I’m interested in using Isaac Sim to reproduce and investigate faulty situations about my own developed robotic behaviours, so I need the simulator evolves exactly the same way (produces same output and update) starting from the same conditions (input, internal state, etc.).
To test the previous capability, I’ve built a dummy scene (dummyScene.project.usd) and print on console 4 depth values of the Laserscan every simulation frame using a custom Action Graph Node (implemented in LaserPrinter.ogn and LaserPrinter.py).
Running the simulation many times, numerical changes can be noted in the first frames (OutputComparison, Test2.txt vs Text3.txt).
Is it possible to remove that variations to get the repeatability of the simulation?
Other useful information:
- To start a new simulation, I reloaded the scene WITHOUT saving changes made by the previous simulation.
- The dummy scene contains a robot, controlled using a constant zero velocity setpoint, and some standard 3D bodies (they all have physics and collision active to interact with the LIDAR attached to the robot).
- HW and SW configuration:
-CPU: Intel(R) Core™ i9-10900K CPU @ 3.70GHz
-Mother Board: ROG STRIX Z490-E GAMING
-GPU: NVIDIA GeForce RTX 3090
-NVIDIA driver version: 515.65.01
-Isaac Sim: 2022.1.1 (updated from 2022.1.0 Beta) as Standalone application
Thank you all. Regards,
Test2.txt (636 Bytes)
Test3.txt (635 Bytes)