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fix terrains, change slope_threshold in every subterrain for correct terrain generation.

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This commit is contained in:
wertyuilife
2026-04-24 00:21:07 +08:00
parent 52b14b0c3f
commit ed50f647ac
1 changed files with 95 additions and 44 deletions
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139
source/robot_lab/robot_lab/tasks/go2/mdp/terrains.py
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@@ -3,16 +3,40 @@ from __future__ import annotations
import numpy as np
import isaaclab.terrains as terrain_gen
from isaaclab.terrains.terrain_generator import TerrainGenerator
from isaaclab.utils import configclass
from isaaclab.terrains.height_field import hf_terrains
from isaaclab.terrains.height_field.utils import height_field_to_mesh
class PerSubTerrainSlopeThresholdGenerator(TerrainGenerator):
"""Terrain generator that lets each height-field sub-terrain override slope_threshold."""
def _get_terrain_mesh(self, difficulty, cfg):
override = getattr(cfg, "slope_threshold_override", None)
if override is None:
return super()._get_terrain_mesh(difficulty, cfg)
original_slope_threshold = getattr(cfg, "slope_threshold", None)
cfg.slope_threshold = override
try:
return super()._get_terrain_mesh(difficulty, cfg)
finally:
cfg.slope_threshold = original_slope_threshold
def with_slope_threshold(sub_terrain_cfg, slope_threshold: float | None):
"""Attach a per-sub-terrain slope-threshold override to a terrain config."""
sub_terrain_cfg.slope_threshold_override = slope_threshold
return sub_terrain_cfg
# -----------------------------------------------------------------------------
# Default RobotLab terrain setup
# -----------------------------------------------------------------------------
DEFAULT_TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
class_type=PerSubTerrainSlopeThresholdGenerator,
size=(8.0, 8.0),
border_width=25.0,
num_rows=10,
@@ -107,65 +131,92 @@ class RoughSlopeTerrainCfg(terrain_gen.HfPyramidSlopedTerrainCfg):
TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
class_type=PerSubTerrainSlopeThresholdGenerator,
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=2.0,
# slope correction = 0.75 ~ 36.9 degrees by default,
# but recommended to set for each terrain type separately using with_slope_threshold
slope_threshold=0.75,
use_cache=False,
sub_terrains={
"wave": WaveTerrainCfg(
proportion=0.05,
border_width=0.5,
"wave": with_slope_threshold(
WaveTerrainCfg(
proportion=0.05,
border_width=0.5,
),
10.0, # effectively disable slope correction for wave terrain
),
"slope_up": terrain_gen.HfInvertedPyramidSlopedTerrainCfg(
proportion=0.10,
slope_range=(0.1, 0.568),
platform_width=3.0,
border_width=0.5,
"slope_up": with_slope_threshold(
terrain_gen.HfInvertedPyramidSlopedTerrainCfg(
proportion=0.10,
slope_range=(0.1, 0.568),
platform_width=3.0,
border_width=0.5,
),
10.0, # effectively disable slope correction for slope_up terrain
),
"slope_down": terrain_gen.HfPyramidSlopedTerrainCfg(
proportion=0.10,
slope_range=(0.1, 0.568),
platform_width=3.0,
border_width=0.5,
"slope_down": with_slope_threshold(
terrain_gen.HfPyramidSlopedTerrainCfg(
proportion=0.10,
slope_range=(0.1, 0.568),
platform_width=3.0,
border_width=0.5,
),
10.0, # effectively disable slope correction for slope_down terrain
),
"rough_slope": RoughSlopeTerrainCfg(
proportion=0.05,
border_width=0.5,
"rough_slope": with_slope_threshold(
RoughSlopeTerrainCfg(
proportion=0.05,
border_width=0.5,
),
10.0, # effectively disable slope correction for rough_slope terrain
),
"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=0.5,
"stairs_up": with_slope_threshold(
terrain_gen.HfInvertedPyramidStairsTerrainCfg(
proportion=0.25,
step_height_range=(0.05, 0.257),
step_width=0.31,
platform_width=3.0,
border_width=0.5,
),
0.25, # enable slope correction for rough_slope terrain by 14.0 degrees, which is recommended for stairs terrain
),
"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=0.5,
"stairs_down": with_slope_threshold(
terrain_gen.HfPyramidStairsTerrainCfg(
proportion=0.10,
step_height_range=(0.05, 0.257),
step_width=0.31,
platform_width=3.0,
border_width=0.5,
),
0.25, # enable slope correction for rough_slope terrain by 14.0 degrees, which is recommended for stairs terrain
),
"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=0.5,
"obstacles": with_slope_threshold(
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=0.5,
),
0.25, # enable slope correction for rough_slope terrain by 14.0 degrees
),
"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=0.5,
"stepping_stones": with_slope_threshold(
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=0.5,
),
0.25, # enable slope correction for rough_slope terrain by 14.0 degrees
),
"gap": terrain_gen.MeshGapTerrainCfg(
proportion=0.0,