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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question] Can the Terrains API Generate Large Uniformly Sloped Terrains? #1432

Closed H-Hisamichi closed 2 days ago

H-Hisamichi commented 1 week ago

Hello everyone,

I want to use a large uniformly sloped terrain for policy training in Isaac Lab. I know that the Terrains API can generate rough planes and pyramids. However, I couldn’t find a way to generate a terrain that maintains a consistent slope angle over several hundred meters.

Does the Terrains API have such functionality? Or would it be practical to generate a massive pyramid with a shallow slope as an alternative?

Thank you!

RandomOakForest commented 3 days ago

The API will let you import a USD file with a ground plane with the slope you need. You should be able to generate a stage with just the plane you need with Isaac Sim and save it as a USD file.

H-Hisamichi commented 3 days ago

Hello @RandomOakForest,

Thanks for the advice! I'll give that method a try. By the way, does Isaac Lab not have a feature to generate terrains with slopes?

RandomOakForest commented 3 days ago

This pyramid slope terrain is likely the closest we have now. Though it should be possible to write a function to generate a slope.