v1.1.4 windows update

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-set(RAISIM_VERSION 1.1.3)
+set(RAISIM_VERSION 1.1.4)
 project(raisim VERSION ${RAISIM_VERSION} LANGUAGES CXX)
 set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 

examples/CMakeLists.txt

@@ -57,7 +57,7 @@ create_executable(laikago src/server/laikago.cpp)
 create_executable(balls src/server/balls.cpp)
 create_executable(atlas src/server/atlas.cpp)
 create_executable(heightmap src/server/heightmap.cpp)
-create_executable(robots src/server/aliengo.cpp)
+create_executable(aliengo src/server/aliengo.cpp)
 create_executable(materials src/server/material.cpp)
 create_executable(materialStaticFriction src/server/materialStaticFriction.cpp)
 create_executable(heightMapUsingPng src/server/heightMapUsingPng.cpp)
@@ -83,4 +83,8 @@ create_executable(xmlRader src/xml/xmlReader.cpp)
 # mjcf files
 create_executable(mjcf_humanoid src/mjcf/humanoid.cpp)
 create_executable(mjcf_ant src/mjcf/ant.cpp)
-create_executable(mjcf_cassie src/mjcf/cassie.cpp)
+create_executable(mjcf_cassie src/mjcf/cassie.cpp)
+
+# maps
+create_executable(mountain1 src/maps/mountain1.cpp)
+create_executable(office1 src/maps/office1.cpp)

examples/src/maps/README

@@ -0,0 +1 @@
+This folder contains examples of supported maps by RaisimUnreal.

examples/src/maps/mountain1.cpp

@@ -0,0 +1,56 @@
+// This file is part of RaiSim. You must obtain a valid license from RaiSim Tech
+// Inc. prior to usage.
+
+#include "raisim/RaisimServer.hpp"
+#include "raisim/World.hpp"
+#if WIN32
+#include <timeapi.h>
+#endif
+
+int main(int argc, char* argv[]) {
+  auto binaryPath = raisim::Path::setFromArgv(argv[0]);
+  raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
+#if WIN32
+  timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
+#endif
+
+  /// create raisim world
+  raisim::World world;
+  world.setTimeStep(0.001);
+
+  /// create objects
+  auto heightmap = world.addHeightMap(binaryPath.getDirectory() + "\\rsc\\raisimUnrealMaps\\mountain1.png",
+                                      0, 0, 151.2, 151.2, 15.3/(39142-32640), -32640 * 15.3/(39142-32640));
+  heightmap->setAppearance("hidden");
+  auto aliengo = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\aliengo\\aliengo.urdf");
+
+  /// aliengo joint PD controller
+  Eigen::VectorXd jointNominalConfig(aliengo->getGeneralizedCoordinateDim()), jointVelocityTarget(aliengo->getDOF());
+  jointNominalConfig << 0, 0, 1.24, 1.0, 0.0, 0.0, 0.0, 0.03, 0.4, -0.8, -0.03, 0.4, -0.8, 0.03, -0.4, 0.8, -0.03, -0.4, 0.8;
+  jointVelocityTarget.setZero();
+
+  Eigen::VectorXd jointPgain(aliengo->getDOF()), jointDgain(aliengo->getDOF());
+  jointPgain.tail(12).setConstant(100.0);
+  jointDgain.tail(12).setConstant(1.0);
+
+  aliengo->setGeneralizedCoordinate(jointNominalConfig);
+  aliengo->setGeneralizedForce(Eigen::VectorXd::Zero(aliengo->getDOF()));
+  aliengo->setPdGains(jointPgain, jointDgain);
+  aliengo->setPdTarget(jointNominalConfig, jointVelocityTarget);
+  aliengo->setName("aliengo");
+
+  /// launch raisim server
+  raisim::RaisimServer server(&world);
+  server.setMap("mountain1");
+  server.focusOn(aliengo);
+  server.launchServer();
+
+  for (int i=0; i<2000000; i++) {
+    std::this_thread::sleep_for(std::chrono::microseconds(1000));
+    server.integrateWorldThreadSafe();
+  }
+
+  std::cout<<"mass "<<aliengo->getMassMatrix()[0]<<std::endl;
+
+  server.killServer();
+}

