Can't control actors without using randomizer

Omniverse Isaac Sim
1

Title: IRA characters don’t execute my command file with --no_random_commands (they idle), but move fine when random commands are generated

Isaac Sim Version
5.0.0 (standalone build: isaac-sim-standalone-5.0.0-linux-x86_64)

Operating System
Other: Ubuntu 24.04 (Noble)

GPU Information
Model: NVIDIA GeForce RTX 4090
Driver Version: (please advise what you prefer—I can supply exact nvidia-smi output)

Topic Description

When I run Actor SDG with --no_random_commands, my human characters don’t execute any commands from my default_command.txt (they just idle). If I omit --no_random_commands so IRA generates random commands, characters do navigate as expected. From the docs, characters should read the command file and execute e.g., GoTo, Idle, LookAround, provided names and syntax are correct and the scene has a NavMesh. docs.isaacsim.omniverse.nvidia.com+2docs.isaacsim.omniverse.nvidia.com+2

Detailed Description

  • I launch like this:
/home/davit/Downloads/isaac-sim-standalone-5.0.0-linux-x86_64/python.sh main.py \
  -c actor_sdg/default_config.yaml \
  --save_usd \
  --no_random_commands
  • Relevant YAML (shortened):
isaacsim.replicator.agent:
  version: 0.7.0
  global:
    seed: 123456
    simulation_length: 200
  scene:
    asset_path: file:///home/davit/src/my_projects/Isaac-sim-scripts/assets/my_asset/CustomEnv_3/Myenv/env_01.usd
  character:
    enable: true
    asset_path: file:///home/davit/src/my_projects/Isaac-sim-scripts/assets/my_asset/CustomEnv_3/Characters/
    command_file: /home/davit/src/my_projects/Isaac-sim-scripts/actor_sdg/default_command.txt
    num: 6
    use_normalized_coordinates: false
    coordinate_space: world
  replicator:
    writer: IRABasicWriter
    parameters:
      rgb: true
      camera_params: true
  • Command file (example):
Character LookAround 2.92
Character GoTo -1.35 4.14 0 _
Character_01 LookAround 2.62
Character_01 GoTo 1.11 11.15 0 _
Character_02 LookAround 2.31
Character_02 GoTo -7.34 10.28 0 _
Character_03 Idle 3.21
Character_03 LookAround 2.05
Character_03 GoTo -12.76 17.99 0 _
Character_04 Idle 2.66
Character_04 LookAround 2.46
Character_04 Idle 5.52
Character_05 GoTo 8.18 14.69 0 _

  • In my script I call SimulationManager.load_config_file(...), then set_up_simulation_from_config_file(), then run_data_generation_async(...). My understanding is that when data generation starts, IRA reads the command file and executes the lines addressed to each character. docs.isaacsim.omniverse.nvidia.com

  • The same scene navigates correctly with randomized commands (so a NavMesh exists and pathing works). Docs say characters rely on a baked NavMesh; I can visualize one and random commands do move agents, so NavMesh shouldn’t be the issue.

3

Hi @davit.neparidze. Welcome to the community! We recently released 5.1 OSS on github. Could you please try that and see if this issue persists? Thanks.

4

@zhengwang it’s too late, i am wondering if you had scripts or examples that show the character animation? currently i copied sdg class and i am building on top of it, but this isn’t good practice

5

I noticed that the link you are referring to is for old version (Isaac Sim 4.2.0). Have you checked out the document for Isaac Sim 5.0.0: Actor Control — Isaac Sim Documentation?

6

Hello!

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