simulo.RoughTerrain

Procedurally generated rough terrain for locomotion training.

This terrain type generates a grid of sub-terrains with various difficulty levels, suitable for curriculum learning in locomotion tasks. Equivalent to IsaacLab’s TerrainImporterCfg with TerrainGeneratorCfg.

Attributes:

• num_rows — Number of terrain rows (sub-terrain grid rows)
• num_cols — Number of terrain columns (sub-terrain grid columns)
• size — Size of each sub-terrain (width, height) in meters
• border_width — Width of flat border around terrain
• curriculum — If True, progressively spawn robots on harder terrain
• max_init_terrain_level — Maximum initial terrain level for curriculum (None = spawn randomly across all levels)
• sub_terrains — List of sub-terrain configurations
• color_scheme — Color scheme for terrain (“height” or “none”)

Example:

import simulo

# Create rough terrain matching IsaacLab's H1 configuration
terrain = simulo.Terrain.rough(
    name="terrain",
    num_rows=10,
    num_cols=20,
    size=(8.0, 8.0),
    curriculum=True,
    sub_terrains=[
        simulo.SubTerrainConfig(
            type="pyramid_stairs",
            proportion=0.2,
            params={"step_height_range": (0.05, 0.23), "step_width": 0.3}
        ),
        simulo.SubTerrainConfig(
            type="pyramid_stairs_inv",
            proportion=0.2,
            params={"step_height_range": (0.05, 0.23), "step_width": 0.3}
        ),
        simulo.SubTerrainConfig(
            type="random_rough",
            proportion=0.2,
            params={"noise_range": (-0.05, 0.05), "noise_step": 0.005}
        ),
    ],
)
scene.add(terrain, at="/World/terrain", per_environment=False)

simulo.RoughTerrain(
    name: str,
    pose: Pose = Pose.identity(),
    num_rows: int = 10,
    num_cols: int = 20,
    size: Tuple[float, float] = (8.0, 8.0),
    border_width: float = 20.0,
    curriculum: bool = True,
    max_init_terrain_level: Optional[int] = None,
    sub_terrains: List[SubTerrainConfig] = list(),
    color_scheme: str = 'height',
)