Fixes infinite loop in repeated_objects_terrain: respawn only wrong object samples #1612
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- speed-up the terrain generation and fixes an infinite respawn loop if the object density is large.
nicolaloi
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Signed-off-by: Nicola Loi <nicolaloi@outlook.com>
kellyguo11
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Jan 19, 2025
source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py
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Signed-off-by: Nicola Loi <nicolaloi@outlook.com>
hapatel-bdai
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Jan 21, 2025
…bject samples (#1612) # Description Currently, the [`repeated_objects_terrain`](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py#L721) function attempts to respawn all *N* required objects if even a single object lies within the central platform. However, the probability of successfully spawning *all objects* outside the central platform depends on the object density (i.e., the number of required objects relative to the terrain size) and the size of the central platform. For high object densities, this probability quickly approaches zero, causing the function to enter an infinite respawn loop. This PR addresses the issue by respawning only the objects that lie within the central platform during each loop, while leaving objects outside the platform untouched. This leads to faster terrain generation and prevents the worst-case scenario of getting stuck in an infinite respawn loop when object density is high. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Nicola Loi <nicolaloi@outlook.com>
jtigue-bdai
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Apr 14, 2025
…bject samples (#1612) Currently, the [`repeated_objects_terrain`](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py#L721) function attempts to respawn all *N* required objects if even a single object lies within the central platform. However, the probability of successfully spawning *all objects* outside the central platform depends on the object density (i.e., the number of required objects relative to the terrain size) and the size of the central platform. For high object densities, this probability quickly approaches zero, causing the function to enter an infinite respawn loop. This PR addresses the issue by respawning only the objects that lie within the central platform during each loop, while leaving objects outside the platform untouched. This leads to faster terrain generation and prevents the worst-case scenario of getting stuck in an infinite respawn loop when object density is high. <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Nicola Loi <nicolaloi@outlook.com>
SevenFo
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May 19, 2025
…bject samples (isaac-sim#1612) # Description Currently, the [`repeated_objects_terrain`](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py#L721) function attempts to respawn all *N* required objects if even a single object lies within the central platform. However, the probability of successfully spawning *all objects* outside the central platform depends on the object density (i.e., the number of required objects relative to the terrain size) and the size of the central platform. For high object densities, this probability quickly approaches zero, causing the function to enter an infinite respawn loop. This PR addresses the issue by respawning only the objects that lie within the central platform during each loop, while leaving objects outside the platform untouched. This leads to faster terrain generation and prevents the worst-case scenario of getting stuck in an infinite respawn loop when object density is high. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Nicola Loi <nicolaloi@outlook.com>
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Description
Currently, the
repeated_objects_terrainfunction attempts to respawn all N required objects if even a single object lies within the central platform. However, the probability of successfully spawning all objects outside the central platform depends on the object density (i.e., the number of required objects relative to the terrain size) and the size of the central platform. For high object densities, this probability quickly approaches zero, causing the function to enter an infinite respawn loop.This PR addresses the issue by respawning only the objects that lie within the central platform during each loop, while leaving objects outside the platform untouched. This leads to faster terrain generation and prevents the worst-case scenario of getting stuck in an infinite respawn loop when object density is high.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there