Replicator writer does not write any data

The replicator example in <isaac_sim_dir>/standalone_examples/replicator/offline_generation.py does not write all frames defined in the config variable, if only rgb, depth_to_image_plane and camera_params are defined as annotators input to the BasicWriter.

It becomes even worse if a scene is setup from scratch with detailed materials and meshes. The writer does not output anything at all.
Logs:

2022-08-02 18:46:39 [192,605ms] [Info] [omni.replicator.core.scripts.backends.log] [tid 140497242621760][backends][disk.py] Writing data to /tmp/revip_out/camera_0
2022-08-02 18:46:39 [192,618ms] [Info] [carb] Plugin omni.hydra.scene_delegate.plugin already has a dependency relationship on omni.stageupdate.plugin; not changing unload order
2022-08-02 18:46:39 [192,633ms] [Info] [omni.kit.window.viewport.plugin] AOV LdrColorSD already added to viewport window
2022-08-02 18:46:39 [192,640ms] [Info] [omni.kit.window.viewport.plugin] AOV DistanceToImagePlaneSD already added to viewport window
2022-08-02 18:46:39 [192,656ms] [Error] [omni.graph.core.plugin] Failed to get USD Attribute for /Render/Simulation/SDGPipeline/RenderProduct_Viewport_GatherRenderProductCamera.inputs:primPaths of type token[]
2022-08-02 18:46:39 [192,660ms] [Info] [omni.kit.app.impl] [py stdout]: Outputting data to  /tmp/revip_out/camera_1

2022-08-02 18:46:39 [192,661ms] [Info] [omni.replicator.core.scripts.backends.log] [tid 140497242621760][backends][disk.py] Writing data to /tmp/revip_out/camera_1
2022-08-02 18:46:39 [192,672ms] [Info] [carb] Plugin omni.hydra.scene_delegate.plugin already has a dependency relationship on omni.stageupdate.plugin; not changing unload order
2022-08-02 18:46:39 [192,684ms] [Info] [omni.kit.window.viewport.plugin] AOV LdrColorSD already added to viewport window
2022-08-02 18:46:39 [192,690ms] [Info] [omni.kit.window.viewport.plugin] AOV DistanceToImagePlaneSD already added to viewport window
2022-08-02 18:46:39 [192,705ms] [Error] [omni.graph.core.plugin] Failed to get USD Attribute for /Render/Simulation/SDGPipeline/RenderProduct_Viewport_2_GatherRenderProductCamera.inputs:primPaths of type token[]
2022-08-02 18:46:39 [192,710ms] [Info] [omni.kit.renderer.plugin] Switch to the same render queue is requested
2022-08-02 18:46:39 [192,710ms] [Error] [omni.graph.core.plugin] Tried to end scheduler for a sync scope which does not exist.
2022-08-02 18:46:39 [192,711ms] [Error] [omni.graph.core.plugin] Tried to end scheduler for a sync scope which does not exist.
2022-08-02 18:46:39 [192,711ms] [Error] [omni.usd] HydraEngine::render failed to end the compute graph: error code 6
2022-08-02 18:46:39 [192,724ms] [Error] [omni.graph.core.plugin] OmniGraph Error: WritePrimAttribute Error: Attribute 'values' is empty.
                 (from compute() at line 207 in /home/zotlinde/.local/share/ov/pkg/deps/6138e4904b6ed78eaf33a4fed16bd105/extscache/omni.replicator.core-1.2.4+lx64.cp37/omni/replicator/core/ogn/python/_impl/nodes/OgnWritePrimAttribute.py)
2022-08-02 18:46:39 [192,737ms] [Info] [carb] Plugin omni.hydra.scene_delegate.plugin already has a dependency relationship on omni.stageupdate.plugin; not changing unload order
2022-08-02 18:46:39 [192,744ms] [Info] [carb] Plugin omni.hydra.scene_delegate.plugin already has a dependency relationship on omni.stageupdate.plugin; not changing unload order

Hi there,

Does the script write all the frames if the default annotators are selected?

Regarding the missing output for the newly created scene, could it be that the objects in the scene are not semantically annotated?

Best,
Andrei