add material properties to terrain and ground models

- Introduced `ambient`, `specular`, and `diffuse` attributes to `TerrainData` class.
- Updated `Ground` class to accept and use material properties for ambient, specular, and diffuse values.
- Modified the SDF generation to dynamically apply the provided material properties.
- Integrated material property support in the `Scene` class for terrain setup.

env_manager/env_manager/env_manager/models/configs/terrain.py

@@ -27,4 +27,7 @@ class TerrainData:
     spawn_position: tuple[float, float, float] = field(default=(0, 0, 0))
     spawn_quat_xyzw: tuple[float, float, float, float] = field(default=(0, 0, 0, 1))
     size: tuple[float, float] = field(default=(1.5, 1.5))
+    ambient: tuple[float, float, float, float] = field(default=(0.8, 0.8, 0.8, 1.0))
+    specular: tuple[float, float, float, float] = field(default=(0.8, 0.8, 0.8, 1.0))
+    diffuse: tuple[float, float, float, float] = field(default=(0.8, 0.8, 0.8, 1.0))
     model_rollouts_num: int = field(default=1)

env_manager/env_manager/env_manager/models/terrains/ground.py

@@ -20,6 +20,9 @@ class Ground(model_wrapper.ModelWrapper):
         size (tuple[float, float], optional): The size of the ground plane. Defaults to (1.5, 1.5).
         collision_thickness (float, optional): The thickness of the collision surface. Defaults to 0.05.
         friction (float, optional): The friction coefficient for the ground surface. Defaults to 5.0.
+        ambient (tuple[float, float, float, float], optional): The ambient color of the material. Defaults to (0.8, 0.8, 0.8, 1.0).
+        specular (tuple[float, float, float, float], optional): The specular color of the material. Defaults to (0.8, 0.8, 0.8, 1.0).
+        diffuse (tuple[float, float, float, float], optional): The diffuse color of the material. Defaults to (0.8, 0.8, 0.8, 1.0).
         **kwargs: Additional keyword arguments for future extensions.
 
     Raises:
@@ -35,6 +38,9 @@ class Ground(model_wrapper.ModelWrapper):
         size: tuple[float, float] = (1.5, 1.5),
         collision_thickness=0.05,
         friction: float = 5.0,
+        ambient: tuple[float, float, float, float] = (0.8, 0.8, 0.8, 1.0),
+        specular: tuple[float, float, float, float] = (0.8, 0.8, 0.8, 1.0),
+        diffuse: tuple[float, float, float, float] = (0.8, 0.8, 0.8, 1.0),
         **kwargs,
     ):
         # Get a unique model name
@@ -43,7 +49,7 @@ class Ground(model_wrapper.ModelWrapper):
         # Initial pose
         initial_pose = scenario_core.Pose(position, orientation)
 
-        # Create SDF string for the model
+        # Create SDF string for the model with the provided material properties
         sdf = f"""<sdf version="1.9">
             <model name="{model_name}">
                 <static>true</static>
@@ -75,9 +81,9 @@ class Ground(model_wrapper.ModelWrapper):
                             </plane>
                         </geometry>
                         <material>
-                            <ambient>0.8 0.8 0.8 1</ambient>
+                            <ambient>{' '.join(map(str, ambient))}</ambient>
-                            <diffuse>0.8 0.8 0.8 1</diffuse>
+                            <diffuse>{' '.join(map(str, diffuse))}</diffuse>
-                            <specular>0.8 0.8 0.8 1</specular>
+                            <specular>{' '.join(map(str, specular))}</specular>
                         </material>
                     </visual>
                 </link>

env_manager/env_manager/env_manager/scene/scene.py

@@ -573,6 +573,9 @@ class Scene:
             position=self.terrain.spawn_position,
             orientation=quat_to_wxyz(self.terrain.spawn_quat_xyzw),
             size=self.terrain.size,
+            ambient=self.terrain.ambient,
+            diffuse=self.terrain.diffuse,
+            specular=self.terrain.specular,
         )
 
         # Enable contact detection