Raisim Server¶

RaisimServer serializes raisim::World and streams the data to clients via tcp/ip. We provide the raisimUnity (doc) client, which visualizes a raisim::World. The basic usage is described in the doc.

Other than just visualizing a raisim::World, raisim::RaisimServer can visualize additional visual objects. An example can be found here. The example will be displayed as following

RaisimServer API¶

class RaisimServer¶

Public Functions

inline explicit RaisimServer(World *world)¶

Parameters: world – [in] the world to visualize. create a raisimSever for a world.

inline void setupSocket()¶: Setup the port so that it can accept (acceptConnection) incoming connections

inline void acceptConnection(int seconds)¶

Parameters: seconds – [in] the number of seconds to wait for a connection from a client Accept a connection to the socket. Only one client can be connected at a time

inline void closeConnection() const¶: Close the current connection from a client. For new connections, the port has to be setup again.

inline void setMap(const std::string &map)¶

Parameters: map – [in] name of the map to be loaded. This only works with RaisimUnreal. Currently, the following maps are available “”: Empty map. Supports weather and time. “simple”: Empty map. Simple sky for faster rendering. “wheat”: a flat wheat field “dune”: flat dune

inline void launchServer(int port = 8080)¶

Parameters: port – [in] port number to stream start spinning.

inline void integrateWorldThreadSafe()¶: set the world mutex. This will prevent visualization thread reading from the world (otherwise, there can be a segfault). Integrate the world.

inline void applyInteractionForce()¶: Apply interaction force, which is specified by the user in the visualizer (raisimUnreal). This is automatically called in raisim::RaisimServer::integrateWorldThreadSafe.

inline void hibernate()¶: hibernate the server. This will stop the server spinning.

inline void wakeup()¶: wake up the server. Restart the server from hibernation

inline void killServer()¶: stop spinning the server and disconnect the client

inline void lockVisualizationServerMutex()¶: lock the visualization mutex so that the server cannot read from the world

inline void unlockVisualizationServerMutex()¶: unlock the visualization mutex so that the server can read from the world

inline bool isTerminateRequested()¶

Returns: boolean representing if the termination requested

inline ArticulatedSystemVisual *addVisualArticulatedSystem(const std::string &name, const std::string &urdfFile, double colorR = 0, double colorG = 0, double colorB = 0, double colorA = 0)¶

Parameters

name – [in] the name of the visual articulated system object
urdfFile – [in] the path to the urdf file
colorR – [in] the red value of the color (max=1)
colorG – [in] the green value of the color (max=1)
colorB – [in] the blue value of the color (max=1)
colorA – [in] the alpha value of the color (max=1)

Returns

the articulated system visual pointer add an articulated system without physics

inline void removeVisualArticulatedSystem(ArticulatedSystemVisual *as)¶

Parameters: as – [in] ArticulatedSystemVisual to be removed remove a visualized articulated system

inline Visuals *addVisualSphere(const std::string &name, double radius, double colorR = 1, double colorG = 1, double colorB = 1, double colorA = 1, const std::string &material = "", bool glow = false, bool shadow = false)¶

Parameters

name – [in] the name of the visual object
radius – [in] radius of the sphere
colorR – [in] the red value of the color (max=1)
colorG – [in] the green value of the color (max=1)
colorB – [in] the blue value of the color (max=1)
colorA – [in] the alpha value of the color (max=1)
material – [in] visualization material
glow – [in] to glow or not (not supported)
shadow – [in] to cast shadow or not (not supported)

Returns

the sphere pointer add a sphere without physics

inline Visuals *addVisualBox(const std::string &name, double xLength, double yLength, double zLength, double colorR = 1, double colorG = 1, double colorB = 1, double colorA = 1, const std::string &material = "", bool glow = false, bool shadow = false)¶

