Our platform enables data scientists and AI engineers to create simulations of real-world places and events. With Lexset you can configure and run simulations that generate training data for your algorithms.

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Weight defines the likleyhood of this material being used over another one in the list.

Blender is a free download available through the Blender Foundation.

• Remove everything from the scene except the 3D asset and any materials you will be packing into the file.

• Purge any orphan data from the scene. This unused data can interfere with cameras, lighting, and many other parts of the simulation.

• To purge orphan data, navigate to display mode, select orphan data. Then select purge.

• Last, make sure to pack all your data into the blend file.

• Go to File, then External Data, then Pack All Into .blend

Loads objects along a curve

Curve Name: Name of the curve(s) along which the objects will be loaded.

Object Collection: Collection of objects to load along the curve.

Curve Parameter (Min/Max): Defines the part of the curve to sample where 0 is the start of the curve and 1 is the end of the curve.

Curve Parameter Tolerance: The tolerance (between 0 and 1) to use when sampling points along the curve. Using a larger value will cause objects to be placed farther apart from one another.

Number of Samples (Min/Max): Number of points to sample for placing objects.

Random Rotation (Min/Max): A range of rotation values (in degrees) to apply to the objects after they have been placed and aligned to the curve.

Light Type: Light object type. "Point", "Area", or "Spot".

Coordinates: Coordinates of the light object relative to the bounding sphere of the target objects.

Radius: Radius of the polar coordinate, as a factor of the bounding sphere. For example, if the bounding sphere has a radius of 2 meters and the radius in this input is also set to 2, the light would be placed 4 meters from the origin.

Theta/Phi: Defines the azimuth angle and polar angle, respectively, expressed in degrees. Theta (azimuth) is limited to a range of [0, 360] and Phi (polar) is limited to a range of [0, 180]. [r=1, θ=0, φ=0]: Point at the upper pole of the sphere. [r=1, θ=0, φ=90]: Point at the equator, aligned to the +X world axis. [r=1, θ=90, φ=45]: Point aligned to the -Y world axis, halfway between the upper pole and equator. Size: "Size" of the light object. For Point and Spot lights, this is the radius of the light. For an Area light, this is the width/height of the light.

Power: Radiant power of the light in watts. Color Temp: Color temperature of the light in degrees Kelvin (more information on blackbody radiation may be found ).

Chance: Chance for this light to be created.

Child Collection: Collection from which to load a child object.

Parent Object Name: Name of the parent object (case-insensitive).

Parent Bone Name: (Optional) Name of the bone in the parent object. Only applies to rigged objects.

Partial Match Name: If checked, a partial match will be used for the parent object name.

Number of Parents (Min/Max): Number of objects to act as parents.

Number of Children (Min/Max): Number of objects to load as children.

This is used in conjunction with the Pose Objects block. This will interpolate between two poses, the amount of which is determined by min and max bias values (as a percentage). The example below will interpolate between open and closed poses between 0% and 25%. A bias below 50% will label the object using the name of Pose A, whereas a bias above 50% will label the object using the name of Pose B.

Pose A: The first pose.

Pose B: The second pose.

Bias Min: Weight toward the first pose.

Bias Max: Weight toward the second pose.

Pose name partial match: If checked, pose names partially matching the given name will also be sampled. For example, using the pose name "sitting" will match all poses containing the string "sitting".

• You can assign an object a name in the blender outliner.

• If you have multiple objects with the same name you can use a "." as a delineator and assign an index number. Seahaven will only look at the prefix if you try to modify these objects later with a manipulator.

• For example, in this simulation, the user wanted the camera to follow the perimeter of a building and they drew a curve to represent the range of positions for the camera to take.

• You can name the curve whatever you like. However, be sure to be consistent to assign the name in your camera module later.

Collections are an important part of Seahaven. Collections not only contain groupings of 3D assets but the names will be used to manage annotations and other aspects of your simulations. Please name your collections carefully.

• First, designate a Collection name on the top left-hand side of the upload tool. Each collection is comprised of the files you want to assign to a specific category.

• Drag and drop your .blend files into the upload tool and select upload when they have finished processing.

