Merge branch 'main' into startup_thread

kellyguo11 · Aug 2, 2024 · f82fa75 · f82fa75
2 parents 0232e1c + 912279d
commit f82fa75
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Showing 4 changed files with 20 additions and 3 deletions.
diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.20.4"
+version = "0.20.5"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.20.5 (2024-08-02)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :attr:`omni.isaac.lab.terrain.TerrainGeneratorCfg.border_height` to set the height of the border
+  around the terrain.
+
+
 0.20.4 (2024-08-02)
 ~~~~~~~~~~~~~~~~~~~
 

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py
@@ -259,9 +259,13 @@ def _add_terrain_border(self):
             self.cfg.num_cols * self.cfg.size[1] + 2 * self.cfg.border_width,
         )
         inner_size = (self.cfg.num_rows * self.cfg.size[0], self.cfg.num_cols * self.cfg.size[1])
-        border_center = (self.cfg.num_rows * self.cfg.size[0] / 2, self.cfg.num_cols * self.cfg.size[1] / 2, -0.5)
+        border_center = (
+            self.cfg.num_rows * self.cfg.size[0] / 2,
+            self.cfg.num_cols * self.cfg.size[1] / 2,
+            -self.cfg.border_height / 2,
+        )
         # border mesh
-        border_meshes = make_border(border_size, inner_size, height=1.0, position=border_center)
+        border_meshes = make_border(border_size, inner_size, height=self.cfg.border_height, position=border_center)
         border = trimesh.util.concatenate(border_meshes)
         # update the faces to have minimal triangles
         selector = ~(np.asarray(border.triangles)[:, :, 2] < -0.1).any(1)

diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py
@@ -125,6 +125,9 @@ class TerrainGeneratorCfg:
     border_width: float = 0.0
     """The width of the border around the terrain (in m). Defaults to 0.0."""
 
+    border_height: float = 1.0
+    """The height of the border around the terrain (in m). Defaults to 1.0."""
+
     num_rows: int = 1
     """Number of rows of sub-terrains to generate. Defaults to 1."""