unreal sensor implementations windows version

raisimTech · Jul 17, 2022 · 96e5fc2 · 96e5fc2
1 parent d67eb0b
commit 96e5fc2
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diff --git a/DEVELOPERS_ONLY/windowsInstall.ps1 b/DEVELOPERS_ONLY/windowsInstall.ps1
@@ -12,16 +12,4 @@ Set-Location C:\Users\jemin\source\repos\raisimLib\build
 cmake .. -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DRAISIM_MATLAB=ON -DPYTHON_EXECUTABLE=C:\Users\jemin\anaconda3\envs\python35\python
 cmake --build . --config Release
 
-cmake .. -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DPYTHON_EXECUTABLE=C:\Users\jemin\anaconda3\envs\python36\python
-cmake --build . --config Release
-
-cmake .. -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DPYTHON_EXECUTABLE=C:\Users\jemin\anaconda3\envs\python37\python
-cmake --build . --config Release
-
-cmake .. -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DPYTHON_EXECUTABLE=C:\Users\jemin\anaconda3\envs\python38\python
-cmake --build . --config Release
-
-cmake .. -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DPYTHON_EXECUTABLE=C:\Users\jemin\anaconda3\envs\python39\python
-cmake --build . --config Release
-
 cd C:\Users\jemin
diff --git a/examples/src/server/sensors.cpp b/examples/src/server/sensors.cpp
@@ -33,31 +33,37 @@ int main(int argc, char **argv) {
       0.03, -0.4, 0.8, -0.03, -0.4, 0.8;
   jointVel << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
 
-  auto anymal = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\anymal_c\\urdf\\anymal.urdf");
+  auto anymal = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\anymal_c\\urdf\\anymal_sensored.urdf");
   anymal->setState(jointConfig, jointVel);
   anymal->setControlMode(raisim::ControlMode::PD_PLUS_FEEDFORWARD_TORQUE);
   anymal->setPdGains(jointPgain, jointDgain);
   anymal->setPdTarget(jointConfig, jointVelocityTarget);
   anymal->setGeneralizedForce(Eigen::VectorXd::Zero(anymal->getDOF()));
+  anymal->setName("Anymal");
 
-  auto depthSensor = anymal->getSensor<raisim::DepthCamera>("depth_camera_front_camera_parent/depth");
+  auto depthSensor = anymal->getSensor<raisim::DepthCamera>("depth_camera_front_camera_parent:depth");
   depthSensor->setDataType(raisim::DepthCamera::DepthCameraProperties::DataType::COORDINATE);
 
   server.launchServer();
-  std::vector<raisim::Visuals*> scans;
-  for(int i=0; i<depthSensor->getProperties().width; i++)
-    for(int j=0; j<depthSensor->getProperties().height; j++)
-      scans.push_back(server.addVisualBox("box" + std::to_string(i) + "/" + std::to_string(j), 0.03, 0.03, 0.03, 1, 0, 0));
+//  auto scans = server.addInstancedVisuals("scan points",
+//                                          raisim::InstancedVisuals::VisualBox,
+//                                          {0.05, 0.05, 0.05},
+//                                          {1,0,0,1},
+//                                          {0,1,0,1});
+//  scans->resize(depthSensor->getProperties().width * depthSensor->getProperties().height);
+
+//  std::vector<raisim::Visuals*> scans;
+//  for(int i=0; i<depthSensor->getProperties().width; i++)
+//    for(int j=0; j<depthSensor->getProperties().height; j++)
+//      scans.push_back(server.addVisualBox("box" + std::to_string(i) + "/" + std::to_string(j), 0.03, 0.03, 0.03, 1, 0, 0));
 
   for (int k = 0; k < loopN; k++) {
     world.integrate();
     raisim::MSLEEP(world.getTimeStep() * 1000);
-    depthSensor->update(world);
     auto& pos = depthSensor->get3DPoints();
     for(int i=0; i<depthSensor->getProperties().width; i++)
       for(int j=0; j<depthSensor->getProperties().height; j++) {
         size_t id = i * depthSensor->getProperties().height + j;
-        scans[id]->setPosition(pos[id].e());
       }
   }
 

diff --git a/raisim/win32/mt_debug/bin/atlas.exe b/raisim/win32/mt_debug/bin/atlas.exe
diff --git a/raisim/win32/mt_debug/bin/atlas.ilk b/raisim/win32/mt_debug/bin/atlas.ilk
diff --git a/raisim/win32/mt_debug/bin/atlas.pdb b/raisim/win32/mt_debug/bin/atlas.pdb
diff --git a/raisim/win32/mt_debug/bin/raisim.dll b/raisim/win32/mt_debug/bin/raisim.dll
diff --git a/raisim/win32/mt_debug/bin/rsc/anymal_c/sensors/realsense435.xml b/raisim/win32/mt_debug/bin/rsc/anymal_c/sensors/realsense435.xml
@@ -20,7 +20,7 @@
 <!--                <box size="0.0078 0.130 0.0192"/>-->
 <!--            </geometry>-->
 <!--        </collision>-->
-        <sensor name="color" type="rgb">
+        <sensor name="color" type="rgb" update_rate="20">
             <origin rpy="0.0 0.0 0.0" xyz="0 -0.046 0.004"/>
             <camera horizontal_fov="1.047">
                 <image width="640" height="480"/>
@@ -29,7 +29,7 @@
             </camera>
             <update_rate>60</update_rate>
         </sensor>
-        <sensor name="ired1" type="camera">
+        <sensor name="ired1" type="camera" update_rate="20">
             <origin rpy="0.0 0.0 0.0" xyz="0 -0.06 0.004"/>
             <camera horizontal_fov="1.047">
                 <image width="640" height="480"/>
@@ -38,19 +38,19 @@
             </camera>
             <update_rate>60</update_rate>
         </sensor>
-        <sensor name="ired2" type="camera">
+        <sensor name="ired2" type="camera" update_rate="20">
             <origin rpy="0.0 0.0 0.0" xyz="0 0.01 0.004"/>
             <camera horizontal_fov="1.047">
                 <image width="640" height="480"/>
                 <clip near="0.1" far="100"/>
                 <noise type="gaussian" mean="0.0" stddev="0.007"/>
             </camera>
         </sensor>
-        <sensor name="depth" type="depth">
+        <sensor name="depth" type="depth" update_rate="20">
             <data type="coordinates"/>
             <origin rpy="0.0 0.0 0.0" xyz="0 -0.03 0.004"/>
             <camera horizontal_fov="1.047">
-                <image width="6" height="4"/>
+                <image width="640" height="480"/>
                 <clip near="0.1" far="100"/>
                 <noise type="gaussian" mean="0.0" stddev="0.007"/>
             </camera>

diff --git a/raisim/win32/mt_debug/bin/rsc/anymal_c/urdf/anymal.urdf b/raisim/win32/mt_debug/bin/rsc/anymal_c/urdf/anymal.urdf
@@ -211,7 +211,7 @@
         <origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
     </joint>
     <!-- Camera parent link -->
-    <link name="depth_camera_front_camera_parent" sensor="realsense435.xml"/>
+    <link name="depth_camera_front_camera_parent"/>
     <!-- Depth optical frame joint -->
     <joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
         <parent link="depth_camera_front_camera_parent"/>