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implement corridor with turns terrain config
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‎exts/nav_tasks/nav_tasks/terrains/__init__.py‎

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# SPDX-License-Identifier: Apache-2.0
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from .corridor_cfg import CorridorTerrainCfg
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from .corridor_turn_cfg import CorridorTurnTerrainCfg
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from .maze_terrain_cfg import MazeTerrainCfg
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from .pillar_terrain_cfg import MeshPillarPlannerTestTerrainCfg, MeshPillarTerrainCfg, MeshPillarTerrainDeterministicCfg
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from .quad_stairs_terrain_cfg import MeshQuadPyramidStairsCfg

‎exts/nav_tasks/nav_tasks/terrains/corridor_turn.py‎

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# Copyright (c) 2025, The Nav-Suite Project Developers (https://github.com/leggedrobotics/nav-suite/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: Apache-2.0
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"""Functions to generate different terrains using the ``trimesh`` library."""
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from __future__ import annotations
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import numpy as np
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import trimesh
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from typing import TYPE_CHECKING
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from isaaclab.terrains.trimesh.utils import * # noqa: F401, F403
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from isaaclab.terrains.trimesh.utils import make_border, make_plane
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if TYPE_CHECKING:
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from . import corridor_turn_cfg
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# Helper for wall creation
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def wall(orientation, start, end, height, thickness):
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center = ((np.array(start) + np.array(end)) / 2).tolist()
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if orientation == "vertical":
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length = np.abs(start[0] - end[0])
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extents = [length, thickness, height]
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elif orientation == "horizontal":
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length = np.abs(start[1] - end[1])
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extents = [thickness, length, height]
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center[2] = height / 2
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return trimesh.creation.box(extents=extents, transform=trimesh.transformations.translation_matrix(center))
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def corridor_turn_terrain(difficulty: float, cfg: corridor_turn_cfg.CorridorTurnTerrainCfg):
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"""Generate a corridor with a 90 or 180 degree turn."""
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# get the width of the corridor
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width = np.random.uniform(cfg.width_range[0], cfg.width_range[1])
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# get the terrain center
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terrain_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.0]
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# initialize list of meshes
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meshes_list = list()
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# generate a ground plane for the terrain
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ground_plane = make_plane(cfg.size, height=0.0, center_zero=False)
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meshes_list.append(ground_plane)
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# generate the border if needed
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if cfg.border_width > 0.0:
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# obtain a list of meshes for the border
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border_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], 0]
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border_inner_size = (cfg.size[0] - 2 * cfg.border_width, cfg.size[1] - 2 * cfg.border_width)
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make_borders = make_border(cfg.size, border_inner_size, 0.1, border_center)
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# add the border meshes to the list of meshes
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meshes_list += make_borders
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t = cfg.wall_thickness
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h = cfg.wall_height
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if cfg.turn_type == "90":
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# Ensure the size of the terrain is sufficient for the corridor and turn
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if cfg.size[0] / 2 < width / 2 or cfg.size[1] / 2 < width / 2:
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print(
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"Terrain size is too small for the specified corridor width and a 90 degree turn. Adjusting parameters"
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" (terrain may not be useful)."
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)
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if cfg.size[0] / 2 < width / 2:
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width = cfg.size[0] - 0.1
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if cfg.size[1] / 2 < width / 2:
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width = cfg.size[1] - 0.1
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# L-shaped corridor: horizontal then vertical
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# Horizontal segments
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meshes_list.append(
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wall(
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"horizontal",
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[terrain_center[0] + width / 2, terrain_center[1] - width / 2, 0],
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[terrain_center[1] + width / 2, cfg.size[1], 0],
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h,
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t,
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)
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)
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meshes_list.append(
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wall(
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"horizontal",
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[terrain_center[0] - width / 2, terrain_center[1] + width / 2, 0],
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[terrain_center[0] - width / 2, cfg.size[1], 0],
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h,
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t,
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)
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)
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# Vertical segments
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meshes_list.append(
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wall(
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"vertical",
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[terrain_center[0] + width / 2, terrain_center[1] - width / 2, 0],
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[0, terrain_center[1] - width / 2, 0],
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h,
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t,
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)
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)
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meshes_list.append(
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wall(
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"vertical",
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[terrain_center[0] - width / 2, terrain_center[1] + width / 2, 0],
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[0, terrain_center[1] + width / 2, 0],
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h,
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t,
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)
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)
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elif cfg.turn_type == "180":
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# U-shaped corridor: two verticals and a horizontal at the top
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u_top_width = np.random.uniform(cfg.u_top_width_range[0], cfg.u_top_width_range[1])
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# Ensure the size of the terrain is sufficient for the corridor and turn
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if cfg.size[0] / 2 < width or cfg.size[1] / 2 < width + u_top_width / 2:
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print(
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"Terrain size is too small for the specified corridor width and a 180 degree turn. Adjusting parameters"
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" (terrain may not be useful)."
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)
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if cfg.size[0] / 2 < width:
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width = cfg.size[0] / 2 - 0.1
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if cfg.size[1] / 2 < width + u_top_width / 2:
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u_top_width = 2 * (cfg.size[1] / 2 - width) - 0.1
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# U top segments
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meshes_list.append(
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wall(
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"horizontal",
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[terrain_center[0], terrain_center[1] - u_top_width / 2, 0],
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[terrain_center[0], terrain_center[1] + u_top_width / 2, 0],
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h,
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t,
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)
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)
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meshes_list.append(
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wall(
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"horizontal",
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[terrain_center[0] + width, terrain_center[1] - u_top_width / 2 - width, 0],
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[terrain_center[0] + width, terrain_center[1] + u_top_width / 2 + width, 0],
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h,
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t,
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)
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)
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# Right segments
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meshes_list.append(
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wall(
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"vertical",
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[terrain_center[0], terrain_center[1] - u_top_width / 2, 0],
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[0, terrain_center[1] - u_top_width / 2, 0],
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h,
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t,
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)
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)
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meshes_list.append(
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wall(
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"vertical",
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[terrain_center[0] + width, terrain_center[1] - u_top_width / 2 - width, 0],
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[0, terrain_center[1] - u_top_width / 2 - width, 0],
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h,
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t,
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)
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)
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# Vertical segments
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meshes_list.append(
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wall(
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"vertical",
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[terrain_center[0], terrain_center[1] + u_top_width / 2, 0],
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[0, terrain_center[1] + u_top_width / 2, 0],
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h,
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t,
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)
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)
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meshes_list.append(
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wall(
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"vertical",
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[terrain_center[0] + width, terrain_center[1] + u_top_width / 2 + width, 0],
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[0, terrain_center[1] + u_top_width / 2 + width, 0],
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h,
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t,
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)
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)
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# Center wall between the two inner vertical segments
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meshes_list.append(
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wall("vertical", [terrain_center[0] - width, terrain_center[1], 0], [0, terrain_center[1], 0], h, t)
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)
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else:
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raise ValueError("turn_type must be '90' or '180'")
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# compute the origin of the terrain
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origin = np.array([terrain_center[0], terrain_center[1], terrain_center[2]])
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return meshes_list, origin

