diff --git a/README.md b/README.md
index 44379e6..fc75ae7 100644
--- a/README.md
+++ b/README.md
@@ -94,7 +94,7 @@ python deploy/deploy_mujoco/deploy_go2.py
Connect an Xbox-compatible gamepad to enable teleoperation; otherwise, the agent keeps a default forward command.
- **Swap the policy**: The default checkpoint is `deploy/pre_train/go2/go2_cts_150k.pt`. Replace `policy_path` in the YAML config with your own `logs/{experiment_name}/exported/policies/policy.pt`.
-- **Swap terrains**: Default terrain is `resources/robots/go2/stairs.xml`. Alternatives include `flat.xml` and `race_track.xml`. Generate new terrains with [terrain_generator.py](resources/robots/go2/terrain_generator.py) (see also [unitree_mujoco/terrain_tool](https://github.com/unitreerobotics/unitree_mujoco/tree/main/terrain_tool)).
+- **Swap terrains**: Default terrain is `resources/robots/go2/stairs.xml`. Alternatives include `flat.xml`, `race_track.xml`, `cross_stairs.xml`, and `cross_slope.xml`. Generate new terrains with [windigal - mujoco_terrains](https://github.com/windigal/mujoco_terrains)
#### Results
@@ -159,7 +159,7 @@ Related publications implemented in this repo:
- [CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion](https://arxiv.org/pdf/2405.10830)
Contributors:
-- [@windigal](https://github.com/windigal): CTS algorithm reproduction, video editing
+- [@windigal](https://github.com/windigal): CTS algorithm reproduction, terrain generation, video editing
- [@wertyuilife2](https://github.com/wertyuilife2): CTS algorithm reproduction
---
diff --git a/README_zh.md b/README_zh.md
index b200dab..2b1606c 100644
--- a/README_zh.md
+++ b/README_zh.md
@@ -94,7 +94,7 @@ python deploy/deploy_mujoco/deploy_go2.py
如果有xbox协议的手柄接入主机，自动切换为手柄控制，否则只会保持默认指令前进。
- 替换网络模型：默认模型位于 `deploy/pre_train/go2/go2_cts_150k.pt`；自己训练模型保存于`logs/{experiment_name}/exported/policies/policy.pt`，只需替换 yaml 配置文件中 `policy_path`。
-- 替换环境地形：默认地形为 `resources/robots/go2/stairs.xml`，其他可选地形，平地 `flat.xml`，赛道 `race_track.xml`，地形使用[terrain_generator.py](resources/robots/go2/terrain_generator.py)生成，参考[unitree_mujoco/terrain_tool](https://github.com/unitreerobotics/unitree_mujoco/tree/main/terrain_tool)。
+- 替换环境地形：默认地形为 `resources/robots/go2/stairs.xml`，其他可选地形，平地 `flat.xml`，赛道 `race_track.xml`，交叉楼梯和斜坡`cross_stairs`/`cross_slope`，地形使用[windigal - mujoco_terrains](https://github.com/windigal/mujoco_terrains)生成
#### 运行效果
@@ -157,7 +157,7 @@ python deploy_real_go2.py eth0
- [CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion](https://arxiv.org/pdf/2405.10830)
贡献者：
-- [@windigal](https://github.com/windigal)：复现CTS算法，剪辑视频
+- [@windigal](https://github.com/windigal)：复现CTS算法，生成地形，剪辑视频
- [@wertyuilife2](https://github.com/wertyuilife2)：复现CTS算法
---
diff --git a/deploy/deploy_mujoco/configs/go2.yaml b/deploy/deploy_mujoco/configs/go2.yaml
index 3093373..fb47b0e 100644
--- a/deploy/deploy_mujoco/configs/go2.yaml
+++ b/deploy/deploy_mujoco/configs/go2.yaml
@@ -2,8 +2,10 @@ policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_moe_cts_137000_0.63
# policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/go2/go2_cts_150k.pt"
# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/flat.xml"
-# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml" # change go2 init pos to pos="-5 2 0.445" in resources/robots/go2/go2.xml
+# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/race_track.xml"
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/stairs.xml"
+# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_slope.xml"
+# xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/go2/cross_stairs.xml"
# Total simulation time
simulation_duration: 60000000.0
diff --git a/resources/robots/go2/cross_slope.xml b/resources/robots/go2/cross_slope.xml
new file mode 100644
index 0000000..f5cf284
--- /dev/null
+++ b/resources/robots/go2/cross_slope.xml
@@ -0,0 +1,43 @@
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diff --git a/resources/robots/go2/cross_stairs.xml b/resources/robots/go2/cross_stairs.xml
new file mode 100644
index 0000000..ec1e85e
--- /dev/null
+++ b/resources/robots/go2/cross_stairs.xml
@@ -0,0 +1,95 @@
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diff --git a/resources/robots/go2/imgs/label_1.png b/resources/robots/go2/imgs/label_1.png
new file mode 100644
