omni.isaac.lab.terrains

omni.isaac.lab.terrains#

Classes

TerrainImporter

TerrainImporterCfg

TerrainGenerator

TerrainGeneratorCfg

SubTerrainBaseCfg

Terrain importer#

class omni.isaac.lab.terrains.TerrainImporter#

Bases:

class omni.isaac.lab.terrains.TerrainImporterCfg#

Terrain generator#

class omni.isaac.lab.terrains.TerrainGenerator#
class omni.isaac.lab.terrains.TerrainGeneratorCfg#
class omni.isaac.lab.terrains.SubTerrainBaseCfg#

Height fields#

All sub-terrains must inherit from the HfTerrainBaseCfg class which contains the common parameters for all terrains generated from height fields.

class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg#

Bases:

Random Uniform Terrain#

omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain()#
class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg#

Bases:

Pyramid Sloped Terrain#

omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain()#
class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg#

Bases:

class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg#

Bases:

Pyramid Stairs Terrain#

omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain()#
class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg#

Bases:

class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg#

Bases:

Discrete Obstacles Terrain#

omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain()#
class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg#

Bases:

Wave Terrain#

omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain()#
class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg#

Bases:

Stepping Stones Terrain#

omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain()#
class omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg#

Bases:

Trimesh terrains#

Flat terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg#

Bases:

Pyramid terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg#

Bases:

Inverted pyramid terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg#

Bases:

Random grid terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg#

Bases:

Rails terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg#

Bases:

Pit terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg#

Bases:

Box terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg#

Bases:

Gap terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg#

Bases:

Floating ring terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg#

Bases:

Star terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg#

Bases:

Repeated Objects Terrain#

omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain()#
class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg#

Bases:

class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg#

Bases:

class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg#

Bases:

class omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg#

Bases:

Utilities#