‎exts/nav_tasks/nav_tasks/terrains/corridor_turn_cfg.py‎

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# Copyright (c) 2025, The Nav-Suite Project Developers (https://github.com/leggedrobotics/nav-suite/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: Apache-2.0
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from isaaclab.terrains import SubTerrainBaseCfg
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from isaaclab.utils import configclass
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from .corridor_turn import corridor_turn_terrain
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@configclass
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class CorridorTurnTerrainCfg(SubTerrainBaseCfg):
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"""Configuration for a terrain with corridors and 90/180 degree turns."""
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function = corridor_turn_terrain
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"""Function to generate the terrain."""
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size: tuple[float, float] = (10.0, 10.0)
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"""Size of the terrain in meters."""
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wall_height: float = 2.5
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"""Height of the corridor walls."""
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wall_thickness: float = 0.2
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"""Thickness of the corridor walls."""
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width_range: tuple[float, float] = (2.5, 5.0)
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"""The minimum and maximum width of the corridor (in m)."""
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u_top_width_range: tuple[float, float] = (1.5, 3.0)
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"""The minimum and maximum width of the top part of the U-shape corridor (in m)."""
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turn_type: str = "90"
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"""Type of turn: '90' for L-shape, '180' for U-shape."""
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border_width: float = 0.0
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"""The width of the border around the terrain (in m). Defaults to 0.0.
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The border is a flat terrain with the same height as the terrain.
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"""
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# Optionally, add more parameters as needed

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