[Proposal] grid environment origins with generated terrain

[georgwi]

Proposal

Support distributing environments in a grid when using a generated terrain.

Motivation

It is currently not easy to use a generated terrain and distribute the environment origins in a grid. This is useful when training a policy for a robot that does not move much in the terrain while using a generated terrain.

Alternatives

It is possible to "hack" the redistribution of the robots using a curriculum term using a function like this:

def distribute_robots(env: ManagerBasedRLEnv, env_ids: Sequence[int]):
    if env.common_step_counter == 0:
        print("recalculating the origins")
        terrain: TerrainImporter = env.scene.terrain
        terrain.configure_env_origins(origins=None)

Additional context

Checklist

• I have checked that there is no similar issue in the repo (required)

Acceptance Criteria

[RandomOakForest]

Thank you for posting this proposal and adding the PR. The team will review it.