Randomizing colors not working on Randomizer Instantiated pallet jacks

I am trying to generate pallet jacks like in the tutorial with the only difference being that I use randomizer to instantiate the pallet jacks instead of loading from_usd.

In the script below (with OV cloud links only) you will see the pallet jacks are spawned but the colors are not being changed.

Log hint is: [Warning] [omni.replicator.core.ogn.python._impl.nodes.OgnGetPrims] No prims found with given inputs: SteerAxles

# Default scene settings. This script default is 1 (IsaacSim), so if you change
# the meters per unit or up axis, you need to alter the coordinates and rotations.

# IsaacSim default is 1, Code is 0.01
stage_unit_setting:
  settings.set_stage_meters_per_unit:
    meters_per_unit: 1

# IsaacSim default is "Z"", Code is "Y"
stage_up_axis_setting:
  settings.set_stage_up_axis:
    up_axis: Z

# Enable Path Tracing
path_tracing:
  settings.set_render_pathtraced:
    samples_per_pixel: 32

path_tracing_clamp:
  settings.carb_settings:
    setting: /rtx/pathtracing/clampSpp
    value: 0

# Load the stage
load_stage:
  create.from_usd:
    usd: http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1/Isaac/Environments/Simple_Warehouse/full_warehouse.usd

# Select the objects in the stage
forklift:
  get.prim_at_path:
    path:  /Replicator/Ref_Xform/Ref/forklift

floor:
  get.prims:
    semantics: [[class, floor]]

racks_and_walls:
  get.prims:
    semantics: [[class, rack], [class, wall]]

camera:
  create.camera:
    position: [0, 0, 0]
    rotation: [0, 0, 0]

# Create output
render_product:
  create.render_product:
    camera: camera
    resolution: [1280, 720]

writer:
  writers.get:
    name: BasicWriter
    init_params:
      rgb: True
      bounding_box_2d_tight: True
      semantic_filter_predicate: class:palletjack
      output_dir: /workspaces/Surveily.Datasets.Generator.Omniverse/.out/Issues/colors

writer_attach:
  writer.attach:
    render_products: render_product

# Set the trigger as on_frame
trigger:
  trigger.on_frame:
    interval: 2
    max_execs: 20
    #rt_subframes: 10

# When the trigger executes, run the following logic
with_trigger:
  with.trigger:

    # create and scatter palletjacks
    palletjack_instance:
      randomizer.instantiate:
        paths:
          - http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment/Pallet_Trucks/Scale_A/PalletTruckScale_A01_PR_NVD_01.usd
          - http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment/Pallet_Trucks/Heavy_Duty_A/HeavyDutyPalletTruck_A01_PR_NVD_01.usd
          - http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/DigitalTwin/Assets/Warehouse/Equipment/Pallet_Trucks/Low_Profile_A/LowProfilePalletTruck_A01_PR_NVD_01.usd
        size: #20
          distribution.uniform:
            lower: 15
            upper: 30
        use_cache: False

    with.palletjack_instance:
      modify.pose:
        scale: 0.01
        rotation:
          distribution.uniform:
            lower: [0, 0, -180]
            upper: [0, 0, 180]
      modify.semantics:
        semantics: [[class, palletjack]]
      randomizer.scatter_2d:
        seed: 104
        surface_prims: floor
        no_coll_prims: racks_and_walls
        check_for_collisions: True

    palletjack_axles:
      get.prims:
        cache_result: False
        path_pattern: SteerAxles

    with.palletjack_axles:
      randomizer.color:
        colors:
          distribution.uniform:
            lower: [0, 0, 0]
            upper: [1, 1, 1]

    # move the camera around and rotate
    with.camera:
      modify.pose:
        position:
          distribution.uniform:
            lower: [-23.6, -3, 2.5]
            upper: [3.03, 3, 7.5]
        rotation:
          distribution.uniform:
            lower: [0, -30, -120]
            upper: [0, -10, -60]

@pcallender

cc @hclever @dennis.lynch @jiehanw

I have added the following but now I get random crashes. It does change colors though.

    palletjack_axles:
      get.prims:
        cache_result: False
        path_pattern: SteerAxles

please help @pcallender

anything?

It works when I just simply create X instances with from_usd function. The ones that are from randomizer.instantiate doesn’t work.