Hello, I have been trying to run a custom scenario after following steps mentioned in the documentation.
Currently, we have demo_1.json and demo_2.json at ~/isaac/packages/navsim/scenarios and upon changing this code to a different obstacle and robot prefab (Cube and TrianlgeRobot respectively), it still spawns and simulates the default (Cylinder and Carter_Wheeled) in Unity.
Here is mydemo.json in the same directory
{
"scene": "warehouse",
"description": "Drive from garage door to back of warehouse, encounter an unexpected obstacle",
"robots": [
{
"prefab": "TriangleRobot",
"name": "robot",
"node": "navsim",
"pose": [0.931374, 0, 0, 0.364064, 4.91, 0.85, 0.05]
}
],
"frames": [
{
"name": "pose_as_goal",
"pose": [0.707107, 0, 0, 0.707107, -8.12, -6, 0]
}
],
"obstacles": [
{
"prefab": "Cube",
"name": "obstacle in hallway",
"pose": [1, 0, 0, 0, 0.13, -4.67, 1]
}
]
}
Here is the command I am using to run the simulation with the new JSON file:
~/isaac/packages/navsim/unity$ ./navsim.x86_64 --scene warehouse --scenario 0 --mydemo.json /home/robot/isaac/packages/navsim/scenarios
and here is the command I use to run the navigation app:
~/isaac$ bazel run //apps/carter/navsim:navsim_navigate -- --more packages/navsim/maps/warehouse.json,packages/navsim/robots/triangle_robot.json
I have 2 questions:
- What am I missing to make it work with the new configuration?
- Eventually, is it possible to spawn my own robot (urdf) into this simulation in place of the carter robot? or is it just the 4 given options (Carter_Wheeled, RectangleRobot, TriangleRobot, and CircleRobot) that I can play with
I would appreciate any advice/help
Thanks in advance!
-Rudra