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wty-yy
2026-02-02 15:50:04 +08:00
parent f7a5dc3fc9
commit 66d223d972
12 changed files with 155 additions and 823 deletions
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43
resources/robots/go2/cross_slope.xml Normal file
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<mujoco model="cross_slope_1_4_7_10">
<include file="go2.xml"/>
<!-- Terrain: Cross Slope Arch, Levels: 1,4,7,10. Cross Layout: Center Gap 2.0m. Slope angle: 8.36deg Slope angle: 23.22deg Slope angle: 29.68deg Slope angle: 16.07deg -->
<statistic center="0 0 0.1" extent="0.8" />
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resources/robots/go2/cross_stairs.xml Normal file
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<mujoco model="cross_stairs_1_4_7_10">
<include file="go2.xml"/>
<!-- Terrain Type: cross_stairs, Level: 1_4_7_10, Cross Layout: Center Gap 2.0m. Arch step height: 0.0800 Arch step height: 0.2000 Arch step height: 0.2300 Arch step height: 0.1700 -->
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resources/robots/go2/race_track.xml
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resources/robots/go2/race_track_generator.py
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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()

2
resources/robots/go2/stairs.xml
View File

@@ -1,5 +1,5 @@
<mujoco model="go2 scene">
<include file="go2.xml" />
<include file="go2.xml"/>
<statistic center="0 0 0.1" extent="0.8" />