File size: 6,233 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates procedural terrains with flat patches.
Example usage:
.. code-block:: bash
# Generate terrain with height color scheme
./isaaclab.sh -p scripts/demos/procedural_terrain.py --color_scheme height
# Generate terrain with random color scheme
./isaaclab.sh -p scripts/demos/procedural_terrain.py --color_scheme random
# Generate terrain with no color scheme
./isaaclab.sh -p scripts/demos/procedural_terrain.py --color_scheme none
# Generate terrain with curriculum
./isaaclab.sh -p scripts/demos/procedural_terrain.py --use_curriculum
# Generate terrain with curriculum along with flat patches
./isaaclab.sh -p scripts/demos/procedural_terrain.py --use_curriculum --show_flat_patches
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates procedural terrain generation.")
parser.add_argument(
"--color_scheme",
type=str,
default="none",
choices=["height", "random", "none"],
help="Color scheme to use for the terrain generation.",
)
parser.add_argument(
"--use_curriculum",
action="store_true",
default=False,
help="Whether to use the curriculum for the terrain generation.",
)
parser.add_argument(
"--show_flat_patches",
action="store_true",
default=False,
help="Whether to show the flat patches computed during the terrain generation.",
)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import random
import torch
import isaaclab.sim as sim_utils
from isaaclab.assets import AssetBase
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
from isaaclab.terrains import FlatPatchSamplingCfg, TerrainImporter, TerrainImporterCfg
##
# Pre-defined configs
##
from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG # isort:skip
def design_scene() -> tuple[dict, torch.Tensor]:
"""Designs the scene."""
# Lights
cfg = sim_utils.DomeLightCfg(intensity=2000.0, color=(0.75, 0.75, 0.75))
cfg.func("/World/Light", cfg)
# Parse terrain generation
terrain_gen_cfg = ROUGH_TERRAINS_CFG.replace(curriculum=args_cli.use_curriculum, color_scheme=args_cli.color_scheme)
# Add flat patch configuration
# Note: To have separate colors for each sub-terrain type, we set the flat patch sampling configuration name
# to the sub-terrain name. However, this is not how it should be used in practice. The key name should be
# the intention of the flat patch. For instance, "source" or "target" for spawn and command related flat patches.
if args_cli.show_flat_patches:
for sub_terrain_name, sub_terrain_cfg in terrain_gen_cfg.sub_terrains.items():
sub_terrain_cfg.flat_patch_sampling = {
sub_terrain_name: FlatPatchSamplingCfg(num_patches=10, patch_radius=0.5, max_height_diff=0.05)
}
# Handler for terrains importing
terrain_importer_cfg = TerrainImporterCfg(
num_envs=2048,
env_spacing=3.0,
prim_path="/World/ground",
max_init_terrain_level=None,
terrain_type="generator",
terrain_generator=terrain_gen_cfg,
debug_vis=True,
)
# Remove visual material for height and random color schemes to use the default material
if args_cli.color_scheme in ["height", "random"]:
terrain_importer_cfg.visual_material = None
# Create terrain importer
terrain_importer = TerrainImporter(terrain_importer_cfg)
# Show the flat patches computed
if args_cli.show_flat_patches:
# Configure the flat patches
vis_cfg = VisualizationMarkersCfg(prim_path="/Visuals/TerrainFlatPatches", markers={})
for name in terrain_importer.flat_patches:
vis_cfg.markers[name] = sim_utils.CylinderCfg(
radius=0.5, # note: manually set to the patch radius for visualization
height=0.1,
visual_material=sim_utils.GlassMdlCfg(glass_color=(random.random(), random.random(), random.random())),
)
flat_patches_visualizer = VisualizationMarkers(vis_cfg)
# Visualize the flat patches
all_patch_locations = []
all_patch_indices = []
for i, patch_locations in enumerate(terrain_importer.flat_patches.values()):
num_patch_locations = patch_locations.view(-1, 3).shape[0]
# store the patch locations and indices
all_patch_locations.append(patch_locations.view(-1, 3))
all_patch_indices += [i] * num_patch_locations
# combine the patch locations and indices
flat_patches_visualizer.visualize(torch.cat(all_patch_locations), marker_indices=all_patch_indices)
# return the scene information
scene_entities = {"terrain": terrain_importer}
return scene_entities, terrain_importer.env_origins
def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, AssetBase], origins: torch.Tensor):
"""Runs the simulation loop."""
# Simulate physics
while simulation_app.is_running():
# perform step
sim.step()
def main():
"""Main function."""
# Initialize the simulation context
sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
sim = sim_utils.SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view(eye=[5.0, 5.0, 5.0], target=[0.0, 0.0, 0.0])
# design scene
scene_entities, scene_origins = design_scene()
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run the simulator
run_simulator(sim, scene_entities, scene_origins)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
|