[Question] How to set different friction to different types of terrain while using terrain generator

[whm210806]

Hi,

I'm working on a wheeled robot simulation. I want to import the terrain with terrain generator. I only want to set high friction to the slope terrain and leave other terrains with low friction.
If I do it in the following way, the terrain will overlap. Is there any other way to solve this problem, or is there a way to set friction separately to each sub-terrain? Thank you.
terrain = TerrainImporterCfg( prim_path="/World/ground", terrain_type="generator", terrain_generator=ROUGH_TERRAINS_CFG, max_init_terrain_level=5, collision_group=-1, physics_material=sim_utils.RigidBodyMaterialCfg( friction_combine_mode="multiply", restitution_combine_mode="multiply", static_friction=1.0, dynamic_friction=1.0, ), visual_material=sim_utils.MdlFileCfg( mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl", project_uvw=True, texture_scale=(0.25, 0.25), ), debug_vis=False, ) slop_terrain = TerrainImporterCfg( prim_path="/World/ground", terrain_type="generator", terrain_generator=ROUGH_TERRAINS_CFG, max_init_terrain_level=5, collision_group=-1, physics_material=sim_utils.RigidBodyMaterialCfg( friction_combine_mode="max", restitution_combine_mode="multiply", static_friction=1.0, dynamic_friction=1.0, ), visual_material=sim_utils.MdlFileCfg( mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl", project_uvw=True, texture_scale=(0.25, 0.25), ), debug_vis=False, )