index 0000000..4fc8ee7
Binary files /dev/null and b/resources/robots/go2/imgs/label_1.png differ
diff --git a/resources/robots/go2/imgs/label_10.png b/resources/robots/go2/imgs/label_10.png
new file mode 100644
index 0000000..191908b
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diff --git a/resources/robots/go2/imgs/label_4.png b/resources/robots/go2/imgs/label_4.png
new file mode 100644
index 0000000..b80ad7c
Binary files /dev/null and b/resources/robots/go2/imgs/label_4.png differ
diff --git a/resources/robots/go2/imgs/label_7.png b/resources/robots/go2/imgs/label_7.png
new file mode 100644
index 0000000..e5414ac
Binary files /dev/null and b/resources/robots/go2/imgs/label_7.png differ
diff --git a/resources/robots/go2/race_track.xml b/resources/robots/go2/race_track.xml
index 6cdeacb..0a7814e 100644
--- a/resources/robots/go2/race_track.xml
+++ b/resources/robots/go2/race_track.xml
@@ -1,22 +1,22 @@
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\ No newline at end of file
diff --git a/resources/robots/go2/race_track_generator.py b/resources/robots/go2/race_track_generator.py
deleted file mode 100644
index e84c22c..0000000
--- a/resources/robots/go2/race_track_generator.py
+++ /dev/null
@@ -1,808 +0,0 @@
-import xml.etree.ElementTree as xml_et
-from pathlib import Path
-import numpy as np
-import cv2
-import noise
-import os
-
-ROBOT = "go2"
-INPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "flat.xml")
-OUTPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "race_track_tmp.xml")
-PATH_DIR = Path(__file__).parent.absolute()
-# zyx euler angle to quaternion
-def euler_to_quat(roll, pitch, yaw):
- cx = np.cos(roll / 2)
- sx = np.sin(roll / 2)
- cy = np.cos(pitch / 2)
- sy = np.sin(pitch / 2)
- cz = np.cos(yaw / 2)
- sz = np.sin(yaw / 2)
-
- return np.array(
- [
- cx * cy * cz + sx * sy * sz,
- sx * cy * cz - cx * sy * sz,
- cx * sy * cz + sx * cy * sz,
- cx * cy * sz - sx * sy * cz,
- ],
- dtype=np.float64,
- )
-
-
-# zyx euler angle to rotation matrix
-def euler_to_rot(roll, pitch, yaw):
- rot_x = np.array(
- [
- [1, 0, 0],
- [0, np.cos(roll), -np.sin(roll)],
- [0, np.sin(roll), np.cos(roll)],
- ],
- dtype=np.float64,
- )
-
- rot_y = np.array(
- [
- [np.cos(pitch), 0, np.sin(pitch)],
- [0, 1, 0],
- [-np.sin(pitch), 0, np.cos(pitch)],
- ],
- dtype=np.float64,
- )
- rot_z = np.array(
- [
- [np.cos(yaw), -np.sin(yaw), 0],
- [np.sin(yaw), np.cos(yaw), 0],
- [0, 0, 1],
- ],
- dtype=np.float64,
- )
- return rot_z @ rot_y @ rot_x
-
-
-# 2d rotate
-def rot2d(x, y, yaw):
- nx = x * np.cos(yaw) - y * np.sin(yaw)
- ny = x * np.sin(yaw) + y * np.cos(yaw)
- return nx, ny
-
-
-# 3d rotate
-def rot3d(pos, euler):
- R = euler_to_rot(euler[0], euler[1], euler[2])
- return R @ pos
-
-
-def list_to_str(vec):
- return " ".join(str(s) for s in vec)
-
-
-class TerrainGenerator:
-
- def __init__(self) -> None:
- self.scene = xml_et.parse(INPUT_SCENE_PATH)
- self.root = self.scene.getroot()
- self.worldbody = self.root.find("worldbody")
- self.asset = self.root.find("asset")
- self._add_wood_material()
- self._add_sponge_material()
-
- def _add_wood_material(self):
- # 1. 添加纹理 (Texture)
- # 这里使用内置的 "flat" 类型配上棕色，模拟一种简单的木头颜色。
- # 如果你有真实的木纹图片(比如 wood.png)，请将 type="2d" builtin="flat"
- # 改为 type="2d" file="../wood.png"
- tex = xml_et.SubElement(self.asset, "texture")
- tex.attrib["name"] = "wood_tex"
- tex.attrib["type"] = "2d"
- tex.attrib["file"] = "./assets/wood.png"
- tex.attrib["rgb1"] = "0.6 0.4 0.2" # 棕色 (RGB)
- tex.attrib["width"] = "512"
- tex.attrib["height"] = "512"
-
- # 2. 添加材质 (Material)
- mat = xml_et.SubElement(self.asset, "material")
- mat.attrib["name"] = "wood_mat" # 材质名称，后面 AddBox 要用
- mat.attrib["texture"] = "wood_tex" # 关联上面的纹理
- mat.attrib["specular"] = "0.2" # 木头反光度较低
- mat.attrib["shininess"] = "0.1" # 亮度较低
- mat.attrib["rgba"] = "1 1 1 1"
-
- def _add_sponge_material(self):
- # 1. 添加纹理 (Texture)
- # 因为没有图片文件，我们使用 builtin="flat" 来生成纯色纹理
- tex = xml_et.SubElement(self.asset, "texture")
- tex.attrib["name"] = "sponge_tex"
- tex.attrib["type"] = "2d"
- tex.attrib["builtin"] = "flat" # 使用内置平面纹理，不需要 file 路径
- # tex.attrib["rgb1"] = "1.0 0.7 0.7" # 设置颜色：粉色 (参考图片颜色)
- tex.attrib["rgb1"] = "0.90196 0.83922 0.56471" # 设置颜色：黄色
- tex.attrib["width"] = "512"
- tex.attrib["height"] = "512"
-