• This Collection should now be available for placement in the Relationship Editor

The workflow is the container where you will be defining all object relationships.

Assets may be sourced from existing objects already in the scene, generated directly, or be loaded from a collection in your account.

• Collection: The specific collection to sample for assets.

• Samples: Number of assets to load from this collection, provided by an or .

In the Relationship Editor tab you will designate the relationships of your 3D assets to each other and elements in the scene (e.g. ground_plane). Object relationships are defined using a hierarchical structure of parent and child objects. A Workflow may have multiple parent objects, each of which may have multiple child objects.

Child objects are arranged in the scene relative to a parent object. It has similar inputs to a parent object with the addition of a series of placement rules which define the specific series of operations to perform in order to place the child object in the scene, typically relative to the parent object.

• Category Override: An optional override for the category of objects directly associated to this parent object. If no override is provided, the name of the collection is used for the category (only if a collection is used as the source).

• Tries: The number of attempts to make when placing this object using the provided before failing and proceeding to the next object in the tree.

• Chance: The percent chance that the system will attempt to place this object. If a value of less than 100% is provided, there is a chance that this object (and all downstream in the same block) will be skipped.

• Source: The source of this object, which may be an in the scene, a loaded , or a .

• Placement Rules: A sequence of to execute when placing this object, typically relative to the direct parent of this object.

• Children: All associated to this .

• Category: Category of the target object.

• Object Name: Name of the target object.

• Partial Match: If checked, partial matches to the provided strings will be accepted when retrieving objects from the scene.

Placement rules are used to transform . Transformations are done in multiple ways:

• In global (scene) coordinate space (e.g. translation)

• In local (object) space (e.g. rotation)

• Relative to a (e.g. alignment, orientation, etc.)

Basic transformations consist of typical affine transformations such as translation, rotation, and scaling.

Sets the location of an object in global coordinate space.

• Position: Sets the position of the object using an .

Sets the location of an object in local space, relative to a face on the parent object's bounding box.

• Position: Sets the position of the object using a UVW Range.

• Face: The face(s) to reference on the parent object when positioning the object in local space.

Rotates an object about its local axes.

• Rotation (Degrees): Amount by which to rotate the object per axis in degrees. Provided using an XYZ Range.

• Step Size (Optional): Locks the rotation amount to a given step size. For example, a step size of 90 will limit rotation values to 0, 90, 180, and 270. This value is typically an integer, however float values may also be used.

• Execute Per Array Element: If enabled, this will be applied to each element within the , provided that the 's source is an .

• Collection: The specific collection to sample for assets.

• X/Y Count: Number of assets to load from this collection in each direction, provided by an integer value or integer range.

• X/Y Spacing: The distance between each asset in the array in each direction, provided by a variable.

• Spacing Method: Defines how to determine the space between each asset.

  • "Object bounds" sets the spacing of the assets relative to their bounding boxes. If the array consists of multiple assets, the bounds are defined by the maximum value from all sampled assets.

  • "Grid lines" places the objects in a grid where the grid lines are spaced using the provided values for X/Y spacing. For example, if the X/Y spacing is set to 1 meter, objects will be placed in a grid where the grid lines are 1 meter apart in the X and Y directions. This method should be used only in cases where assets will have sufficient space between one another and where there is relatively low variation in the size of assets in this collection.

• Use Largest Dimension: If checked, the largest dimension of an object is used to determine its bounds. For example, if an object is 1x4 meters, the grid spacing will be 4x4 meters. This is useful if you intend to rotate individual objects in the array.

• Use Single Asset: If checked, the same asset will be instanced for each array element.

• Separate Array Elements: If checked, placement operations for all downstream will be executed for each element in the array.

In practice, an array is treated as any other object in your simulation. Many have an "Execute per Array Element" option. If this is enabled, the corresponding will be executed on a per-element basis. In the below example, a 3x3 array of a single screw asset is placed on a using the rule and is subsequently rotated with . When "Execute per Array Element" is disabled, the entire array of objects is rotated together. When enabled, each screw is rotated in-place.

Scales an object uniformly (equally along all axes).

