809 lines
38 KiB
Python
809 lines
38 KiB
Python
import xml.etree.ElementTree as xml_et
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from pathlib import Path
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import numpy as np
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import cv2
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import noise
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import os
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ROBOT = "go2"
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INPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "flat.xml")
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OUTPUT_SCENE_PATH = os.path.join(os.path.dirname(__file__), "race_track_tmp.xml")
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PATH_DIR = Path(__file__).parent.absolute()
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# zyx euler angle to quaternion
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def euler_to_quat(roll, pitch, yaw):
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cx = np.cos(roll / 2)
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sx = np.sin(roll / 2)
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cy = np.cos(pitch / 2)
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sy = np.sin(pitch / 2)
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cz = np.cos(yaw / 2)
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sz = np.sin(yaw / 2)
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return np.array(
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[
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cx * cy * cz + sx * sy * sz,
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sx * cy * cz - cx * sy * sz,
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cx * sy * cz + sx * cy * sz,
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cx * cy * sz - sx * sy * cz,
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],
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dtype=np.float64,
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)
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# zyx euler angle to rotation matrix
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def euler_to_rot(roll, pitch, yaw):
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rot_x = np.array(
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[
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[1, 0, 0],
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[0, np.cos(roll), -np.sin(roll)],
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[0, np.sin(roll), np.cos(roll)],
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],
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dtype=np.float64,
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)
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rot_y = np.array(
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[
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[np.cos(pitch), 0, np.sin(pitch)],
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[0, 1, 0],
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[-np.sin(pitch), 0, np.cos(pitch)],
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],
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dtype=np.float64,
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)
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rot_z = np.array(
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[
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[np.cos(yaw), -np.sin(yaw), 0],
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[np.sin(yaw), np.cos(yaw), 0],
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[0, 0, 1],
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],
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dtype=np.float64,
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)
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return rot_z @ rot_y @ rot_x
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# 2d rotate
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def rot2d(x, y, yaw):
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nx = x * np.cos(yaw) - y * np.sin(yaw)
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ny = x * np.sin(yaw) + y * np.cos(yaw)
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return nx, ny
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# 3d rotate
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def rot3d(pos, euler):
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R = euler_to_rot(euler[0], euler[1], euler[2])
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return R @ pos
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def list_to_str(vec):
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return " ".join(str(s) for s in vec)
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class TerrainGenerator:
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def __init__(self) -> None:
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self.scene = xml_et.parse(INPUT_SCENE_PATH)
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self.root = self.scene.getroot()
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self.worldbody = self.root.find("worldbody")
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self.asset = self.root.find("asset")
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self._add_wood_material()
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self._add_sponge_material()
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def _add_wood_material(self):
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# 1. 添加纹理 (Texture)
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# 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。
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# 如果你有真实的木纹图片(比如 wood.png)，请将 type="2d" builtin="flat"
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# 改为 type="2d" file="../wood.png"
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tex = xml_et.SubElement(self.asset, "texture")
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tex.attrib["name"] = "wood_tex"
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tex.attrib["type"] = "2d"
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tex.attrib["file"] = "./assets/wood.png"
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tex.attrib["rgb1"] = "0.6 0.4 0.2" # 棕色 (RGB)
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tex.attrib["width"] = "512"
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tex.attrib["height"] = "512"
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# 2. 添加材质 (Material)
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mat = xml_et.SubElement(self.asset, "material")
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mat.attrib["name"] = "wood_mat" # 材质名称，后面 AddBox 要用
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mat.attrib["texture"] = "wood_tex" # 关联上面的纹理
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mat.attrib["specular"] = "0.2" # 木头反光度较低