- # 2. 添加材质 (Material)
- mat = xml_et.SubElement(self.asset, "material")
- mat.attrib["name"] = "mat_sponge" # 材质名称，AddBox 中调用这个名字
- mat.attrib["texture"] = "sponge_tex"
-
- # 海绵的关键视觉特性：不反光、不油亮
- mat.attrib["specular"] = "0.1" # 几乎没有镜面反射 (相比木头的0.2要低很多)
- mat.attrib["shininess"] = "0.1" # 几乎没有光泽
- mat.attrib["rgba"] = "1 0.7 0.7 1" # 叠加颜色，保持原样
-
- # Add Box to scene
- def AddBox(self,
- position=[1.0, 0.0, 0.0],
- euler=[0.0, 0.0, 0.0],
- size=[0.1, 0.1, 0.1],
- sponge=False):
- geo = xml_et.SubElement(self.worldbody, "geom")
- geo.attrib["pos"] = list_to_str(position)
- geo.attrib["type"] = "box"
- geo.attrib["size"] = list_to_str(
- 0.5 * np.array(size)) # half size of box for mujoco
- quat = euler_to_quat(euler[0], euler[1], euler[2])
- geo.attrib["quat"] = list_to_str(quat)
- # === 修改部分开始 ===
- if sponge:
- # 1. 视觉：使用海绵材质 (假设你在 asset 中定义的名字叫 mat_sponge)
- geo.attrib["material"] = "mat_sponge"
- # 2. 物理：solref 时间常数越大越软 (0.02 比较软, 默认约 0.002)
- geo.attrib["solref"] = "0.03 1"
- geo.attrib["priority"] = "1"
- geo.attrib["solmix"] = "1"
- # 3. 摩擦：海绵通常摩擦力较大 (可选)
- geo.attrib["friction"] = "1.2 0.005 0.0001"
- else:
- geo.attrib["material"] = "wood_mat"
- geo.attrib["friction"] = "0.5 0.005 0.0001"
-
- def AddGeometry(self,
- position=[1.0, 0.0, 0.0],
- euler=[0.0, 0.0, 0.0],
- size=[0.1, 0.1],geo_type="box"):
-
- # geo_type supports "plane", "sphere", "capsule", "ellipsoid", "cylinder", "box"
- geo = xml_et.SubElement(self.worldbody, "geom")
- geo.attrib["pos"] = list_to_str(position)
- geo.attrib["type"] = geo_type
- geo.attrib["size"] = list_to_str(
- 0.5 * np.array(size)) # half size of box for mujoco
- quat = euler_to_quat(euler[0], euler[1], euler[2])
- geo.attrib["quat"] = list_to_str(quat)
- geo.attrib["material"] = "wood_mat"
-
- def AddStairs(self,
- init_pos=[1.0, 0.0, 0.0],
- yaw=0.0,
- width=0.2,
- height=0.15,
- length=1.5,
- stair_nums=10):
-
- local_pos = [0.0, 0.0, -0.5 * height]
- for i in range(stair_nums):
- local_pos[0] += width
- local_pos[2] += height
- x, y = rot2d(local_pos[0], local_pos[1], yaw)
- self.AddBox([x + init_pos[0], y + init_pos[1], local_pos[2]],
- [0.0, 0.0, yaw], [width, length, height])
-
-
- def AddDownStairs(self,
- init_pos=[1.0, 0.0, 0.0],
- yaw=0.0,
- width=0.3,
- height=0.15,
- length=1.5,
- stair_nums=10):
-
- # 从上向下生成台阶：第一个台阶中心在 +0.5*height，随后每步降低 height
- local_pos = [0.0, 0.0, 0.5 * height]
- for i in range(stair_nums):
- local_pos[0] += width
- local_pos[2] -= height
- x, y = rot2d(local_pos[0], local_pos[1], yaw)
- self.AddBox([x + init_pos[0], y + init_pos[1], local_pos[2]],
- [0.0, 0.0, yaw], [width, length, height])
-
-
- def AddStairsSeries(self,
- init_pos=[1.0, 0.0, 0.0],
- yaw=0.0,
- width=0.3,
- length=1.5,
- stair_nums_up=6,
- stair_nums_down=6,
- start_height=0.05,
- step_inc=0.03,
- max_height=0.2,
- flat_length=0.5):
- """生成一系列台阶：先上台阶（stair_nums_up），顶部有一段平地（flat_length），再下台阶（stair_nums_down）。
- 每完成一对上/下台阶后，单步高度增加 step_inc，直到达到 max_height。
-
- 参数说明：
- - init_pos: 底层起点（列表），序列沿局部 x 方向展开
- - yaw: 台阶朝向
- - width: 每级台阶在 x 方向的深度（步幅）
- - length: 台阶在 y 方向的宽度（和 AddStairs 一致）
- - stair_nums_up/down: 上/下台阶的级数
- - start_height: 第一对台阶的每级高度
- - step_inc: 每对增加的高度
- - max_height: 最大每级高度（包含）
- - flat_length: 顶部平地长度（沿 x）
- """
-
- # 保持 init_pos 不变（上/下台阶成对结束后回到同一基准高度）
- base_pos = np.array(init_pos, dtype=float)
- height = start_height
-
- # 平台长度至少为 1.0 米
- platform_length = max(flat_length, 1.0)
-
- # 迭代每一对台阶直到高度超限
- while height <= max_height + 1e-8:
- # --- 上台阶 ---
- # 上台阶第 i 级中心 z = base_z + (-0.5 + i) * height, i = 1..stair_nums_up
- for i in range(1, stair_nums_up + 1):
- center_x_local = i * width
- center_z = base_pos[2] + (-0.5 + i) * height
- x, y = rot2d(center_x_local, 0.0, yaw)
- self.AddBox([x + base_pos[0], y + base_pos[1], center_z],
- [0.0, 0.0, yaw], [width, length, height])
-
- # 顶部平地：放在最后一级之后，平台长度至少 platform_length
- last_up_center_x = stair_nums_up * width
- last_up_top_surface = base_pos[2] + stair_nums_up * height # 顶部平面高度
- flat_thickness = height # 平地厚度，使用与台阶同高度以保证接触
- flat_center_local_x = last_up_center_x + width / 2.0 + platform_length / 2.0
- flat_center_z = last_up_top_surface + flat_thickness / 2.0
- x, y = rot2d(flat_center_local_x, 0.0, yaw)
- # 尺寸：在 x 方向用 platform_length, y 用 length, z 用 flat_thickness
- self.AddBox([x + base_pos[0], y + base_pos[1], flat_center_z],
