diff --git a/simulate/config.yaml b/simulate/config.yaml
index 81774b8..0100a83 100644
--- a/simulate/config.yaml
+++ b/simulate/config.yaml
@@ -1,5 +1,5 @@
robot: "go2" # Robot name, "go2", "b2", "b2w", "h1"
-robot_scene: "scene.xml" # Robot scene
+robot_scene: "scene_terrain.xml" # Robot scene
domain_id: 1 # Domain id
interface: "lo" # Interface
diff --git a/terrain_tool/terrain_generator.py b/terrain_tool/terrain_generator.py
index 09a7f59..9c6d752 100644
--- a/terrain_tool/terrain_generator.py
+++ b/terrain_tool/terrain_generator.py
@@ -279,15 +279,15 @@ if __name__ == "__main__":
tg.AddSuspendStairs(init_pos=[1.0, 6.0, 0.0], yaw=0.0)
# Rough ground
- tg.AddRoughGround(init_pos=[-1.5, 5.0, 0.0],
+ tg.AddRoughGround(init_pos=[-2.5, 5.0, 0.0],
euler=[0, 0, 0.0],
nums=[10, 8])
# Perlin heigh field
- tg.AddPerlinHeighField(position=[-0.5, 4.0, 0.0], size=[2.0, 1.5])
+ tg.AddPerlinHeighField(position=[-1.5, 4.0, 0.0], size=[2.0, 1.5])
# Heigh field from image
- tg.AddHeighFieldFromImage(position=[-0.5, 2.0, 0.0],
+ tg.AddHeighFieldFromImage(position=[-1.5, 2.0, 0.0],
euler=[0, 0, -1.57],
size=[2.0,2.0],
input_img="./unitree_robot.jpeg",
diff --git a/unitree_robots/b2/height_field.png b/unitree_robots/b2/height_field.png
new file mode 100644
index 0000000..3f2fb06
Binary files /dev/null and b/unitree_robots/b2/height_field.png differ
diff --git a/unitree_robots/b2/scene_terrain.xml b/unitree_robots/b2/scene_terrain.xml
new file mode 100644
index 0000000..923418d
--- /dev/null
+++ b/unitree_robots/b2/scene_terrain.xml
@@ -0,0 +1,22 @@
+
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\ No newline at end of file
diff --git a/unitree_robots/b2/unitree_hfield.png b/unitree_robots/b2/unitree_hfield.png
new file mode 100644
index 0000000..329a6c6
Binary files /dev/null and b/unitree_robots/b2/unitree_hfield.png differ
diff --git a/unitree_robots/b2w/height_field.png b/unitree_robots/b2w/height_field.png
new file mode 100644
index 0000000..3f2fb06
Binary files /dev/null and b/unitree_robots/b2w/height_field.png differ
diff --git a/unitree_robots/b2w/scene_terrain.xml b/unitree_robots/b2w/scene_terrain.xml
new file mode 100644
index 0000000..3e860a2
--- /dev/null
+++ b/unitree_robots/b2w/scene_terrain.xml
@@ -0,0 +1,22 @@
+
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\ No newline at end of file
diff --git a/unitree_robots/b2w/unitree_hfield.png b/unitree_robots/b2w/unitree_hfield.png
new file mode 100644
index 0000000..329a6c6
Binary files /dev/null and b/unitree_robots/b2w/unitree_hfield.png differ
diff --git a/unitree_robots/go2/scene_terrain.xml b/unitree_robots/go2/scene_terrain.xml
index 99b7f53..b6dfae5 100644
--- a/unitree_robots/go2/scene_terrain.xml
+++ b/unitree_robots/go2/scene_terrain.xml
@@ -18,5 +18,5 @@
-
+
\ No newline at end of file
diff --git a/unitree_robots/h1/height_field.png b/unitree_robots/h1/height_field.png
new file mode 100644
index 0000000..3f2fb06
Binary files /dev/null and b/unitree_robots/h1/height_field.png differ
diff --git a/unitree_robots/h1/scene_terrain.xml b/unitree_robots/h1/scene_terrain.xml
new file mode 100644
index 0000000..572095a
--- /dev/null
+++ b/unitree_robots/h1/scene_terrain.xml
@@ -0,0 +1,22 @@
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\ No newline at end of file
diff --git a/unitree_robots/h1/unitree_hfield.png b/unitree_robots/h1/unitree_hfield.png
new file mode 100644
index 0000000..329a6c6
Binary files /dev/null and b/unitree_robots/h1/unitree_hfield.png differ