omni.isaac.lab.terrains.trimesh.mesh_terrains 源代码

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Functions to generate different terrains using the ``trimesh`` library."""

from __future__ import annotations

import numpy as np
import scipy.spatial.transform as tf
import torch
import trimesh
from typing import TYPE_CHECKING

from .utils import *  # noqa: F401, F403
from .utils import make_border, make_plane

if TYPE_CHECKING:
    from . import mesh_terrains_cfg


[文档]def flat_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshPlaneTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a flat terrain as a plane. .. image:: ../../_static/terrains/trimesh/flat_terrain.jpg :width: 45% :align: center Note: The :obj:`difficulty` parameter is ignored for this terrain. Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # compute the position of the terrain origin = (cfg.size[0] / 2.0, cfg.size[1] / 2.0, 0.0) # compute the vertices of the terrain plane_mesh = make_plane(cfg.size, 0.0, center_zero=False) # return the tri-mesh and the position return [plane_mesh], np.array(origin)
[文档]def pyramid_stairs_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshPyramidStairsTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with a pyramid stair pattern. The terrain is a pyramid stair pattern which trims to a flat platform at the center of the terrain. If :obj:`cfg.holes` is True, the terrain will have pyramid stairs of length or width :obj:`cfg.platform_width` (depending on the direction) with no steps in the remaining area. Additionally, no border will be added. .. image:: ../../_static/terrains/trimesh/pyramid_stairs_terrain.jpg :width: 45% .. image:: ../../_static/terrains/trimesh/pyramid_stairs_terrain_with_holes.jpg :width: 45% Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # resolve the terrain configuration step_height = cfg.step_height_range[0] + difficulty * (cfg.step_height_range[1] - cfg.step_height_range[0]) # compute number of steps in x and y direction num_steps_x = (cfg.size[0] - 2 * cfg.border_width - cfg.platform_width) // (2 * cfg.step_width) + 1 num_steps_y = (cfg.size[1] - 2 * cfg.border_width - cfg.platform_width) // (2 * cfg.step_width) + 1 # we take the minimum number of steps in x and y direction num_steps = int(min(num_steps_x, num_steps_y)) # initialize list of meshes meshes_list = list() # generate the border if needed if cfg.border_width > 0.0 and not cfg.holes: # obtain a list of meshes for the border border_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], -step_height / 2] border_inner_size = (cfg.size[0] - 2 * cfg.border_width, cfg.size[1] - 2 * cfg.border_width) make_borders = make_border(cfg.size, border_inner_size, step_height, border_center) # add the border meshes to the list of meshes meshes_list += make_borders # generate the terrain # -- compute the position of the center of the terrain terrain_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.0] terrain_size = (cfg.size[0] - 2 * cfg.border_width, cfg.size[1] - 2 * cfg.border_width) # -- generate the stair pattern for k in range(num_steps): # check if we need to add holes around the steps if cfg.holes: box_size = (cfg.platform_width, cfg.platform_width) else: box_size = (terrain_size[0] - 2 * k * cfg.step_width, terrain_size[1] - 2 * k * cfg.step_width) # compute the quantities of the box # -- location box_z = terrain_center[2] + k * step_height / 2.0 box_offset = (k + 0.5) * cfg.step_width # -- dimensions box_height = (k + 2) * step_height # generate the boxes # top/bottom box_dims = (box_size[0], cfg.step_width, box_height) # -- top box_pos = (terrain_center[0], terrain_center[1] + terrain_size[1] / 2.0 - box_offset, box_z) box_top = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # -- bottom box_pos = (terrain_center[0], terrain_center[1] - terrain_size[1] / 2.0 + box_offset, box_z) box_bottom = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # right/left if cfg.holes: box_dims = (cfg.step_width, box_size[1], box_height) else: box_dims = (cfg.step_width, box_size[1] - 2 * cfg.step_width, box_height) # -- right box_pos = (terrain_center[0] + terrain_size[0] / 2.0 - box_offset, terrain_center[1], box_z) box_right = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # -- left box_pos = (terrain_center[0] - terrain_size[0] / 2.0 + box_offset, terrain_center[1], box_z) box_left = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # add the boxes to the list of meshes meshes_list += [box_top, box_bottom, box_right, box_left] # generate final box for the middle of the terrain box_dims = ( terrain_size[0] - 2 * num_steps * cfg.step_width, terrain_size[1] - 2 * num_steps * cfg.step_width, (num_steps + 2) * step_height, ) box_pos = (terrain_center[0], terrain_center[1], terrain_center[2] + num_steps * step_height / 2) box_middle = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) meshes_list.append(box_middle) # origin of the terrain origin = np.array([terrain_center[0], terrain_center[1], (num_steps + 1) * step_height]) return meshes_list, origin
[文档]def inverted_pyramid_stairs_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with a inverted pyramid stair pattern. The terrain is an inverted pyramid stair pattern which trims to a flat platform at the center of the terrain. If :obj:`cfg.holes` is True, the terrain will have pyramid stairs of length or width :obj:`cfg.platform_width` (depending on the direction) with no steps in the remaining area. Additionally, no border will be added. .. image:: ../../_static/terrains/trimesh/inverted_pyramid_stairs_terrain.jpg :width: 45% .. image:: ../../_static/terrains/trimesh/inverted_pyramid_stairs_terrain_with_holes.jpg :width: 45% Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # resolve the terrain configuration step_height = cfg.step_height_range[0] + difficulty * (cfg.step_height_range[1] - cfg.step_height_range[0]) # compute number of steps in x and y direction num_steps_x = (cfg.size[0] - 2 * cfg.border_width - cfg.platform_width) // (2 * cfg.step_width) + 1 num_steps_y = (cfg.size[1] - 2 * cfg.border_width - cfg.platform_width) // (2 * cfg.step_width) + 1 # we take the minimum number of steps in x and y direction num_steps = int(min(num_steps_x, num_steps_y)) # total height of the terrain total_height = (num_steps + 1) * step_height # initialize list of meshes meshes_list = list() # generate the border if needed if cfg.border_width > 0.0 and not cfg.holes: # obtain a list of meshes for the border border_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], -0.5 * step_height] border_inner_size = (cfg.size[0] - 2 * cfg.border_width, cfg.size[1] - 2 * cfg.border_width) make_borders = make_border(cfg.size, border_inner_size, step_height, border_center) # add the border meshes to the list of meshes meshes_list += make_borders # generate the terrain # -- compute the position of the center of the terrain terrain_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.0] terrain_size = (cfg.size[0] - 2 * cfg.border_width, cfg.size[1] - 2 * cfg.border_width) # -- generate the stair pattern for k in range(num_steps): # check if we need to add holes around the steps if cfg.holes: box_size = (cfg.platform_width, cfg.platform_width) else: box_size = (terrain_size[0] - 2 * k * cfg.step_width, terrain_size[1] - 2 * k * cfg.step_width) # compute the quantities of the box # -- location box_z = terrain_center[2] - total_height / 2 - (k + 1) * step_height / 2.0 box_offset = (k + 0.5) * cfg.step_width # -- dimensions box_height = total_height - (k + 1) * step_height # generate the boxes # top/bottom box_dims = (box_size[0], cfg.step_width, box_height) # -- top box_pos = (terrain_center[0], terrain_center[1] + terrain_size[1] / 2.0 - box_offset, box_z) box_top = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # -- bottom box_pos = (terrain_center[0], terrain_center[1] - terrain_size[1] / 2.0 + box_offset, box_z) box_bottom = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # right/left if cfg.holes: box_dims = (cfg.step_width, box_size[1], box_height) else: box_dims = (cfg.step_width, box_size[1] - 2 * cfg.step_width, box_height) # -- right box_pos = (terrain_center[0] + terrain_size[0] / 2.0 - box_offset, terrain_center[1], box_z) box_right = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # -- left box_pos = (terrain_center[0] - terrain_size[0] / 2.0 + box_offset, terrain_center[1], box_z) box_left = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) # add the boxes to the list of meshes meshes_list += [box_top, box_bottom, box_right, box_left] # generate final box for the middle of the terrain box_dims = ( terrain_size[0] - 2 * num_steps * cfg.step_width, terrain_size[1] - 2 * num_steps * cfg.step_width, step_height, ) box_pos = (terrain_center[0], terrain_center[1], terrain_center[2] - total_height - step_height / 2) box_middle = trimesh.creation.box(box_dims, trimesh.transformations.translation_matrix(box_pos)) meshes_list.append(box_middle) # origin of the terrain origin = np.array([terrain_center[0], terrain_center[1], -(num_steps + 1) * step_height]) return meshes_list, origin
[文档]def random_grid_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshRandomGridTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with cells of random heights and fixed width. The terrain is generated in the x-y plane and has a height of 1.0. It is then divided into a grid of the specified size :obj:`cfg.grid_width`. Each grid cell is then randomly shifted in the z-direction by a value uniformly sampled between :obj:`cfg.grid_height_range`. At the center of the terrain, a platform of the specified width :obj:`cfg.platform_width` is generated. If :obj:`cfg.holes` is True, the terrain will have randomized grid cells only along the plane extending from the platform (like a plus sign). The remaining area remains empty and no border will be added. .. image:: ../../_static/terrains/trimesh/random_grid_terrain.jpg :width: 45% .. image:: ../../_static/terrains/trimesh/random_grid_terrain_with_holes.jpg :width: 45% Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). Raises: ValueError: If the terrain is not square. This method only supports square terrains. RuntimeError: If the grid width is large such that the border width is negative. """ # check to ensure square terrain if cfg.size[0] != cfg.size[1]: raise ValueError(f"The terrain must be square. Received size: {cfg.size}.") # resolve the terrain configuration grid_height = cfg.grid_height_range[0] + difficulty * (cfg.grid_height_range[1] - cfg.grid_height_range[0]) # initialize list of meshes meshes_list = list() # compute the number of boxes in each direction num_boxes_x = int(cfg.size[0] / cfg.grid_width) num_boxes_y = int(cfg.size[1] / cfg.grid_width) # constant parameters terrain_height = 1.0 device = torch.device("cuda") if torch.cuda.is_available() else torch.device("cpu") # generate the border border_width = cfg.size[0] - min(num_boxes_x, num_boxes_y) * cfg.grid_width if border_width > 0: # compute parameters for the border border_center = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -terrain_height / 2) border_inner_size = (cfg.size[0] - border_width, cfg.size[1] - border_width) # create border meshes make_borders = make_border(cfg.size, border_inner_size, terrain_height, border_center) meshes_list += make_borders else: raise RuntimeError("Border width must be greater than 0! Adjust the parameter 'cfg.grid_width'.") # create a template grid of terrain height grid_dim = [cfg.grid_width, cfg.grid_width, terrain_height] grid_position = [0.5 * cfg.grid_width, 0.5 * cfg.grid_width, -terrain_height / 2] template_box = trimesh.creation.box(grid_dim, trimesh.transformations.translation_matrix(grid_position)) # extract vertices and faces of the box to create a template template_vertices = template_box.vertices # (8, 3) template_faces = template_box.faces # repeat the template box vertices to span the terrain (num_boxes_x * num_boxes_y, 8, 3) vertices = torch.tensor(template_vertices, device=device).repeat(num_boxes_x * num_boxes_y, 1, 1) # create a meshgrid to offset the vertices x = torch.arange(0, num_boxes_x, device=device) y = torch.arange(0, num_boxes_y, device=device) xx, yy = torch.meshgrid(x, y, indexing="ij") xx = xx.flatten().view(-1, 1) yy = yy.flatten().view(-1, 1) xx_yy = torch.cat((xx, yy), dim=1) # offset the vertices offsets = cfg.grid_width * xx_yy + border_width / 2 vertices[:, :, :2] += offsets.unsqueeze(1) # mask the vertices to create holes, s.t. only grids along the x and y axis are present if cfg.holes: # -- x-axis mask_x = torch.logical_and( (vertices[:, :, 0] > (cfg.size[0] - border_width - cfg.platform_width) / 2).all(dim=1), (vertices[:, :, 0] < (cfg.size[0] + border_width + cfg.platform_width) / 2).all(dim=1), ) vertices_x = vertices[mask_x] # -- y-axis mask_y = torch.logical_and( (vertices[:, :, 1] > (cfg.size[1] - border_width - cfg.platform_width) / 2).all(dim=1), (vertices[:, :, 1] < (cfg.size[1] + border_width + cfg.platform_width) / 2).all(dim=1), ) vertices_y = vertices[mask_y] # -- combine these vertices vertices = torch.cat((vertices_x, vertices_y)) # add noise to the vertices to have a random height over each grid cell num_boxes = len(vertices) # create noise for the z-axis h_noise = torch.zeros((num_boxes, 3), device=device) h_noise[:, 2].uniform_(-grid_height, grid_height) # reshape noise to match the vertices (num_boxes, 4, 3) # only the top vertices of the box are affected vertices_noise = torch.zeros((num_boxes, 4, 3), device=device) vertices_noise += h_noise.unsqueeze(1) # add height only to the top vertices of the box vertices[vertices[:, :, 2] == 0] += vertices_noise.view(-1, 3) # move to numpy vertices = vertices.reshape(-1, 3).cpu().numpy() # create faces for boxes (num_boxes, 12, 3). Each box has 6 faces, each face has 2 triangles. faces = torch.tensor(template_faces, device=device).repeat(num_boxes, 1, 1) face_offsets = torch.arange(0, num_boxes, device=device).unsqueeze(1).repeat(1, 12) * 8 faces += face_offsets.unsqueeze(2) # move to numpy faces = faces.view(-1, 3).cpu().numpy() # convert to trimesh grid_mesh = trimesh.Trimesh(vertices=vertices, faces=faces) meshes_list.append(grid_mesh) # add a platform in the center of the terrain that is accessible from all sides dim = (cfg.platform_width, cfg.platform_width, terrain_height + grid_height) pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -terrain_height / 2 + grid_height / 2) box_platform = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(box_platform) # specify the origin of the terrain origin = np.array([0.5 * cfg.size[0], 0.5 * cfg.size[1], grid_height]) return meshes_list, origin
[文档]def rails_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshRailsTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with box rails as extrusions. The terrain contains two sets of box rails created as extrusions. The first set (inner rails) is extruded from the platform at the center of the terrain, and the second set is extruded between the first set of rails and the terrain border. Each set of rails is extruded to the same height. .. image:: ../../_static/terrains/trimesh/rails_terrain.jpg :width: 40% :align: center Args: difficulty: The difficulty of the terrain. this is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # resolve the terrain configuration rail_height = cfg.rail_height_range[1] - difficulty * (cfg.rail_height_range[1] - cfg.rail_height_range[0]) # initialize list of meshes meshes_list = list() # extract quantities rail_1_thickness, rail_2_thickness = cfg.rail_thickness_range rail_center = (0.5 * cfg.size[0], 0.5 * cfg.size[1], rail_height * 0.5) # constants for terrain generation terrain_height = 1.0 rail_2_ratio = 0.6 # generate first set of rails rail_1_inner_size = (cfg.platform_width, cfg.platform_width) rail_1_outer_size = (cfg.platform_width + 2.0 * rail_1_thickness, cfg.platform_width + 2.0 * rail_1_thickness) meshes_list += make_border(rail_1_outer_size, rail_1_inner_size, rail_height, rail_center) # generate