Cannot create collider in Replicator

Omniverse Synthetic Data Generation (SDG)
1

Steps to reproduce:

  1. Open script editor in Isaac Sim 2022.2.0
  2. Paste and execute the following script
import omni.replicator.core as rep

with rep.new_layer():

    camera = rep.create.camera(position=(10, 10, 5), look_at=(0, 0, 0))

    sphere_light = rep.create.light(
        light_type="Sphere",
        position=(10, 10, 20),
        intensity=20000,
        scale=10,
        count=1
    )

    torus = rep.create.torus(semantics=[('class', 'torus')] ,
    	position=(0, 0 , 4),
    	rotation=(10, 20, 30))
    
    with torus:
        rep.physics.collider()

Output:

2023-04-04 08:58:15  [Error] [omni.graph.core.plugin] /Replicator/SDGPipeline/OgnSampleChoice: Assertion raised in compute - Tried to set a value on AttributeData '__resolved_outputs:samples' of type 'token' with incompatible data (Unable to cast Python instance to C++ type (compile in debug mode for details))
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]   File "c:\users\brunovetter\appdata\local\ov\pkg\isaac_sim-2022.2.0\extscache\omni.replicator.core-1.6.4+104.1.wx64.r.cp37\omni\replicator\core\ogn\python\_impl\nodes\OgnSampleChoice.py", line 115, in compute
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]     db.outputs.samples = samples
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]   File "c:\users\brunovetter\appdata\local\ov\pkg\isaac_sim-2022.2.0\extscache\omni.replicator.core-1.6.4+104.1.wx64.r.cp37\omni\replicator\core\ogn\OgnSampleChoiceDatabase.py", line 168, in __setattr__
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]     super().__setattr__(item, new_value)
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]   File "c:\users\brunovetter\appdata\local\ov\pkg\isaac_sim-2022.2.0\kit\exts\omni.graph\omni\graph\core\_impl\database.py", line 657, in __setattr__
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]     super().__setattr__(item, new_value)
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]   File "c:\users\brunovetter\appdata\local\ov\pkg\isaac_sim-2022.2.0\extscache\omni.replicator.core-1.6.4+104.1.wx64.r.cp37\omni\replicator\core\ogn\OgnSampleChoiceDatabase.py", line 143, in samples
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]     self.samples.value = value_to_set
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]   File "c:\users\brunovetter\appdata\local\ov\pkg\isaac_sim-2022.2.0\kit\exts\omni.graph\omni\graph\core\_impl\utils.py", line 385, in wrapper_non_const
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]     return func(self, *args, **kwargs)
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]   File "c:\users\brunovetter\appdata\local\ov\pkg\isaac_sim-2022.2.0\kit\exts\omni.graph\omni\graph\core\_impl\runtime.py", line 126, in value
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]     self.helper.set(new_value, on_gpu=self._on_gpu)
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]   File "c:\users\brunovetter\appdata\local\ov\pkg\isaac_sim-2022.2.0\kit\exts\omni.graph\omni\graph\core\_impl\attribute_values.py", line 115, in set
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin]     self._data.set(new_value, on_gpu=on_gpu)
2023-04-04 08:58:15  [Error] [omni.graph.core.plugin] 
2023-04-04 08:58:15  [Warning] [omni.kit.widget.layers.layer_model] /Replicator/SphereLight_Xform.xformOp:translate is overridden in a stronger layer (Root Layer).
2023-04-04 08:58:15  [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Camera_Xform.xformOp:translate is overridden in a stronger layer (Root Layer).
2023-04-04 08:58:15  [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Torus_Xform.xformOp:translate is overridden in a stronger layer (Root Layer).
2023-04-04 08:58:15  [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Torus_Xform.xformOp:rotateXYZ is overridden in a stronger layer (Root Layer).
2023-04-04 08:58:15  [Warning] [omni.kit.widget.layers.layer_model] /Replicator/SphereLight_Xform.xformOp:scale is overridden in a stronger layer (Root Layer).
2023-04-04 08:58:15  [Warning] [omni.kit.widget.layers.layer_model] /Replicator/Camera_Xform.xformOp:rotateXYZ is overridden in a stronger layer (Root Layer).

Any help welcome
Bruno

2

To be more precise:
The collider is created, but gets the wrong appoximation shape(triangle mesh). I also get this error when trying the shape explicitly.

3

Please disregard this, it seems to be solved in Isaac Sim 2022.2.1.

4

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