- [0.0, 0.0, yaw], [platform_length, length, flat_thickness])
-
- # --- 下台阶 ---
- # 平地末端 x
- flat_end_x = last_up_center_x + width / 2.0 + platform_length
- for j in range(1, stair_nums_down + 1):
- center_x_local = flat_end_x + width / 2.0 + (j - 1) * width
- # 第 j 级下台阶的中心 z = last_up_top_surface - 0.5*height - (j-1)*height
- center_z = last_up_top_surface - 0.5 * height - (j - 1) * height
- x, y = rot2d(center_x_local, 0.0, yaw)
- self.AddBox([x + base_pos[0], y + base_pos[1], center_z],
- [0.0, 0.0, yaw], [width, length, height])
-
- # 下台阶之后也添加一段平地（连接到下一组上台阶），长度至少 platform_length
- seq_end_local_x = flat_end_x + stair_nums_down * width # 这是最后一个下台阶的前缘 x
- post_flat_center_local_x = seq_end_local_x + platform_length / 2.0
- # 该平地应与下一组上台阶的起始高度对齐：其顶面与 base_z + height 对齐
- post_flat_center_z = base_pos[2] + height / 2.0
- x, y = rot2d(post_flat_center_local_x, 0.0, yaw)
- self.AddBox([x + base_pos[0], y + base_pos[1], post_flat_center_z],
- [0.0, 0.0, yaw], [platform_length, length, flat_thickness])
-
- # 为下一对台阶准备：把 base_pos 在 x 方向平移到当前序列末端（post flat 末端），保持 z 不变
- seq_total_end_local_x = seq_end_local_x + platform_length
- # 计算下一组基准位移，使下一组上台阶第一级的前缘与当前 post-flat 的末端无缝对接
- # base_shift_local_x 为相对于当前 base 的局部 x 偏移
- overlap = 1e-3 # 以米为单位，微小重叠以避免可视缝隙
- base_shift_local_x = seq_total_end_local_x - width / 2.0 - overlap
- dx, dy = rot2d(base_shift_local_x, 0.0, yaw)
- base_pos[0] = base_pos[0] + dx
- base_pos[1] = base_pos[1] + dy
-
- # 增加单级高度
- height = round(height + step_inc, 8)
-
-
- def AddSuspendStairs(self,
- init_pos=[1.0, 0.0, 0.0],
- yaw=1.0,
- width=0.2,
- height=0.15,
- length=1.5,
- gap=0.1,
- stair_nums=10):
-
- local_pos = [0.0, 0.0, -0.5 * height]
- for i in range(stair_nums):
- local_pos[0] += width
- local_pos[2] += height
- x, y = rot2d(local_pos[0], local_pos[1], yaw)
- self.AddBox([x + init_pos[0], y + init_pos[1], local_pos[2]],
- [0.0, 0.0, yaw],
- [width, length, abs(height - gap)])
-
- def AddRoughGround(self,
- init_pos=[1.0, 0.0, 0.0],
- euler=[0.0, -0.0, 0.0],
- nums=[10, 10],
- box_size=[0.5, 0.5, 0.5],
- box_euler=[0.0, 0.0, 0.0],
- separation=[0.2, 0.2],
- box_size_rand=[0.05, 0.05, 0.05],
- box_euler_rand=[0.2, 0.2, 0.2],
- separation_rand=[0.05, 0.05]):
-
- local_pos = [0.0, 0.0, -0.5 * box_size[2]]
- new_separation = np.array(separation) + np.array(
- separation_rand) * np.random.uniform(-1.0, 1.0, 2)
- for i in range(nums[0]):
- local_pos[0] += new_separation[0]
- local_pos[1] = 0.0
- for j in range(nums[1]):
- new_box_size = np.array(box_size) + np.array(
- box_size_rand) * np.random.uniform(-1.0, 1.0, 3)
- new_box_euler = np.array(box_euler) + np.array(
- box_euler_rand) * np.random.uniform(-1.0, 1.0, 3)
- new_separation = np.array(separation) + np.array(
- separation_rand) * np.random.uniform(-1.0, 1.0, 2)
-
- local_pos[1] += new_separation[1]
- pos = rot3d(local_pos, euler) + np.array(init_pos)
- self.AddBox(pos, new_box_euler, new_box_size)
-
- def AddPerlinHeighField(
- self,
- position=[1.0, 0.0, 0.0], # position
- euler=[0.0, -0.0, 0.0], # attitude
- size=[1.0, 1.0], # width and length
- height_scale=0.2, # max height
- negative_height=0.2, # height in the negative direction of z axis
- image_width=128, # height field image size
- img_height=128,
- smooth=100.0, # smooth scale
- perlin_octaves=6, # perlin noise parameter
- perlin_persistence=0.5,
- perlin_lacunarity=2.0,
- output_hfield_image="height_field.png"):
-
- # Generating height field based on perlin noise
- terrain_image = np.zeros((img_height, image_width), dtype=np.uint8)
- for y in range(image_width):
- for x in range(image_width):
- # Perlin noise
- noise_value = noise.pnoise2(x / smooth,
- y / smooth,
- octaves=perlin_octaves,
- persistence=perlin_persistence,
- lacunarity=perlin_lacunarity)
- terrain_image[y, x] = int((noise_value + 1) / 2 * 255)
-
- cv2.imwrite(str(PATH_DIR / "assets" / output_hfield_image), terrain_image)
-
- hfield = xml_et.SubElement(self.asset, "hfield")
- hfield.attrib["name"] = "perlin_hfield"
- hfield.attrib["size"] = list_to_str(
- [size[0] / 2.0, size[1] / 2.0, height_scale, negative_height])
- hfield.attrib["file"] = "../" + output_hfield_image
-
- geo = xml_et.SubElement(self.worldbody, "geom")
- geo.attrib["type"] = "hfield"
