moare updates...

wiki/Home.md

@@ -10,6 +10,10 @@ and the Space Robotics Lab from Tohoku University in Japan (SRL).
 > [!IMPORTANT]
 > We are now opening it to the community and strongly encourage Space Roboticists to help us grow the feature set of this simulation! Don't be shy shoot a PR!
 
+## Integration & Workflow with SpaceROS
+> [!IMPORTANT]
+> Isaac Sim is using ROS2 by default, most of the tools available in Isaac are meant for ROS2. Hence, this simulation uses ROS2. To use this simulation with SpaceROS, the ROS2 simulation docker must first be spinned up, and then in a second time, another container running SpaceROS must be launched to interact with the simulation.
+> To illustrate this, we provide a simple teleop demonstration with the sim in ROS2 and SpaceROS sending velocity commands.
 
 ## Simulation Environments Overview
 
@@ -32,6 +36,7 @@ and the Space Robotics Lab from Tohoku University in Japan (SRL).
 - [Interacting with the Scene](scene_interaction/ros_topics)
 - [Configuring simulation modes](modes/Modes)
 - [Configuring the environments](environments/Environments)
+- [Deformation engine](deformation_engine/DeformationEngine)
 - [Configuring robots](robots/Robots)
 - [Configuring the rendering](rendering/Rendering)
 - [Configuring the physics](physics/Physics)

wiki/_Sidebar.md

@@ -32,6 +32,11 @@
     - [Request](https://github.com/AntoineRichard/OmniLRS/wiki/Environments#request)
     - [Request Group](https://github.com/AntoineRichard/OmniLRS/wiki/Environments#request-group)
     - [Rock Generation](https://github.com/AntoineRichard/OmniLRS/wiki/Environments#rock-generation)
+- [Deformation Engine](https://github.com/AntoineRichard/OmniLRS/wiki/DeformationEngine)
+  - [Wheel parameters](https://github.com/AntoineRichard/OmniLRS/wiki/DeformationEngine#wheel-parameters)
+  - [Deformation Constraint](https://github.com/AntoineRichard/OmniLRS/wiki/DeformationEngine#deformation-constraint)
+  - [Force Distribution](https://github.com/AntoineRichard/OmniLRS/wiki/DeformationEngine#force-distribution)
+  - [Boundary Distribution](https://github.com/AntoineRichard/OmniLRS/wiki/DeformationEngine#boundary-distribution)
 - [How to set up Robots!?](https://github.com/AntoineRichard/OmniLRS/wiki/Robots#how-to-set-up-robots)
   - [Robots and where to find them](https://github.com/AntoineRichard/OmniLRS/wiki/Robots#robots-and-where-to-find-them)
   - [Changing the default robot used when starting an environment](https://github.com/AntoineRichard/OmniLRS/wiki/Robots#changing-the-default-robot-used-when-starting-an-environment)

wiki/deformation_engine/DeformationEngine.md

@@ -0,0 +1,85 @@
+# DeformationEngine
+
+> [!WARNING]
+> This wiki page is under construction
+
+Here, the docs gives a brief explanation of deformation engine plugin. \
+In hydra cfg file (see `cfg/environment/**.yaml`), you have specific lines for terrain deformation. 
+
+```yaml
+deformation_engine:
+    enable: True
+    render_deform_inv: 10
+    terrain_width: ${....lunaryard_settings.lab_width}
+    terrain_height: ${....lunaryard_settings.lab_length}
+    terrain_resolution: ${....lunaryard_settings.resolution}
+    gravity: [0, 0, -49.0] #mg
+    force_depth_slope: 0.00014
+    force_depth_intercept: 0.008
+    wheel_params:
+        wheel_width: 0.09
+        wheel_radius: 0.1
+    deform_constraint:
+        deform_offset: 0.0
+        deform_decay_ratio: 0.01
+    force_distribution: 
+        distribution: sinusoidal
+        wave_frequency: 2.0
+    boundary_distribution: 
+        distribution: trapezoidal
+        angle_of_repose: 1.047
+```
+
+## Wheel parameters
+
+You must specify the dimension of your wheels in meter. 
+```yaml
+wheel_params:
+    wheel_width: 0.09
+    wheel_radius: 0.1
+```
+
+### Deformation Constraint
+Here you will specify parameter for constraint. \
+`deform_offsest` is the distance between wheel origin and the center of deformation profile. \
+`deform_decay_ratio` is decaying parameter of deformation. \
+This is to limit deformation depth as rover traverse the same place many times. 
+```yaml
+deform_constraint:
+    deform_offset: 0.0
+    deform_decay_ratio: 0.01
+```
+
+## Force Distribution 
+Controls distribution of force over wheel footprint.
+You have two options for this. 
+
+```yaml
+force_distribution: 
+    distribution: uniform
+```
+
+```yaml
+force_distribution: 
+    distribution: sinusoidal
+    wave_frequency: 2.0
+```
+
+### Boundary Distribution
+Controls boundary shape (y axis vs z axis with FLU convention). 
+
+```yaml
+boundary_distribution: 
+    distribution: uniform
+```
+
+```yaml
+boundary_distribution: 
+    distribution: parabolic
+```
+
+```yaml
+boundary_distribution: 
+    distribution: trapezoidal
+    angle_of_repose: 1.047
+```

wiki/deformation_engine/_Footer.md

@@ -0,0 +1 @@
+Antoine Richard -- University of Luxembourg -- Space Robotics Group -- 2023-24

wiki/deformation_engine/_Sidebar.md

@@ -0,0 +1,9 @@
+## Table of Contents
+- [Previous (Environment Configuration)](https://github.com/AntoineRichard/OmniLRS/wiki/Environment)
+- [Deformation Engine](#deformation-engine)
+  - [Wheel parameters](#wheel-parameters)
+  - [Deformation Constraint](#deformation-constraint)
+  - [Force Distribution](#force-distribution)
+  - [Boundary Distribution](#boundary-distribution)
+- [Next (Robots Configuration)](https://github.com/AntoineRichard/OmniLRS/wiki/Robots)
+- [Back to Home](https://github.com/AntoineRichard/OmniLRS/wiki/Home)

wiki/physics/_Sidebar.md

@@ -1,4 +1,4 @@
 ## Table of Contents
-- [Previous (Environment Configuration)](https://github.com/AntoineRichard/OmniLRS/wiki/Environment)
+- [Previous (Robots Configuration)](https://github.com/AntoineRichard/OmniLRS/wiki/Robots)
 - [Next (Rendering Configuration)](https://github.com/AntoineRichard/OmniLRS/wiki/Rendering)
 - [Back to Home](https://github.com/AntoineRichard/OmniLRS/wiki/Home)

wiki/robots/_Sidebar.md

@@ -1,5 +1,5 @@
 ## Table of Contents
-- [Previous (Environment Configurations)](https://github.com/AntoineRichard/OmniLRS/wiki/Environments)
+- [Previous (Environment Configurations)](https://github.com/AntoineRichard/OmniLRS/wiki/DeformationEngine)
 - [How to set up Robots!?](#how-to-set-up-robots)
   - [Robots and where to find them](#robots-and-where-to-find-them)
   - [Changing the default robot used when starting an environment](#changing-the-default-robot-used-when-starting-an-environment)