Scatter_2d not saving bounding box 3d rotation

On linux with isaac sim 2022.2.1 when using the following randomizer, the bounding_box_3d rotation matrix in the npy file is plausible:

def env_props():
    size = rep.distribution.uniform(1, 5)
    instances = rep.randomizer.instantiate(
        rep.utils.get_usd_files(assets_path), size=size, mode="scene_instance"
    )

    with instances:
        rep.modify.pose(
            position=rep.distribution.uniform((3, 0.615, 0.015), (5, 2, 0.015)),
            rotation=rep.distribution.uniform((0, 0, -180), (0, 0, +180)),
        )
        rep.modify.semantics([("class", "object")])

    return instances.node

However when using scatter_2D the rotation matrix in the bounding_box_3d npy is always and identity matrix (and the objects collides with themselves) but the objects are correctly generated on the desired planes:

def env_props():
    size = rep.distribution.uniform(1, 5)
    instances = rep.randomizer.instantiate(
        rep.utils.get_usd_files(assets_path), size=size, mode="point_instance"
    )

    with instances:
        surface_prims = [
            "/Replicator/Plane_Xform/Plane",
            "/Replicator/Plane_Xform_01/Plane",
        ]
        rep.randomizer.scatter_2d(
            surface_prims=surface_prims, check_for_collisions=True
        )
        rep.modify.pose(
            rotation=rep.distribution.uniform((0, 0, -180), (0, 0, +180)),
        )

    return instances.node

Hi Davide,

Thanks for your inquiry. Sorry it has taken so long to respond to it!

The scatter nodes in the public release only support collision checking based on each asset’s position, but not on their rotation or scale. I realize this is a key drawback, and we have a working version of it internally that fixes this issue. It is close to being finished, and I’m hoping it will be out within a month or two.

-Henry