unitree_mujoco/terrain_tool/readme.md

Terrain Generation Tool

Usage

1. First, install dependencies:

pip3 install noise opencv-python numpy 

2. Open terrain_generator.py and modify the initial configuration at the beginning. Here, we will use the Go2 robot as an example:

# Robot directory
ROBOT = "go2"
# Input scene file
INPUT_SCENE_PATH = "./scene.xml"
# Output
OUTPUT_SCENE_PATH = "../unitree_robots/" + ROBOT + "/scene_terrain.xml"

3. Run:

cd terrain_tool
python3 ./terrain_generator.py

The program will output the terrain scene file to /unitree_robots/go2/scene_terrain.xml. Then, you can modify the simulator configuration file simulate/config.yaml and set the scene to the newly generated scene_terrain.xml:

robot_scene: "scene_terrain.xml"

If you are using a Python-based simulator, modify simulate_python/config.py:

ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/scene_terrain.xml" 

After that, run the unitree_mujoco simulator, and you can see the generated terrain.

Function Explanation

Users can utilize terrain_generator.py to add the desired terrain. Below is an explanation of the functions.

1. AddBox

Add a cube, parameters:

position=[1.0, 0.0, 0.0] # Center position
euler=[0.0, 0.0, 0.0] # Orientation
size=[0.1, 0.1, 0.1] # Size, length x width x height

2. AddGeometry

Add a geometry, parameters:

position=[1.0, 0.0, 0.0] # Center position
euler=[0.0, 0.0, 0.0] # Orientation
size=[0.1, 0.1, 0.1] # Size, some geometries only require the first two parameters
geo_type="cylinder" # Geometry type, supports "plane", "sphere", "capsule", "ellipsoid", "cylinder", "box"

3. AddStairs

Add stairs, parameters:

init_pos=[1.0, 0.0, 0.0] # Position of the stair near the ground
yaw=0.0 # Stair orientation
width=0.2 # Stair width
height=0.15 # Stair height
length=1.5 # Stair length
stair_nums=10 # Number of stairs

4. AddSuspendStairs

Add floating stairs, parameters:

init_pos=[1.0, 0.0, 0.0] # Position of the stair near the ground
yaw=0.0 # Stair orientation
width=0.2 # Stair width
height=0.15 # Stair height
length=1.5 # Stair length
gap=0.1 # Floating gap
stair_nums=10 # Number of stairs

5. AddRoughGround

Add rough terrain by randomly arranging cubes, parameters:

init_pos=[1.0, 0.0, 0.0] # Position of the first cube
euler=[0.0, -0.0, 0.0], # Terrain orientation relative to the world
nums=[10, 10], # Number of cubes in x and y directions
box_size=[0.5, 0.5, 0.5], # Cube size
box_euler=[0.0, 0.0, 0.0], # Cube orientation
separation=[0.2, 0.2], # Cube separation in x and y directions
box_size_rand=[0.05, 0.05, 0.05], # Random increment of cube size
box_euler_rand=[0.2, 0.2, 0.2], # Random increment of cube orientation
separation_rand=[0.05, 0.05] # Random increment of cube separation

6.AddPerlinHeighField

Generate terrain based on Perlin noise, parameters:

position=[1.0, 0.0, 0.0],  # Terrain center position
euler=[0.0, 0.0, 0.0],  # Terrain orientation relative to the world
size=[1.0, 1.0],  # Terrain length and width
height_scale=0.2,  # Maximum terrain height
negative_height=0.2,  # Negative height in the z-axis direction
image_width=128,  # Terrain height map image pixel size
image_height=128,
smoothness=100.0,  # Noise smoothness
perlin_octaves=6,  # Perlin noise parameters
perlin_persistence=0.5,
perlin_lacunarity=2.0,
output_heightmap_image="height_field.png"  # Output height map image name

7. AddHeighFieldFromImage

Generate terrain based on a given image, parameters:

position=[1.0, 0.0, 0.0] # Terrain center position
euler=[0.0, 0.0, 0.0],  # Terrain orientation relative to the world
size=[2.0, 1.6],  # Terrain length and width
height_scale=0.02,  # Maximum terrain height
negative_height=0.1,  # Negative height in the z-axis direction
input_image_path="./unitree_robot.jpeg" # Input image path
output_heightmap_image="height_field.png", # Output height map image name
image_scale=[1.0, 1.0],  # Image scaling factors
invert_grayscale=False # Invert pixel