second set of rails rail_2_inner_x = cfg.platform_width + (cfg.size[0] - cfg.platform_width) * rail_2_ratio rail_2_inner_y = cfg.platform_width + (cfg.size[1] - cfg.platform_width) * rail_2_ratio rail_2_inner_size = (rail_2_inner_x, rail_2_inner_y) rail_2_outer_size = (rail_2_inner_x + 2.0 * rail_2_thickness, rail_2_inner_y + 2.0 * rail_2_thickness) meshes_list += make_border(rail_2_outer_size, rail_2_inner_size, rail_height, rail_center) # generate the ground dim = (cfg.size[0], cfg.size[1], terrain_height) pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -terrain_height / 2) ground_meshes = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(ground_meshes) # specify the origin of the terrain origin = np.array([pos[0], pos[1], 0.0]) return meshes_list, origin
[文档]def pit_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshPitTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with a pit with levels (stairs) leading out of the pit. The terrain contains a platform at the center and a staircase leading out of the pit. The staircase is a series of steps that are aligned along the x- and y- axis. The steps are created by extruding a ring along the x- and y- axis. If :obj:`is_double_pit` is True, the pit contains two levels. .. image:: ../../_static/terrains/trimesh/pit_terrain.jpg :width: 40% .. image:: ../../_static/terrains/trimesh/pit_terrain_with_two_levels.jpg :width: 40% Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # resolve the terrain configuration pit_depth = cfg.pit_depth_range[0] + difficulty * (cfg.pit_depth_range[1] - cfg.pit_depth_range[0]) # initialize list of meshes meshes_list = list() # extract quantities inner_pit_size = (cfg.platform_width, cfg.platform_width) total_depth = pit_depth # constants for terrain generation terrain_height = 1.0 ring_2_ratio = 0.6 # if the pit is double, the inner ring is smaller to fit the second level if cfg.double_pit: # increase the total height of the pit total_depth *= 2.0 # reduce the size of the inner ring inner_pit_x = cfg.platform_width + (cfg.size[0] - cfg.platform_width) * ring_2_ratio inner_pit_y = cfg.platform_width + (cfg.size[1] - cfg.platform_width) * ring_2_ratio inner_pit_size = (inner_pit_x, inner_pit_y) # generate the pit (outer ring) pit_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], -total_depth * 0.5] meshes_list += make_border(cfg.size, inner_pit_size, total_depth, pit_center) # generate the second level of the pit (inner ring) if cfg.double_pit: pit_center[2] = -total_depth meshes_list += make_border(inner_pit_size, (cfg.platform_width, cfg.platform_width), total_depth, pit_center) # generate the ground dim = (cfg.size[0], cfg.size[1], terrain_height) pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -total_depth - terrain_height / 2) ground_meshes = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(ground_meshes) # specify the origin of the terrain origin = np.array([pos[0], pos[1], -total_depth]) return meshes_list, origin
[文档]def box_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshBoxTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with boxes (similar to a pyramid). The terrain has a ground with boxes on top of it that are stacked on top of each other. The boxes are created by extruding a rectangle along the z-axis. If :obj:`double_box` is True, then two boxes of height :obj:`box_height` are stacked on top of each other. .. image:: ../../_static/terrains/trimesh/box_terrain.jpg :width: 40% .. image:: ../../_static/terrains/trimesh/box_terrain_with_two_boxes.jpg :width: 40% Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # resolve the terrain configuration box_height = cfg.box_height_range[0] + difficulty * (cfg.box_height_range[1] - cfg.box_height_range[0]) # initialize list of meshes meshes_list = list() # extract quantities total_height = box_height if cfg.double_box: total_height *= 2.0 # constants for terrain generation terrain_height = 1.0 box_2_ratio = 0.6 # Generate the top box dim = (cfg.platform_width, cfg.platform_width, terrain_height + total_height) pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], (total_height - terrain_height) / 2) box_mesh = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(box_mesh) # Generate the lower box if cfg.double_box: # calculate the size of the lower box outer_box_x = cfg.platform_width + (cfg.size[0] - cfg.platform_width) * box_2_ratio outer_box_y = cfg.platform_width + (cfg.size[1] - cfg.platform_width) * box_2_ratio # create the lower box dim = (outer_box_x, outer_box_y, terrain_height + total_height / 2) pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], (total_height - terrain_height) / 2 - total_height / 4) box_mesh = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(box_mesh) # Generate the ground pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -terrain_height / 2) dim = (cfg.size[0], cfg.size[1], terrain_height) ground_mesh = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(ground_mesh) # specify the origin of the terrain origin = np.array([pos[0], pos[1], total_height]) return meshes_list, origin
[文档]def gap_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshGapTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with a gap around the platform. The terrain has a ground with a platform in the middle. The platform is surrounded by a gap of width :obj:`gap_width` on all sides. .. image:: ../../_static/terrains/trimesh/gap_terrain.jpg :width: 40% :align: center Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # resolve the terrain configuration gap_width = cfg.gap_width_range[0] + difficulty * (cfg.gap_width_range[1] - cfg.gap_width_range[0]) # initialize list of meshes meshes_list = list() # constants for terrain generation terrain_height = 1.0 terrain_center = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -terrain_height / 2) # Generate the outer ring inner_size = (cfg.platform_width + 2 * gap_width, cfg.platform_width + 2 * gap_width) meshes_list += make_border(cfg.size, inner_size, terrain_height, terrain_center) # Generate the inner box box_dim = (cfg.platform_width, cfg.platform_width, terrain_height) box = trimesh.creation.box(box_dim, trimesh.transformations.translation_matrix(terrain_center)) meshes_list.append(box) # specify the origin of the terrain origin = np.array([terrain_center[0], terrain_center[1], 0.0]) return meshes_list, origin
[文档]def floating_ring_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshFloatingRingTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with a floating square ring. The terrain has a ground with a floating ring in the middle. The ring extends from the center from :obj:`platform_width` to :obj:`platform_width` + :obj:`ring_width` in the x and y directions. The thickness of the ring is :obj:`ring_thickness` and the height of the ring from the terrain is :obj:`ring_height`. .. image:: ../../_static/terrains/trimesh/floating_ring_terrain.jpg :width: 40% :align: center Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). """ # resolve the terrain configuration ring_height = cfg.ring_height_range[1] - difficulty * (cfg.ring_height_range[1] - cfg.ring_height_range[0]) ring_width = cfg.ring_width_range[0] + difficulty * (cfg.ring_width_range[1] - cfg.ring_width_range[0]) # initialize list of meshes meshes_list = list() # constants for terrain generation terrain_height = 1.0 # Generate the floating ring ring_center = (0.5 * cfg.size[0], 0.5 * cfg.size[1], ring_height + 0.5 * cfg.ring_thickness) ring_outer_size = (cfg.platform_width + 2 * ring_width, cfg.platform_width + 2 * ring_width) ring_inner_size = (cfg.platform_width, cfg.platform_width) meshes_list += make_border(ring_outer_size, ring_inner_size, cfg.ring_thickness, ring_center) # Generate the ground dim = (cfg.size[0], cfg.size[1], terrain_height) pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -terrain_height / 2) ground = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(ground) # specify the origin of the terrain origin = np.asarray([pos[0], pos[1], 0.0]) return meshes_list, origin
