Server Example: Procedural Heightmap

Overview

Creates a procedural heightmap and drops a grid of ANYmal robots onto it. Use it to see how to configure fractal terrain properties and run robots on generated terrain.

Screenshot

procedural_heightmap example

Target

CMake target: procedural_heightmap.

Run

Run the build-tree executable:

./build-examples/examples/procedural_heightmap

On Windows, run procedural_heightmap.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

  • Generates terrain from TerrainProperties (fractal noise).

  • Spawns a 6 × 6 grid of ANYmal robots above the heightmap with joint PD gains.

  • Demonstrates procedural heightmap creation and appearance; see Height Map.