🏔️ Terrain Generation¶
OrcaGym provides terrain generation tools for creating complex ground environments.
Terrain Generator¶
from orca_gym.tools.terrains import terrain_generater
# Height map generator
from orca_gym.tools.terrains import height_map_generater
Terrain Types¶
| Type | Description |
|---|---|
| Flat | Flat ground |
| Slope | Sloped ground |
| Steps | Discrete height variations |
| Rough | Randomly undulating ground |
| Obstacles | Scattered obstacles |
Using Terrain¶
Generated terrains are embedded into MuJoCo scenes as height fields (hfield):
- Generate a height map using the tools
- Export to a MuJoCo hfield-supported format
- Reference it in the model XML
- Automatically downloaded and cached at load time