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mat.attrib["shininess"] = "0.1" # 亮度较低
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mat.attrib["rgba"] = "1 1 1 1"
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def _add_sponge_material(self):
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# 1. 添加纹理 (Texture)
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# 因为没有图片文件，我们使用 builtin="flat" 来生成纯色纹理
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tex = xml_et.SubElement(self.asset, "texture")
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tex.attrib["name"] = "sponge_tex"
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tex.attrib["type"] = "2d"
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tex.attrib["builtin"] = "flat" # 使用内置平面纹理，不需要 file 路径
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# tex.attrib["rgb1"] = "1.0 0.7 0.7" # 设置颜色：粉色 (参考图片颜色)
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tex.attrib["rgb1"] = "0.90196 0.83922 0.56471" # 设置颜色：黄色
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tex.attrib["width"] = "512"
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tex.attrib["height"] = "512"
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# 2. 添加材质 (Material)
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mat = xml_et.SubElement(self.asset, "material")
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mat.attrib["name"] = "mat_sponge" # 材质名称，AddBox 中调用这个名字
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mat.attrib["texture"] = "sponge_tex"
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# 海绵的关键视觉特性：不反光、不油亮
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mat.attrib["specular"] = "0.1" # 几乎没有镜面反射 (相比木头的0.2要低很多)
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mat.attrib["shininess"] = "0.1" # 几乎没有光泽
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mat.attrib["rgba"] = "1 0.7 0.7 1" # 叠加颜色，保持原样
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# Add Box to scene
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def AddBox(self,
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position=[1.0, 0.0, 0.0],
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euler=[0.0, 0.0, 0.0],
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size=[0.1, 0.1, 0.1],
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sponge=False):
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geo = xml_et.SubElement(self.worldbody, "geom")
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geo.attrib["pos"] = list_to_str(position)
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geo.attrib["type"] = "box"
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geo.attrib["size"] = list_to_str(
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0.5 * np.array(size)) # half size of box for mujoco
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quat = euler_to_quat(euler[0], euler[1], euler[2])
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geo.attrib["quat"] = list_to_str(quat)
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# === 修改部分开始 ===
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if sponge:
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# 1. 视觉：使用海绵材质 (假设你在 asset 中定义的名字叫 mat_sponge)
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geo.attrib["material"] = "mat_sponge"
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# 2. 物理：solref 时间常数越大越软 (0.02 比较软, 默认约 0.002)
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geo.attrib["solref"] = "0.03 1"
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geo.attrib["priority"] = "1"
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geo.attrib["solmix"] = "1"
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# 3. 摩擦：海绵通常摩擦力较大 (可选)
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geo.attrib["friction"] = "1.2 0.005 0.0001"
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else:
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geo.attrib["material"] = "wood_mat"
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geo.attrib["friction"] = "0.5 0.005 0.0001"
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def AddGeometry(self,
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position=[1.0, 0.0, 0.0],
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euler=[0.0, 0.0, 0.0],
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size=[0.1, 0.1],geo_type="box"):
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# geo_type supports "plane", "sphere", "capsule", "ellipsoid", "cylinder", "box"
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geo = xml_et.SubElement(self.worldbody, "geom")
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geo.attrib["pos"] = list_to_str(position)
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geo.attrib["type"] = geo_type
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geo.attrib["size"] = list_to_str(
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0.5 * np.array(size)) # half size of box for mujoco
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quat = euler_to_quat(euler[0], euler[1], euler[2])
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geo.attrib["quat"] = list_to_str(quat)
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geo.attrib["material"] = "wood_mat"
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def AddStairs(self,
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init_pos=[1.0, 0.0, 0.0],
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yaw=0.0,
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width=0.2,
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height=0.15,
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length=1.5,
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stair_nums=10):
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local_pos = [0.0, 0.0, -0.5 * height]
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for i in range(stair_nums):
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local_pos[0] += width
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local_pos[2] += height
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x, y = rot2d(local_pos[0], local_pos[1], yaw)
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self.AddBox([x + init_pos[0], y + init_pos[1], local_pos[2]],
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[0.0, 0.0, yaw], [width, length, height])
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def AddDownStairs(self,
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init_pos=[1.0, 0.0, 0.0],
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yaw=0.0,
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width=0.3,
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height=0.15,
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length=1.5,
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stair_nums=10):
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# 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
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local_pos = [0.0, 0.0, 0.5 * height]
