Bounding Boxes are wrong. Too many Instances in Bounding Box

Hello,

When I want to get groundtruth information and generate 2D Bounding Boxes with the “get_bounding_box_2d_tight” function inside the SyntheticDataHelper class it seems that with each iteration it uses more instanceIDs to set the bounding box. I will attach a screenshot that you see what I mean. I guess it has something to do with the instance mappings?

First iteration:

50th iteration:


def cam_place(self):
        #Kameras platzieren
        prim_path="/World/Cameras"
        pos = np.array([0,0,1.6])
        ori = np.array([1,0,0,0])
        create_prim(prim_path=prim_path, prim_type="Xform", translation=pos, orientation=ori)

        self._sensors = [
                "rgb",
                 "depthLinear",
                 "boundingBox2DTight",
                 "boundingBox2DLoose",
                 "instanceSegmentation",
                 "semanticSegmentation",
                 "camera",
                 "pose",
            ]

        pos_off_rgb = np.asarray([0,0,0])
        prim_path = "/World/Cameras/RGB_Cam"
        self.camera_paths.append(prim_path)
        dict ={
            'prim_path': prim_path,
            'prim_type': 'Camera',
            'position':pos+pos_off_rgb,
            'orientation':ori,
            }
        create_prim(**dict)        

        self.sensor_settings=None
        self.sensor_settings = dict.fromkeys(self.output_names)
        for i in range(0,len(self.camera_paths)):
            do_full_data = (i==0)
            self.sensor_settings[self.output_names[i]] = {
                "rgb": {"enabled": True},
                "depth": {"enabled": do_full_data, "colorize": do_full_data, "npy": do_full_data},
                "instance": {"enabled": do_full_data, "colorize": do_full_data, "npy": do_full_data},
                "semantic": {"enabled": do_full_data, "colorize": do_full_data, "npy": do_full_data},
                "bbox_2d_tight": {"enabled": do_full_data, "colorize": do_full_data, "npy": do_full_data},
                "bbox_2d_loose": {"enabled": do_full_data, "colorize": do_full_data, "npy": do_full_data},
                "camera": {"enabled": do_full_data, "npy": do_full_data},
                "poses": {"enabled": do_full_data, "npy": do_full_data},
            }

        self._viewport_window.viewport_api.set_texture_resolution((1920,1200))
        self.set_box_view(self.camera_paths[0])
        
        self.init_sensor()

        if self.data_writer is None:
            self.data_dir = self.base_path+"output/"
            self.data_writer = NumpyWriter(
                self.data_dir,
                4,
                100,
                self.sensor_settings
            )
            self.data_writer.start_threads()

        self.get_groundtruth()

def get_groundtruth(self):
        #self._viewport_window.get_drawable_hdr_resource()
        gt = self._sd_helper.get_groundtruth(
            self._sensors,
            self._viewport_window.viewport_api,
            verify_sensor_init=False,
        )
        return copy.deepcopy(gt)
for i in range(100):
                app.update()
gt = self.get_groundtruth()

# 2D Tight BBox
            if gt["state"]["boundingBox2DTight"]:
                groundtruth["DATA"]["BBOX2DTIGHT"] = gt["boundingBox2DTight"]
                groundtruth["METADATA"]["BBOX2DTIGHT"]["COLORIZE"] = True
                groundtruth["METADATA"]["BBOX2DTIGHT"]["NPY"] = True

I printed the object mappings using the helpers lib and :

from omni.syntheticdata import helpers
self.generic_helper_lib = helpers
mappings = self.generic_helper_lib.get_instance_mappings()
print(mappings)

Mappings Iteration 1:

