Adds use_terrain_origins option to TerrainImporterCfg

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.47.7"
+version = "0.47.8"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.47.8 (2025-11-06)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added parameter :attr:`~isaaclab.terrains.TerrainImporterCfg.use_terrain_origins` to allow generated sub terrains with grid origins.
+
+
 0.47.7 (2025-10-31)
 ~~~~~~~~~~~~~~~~~~~
 

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":

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
+      :attr:`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 :attr:`env_spacing`. Defaults to True.
+
+    Note:
+      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))