158 lines
7.5 KiB
Python
158 lines
7.5 KiB
Python
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import numpy as np
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from numpy.random import choice
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from scipy import interpolate
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from isaacgym import terrain_utils
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from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg
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class Terrain:
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def __init__(self, cfg: LeggedRobotCfg.terrain, num_robots) -> None:
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self.cfg = cfg
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self.num_robots = num_robots
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self.type = cfg.mesh_type
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if self.type in ["none", 'plane']:
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return
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self.env_length = cfg.terrain_length
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self.env_width = cfg.terrain_width
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self.proportions = [np.sum(cfg.terrain_proportions[:i+1]) for i in range(len(cfg.terrain_proportions))]
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self.cfg.num_sub_terrains = cfg.num_rows * cfg.num_cols
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self.env_origins = np.zeros((cfg.num_rows, cfg.num_cols, 3))
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self.width_per_env_pixels = int(self.env_width / cfg.horizontal_scale)
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self.length_per_env_pixels = int(self.env_length / cfg.horizontal_scale)
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self.border = int(cfg.border_size/self.cfg.horizontal_scale)
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self.tot_cols = int(cfg.num_cols * self.width_per_env_pixels) + 2 * self.border
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self.tot_rows = int(cfg.num_rows * self.length_per_env_pixels) + 2 * self.border
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self.height_field_raw = np.zeros((self.tot_rows , self.tot_cols), dtype=np.int16)
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if cfg.curriculum:
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self.curiculum()
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elif cfg.selected:
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self.selected_terrain()
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else:
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self.randomized_terrain()
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self.heightsamples = self.height_field_raw
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if self.type=="trimesh":
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self.vertices, self.triangles = terrain_utils.convert_heightfield_to_trimesh( self.height_field_raw,
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self.cfg.horizontal_scale,
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self.cfg.vertical_scale,
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self.cfg.slope_treshold)
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def randomized_terrain(self):
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for k in range(self.cfg.num_sub_terrains):
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# Env coordinates in the world
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(i, j) = np.unravel_index(k, (self.cfg.num_rows, self.cfg.num_cols))
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choice = np.random.uniform(0, 1)
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difficulty = np.random.choice([0.5, 0.75, 0.9])
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terrain = self.make_terrain(choice, difficulty)
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self.add_terrain_to_map(terrain, i, j)
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def curiculum(self):
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for j in range(self.cfg.num_cols):
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for i in range(self.cfg.num_rows):
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difficulty = i / self.cfg.num_rows
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choice = j / self.cfg.num_cols + 0.001
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terrain = self.make_terrain(choice, difficulty)
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self.add_terrain_to_map(terrain, i, j)
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def selected_terrain(self):
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terrain_type = self.cfg.terrain_kwargs.pop('type')
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for k in range(self.cfg.num_sub_terrains):
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# Env coordinates in the world
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(i, j) = np.unravel_index(k, (self.cfg.num_rows, self.cfg.num_cols))
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terrain = terrain_utils.SubTerrain("terrain",
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width=self.width_per_env_pixels,
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length=self.width_per_env_pixels,
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vertical_scale=self.vertical_scale,
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horizontal_scale=self.horizontal_scale)
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eval(terrain_type)(terrain, **self.cfg.terrain_kwargs.terrain_kwargs)
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self.add_terrain_to_map(terrain, i, j)
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def make_terrain(self, choice, difficulty):
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terrain = terrain_utils.SubTerrain( "terrain",
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width=self.width_per_env_pixels,
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length=self.width_per_env_pixels,
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vertical_scale=self.cfg.vertical_scale,
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horizontal_scale=self.cfg.horizontal_scale)
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slope = difficulty * 0.4
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step_height = 0.05 + 0.18 * difficulty
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discrete_obstacles_height = 0.05 + difficulty * 0.2
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stepping_stones_size = 1.5 * (1.05 - difficulty)
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stone_distance = 0.05 if difficulty==0 else 0.1
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gap_size = 1. * difficulty
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pit_depth = 1. * difficulty
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if choice < self.proportions[0]:
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if choice < self.proportions[0]/ 2:
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slope *= -1
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terrain_utils.pyramid_sloped_terrain(terrain, slope=slope, platform_size=3.)
