It's possible to generate sandy ground? make sense to train the model on that terrain?

[AndreaRossetto]

Hi,
I'm traiing a robot and to randomize the training I'm using the TerrainImporterCfg to generate random terrains.
There is a possibility to generate a "sandy ground" to train the robot also on that type of terrain? It make sense to generate this type of terrains?

[RandomOakForest]

Thank you for posting this discussion. Short answer: Yes to “sandy-like” terrain via materials and geometry; no to true deformable sand. Here are a few notes to consider.

• Isaac Lab’s TerrainImporterCfg can randomize heightfields/meshes and lets a physics material be assigned; set low friction and add micro-roughness/noise to emulate “sand-like” slip for RL robustness. This is standard and makes sense for training.¹
• True granular/deformable sand (sinkage, ruts) isn’t supported in Isaac Sim/Isaac Lab and isn’t on the roadmap; particle-based “sand” is unstable and not recommended. Approximate with friction/material randomization, roughness, slopes/steps.²³
• Use terrain_type="generator" with TerrainGeneratorCfg for mixed sub-terrains; tune horizontal_scale/vertical_scale and add noise for micro-roughness; keep a flat start patch.¹
• Apply a low-friction physics material to the generated terrain prim or plane to mimic sand; visuals can use a “sand” material, but behavior remains rigid.¹

Footnotes

1. https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.terrains.html ↩ ↩² ↩³

2. https://forums.developer.nvidia.com/t/soil-deformation-in-isaac-sim/329569 ↩

3. https://forums.developer.nvidia.com/t/simulating-granular-media-like-sand-in-isaac-sim/267568 ↩