isaaclab

Custom terrain configurations for Isaac Lab navigation tasks.

模块：

名称	描述
`navrl_terrain_cfg`	NavRL-style discrete obstacles terrain with probability-weighted height intervals.
`terrain_cfg`	Terrain configuration for Isaac Lab navigation tasks.

类：

名称	描述
`HfDiscreteObstaclesNavRLTerrainCfg`	Configuration for discrete obstacles terrain with NavRL-style `"range"` height mode.

HfDiscreteObstaclesNavRLTerrainCfg

Bases: HfTerrainBaseCfg

Configuration for discrete obstacles terrain with NavRL-style "range" height mode.

Inherits all base height-field parameters from :class:HfTerrainBaseCfg.

The obstacle_height_mode field selects how obstacle heights are sampled:

"choice": randomly pick from [-h, -h/2, h/2, h] (IsaacLab default).
"fixed": always use positive h.
"range": select an interval from obstacle_height_range based on obstacle_height_probability, then sample uniformly within that interval. In this mode, obstacle_height_range must be a list of N+1 boundary values and obstacle_height_probability a list of N probabilities summing to 1.

属性：

名称	类型	描述
`obstacle_height_mode`	`str`	The mode to use for obstacle height. Defaults to "range".
`obstacle_width_range`	`tuple[float, float]`	The minimum and maximum width of the obstacles (in m).
`obstacle_height_range`	`list`	Obstacle height specification.
`obstacle_height_probability`	`list`	Probability for each interval in "range" mode. Must sum to 1 and have
`num_obstacles`	`int`	The number of obstacles to generate.
`platform_width`	`float`	The width of the square platform at the center of the terrain. Defaults to 0.0.

obstacle_height_mode: str = 'range'

The mode to use for obstacle height. Defaults to "range".

Supported modes: "choice", "fixed", "range".

obstacle_width_range: tuple[float, float] = MISSING

The minimum and maximum width of the obstacles (in m).

obstacle_height_range: list = MISSING

Obstacle height specification.

For "choice"/"fixed" mode: a 2-element [min, max] in metres.
For "range" mode: a list of N+1 boundary values (e.g. [1.0, 1.5, 2.0, 4.0, 6.0]).

obstacle_height_probability: list = MISSING

Probability for each interval in "range" mode. Must sum to 1 and have length len(obstacle_height_range) - 1. Ignored for other modes.

num_obstacles: int = MISSING

The number of obstacles to generate.

platform_width: float = 0.0

The width of the square platform at the center of the terrain. Defaults to 0.0.