examples/src/maps/office1.cpp

@@ -0,0 +1,58 @@
+// This file is part of RaiSim. You must obtain a valid license from RaiSim Tech
+// Inc. prior to usage.
+
+#include "raisim/RaisimServer.hpp"
+#include "raisim/World.hpp"
+#if WIN32
+#include <timeapi.h>
+#endif
+
+int main(int argc, char* argv[]) {
+  auto binaryPath = raisim::Path::setFromArgv(argv[0]);
+  raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
+#if WIN32
+  timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
+#endif
+
+  /// create raisim world
+  raisim::World world(binaryPath.getDirectory() + "\\rsc\\raisimUnrealMaps\\office1.xml");
+  world.setTimeStep(0.001);
+
+
+  /// create objects
+  auto ground = world.addGround(0.02);
+  ground->setAppearance("hidden");
+  auto ball = world.addSphere(0.3, 2.0);
+  ball->setPosition(raisim::Vec<3>{0,0,2});
+  ball->setLinearVelocity(raisim::Vec<3>{1,1,0});
+
+  auto aliengo = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\aliengo\\aliengo.urdf");
+
+  /// aliengo joint PD controller
+  Eigen::VectorXd jointNominalConfig(aliengo->getGeneralizedCoordinateDim()), jointVelocityTarget(aliengo->getDOF());
+  jointNominalConfig << 0, 0, 1.24, 1.0, 0.0, 0.0, 0.0, 0.03, 0.4, -0.8, -0.03, 0.4, -0.8, 0.03, -0.4, 0.8, -0.03, -0.4, 0.8;
+  jointVelocityTarget.setZero();
+
+  Eigen::VectorXd jointPgain(aliengo->getDOF()), jointDgain(aliengo->getDOF());
+  jointPgain.tail(12).setConstant(100.0);
+  jointDgain.tail(12).setConstant(1.0);
+
+  aliengo->setGeneralizedCoordinate(jointNominalConfig);
+  aliengo->setGeneralizedForce(Eigen::VectorXd::Zero(aliengo->getDOF()));
+  aliengo->setPdGains(jointPgain, jointDgain);
+  aliengo->setPdTarget(jointNominalConfig, jointVelocityTarget);
+  aliengo->setName("aliengo");
+
+  /// launch raisim server
+  raisim::RaisimServer server(&world);
+  server.setMap("office1");
+  server.focusOn(aliengo);
+  server.launchServer();
+
+  for (int i=0; i<2000000; i++) {
+    std::this_thread::sleep_for(std::chrono::microseconds(20));
+    server.integrateWorldThreadSafe();
+  }
+
+  server.killServer();
+}

examples/src/server/anymals.cpp

@@ -19,7 +19,7 @@ int main(int argc, char* argv[]) {
 
   /// create objects
   auto ground = world.addGround(0, "gnd");
-  ground->setAppearance("wheat");
+  ground->setAppearance("hidden");
   auto anymalB = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\anymal\\urdf\\anymal.urdf");
   auto anymalC = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\anymal_c\\urdf\\anymal.urdf");
 
@@ -51,6 +51,7 @@ int main(int argc, char* argv[]) {
 
   /// launch raisim server
   raisim::RaisimServer server(&world);
+  server.setMap("wheat");
   server.launchServer();
   server.focusOn(anymalC);
 

examples/src/server/atlas.cpp

@@ -21,7 +21,7 @@ int main(int argc, char* argv[]) {
 
   /// create objects
   auto ground = world.addGround();
-  ground->setAppearance("dune"); // this works only in raisimUnreal
+  ground->setAppearance("hidden"); // this works only in raisimUnreal
 
   std::vector<raisim::ArticulatedSystem*> atlas;
 
