Heightfield Import

Heightfield terrain is configured through SceneCfg and the terrain generator, then materialized by the backend on the init path. The committed user-facing example is Go2JoystickRough, with owners in src/unilab/conf/ppo/task/go2_joystick_rough/mujoco.yaml and src/unilab/conf/ppo/task/go2_joystick_rough/motrix.yaml.

Files To Read

  • src/unilab/terrains/heightfield_terrains.py

  • unisim.terrain.generator

  • src/unilab/tasks/locomotion/go2/rough.py

  • unisim.backend.mujoco.xml

  • unisim.backend.motrix.scene

Smoke Commands

uv run train --algo ppo --task go2_joystick_rough --sim mujoco \
  algo.max_iterations=2 \
  algo.num_envs=64 \
  training.no_play=true

uv run scripts/visualize_task_env.py --task Go2JoystickRough --backend mujoco --num_envs 4

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.