unilab.envs.locomotion.common.terrain_spawn.TerrainCurriculumCfg

class unilab.envs.locomotion.common.terrain_spawn.TerrainCurriculumCfg[source]

Bases: object

TerrainCurriculumCfg(enabled: ‘bool’ = False, promote_frac: ‘float’ = 0.5, demote_frac: ‘float’ = 0.25, cycle_top_frac: ‘float’ = 0.5, spawn_height_margin: ‘float’ = 0.05, seed: ‘int | None’ = None)

Parameters:

Methods

__init__([enabled, promote_frac, ...])

Attributes

cycle_top_frac

When level overflows the top row, resample uniformly in [num_rows * cycle_top_frac, num_rows - 1].

demote_frac

Walked distance < demote_frac * cell_size demotes one level.

enabled

If True, levels start at 0 and evolve via promote/demote.

promote_frac

Walked distance > promote_frac * cell_size promotes one level.

seed

spawn_height_margin

Extra z added on top of the sampled terrain surface height.
enabled: bool = False

If True, levels start at 0 and evolve via promote/demote.

promote_frac: float = 0.5

Walked distance > promote_frac * cell_size promotes one level.

demote_frac: float = 0.25

Walked distance < demote_frac * cell_size demotes one level.

cycle_top_frac: float = 0.5

When level overflows the top row, resample uniformly in [num_rows * cycle_top_frac, num_rows - 1].

spawn_height_margin: float = 0.05

Extra z added on top of the sampled terrain surface height.

seed: int | None = None
__init__(enabled=False, promote_frac=0.5, demote_frac=0.25, cycle_top_frac=0.5, spawn_height_margin=0.05, seed=None)
Parameters: