[Question] curriculum terrain levels not working

[shendredm]

I'm running provided example of rsl_rl for Anymal-C robot in rough terrain environment with curriculum setting as terrain levels , but I can see that generated terrain is transposed and robot spawned on all terrains even if I have set the max_init_terrain_level=1.
As per my understanding when curriculum is active the terrain levels are labelled as per sequence of sub terrains in TerrainGeneratorCfg.

terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="generator",
terrain_generator=ROUGH_TERRAINS_CFG,
max_init_terrain_level=1,
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply",
restitution_combine_mode="multiply",
static_friction=1.0,
dynamic_friction=1.0,
),
visual_material=sim_utils.MdlFileCfg(
mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl",
project_uvw=True,
texture_scale=(0.25, 0.25),
),
debug_vis=False,

ROUGH_TERRAINS_CFG = TerrainGeneratorCfg(
size=(8.0, 8.0),
border_width=20.0,
num_rows=10,
num_cols=20,
horizontal_scale=0.1,
vertical_scale=0.005,
slope_threshold=0.75,
use_cache=False,
sub_terrains={
"pyramid_stairs": terrain_gen.MeshPyramidStairsTerrainCfg(
proportion=0.2,
step_height_range=(0.05, 0.23),
step_width=0.3,
platform_width=3.0,
border_width=1.0,
holes=False,
),
"pyramid_stairs_inv": terrain_gen.MeshInvertedPyramidStairsTerrainCfg(
proportion=0.2,
step_height_range=(0.05, 0.23),
step_width=0.3,
platform_width=3.0,
border_width=1.0,
holes=False,
),
"boxes": terrain_gen.MeshRandomGridTerrainCfg(
proportion=0.2, grid_width=0.45, grid_height_range=(0.05, 0.2), platform_width=2.0
),
"random_rough": terrain_gen.HfRandomUniformTerrainCfg(
proportion=0.2, noise_range=(0.02, 0.10), noise_step=0.02, border_width=0.25
),
"hf_pyramid_slope": terrain_gen.HfPyramidSlopedTerrainCfg(
proportion=0.1, slope_range=(0.0, 0.4), platform_width=2.0, border_width=0.25
),
"hf_pyramid_slope_inv": terrain_gen.HfInvertedPyramidSlopedTerrainCfg(
proportion=0.1, slope_range=(0.0, 0.4), platform_width=2.0, border_width=0.25
),
},
)

• Isaac Sim Version: [e.g. 4.0, this can be obtained by cat ${ISAACSIM_PATH}/VERSION]

• OS: [e.g. Ubuntu 22.04]
  

• GPU: [e.g. RTX 4060 Super]

• CUDA: [e.g. 12.3]

• GPU Driver: [e.g. 535.183.01]

[Alkrick]

The curriculum attribute of your terrain generator should be set to True, it defaults to False, this can be set in the post_init of the EnvCfg class as such:

[shendredm]

Thanks

[shendredm]

I thought curriculum is entire terrain region and terrain levels are the no of sub terrain. Example - Flat, slope,rough, stairs. But upon reviewing I found that levels are based upon no of rows and curriculum is for each sub terrain. If we select slope terrain then sub-terrains generated from min slope to maximum slope from given range.