Parameters

name – [in] the name of the visual object
xLength – [in] length of the box
yLength – [in] width of the box
zLength – [in] height of the box
colorR – [in] the red value of the color (max=1)
colorG – [in] the green value of the color (max=1)
colorB – [in] the blue value of the color (max=1)
colorA – [in] the alpha value of the color (max=1)
material – [in] visualization material
glow – [in] to glow or not (not supported)
shadow – [in] to cast shadow or not (not supported)

Returns

the box pointer add a box without physics

inline Visuals *addVisualCylinder(const std::string &name, double radius, double length, double colorR = 1, double colorG = 1, double colorB = 1, double colorA = 1, const std::string &material = "", bool glow = false, bool shadow = false)¶

Parameters

name – [in] the name of the visual object
radius – [in] radius of the cylinder
length – [in] length of the cylinder
colorR – [in] the red value of the color (max=1)
colorG – [in] the green value of the color (max=1)
colorB – [in] the blue value of the color (max=1)
colorA – [in] the alpha value of the color (max=1)
material – [in] visualization material
glow – [in] to glow or not (not supported)
shadow – [in] to cast shadow or not (not supported)

Returns

the cylinder pointer add a cylinder without physics

inline Visuals *addVisualCapsule(const std::string &name, double radius, double length, double colorR = 1, double colorG = 1, double colorB = 1, double colorA = 1, const std::string &material = "", bool glow = false, bool shadow = false)¶

Parameters

name – [in] the name of the visual object
radius – [in] radius of the capsule
length – [in] length of the capsule
colorR – [in] the red value of the color (max=1)
colorG – [in] the green value of the color (max=1)
colorB – [in] the blue value of the color (max=1)
colorA – [in] the alpha value of the color (max=1)
material – [in] visualization material
glow – [in] to glow or not (not supported)
shadow – [in] to cast shadow or not (not supported)

Returns

the capsule pointer add a capsule without physics

inline Visuals *addVisualMesh(const std::string &name, const std::string &file, const Vec<3> &scale = {1, 1, 1}, double colorR = 0, double colorG = 0, double colorB = 0, double colorA = -1, bool glow = false, bool shadow = false)¶

Parameters

name – [in] the name of the visual mesh object
file – [in] file name of the mesh
scale – [in] scale of the mesh
colorR – [in] the red value of the color (max=1)
colorG – [in] the green value of the color (max=1)
colorB – [in] the blue value of the color (max=1)
colorA – [in] the alpha value of the color (max=1). Ignore color when negative
glow – [in] to glow or not (not supported)
shadow – [in] to cast shadow or not (not supported)

Returns

the mesh visual pointer add a mesh without physics

inline Visuals *addVisualArrow(const std::string &name, double radius, double height, double colorR = 0, double colorG = 0, double colorB = 0, double colorA = -1, bool glow = false, bool shadow = false)¶

Parameters

name – [in] the name of the visual mesh object
radius – [in] radius of the arrow
height – [in] height of the arrow
colorR – [in] the red value of the color (max=1)
colorG – [in] the green value of the color (max=1)
colorB – [in] the blue value of the color (max=1)
colorA – [in] the alpha value of the color (max=1)
glow – [in] to glow or not (not supported)
shadow – [in] to cast shadow or not (not supported)

Returns

the visual pointer add an arrow without physics

inline PolyLine *addVisualPolyLine(const std::string &name)¶

Parameters: name – [in] the name of the polyline
Returns: the polyline pointer add a polyline without physics

inline PolyLine *getVisualPolyLine(const std::string &name)¶

Parameters: name – [in] the name of the polyline get visualized polyline

inline ArticulatedSystemVisual *getVisualArticulatedSystem(const std::string &name)¶