[( 1, '/World/objects/object_0/part', 1, 'ring', list([20]), '')
 ( 2, '/World/objects/object_1/part', 1, 'ring', list([53]), '')
 ( 3, '/World/objects/object_2/part', 1, 'ring', list([13]), '')
 ( 4, '/World/objects/object_3/part', 1, 'ring', list([16]), '')
 ( 5, '/World/objects/object_4/part', 1, 'ring', list([55]), '')
 ( 6, '/World/objects/object_5/part', 1, 'ring', list([59]), '')
 ( 7, '/World/objects/object_6/part', 1, 'ring', list([63]), '')
 ( 8, '/World/objects/object_7/part', 1, 'ring', list([17]), '')
 ( 9, '/World/objects/object_8/part', 1, 'ring', list([32]), '')
 (10, '/World/objects/object_9/part', 1, 'ring', list([37]), '')
 (11, '/World/objects/object_10/part', 1, 'ring', list([46]), '')
 (12, '/World/objects/object_11/part', 1, 'ring', list([2]), '')
 (13, '/World/objects/object_12/part', 1, 'ring', list([67]), '')
 (14, '/World/objects/object_13/part', 1, 'ring', list([52]), '')
 (15, '/World/objects/object_14/part', 1, 'ring', list([3]), '')
 (16, '/World/objects/object_15/part', 1, 'ring', list([60]), '')
 (17, '/World/objects/object_16/part', 1, 'ring', list([33]), '')
 (18, '/World/objects/object_17/part', 1, 'ring', list([15]), '')
 (19, '/World/objects/object_18/part', 1, 'ring', list([24]), '')
 (20, '/World/objects/object_19/part', 1, 'ring', list([8]), '')
 (21, '/World/objects/object_20/part', 1, 'ring', list([51]), '')
 (22, '/World/objects/object_21/part', 1, 'ring', list([57]), '')
 (23, '/World/objects/object_22/part', 1, 'ring', list([6]), '')
 (24, '/World/objects/object_23/part', 1, 'ring', list([56]), '')
 (25, '/World/objects/object_24/part', 1, 'ring', list([1]), '')
 (26, '/World/objects/object_25/part', 1, 'ring', list([10]), '')
 (27, '/World/objects/object_26/part', 1, 'ring', list([50]), '')
 (28, '/World/objects/object_27/part', 1, 'ring', list([19]), '')
 (29, '/World/objects/object_28/part', 1, 'ring', list([48]), '')
 (30, '/World/objects/object_29/part', 1, 'ring', list([7]), '')]

Mappings Iteration 5

[( 1, '/World/objects/object_0/part', 1, 'ring', list([28, 20, 7, 65, 19, 45]), '')
 ( 2, '/World/objects/object_1/part', 1, 'ring', list([5, 53, 57, 22, 59, 47]), '')
 ( 3, '/World/objects/object_2/part', 1, 'ring', list([13, 65, 34, 10, 23, 8]), '')
 ( 4, '/World/objects/object_3/part', 1, 'ring', list([16, 4, 46, 66, 33]), '')
 ( 5, '/World/objects/object_4/part', 1, 'ring', list([55, 12, 67, 59, 5, 61]), '')
 ( 6, '/World/objects/object_5/part', 1, 'ring', list([27, 59, 8, 34, 44, 21]), '')
 ( 7, '/World/objects/object_6/part', 1, 'ring', list([63, 43, 11, 24, 32, 36]), '')
 ( 8, '/World/objects/object_7/part', 1, 'ring', list([25, 17, 54, 56, 26, 60]), '')
 ( 9, '/World/objects/object_8/part', 1, 'ring', list([32, 53, 61, 25, 46, 28]), '')
 (10, '/World/objects/object_9/part', 1, 'ring', list([37, 66, 57, 17, 4, 62]), '')
 (11, '/World/objects/object_10/part', 1, 'ring', list([14, 46, 42, 18, 1, 56]), '')
 (12, '/World/objects/object_11/part', 1, 'ring', list([2, 30, 37, 43, 4]), '')
 (13, '/World/objects/object_12/part', 1, 'ring', list([3, 67, 25, 64, 55, 36]), '')
 (14, '/World/objects/object_13/part', 1, 'ring', list([52, 50, 58, 29, 7]), '')
 (15, '/World/objects/object_14/part', 1, 'ring', list([19, 3, 14, 52, 28, 64]), '')
 (16, '/World/objects/object_15/part', 1, 'ring', list([60, 45, 21, 41, 33, 6]), '')
 (17, '/World/objects/object_16/part', 1, 'ring', list([33, 29, 27, 35, 15]), '')
 (18, '/World/objects/object_17/part', 1, 'ring', list([55, 15, 64, 62, 2, 12]), '')
 (19, '/World/objects/object_18/part', 1, 'ring', list([32, 24, 26, 42, 11, 67]), '')
 (20, '/World/objects/object_19/part', 1, 'ring', list([8, 18, 58, 34, 6, 53]), '')
 (21, '/World/objects/object_20/part', 1, 'ring', list([27, 51, 40, 44, 42, 1]), '')
 (22, '/World/objects/object_21/part', 1, 'ring', list([9, 41, 57, 63, 23, 20]), '')
 (23, '/World/objects/object_22/part', 1, 'ring', list([6, 13, 45, 12, 40, 48]), '')
 (24, '/World/objects/object_23/part', 1, 'ring', list([40, 56, 41, 15, 51, 30]), '')
 (25, '/World/objects/object_24/part', 1, 'ring', list([1, 36, 51, 54, 50]), '')
 (26, '/World/objects/object_25/part', 1, 'ring', list([2, 10, 11, 43, 17, 9]), '')
 (27, '/World/objects/object_26/part', 1, 'ring', list([50, 14, 22, 52, 63, 31]), '')
 (28, '/World/objects/object_27/part', 1, 'ring', list([35, 19, 23, 47, 24, 21]), '')
 (29, '/World/objects/object_28/part', 1, 'ring', list([48, 26, 47, 61, 13]), '')
 (30, '/World/objects/object_29/part', 1, 'ring', list([31, 7, 9, 16, 30, 3]), '')]

