terrain_cfg

Terrain configuration for Isaac Lab navigation tasks.

属性：

名称	类型	描述
NAV_TERRAINS_CFG		Nav terrains configuration.

NAV_TERRAINS_CFG module-attribute

NAV_TERRAINS_CFG = terrain_gen.TerrainGeneratorCfg(size=(10.0, 10.0), border_width=1.0, num_rows=20, num_cols=10, horizontal_scale=0.1, vertical_scale=0.005, slope_threshold=0.75, use_cache=False, sub_terrains={'random_rough': terrain_gen.HfRandomUniformTerrainCfg(proportion=0.25, noise_range=(0.02, 0.1), noise_step=0.02, border_width=0.25), 'flat_pillar': fdm_terrain_gen.MeshPillarTerrainCfg(proportion=0.25, box_objects=fdm_terrain_gen.MeshPillarTerrainCfg.BoxCfg(width=(0.5, 1.0), length=(0.2, 0.5), max_yx_angle=(0, 10), height=(0.5, 3), num_objects=(5, 5)), cylinder_cfg=fdm_terrain_gen.MeshPillarTerrainCfg.CylinderCfg(radius=(0.3, 0.5), max_yx_angle=(0, 5), height=(0.5, 5), num_objects=(7, 7))), 'rough_pillar': fdm_terrain_gen.MeshPillarTerrainCfg(proportion=0.25, box_objects=fdm_terrain_gen.MeshPillarTerrainCfg.BoxCfg(width=(0.5, 1.0), length=(0.2, 0.5), max_yx_angle=(0, 10), height=(0.5, 3), num_objects=(5, 5)), cylinder_cfg=fdm_terrain_gen.MeshPillarTerrainCfg.CylinderCfg(radius=(0.3, 0.5), max_yx_angle=(0, 5), height=(0.5, 5), num_objects=(7, 7)), rough_terrain=terrain_gen.HfRandomUniformTerrainCfg(noise_range=(0.02, 0.1), noise_step=0.02, border_width=0.25)), 'maze': fdm_terrain_gen.RandomMazeTerrainCfg(proportion=0.25, resolution=1.25, maze_height=3.0, step_height_range=(0.15, 0.25), step_width_range=(0.25, 0.35), num_stairs=5)})

Nav terrains configuration.