mani_skill.utils.building.ground#

Useful utilities for creating the ground of a scene

Functions#

build_ground(scene[, floor_width, floor_length, ...])

Procedurally creates a checkered floor given a floor width in meters.

Module Contents#

mani_skill.utils.building.ground.build_ground(scene, floor_width=100, floor_length=None, xy_origin=(0, 0), altitude=0, name='ground', texture_file=osp.join(osp.dirname(__file__), 'assets/grid_texture.png'), texture_square_len=4, mipmap_levels=4, add_collision=True)[source]#

Procedurally creates a checkered floor given a floor width in meters.

Note that this function runs slower as floor width becomes larger, but in general this function takes no more than 0.05s to run and usually is never run more than once as it is for building a scene, not loading.

Parameters: