From 4e9346a87608f8429cc52c4630998f803d3529c7 Mon Sep 17 00:00:00 2001
From: James Tigue <jtigue@theaiinstitute.com>
Date: Fri, 13 Jun 2025 11:18:35 -0400
Subject: [PATCH 1/2] add platform_height cfg params

---
 source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains.py | 7 ++++---
 .../isaaclab/terrains/trimesh/mesh_terrains_cfg.py         | 4 ++++
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains.py b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains.py
index 6201a6ca3d4..edd8077ae13 100644
--- a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains.py
+++ b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains.py
@@ -773,6 +773,7 @@ def repeated_objects_terrain(
     # -- common parameters
     num_objects = cp_0.num_objects + int(difficulty * (cp_1.num_objects - cp_0.num_objects))
     height = cp_0.height + difficulty * (cp_1.height - cp_0.height)
+    platform_height = cfg.platform_height if cfg.platform_height >= 0.0 else height
     # -- object specific parameters
     # note: SIM114 requires duplicated logical blocks under a single body.
     if isinstance(cfg, MeshRepeatedBoxesTerrainCfg):
@@ -808,7 +809,7 @@ def repeated_objects_terrain(
     # initialize list of meshes
     meshes_list = list()
     # compute quantities
-    origin = np.asarray((0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.5 * height))
+    origin = np.asarray((0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.5 * platform_height))
     platform_corners = np.asarray([
         [origin[0] - cfg.platform_width / 2, origin[1] - cfg.platform_width / 2],
         [origin[0] + cfg.platform_width / 2, origin[1] + cfg.platform_width / 2],
@@ -849,8 +850,8 @@ def repeated_objects_terrain(
     ground_plane = make_plane(cfg.size, height=0.0, center_zero=False)
     meshes_list.append(ground_plane)
     # generate a platform in the middle
-    dim = (cfg.platform_width, cfg.platform_width, 0.5 * height)
-    pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.25 * height)
+    dim = (cfg.platform_width, cfg.platform_width, 0.5 * platform_height)
+    pos = (0.5 * cfg.size[0], 0.5 * cfg.size[1], 0.25 * platform_height)
     platform = trimesh.creation.box(dim, trimesh.transformations.translation_matrix(pos))
     meshes_list.append(platform)
 
diff --git a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py
index ce52bc9bcb1..9de0fab31b3 100644
--- a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py
+++ b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py
@@ -41,6 +41,10 @@ class MeshPyramidStairsTerrainCfg(SubTerrainBaseCfg):
     """The width of the steps (in m)."""
     platform_width: float = 1.0
     """The width of the square platform at the center of the terrain. Defaults to 1.0."""
+    platform_height: float = -1.0
+    """The height of the platform.  Defaults to -1.0.
+
+    If the value is negative, the height is the same as the object height."""
     holes: bool = False
     """If True, the terrain will have holes in the steps. Defaults to False.
 

From 4a5f6f9c3bb0e4ce46ca0307bcdbabddaafb8172 Mon Sep 17 00:00:00 2001
From: James Tigue <jtigue@theaiinstitute.com>
Date: Fri, 13 Jun 2025 11:22:47 -0400
Subject: [PATCH 2/2] update changelog

---
 source/isaaclab/config/extension.toml | 2 +-
 source/isaaclab/docs/CHANGELOG.rst    | 9 +++++++++
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
index ed7c2997613..aa5e112813c 100644
--- a/source/isaaclab/config/extension.toml
+++ b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.40.5"
+version = "0.40.6"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index f515d3411ae..a47045144ef 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.40.6 (2025-06-13)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Adds ability to set platform height independent of object height for trimesh terrains.
+
+
 0.40.5 (2025-05-22)
 ~~~~~~~~~~~~~~~~~~~