[文档]def star_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshStarTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with a star. The terrain has a ground with a cylinder in the middle. The star is made of :obj:`num_bars` bars with a width of :obj:`bar_width` and a height of :obj:`bar_height`. The bars are evenly spaced around the cylinder and connect to the peripheral of the terrain. .. image:: ../../_static/terrains/trimesh/star_terrain.jpg :width: 40% :align: center Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). Raises: ValueError: If :obj:`num_bars` is less than 2. """ # check the number of bars if cfg.num_bars < 2: raise ValueError(f"The number of bars in the star must be greater than 2. Received: {cfg.num_bars}") # resolve the terrain configuration bar_height = cfg.bar_height_range[0] + difficulty * (cfg.bar_height_range[1] - cfg.bar_height_range[0]) bar_width = cfg.bar_width_range[1] - difficulty * (cfg.bar_width_range[1] - cfg.bar_width_range[0]) # initialize list of meshes meshes_list = list() # Generate a platform in the middle platform_center = (0.5 * cfg.size[0], 0.5 * cfg.size[1], -bar_height / 2) platform_transform = trimesh.transformations.translation_matrix(platform_center) platform = trimesh.creation.cylinder( cfg.platform_width * 0.5, bar_height, sections=2 * cfg.num_bars, transform=platform_transform ) meshes_list.append(platform) # Generate bars to connect the platform to the terrain transform = np.eye(4) transform[:3, -1] = np.asarray(platform_center) yaw = 0.0 for _ in range(cfg.num_bars): # compute the length of the bar based on the yaw # length changes since the bar is connected to a square border bar_length = cfg.size[0] if yaw < 0.25 * np.pi: bar_length /= np.math.cos(yaw) elif yaw < 0.75 * np.pi: bar_length /= np.math.sin(yaw) else: bar_length /= np.math.cos(np.pi - yaw) # compute the transform of the bar transform[0:3, 0:3] = tf.Rotation.from_euler("z", yaw).as_matrix() # add the bar to the mesh dim = [bar_length - bar_width, bar_width, bar_height] bar = trimesh.creation.box(dim, transform) meshes_list.append(bar) # increment the yaw yaw += np.pi / cfg.num_bars # Generate the exterior border inner_size = (cfg.size[0] - 2 * bar_width, cfg.size[1] - 2 * bar_width) meshes_list += make_border(cfg.size, inner_size, bar_height, platform_center) # Generate the ground ground = make_plane(cfg.size, -bar_height, center_zero=False) meshes_list.append(ground) # specify the origin of the terrain origin = np.asarray([0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.0]) return meshes_list, origin
[文档]def repeated_objects_terrain( difficulty: float, cfg: mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg ) -> tuple[list[trimesh.Trimesh], np.ndarray]: """Generate a terrain with a set of repeated objects. The terrain has a ground with a platform in the middle. The objects are randomly placed on the terrain s.t. they do not overlap with the platform. Depending on the object type, the objects are generated with different parameters. The objects The types of objects that can be generated are: ``"cylinder"``, ``"box"``, ``"cone"``. The object parameters are specified in the configuration as curriculum parameters. The difficulty is used to linearly interpolate between the minimum and maximum values of the parameters. .. image:: ../../_static/terrains/trimesh/repeated_objects_cylinder_terrain.jpg :width: 30% .. image:: ../../_static/terrains/trimesh/repeated_objects_box_terrain.jpg :width: 30% .. image:: ../../_static/terrains/trimesh/repeated_objects_pyramid_terrain.jpg :width: 30% Args: difficulty: The difficulty of the terrain. This is a value between 0 and 1. cfg: The configuration for the terrain. Returns: A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m). Raises: ValueError: If the object type is not supported. It must be either a string or a callable. """ # import the object functions -- this is done here to avoid circular imports from .mesh_terrains_cfg import ( MeshRepeatedBoxesTerrainCfg, MeshRepeatedCylindersTerrainCfg, MeshRepeatedPyramidsTerrainCfg, ) # if object type is a string, get the function: make_{object_type} if isinstance(cfg.object_type, str): object_func = globals().get(f"make_{cfg.object_type}") else: object_func = cfg.object_type if not callable(object_func): raise ValueError(f"The attribute 'object_type' must be a string or a callable. Received: {object_func}") # Resolve the terrain configuration # -- pass parameters to make calling simpler cp_0 = cfg.object_params_start cp_1 = cfg.object_params_end # -- common parameters num_objects = cp_0.num_objects + int(difficulty * (cp_1.num_objects - cp_0.num_objects)) height = cp_0.height + difficulty * (cp_1.height - cp_0.height) # -- object specific parameters # note: SIM114 requires duplicated logical blocks under a single body. if isinstance(cfg, MeshRepeatedBoxesTerrainCfg): cp_0: MeshRepeatedBoxesTerrainCfg.ObjectCfg cp_1: MeshRepeatedBoxesTerrainCfg.ObjectCfg object_kwargs = { "length": cp_0.size[0] + difficulty * (cp_1.size[0] - cp_0.size[0]), "width": cp_0.size[1] + difficulty * (cp_1.size[1] - cp_0.size[1]), "max_yx_angle": cp_0.max_yx_angle + difficulty * (cp_1.max_yx_angle - cp_0.max_yx_angle), "degrees": cp_0.degrees, } elif isinstance(cfg, MeshRepeatedPyramidsTerrainCfg): # noqa: SIM114 cp_0: MeshRepeatedPyramidsTerrainCfg.ObjectCfg cp_1: MeshRepeatedPyramidsTerrainCfg.ObjectCfg object_kwargs = { "radius": cp_0.radius + difficulty * (cp_1.radius - cp_0.radius), "max_yx_angle": cp_0.max_yx_angle + difficulty * (cp_1.max_yx_angle - cp_0.max_yx_angle), "degrees": cp_0.degrees, } elif isinstance(cfg, MeshRepeatedCylindersTerrainCfg): # noqa: SIM114 cp_0: MeshRepeatedCylindersTerrainCfg.ObjectCfg cp_1: MeshRepeatedCylindersTerrainCfg.ObjectCfg object_kwargs = { "radius": cp_0.radius + difficulty * (cp_1.radius - cp_0.radius), "max_yx_angle": cp_0.max_yx_angle + difficulty * (cp_1.max_yx_angle - cp_0.max_yx_angle), "degrees": cp_0.degrees, } else: raise ValueError(f"Unknown terrain configuration: {cfg}") # constants for the terrain platform_clearance = 0.1 # initialize list of meshes meshes_list = list() # compute quantities origin = np.asarray((0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.5 * height)) platform_corners = np.asarray([ [origin[0] - cfg.platform_width / 2, origin[1] - cfg.platform_width / 2], [origin[0] + cfg.platform_width / 2, origin[1] + cfg.platform_width / 2], ]) platform_corners[0, :] *= 1 - platform_clearance platform_corners[1, :] *= 1 + platform_clearance # sample center for objects while True: object_centers = np.zeros((num_objects, 3)) object_centers[:, 0] = np.random.uniform(0, cfg.size[0], num_objects) object_centers[:, 1] = np.random.uniform(0, cfg.size[1], num_objects) # filter out the centers that are on the platform is_within_platform_x = np.logical_and( object_centers[:, 0] >= platform_corners[0, 0], object_centers[:, 0] <= platform_corners[1, 0] ) is_within_platform_y = np.logical_and( object_centers[:, 1] >= platform_corners[0, 1], object_centers[:, 1] <= platform_corners[1, 1] ) masks = np.logical_and(is_within_platform_x, is_within_platform_y) # if there are no objects on the platform, break if not np.any(masks): break # generate obstacles (but keep platform clean) for index in range(len(object_centers)): # randomize the height of the object ob_height = height + np.random.uniform(-cfg.max_height_noise, cfg.max_height_noise) if ob_height > 0.0: object_mesh = object_func(center=object_centers[index], height=ob_height, **object_kwargs) meshes_list.append(object_mesh) # generate a ground plane for the terrain ground_plane = make_plane(cfg.size, height=0.0, center_zero=False) meshes_list.append(ground_plane) # generate a platform in the middle dim = (cfg.platform_width, cfg.platform_width, 0.5 * height) pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.25 * height) platform = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos)) meshes_list.append(platform) return meshes_list, origin