implement border height for corridor turn config

Author: acpoll

exts/nav_tasks/nav_tasks/terrains/corridor_turn.py

@@ -50,7 +50,7 @@ def corridor_turn_terrain(difficulty: float, cfg: corridor_turn_cfg.CorridorTurn
         # obtain a list of meshes for the border
         border_center = [0.5 * cfg.size[0], 0.5 * cfg.size[1], 0]
         border_inner_size = (cfg.size[0] - 2 * cfg.border_width, cfg.size[1] - 2 * cfg.border_width)
-        make_borders = make_border(cfg.size, border_inner_size, 0.1, border_center)
+        make_borders = make_border(cfg.size, border_inner_size, cfg.border_height, border_center)
         # add the border meshes to the list of meshes
         meshes_list += make_borders
 

exts/nav_tasks/nav_tasks/terrains/corridor_turn_cfg.py

@@ -40,4 +40,8 @@ class CorridorTurnTerrainCfg(SubTerrainBaseCfg):
     The border is a flat terrain with the same height as the terrain.
     """
 
+    border_height: float = 2.5
+    """The height of the border around the terrain (in m).
+    """
+
     # Optionally, add more parameters as needed