How to Replicate Terrain USD environment along with Env number of envs

[tohsin]

How do I replicate the Terrain USD environment along with a number of envs

I have the warehouse base environment usd imported as a Terrain.

errain_cfg: TerrainImporterCfg = TerrainImporterCfg(
        prim_path="/World/ground",
        num_envs=5,
        env_spacing=4.0,
        terrain_type="usd",
        usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Simple_Warehouse/full_warehouse.usd",
        collision_group=-1,
        physics_material=sim_utils.RigidBodyMaterialCfg(),
        debug_vis=False,
    )

    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=100, env_spacing=4.0, replicate_physics=True)

When I increase the Number of Environments, I want each robot to be spawned in its own warehouse. However, what happens is that I get one warehouse with the robots, with the number of robots being as many as the Env Spacing parameter passed.

I have tried passing large env Spacing, but it still spawns one warehouse with multiple robots ( I show an example in the image above, but with smaller env spacing for visualization purposes )

My training is really slow, having to use a single environment. Do I have to import the Environment USD as RIGIDOBJECT or something?

Most of the multi-environment examples use the flat or generative terrain, so no exact example of this in the code or Docs.

[RandomOakForest]

Thanks for posting this. It seems using AssetBaseCfg would work instead of TerrainImporterCfg for loading the USD. Let us know if you need further help.

[tohsin]

Thanks, I figured this was the solution, but this will break my RayCasterCamera, which I need for my learning task ( counting Face IDs of Meshes ). because I'd need to pass the relative path of the Inspection goal of such

inspection_objective_path = "/World/envs/env_.*/Cube"

Which just breaks when you pass this as a prim path to the raycaster camera

[RandomOakForest]

Thank you for following up. You may want to try the latest version of Isaac Lab. Follow #3021 to update. I'll move this post to our Discussions for the team and others to follow up.