[Question] How to control Mobile Robots more delicately?

[superjuices]

https://github.com/user-attachments/assets/85c3244b-9fe6-4609-bf6d-d325a45fee7a
As shown in the video above, I can add a controller to make the blue forklift move forward at a certain speed until it hits an obstacle. Now how can I make the forklift move in a loop along a certain trajectory so that I can make it move according to a certain pattern when rendering?
The reason for doing this is that I want to create environments with dynamic objects to train the agent to navigate.
I hope someone can answer this question, thanks !

[RandomOakForest]

Thank you for posting this question. It's a great conversation for our Discussions section. I'll move the post for the team to follow up. In the meantime, you may find useful the docs on trajectory generation and path planning in the motion generation section of the Isaac Sim docs.