Working on an animated curve mesh within Issac sim which requires detection by the lidar collider system for a ML model.
I have created the curve from the action graph example with a custom script running 10 x-form positions to generate the curve prim targets. Following the method described in
“Action Graph and USD Curves Extension Overview in Omniverse Create”
This is all working perfectly with no issues. I am using this as a reference curve, as I dont see anyway to wrap a mesh around the curve from the input prim. Not sure if this is possible?
I did some testing with the constant width cubic basis curves method.
Using custom points from the above mentioned script and altering the normal3f normals to match the point count. I encountered some issues in detection and curve shape / mesh mismatch
I have two main issues with this.
- Initially the curve mesh is not registered by the collider, I used a test cube to check I wasn’t making a simple mistake, which is being detected by the lidar detector.
I found the following post,
Sadly I’m not any closer to understanding what the issue is here but I believe the basis curves usda, doesn’t actually have faces?
- The basis curves is based on points, which have no direction. For the reference curve prim I used a system of parent position x-forms and child x-forms then a “get look at rotation” system to provide the direction of curve thru the animation.
You can see in the attached picture that the reference curve and mesh are not aligned properly.
I’m wondering what is the best way to fix this can I make a mesh with user defined diameters to run smoothly along the prim curve and be detected by the collider system?
Thanks for the help, I’m pretty close to finishing my model now so it would be a massive help to get this one over the line!!!