align terrain settings with go2_rl_gym.

README.md

@@ -159,7 +159,6 @@ xml_path: "{ROOT_DIR}/resources/go2/your-custom-scene.xml"
 
 ## Differences from `go2_rl_gym`
 
-- Different terrain composition
 - Different tracking reward formulation (fixed sigma vs. dynamic sigma)
 - Lack domain_rand: randomize_motor_strength
 

source/robot_lab/robot_lab/tasks/go2/env_cfg.py

@@ -15,10 +15,10 @@ from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.noise import AdditiveUniformNoiseCfg as Unoise
-import isaaclab.terrains as terrain_gen
 
 import robot_lab.tasks.go2.mdp as mdp
 from robot_lab.assets.unitree import GO2_CFG_ROBOTLAB, GO2_CFG_UNITREE
+from robot_lab.tasks.go2.mdp.terrain import DEFAULT_TERRAIN_CFG
 
 JOINT_NAMES = [
     "FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
@@ -35,47 +35,7 @@ BASE_HEIGHT_TARGET = 0.38 # base height target for rewards, set as an attribute
 # Terrain definition
 ##
 
-TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
+TERRAIN_CFG = DEFAULT_TERRAIN_CFG
-    size=(8.0, 8.0),
-    border_width=25.0,
-    num_rows=10,
-    num_cols=20,
-    horizontal_scale=0.1,
-    vertical_scale=0.005,
-    slope_threshold=0.75,
-    use_cache=False,
-    sub_terrains={
-        "pyramid_stairs": terrain_gen.MeshPyramidStairsTerrainCfg(
-            proportion=0.15,
-            step_height_range=(0.05, 0.25),
-            step_width=0.3,
-            platform_width=3.0,
-            border_width=1.0,
-            holes=False,
-        ),
-        "pyramid_stairs_inv": terrain_gen.MeshInvertedPyramidStairsTerrainCfg(
-            proportion=0.20,
-            step_height_range=(0.05, 0.25),
-            step_width=0.3,
-            platform_width=3.0,
-            border_width=1.0,
-            holes=False,
-        ),
-        "boxes": terrain_gen.MeshRandomGridTerrainCfg(
-            proportion=0.15, grid_width=0.45, grid_height_range=(0.025, 0.1), platform_width=2.0
-        ),
-        "random_rough": terrain_gen.HfRandomUniformTerrainCfg(
-            proportion=0.15, noise_range=(0.01, 0.06), noise_step=0.01, border_width=0.25
-        ),
-        "flat": terrain_gen.MeshPlaneTerrainCfg(proportion=0.15),
-        "hf_pyramid_slope": terrain_gen.HfPyramidSlopedTerrainCfg(
-            proportion=0.1, slope_range=(0.0, 0.5), platform_width=2.0, border_width=0.25
-        ),
-        "hf_pyramid_slope_inv": terrain_gen.HfInvertedPyramidSlopedTerrainCfg(
-            proportion=0.1, slope_range=(0.0, 0.5), platform_width=2.0, border_width=0.25
-        ),
-    },
-)
 
 
 ##
@@ -517,8 +477,8 @@ class Go2EnvCfg(ManagerBasedRLEnvCfg):
         
         # Physics material settings from subclass
         self.sim.physics_material = self.scene.terrain.physics_material
-        self.sim.physx.gpu_max_rigid_patch_count = 10 * 2**15
+        self.sim.physx.gpu_max_rigid_patch_count = 512 * 1024
-        self.sim.physx.gpu_collision_stack_size = int(64 * 1024 * 1024)  # 128 MB
+        self.sim.physx.gpu_collision_stack_size = int(128 * 1024 * 1024)  # 128 MB
         self.sim.physx.enable_external_forces_every_iteration = True
 