So for the first iteration it all works perfect and the bounding boxes are alright, but the longer the script runs in iterations, the bigger the bounding boxes get and the more objects are inside one bounding box. Is there a possibility to wipe the instance mappings clean after each run, or any other possibility?

Thank you!

Can you provide a short repro script to test the issue? Thanks

BinPicking.rar (12.7 KB)

I did it as an extension, so I provided all needed code. I marked everything with (XXXXX) that you need to adjust to your system. You will need to select a bin in the extension before loading. Also you need a part.usd in your base_path folder (you will see in the script). If you have any other questions or need help, I am there to answer!

Thank you very much!

Valentin

It seems the archive is corrupted, or Linux cannot extract it:

  • unknown archive type, only plain RAR 2.0 supported(normal and solid archives), SFX and Volumes are NOT supported!

If still relevant, would it be possible to send it as a zip file?

If we can get a solution for the async problem in the other post from me, then I won’t need the numpy writer anymore. Otherwise I will send you the .zip file when I get home from work.

I’ve been facing the same issue, and it has been troubling me for several days. Have you managed to resolve it? If so, how did you do it? I would appreciate your guidance.

I’ve been facing the same issue, and it has been troubling me for several days. do you know how to resolve it? I would appreciate your guidance.

Hi there, can you provide a repro with the issue you are facing? Inluding the isaac sim version you are using. Thank you

Thank you very much for your response. I am using the isaac-sim version 2022.2.0. I am creating scenes where objects are scattered on a desk in a loop, and I hope to obtain the instance segmentation ground truth for each scene with the following code:

   """ =================================================================
            ===== Collect Viewport's RGB/DEPTH and object visible masks =====
            ================================================================= """
        gt = copy.deepcopy(self.sd_helper.get_groundtruth(self.gt_list, viewport_window, wait_for_sensor_data=0.1))

        # RGB
        if "rgb" in gt["state"]:
            if gt["state"]["rgb"]:
                groundtruth["DATA"]["RGB"] = gt["rgb"]
        # Depth (for Disparity)
        if "depthLinear" in gt["state"]:
            depth_data = copy.deepcopy(gt["depthLinear"]).squeeze()
            # Convert to scene units
            depth_data /= self.scene_units_in_meters
            depths.append(depth_data)
        
        if i == 0 or self.sample("groundtruth_stereo"):
            # Depth
            if "depthLinear" in gt["state"]:
                if self.sample("depth"):
                    depth_data = gt["depthLinear"].squeeze()
                    # Convert to scene units
                    depth_data /= self.scene_units_in_meters
                    groundtruth["DATA"]["DEPTH"] = depth_data
                    groundtruth["METADATA"]["DEPTH"]["COLORIZE"] = self.groundtruth_visuals
                    groundtruth["METADATA"]["DEPTH"]["NPY"] = True

