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unilab.base.backend.motrix.scene.materialize_motrix_hfield_attached_scene¶

unilab.base.backend.motrix.scene.materialize_motrix_hfield_attached_scene(*, model_file, terrain_cfg, fragment_files=(), hfield_name='terrain_hfield', geom_name='floor', add_body_sensors=False, base_name='base', return_surface_sampler=False)[source]¶

Build a MotrixSim model with generated hfield terrain and attached robot.

Parameters:

model_file (str)
terrain_cfg (TerrainGeneratorCfg)
fragment_files (Sequence[str])
hfield_name (str)
geom_name (str)
add_body_sensors (bool)
base_name (str)
return_surface_sampler (bool)

Return type:

tuple[SceneModel, ndarray] | tuple[SceneModel, ndarray, object]