cc @jlafleche @pcallender @hclever I’m having a very difficult situation where the data that comes out of the BasicWriter is incorrect in term of BBox sizes and instance segmentation. I don’t even know how to start digging into this as the data in the Isaac application seems all correct when I debu…

[image] jlafleche: It looks to me like you have the right idea. I think we can even avoid needing to use a custom trigger. Here’s a simplified script. Let me know if this approach works, or if I missed anything. import random import omni.replicator.core as rep NUM_TOTAL_ASSETS = 100 NUM_VISIBL…

I have also tried removing the post operation from on_frame to see if thats really the case but unfortunately it doesn’t “fix” the scatter. Seems like this approach is bugged on the distribution call. BTW even moving the pose op out of the on_frame it still adds it to the SDG graph. [image] [im…

Found it: the distribution output prims are not connecting to the Scatter prims input: [Warning] [omni.graph.core.plugin] /Replicator/SDGPipeline/OgnSampleUniform.outputs:samples of type double3[] is not compatible with /Replicator/SDGPipeline/OgnScatter2D.inputs:prims of type rel

This is not a solution but confirms my observations: Connecting the group to the scatter manually makes it scatter. [image] The operations are still parallel so we have a race condition. Unplugging the pose operation does indeed scatter things. Seems like the proposed approach is a no go @…

@pcallender @jlafleche any ideas? Custom OGN?

Ahh, I see. Isaac Sim 4.2 is missing a Choice node that is compatible with the Targets Omnigraph datatype - that leads to no prims being attached to the scatter node and therefore no way for it to know to attach them sequentially. Here’s a revised script that is compatible with Isaac Sim 4.2 using …

Your code works fine. Thank you so much I will apply it to my solution ASAP aka next week!

@jlafleche looking at the graph it still contains race condition between scattering and positioning to UNDERGROUND. Am I looking at this incorrectly?

@jlafleche @pcallender unfortunately my assumptions of parallelism are correct. After adding more randomizer steps I now get everything sent to UNDERGROUND and nothing is on the plane. Is there a way we can enforce an order of trigger operations on each frame?

I think I have reached the point where its more efficient to wait for a usd loader fix in 4.3 so I can just load all those USDs variants on each frame and so it just works. The further we go down this rabbit hole the more time we all burn and we are not getting any closer to resolving the problem.

I understand the furstration. I’m curious why you’re still seeing a race condition though. You should see the exce connection tied to a Rational Sync Gate like so: [image] This gate makes it impossible for the scatter node to activate before the one moving prims underground. You can however also …

Incorrect BBoxes in BasicWriter output

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Incorrect BBoxes in BasicWriter output

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