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unilab.base.backend.mujoco.xml.materialize_mujoco_hfield_attached_scene¶

unilab.base.backend.mujoco.xml.materialize_mujoco_hfield_attached_scene(*, model_file, terrain_cfg, output_dir, fragment_files=(), hfield_name='terrain_hfield', geom_name='floor', return_surface_sampler=False)[source]¶

Build a MuJoCo model with generated hfield terrain and attached robot spec.

Parameters:

model_file (str)
terrain_cfg (TerrainGeneratorCfg)
output_dir (str | Path)
fragment_files (Sequence[str])
hfield_name (str)
geom_name (str)
return_surface_sampler (bool)

Return type:

tuple[Any, ndarray] | tuple[Any, ndarray, Any]