Source code for isaaclab.terrains.terrain_importer_cfg
# Copyright (c) 2022-2025, The Isaac Lab Project Developers.# All rights reserved.## SPDX-License-Identifier: BSD-3-Clausefrom__future__importannotationsfromdataclassesimportMISSINGfromtypingimportTYPE_CHECKING,Literalimportisaaclab.simassim_utilsfromisaaclab.utilsimportconfigclassfrom.terrain_importerimportTerrainImporterifTYPE_CHECKING:from.terrain_generator_cfgimportTerrainGeneratorCfg
[docs]@configclassclassTerrainImporterCfg:"""Configuration for the terrain manager."""class_type:type=TerrainImporter"""The class to use for the terrain importer. Defaults to :class:`isaaclab.terrains.terrain_importer.TerrainImporter`. """collision_group:int=-1"""The collision group of the terrain. Defaults to -1."""prim_path:str=MISSING"""The absolute path of the USD terrain prim. All sub-terrains are imported relative to this prim path. """num_envs:int=1"""The number of environment origins to consider. Defaults to 1. In case, the :class:`~isaaclab.scene.InteractiveSceneCfg` is used, this parameter gets overridden by :attr:`isaaclab.scene.InteractiveSceneCfg.num_envs` attribute. """terrain_type:Literal["generator","plane","usd"]="generator""""The type of terrain to generate. Defaults to "generator". Available options are "plane", "usd", and "generator". """terrain_generator:TerrainGeneratorCfg|None=None"""The terrain generator configuration. Only used if ``terrain_type`` is set to "generator". """usd_path:str|None=None"""The path to the USD file containing the terrain. Only used if ``terrain_type`` is set to "usd". """env_spacing:float|None=None"""The spacing between environment origins when defined in a grid. Defaults to None. Note: This parameter is used only when the ``terrain_type`` is "plane" or "usd". """visual_material:sim_utils.VisualMaterialCfg|None=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0,0.0,0.0))"""The visual material of the terrain. Defaults to a dark gray color material. This parameter is used for both the "generator" and "plane" terrains. - If the ``terrain_type`` is "generator", then the material is created at the path ``{prim_path}/visualMaterial`` and applied to all the sub-terrains. - If the ``terrain_type`` is "plane", then the diffuse color of the material is set to to the grid color of the imported ground plane. """physics_material:sim_utils.RigidBodyMaterialCfg=sim_utils.RigidBodyMaterialCfg()"""The physics material of the terrain. Defaults to a default physics material. The material is created at the path: ``{prim_path}/physicsMaterial``. .. note:: This parameter is used only when the ``terrain_type`` is "generator" or "plane". """max_init_terrain_level:int|None=None"""The maximum initial terrain level for defining environment origins. Defaults to None. The terrain levels are specified by the number of rows in the grid arrangement of sub-terrains. If None, then the initial terrain level is set to the maximum terrain level available (``num_rows - 1``). Note: This parameter is used only when sub-terrain origins are defined. """debug_vis:bool=False"""Whether to enable visualization of terrain origins for the terrain. Defaults to False."""