• Scale Factor: Factor by which to scale the object, provided by a . A value of 1 corresponds to the object's original scale.

Complex transformations may consist of several basic transformations and typically reference a parent and/or child bounding box face.

• Size: Size of the ground plane in meters

• Shadow Catcher: If checked, objects will cast a shadow on the ground plane, but the object itself will otherwise not be visible.

"Puts" an object on a parent object using the top face of the parent object and the bottom face of the child object.

• Position: The relative position of the object on the top face of the parent object provided by a UV Range.

• Use Parent Above: If enabled, this placement rule will instead reference the above this object's direct parent in the tree. For example, if the hierarchy of objects is Table > Plate > Food where "Food" is the , enabling "Use Parent Above" in this case would use "Table" as the instead of "Plate".

In this example, an of screws is placed on the center of a using the "Put Object" .

Translates an object relative to its current position.

• Translation (XYZ): Determines the translation vector using an XYZ Range.

• Execute Per Array Element: If enabled, this placement rule will be applied to each element within the array, provided that the child object's source is an array.

"Drops" an object onto a using a vertical raycast to determine the point of intersection. If there is no intersection (i.e. the is not located directly above a surface), the rule will fail.

• Execute Per Array Element: If enabled, this will be applied to each element within the , provided that the 's source is an .

• Use Parent Above:

Scales an object non-uniformly with a different value per axis.

• Scale: Factor by which to scale the object along each axis, as provided by an .

Attaches one object to another provided a for each.

• Parent Face: Reference on the .

• Child Face: Reference on the .

Moves a horizontally (within the global XY plane) to be within a specified distance range relative to the .

• Minimum/Maximum Distance (m): Distance from the bounds of the provided by a.

A region representing the provided distances is created by inscribing the bounds of the object with an ellipse. A distance of 0 corresponds to no offset from the original object bounds (shown as "minimum" below). Distances above 0 offset the object bounds by that specified distance. The outer region is defined by inscribing the offset bounds with a new ellipse. By using an ellipse, this prevents the corners of the rectangular region from being sampled, which would otherwise sample distances greater than intended. Furthermore, using a circular region relative to the object center would not account for objects with a footprint of uneven proportions (e.g. a vehicle).

Re-orients an object to align to the nearest surface. This is typically used when placing objects on an uneven surface.

• Child Face: Reference face on the child object.

• Execute Per Array Element: If enabled, this placement rule will be applied to each element within the array, provided that the child object's source is an .

In this example, multiple cars are placed on a ground object currently in the scene. The "" performs the initial placement of the car on the ground. It is then about its Z axis by a random amount, and finally oriented to the surface using its bottom .

Places an object near another, relative to a bounding box face on each.

• Parent Face: Reference on the .

• Child Face: Reference on the .

Aligns a to a , given a bounding box for each. The objects to not necessarily have to intersect with one another. The parent face is treated as an infinite plane when aligning the .

• Parent Face: Reference on the .

• Child Face: Reference on the

Defines a range of coordinates/values in object or scene (XYZ) space.

XYZ Ranges are used to sample a range of values per axis (X, Y, Z). The specific implementation of these values varies per placement rule. Different implementations are illustrated below:

• Locate: Used to determine the position of the object in global space.

• Translate: Translates the object using a vector defined by an XYZ range.

• Rotate: Rotates the object about each of its local axes by a specified number of degrees.

• Scale: Scales the object about each of its local axes by a factor.

Defines a range of coordinates in local 3D space. This is typically associated with the face of a bounding box.

• U (min/max): Position along the horizontal (U) axis.

• V (min/max): Position along the vertical (V) axis.

• W (min/max): Position along the normal (W) axis. Unlike the U and V components, the W component is expressed in meters. For example, the point (0.5, 0.5, 1) in UVW space as implemented in this system corresponds to a point aligned to the center of a bounding box face (0.5, 0.5), offset by 1 meter along the face's normal (away from the face).

Defines a range of coordinates in local 2D space. This is typically associated with the face of a bounding box.

• U (min/max): Position along the horizontal (U) axis.

• V (min/max): Position along the vertical (V) axis.

Target Object Name: Name of the object to populate with particles.

Particle Collection: Collection to instance for unique particles.

Number of Particles (Min/Max): The total number of particles on the target object geometry.

Unique Particle Instance (Min/Max): The number of unique objects to use for the particle system.

Particle Random Scale: A value between 0 and 1 where 0 maintains the original object scale and 1 is the highest level of randomization.

Variables are used as generic inputs primarily for in your object relationships.

A Parent Object is a top-level object in your workflow.

• Category Override: An optional override for the category of objects directly associated to this parent object. If no override is provided, the name of the collection is used for the category (only if a collection is used as the source).

• Source: The source of this object, which may be an existing asset in the scene, a loaded collection, or a generated asset.

• Children: All associated to this .

Various 2D and 3D vectors are used to define positions in the scene, either relative to the scene coordinates (XYZ) or relative to another object/face (UVW).

Samples a range of integers from a min and max (inclusive) value. For example, if the range is between 4 and 6, the value can be either 4, 5, or 6.

Uniformly samples a floating-point number defined by a minimum and maximum.

Numerical inputs are used across many placement rules and associated blocks. Typically, any of these blocks (integer/float) may be used, unless the input is defining a count, in which case an integer block must be used.

Provides a single floating point value.

Provides a single integer value.

• Scene: Scene modules are used to configure your scene context. This will include importing/generating 3D environments, backgrounds, and/or lighting.

• Relationships: Relationships between classes of objects defined in the relationship editor are imported into your workflow here.

• Camera: Camera type, position, and camera properties are all defined in this section.

• Manipulators: Manipulators can be used to transform and randomize your scene each time a data point is generated.

• Render Passes: Individual render passes are defined here (RGB, depth, normal, etc.).

• Output Files: Non-image output is defined here (COCO annotations, camera matrices, etc.).

• Raytrace Samples: Number of paths to trace for each pixel in the RGB images. Increasing the number of samples improves render quality, but takes more time.

• Image Format: Image file format (PNG, JPEG, TIFF).

• Color Depth: Image bit depth (8- and 16-bit).

• Color Mode: Image color mode (RGB, Panchromatic).

• JPEG Quality: JPEG image quality (only applies to JPEG image format).

• Use experimental raytracer: Enables experimental raytracer features (not applicable in most simulations).

• Use dynamic BVH tree: If checked, the BVH tree will be built dynamically (per object). This method may be more time-efficient for animated sequences.

Shadow Plane: If "Shadow Plane" is enabled objects will cast a shadow on the ground plane.

With the HDRI lighting module, you load a variety of pre-loaded HDRI images that you can use as a background in your images. In addition, these images provide physically accurate environmental lighting. Project to ground: You can project your HDRI images to the scenes ground plane. Resulting in a semi-spherical projection. You can learn more about how this feature can be used when creating photorealistic images . Height: Height refers to the height of the camera when the HDRI was captured. Most HDRI images are taken between 2 and 3 meters off the ground. You can adjust this parameter to reduce distortion around the horizon, which might appear if your camera moves too high above eye level in the z axes.

Intensity: Set a minimum and maximum light intensity. The range will dictate the range of lighting brightness across all the images in your dataset.

Saturation: Sets a range for the color saturation of the HDRI background. This is a normalized value where 0 yields a greyscale background and 1 yields a full-color background.

Defines a face of a parent object to sample.

If multiple faces are used as a single input, the selected face will be chosen at random.

Each option indicates a locally-aligned bounding box face of a given object from the following options:

• Right, Left, Front, Back, Top, Bottom

Additionally, there is an "Any" option which samples from (Right, Left, Front, Back) at random.

The following sample uses the "" rule to place a relative to a where the face on the is the "Top" and the face on the is the "Bottom".

Sun Strength: Relative strength of the sun's illumination. It is recommended to use a low value (e.g. 0.1) to avoid over-exposure.

Sun Rotation: Rotation of the sun in the sky relative to the world origin where 0 degrees locates the sun at the positive Y world axis.

