unilab.terrains.heightfield_terrains.HfFlatTerrainCfg

class unilab.terrains.heightfield_terrains.HfFlatTerrainCfg[source]

Bases: SubTerrainCfg

A flat heightfield terrain (all-zero noise array).

Parameters:

  • proportion (float)

  • size (tuple[float, float])

  • flat_patch_sampling (dict[str, FlatPatchSamplingCfg] | None)

  • horizontal_scale (float)

  • vertical_scale (float)

  • base_thickness_ratio (float)

Methods

__init__([proportion, size, ...])

function(difficulty, rng)

Generate backend-agnostic terrain data.

Attributes

base_thickness_ratio

Ratio of the heightfield base thickness to its surface height.

flat_patch_sampling

Named flat-patch sampling configurations, or None to disable.

horizontal_scale

Heightfield grid resolution.

proportion

Robot spawning weight for this terrain type.

size

Width and length of the terrain patch, in meters.

vertical_scale

Heightfield height resolution.
__init__(proportion=1.0, size=(10.0, 10.0), flat_patch_sampling=None, *, horizontal_scale=0.05, vertical_scale=0.005, base_thickness_ratio=0.0)
Parameters:

  • proportion (float)

  • size (tuple[float, float])

  • flat_patch_sampling (dict[str, FlatPatchSamplingCfg] | None)

  • horizontal_scale (float)

  • vertical_scale (float)

  • base_thickness_ratio (float)

flat_patch_sampling: dict[str, FlatPatchSamplingCfg] | None = None

Named flat-patch sampling configurations, or None to disable.

proportion: float = 1.0

Robot spawning weight for this terrain type.

In curriculum mode, controls how many robots are spawned on this terrain’s column relative to other terrain types. Each terrain type always gets exactly one column; proportion only affects spawning distribution.

In random mode, controls the sampling probability for each patch.

size: tuple[float, float] = (10.0, 10.0)

Width and length of the terrain patch, in meters.

horizontal_scale: float = 0.05

Heightfield grid resolution. Overwritten by TerrainGenerator.

vertical_scale: float = 0.005

Heightfield height resolution. Overwritten by TerrainGenerator.

base_thickness_ratio: float = 0.0

Ratio of the heightfield base thickness to its surface height. The helper enforces a minimum thickness so a literal zero is fine here.

function(difficulty, rng)[source]

Generate backend-agnostic terrain data.

Return type:

TerrainOutput

Returns:

TerrainOutput containing spawn origin and heightfield data.

Parameters: