Terrains¶
GeneLab terrains are generated height-field grids that can be imported into Genesis scenes and read by ray-based sensors and curricula.
Why a terrain layer¶
Locomotion tasks need terrain geometry, spawn origins, difficulty levels, and height scans to agree. Keeping terrain generation in one layer lets the scene, curriculum, and sensors share the same source of truth.
Building blocks¶
| Config | Shape |
|---|---|
FlatPatchCfg |
Flat sub-terrain. |
PyramidStairsCfg |
Stair pattern. |
RandomRoughCfg |
Random rough surface. |
SlopeCfg |
Sloped patch. |
WaveCfg |
Wave-like height field. |
TerrainGeneratorCfg |
Grid layout and selected sub-terrains. |
TerrainImporter |
Runtime bridge into Genesis. |
Integration points¶
| Consumer | Uses terrain for |
|---|---|
InteractiveScene |
Adds generated geometry to the Genesis scene. |
TerrainHeightSensor |
Samples heights under a ray grid. |
terrain_levels_vel curriculum |
Promotes/demotes env difficulty by performance. |