Sun Elevation: Elevation of the sun (in degrees) relative to the horizon. Sun/Sky Model: Nishita (Nishita et al. 1993.), Hosek-Wilkie (Hosek-Wilkie et al. 2012.), or Hosek-Wilkie (No-Shadow). If the "no-shadow" option is selected, shadow rays from the sun lamp will be disabled.

The number of samples determines how many unique items to sample out of the collection.

For example, if we have a collection with four different 3D models of fruit (apple, orange, pear, pineapple), if you set the samples to 2, it will randomly select two from that collection. If "Load Duplicate" is enabled, the same asset may be loaded more than once.

To select a collection, use a "Collection" block from the "Variables" submenu.

Room type: Choose from a list of room layout presets including "bedroom" and "living room" (more coming soon).

Object relationships: Object relationships created from the relationship editor which will be used to populate rooms of this type.

Import 3D Assets & Relationships: This module is to import relationships between collections that have been defined in the relationships editor.

Room Type: The room layout to use for the generated scene. Options: (bedroom, livingroom). (See Room Type for more information on room types.)

Room Height: The ceiling height of the generated room (in meters).

Wall type: The material to use for the walls in the room. Options: (Gypsum, Wallpaper).

Floor type: The material to use for the floors in the room. Options: (Oak, Maple, Tile, Ceramic).

Ceiling type: The material to use for the ceilings in the room. Options: (Wood, Gypsum, ACT).

Window type: The window shape to use. The "Tall" preset is approx. 2.3m tall. Options: (Standard, Tall).

Generate recessed lights: If checked, recessed lights will be generated in the ceiling of the room.

Color temp: Color temperature of the lights, in degrees Kelvin. See for more information.

Light strength multiplier: A factor by which to multiply the strength of the recessed lights. Setting both the min and max to 0 will disable the lights.

Frames: Number of frames to sample along the curve.

Curve Name: Name of the curve the camera will follow.

Properties: Perspective camera intrinsic properties. Additional documentation.

Shutter Speed: Shutter speed of the camera in seconds.

Camera Height (Min/Max): Height of the camera above the curve in meters.

Curve Parameter Start (Min/Max): A value between 0 and 1 indicating the start position of the camera where 0 is the start of the curve and 1 is the end of the curve.

Curve Parameter Length (Min/Max): A value between 0 and 1 indicating the distance to travel along the curve where 0 is the start of the curve and 1 is the end of the curve.

• Seahaven currently supports two different camera types (Perspectival and fisheye)

• Each of these camera types can either be positioned by a curve or by using one of the position modules in Seahaven.

Frames: Number of frames to sample in the room.

Position: The location within the room to sample. Options: (Wall, Corner).

Offset Distance: The distance from the camera to the wall (in meters).

Camera Height: Camera height above the floor (in meters).

Yaw/Pitch/Roll: Random rotation along the path (in degrees).

Required Categories: Categories which are required to be visible in each image.

Properties: Fisheye camera intrinsic properties.

Minimum Distance to Camera: Restricts objects from being closer than this distance to the camera.

Single Raycast Distance Check: If checked, distance will only be checked from the center of the frame.

Category: Name of the category to check in each image.

Min/Max: The minimum and maximum number of instance allowed of the category in each image.

• Frames: Number of frames to sample in the room. Frames are generated along a random path within the room.

• Control Points: Number of points which are used to create the camera path. Higher numbers increase the complexity of the path.

• Distance Between Points: The min/max distance between consecutive points in the camera path.

• Camera Height: Camera height above the floor (in meters).

• Yaw/Pitch/Roll: Random rotation along the path (in degrees).

• Additional Cameras: Optional list of additional camera positions/orientations to sample per frame. See documentation for additional information.

• Properties: Fisheye camera intrinsic properties.

Frames: Number of frames to sample along the curve.

Curve Name: Name of the curve to sample.

Yaw/Pitch/Roll (Min/Max): Rotation ranges for the camera about its 3 axes. Setting all values to 0 will point the camera straight down. Setting the pitch to 90 degrees will make the camera parallel with the XY/ground plane.

Camera Height (Min/Max): Height of the camera above the curve in meters.

Properties: Perspective camera intrinsic properties.