            # Instance Segmentation
            if "instanceSegmentation" in gt["state"]:
                semantics = list(self.label_to_class_id.keys())
                instance_data, instance_mappings = self.sd_helper.sensor_helpers["instanceSegmentation"](
                    viewport_window, parsed=False, return_mapping=True)
                instances_list = [(im[0], im[4], im["semanticLabel"]) for im in instance_mappings][::-1]
                max_instance_id_list = max([max(il[1]) for il in instances_list])
                max_instance_id = instance_data.max()
                lut = np.zeros(max(max_instance_id, max_instance_id_list) + 1, dtype=np.uint32)

                for uid, il, sem in instances_list:
                    if sem in semantics and sem != "[[scenario]]":
                        lut[np.array(il)] = uid

When the program first creates the scene, the instance segmentation result obtained is relatively correct (most instances are segmented), but errors begin to occur when the program enters its second iteration (many instance data are not segmented), and these errors become increasingly severe with more iterations. I have printed the instance_mappings, and the results are as follows, it seems that with each iteration it uses more instanceIDs to set the instance. It seems that the instance mappings were not properly cleared after each iteration.

First iteration:
[( 1, ‘/World/Room/floor_0’, 11, ‘[[scenario]]’, list([27, 1]), ‘’)
( 2, ‘/World/Room/wall_1’, 11, ‘[[scenario]]’, list([9, 5]), ‘’)
( 3, ‘/World/Room/wall_2’, 11, ‘[[scenario]]’, list([25, 3]), ‘’)
( 4, ‘/World/Room/wall_3’, 11, ‘[[scenario]]’, list([23, 2]), ‘’)
( 5, ‘/World/Room/wall_4’, 11, ‘[[scenario]]’, list([30, 4]), ‘’)
( 6, ‘/World/Room/ceiling_5’, 11, ‘[[scenario]]’, list([6]), ‘’)
( 7, ‘/World/Room/table_1/nested_prim’, 11, ‘[[scenario]]’, list([34, 35]), ‘’)
( 8, ‘/World/Room/table_1’, 11, ‘[[scenario]]’, list([34, 35]), ‘’)
( 9, ‘/World/Room’, 11, ‘[[scenario]]’, list([27, 1, 9, 5, 25, 3, 23, 2, 30, 4, 6, 34, 35]), ‘’)
(10, ‘/World/Scene/Objects/object_0/nested_prim’, 12, ‘object_1’, list([31]), ‘’)
(11, ‘/World/Scene/Objects/object_0’, 12, ‘object_1’, list([31]), ‘’)
(12, ‘/World/Scene/Objects/object_1/nested_prim’, 12, ‘object_1’, list([18]), ‘’)
(13, ‘/World/Scene/Objects/object_1’, 12, ‘object_1’, list([18]), ‘’)
(14, ‘/World/Scene/Objects/object_2/nested_prim’, 13, ‘object_2’, list([29]), ‘’)
(15, ‘/World/Scene/Objects/object_2’, 13, ‘object_2’, list([29]), ‘’)
(16, ‘/World/Scene/Objects/object_3/nested_prim’, 13, ‘object_2’, list([33]), ‘’)
(17, ‘/World/Scene/Objects/object_3’, 13, ‘object_2’, list([33]), ‘’)
