Fixed Deprecated API in SciPy

slurm-lab-usc · Dec 29, 2024 · 1337001 · 1337001
1 parent e58455a
commit 1337001
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/legged_gym/utils/terrain_utils.py b/legged_gym/utils/terrain_utils.py
@@ -40,7 +40,8 @@ def random_uniform_terrain(terrain, min_height, max_height, step=1, downsampled_
     x = np.linspace(0, terrain.width * terrain.horizontal_scale, height_field_downsampled.shape[0])
     y = np.linspace(0, terrain.length * terrain.horizontal_scale, height_field_downsampled.shape[1])
 
-    f = interpolate.interp2d(y, x, height_field_downsampled, kind='linear')
+    # f = interpolate.interp2d(y, x, height_field_downsampled, kind='linear')
+    f = interpolate.RectBivariateSpline(x, y, height_field_downsampled, kx=1, ky=1)
 
     x_upsampled = np.linspace(0, terrain.width * terrain.horizontal_scale, terrain.width)
     y_upsampled = np.linspace(0, terrain.length * terrain.horizontal_scale, terrain.length)