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Adds option for default plane color to terrain importer #1791

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Adds option for default plane color to terrain importer #1791

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0e88c9a
Adds color field to terrain_importer_cfg
KyleM73 Feb 4, 2025
b6ed279
Adds color logic to terrain_importer
KyleM73 Feb 4, 2025
ae5e3f0
Merge branch 'isaac-sim:main' into feature/default_ground_color
KyleM73 Feb 12, 2025
ee3143e
pick up color from visual_material.diffuse_color
KyleM73 Feb 13, 2025
65310a3
Merge branch 'feature/default_ground_color' of https://github.com/Kyl…
KyleM73 Feb 13, 2025
4db7f8c
Merge branch 'isaac-sim:main' into feature/default_ground_color
KyleM73 Feb 13, 2025
afb43b2
Merge branch 'isaac-sim:main' into feature/default_ground_color
KyleM73 Feb 13, 2025
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7 changes: 4 additions & 3 deletions source/isaaclab/isaaclab/terrains/terrain_importer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,7 @@ def __init__(self, cfg: TerrainImporterCfg):
self.configure_env_origins()
elif self.cfg.terrain_type == "plane":
# load the plane
self.import_ground_plane("terrain")
self.import_ground_plane("terrain", color=self.cfg.color)
# configure the origins in a grid
self.configure_env_origins()
else:
Expand Down Expand Up @@ -176,12 +176,13 @@ def set_debug_vis(self, debug_vis: bool) -> bool:
Operations - Import.
"""

def import_ground_plane(self, key: str, size: tuple[float, float] = (2.0e6, 2.0e6)):
def import_ground_plane(self, key: str, size: tuple[float, float] = (2.0e6, 2.0e6), color: tuple[float, float, float] = (0.0, 0.0, 0.0)):
"""Add a plane to the terrain importer.

Args:
key: The key to store the mesh.
size: The size of the plane. Defaults to (2.0e6, 2.0e6).
color: The color of the plane. Defaults to (0.0, 0.0, 0.0).

Raises:
ValueError: If a terrain with the same key already exists.
Expand All @@ -198,7 +199,7 @@ def import_ground_plane(self, key: str, size: tuple[float, float] = (2.0e6, 2.0e
self.warp_meshes[key] = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=device)

# get the mesh
ground_plane_cfg = sim_utils.GroundPlaneCfg(physics_material=self.cfg.physics_material, size=size)
ground_plane_cfg = sim_utils.GroundPlaneCfg(physics_material=self.cfg.physics_material, size=size, color=color)
ground_plane_cfg.func(self.cfg.prim_path, ground_plane_cfg)

def import_mesh(self, key: str, mesh: trimesh.Trimesh):
Expand Down
8 changes: 8 additions & 0 deletions source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py
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Expand Up @@ -79,6 +79,14 @@ class TerrainImporterCfg:
This parameter is used only when the ``terrain_type`` is ``"generator"``.
"""

color: tuple[float, float, float] = (0.0, 0.0, 0.0)
"""The color of the terrain. Defaults to black.

.. note::
This parameter is used only when the ``terrain_type`` is ``"plane"``.

"""

physics_material: sim_utils.RigidBodyMaterialCfg = sim_utils.RigidBodyMaterialCfg()
"""The physics material of the terrain. Defaults to a default physics material.

Expand Down