Hello all!
I have a simple mobile platform design with 4 mecanum wheels and I was wondering what would be the best way to model the wheels in order to simulate my robot using Isaac Gym.
Thank you very much for any answer!
Some further developments on this post.
I am basing my implementation of the mecanum wheels on this post for mecanum wheels on Isaac Sim Have anyone had success with Mecanum wheels on isaac? - #13 by magokeanu. Basically, I model the collision shape for the rollers as 6 spheres next to each other to achieve the variable diameter. The problem is, that with this implementation the number of collision shapes increases a lot and I have noticed that after having more than 296 collision shapes, my code produces an error regarding memory allocation:
python: malloc.c:4036: _int_malloc: Assertion `(unsigned long) (size) >= (unsigned long) (nb)’ failed.
Do you know if there is an upper limit on the number of collision shapes for each environment?
Thank you very much for any answer!
Hi @maltger - Have you reviewed Instanceable assets section from Gym documentation?
https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_gym_tutorials/tutorial_gym_instanceable_assets.html
This will be helpful if you are running with many environments. Can you clarify further about your problem? is it because of 296 shapes in a single env or if the issue only happens when you run with more envs?
Hello @rthaker. I am currently using the legged_gym repository and I am simulating using Isaac Gym, thus I do not have the possibility to use USD files (if I am not mistaken) as needed for the instanceable assets.
The error would pop up even when simulating only one environment, so I was thinking that maybe there are some limits for the buffers for each env.
Thank you very much for the help!