Unsupported data type 0 on primvar 'doNotCastShadows' in geometry

Omniverse Synthetic Data Generation (SDG)
1

Hi, I’m making a replicator pipeline for semantic segmentation.
I generate a bunch of distractors like this:

def create_random_assets():
    count = 30
    usd_files = [
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Storage/Bottles/Plastic/NaturalBostonRound_A/NaturalBostonRoundBottle_A01_PR_NVD_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Storage/Bottles/Plastic/WhitePacker_A/WhitePackerBottle_A02_PR_NVD_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Storage/Bins/Bin_A_Variants.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Safety/Barriers/BollardSleeve_A/BollardSleeve_A09_Yellow_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Safety/Barriers/HiVisOutdoorCrowdControl_A/HiVisOutdoorCrowdControl_A01_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Safety/Cones/Colored_Traffic/ColoredTrafficCone_A01_71cm_PR_V_NVD_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Safety/Cones/Heavy-Duty_Traffic/HeavyDutyTrafficCone_A04_46cm_PR_V_NVD_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Safety/Floor_Signs/WetFloor_A/WetFloorSign_A01_PR_NVD_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Safety/Floor_Signs/Movable_A/FloorSignMovable_PR_NVD_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Safety/Floor_Signs/MobileShutOffSystem_A/MobileShutOffSystem_A02_PR_NVD_01.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Storage/Boxes/Box_A_Variants.usd",
        "omniverse://localhost/NVIDIA/Assets/DigitalTwin/Assets/Warehouse/Storage/Cases/Case_A/Case_A04_71x53x34cm_PR_V_NVD_01.usd",
    ]


    assets = rep.randomizer.instantiate(
        usd_files,
        size=count
    )

    return assets


with rep.new_layer():
            camera = rep.create.camera(position=(0, 0, 3), rotation=(0,-90,0))
            render_product = rep.create.render_product(camera, (1024, 1024))

            scale = 100

            assets = create_random_assets()

           
            rep.randomizer.register(random_shapes)


            with rep.trigger.on_frame():

                rep.randomizer.rect_lights(5)

                with assets:
                    rep.modify.pose(
                        position=rep.distribution.uniform((-150, 0, -150), (150, 35, 150)),
                        rotation=rep.distribution.uniform((-180, -180, -180), (180, 180, 180)),
                        scale=rep.distribution.uniform((0.3, 0.3, 0.3), (1.0, 1.0, 1.0))
                    )

                with camera:
                    rep.modify.pose(
                        position=rep.distribution.uniform((-1.5 * scale, 0.2 * scale, -1.5 * scale), 
                                                          (1.5  * scale, 1.5 * scale, 1.5 * scale)),
                        look_at=rep.distribution.uniform((-1 * scale, 0, -1 * scale), (1 * scale, 0, 1 * scale)),
                    )
                    rep.modify.attribute("focalLength", rep.distribution.uniform(5, 50))


            # Initialize and attach writer
            writer = rep.WriterRegistry.get("BasicWriter")

            writer.initialize( output_dir="_output", rgb=True, semantic_segmentation=True)

            writer.attach([render_product])

The code works as expected, meaning random objects get created and their positions, rotations and scale is randomized every replicator step.
However, my console is filled with errors like this:

2025-06-25 11:38:57  [Error] [omni.hydra] Unsupported data type 0 on primvar 'doNotCastShadows' in geometry '/Replicator/SampledAssets/Population_f9bfe2f9/Ref_Xform_23/Ref.proto_SM_WetFloorSign_A01_Decals_01_id0'

This gets printed for 30+ different objects every replicator step.
Also, do i understand correctly that this code should generate the objects once and then just move them around every replicator step because i see the Stage hierarchy refreshing every step and it’s pretty slow (like it’s loading new objects every step).
My simulation also crashed a couple of times while generating frames but i don’t know if this is the cause.

2

@petar.slavicek just out of curiosity, which version of Isaac Sim are you running? also, the error you posted seems to be on one of the USD files (possibly the xform, which would make sense that the xform couldn’t have prim attribute). is that the only error you are getting or from all of the USD files? perhaps providing the full log could facilitate with the troubleshooting.

as regard to performance, can you breakdown the hardware and driver you are running on?

3

Sorry for not clarifying but the same error shows up on pretty much all the imported files. I get a bunch of them with just the paths changed.
I’ll copy the log as soon as i get the chance.
I’m currently on 4.2 but i tried it on 4.5 and the same thing prints in the console only now its just a warning and not an error. Should i just ignore it?

4

I tested your example on isaac sim 4.5 and got 249 warnings, and I also tested on 5.0 and got no warnings related to this. Right now I think this is benign. However, if you do crash make sure to drop your logs to get better insight on what the issue could be.