(18, ‘/World/Scene/Objects/object_4/nested_prim’, 14, ‘object_3’, list([21]), ‘’)
(19, ‘/World/Scene/Objects/object_4’, 14, ‘object_3’, list([21]), ‘’)
(20, ‘/World/Scene/Objects/object_5/nested_prim’, 14, ‘object_3’, list([28]), ‘’)
(21, ‘/World/Scene/Objects/object_5’, 14, ‘object_3’, list([28]), ‘’)
(22, ‘/World/Scene/Objects/object_6/nested_prim’, 14, ‘object_3’, list([1520948435]), ‘’)
(23, ‘/World/Scene/Objects/object_6’, 14, ‘object_3’, list([1520948435]), ‘’)
(24, ‘/World/Scene/Objects/object_7/nested_prim’, 15, ‘object_4’, list([20]), ‘’)
(25, ‘/World/Scene/Objects/object_7’, 15, ‘object_4’, list([20]), ‘’)
(26, ‘/World/Scene/Objects/object_8/nested_prim’, 15, ‘object_4’, list([12]), ‘’)
(27, ‘/World/Scene/Objects/object_8’, 15, ‘object_4’, list([12]), ‘’)
(28, ‘/World/Scene/Objects/object_9/nested_prim’, 16, ‘object_5’, list([15]), ‘’)
(29, ‘/World/Scene/Objects/object_9’, 16, ‘object_5’, list([15]), ‘’)
(30, ‘/World/Scene/Objects/object_10/nested_prim’, 16, ‘object_5’, list([24]), ‘’)
(31, ‘/World/Scene/Objects/object_10’, 16, ‘object_5’, list([24]), ‘’)
(32, ‘/World/Scene/Objects/object_11/nested_prim’, 16, ‘object_5’, list([32]), ‘’)
(33, ‘/World/Scene/Objects/object_11’, 16, ‘object_5’, list([32]), ‘’)
(34, ‘/World/Scene/Objects/object_12/nested_prim’, 17, ‘object_6’, list([26]), ‘’)
(35, ‘/World/Scene/Objects/object_12’, 17, ‘object_6’, list([26]), ‘’)
(36, ‘/World/Scene/Objects/object_13/nested_prim’, 17, ‘object_6’, list([14]), ‘’)
(37, ‘/World/Scene/Objects/object_13’, 17, ‘object_6’, list([14]), ‘’)
(38, ‘/World/Scene/Objects/object_14/nested_prim’, 17, ‘object_6’, list([22]), ‘’)
(39, ‘/World/Scene/Objects/object_14’, 17, ‘object_6’, list([22]), ‘’)
(40, ‘/World/Scene/Objects/object_15/nested_prim’, 17, ‘object_6’, list([19]), ‘’)
(41, ‘/World/Scene/Objects/object_15’, 17, ‘object_6’, list([19]), ‘’)
(42, ‘/World/Scene/Objects/object_16/nested_prim’, 18, ‘object_7’, list([16]), ‘’)
(43, ‘/World/Scene/Objects/object_16’, 18, ‘object_7’, list([16]), ‘’)
(44, ‘/World/Scene/Objects/object_17/nested_prim’, 18, ‘object_7’, list([13]), ‘’)
(45, ‘/World/Scene/Objects/object_17’, 18, ‘object_7’, list([13]), ‘’)
(46, ‘/World/Scene/Objects/object_18/nested_prim’, 18, ‘object_7’, list([10]), ‘’)
(47, ‘/World/Scene/Objects/object_18’, 18, ‘object_7’, list([10]), ‘’)
(48, ‘/World/Scene/Objects/object_19/nested_prim’, 18, ‘object_7’, list([11]), ‘’)
(49, ‘/World/Scene/Objects/object_19’, 18, ‘object_7’, list([11]), ‘’)]
50th iteration:
[( 1, ‘/World/Room/floor_0’, 11, ‘[[scenario]]’, list([22, 24, 8, 28, 4, 18, 27, 1]), ‘’)
