How do I specify a certain terrain

[cwjwudi]

I see that there are terrain setting parameters in the legged_robot_config.py file.

    class terrain:
        selected = False # select a unique terrain type and pass all arguments
        terrain_kwargs = None # Dict of arguments for selected terrain

How do I set the terrain_kwargs parameter, which parameters are currently supported, could you give me an example? This will help me a lot，thank you.

[nikitardn]

terran_kwargs needs to be a dict of keyword arguments for that particular terrain. For example: env_cfg.terrain.terrain_kwargs = { 'type': 'pyramid_stairs_terrain', 'step_width': 0.31, 'step_height': -0.1, 'platform_size': 3.}