How to properly import self-built terrain into env?

[explore-code-world7]

Description

I try to define a plane terrain using "generator", and load it into env for training, but the training result is distinctive from import a terrain with type"plane". I read thoroughly the source code and find nearly nothing different between the two configs.

import terrain with type "plane"

@configclass
class H1WalkEnvCfg(DirectRLEnvCfg):
    ...
    terrain = TerrainImporterCfg(
        prim_path="/World/ground",
        terrain_type="plane",
        collision_group=-1,
        physics_material=sim_utils.RigidBodyMaterialCfg(
            friction_combine_mode="average",
            restitution_combine_mode="average",
            # 摩擦系数
            static_friction=1.0, 
            dynamic_friction=1.0,
            restitution=0.0,
        ),
        debug_vis=True,
    )

import terrain with type "generator"

    terrain: TerrainImporterCfg = TerrainImporterCfg(
        prim_path="/World/ground",
        terrain_type="generator",
        terrain_generator=HF_PLANE_CFG,
        max_init_terrain_level=1,
        collision_group=-1,
        physics_material=sim_utils.RigidBodyMaterialCfg(
            friction_combine_mode="multiply",
            restitution_combine_mode="multiply",
            static_friction=1.0,
            dynamic_friction=1.0,
            restitution=0.0,
        ),
        visual_material=sim_utils.MdlFileCfg(
            mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
            project_uvw=True,
            texture_scale=(0.25, 0.25),
        ),
        debug_vis=True,
    )

register HF_PLANE_CFG

• source/isaaclab/isaaclab/terrains/height_field/hf_terrains.py

@height_field_to_mesh
def plane_terrain(difficulty: float, cfg: hf_terrains_cfg.HfSingleStairTerrainCfg) -> np.ndarray:
    # switch parameters to discrete units
    # -- terrain
    width_pixels = int(cfg.size[0] / cfg.horizontal_scale)
    length_pixels = int(cfg.size[1] / cfg.horizontal_scale)

    # create a sloped surface
    hf_raw = np.zeros((width_pixels, length_pixels))

    # round off the heights to the nearest vertical step
    return np.rint(hf_raw).astype(np.int16)

• source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py

@configclass
class HfPlaneTerrainCfg(HfTerrainBaseCfg):
    """Configuration for a pyramid stairs height field terrain."""

    function = hf_terrains.plane_terrain

• add to source/isaaclab/isaaclab/terrains/height_field/init.py
• register in source/isaaclab/isaaclab/terrains/config/rough.py

HF_PLANE_CFG = TerrainGeneratorCfg(
    size=(10.0, 10.0),
    # border_width=20.0,
    # num_rows=10,
    # num_cols=20,
    horizontal_scale=0.1,
    vertical_scale=0.005,
    slope_threshold=0.75,
        # 1000
    use_cache=False,
    sub_terrains={
        "hf_single_stair": terrain_gen.HfPlaneTerrainCfg(),
    },
)

Thank you attention!

[RandomOakForest]

Thank you for posting this. Could you clarify what you are trying to attain and if the series of warnings you get result in a crash? What is what stopping you right now from the outcome you need? Thanks.

[explore-code-world7]

thank our timely and responsible Forest realy much!

1. original alg,config,robot can converge on terrain with terrain_type ="plane",
   but don't converge on the hf plane with type "generator" built myself, so far i didn't find proper param configs to make it converge,
   so i think the height filed plane built myself above(following official code/tutorials, which should be equal to terrain wtith terrain type "plane") has problems, but i fail to find it;
   i think it's easy to reproduce it on your computer~
2. eee, the above warning can be solved by modifying visual_material
   (lack of mdl address)

        visual_material=sim_utils.MdlFileCfg(
            mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
            project_uvw=True,
            texture_scale=(0.25, 0.25),
        ),

• but the training vibration or failure is still existing~~

[RandomOakForest]

Thanks for following up. I'll move your post to our Discussions section for follow up. Maybe adding some videos showing your issue will make it easier for others to understand what's missing.