terrain_cfg.py

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from terrain_generator_cfg import TerrainGeneratorCfg
import omni.isaac.orbit.terrains as terrain_gen


ROUGH_TERRAINS_CFG = TerrainGeneratorCfg(
    size=(8.0, 8.0),
    border_width=0.0,
    num_rows=1,
    num_cols=2,
    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,
        ),
    },
)