Adds `use_terrain_origins` option to TerrainImporterCfg (#3537)

# Description

Support distributing environments in a grid when using a generated
terrain.

Fixes #3536 

## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Georg Wiedebach <georgwi@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.47.7"
+version = "0.47.8"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.47.8 (2025-11-06)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added parameter :attr:`~isaaclab.terrains.TerrainImporterCfg.use_terrain_origins` to allow generated sub terrains with grid origins.
+
+
 0.47.7 (2025-10-31)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/terrains/terrain_importer.py

@@ -87,8 +87,11 @@ class TerrainImporter:
                 cfg=self.cfg.terrain_generator, device=self.device
             )
             self.import_mesh("terrain", terrain_generator.terrain_mesh)
-            # configure the terrain origins based on the terrain generator
-            self.configure_env_origins(terrain_generator.terrain_origins)
+            if self.cfg.use_terrain_origins:
+                # configure the terrain origins based on the terrain generator
+                self.configure_env_origins(terrain_generator.terrain_origins)
+            else:
+                self.configure_env_origins()
             # refer to the flat patches
             self._terrain_flat_patches = terrain_generator.flat_patches
         elif self.cfg.terrain_type == "usd":

source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py

@@ -65,7 +65,16 @@ class TerrainImporterCfg:
     """The spacing between environment origins when defined in a grid. Defaults to None.
 
     Note:
-      This parameter is used only when the ``terrain_type`` is "plane" or "usd".
+      This parameter is used only when the ``terrain_type`` is "plane" or "usd" or if
+      :attr:`use_terrain_origins` is False.
+    """
+
+    use_terrain_origins: bool = True
+    """Whether to set the environment origins based on the terrain origins or in a grid
+    according to :attr:`env_spacing`. Defaults to True.
+
+    Note:
+      This parameter is used only when the :attr:`terrain type` is "generator".
     """
 
     visual_material: sim_utils.VisualMaterialCfg | None = sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 0.0))