Note: All values are expressed relative to an assumed origin and orientation. In other words, it can be treated as adding cameras to a device (such as a head mounted display), which informs the initial location and orientation.

• Offset: Distance to offset along each axis (in meters) for this specific camera.

• Rotation: Additional rotation to apply to the camera (in degrees).

• Filename Suffix: Suffix to append to each image rendered by this camera. For example, using a suffix of "_L_UP" would change a filename from "rgb_0001.png" to "rgb_0001_L_UP.png"

Look at: Define where your camera points using one of the blocks from the .

The bounding box of all the items in the scene is calculated and the camera will point towards the center of that bounding box.

Look at: Define where your camera points using one of the blocks from the .

Object Name: Name of the object. If Bone Names is used, the name of this object should be that of a rig.

Distance to Target (min/max): Distance from the target object (or bone). If both values are set to 0, the distance will not be overridden.

Bone Names: Name(s) of the bones within the specified object to point to.

Look at: Define where your camera points using one of the blocks from the .

Define a target point to point your camera at.

• FOV: Sets field of view, degrees

• Sensor Size: The sensor in the camera expressed in millimeters

• Focal Length: The camera focal length expressed in millimeters

FOV (Min/Max): Sets the horizontal field of view (in radians).

F-Stop: The F-Stop (aperture) of the lens. Affects the depth-of-field of the image.

Aperture Blades: Number of blades for the aperture. Affects the shape of the bokeh.

Aperture Ratio: Simulates distortion of bokeh. Values below 1 stretch the shape of the bokeh horizontally while values above 1 will stretch the bokeh vertically.

Camera Near/Far Clip: Sets the distance of the clipping plane.

Camera manipulators modify camera extrinsics by translating and rotating the camera with a variety of methods.

Manipulators are modules that can be used to transform or manipulate objects that are already loaded into a scene.

Illuminator Power: Radiant power of the point light in Watts.

Match By: Property with which to match an object (Category/Object Name).

Match Name: A string to match (case-insensitive) the object category or name.

Use Partial Match: If checked, all objects with a partial match to the provided name will be sampled.

Override Existing Camera Rotation: If checked, the initial rotation of the camera will be replaced with the provided values.

Initial Rotation (Yaw/Pitch/Roll): Ranges of rotation values to use as the camera's initial rotation. If "Override Existing Camera Rotation" is unchecked, the camera's current rotation values will be used.

Additional Rotation (Yaw/Pitch/Roll): Rotation values which are applied in addition to the initial rotation.

Additional Translation (X/Y/Z): Translation applied after the camera's position has already been overridden.

• Offset X/Y: Additional 2D offset of the camera path.

• Radius A/B: Radius of the ellipse along each axis. Using equal values for both will yield a circular path. The center of the ellipse is the midpoint of the target's path.

• Offset X/Y: Additional 2D offset of the camera path.

• Step Size: Step size (degrees) per frame.

• Orbit Offset: Initial radial offset along the path of the orbit.

• Offset Start X/Y: 2D offset of the start of the camera's path.

• Offset End X/Y: 2D offset of the end of the camera's path.

Light Type: Light object type. "Point", "Area", or "Spot".

Bbox Face: Bounding box face to reference. "Auto" will select the bounding box face closest to the camera.

Coordinates (UVW): Coordinates of the light object relative to the bounding box. "U" references the horizontal axis of the bounding box, "V" references the vertical axis, and "W" is normal to the bounding box face. The point [0, 0, 0] corresponds to the bottom-left corner of the bounding box. Values along the W axis are normalized to the depth of the bounding box. For example, a value of 0 would make the light coincident with the bounding box face and a value of 1 would offset the light along the W axis (normal) by a distance equal to the bounding box depth. [0, 0, 0]: Bottom-left corner of the face, coplanar with the face. [1, 1, 0]: Top-right corner of the face, coplanar with the face. [0.5, 0.5, 1]: Center of the face, offset by 1x the depth of the bounding box. Size: "Size" of the light object. For Point and Spot lights, this is the radius of the light. For an Area light, this is the width/height of the light.

• Project to ground: If enabled, the lower half of the HDRI is flattened to the ground plane.

