Sequence Diagram Architecture

%%{init: {"sequence": {"useMaxWidth": false}}}%% sequenceDiagram actor User participant Hydra participant ArDaGen Runtime participant OV Replicator participant Scenarios Manager participant Scenario participant Master Synthesizer participant Synthesizer Worker participant Single Camera participant OV Isaac Sim participant OV Writer participant File System User->>ArDaGen Runtime: Start ArDaGen activate ArDaGen Runtime ArDaGen Runtime->>Hydra: Load ArDaGen Hydra configuration activate Hydra Hydra-->>ArDaGen Runtime: Get ArDaGen Hydra config ArDaGen Runtime->>OV Isaac Sim: Run OV Isaac Sim activate OV Isaac Sim OV Isaac Sim-->>ArDaGen Runtime: Isaac Sim instance reference ArDaGen Runtime->>OV Isaac Sim: Load ArDaGen OV Extension ArDaGen Runtime->>Scenarios Manager: Initialize Scenarios Manager activate Scenarios Manager ArDaGen Runtime->>OV Replicator: Start synthetic data generation activate OV Replicator loop For each Scenario OV Replicator->>OV Replicator: Create new layer OV Replicator->>Scenarios Manager: Get scenario Scenarios Manager->>Scenario: Initialize Scenario activate Scenario Scenarios Manager-->>OV Replicator: Scenario OV Replicator->>Master Synthesizer: Prepare Scenario activate Master Synthesizer loop For each Synthesizer Worker Master Synthesizer->>Synthesizer Worker: Initialize Synthesizer Worker activate Synthesizer Worker Synthesizer Worker-->>Master Synthesizer: Synthesizer Worker end loop For each instantiated Synthesizer Worker Master Synthesizer->>Synthesizer Worker: Register Synthesizer Worker's Prims end Master Synthesizer-->>OV Replicator: Giving back the control loop For each Synthesizer Worker OV Replicator->>Master Synthesizer: Get Synthesizer Worker Master Synthesizer-->>OV Replicator: Synthesizer Worker OV Replicator->>OV Replicator: Register the Synthesizer Worker into OV Randomizer end loop For each camera rig OV Replicator->>Scenario: Get camera rig Scenario-->>OV Replicator: Camera rig loop For each single camera in the camera rig OV Replicator->>Single Camera: Initialize the camera in OV Replicator activate Single Camera Single Camera-->>OV Replicator: Single Camera reference end OV Replicator->>OV Writer: Instantiate OV Replicator Writer activate OV Writer OV Replicator->>OV Writer: Attach camera rig OV Replicator-->>+OV Replicator: Start simulation loop For each frame in the frames range OV Replicator->>OV Replicator: Update the simulation opt frame_index mod frame_capture_interval == 0 OV Replicator->>OV Writer: Capture camera images and the labels OV Writer->>File System: Save images and labels on the file system end opt frame_index mod (frame_capture_interval + 1) == 0 loop For each Synthesizer Worker OV Replicator->>Synthesizer Worker: Randomize end end end OV Replicator->>-OV Replicator: Stop the simulation OV Replicator->>OV Replicator: Remove camera rig deactivate OV Writer deactivate Single Camera end deactivate Synthesizer Worker deactivate Scenario deactivate Master Synthesizer OV Replicator->>OV Replicator: Remove the layer end ArDaGen Runtime->>OV Isaac Sim: Stop OV Isaac Sim deactivate OV Replicator deactivate Scenarios Manager deactivate OV Isaac Sim deactivate Hydra deactivate ArDaGen Runtime