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__), "scene.xml") OUTPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "scene_terrain.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["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()