Replicator modify pose and check for collisions


Is it possible to modify the pose of multiple prims without collisions? I am encountering the behaviour of fusing two objects together, which I dont want to have.

I am creating two prims (loaded from a USD) and want to randomly modify the pose.

Do I have to add something to the prim?

The documents and the examples are not really helping me.



Hi there,

currently the scatter_2d and scatter_3d has the check_for_collisions option. You can check if that would fit your needs. Otherwise you can use the USD / Isaac Sim API to manually randomize the objects in the scene and to trigger the data acquisition. Here is an example using scatter_2d: 3. Offline Dataset Generation — Omniverse Robotics documentation