@@ -43,6 +43,7 @@ int main(int argc, char* argv[]) {
 
   /// launch raisim server
   raisim::RaisimServer server(&world);
+  server.setMap("dune");
 
   /// use raisimUnreal to visualize the charts
   auto timeSeries = server.addTimeSeriesGraph("body pos", {"atlas_x", "atlas_y", "atlas_z", "w", "x", "y", "z"}, "time", "pos");

examples/src/server/kinematicObject.cpp

@@ -21,6 +21,7 @@ int main(int argc, char* argv[]) {
   auto movingGround = world.addBox(10, 10, 1, 10, "gnd");
   movingGround->setBodyType(raisim::BodyType::KINEMATIC); // kinematic objects have infinite mass
   movingGround->setPosition(0,0,-0.5);
+  movingGround->setAppearance("red");
   auto anymalB = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\anymal\\urdf\\anymal.urdf");
 
   /// anymalC joint PD controller

examples/src/server/kinova.cpp

@@ -39,6 +39,7 @@ int main(int argc, char* argv[]) {
 
   /// launch raisim server
   raisim::RaisimServer server(&world);
+  server.setMap("simple");
   server.launchServer();
   server.focusOn(kinova);
 

examples/src/server/primitives.cpp

@@ -19,8 +19,9 @@ int main(int argc, char* argv[]) {
   world.setTimeStep(0.002);
 
   /// create objects
-  auto ground = world.addGround();
-
+  auto ground = world.addGround(-0.5);
+  ground->setName("ground");
+  ground->setAppearance("grid");
   std::vector<raisim::Box*> cubes;
   std::vector<raisim::Sphere*> spheres;
   std::vector<raisim::Capsule*> capsules;
@@ -38,18 +39,22 @@ int main(int argc, char* argv[]) {
           case 0:
             cubes.push_back(world.addBox(1, 1, 1, 1));
             ob = cubes.back();
+            ob->setAppearance("blue");
             break;
           case 1:
             spheres.push_back(world.addSphere(0.5, 1));
             ob = spheres.back();
+            ob->setAppearance("red");
             break;
           case 2:
-            capsules.push_back(world.addCapsule(0.5, 1., 1));
+            capsules.push_back(world.addCapsule(0.5, 0.5, 1));
             ob = capsules.back();
+            ob->setAppearance("green");
             break;
           case 3:
             cylinders.push_back(world.addCylinder(0.5, 0.5, 1));
             ob = cylinders.back();
+            ob->setAppearance("0.5, 0.5, 0.8, 1.0");
             break;
         }
         ob->setPosition(-N + 2. * i, -N + 2. * j, N * 2. + 2. * k);

examples/src/server/rayDemo.cpp

@@ -31,10 +31,13 @@ int main(int argc, char* argv[]) {
   terrainProperties.fractalGain = 0.25;
 
   auto hm = world.addHeightMap(0.0, 0.0, terrainProperties);
+  hm->setAppearance("soil1");
   auto cube = world.addBox(1,1,1,1);
   cube->setPosition(3,0,3);
+  cube->setAppearance("blue");
   auto cylinder = world.addCylinder(1, 1, 1);
   cylinder->setPosition(3,3,3);
+  cylinder->setAppearance("yellow");
   auto capsule = world.addCapsule(1, 1, 1);
   capsule->setPosition(-3,3,3);
   auto sphere = world.addSphere(1, 1);

examples/src/server/rayDemo2.cpp

@@ -46,10 +46,9 @@ int main(int argc, char* argv[]) {
   /// launch raisim server
   raisim::RaisimServer server(&world);
 