         # Update sensor periods

source/robot_lab/robot_lab/tasks/go2/mdp/commands.py

@@ -373,23 +373,42 @@ class Go2RLGymCommandCfg(CommandTermCfg):
         'ang_vel_yaw': [-2.0, 2.0], # min max [rad/s]
     }]
     """List for command range curriculums at specific training iterations"""
+    # terrain_max_command_ranges: dict[str, dict] = {
+    #     'random_rough':
+    #         {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+    #     'hf_pyramid_slope':
+    #         {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+    #     'hf_pyramid_slope_inv':
+    #         {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+    #     'pyramid_stairs':
+    #         {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+    #     'pyramid_stairs_inv':
+    #         {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+    #     'boxes':
+    #         {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+    #     'flat':
+    #         {'lin_vel_x': [-2.0, 2.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-2.0, 2.0]},
+    # }
     terrain_max_command_ranges: dict[str, dict] = {
-        'random_rough':
+        'wave':
             {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
-        'hf_pyramid_slope':
+        'slope':
             {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
-        'hf_pyramid_slope_inv':
+        'rough_slope':
             {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
-        'pyramid_stairs':
+        'stairs_up':
             {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
-        'pyramid_stairs_inv':
+        'stairs_down':
             {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
-        'boxes':
+        'obstacles':
             {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+        # 'stepping_stones':
+        #     {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
+        # 'gap':
+        #     {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
         'flat':
             {'lin_vel_x': [-2.0, 2.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-2.0, 2.0]},
     }
-
     resampling_time: float = 5.0
     resampling_time_range: tuple[float, float] = (5.0, 5.0)
     """Time before command are changed [s]"""

