From db01a64f72efdea8e04581cedab12eb0ec89a838 Mon Sep 17 00:00:00 2001
From: xuxin <747302550@qq.com>
Date: Tue, 27 Jan 2026 15:11:49 +0800
Subject: [PATCH] Adds rough slope terrain

---
 CONTRIBUTORS.md                               |  1 +
 .../terrains/height_field/__init__.py         |  4 +++-
 .../terrains/height_field/hf_terrains.py      | 20 ++++++++++++++++++-
 .../terrains/height_field/hf_terrains_cfg.py  | 16 ++++++++++++++-
 4 files changed, 38 insertions(+), 3 deletions(-)

diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index b906922b291..54330358d01 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -145,6 +145,7 @@ Guidelines for modifications:
 * Xavier Nal
 * Xinjie Yao
 * Xinpeng Liu
+* Xin Xu
 * Yang Jin
 * Yanzi Zhu
 * Yijie Guo
diff --git a/source/isaaclab/isaaclab/terrains/height_field/__init__.py b/source/isaaclab/isaaclab/terrains/height_field/__init__.py
index 589798cf25b..cabe219e66b 100644
--- a/source/isaaclab/isaaclab/terrains/height_field/__init__.py
+++ b/source/isaaclab/isaaclab/terrains/height_field/__init__.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -29,9 +29,11 @@
     HfDiscreteObstaclesTerrainCfg,
     HfInvertedPyramidSlopedTerrainCfg,
     HfInvertedPyramidStairsTerrainCfg,
+    HfInvertedRoughSlopeTerrainCfg,
     HfPyramidSlopedTerrainCfg,
     HfPyramidStairsTerrainCfg,
     HfRandomUniformTerrainCfg,
+    HfRoughSlopeTerrainCfg,
     HfSteppingStonesTerrainCfg,
     HfTerrainBaseCfg,
     HfWaveTerrainCfg,
diff --git a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains.py b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains.py
index d9ff255c3b5..07b893fc40e 100644
--- a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains.py
+++ b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -148,6 +148,24 @@ def pyramid_sloped_terrain(difficulty: float, cfg: hf_terrains_cfg.HfPyramidSlop
     return np.rint(hf_raw).astype(np.int16)
 
 
+@height_field_to_mesh
+def rough_slope_terrain(difficulty: float, cfg: hf_terrains_cfg.HfRoughSlopeTerrainCfg) -> np.ndarray:
+    # combine the two methods
+    terrain1 = pyramid_sloped_terrain.__wrapped__(difficulty, cfg)
+    terrain2 = random_uniform_terrain.__wrapped__(difficulty, cfg)
+    hf = terrain1 + terrain2
+
+    # the platform at center do not need to be rough
+    width_pixels = int(cfg.size[0] / cfg.horizontal_scale)
+    length_pixels = int(cfg.size[1] / cfg.horizontal_scale)
+    platform_width = int(cfg.platform_width / cfg.horizontal_scale / 2)
+    x_pf = width_pixels // 2 - platform_width
+    y_pf = length_pixels // 2 - platform_width
+    z_pf = hf[x_pf, y_pf]
+    hf = np.clip(hf, min(0, z_pf), max(0, z_pf))
+    return hf
+
+
 @height_field_to_mesh
 def pyramid_stairs_terrain(difficulty: float, cfg: hf_terrains_cfg.HfPyramidStairsTerrainCfg) -> np.ndarray:
     """Generate a terrain with a pyramid stair pattern.
diff --git a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py
index 8fd49077aa2..5213fb4849a 100644
--- a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py
+++ b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -91,6 +91,20 @@ class HfInvertedPyramidSlopedTerrainCfg(HfPyramidSlopedTerrainCfg):
     inverted: bool = True
 
 
+@configclass
+class HfRoughSlopeTerrainCfg(HfRandomUniformTerrainCfg, HfPyramidSlopedTerrainCfg):
+    "rough slope cfg, combine the cfg of random terrain and smooth slope terrain"
+
+    function = hf_terrains.rough_slope_terrain
+
+
+@configclass
+class HfInvertedRoughSlopeTerrainCfg(HfRandomUniformTerrainCfg, HfInvertedPyramidSlopedTerrainCfg):
+    "rough slope cfg, combine the cfg of random terrain and smooth slope terrain"
+
+    function = hf_terrains.rough_slope_terrain
+
+
 @configclass
 class HfPyramidStairsTerrainCfg(HfTerrainBaseCfg):
     """Configuration for a pyramid stairs height field terrain."""