From 8d914aee1df21588afcf8b30ba02d7acbc7ef66d Mon Sep 17 00:00:00 2001
From: yangning wu <rd_wyn@unitree.com>
Date: Mon, 17 Jun 2024 10:46:34 +0800
Subject: [PATCH] Add pre generated terrain scenes

---
 simulate/config.yaml                  |   2 +-
 terrain_tool/terrain_generator.py     |   6 +++---
 unitree_robots/b2/height_field.png    | Bin 0 -> 4865 bytes
 unitree_robots/b2/scene_terrain.xml   |  22 ++++++++++++++++++++++
 unitree_robots/b2/unitree_hfield.png  | Bin 0 -> 14273 bytes
 unitree_robots/b2w/height_field.png   | Bin 0 -> 4865 bytes
 unitree_robots/b2w/scene_terrain.xml  |  22 ++++++++++++++++++++++
 unitree_robots/b2w/unitree_hfield.png | Bin 0 -> 14273 bytes
 unitree_robots/go2/scene_terrain.xml  |   2 +-
 unitree_robots/h1/height_field.png    | Bin 0 -> 4865 bytes
 unitree_robots/h1/scene_terrain.xml   |  22 ++++++++++++++++++++++
 unitree_robots/h1/unitree_hfield.png  | Bin 0 -> 14273 bytes
 12 files changed, 71 insertions(+), 5 deletions(-)
 create mode 100644 unitree_robots/b2/height_field.png
 create mode 100644 unitree_robots/b2/scene_terrain.xml
 create mode 100644 unitree_robots/b2/unitree_hfield.png
 create mode 100644 unitree_robots/b2w/height_field.png
 create mode 100644 unitree_robots/b2w/scene_terrain.xml
 create mode 100644 unitree_robots/b2w/unitree_hfield.png
 create mode 100644 unitree_robots/h1/height_field.png
 create mode 100644 unitree_robots/h1/scene_terrain.xml
 create mode 100644 unitree_robots/h1/unitree_hfield.png

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 0000000000000000000000000000000000000000..3f2fb06d9d6a31a1626ba65150c0428afdc7dc74
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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 @@
+<mujoco model="b2 scene">
+  <include file="b2.xml" />
+
+  <statistic center="0 0 0.1" extent="0.8" />
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+    <rgba haze="0.15 0.25 0.35 1" />
+    <global azimuth="-130" elevation="-20" />
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  <hfield name="perlin_hfield" size="1.0 0.75 0.2 0.2" file="../height_field.png" /><hfield name="image_hfield" size="1.0 1.0 0.02 0.1" file="../unitree_hfield.png" /></asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
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\ No newline at end of file
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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 @@
+<mujoco model="b2w scene">
+  <include file="b2w.xml" />
+
+  <statistic center="0 0 0.1" extent="0.8" />
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+    <rgba haze="0.15 0.25 0.35 1" />
+    <global azimuth="-130" elevation="-20" />
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  <hfield name="perlin_hfield" size="1.0 0.75 0.2 0.2" file="../height_field.png" /><hfield name="image_hfield" size="1.0 1.0 0.02 0.1" file="../unitree_hfield.png" /></asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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\ No newline at end of file
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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 @@
   <worldbody>
     <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
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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 @@
+<mujoco model="h1 scene">
+  <include file="h1.xml" />
+
+  <statistic center="0 0 0.1" extent="0.8" />
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+    <rgba haze="0.15 0.25 0.35 1" />
+    <global azimuth="-130" elevation="-20" />
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+  <hfield name="perlin_hfield" size="1.0 0.75 0.2 0.2" file="../height_field.png" /><hfield name="image_hfield" size="1.0 1.0 0.02 0.1" file="../unitree_hfield.png" /></asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
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