unilab.terrains.heightfield_terrains.HfPyramidSlopedTerrainCfg

class unilab.terrains.heightfield_terrains.HfPyramidSlopedTerrainCfg[source]

Bases: SubTerrainCfg

HfPyramidSlopedTerrainCfg(proportion: ‘float’ = 1.0, size: ‘tuple[float, float]’ = (10.0, 10.0), flat_patch_sampling: ‘dict[str, FlatPatchSamplingCfg] | None’ = None, *, slope_range: ‘tuple[float, float]’, platform_width: ‘float’ = 1.0, inverted: ‘bool’ = False, border_width: ‘float’ = 0.0, horizontal_scale: ‘float’ = 0.1, vertical_scale: ‘float’ = 0.005, base_thickness_ratio: ‘float’ = 1.0)

Parameters:

  • proportion (float)

  • size (tuple[float, float])

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

  • slope_range (tuple[float, float])

  • platform_width (float)

  • inverted (bool)

  • border_width (float)

  • 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 maximum surface height.

border_width

Width of the flat border around the terrain edges, in meters.

flat_patch_sampling

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

horizontal_scale

Heightfield grid resolution along x and y, in meters per cell.

inverted

If True, the pyramid is inverted so the platform is at the bottom.

platform_width

Side length of the flat square platform at the terrain center, in meters.

proportion

Robot spawning weight for this terrain type.

size

Width and length of the terrain patch, in meters.

vertical_scale

Heightfield height resolution, in meters per integer unit of the noise array.

slope_range

Range of slope gradients (rise / run), interpolated by difficulty.
slope_range: tuple[float, float]

Range of slope gradients (rise / run), interpolated by difficulty.

platform_width: float = 1.0

Side length of the flat square platform at the terrain center, in meters.

inverted: bool = False

If True, the pyramid is inverted so the platform is at the bottom.

border_width: float = 0.0

Width of the flat border around the terrain edges, in meters. Must be >= horizontal_scale if non-zero.

horizontal_scale: float = 0.1

Heightfield grid resolution along x and y, in meters per cell.

vertical_scale: float = 0.005

Heightfield height resolution, in meters per integer unit of the noise array.

base_thickness_ratio: float = 1.0

Ratio of the heightfield base thickness to its maximum surface height.

function(difficulty, rng)[source]

Generate backend-agnostic terrain data.

Return type:

TerrainOutput

Returns:

TerrainOutput containing spawn origin and heightfield data.

Parameters:
__init__(proportion=1.0, size=(10.0, 10.0), flat_patch_sampling=None, *, slope_range, platform_width=1.0, inverted=False, border_width=0.0, horizontal_scale=0.1, vertical_scale=0.005, base_thickness_ratio=1.0)
Parameters:

  • proportion (float)

  • size (tuple[float, float])

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

  • slope_range (tuple[float, float])

  • platform_width (float)

  • inverted (bool)

  • border_width (float)

  • 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.