Terrain Types

MyoAssist supports various terrain types for heightfield generation using the HfieldManager.

Available Terrain Types

Type	Description	Parameters	Use Case
flat	Flat terrain	No parameters required	Basic training and evaluation
random	Random height variations	amplitude - Maximum height variation	Terrain adaptation training
harmonic_sinusoidal	Harmonic sinusoidal waves	amplitude_row period_row amplitude_col period_col	Complex terrain simulation
slope	Inclined slope	slope_angle - Slope angle in degrees	Slope walking training

Terrain Parameters

Parameters are space-separated values passed as strings:

# Random terrain with amplitude 0.1
terrain_params: "0.1"

# Harmonic sinusoidal with multiple waves
terrain_params: "0.2 20 0.1 8"

# Slope with 30% degree angle
terrain_params: "0.3"

Detailed Terrain Descriptions

Flat Terrain

Type: flat

Description: Creates a completely flat ground surface with no height variations.

Parameters: None required

Use Case:

• Basic training scenarios
• Evaluation and testing
• Imitation learning baseline

Example:

{
  "terrain_type": "flat",
  "terrain_params": ""
}

Random Terrain

Type: random

Description: Creates terrain with random height variations across the surface.

Parameters:

• amplitude - Maximum height variation in meters

Example:

{
  "terrain_type": "random",
  "terrain_params": "0.1"
}

Harmonic Sinusoidal Terrain

Type: harmonic_sinusoidal

Description: Creates terrain with harmonic sinusoidal waves in both row and column directions.

Parameters:

• amplitude_row - Amplitude of row-direction waves
• period_row - Period of row-direction waves
• amplitude_col - Amplitude of column-direction waves
• period_col - Period of column-direction waves

You can continue to add more sets of these four parameters (amplitude_row, period_row, amplitude_col, period_col) to create additional sinusoidal components in the terrain.

Example:

{
  "terrain_type": "harmonic_sinusoidal",
  "terrain_params": "0.2 20 0.1 8"
}

Slope Terrain

Type: slope

Description: Creates an inclined slope starting from a center point.

Parameters:

• slope_angle - Slope angle as a ratio (tan value)

Example:

{
  "terrain_type": "slope",
  "terrain_params": "0.3"
}

Safe Zone

All terrain types include a safe zone around the starting position where terrain variations are minimized to prevent immediate falls or contact penation during training.

Implementation Details

Terrain generation is handled by the HfieldManager class which: