From 82b88419a6d3b8e29035d2578baac8070dff6f63 Mon Sep 17 00:00:00 2001
From: CloudRipple <30491374+CloudRipple@users.noreply.github.com>
Date: Wed, 8 Jan 2025 18:11:58 +0800
Subject: [PATCH] Modify the deprecated interp2d method into the supported
 RegularGridInterpolator method

---
 genesis/ext/isaacgym/terrain_utils.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/genesis/ext/isaacgym/terrain_utils.py b/genesis/ext/isaacgym/terrain_utils.py
index 2adf519e..ec5c3bed 100644
--- a/genesis/ext/isaacgym/terrain_utils.py
+++ b/genesis/ext/isaacgym/terrain_utils.py
@@ -77,11 +77,13 @@ def random_uniform_terrain(
     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.RegularGridInterpolator((y, x), height_field_downsampled, method="linear")
 
     x_upsampled = np.linspace(0, terrain.width * terrain.horizontal_scale, terrain.width)
     y_upsampled = np.linspace(0, terrain.length * terrain.horizontal_scale, terrain.length)
-    z_upsampled = np.rint(f(y_upsampled, x_upsampled))
+    # z_upsampled = np.rint(f(y_upsampled, x_upsampled))
+    z_upsampled = np.rint(f((y_upsampled, x_upsampled)))
 
     terrain.height_field_raw += z_upsampled.astype(np.int16)
     return terrain