Language

unilab.terrains.config¶

Terrain configuration presets and named terrain sets.

Slim port of mjlab/terrains/config.py — keeps only the 7 sub-terrains used by ROUGH_TERRAINS_CFG and the curriculum stairs preset.

To add a new terrain, define a function decorated with @terrain_preset:

@terrain_preset
def my_new_terrain(**overrides: Any) -> SomeTerrainCfg:
    defaults: dict[str, Any] = dict(...)
    defaults.update(overrides)
    return SomeTerrainCfg(**defaults)

It will be auto-included in ALL_TERRAIN_PRESETS.

Functions

`flat`(**overrides)
`hf_pyramid_slope`(**overrides)
`hf_pyramid_slope_inv`(**overrides)
`pyramid_stairs`(**overrides)
`pyramid_stairs_inv`(**overrides)
`random_rough`(**overrides)
`terrain_preset`(fn)	Register a terrain preset into ALL_TERRAIN_PRESETS.
`wave_terrain`(**overrides)

unilab.terrains.config.terrain_preset(fn)[source]¶

Parameters:: fn (TypeVar(_F, bound= Callable[..., SubTerrainCfg]))
Return type:: TypeVar(_F, bound= Callable[..., SubTerrainCfg])

unilab.terrains.config.flat(**overrides)[source]¶

Parameters:: overrides (Any)
Return type:: HfFlatTerrainCfg

unilab.terrains.config.pyramid_stairs(**overrides)[source]¶

Parameters:: overrides (Any)
Return type:: HfPyramidStairsTerrainCfg

unilab.terrains.config.pyramid_stairs_inv(**overrides)[source]¶

Parameters:: overrides (Any)
Return type:: HfInvertedPyramidStairsTerrainCfg

unilab.terrains.config.hf_pyramid_slope(**overrides)[source]¶

Parameters:: overrides (Any)
Return type:: HfPyramidSlopedTerrainCfg

unilab.terrains.config.hf_pyramid_slope_inv(**overrides)[source]¶

Parameters:: overrides (Any)
Return type:: HfPyramidSlopedTerrainCfg

unilab.terrains.config.random_rough(**overrides)[source]¶

Parameters:: overrides (Any)
Return type:: HfRandomUniformTerrainCfg

unilab.terrains.config.wave_terrain(**overrides)[source]¶

Parameters:: overrides (Any)
Return type:: HfWaveTerrainCfg