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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,115 @@ | ||
| name: LargeScale | ||
| seed: 42 | ||
| physics_dt: 0.0166 # 30 Hz | ||
| rendering_dt: 0.0333 # 30 Hz | ||
| enforce_realtime: true | ||
|
|
||
| # Stage settings, only edit if you know what you are doing. | ||
| large_scale_terrain: | ||
| hr_dem_generate_craters: True | ||
| starting_position: [2800,-2200] | ||
| crater_gen_densities: [0.025, 0.05, 0.5] | ||
| crater_gen_radius: [[1.5, 2.5], [0.75, 1.5], [0.25, 0.5]] | ||
| rock_gen_cfgs: | ||
| - | ||
| rock_sampler_cfg: | ||
| block_size: 50 | ||
| seed: 42 | ||
| rock_dist_cfg: | ||
| position_distribution: | ||
| name: "thomas_point_process" | ||
| parent_density: 0.04 | ||
| child_density: 150 | ||
| sigma: 3.0 | ||
| seed: 42 | ||
| scale_distribution: | ||
| name: "uniform" | ||
| min: 0.02 | ||
| max: 0.05 | ||
| seed: 43 | ||
| rock_assets_folder: "assets/USD_Assets/rocks/lunar_rocks/rocks_s2_r128" | ||
| instancer_name: "very_small_rock_instancer" | ||
| seed: 46 | ||
| block_span: 1 | ||
| add_colliders: False | ||
| - | ||
| rock_sampler_cfg: | ||
| block_size: 50 | ||
| seed: 42 | ||
| rock_dist_cfg: | ||
| position_distribution: | ||
| name: "thomas_point_process" | ||
| parent_density: 0.01 | ||
| child_density: 25 | ||
| sigma: 2.5 | ||
| seed: 44 | ||
| scale_distribution: | ||
| name: "uniform" | ||
| min: 0.05 | ||
| max: 0.2 | ||
| seed: 45 | ||
| rock_assets_folder: "assets/USD_Assets/rocks/lunar_rocks/rocks_s3_r512" | ||
| instancer_name: "small_rock_instancer" | ||
| seed: 47 | ||
| block_span: 2 | ||
| add_colliders: True | ||
| collider_mode: "meshSimplification" | ||
| semantic_label: "rock" | ||
| - | ||
| rock_sampler_cfg: | ||
| block_size: 50 | ||
| seed: 42 | ||
| rock_dist_cfg: | ||
| position_distribution: | ||
| name: "thomas_point_process" | ||
| parent_density: 0.0025 | ||
| child_density: 5 | ||
| sigma: 2.0 | ||
| seed: 44 | ||
| scale_distribution: | ||
| name: "uniform" | ||
| min: 0.2 | ||
| max: 0.75 | ||
| seed: 45 | ||
| rock_assets_folder: "assets/USD_Assets/rocks/lunar_rocks/rocks_s4_r512" | ||
| instancer_name: "medium_rock_instancer" | ||
| seed: 47 | ||
| block_span: 3 | ||
| add_colliders: True | ||
| collider_mode: "meshSimplification" | ||
| semantic_label: "rocks" | ||
|
|
||
| stellar_engine_settings: | ||
| start_date: | ||
| year: 2024 | ||
| month: 5 | ||
| day: 21 | ||
| hour: 5 | ||
| minute: 1 | ||
| time_scale: 1 | ||
| update_interval: 600 | ||
|
|
||
| sun_settings: | ||
| intensity: 1750.0 | ||
| angle: 0.53 | ||
| diffuse_multiplier: 1.0 | ||
| specular_multiplier: 1.0 | ||
| color: [1.0, 1.0, 1.0] | ||
| temperature: 6500.0 | ||
| azimuth: 180.0 | ||
| elevation: 45.0 | ||
|
|
||
| robots_settings: | ||
| uses_nucleus: False | ||
| is_ROS2: True | ||
| max_robots: 5 | ||
| robots_root: "/Robots" | ||
| parameters: | ||
| - | ||
| robot_name: husky | ||
| usd_path: assets/USD_Assets/robots/ros2_husky_PhysX_vlp16_mono_depth_imu.usd | ||
| pose: | ||
| position: [0.0, 0.0, 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"] |