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for i in range(stair_nums):
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local_pos[0] += width
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local_pos[2] -= height
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x, y = rot2d(local_pos[0], local_pos[1], yaw)
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self.AddBox([x + init_pos[0], y + init_pos[1], local_pos[2]],
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[0.0, 0.0, yaw], [width, length, height])
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def AddStairsSeries(self,
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init_pos=[1.0, 0.0, 0.0],
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yaw=0.0,
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width=0.3,
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length=1.5,
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stair_nums_up=6,
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stair_nums_down=6,
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start_height=0.05,
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step_inc=0.03,
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max_height=0.2,
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flat_length=0.5):
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"""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）。
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每完成一对上/下台阶后，单步高度增加 step_inc，直到达到 max_height。
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参数说明：
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- init_pos: 底层起点（列表），序列沿局部 x 方向展开
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- yaw: 台阶朝向
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- width: 每级台阶在 x 方向的深度（步幅）
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- length: 台阶在 y 方向的宽度（和 AddStairs 一致）
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- stair_nums_up/down: 上/下台阶的级数
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- start_height: 第一对台阶的每级高度
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- step_inc: 每对增加的高度
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- max_height: 最大每级高度（包含）
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- flat_length: 顶部平地长度（沿 x）
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"""
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# 保持 init_pos 不变（上/下台阶成对结束后回到同一基准高度）
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base_pos = np.array(init_pos, dtype=float)
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height = start_height
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# 平台长度至少为 1.0 米
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platform_length = max(flat_length, 1.0)
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# 迭代每一对台阶直到高度超限
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while height <= max_height + 1e-8:
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# --- 上台阶 ---
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# 上台阶第 i 级中心 z = base_z + (-0.5 + i) * height, i = 1..stair_nums_up
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for i in range(1, stair_nums_up + 1):
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center_x_local = i * width
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center_z = base_pos[2] + (-0.5 + i) * height
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x, y = rot2d(center_x_local, 0.0, yaw)
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self.AddBox([x + base_pos[0], y + base_pos[1], center_z],
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[0.0, 0.0, yaw], [width, length, height])
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# 顶部平地：放在最后一级之后，平台长度至少 platform_length
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last_up_center_x = stair_nums_up * width
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last_up_top_surface = base_pos[2] + stair_nums_up * height # 顶部平面高度
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flat_thickness = height # 平地厚度，使用与台阶同高度以保证接触
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flat_center_local_x = last_up_center_x + width / 2.0 + platform_length / 2.0
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flat_center_z = last_up_top_surface + flat_thickness / 2.0
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x, y = rot2d(flat_center_local_x, 0.0, yaw)
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# 尺寸：在 x 方向用 platform_length, y 用 length, z 用 flat_thickness
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self.AddBox([x + base_pos[0], y + base_pos[1], flat_center_z],
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[0.0, 0.0, yaw], [platform_length, length, flat_thickness])
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# --- 下台阶 ---
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# 平地末端 x
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flat_end_x = last_up_center_x + width / 2.0 + platform_length
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for j in range(1, stair_nums_down + 1):
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center_x_local = flat_end_x + width / 2.0 + (j - 1) * width
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# 第 j 级下台阶的中心 z = last_up_top_surface - 0.5*height - (j-1)*height
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center_z = last_up_top_surface - 0.5 * height - (j - 1) * height
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x, y = rot2d(center_x_local, 0.0, yaw)
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self.AddBox([x + base_pos[0], y + base_pos[1], center_z],
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[0.0, 0.0, yaw], [width, length, height])
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# 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
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seq_end_local_x = flat_end_x + stair_nums_down * width # 这是最后一个下台阶的前缘 x
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post_flat_center_local_x = seq_end_local_x + platform_length / 2.0
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# 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
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post_flat_center_z = base_pos[2] + height / 2.0
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x, y = rot2d(post_flat_center_local_x, 0.0, yaw)
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self.AddBox([x + base_pos[0], y + base_pos[1], post_flat_center_z],
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[0.0, 0.0, yaw], [platform_length, length, flat_thickness])
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# 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
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seq_total_end_local_x = seq_end_local_x + platform_length
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# 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
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# base_shift_local_x 为相对于当前 base 的局部 x 偏移
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overlap = 1e-3 # 以米为单位，微小重叠以避免可视缝隙
