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Feature: Adds rough slope terrain #4468

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Feature: Adds rough slope terrain #4468

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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,7 @@ Guidelines for modifications:
* Xavier Nal
* Xinjie Yao
* Xinpeng Liu
* Xin Xu
* Yang Jin
* Yanzi Zhu
* Yijie Guo
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4 changes: 3 additions & 1 deletion source/isaaclab/isaaclab/terrains/height_field/__init__.py
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@@ -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
Expand Down Expand Up @@ -29,9 +29,11 @@
HfDiscreteObstaclesTerrainCfg,
HfInvertedPyramidSlopedTerrainCfg,
HfInvertedPyramidStairsTerrainCfg,
HfInvertedRoughSlopeTerrainCfg,
HfPyramidSlopedTerrainCfg,
HfPyramidStairsTerrainCfg,
HfRandomUniformTerrainCfg,
HfRoughSlopeTerrainCfg,
HfSteppingStonesTerrainCfg,
HfTerrainBaseCfg,
HfWaveTerrainCfg,
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20 changes: 19 additions & 1 deletion source/isaaclab/isaaclab/terrains/height_field/hf_terrains.py
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@@ -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
Expand Down Expand Up @@ -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.
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16 changes: 15 additions & 1 deletion source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py
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Original file line number Diff line number Diff line change
@@ -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
Expand Down Expand Up @@ -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."""
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