( 2, ‘/World/Room/wall_1’, 11, ‘[[scenario]]’, list([13, 14, 7, 12, 8, 15, 22, 9, 5]), ‘’)
( 3, ‘/World/Room/wall_2’, 11, ‘[[scenario]]’, list([33, 23, 1, 14, 27, 13, 25, 3]), ‘’)
( 4, ‘/World/Room/wall_3’, 11, ‘[[scenario]]’, list([32, 12, 37, 35, 3, 29, 14, 23, 2]), ‘’)
( 5, ‘/World/Room/wall_4’, 11, ‘[[scenario]]’, list([28, 29, 21, 36, 23, 10, 30, 4]), ‘’)
( 6, ‘/World/Room/ceiling_5’, 11, ‘[[scenario]]’, list([6]), ‘’)
( 7, ‘/World/Room/table_1/nested_prim’, 11, ‘[[scenario]]’, list([2, 31, 26, 36, 19, 32, 34, 2, 21, 26, 32, 17, 37, 20, 33, 35]), ‘’)
( 8, ‘/World/Room/table_1’, 11, ‘[[scenario]]’, list([2, 31, 26, 36, 19, 32, 34, 2, 21, 26, 32, 17, 37, 20, 33, 35]), ‘’)
( 9, ‘/World/Room’, 11, ‘[[scenario]]’, list([22, 24, 8, 28, 4, 18, 27, 1, 13, 14, 7, 12, 8, 15, 22, 9, 5, 33, 23, 1, 14, 27, 13, 25, 3, 32, 12, 37, 35, 3, 29, 14, 23, 2, 28, 29, 21, 36, 23, 10, 30, 4, 6, 2, 31, 26, 36, 19, 32, 34, 2, 21, 26, 32, 17, 37, 20, 33, 35]), ‘’)
(10, ‘/World/Scene/Objects/object_0/nested_prim’, 12, ‘object_1’, list([8, 25, 11, 20, 31]), ‘’)
(11, ‘/World/Scene/Objects/object_0’, 12, ‘object_1’, list([8, 25, 11, 20, 31]), ‘’)
(12, ‘/World/Scene/Objects/object_1/nested_prim’, 12, ‘object_1’, list([27, 22, 17, 20, 7, 5, 18]), ‘’)
(13, ‘/World/Scene/Objects/object_1’, 12, ‘object_1’, list([27, 22, 17, 20, 7, 5, 18]), ‘’)
(14, ‘/World/Scene/Objects/object_2/nested_prim’, 12, ‘object_1’, list([23, 36, 19, 33, 21, 34, 3, 29]), ‘’)
(15, ‘/World/Scene/Objects/object_2’, 12, ‘object_1’, list([23, 36, 19, 33, 21, 34, 3, 29]), ‘’)
(16, ‘/World/Scene/Objects/object_3/nested_prim’, 13, ‘object_2’, list([12, 29, 36, 10, 37, 11, 28, 2, 33]), ‘’)
(17, ‘/World/Scene/Objects/object_3’, 13, ‘object_2’, list([12, 29, 36, 10, 37, 11, 28, 2, 33]), ‘’)
(18, ‘/World/Scene/Objects/object_4/nested_prim’, 14, ‘object_3’, list([23, 5, 27, 14, 12, 4, 21]), ‘’)
(19, ‘/World/Scene/Objects/object_4’, 14, ‘object_3’, list([23, 5, 27, 14, 12, 4, 21]), ‘’)
(20, ‘/World/Scene/Objects/object_5/nested_prim’, 14, ‘object_3’, list([25, 1, 10, 13, 26, 8, 28]), ‘’)
(21, ‘/World/Scene/Objects/object_5’, 14, ‘object_3’, list([25, 1, 10, 13, 26, 8, 28]), ‘’)
(22, ‘/World/Scene/Objects/object_6/nested_prim’, 15, ‘object_4’, list([20, 3, 2, 18, 19, 1520948435]), ‘’)
(23, ‘/World/Scene/Objects/object_6’, 15, ‘object_4’, list([20, 3, 2, 18, 19, 1520948435]), ‘’)
(24, ‘/World/Scene/Objects/object_7/nested_prim’, 15, ‘object_4’, list([12, 8, 21, 11, 24, 33, 20]), ‘’)
(25, ‘/World/Scene/Objects/object_7’, 15, ‘object_4’, list([12, 8, 21, 11, 24, 33, 20]), ‘’)
(26, ‘/World/Scene/Objects/object_8/nested_prim’, 16, ‘object_5’, list([34, 7, 18, 9, 15, 30, 29, 25, 12]), ‘’)
