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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,169 @@ | ||
| name: Lunalab | ||
| seed: 42 | ||
| physics_dt: 0.0333 # 30 Hz | ||
| rendering_dt: 0.0333 # 30 Hz | ||
| enforce_realtime: true | ||
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|
||
| lunalab_settings: # These settings cannot be changed. | ||
| lab_length: 10.0 | ||
| lab_width: 6.5 | ||
| resolution: 0.01 | ||
|
|
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| # Rocks sampling parameters. | ||
| rocks_settings: | ||
| instancers_path: /Lunalab/Rocks | ||
| rocks_settings: | ||
| large_rocks: # The name doesn't matter. | ||
| seed: ${....seed} | ||
| collections: ["lunalab_rocks"] # Where to get the rock models from. | ||
| use_point_instancer: True # If True, the rocks will be instanced using the PointInstancer. | ||
| # If False, it will use the custom instancer that works for SDG. | ||
| requests: # A list of request used to distribute the rocks. | ||
| req_pos_xy: | ||
| attribute: Position | ||
| axes: ["x", "y"] | ||
| layer: | ||
| name: Image | ||
| # data: Is loaded automatically from the DEM. | ||
| mpp_resolution: ${.......lunalab_settings.resolution} | ||
| output_space: 2 | ||
| sampler: | ||
| name: HardCoreUniform | ||
| randomization_space: 2 | ||
| seed: ${.......seed} | ||
| core_radius: 0.5 | ||
| num_repeat: 2 | ||
| min: ${as_tuple:0.5,0.5} | ||
| max: ${as_tuple:6,9.5} | ||
|
|
||
| req_pos_z: | ||
| attribute: Position | ||
| axes: ["z"] | ||
| layer: | ||
| name: Image | ||
| output_space: 1 | ||
| sampler: | ||
| name: Image | ||
| randomization_space: 1 | ||
| # resolution: Resolution is infered automatically from the loaded DEM. | ||
| # data: Is loaded automatically from the DEM. | ||
| mpp_resolution: ${.......lunalab_settings.resolution} | ||
|
|
||
| req_random_z_rot: | ||
| attribute: Orientation | ||
| axes: ["x", "y", "z", "w"] | ||
| layer: | ||
| name: RollPitchYaw | ||
| rmax: 0 | ||
| rmin: 0 | ||
| pmax: 0 | ||
| pmin: 0 | ||
| ymax: 6.28318530718 | ||
| ymin: 0 | ||
| sampler: | ||
| name: Uniform | ||
| randomization_space: 3 | ||
| seed: ${.......seed} | ||
|
|
||
| req_scale: | ||
| attribute: Scale | ||
| axes: ["xyz"] | ||
| layer: | ||
| name: Line | ||
| xmin: 1.0 | ||
| xmax: 1.0 | ||
| sampler: | ||
| name: Uniform | ||
| randomization_space: 1 | ||
| seed: ${.......seed} | ||
|
|
||
| terrain_manager: | ||
| moon_yard: | ||
| crater_generator: | ||
| profiles_path: assets/Terrains/crater_spline_profiles.pkl | ||
| min_xy_ratio: 0.85 | ||
| max_xy_ratio: 1.0 | ||
| resolution: ${....lunalab_settings.resolution} | ||
| pad_size: 500 | ||
| random_rotation: True | ||
| z_scale: 1.0 | ||
| seed: ${....seed} | ||
|
|
||
| crater_distribution: | ||
| x_size: 10.0 | ||
| y_size: 6.5 | ||
| densities: [0.025, 0.05, 0.5] | ||
| radius: [[1.5,2.5],[0.75,1.5],[0.25,0.5]] | ||
| num_repeat: 0 | ||
| seed: ${....seed} | ||
|
|
||
| base_terrain_generator: | ||
| x_size: ${....lunalab_settings.lab_length} | ||
| y_size: ${....lunalab_settings.lab_width} | ||
| resolution: ${....lunalab_settings.resolution} | ||
| max_elevation: 0.25 | ||
| min_elevation: -0.025 | ||
| z_scale: 1.0 | ||
| seed: ${....seed} | ||
|
|
||
| deformation_engine: | ||
| enable: False | ||
| delay: 2.0 | ||
| terrain_width: ${....lunalab_settings.lab_width} | ||
| terrain_height: ${....lunalab_settings.lab_length} | ||
| terrain_resolution: ${....lunalab_settings.resolution} | ||
| footprint: | ||
| width: 0.09 | ||
| height: 0.2 | ||
| deform_constrain: | ||
| x_deform_offset: 0.0 | ||
| y_deform_offset: 0.0 | ||
| deform_decay_ratio: 0.01 | ||
| boundary_distribution: | ||
| distribution: trapezoidal | ||
| angle_of_repose: 1.047 #pi/3 | ||
| depth_distribution: | ||
| distribution: trapezoidal | ||
| wave_frequency: 4.14 # num_grouser/pi (no slip) | ||
| force_depth_regression: | ||
| amplitude_slope: 0.00006 | ||
| amplitude_intercept: 0.008 | ||
| mean_slope: -0.00046 | ||
| mean_intercept: -0.0013 | ||
|
|
||
| is_yard: False | ||
| is_lab: True | ||
|
|
||
| root_path: /Lunalab | ||
| texture_path: /Lunalab/Looks/Basalt | ||
| dems_path: Terrains/Lunalab | ||
| mesh_position: [0, 0, 0] | ||
| mesh_orientation: [0, 0, 0, 1] # Quaternion x,y,z,w | ||
| mesh_scale: [1, 1, 1] | ||
| sim_length: ${..lunalab_settings.lab_length} | ||
| sim_width: ${..lunalab_settings.lab_width} | ||
| resolution: ${..lunalab_settings.resolution} | ||
|
|
||
| robots_settings: | ||
| uses_nucleus: False | ||
| is_ROS2: True | ||
| max_robots: 5 | ||
| robots_root: "/Robots" | ||
| parameters: | ||
| # - | ||
| # robot_name: ex1 | ||
| # usd_path: assets/USD_Assets/robots/ex1.usd | ||
| # pose: | ||
| # position: [1.0, 1.0, 0.5] | ||
| # orientation: [1, 0, 0, 0] | ||
| # domain_id: 0 | ||
| # target_links: ["left_front_wheel_link", "left_rear_wheel_link", "right_front_wheel_link", "right_rear_wheel_link"] | ||
|
|
||
| - | ||
| robot_name: husky | ||
| usd_path: assets/USD_Assets/robots/ros2_husky_PhysX_vlp16.usd | ||
| pose: | ||
| position: [5.0, 5.0, 0.5] | ||
| orientation: [1, 0, 0, 0] | ||
| domain_id: 0 | ||
| target_links: ["front_left_wheel_link", "front_right_wheel_link", "rear_left_wheel_link", "rear_right_wheel_link"] |
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