-
   /// this method should be called before server launch
   auto scans = server.addInstancedVisuals("scan points",
-                                          raisim::InstancedVisuals::VisualBox,
+                                          raisim::Shape::Box,
                                           {0.05, 0.05, 0.05},
                                           {1,0,0,1},
                                           {0,1,0,1});
@@ -63,7 +62,7 @@ int main(int argc, char* argv[]) {
   Eigen::Vector3d direction;
 
   for(int time=0; time<1000000; time++) {
-    raisim::MSLEEP(1.0);
+    raisim::MSLEEP(1);
     server.integrateWorldThreadSafe();
     raisim::Vec<3> lidarPos; raisim::Mat<3,3> lidarOri;
     robot->getFramePosition("imu_joint", lidarPos);

examples/src/server/sensors.cpp

@@ -41,18 +41,20 @@ int main(int argc, char **argv) {
   anymal->setGeneralizedForce(Eigen::VectorXd::Zero(anymal->getDOF()));
   anymal->setName("Anymal");
 
-  auto depthSensor = anymal->getSensor<raisim::DepthCamera>("depth_camera_front_camera_parent:depth");
-  depthSensor->setMeasurementSource(raisim::Sensor::MeasurementSource::VISUALIZER);
+  auto depthSensor1 = anymal->getSensor<raisim::DepthCamera>("depth_camera_front_camera_parent:depth");
+  depthSensor1->setMeasurementSource(raisim::Sensor::MeasurementSource::VISUALIZER);
+  auto rgbCamera1 = anymal->getSensor<raisim::RGBCamera>("depth_camera_front_camera_parent:color");
+  rgbCamera1->setMeasurementSource(raisim::Sensor::MeasurementSource::VISUALIZER);
 
-  auto rgbCamera = anymal->getSensor<raisim::RGBCamera>("depth_camera_front_camera_parent:color");
-  rgbCamera->setMeasurementSource(raisim::Sensor::MeasurementSource::VISUALIZER);
+  auto depthSensor2 = anymal->getSensor<raisim::DepthCamera>("depth_camera_rear_camera_parent:depth");
+  depthSensor2->setMeasurementSource(raisim::Sensor::MeasurementSource::VISUALIZER);
+  auto rgbCamera2 = anymal->getSensor<raisim::RGBCamera>("depth_camera_rear_camera_parent:color");
+  rgbCamera2->setMeasurementSource(raisim::Sensor::MeasurementSource::VISUALIZER);
 
   server.launchServer();
   for (int k = 0; k < loopN; k++) {
     world.integrate();
     raisim::MSLEEP(world.getTimeStep() * 1000);
-    //std::cout<<"first b pixel rgb "<<int(rgbCamera->getImageBuffer()[0])<<std::endl; // bgra format
-    //std::cout<<"first depth pixel "<<depthSensor->getDepthArray()[0]<<std::endl;
   }
 
   server.killServer();

examples/src/server/visualObjects.cpp

@@ -32,7 +32,7 @@ int main(int argc, char* argv[]) {
   auto visSphere = server.addVisualSphere("v_sphere", 1.0, 1, 1, 1, 1);
   auto visBox = server.addVisualBox("v_box", 1, 1, 1, 1, 1, 1, 1);
   auto visCylinder = server.addVisualCylinder("v_cylinder", 1, 1, 0, 1, 0, 1);
-  auto visCapsule = server.addVisualCapsule("Cylinder", 1, 0.5, 0, 0, 1, 1);
+  auto visCapsule = server.addVisualCapsule("v_capsule", 1, 0.5, 0, 0, 1, 1);
   auto mesh = world.addMesh(binaryPath.getDirectory() + "/rsc/monkey/monkey.obj", 1, inertia, com);
   auto visMesh = server.addVisualMesh("v_mesh", binaryPath.getDirectory() + "/rsc/monkey/monkey.obj");
   auto anymalB = server.addVisualArticulatedSystem("v_anymal", binaryPath.getDirectory() + "/rsc/anymal/urdf/anymal.urdf");