- geo.attrib["hfield"] = "perlin_hfield"
- geo.attrib["pos"] = list_to_str(position)
- quat = euler_to_quat(euler[0], euler[1], euler[2])
- geo.attrib["quat"] = list_to_str(quat)
-
- def AddHeighFieldFromImage(
- self,
- position=[1.0, 0.0, 0.0], # position
- euler=[0.0, -0.0, 0.0], # attitude
- size=[2.0, 1.6], # width and length
- height_scale=0.02, # max height
- negative_height=0.1, # height in the negative direction of z axis
- input_img=None,
- output_hfield_image="height_field.png",
- image_scale=[1.0, 1.0], # reduce image resolution
- invert_gray=False):
-
- input_image = cv2.imread(input_img) # 替换为你的图像文件路径
-
- width = int(input_image.shape[1] * image_scale[0])
- height = int(input_image.shape[0] * image_scale[1])
- resized_image = cv2.resize(input_image, (width, height),
- interpolation=cv2.INTER_AREA)
- terrain_image = cv2.cvtColor(resized_image, cv2.COLOR_BGR2GRAY)
- if invert_gray:
- terrain_image = 255 - position
- cv2.imwrite(str(PATH_DIR / "assets" / output_hfield_image), terrain_image)
-
- hfield = xml_et.SubElement(self.asset, "hfield")
- hfield.attrib["name"] = "image_hfield"
- hfield.attrib["size"] = list_to_str(
- [size[0] / 2.0, size[1] / 2.0, height_scale, negative_height])
- hfield.attrib["file"] = "../" + output_hfield_image
-
- geo = xml_et.SubElement(self.worldbody, "geom")
- geo.attrib["type"] = "hfield"
- geo.attrib["hfield"] = "image_hfield"
- geo.attrib["pos"] = list_to_str(position)
- quat = euler_to_quat(euler[0], euler[1], euler[2])
- geo.attrib["quat"] = list_to_str(quat)
-
- def Save(self):
- self.scene.write(OUTPUT_SCENE_PATH)
-
- def AddSlope(self,
- position=[1.0, 0.0, 0.0],
- yaw=0.0,
- length=0.575,
- width=0.55,
- height=0.15,
- thickness=0,
- add_baffle=True,
- add_baffle_height=False,
- sponge=False):
- """
- 生成带后背板和两侧挡板的斜坡。
- 侧挡板上沿与斜坡面对齐。
- """
- if not thickness:
- thickness = 0.05 # 斜坡面板厚度
- side_thickness = 0.05 # 侧板厚度
-
- # ===========================
- # 1. 计算公共几何参数
- # ===========================
-
- # 计算坡度角和斜边长
- angle = np.arctan2(height, length)
- ramp_len = np.sqrt(length**2 + height**2)
-
- # 法线向量 (nx, nz)
- nx = np.sin(angle)
- nz = -np.cos(angle)
-
- # 斜坡面板的几何中心 (局部坐标)
- # 这里的逻辑是将面板中心沿着法线向下偏移厚度的一半，保证上表面对齐理想斜面
- mid_x = length / 2.0
- mid_z = height / 2.0
- lx = mid_x + nx * (thickness / 2.0)
- lz = mid_z + nz * (thickness / 2.0)
-
- # 统一的旋转角度 (Pitch: -angle, Yaw: yaw)
- final_euler = [0.0, -angle, yaw]
-
- # ===========================
- # 2. 生成主斜坡面 (Ramp)
- # ===========================
- gx, gy = rot2d(lx, 0, yaw)
- ramp_pos = [position[0] + gx, position[1] + gy, position[2] + lz]
- self.AddBox(ramp_pos, final_euler, [ramp_len, width, thickness],sponge=sponge)
-
- # ===========================
- # 3. 生成垂直背板 (Back Wall)
- # ===========================
- # 位于斜坡末端，高度为 height
- if add_baffle:
- back_lx = length + (thickness / 2.0)
- if add_baffle_height:
- back_lz = height
- height *= 2
- else:
- back_lz = height / 2.0
- bgx, bgy = rot2d(back_lx, 0, yaw)
- back_pos = [position[0] + bgx, position[1] + bgy, position[2] + back_lz]
- # 背板竖直放置，只受Yaw影响
- self.AddBox(back_pos, [0, 0, yaw], [thickness, width, height])
-
- # 生成两侧挡板 (Side Walls)
- side_h = height / 2
-
- # 计算侧板的中心 Z 坐标 (side_lz)
- # 目标：侧板的上表面 Z = 斜坡的上表面 Z
- # 斜坡上表面 Z (局部) = lz + thickness/2
- # 侧板上表面 Z (局部) = side_lz + side_h/2
- # 等式：lz + thickness/2 = side_lz + side_h/2
- # 解得：
- side_lz = lz + (thickness / 2.0) - (side_h / 2.0)
- if add_baffle_height:
- side_lz += side_h
- # side_h *= 2
- # lx += height * 2 / length / 2
- # 侧板的 X 坐标与斜坡中心一致 (lx)
-
- # 侧板的 Y 偏移量
- # 放在斜坡宽度的两侧：(斜坡宽/2) + (侧板厚/2)
- y_shift = (width / 2.0) + (side_thickness / 2.0)
-
- # 生成左右两个侧板
- for sign in [-1, 1]: # -1:左侧, 1:右侧
- if add_baffle_height and sign == 1: continue
- local_y = sign * y_shift
-
- # 将 (lx, local_y) 旋转 Yaw 角到全局
- sgx, sgy = rot2d(lx, local_y, yaw)
-
- side_pos = [
- position[0] + sgx,
- position[1] + sgy,
- position[2] + side_lz
- ]
-
- # 侧板的旋转角度与斜坡完全一致，这样上边缘才会平行
- self.AddBox(side_pos, final_euler, [ramp_len, side_thickness, side_h])
-
- def AddSlopeGroup(self, position=[0.0, 0.0, 0.0], yaw=0.0, add_baffle=True, add_baffle_height=False,):
-
- L = 0.6 # 坡长 (爬升方向)
- W = 0.6 # 坡宽 (侧向)
- H = 0.164
-
- p1_local = [-L / 2, -W]
- yaw1 = np.pi / 2
-
- p2_local = [-L, W/2]
- yaw2 = 0
-
- p3_local = [L, -W/2]
- yaw3 = np.pi
-