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base_shift_local_x = seq_total_end_local_x - width / 2.0 - overlap
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dx, dy = rot2d(base_shift_local_x, 0.0, yaw)
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base_pos[0] = base_pos[0] + dx
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base_pos[1] = base_pos[1] + dy
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# 增加单级高度
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height = round(height + step_inc, 8)
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def AddSuspendStairs(self,
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init_pos=[1.0, 0.0, 0.0],
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yaw=1.0,
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width=0.2,
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height=0.15,
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length=1.5,
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gap=0.1,
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stair_nums=10):
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local_pos = [0.0, 0.0, -0.5 * height]
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for i in range(stair_nums):
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local_pos[0] += width
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local_pos[2] += height
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x, y = rot2d(local_pos[0], local_pos[1], yaw)
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self.AddBox([x + init_pos[0], y + init_pos[1], local_pos[2]],
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[0.0, 0.0, yaw],
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[width, length, abs(height - gap)])
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def AddRoughGround(self,
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init_pos=[1.0, 0.0, 0.0],
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euler=[0.0, -0.0, 0.0],
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nums=[10, 10],
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box_size=[0.5, 0.5, 0.5],
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box_euler=[0.0, 0.0, 0.0],
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separation=[0.2, 0.2],
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box_size_rand=[0.05, 0.05, 0.05],
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box_euler_rand=[0.2, 0.2, 0.2],
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separation_rand=[0.05, 0.05]):
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local_pos = [0.0, 0.0, -0.5 * box_size[2]]
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new_separation = np.array(separation) + np.array(
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separation_rand) * np.random.uniform(-1.0, 1.0, 2)
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for i in range(nums[0]):
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local_pos[0] += new_separation[0]
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local_pos[1] = 0.0
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for j in range(nums[1]):
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new_box_size = np.array(box_size) + np.array(
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box_size_rand) * np.random.uniform(-1.0, 1.0, 3)
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new_box_euler = np.array(box_euler) + np.array(
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box_euler_rand) * np.random.uniform(-1.0, 1.0, 3)
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new_separation = np.array(separation) + np.array(
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separation_rand) * np.random.uniform(-1.0, 1.0, 2)
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local_pos[1] += new_separation[1]
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pos = rot3d(local_pos, euler) + np.array(init_pos)
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self.AddBox(pos, new_box_euler, new_box_size)
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def AddPerlinHeighField(
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self,
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position=[1.0, 0.0, 0.0], # position
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euler=[0.0, -0.0, 0.0], # attitude
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size=[1.0, 1.0], # width and length
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height_scale=0.2, # max height
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negative_height=0.2, # height in the negative direction of z axis
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image_width=128, # height field image size
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img_height=128,
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smooth=100.0, # smooth scale
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perlin_octaves=6, # perlin noise parameter
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perlin_persistence=0.5,
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perlin_lacunarity=2.0,
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output_hfield_image="height_field.png"):
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# Generating height field based on perlin noise
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terrain_image = np.zeros((img_height, image_width), dtype=np.uint8)
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for y in range(image_width):
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for x in range(image_width):
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# Perlin noise
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noise_value = noise.pnoise2(x / smooth,
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y / smooth,
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octaves=perlin_octaves,
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persistence=perlin_persistence,
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lacunarity=perlin_lacunarity)
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terrain_image[y, x] = int((noise_value + 1) / 2 * 255)
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cv2.imwrite(str(PATH_DIR / "assets" / output_hfield_image), terrain_image)
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hfield = xml_et.SubElement(self.asset, "hfield")
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hfield.attrib["name"] = "perlin_hfield"
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hfield.attrib["size"] = list_to_str(
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[size[0] / 2.0, size[1] / 2.0, height_scale, negative_height])
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hfield.attrib["file"] = "../" + output_hfield_image
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geo = xml_et.SubElement(self.worldbody, "geom")
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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()
|