Hi, I am trying to run the Yolo training example in order to train the yolo network to recognise bananas in addition to the default actors but have encountered an error in the simulation/randomisation of the carter robot:
The simulation starts correctly and begins domain randomisation immediately, carter spawns at pose: [1, 0, 0, 0, -13.00, 58.00, 0.92] (so the robot spawns in between the racking, outside the object-heavy zone).
My problem begins when carter teleports to it’s first random pose: some kind of physics glitch occurs which causes carter to be thrown around the map, ending up in a position unsuitable for training (usually facing the floor/ceiling and sometimes ending up outside the map).
my camera_teleportation configuration is as follows:
“camera_teleportation”: {
“isaac.ml.Teleportation”: {
“interval”: 2.0,
“name”: “carter_1”,
“min”: [-25.8, 60.2, 0.2],
“max”: [4.8, 65.2, 0.5],
“min_yaw”: -3.14,
“max_yaw”: 3.14,
“enable_translation_x”: true,
“enable_translation_y”: true,
“enable_translation_z”: true,
“enable_yaw”: true,
“tick_period”: “10.0”
}
},
I have modified the interval to experiment with different timings.
Another issue I am experiencing with this simulation is that the camera position on the carter robot appears to be behind the mesh of the robot itself, blocking the camera.
I have some screenshots of this camera position but I couldn’t figure out how to attach the screenshot to my topic post.