source/robot_lab/robot_lab/tasks/go2/mdp/terrain.py

@@ -0,0 +1,265 @@
+# Copyright (c) 2024-2025 Ziqi Fan
+# SPDX-License-Identifier: Apache-2.0
+
+"""Terrain presets for the Go2 task.
+
+This module keeps two terrain configurations side by side:
+
+1. ``ORIGINAL_TERRAIN_CFG``:
+   The original RobotLab terrain setup that existed before Gym-alignment changes.
+   This is the default selection used by ``env_cfg.py`` so existing training behavior
+   is not changed.
+
+2. ``GYM_ALIGNED_TERRAIN_CFG``:
+   A Gym-oriented terrain setup derived from:
+   - ``legged_gym/envs/go2/go2_config.py``
+   - ``legged_gym/utils/terrain.py``
+   and interpreted with ``IS_HARD = True``.
+
+Only the terrain generator presets live here. The environment can choose either
+configuration without modifying the rest of the task code.
+"""
+
+from __future__ import annotations
+
+import numpy as np
+
+import isaaclab.terrains as terrain_gen
+from isaaclab.utils import configclass
+from isaaclab.terrains.height_field import hf_terrains
+from isaaclab.terrains.height_field.utils import height_field_to_mesh
+
+
+# -----------------------------------------------------------------------------
+# Original RobotLab terrain setup
+# -----------------------------------------------------------------------------
+
+ORIGINAL_TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
+    size=(8.0, 8.0),
+    border_width=25.0,
+    num_rows=10,
+    num_cols=20,
+    horizontal_scale=0.1,
+    vertical_scale=0.005,
+    slope_threshold=0.75,
+    use_cache=False,
+    sub_terrains={
+        "pyramid_stairs": terrain_gen.MeshPyramidStairsTerrainCfg(
+            proportion=0.15,
+            step_height_range=(0.05, 0.25),
+            step_width=0.3,
+            platform_width=3.0,
+            border_width=1.0,
+            holes=False,
+        ),
+        "pyramid_stairs_inv": terrain_gen.MeshInvertedPyramidStairsTerrainCfg(
+            proportion=0.20,
+            step_height_range=(0.05, 0.25),
+            step_width=0.3,
+            platform_width=3.0,
+            border_width=1.0,
+            holes=False,
+        ),
+        "boxes": terrain_gen.MeshRandomGridTerrainCfg(
+            proportion=0.15,
+            grid_width=0.45,
+            grid_height_range=(0.025, 0.1),
+            platform_width=2.0,
+        ),
+        "random_rough": terrain_gen.HfRandomUniformTerrainCfg(
+            proportion=0.15,
+            noise_range=(0.01, 0.06),
+            noise_step=0.01,
+            border_width=0.25,
+        ),
+        "flat": terrain_gen.MeshPlaneTerrainCfg(proportion=0.15),
+        "hf_pyramid_slope": terrain_gen.HfPyramidSlopedTerrainCfg(
+            proportion=0.1,
+            slope_range=(0.0, 0.5),
+            platform_width=2.0,
+            border_width=0.25,
+        ),
+        "hf_pyramid_slope_inv": terrain_gen.HfInvertedPyramidSlopedTerrainCfg(
+            proportion=0.1,
+            slope_range=(0.0, 0.5),
+            platform_width=2.0,
+            border_width=0.25,
+        ),
+    },
+)
+
+
+# -----------------------------------------------------------------------------
+# Gym-aligned terrain setup
+# -----------------------------------------------------------------------------
+
+
+def _gym_signed_pyramid_slope_height_field(
+    difficulty: float,
+    cfg: terrain_gen.HfPyramidSlopedTerrainCfg,
+    random_inverted: bool,
+) -> np.ndarray:
+    """Generate a Gym-style pyramid slope with optional random sign."""
+    slope = cfg.slope_range[0] + difficulty * (cfg.slope_range[1] - cfg.slope_range[0])
+    if random_inverted and np.random.rand() < 0.5:
+        slope = -slope
+
+    width_pixels = int(cfg.size[0] / cfg.horizontal_scale)
+    length_pixels = int(cfg.size[1] / cfg.horizontal_scale)
+    height_max = int(slope * cfg.size[0] / 2 / cfg.vertical_scale)
+    center_x = int(width_pixels / 2)
+    center_y = int(length_pixels / 2)
+
+    x = np.arange(0, width_pixels)
+    y = np.arange(0, length_pixels)
+    xx, yy = np.meshgrid(x, y, sparse=True)
+    xx = (center_x - np.abs(center_x - xx)) / center_x
+    yy = (center_y - np.abs(center_y - yy)) / center_y
+    xx = xx.reshape(width_pixels, 1)
+    yy = yy.reshape(1, length_pixels)
+
+    hf_raw = height_max * xx * yy
+
+    platform_width = int(cfg.platform_width / cfg.horizontal_scale / 2)
+    x_pf = width_pixels // 2 - platform_width
+    y_pf = length_pixels // 2 - platform_width
+    z_pf = hf_raw[x_pf, y_pf]
+    hf_raw = np.clip(hf_raw, min(0, z_pf), max(0, z_pf))
+
+    return np.rint(hf_raw).astype(np.int16)
+
+
+@height_field_to_mesh
