unilab.terrains.heightfield_terrains.HfWaveTerrainCfg

class unilab.terrains.heightfield_terrains.HfWaveTerrainCfg[source]

Bases: SubTerrainCfg

HfWaveTerrainCfg(proportion: ‘float’ = 1.0, size: ‘tuple[float, float]’ = (10.0, 10.0), flat_patch_sampling: ‘dict[str, FlatPatchSamplingCfg] | None’ = None, *, amplitude_range: ‘tuple[float, float]’, num_waves: ‘int’ = 1, horizontal_scale: ‘float’ = 0.1, vertical_scale: ‘float’ = 0.005, base_thickness_ratio: ‘float’ = 0.25, border_width: ‘float’ = 0.0)

Parameters:

  • proportion (float)

  • size (tuple[float, float])

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

  • amplitude_range (tuple[float, float])

  • num_waves (int)

  • horizontal_scale (float)

  • vertical_scale (float)

  • base_thickness_ratio (float)

  • border_width (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.

num_waves

Number of complete wave cycles along the terrain length.

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.

amplitude_range

Min and max wave amplitude, in meters.
amplitude_range: tuple[float, float]

Min and max wave amplitude, in meters. Interpolated by difficulty.

num_waves: int = 1

Number of complete wave cycles along the terrain length.

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 = 0.25

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

__init__(proportion=1.0, size=(10.0, 10.0), flat_patch_sampling=None, *, amplitude_range, num_waves=1, horizontal_scale=0.1, vertical_scale=0.005, base_thickness_ratio=0.25, border_width=0.0)
Parameters:

  • proportion (float)

  • size (tuple[float, float])

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

  • amplitude_range (tuple[float, float])

  • num_waves (int)

  • horizontal_scale (float)

  • vertical_scale (float)

  • base_thickness_ratio (float)

  • border_width (float)

border_width: float = 0.0

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

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.

function(difficulty, rng)[source]

Generate backend-agnostic terrain data.

Return type:

TerrainOutput

Returns:

TerrainOutput containing spawn origin and heightfield data.

Parameters: