From 52f9ab2353f080c4e1b99be3ef6d47ad32e21a64 Mon Sep 17 00:00:00 2001 From: Georg Wiedebach Date: Tue, 23 Sep 2025 13:02:56 -0500 Subject: [PATCH 1/6] adds use_terrain_origins option to TerrainImporterCfg --- source/isaaclab/isaaclab/terrains/terrain_importer.py | 7 +++++-- .../isaaclab/terrains/terrain_importer_cfg.py | 11 ++++++++++- 2 files changed, 15 insertions(+), 3 deletions(-) diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer.py b/source/isaaclab/isaaclab/terrains/terrain_importer.py index a8a2712f251..a99a8c5926e 100644 --- a/source/isaaclab/isaaclab/terrains/terrain_importer.py +++ b/source/isaaclab/isaaclab/terrains/terrain_importer.py @@ -87,8 +87,11 @@ def __init__(self, cfg: TerrainImporterCfg): cfg=self.cfg.terrain_generator, device=self.device ) self.import_mesh("terrain", terrain_generator.terrain_mesh) - # configure the terrain origins based on the terrain generator - self.configure_env_origins(terrain_generator.terrain_origins) + if self.cfg.use_terrain_origins: + # configure the terrain origins based on the terrain generator + self.configure_env_origins(terrain_generator.terrain_origins) + else: + self.configure_env_origins() # refer to the flat patches self._terrain_flat_patches = terrain_generator.flat_patches elif self.cfg.terrain_type == "usd": diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py index 7afc63aefa1..6deba34cb61 100644 --- a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py +++ b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py @@ -65,7 +65,16 @@ class TerrainImporterCfg: """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". + This parameter is used only when the ``terrain_type`` is "plane" or "usd" or if + ``use_terrain_origins`` is False + """ + + use_terrain_origins: bool = True + """Whether to set the environment origins based on the terrain origins or in a grid + according to ``env_spacing``. Defaults to True. + + Note: + This parameter is used only when the ``terrain type`` is "generator". """ visual_material: sim_utils.VisualMaterialCfg | None = sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 0.0)) From 4584e600acfa56147dd401f851c045625c25829d Mon Sep 17 00:00:00 2001 From: Georg Wiedebach Date: Fri, 10 Oct 2025 14:00:41 -0500 Subject: [PATCH 2/6] Update source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: Georg Wiedebach --- source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py index 6deba34cb61..121ff8c83db 100644 --- a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py +++ b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py @@ -66,7 +66,7 @@ class TerrainImporterCfg: Note: This parameter is used only when the ``terrain_type`` is "plane" or "usd" or if - ``use_terrain_origins`` is False + :attr:`use_terrain_origins` is False. """ use_terrain_origins: bool = True From 56eb6d4f2247f45603675890e714d269017436b1 Mon Sep 17 00:00:00 2001 From: Georg Wiedebach Date: Fri, 10 Oct 2025 14:00:48 -0500 Subject: [PATCH 3/6] Update source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: Georg Wiedebach --- source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py index 121ff8c83db..7556a0ff20c 100644 --- a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py +++ b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py @@ -71,7 +71,7 @@ class TerrainImporterCfg: use_terrain_origins: bool = True """Whether to set the environment origins based on the terrain origins or in a grid - according to ``env_spacing``. Defaults to True. + according to :attr:`env_spacing`. Defaults to True. Note: This parameter is used only when the ``terrain type`` is "generator". From 213a62b080bb7e6e022c5b423b80605393282673 Mon Sep 17 00:00:00 2001 From: Georg Wiedebach Date: Fri, 10 Oct 2025 14:00:55 -0500 Subject: [PATCH 4/6] Update source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: Georg Wiedebach --- source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py index 7556a0ff20c..4d54993339b 100644 --- a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py +++ b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py @@ -74,7 +74,7 @@ class TerrainImporterCfg: according to :attr:`env_spacing`. Defaults to True. Note: - This parameter is used only when the ``terrain type`` is "generator". + This parameter is used only when the :attr:`terrain type` is "generator". """ visual_material: sim_utils.VisualMaterialCfg | None = sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 0.0)) From a5e81872fecf4dafcd4fd2f33ba48aa578309ed1 Mon Sep 17 00:00:00 2001 From: Georg Wiedebach Date: Mon, 20 Oct 2025 16:23:31 -0500 Subject: [PATCH 5/6] updated changelog and extension.toml files --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 8 ++++++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index d2c0e84fecd..cbc2de67560 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.47.1" +version = "0.47.2" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index eb33e88773f..58f15618da6 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,14 @@ Changelog --------- +0.47.2 (2025-10-20) +~~~~~~~~~~~~~~~~~~~ + +Added +^^^^^ + +* Added parameter :attr:`~isaaclab.terrains.TerrainImporterCfg.use_terrain_origins` to allow generated sub terrains with grid origins. + 0.47.1 (2025-10-17) ~~~~~~~~~~~~~~~~~~~ From b0b32fffda85e13bb213d2787da23aea30b0ec75 Mon Sep 17 00:00:00 2001 From: Georg Wiedebach Date: Thu, 6 Nov 2025 08:51:52 -0600 Subject: [PATCH 6/6] Fix Changelog format Added a new parameter to TerrainImporterCfg for grid origins. Signed-off-by: Georg Wiedebach --- source/isaaclab/docs/CHANGELOG.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index 6b4341b14ea..5a1c3a85aa7 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -5,7 +5,7 @@ Changelog ~~~~~~~~~~~~~~~~~~~ Added -^^^^^^^ +^^^^^ * Added parameter :attr:`~isaaclab.terrains.TerrainImporterCfg.use_terrain_origins` to allow generated sub terrains with grid origins.