(27, ‘/World/Scene/Objects/object_8’, 16, ‘object_5’, list([34, 7, 18, 9, 15, 30, 29, 25, 12]), ‘’)
(28, ‘/World/Scene/Objects/object_9/nested_prim’, 16, ‘object_5’, list([36, 9, 32, 16, 33, 1, 26, 15]), ‘’)
(29, ‘/World/Scene/Objects/object_9’, 16, ‘object_5’, list([36, 9, 32, 16, 33, 1, 26, 15]), ‘’)
(30, ‘/World/Scene/Objects/object_10/nested_prim’, 16, ‘object_5’, list([10, 21, 16, 18, 5, 35, 24]), ‘’)
(31, ‘/World/Scene/Objects/object_10’, 16, ‘object_5’, list([10, 21, 16, 18, 5, 35, 24]), ‘’)
(32, ‘/World/Scene/Objects/object_11/nested_prim’, 17, ‘object_6’, list([26, 13, 7, 20, 28, 3, 16, 32]), ‘’)
(33, ‘/World/Scene/Objects/object_11’, 17, ‘object_6’, list([26, 13, 7, 20, 28, 3, 16, 32]), ‘’)
(34, ‘/World/Scene/Objects/object_12/nested_prim’, 17, ‘object_6’, list([37, 17, 35, 9, 22, 13, 26]), ‘’)
(35, ‘/World/Scene/Objects/object_12’, 17, ‘object_6’, list([37, 17, 35, 9, 22, 13, 26]), ‘’)
(36, ‘/World/Scene/Objects/object_13/nested_prim’, 17, ‘object_6’, list([5, 3, 15, 28, 27, 14]), ‘’)
(37, ‘/World/Scene/Objects/object_13’, 17, ‘object_6’, list([5, 3, 15, 28, 27, 14]), ‘’)
(38, ‘/World/Scene/Objects/object_14/nested_prim’, 18, ‘object_7’, list([16, 31, 33, 23, 24, 17, 9, 22]), ‘’)
(39, ‘/World/Scene/Objects/object_14’, 18, ‘object_7’, list([16, 31, 33, 23, 24, 17, 9, 22]), ‘’)
(40, ‘/World/Scene/Objects/object_15/nested_prim’, 18, ‘object_7’, list([24, 17, 15, 29, 19]), ‘’)
(41, ‘/World/Scene/Objects/object_15’, 18, ‘object_7’, list([24, 17, 15, 29, 19]), ‘’)
(42, ‘/World/Scene/Objects/object_16/nested_prim’, 18, ‘object_7’, list([9, 30, 18, 24, 11, 16]), ‘’)
(43, ‘/World/Scene/Objects/object_16’, 18, ‘object_7’, list([9, 30, 18, 24, 11, 16]), ‘’)
(44, ‘/World/Scene/Objects/object_17/nested_prim’, 21, ‘object_8’, list([30, 16, 24, 28, 25, 20, 13]), ‘’)
(45, ‘/World/Scene/Objects/object_17’, 21, ‘object_8’, list([30, 16, 24, 28, 25, 20, 13]), ‘’)
(46, ‘/World/Scene/Objects/object_18/nested_prim’, 21, ‘object_8’, list([11, 20, 35, 22, 12, 10]), ‘’)
(47, ‘/World/Scene/Objects/object_18’, 21, ‘object_8’, list([11, 20, 35, 22, 12, 10]), ‘’)
(48, ‘/World/Scene/Objects/object_19/nested_prim’, 21, ‘object_8’, list([7, 1, 13, 16, 21, 11]), ‘’)
(49, ‘/World/Scene/Objects/object_19’, 21, ‘object_8’, list([7, 1, 13, 16, 21, 11]), ‘’)]

It seems you are using an old version of isaac sim, since then the SDG part moved to fully use replicator:

Without a full repro I am not sure if this is could be a bug or something happening in the scene. As we no longer support this version I would suggest upgrading to the latest version where you can also get proper help if something does not work as intended.