Go2 Terrain Visualizer

open-diffloco implicit terrain: tilted gravity + contact-scaled dOU foot bumps

vis_terrain mode

bumps slope both

Tilted gravity

terrain_slope5.0 deg

difficulty1.00

flat episode

dOU foot bumps

terrain_bump_std0.40

terrain_bump_decay0.40

normal force spread0.25

Episode stats

theta-

azimuth-

gravity-

hfield z-

bump |F|-

Foot forces

FL-

FR-

RL-

RR-

Unitree Go2, 1:1 scale

side view, 100px = 1m