- p4_local = [L / 2, W]
- yaw4 = np.pi * 3 / 2
-
- blocks = [
- (p1_local, yaw1),
- (p2_local, yaw2),
- (p3_local, yaw3),
- (p4_local, yaw4)
- ]
-
- for pos_local, local_yaw in blocks:
- off_x, off_y = rot2d(pos_local[0], pos_local[1], yaw)
-
- abs_pos = [
- position[0] + off_x,
- position[1] + off_y,
- position[2]
- ]
-
- abs_yaw = yaw + local_yaw
-
- self.AddSlope(position=abs_pos,
- yaw=abs_yaw,
- length=L,
- width=W,
- height=H,
- add_baffle=add_baffle,
- add_baffle_height=add_baffle_height)
-
- def AddBlockyHeightField(
- self,
- position=[1.0, 0.0, 0.0],
- euler=[0.0, -0.0, 0.0],
- size=[1.0, 1.0],
- height_scale=0.2, # 高度差幅度
- negative_height=0.1,
- image_width=128,
- img_height=128,
- smooth=50.0, # 注意：如果要完全随机，把这个数改得很小（如 2.0）
- pixels_per_block=16, # <--- 新参数：决定方块的大小
- output_hfield_image="height_field.png"):
-
- # 1. 准备图像数据
- terrain_image = np.zeros((img_height, image_width), dtype=np.uint8)
-
- # 2. 预先生成一个随机种子偏移，保证每次地形不一样
- seed_offset_x = np.random.randint(0, 10000)
- seed_offset_y = np.random.randint(0, 10000)
-
- for y in range(img_height):
- for x in range(image_width):
-
- # === 核心修改开始 ===
- # 这里的整除逻辑 (//) 是制造“方块感”的关键
- # 它将坐标强制归整，例如 x=0到15 都会变成 0，x=16到31 都会变成 16
- # 这样这 16 个像素取到的噪声值就是一模一样的，形成平坦的台阶
- block_x = (x // pixels_per_block) * pixels_per_block
- block_y = (y // pixels_per_block) * pixels_per_block
-
- # 使用归整后的 block_x, block_y 来生成噪声
- noise_value = noise.pnoise2((block_x + seed_offset_x) / smooth,
- (block_y + seed_offset_y) / smooth,
- octaves=1, # 减少细节，让方块表面平整
- persistence=0.5,
- lacunarity=2.0)
- # === 核心修改结束 ===
-
- # 映射到 0-255
- terrain_image[y, x] = int((noise_value + 1) / 2 * 255)
-
- hfield = xml_et.SubElement(self.asset, "hfield")
- hfield.attrib["name"] = "perlin_hfield"
- hfield.attrib["size"] = list_to_str(
- [size[0] / 2.0, size[1] / 2.0, height_scale, negative_height])
- hfield.attrib["file"] = output_hfield_image
-
- geo = xml_et.SubElement(self.worldbody, "geom")
- geo.attrib["type"] = "hfield"
- geo.attrib["hfield"] = "perlin_hfield"
- geo.attrib["pos"] = list_to_str(position)
- quat = euler_to_quat(euler[0], euler[1], euler[2])
- geo.attrib["quat"] = list_to_str(quat)
-
- def unit1_sponge(self):
- self.AddSlope(position=[0.0, 1.2, 0.0], yaw=np.pi, length=2.32, width=1.2, height=0.6, add_baffle_height=True)
- self.AddSlope(position=[-2.32, 0.0, 0.0], yaw=0, length=2.32, width=1.2, height=0.6, add_baffle_height=True)
-
- self.AddBox(position=[0.6, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[-2.92, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[0.6, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[-2.92, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[-3.52, 0.0, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
-
- self.AddBox(position=[-2.92, 0.6, 0.025], size=[1.2, 2.4, 0.05], sponge=True)
- self.AddBox(position=[0.6, 0.6, 0.025], size=[1.2, 2.4, 0.05], sponge=True)
-
- self.AddSlope(position=[0.0, 1.2, 0.05], yaw=np.pi, length=2.32, width=1.2, thickness=0.05, height=0.6, sponge=True, add_baffle=False)
- self.AddSlope(position=[-2.32, 0.0, 0.05], yaw=0, length=2.32, width=1.2, thickness=0.05, height=0.6, sponge=True, add_baffle=False)
-
-
-
- def unit2_slopes(self):
- self.AddBox(position=[1.225, 0.6, 0.0], size=[2.4, 0.05, 0.1], euler=[0, 0, np.pi / 2])
- self.AddSlopeGroup(position=[1.85, 0.0, 0.0], yaw=0.0, add_baffle=True)
- self.AddSlopeGroup(position=[1.85, 1.2, 0.0], yaw=0.0, add_baffle=True)
- self.AddBox(position=[2.475, 0.6, 0.0], size=[2.4, 0.05, 0.1], euler=[0, 0, np.pi / 2])
- self.AddSlopeGroup(position=[3.1, 0.0, 0.0], yaw=0.0, add_baffle=True)
- self.AddSlopeGroup(position=[3.1, 1.2, 0.0], yaw=0.0, add_baffle=True)
- self.AddSlopeGroup(position=[4.3, 0.0, 0.0], yaw=0.0, add_baffle=True)
- self.AddSlopeGroup(position=[4.3, 1.2, 0.0], yaw=0.0, add_baffle=True)
- self.AddBox(position=[3.7, 0.575, 0.0], size=[2.4, 0.05, 0.1])
- self.AddBox(position=[3.7, 0.625, 0.0], size=[2.4, 0.05, 0.1])
- self.AddBox(position=[4.925, 0.6, 0.0], size=[2.4, 0.05, 0.1], euler=[0, 0, np.pi / 2])
- self.AddSlopeGroup(position=[5.55, 0.0, 0.0], yaw=0.0, add_baffle=True)
- self.AddSlopeGroup(position=[5.55, 1.2, 0.0], yaw=0.0, add_baffle=True)
- self.AddBox(position=[6.175, 0.6, 0.0], size=[2.4, 0.05, 0.1], euler=[0, 0, np.pi / 2])
