Add procedural generation of diverse simulation environments

[AndrejOrsula]

Feature description

Procedural generation is a powerful technique for creating diverse and realistic environments without relying on static, disk-consuming datasets. This approach allows for the generation of an infinite number of unique environments, a feature that has been underutilized in the fields of robotics and space exploration.

Implementation considerations

Blender provides these capabilities through its Geometry Nodes and Shader Nodes.

[AndrejOrsula]

In case someone is interested in integrating procedural Moon/Mars terrains and rocks into their simulations, here is a related Blender project that you can use:

• spaceros_procgen_envs.blend.zip (not included as a part of the submission)

spaceros_procgen_envs_blend.mp4

Disclaimer: I am not an artist — so I am sure that many could make it look much more realistic...

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For Gazebo, the procedural_dataset_generator.py script could be used as a starting point to export SDF models directly. However, it needs to be updated for Blender 4, and it currently lacks the functionality to bake textures.