🗺️ Terrain Tools

OrcaGym provides terrain generation tools for creating complex training environments.

TerrainGenerator

from orca_gym.tools.terrains import terrain_generater

HeightMapGenerator

from orca_gym.tools.terrains import height_map_generater

Terrain Types

Type	Parameters	Example Use Case
Flat	—	Baseline testing
Slope	angle	Slope climbing training
Steps	step_height, step_count	Stair climbing
Rough	roughness	Rough terrain adaptation
Obstacles	obstacle_size, obstacle_count	Obstacle avoidance navigation

Workflow

1. Use terrain tools to generate heightmaps
2. Embed the heightmap into the MuJoCo scene XML
3. OrcaGym automatically downloads hfield assets during model loading
4. Create environments for training