A repository to house challenging simulation environments.
Currently this repository houses maps from the ICRA 2024 Quadruped challenge here. These maps are provided as a ROS1 package, so this repository provides code to wrap this and make URDF files that can be used outside of ROS with paths for meshes that work.
This is currently the only provided example.
git clone --recurse-submodules https://github.com/RPL-CS-UCL/rugged_environments
python3 -m venv my_venv
source my_venv/bin/activate
pip install pybullet==3.2.* numpy==1.26.*
python3 rugged_environments/pybullet/load_env.py
Or, from code to create the urdf file and resolve paths for meshes:
from rugged_environments.common import make_copy_urdf, FLAT_FLOOR_NAME
urdf_file_and_path = make_copy_urdf(FLAT_FLOOR_NAME)