Heightfield Import

Heightfield terrain is configured through SceneCfg and the terrain generator, then materialized by the backend on the init path. Core tests exercise the contract with a generated heightfield scene.

Files To Read

  • src/unilab/terrains/heightfield_terrains.py

  • unisim.terrain.generator

  • tests/utils/test_xml_utils.py

  • unisim.backend.mujoco.xml

  • unisim.backend.motrix.scene

Smoke Commands

uv run pytest tests/utils/test_xml_utils.py \
  -k mujoco_materialize_hfield_attached_scene

Height scan IDs and offsets are cached during env initialization; hot paths call the backend height-scanner contract instead of parsing XML or asset metadata.