Allows for custom TerrainGenerator without modifications of the TerrainImporter
#2487
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Mayankm96
reviewed
May 14, 2025
| @@ -108,6 +113,8 @@ def __init__(self, cfg: TerrainGeneratorCfg, device: str = "cpu"): | |||
| self.device = device | |||
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| # set common values to all sub-terrains config | |||
| from .height_field import HfTerrainBaseCfg # prevent circular import | |||
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Hm how is the circular import happening? Is there a smarter way to avoid this?
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I am not sure because we do a instance checking of a configclass, this usually doesn't work. But open for suggestions
Mayankm96
approved these changes
May 23, 2025
|
NIT: Could you add https://github.com/isaac-sim/IsaacLab/blob/main/docs/source/api/lab/isaaclab.terrains.rst |
kellyguo11
approved these changes
May 26, 2025
|
@pascal-roth can you please update the changelog as well? Then we can merge this. |
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Description
Currently, the
TerrainGeneratorclass is hardcoded in theTerrainImporter. This class resolves this issue and allows for custom implementations.TODO: adjust changelog and versoning after review
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there