+def gym_wave_terrain(difficulty: float, cfg) -> np.ndarray:
+    """Gym-style wave terrain: wave plus random uniform roughness."""
+    wave = hf_terrains.wave_terrain.__wrapped__(difficulty, cfg)
+    rough = hf_terrains.random_uniform_terrain.__wrapped__(difficulty, cfg)
+    return np.rint(wave + rough).astype(np.int16)
+
+
+@height_field_to_mesh
+def gym_slope_terrain(difficulty: float, cfg) -> np.ndarray:
+    """Gym-style slope terrain with 50/50 positive and negative slopes."""
+    return _gym_signed_pyramid_slope_height_field(difficulty, cfg, random_inverted=True)
+
+
+@height_field_to_mesh
+def gym_rough_slope_terrain(difficulty: float, cfg) -> np.ndarray:
+    """Gym-style rough slope terrain: slope plus random uniform roughness."""
+    slope = _gym_signed_pyramid_slope_height_field(difficulty, cfg, random_inverted=False)
+    rough = hf_terrains.random_uniform_terrain.__wrapped__(difficulty, cfg)
+    return np.rint(slope + rough).astype(np.int16)
+
+
+@configclass
+class GymWaveTerrainCfg(terrain_gen.HfTerrainBaseCfg):
+    function = gym_wave_terrain
+    amplitude_range: tuple[float, float] = (0.1, 0.28)
+    num_waves: int = 5
+    noise_range: tuple[float, float] = (-0.05, 0.05)
+    noise_step: float = 0.005
+    downsampled_scale: float = 0.2
+
+
+@configclass
+class GymSlopeTerrainCfg(terrain_gen.HfTerrainBaseCfg):
+    function = gym_slope_terrain
+    slope_range: tuple[float, float] = (0.1, 0.568)
+    platform_width: float = 3.0
+
+
+@configclass
+class GymRoughSlopeTerrainCfg(terrain_gen.HfTerrainBaseCfg):
+    function = gym_rough_slope_terrain
+    slope_range: tuple[float, float] = (0.1, 0.568)
+    platform_width: float = 3.0
+    noise_range: tuple[float, float] = (-0.05, 0.05)
+    noise_step: float = 0.005
+    downsampled_scale: float = 0.2
+
+
+GYM_ALIGNED_TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
+    size=(8.0, 8.0),
+    border_width=25.0,
+    num_rows=10,
+    num_cols=20,
+    horizontal_scale=0.1,
+    vertical_scale=0.005,
+    slope_threshold=0.75,
+    use_cache=False,
+    sub_terrains={
+        "wave": GymWaveTerrainCfg(
+            proportion=0.05,
+            border_width=0.0,
+            horizontal_scale=0.1,
+            vertical_scale=0.005,
+            slope_threshold=0.75,
+        ),
+        "slope": GymSlopeTerrainCfg(
+            proportion=0.20,
+            border_width=0.0,
+            horizontal_scale=0.1,
+            vertical_scale=0.005,
+            slope_threshold=0.75,
+        ),
+        "rough_slope": GymRoughSlopeTerrainCfg(
+            proportion=0.05,
+            border_width=0.0,
+            horizontal_scale=0.1,
+            vertical_scale=0.005,
+            slope_threshold=0.75,
+        ),
+        "stairs_up": terrain_gen.HfInvertedPyramidStairsTerrainCfg(
+            proportion=0.25,
+            step_height_range=(0.05, 0.257),
+            step_width=0.31,
+            platform_width=3.0,
+            border_width=0.0,
+            horizontal_scale=0.1,
+            vertical_scale=0.005,
+            slope_threshold=0.75,
+        ),
+        "stairs_down": terrain_gen.HfPyramidStairsTerrainCfg(
+            proportion=0.10,
+            step_height_range=(0.05, 0.257),
+            step_width=0.31,
+            platform_width=3.0,
+            border_width=0.0,
+            horizontal_scale=0.1,
+            vertical_scale=0.005,
+            slope_threshold=0.75,
+        ),
+        "obstacles": terrain_gen.HfDiscreteObstaclesTerrainCfg(
+            proportion=0.20,
+            obstacle_width_range=(1.0, 2.0),
+            obstacle_height_range=(0.05, 0.275),
+            num_obstacles=20,
+            platform_width=3.0,
+            border_width=0.0,
+            horizontal_scale=0.1,
+            vertical_scale=0.005,
+            slope_threshold=0.75,
+        ),
+        # "stepping_stones": terrain_gen.HfSteppingStonesTerrainCfg(
+        #     proportion=0.0,
+        #     stone_height_max=0.0,
+        #     stone_width_range=(0.075, 1.575),
+        #     stone_distance_range=(0.05, 0.10),
+        #     holes_depth=-10.0,
+        #     platform_width=4.0,
+        #     border_width=0.0,
+        #     horizontal_scale=0.1,
+        #     vertical_scale=0.005,
+        #     slope_threshold=0.75,
+        # ),
+        # "gap": terrain_gen.MeshGapTerrainCfg(
+        #     proportion=0.0,
+        #     gap_width_range=(0.0, 0.9),
+        #     platform_width=3.0,
+        # ),
+        "flat": terrain_gen.MeshPlaneTerrainCfg(proportion=0.15),
+    },
+)
+
+
+DEFAULT_TERRAIN_CFG = GYM_ALIGNED_TERRAIN_CFG