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| <section id="terrains"> |
| <h1>Terrains<a class="headerlink" href="#terrains" title="Permalink to this heading"></a></h1> |
| <p>In addition to the API provided for adding flat ground planes into simulation environments, we also provide APIs and utilities for generating uneven terrains. |
| Terrains can be added as static triangle meshes using <code class="docutils literal notranslate"><span class="pre">gym.add_triangle_mesh()</span></code>. We provide utilities to generate some simple terrains in <code class="docutils literal notranslate"><span class="pre">isaacgym/terrain_utils.py</span></code>. |
| Different heightfield terrain types can be generated using: <code class="docutils literal notranslate"><span class="pre">random_uniform_terrain()</span></code>, <code class="docutils literal notranslate"><span class="pre">sloped_terrain()</span></code>, <code class="docutils literal notranslate"><span class="pre">pyramid_sloped_terrain()</span></code>, <code class="docutils literal notranslate"><span class="pre">discrete_obstacles_terrain()</span></code>, <code class="docutils literal notranslate"><span class="pre">wave_terrain()</span></code>, <code class="docutils literal notranslate"><span class="pre">stairs_terrain()</span></code>, <code class="docutils literal notranslate"><span class="pre">pyramid_stairs_terrain()</span></code>, and <code class="docutils literal notranslate"><span class="pre">stepping_stones_terrain()</span></code>. |
| They can then be converted to a triangle mesh using <code class="docutils literal notranslate"><span class="pre">convert_heightfield_to_trimesh()</span></code> and added to the simulation.</p> |
| <p>Please see <code class="docutils literal notranslate"><span class="pre">examples/terrain_creation.py</span></code> for more details.</p> |
| <img alt="../_images/terrain.png" src="../_images/terrain.png" /> |
| <p>We also showcase an example of Reinforcement Learning with uneven terrain in our AnymalTerrain environment, which can be found at <a class="reference external" href="https://github.com/NVIDIA-Omniverse/IsaacGymEnvs">https://github.com/NVIDIA-Omniverse/IsaacGymEnvs</a>.</p> |
| <img alt="../_images/anymal_on_terrain.png" src="../_images/anymal_on_terrain.png" /> |
| <section id="net-contact-force-issue"> |
| <h2>Net Contact Force Issue<a class="headerlink" href="#net-contact-force-issue" title="Permalink to this heading"></a></h2> |
| <p>The net contact force reporting (<code class="docutils literal notranslate"><span class="pre">gym.acquire_net_contact_force_tensor()</span></code>) of rigid bodies colliding with triangle meshes is known to be unreliable at the moment. |
| Due to interactions with triangle edges the reported forces can be largely reduced or even completely missed at some timesteps. |
| The net contact force reporting will be improved in the future. As a workaround we propose to use force sensors (<code class="docutils literal notranslate"><span class="pre">gym.create_asset_force_sensor()</span></code>) or filter the reported contact net contact forces in the environment.</p> |
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