Isaac Sim Version
4.5.0
Operating System
Ubuntu 22.04
GPU Information
- Model: RTX 5000 Ada
- Driver Version: 535
I am attempting to reset a world with multiple carter robots, but each reset I want them in a randomized location in the world that is not in a collision. When I tried randomizing by having their position have a large normal distribution area via position=rep.distribution.normal
, they would randomize in or on walls, and the collisions would break the simulation.
As a fix, I then would take the robots current location, check the occupancy grid to find free space, and randomly select my own new robot location from the free gridcells. I would then set the robots new randomized location via prim.GetAttribute("xformOp:translate").Set(random_location)
. However, this caused issues with the transforms whenever I sent a robot to a location via Nav2Goal after changing the location. I have the same Nav2Goal issue as the following post Rviz error with Isaac Sim.
Is there any recommended way to ensure randomized locations in Isaac Sim won’t have collisions?