Is there any mapping connecting the instanceId and the path of a prim?

Omniverse Isaac Sim
6

Almost forgot to check back in; As suspected Using the replicator didn’t work for me, as it would have required to rewrite too much, but adding a single line of code to my script where I add prims did the trick:

                add_reference_to_stage(usd_path=projectile_url, prim_path=prim_path)
                projectile_viewers[clone].append(world.scene.add(
                        RigidPrim(prim_path=prim_path,
                                  name='projectile_clone' + str(clone) + '_wave' + str(wave),
                                  # Randomizing change position of each clone
                                  position=clone_pos[clone] + rand_positions[clone][wave],
                                  orientation=clone_orient[clone] + rand_orientations[clone][wave]
                                 )
                    )               
                )
                projectile_prim = stage.GetPrimAtPath(prim_path)
                utils.setCollider(projectile_prim, approximationShape=collider_type)
                mass_api = UsdPhysics.MassAPI.Apply(projectile_prim)
                mass_api.CreateDensityAttr(projectile_conf['density']['value'])
                add_update_semantics(projectile_prim, 'projectile')

What did the trick is the last line (and import of course):

from omni.isaac.core.utils.semantics import add_update_semantics
add_update_semantics(projectile_prim, 'projectile')

All of a sudden bbox annotator outputted what I needed it to.

Thanks for assisting!