding box data, and previews the graph. Run with Ctrl+Enter in the Script Editor; use Replicator → Run for full generation. Output defaults to HOME/omni.replicator_out/_output on Linux; may fail on Windows due to permissions.

```python
import omni.replicator.core as rep

with rep.new_layer():

    camera = rep.create.camera(position=(0, 0, 1000))

    render_product = rep.create.render_product(camera, (1024, 1024))

    torus = rep.create.torus(semantics=[('class', 'torus')] , position=(0, -200 , 100))

    sphere = rep.create.sphere(semantics=[('class', 'sphere')], position=(0, 100, 100))

    cube = rep.create.cube(semantics=[('class', 'cube')],  position=(100, -200 , 100) )

    with rep.trigger.on_frame(num_frames=10):
        with rep.create.group([torus, sphere, cube]):
            rep.modify.pose(
                position=rep.distribution.uniform((-100, -100, -100), (200, 200, 200)),
                scale=rep.distribution.uniform(0.1, 2))

    # Initialize and attach writer
    writer = rep.WriterRegistry.get("BasicWriter")

    writer.initialize( output_dir="_output", rgb=True,   bounding_box_2d_tight=True)

    writer.attach([render_product])

    rep.orchestrator.preview()
```

--------------------------------

### USD Utilities Example

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_clash-detection/clash-detection-core-usd_utils.html

Shows how to use get_list_of_prim_paths, get_prim_matrix, matrix_to_list, and list_to_matrix from omni.physxclashdetectioncore.usd_utils. Opens a stage, retrieves prim paths under /World, gets a matrix at time 1.0, converts it to a list, and back to a matrix.

```python
from omni.physxclashdetectioncore.usd_utils import (
    get_list_of_prim_paths,
    get_prim_matrix,
    matrix_to_list,
    list_to_matrix
)
from pxr import Usd

# Open stage
stage = Usd.Stage.Open("/path/to/stage.usd")

# Get all prim paths under /World
prim_paths = get_list_of_prim_paths(
    stage,
    "/World",
    add_prim_children=True
)

# Get transformation matrix for a prim at time 1.0 seconds
matrix = get_prim_matrix(stage, "/World/Cube", time=1.0)

if matrix:
    # Convert to list
    matrix_list = matrix_to_list(matrix)
    print(f"Matrix as list: {matrix_list}")

    # Convert back to matrix
    restored_matrix = list_to_matrix(matrix_list)
```

--------------------------------

### Get agent minimum radius with INavMesh.get_agent_min_radius

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_navigation-mesh/api.html

Retrieves the minimum radius of the navigation agent for the baked NavMesh. Requires a baked NavMesh; the example acquires the interface, starts baking and waits for completion, then gets the NavMesh and calls get_agent_min_radius().

```python
import omni.anim.navigation.core as nav

inav = nav.acquire_interface()
inav.start_navmesh_baking_and_wait()
navmesh = inav.get_navmesh()
agent_min_radius = navmesh.get_agent_min_radius()
```

--------------------------------

### Get agent minimum height with INavMesh.get_agent_min_height

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_navigation-mesh/api.html

Retrieves the minimum height of the navigation agent for the baked NavMesh. Requires a baked NavMesh; the example acquires the interface, starts baking and waits for completion, then gets the NavMesh and calls get_agent_min_height().

```python
import omni.anim.navigation.core as nav

inav = nav.acquire_interface()
inav.start_navmesh_baking_and_wait()
navmesh = inav.get_navmesh()
agent_min_height = navmesh.get_agent_min_height()
```

--------------------------------

### Get agent maximum step height with INavMesh.get_agent_max_step_height

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_navigation-mesh/api.html

Retrieves the maximum step height of the navigation agent for the baked NavMesh. Requires a baked NavMesh; the example acquires the interface, starts baking and waits for completion, then gets the NavMesh and calls get_agent_max_step_height().

```python
import omni.anim.navigation.core as nav

inav = nav.acquire_interface()
inav.start_navmesh_baking_and_wait()
navmesh = inav.get_navmesh()
agent_max_step_height = navmesh.get_agent_max_step_height()
```

--------------------------------

### Example file: URL for a local dataset

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_point-cloud/workflow-user-guide.html

Use a file: URL pointing to metadata.json for datasets on a local or mounted filesystem. The path is resolved on the system running Kit.

```text
file:/data/pointclouds/scan-a/metadata.json
```

--------------------------------

### Enable example mesh model via startup flag

Source: https://docs.omniverse.nvidia.com/extensions/latest/ext_point-cloud/generative_meshing.html

Use this command-line flag at startup to enable the example mesh model. It is disabled by default and intended for development and workflow testing.

```bash
--/exts/omni.pointcloud.generative_meshing/enable_example_mesh_model=true
```
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