Source code for SyntheticPerception.core.terrain

from pxr import Sdf, Usd, Gf, UsdGeom
from omni.isaac.core.utils.stage import get_stage_units
from omni.isaac.core.prims import XFormPrim, RigidPrim
from omni.isaac.core.utils.stage import (
    add_reference_to_stage,
)
import omni
from omni.isaac.dynamic_control import _dynamic_control
from pxr import (
    UsdGeom,
    Gf,
    UsdPhysics,
    Semantics,
)  # pxr usd imports used to create cube
from .physxutils import setRigidBody
import numpy as np

from SyntheticPerception.core.objects import Object




class Terrain(Object):


    def __init__(
        self,
        position,
        orientation,
        scale,
        prim_name,
        parent_path,
        stage,
        usd_path=None,
        semantic_class="None",
        instanceable=False,
        visibility="inherited",
        disable_gravity=True,
    ) -> None:
        super().__init__(
            position,
            orientation,
            scale,
            prim_name,
            parent_path,
            stage,
            usd_path,
            semantic_class,
            instanceable,
            visibility,
            disable_gravity,
        )