- self.AddBox(position=[1.9, 1.8, 0.3], size=[1.4, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[3.2, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[4.4, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[5.6, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
-
- self.AddBox(position=[1.9, -0.6, 0.3], size=[1.4, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[3.2, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[4.4, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[5.6, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
-
- self.AddBox(position=[1.2, 0.0, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[2.5, 1.2, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[4.95, 0.0, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[6.2, 1.2, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
-
-
- def unit3_stairs(self):
- self.AddBox(position = [6.8, 1.2, 0.1], size = [1.2, 1.2, 0.2])
- self.AddBox(position = [8.0, 0.0, 0.1], size = [1.2, 1.2, 0.2])
- self.AddBox(position = [9.2, 1.2, 0.1], size = [1.2, 1.2, 0.2])
- self.AddBox(position = [10.4, 0.0, 0.1], size = [1.2, 1.2, 0.2])
-
- self.AddBox(position=[6.8, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[8.0, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[9.2, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[10.4, 1.8, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
-
- self.AddBox(position=[6.8, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[8.0, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[9.2, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[10.4, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
-
- self.AddBox(position=[11.0, 1.2, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
-
- def unit4_diagonal(self):
- self.AddSlope(position=[12.8, 1.8, 0.0], yaw=np.pi / 2, length=2.32, width=1.2, height=0.6, add_baffle_height=True)
- self.AddSlope(position=[12.8, 1.8, 0.05], yaw=np.pi / 2, length=2.32/48, width=1.2, height=0.6/48, thickness=0.05, add_baffle=False)
- self.AddSlope(position=[12.8, 4.07, 0.6375], yaw=np.pi / 2, length=2.32/48, width=1.2, height=0.6/48, thickness=0.05, add_baffle=False)
- self.AddSlope(position=[12.225, 1.8, 0.05], yaw=np.pi / 2, length=2.32, width=0.05, height=0.6, thickness=0.05, add_baffle=False)
- self.AddSlope(position=[13.375, 1.8, 0.05], yaw=np.pi / 2, length=2.32, width=0.05, height=0.6, thickness=0.05, add_baffle=False)
- self.AddBox(position=[12.8, 3.54, 0.475], size=[1.64, 0.05, 0.05], euler=[0.0, -0.1779, 0.7685])
- self.AddBox(position=[12.8, 2.38, 0.175], size=[1.64, 0.05, 0.05], euler=[0.0, 0.1779, -0.7685])
-
- self.AddSlope(position=[11.6, 4.12, 0.0], yaw=-np.pi / 2, length=2.32, width=1.2, height=0.6, add_baffle_height=True)
- self.AddSlope(position=[11.6, 4.12, 0.05], yaw=-np.pi / 2, length=2.32/48, width=1.2, height=0.6/48, thickness=0.05, add_baffle=False)
- self.AddSlope(position=[11.6, 1.85, 0.6375], yaw=-np.pi / 2, length=2.32/48, width=1.2, height=0.6/48, thickness=0.05, add_baffle=False)
- self.AddSlope(position=[12.175, 4.12, 0.05], yaw=-np.pi / 2, length=2.32, width=0.05, height=0.6, thickness=0.05, add_baffle=False)
- self.AddSlope(position=[11.025, 4.12, 0.05], yaw=-np.pi / 2, length=2.32, width=0.05, height=0.6, thickness=0.05, add_baffle=False)
- self.AddBox(position=[11.6, 3.54, 0.175], size=[1.64, 0.05, 0.05], euler=[0.0, -0.1779, -0.7685])
- self.AddBox(position=[11.6, 2.38, 0.475], size=[1.64, 0.05, 0.05], euler=[0.0, 0.1779, 0.7685])
-
- self.AddBox(position=[11.6, -0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[12.2, 0.0, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[12.8, 0.6, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[13.4, 1.2, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
-
- self.AddBox(position=[12.2, 0.625, 0.025], size=[2.4, 0.05, 0.05])
- self.AddBox(position=[12.2, 1.775, 0.025], size=[2.4, 0.05, 0.05])
- self.AddBox(position=[11.025, 1.2, 0.025], size=[1.2, 0.05, 0.05], euler=[0, 0, np.pi / 2])
- self.AddBox(position=[13.375, 1.2, 0.025], size=[1.2, 0.05, 0.05], euler=[0, 0, np.pi / 2])
- self.AddBox(position=[11.6, 1.2, 0.025], size=[1.64, 0.05, 0.05], euler=[0, 0, -np.pi / 4])
- self.AddBox(position=[12.8, 1.2, 0.025], size=[1.64, 0.05, 0.05], euler=[0, 0, np.pi / 4])
-
- self.AddBox(position=[12.2, 4.145, 0.025], size=[2.4, 0.05, 0.05])
- self.AddBox(position=[12.2, 5.295, 0.025], size=[2.4, 0.05, 0.05])
- self.AddBox(position=[11.025, 4.72, 0.025], size=[1.2, 0.05, 0.05], euler=[0, 0, np.pi / 2])
- self.AddBox(position=[13.375, 4.72, 0.025], size=[1.2, 0.05, 0.05], euler=[0, 0, np.pi / 2])
- self.AddBox(position=[11.6, 4.72, 0.025], size=[1.64, 0.05, 0.05], euler=[0, 0, np.pi / 4])
- self.AddBox(position=[12.8, 4.72, 0.025], size=[1.64, 0.05, 0.05], euler=[0, 0, -np.pi / 4])
-
- self.AddBox(position=[11.0, 4.72, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[13.4, 4.72, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[11.6, 5.32, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
-
- self.AddBox(position=[11.6, 0.0, 0.0], size=[1.2, 1.2, 0.03])
- self.AddBox(position=[12.2, 1.2, 0.0], size=[2.4, 1.2, 0.03])
- self.AddBox(position=[12.2, 4.72, 0.0], size=[2.4, 1.2, 0.03])
-
-
- def unit5_sandstone(self):
-
- self.AddBox(position=[11.0, 5.92, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[11.0, 7.12, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[11.0, 8.32, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[11.0, 9.52, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[13.4, 5.92, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[13.4, 7.12, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[13.4, 8.32, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
- self.AddBox(position=[13.4, 9.52, 0.3], size=[0.6, 1.2, 0.03], euler=[0, np.pi / 2, 0])
-
- self.AddBox(position=[12.8, 6.52, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[12.8, 10.12, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
- self.AddBox(position=[11.6, 8.92, 0.3], size=[1.2, 0.6, 0.03], euler=[np.pi / 2, 0, 0])
-
- self.AddBox(position=[12.2, 6.545, 0.05], size=[2.4, 0.05, 0.05])
- self.AddBox(position=[12.2, 8.895, 0.05], size=[2.4, 0.05, 0.05])
- self.AddBox(position=[11.025, 7.72, 0.05], size=[2.4, 0.05, 0.05], euler=[0, 0, np.pi / 2])
- self.AddBox(position=[13.375, 7.72, 0.05], size=[2.4, 0.05, 0.05], euler=[0, 0, np.pi / 2])
- self.AddBox(position=[12.2, 7.72, 0.05], size=[3.28, 0.05, 0.05], euler=[0, 0, -np.pi / 4])
- self.AddBox(position=[12.2, 7.72, 0.05], size=[3.28, 0.05, 0.05], euler=[0, 0, np.pi / 4])
- self.AddBox(position=[11.6, 7.12, 0.05], size=[1.64, 0.05, 0.05], euler=[0, 0, -np.pi / 4])
- self.AddBox(position=[12.8, 7.12, 0.05], size=[1.64, 0.05, 0.05], euler=[0, 0, np.pi / 4])
- self.AddBox(position=[11.6, 8.32, 0.05], size=[1.64, 0.05, 0.05], euler=[0, 0, np.pi / 4])
- self.AddBox(position=[12.8, 8.32, 0.05], size=[1.64, 0.05, 0.05], euler=[0, 0, -np.pi / 4])
-
- self.AddBlockyHeightField(position=[12.2, 7.72, -0.00], size=[2.4, 4.8], height_scale=0.08)
-
-
-if __name__ == "__main__":
- tg = TerrainGenerator()
-
- # # Box obstacle
- # tg.AddBox(position=[0.55 / 2 + 2, 0, 0.075], size=[np.sqrt(0.55 * 0.55 + 0.15*0.15), 0.1, 0.01], euler=[np.pi / 2, 0, 0])
- # tg.AddBox(position=[3.5, 0, 0.075], size=[1.5, 0.5, 0.01], euler=[0, 0, 0])
-
- # # Geometry obstacle
- # # geo_type supports "plane", "sphere", "capsule", "ellipsoid", "cylinder", "box"
- # tg.AddGeometry(position=[1.5, 0.0, 0.25], euler=[0, 0, 0.0], size=[1.0,0.5,0.5],geo_type="cylinder")
-
- # # Slope
- # tg.AddBox(position=[2.0, 2.0, 0.5],
- # euler=[0.0, -0.5, 0.0],
- # size=[3, 1.5, 0.1])
-
- # # Stairs
- # tg.AddStairs(init_pos=[1.0, 4.0, 0.0], yaw=0.0)
-
- # # Suspend stairs
- # tg.AddSuspendStairs(init_pos=[1.0, 6.0, 0.0], yaw=0.0)
-
- # # Rough ground
- # tg.AddRoughGround(init_pos=[-2.5, 5.0, 0.0],
- # euler=[0, 0, 0.0],
- # nums=[10, 8])
-
- # # Perlin heigh field
- # tg.AddPerlinHeighField(position=[-1.5, 4.0, 0.0], size=[2.0, 1.5])
-
- # # Heigh field from image
- # tg.AddHeighFieldFromImage(position=[-1.5, 2.0, 0.0],
- # euler=[0, 0, -1.57],
- # size=[2.0,2.0],
- # input_img="./unitree_robot.jpeg",
- # image_scale=[1.0, 1.0],
- # output_hfield_image="unitree_hfield.png")
- tg.unit1_sponge()
- tg.unit2_slopes()
- tg.unit3_stairs()
- tg.unit4_diagonal()
- tg.unit5_sandstone()
-
- tg.Save()
diff --git a/resources/robots/go2/stairs.xml b/resources/robots/go2/stairs.xml
index 80d0cd0..6fb6c1a 100644
--- a/resources/robots/go2/stairs.xml
+++ b/resources/robots/go2/stairs.xml
@@ -1,5 +1,5 @@
-
+