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elif choice < self.proportions[1]:
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terrain_utils.pyramid_sloped_terrain(terrain, slope=slope, platform_size=3.)
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terrain_utils.random_uniform_terrain(terrain, min_height=-0.05, max_height=0.05, step=0.005, downsampled_scale=0.2)
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elif choice < self.proportions[3]:
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if choice<self.proportions[2]:
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step_height *= -1
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terrain_utils.pyramid_stairs_terrain(terrain, step_width=0.31, step_height=step_height, platform_size=3.)
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elif choice < self.proportions[4]:
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num_rectangles = 20
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rectangle_min_size = 1.
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rectangle_max_size = 2.
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terrain_utils.discrete_obstacles_terrain(terrain, discrete_obstacles_height, rectangle_min_size, rectangle_max_size, num_rectangles, platform_size=3.)
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elif choice < self.proportions[5]:
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terrain_utils.stepping_stones_terrain(terrain, stone_size=stepping_stones_size, stone_distance=stone_distance, max_height=0., platform_size=4.)
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elif choice < self.proportions[6]:
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gap_terrain(terrain, gap_size=gap_size, platform_size=3.)
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else:
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pit_terrain(terrain, depth=pit_depth, platform_size=4.)
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return terrain
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def add_terrain_to_map(self, terrain, row, col):
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i = row
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j = col
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# map coordinate system
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start_x = self.border + i * self.length_per_env_pixels
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end_x = self.border + (i + 1) * self.length_per_env_pixels
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start_y = self.border + j * self.width_per_env_pixels
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end_y = self.border + (j + 1) * self.width_per_env_pixels
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self.height_field_raw[start_x: end_x, start_y:end_y] = terrain.height_field_raw
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env_origin_x = (i + 0.5) * self.env_length
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env_origin_y = (j + 0.5) * self.env_width
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x1 = int((self.env_length/2. - 1) / terrain.horizontal_scale)
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x2 = int((self.env_length/2. + 1) / terrain.horizontal_scale)
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y1 = int((self.env_width/2. - 1) / terrain.horizontal_scale)
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y2 = int((self.env_width/2. + 1) / terrain.horizontal_scale)
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env_origin_z = np.max(terrain.height_field_raw[x1:x2, y1:y2])*terrain.vertical_scale
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self.env_origins[i, j] = [env_origin_x, env_origin_y, env_origin_z]
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def gap_terrain(terrain, gap_size, platform_size=1.):
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gap_size = int(gap_size / terrain.horizontal_scale)
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platform_size = int(platform_size / terrain.horizontal_scale)
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center_x = terrain.length // 2
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center_y = terrain.width // 2
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x1 = (terrain.length - platform_size) // 2
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x2 = x1 + gap_size
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y1 = (terrain.width - platform_size) // 2
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y2 = y1 + gap_size
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terrain.height_field_raw[center_x-x2 : center_x + x2, center_y-y2 : center_y + y2] = -1000
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terrain.height_field_raw[center_x-x1 : center_x + x1, center_y-y1 : center_y + y1] = 0
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def pit_terrain(terrain, depth, platform_size=1.):
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depth = int(depth / terrain.vertical_scale)
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platform_size = int(platform_size / terrain.horizontal_scale / 2)
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x1 = terrain.length // 2 - platform_size
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x2 = terrain.length // 2 + platform_size
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y1 = terrain.width // 2 - platform_size
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y2 = terrain.width // 2 + platform_size
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terrain.height_field_raw[x1:x2, y1:y2] = -depth
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