How would I use replicator to generate 2d keypoint data?

[ericpedley]

I also tried just outputting images + poses for the camera and objects and using cv2.projectPoints to calculate the keypoint locations but it seems like there’s a mismatch between how Isaac and OpenCV calculate image point locations for the same camera extrinsics and intrinsics, even when using the “opencv” lens models in Isaac. I wrote up another issue on this with a minimal example to reproduce the problem I’m having with this approach: Isaac Sim "opencv_fisheye" lens distortion model is not consistent with OpenCV's projectPoints