Description
In using IsaacSim, we’ve observed that the positioning of replicated scenarios within the simulation environment can significantly influence the outcomes of experiments. This issue aims to address the need for consistent and controlled scenario positioning to ensure reliable and reproducible results.
Specific Scenario
I am testing a deformable body which is attached to a cuboid at half its length (see Fig. 1). The other half can move freely from a vertical position, and I want to assess the bending of this body. I made up to 500 copies of this scenario within the environment in order to study the effects of various parameters.
However, I recognized that even when using the same parameters for all copies, the results are different depending on where in the global coordinate system i place the copy (see Fig. 2).
In further investigating this issue with 100 copies and looking in detail at 10 of them, I recognized a symmetry around the origin of the global coordinate system. The origin of the global coordinate system is in the middle (between copies 45, 46, 55, and 56). The results of the copies indicated with the same color give approximately the same results (see Fig. 3).
Additionally, I observed that the variation in the results is more pronounced along the x direction, with little difference observed in the y direction (see Fig. 4 and Fig. 5).
Steps Taken
Utilized various time steps to assess the impact of temporal resolution.
Enhanced determinism to reduce variability.
Adjusted maximum position iterations to explore different convergence criteria.
Request for Feedback
I am looking for advice and suggestions on how to address the issue of scenario positioning affecting experimental outcomes in IsaacSim. Specifically:
- What are the possible reasons fro these results.
- How can I ensure consistent and controlled positioning of scenarios to minimize the variability in results?
- Are there known best practices for positioning multiple instances within a simulation environment to achieve reproducible results?
- What additional parameters or settings should I consider tweaking to reduce the influence of global positioning on the outcomes?
Any insights or recommendations from those who have encountered similar issues or have expertise in simulation environments would be greatly appreciated. Thank you!