• Height: Height above the ground at which the HDRI was captured. Only applies if "project to ground" is also enabled.

• Intensity: Relative intensity factor of the HDRI.

• Saturation: Relative color saturation of the HDRI where 0 is greyscale and 1 is full saturation.

• Frames: Number of frames in the final sequence. Each frame will have a unique HDRI background.

• Match By: Matches objects by their semantic category or object name.

• Match Name: String to match (either category or object name, depending on previous option)

• Use Partial Match: If enabled, the objects will be included if the specified string partially matches.

• Camera Height: Height of the camera above the ground.

Noise may be added to the camera's tracking target so that the target is not perfectly centered in the frame. This is done by creating a random path which is superimposed over the target path.

• Curve Height Offset: Height of the offset curve.

• Control Points: Number of control points to use for the random curve.

• Curve Min/Max: Min/max bounds of the curve in 2D.

See for specific types of camera paths.

This block will change the intensity of all light objects in your scene. Please note that this will impact HDRI light sources. IMPORTANT - please make sure the block is always used before the "Near IR" block. The "Near IR" block will add a light to your scene. Modifiers are executed sequentially and if it is executed first the light used in the IR simulation will not be impacted.

Target Object: Optional name of a target object. If none is provided, the overall bounding box of non-background objects in the scene will be used.

Use Partial Match: If checked, objects with a name partially matching the provided "target object" string will be used for the overall bounding box.

Bounding Sphere Mode: Determines the method to fit a bounding sphere for the purposes of placing "polar" light objects. "Bounding Box" samples only the corners of the objects' bounding boxes when fitting spherical bounds. "Geometry" samples all vertices of the target objects' mesh in order to fit the sphere.

Frames: Number of unique frames to sample for each light's position.

Lights: An array of objects to place relative to the bounding box.

Import: Load a material collection into your scene.

Replace by: Select materials to be replaced by either "object name" or by category.

Material name: The name of the material to be randomized.

Property name: Name of the material property to randomize.

Value (min/max): A range of values to uniformly sample for the new property value.

Material collections are created on the "Materials" page. You can upload your own shaders and materials to a designated collection.

Material name: The name of the material to be randomized.

Chance: Chance (as a percentage, between 0 and 100) to randomize the material’s color.

Define the object name and what percentage of the items you want to be removed from the scene.

This can be a useful way to randomize a scene by randomly deleting items each time a new data point is generated.

Object Name: Name of the object to delete.

Percentage to delete: Percentage of objects matching the name to delete.

Ignore: Number of objects to skip deleting.

Min/Max Distance: Distance range from the camera in which objects may be ignored.

View Limits X (Min/Max): A pair of values where 0 is the left side of the frame and 1 is the right side of the frame.

View Limits Y (Min/Max): A pair of values where 0 is the bottom of the frame and 1 is the top of the frame.

Replace: Enter the material name in your scene file. In the final port on this row input an object name variable here. With: provide a material name with a weight.

This block can be added to change the pose of an object given the name of the rig and a list of poses. There are two variants of this block--the following will only apply a single pose.

Rig Name: The name of the rig to modify.

Poses: A list of poses. See Pose Pair for more information.

This variant of the block will apply multiple poses (one from each "pose set").

Rig Name: The name of the rig to modify.

Pose Sets: A list of pose sets, each of which contain a list of pose pairs. See for more information.

Objects are filtered depending on the provided categories and parameters. The "Category" block is found under the "Variables" section in the sidebar.

• Category: Category name to which these settings apply.

• Min segmentation area: Minimum allowable area of the segmentation of the object.

• Category is optional: If a category is neither optional nor found in the final annotations, the pipeline will be re-run to produce a new data point.

• Remove objects below min area: If true, objects not meeting the requirements will be removed from the scene and all images will be re-rendered. This process is repeated up to 3 times.

A pose set block is a list of pose pairs, from which one pose pair will be chosen and then applied.

In the image above, two sets of poses will be applied to a single rig, "rig". The first set of poses will apply a pose partially matching the name "_L" (e.g. a left-handed pose).

The second set of poses will apply a pose partially matching the name "_R" (e.g. a right-handed pose).