| isaaclab.terrains | |
| ================= | |
| .. automodule:: isaaclab.terrains | |
| .. rubric:: Classes | |
| .. autosummary:: | |
| TerrainImporter | |
| TerrainImporterCfg | |
| TerrainGenerator | |
| TerrainGeneratorCfg | |
| SubTerrainBaseCfg | |
| Terrain importer | |
| ---------------- | |
| .. autoclass:: TerrainImporter | |
| :members: | |
| :show-inheritance: | |
| .. autoclass:: TerrainImporterCfg | |
| :members: | |
| :exclude-members: __init__, class_type | |
| Terrain generator | |
| ----------------- | |
| .. autoclass:: TerrainGenerator | |
| :members: | |
| .. autoclass:: TerrainGeneratorCfg | |
| :members: | |
| :exclude-members: __init__ | |
| .. autoclass:: SubTerrainBaseCfg | |
| :members: | |
| :exclude-members: __init__ | |
| Height fields | |
| ------------- | |
| .. automodule:: isaaclab.terrains.height_field | |
| All sub-terrains must inherit from the :class:`HfTerrainBaseCfg` class which contains the common | |
| parameters for all terrains generated from height fields. | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Random Uniform Terrain | |
| ^^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.height_field.hf_terrains.random_uniform_terrain | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Pyramid Sloped Terrain | |
| ^^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.height_field.hf_terrains.pyramid_sloped_terrain | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Pyramid Stairs Terrain | |
| ^^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.height_field.hf_terrains.pyramid_stairs_terrain | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Discrete Obstacles Terrain | |
| ^^^^^^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.height_field.hf_terrains.discrete_obstacles_terrain | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Wave Terrain | |
| ^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.height_field.hf_terrains.wave_terrain | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Stepping Stones Terrain | |
| ^^^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.height_field.hf_terrains.stepping_stones_terrain | |
| .. autoclass:: isaaclab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Trimesh terrains | |
| ---------------- | |
| .. automodule:: isaaclab.terrains.trimesh | |
| Flat terrain | |
| ^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.flat_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Pyramid terrain | |
| ^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Inverted pyramid terrain | |
| ^^^^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Random grid terrain | |
| ^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.random_grid_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Rails terrain | |
| ^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.rails_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Pit terrain | |
| ^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.pit_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Box terrain | |
| ^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.box_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Gap terrain | |
| ^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.gap_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Floating ring terrain | |
| ^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.floating_ring_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Star terrain | |
| ^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.star_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Repeated Objects Terrain | |
| ^^^^^^^^^^^^^^^^^^^^^^^^ | |
| .. autofunction:: isaaclab.terrains.trimesh.mesh_terrains.repeated_objects_terrain | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| .. autoclass:: isaaclab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg | |
| :members: | |
| :show-inheritance: | |
| :exclude-members: __init__, function | |
| Utilities | |
| --------- | |
| .. automodule:: isaaclab.terrains.utils | |
| :members: | |
| :undoc-members: | |