Parameters: name – [in] the name of the visual articulated system get visualized articulated system

inline void removeVisualPolyLine(const std::string &name)¶

Parameters: name – [in] the name of the polyline to be removed remove an existing polyline

inline Visuals *getVisualObject(const std::string &name)¶

Parameters: name – [in] the name of the visual object to be retrieved
Returns: visual object with a specified name retrieve a visual object with a specified name

inline void removeVisualObject(const std::string &name)¶

Parameters: name – [in] the name of the visual object to be removed remove an existing visual object

inline void startRecordingVideo(const std::string &videoName)¶

Parameters: videoName – [in] name of the video file to be saved. The videoName must be a valid file name (e.g., no spaces, ending in .mp4) start recording video. RaisimUnity only supports video recording in linux

inline void stopRecordingVideo()¶: stop recording video

inline void setCameraPositionAndLookAt(const Eigen::Vector3d &pos, const Eigen::Vector3d &lookAt)¶

Parameters

pos – [in] the position of the camera
lookAt – [in] the forward direction of the camera (the up direction is always z-axis) set the camera to a specified position

inline void focusOn(raisim::Object *obj)¶

Parameters: obj – [in] the object to look at move the camera to look at the specified object

inline bool isConnected() const¶

Returns: if a client is connected to a server check if a client is connected to a server

inline bool waitForMessageFromClient(int seconds)¶

Parameters: seconds – [in] the number of seconds to wait for the client
Returns: true if there is a message from the client This method checks if there is a message from the client. It waits a specified time for a message. If this method is not used, the application will stop if there is no message.

inline bool processRequests()¶

Synchronous update method. Receive a request from the client, process it and return the requested data to the client. The method return false if 1) the client failed to respond 2) the client protocol version is different 3) the client refused to receive the data 4) the client did not send the sensor data in time

Returns: if succeeded or not.

inline bool waitForNewClients(int seconds)¶

wait for a new client

Parameters: seconds – how long to wait for a new client
Returns: if a new client was found or not

inline void requestSaveScreenshot()¶: Saves the screenshot (the directory is chosen by the visualizer)

inline TimeSeriesGraph *addTimeSeriesGraph(std::string title, std::vector<std::string> names, std::string xAxis, std::string yAxis)¶

Only works with RaisimUnreal. Please read the “atlas” example to see how it works.

Parameters

title – [in] title of the chart
names – [in] name of the data curves to be plotted
xAxis – [in] title of the x-axis
yAxis – [in] title of the y-axis

Returns

pointer to the created Time Series Graph

inline BarChart *addBarChart(std::string title, std::vector<std::string> names)¶

Only works with RaisimUnreal. Please read the “atlas” example to see how it works.

Parameters

title – [in] title of the chart
names – [in] name of the data histogram to be plotted

Returns

pointer to the created Bar Chart

Visuals API¶

struct Visuals¶

Public Functions

inline void setSphereSize(double radius)¶

Parameters: radius – [in] the raidus of the sphere. set size of the sphere.

inline void setBoxSize(double x, double y, double z)¶

Parameters

x – [in] length.
y – [in] width.
z – [in] height. set size of the box.

inline void setCylinderSize(double radius, double height)¶

Parameters

radius – [in] the raidus of the cylinder.
height – [in] the height of the cylinder. set size of the cylinder.

inline void setCapsuleSize(double radius, double height)¶

Parameters

radius – [in] the raidus of the capsule.
height – [in] the height of the capsule. set size of the capsule.

inline void setPosition(double x, double y, double z)¶

Parameters

x – [in] x coordinate of the visual object.
y – [in] y coordinate of the visual object.
z – [in] z coordinate of the visual object. set the position of the visual object.

inline void setOrientation(double w, double x, double y, double z)¶

Parameters

w – [in] angle part of the quaternion.
x – [in] scaled x coordinate of the rotation axis.
y – [in] scaled y coordinate of the rotation axis.
z – [in] scaled z coordinate of the rotation axis. set the orientation of the visual object.

inline void setPosition(const Eigen::Vector3d &pos)¶

Parameters: pos – [in] position of the visual object in Eigen::Vector3d. set the position of the visual object.

inline void setOrientation(const Eigen::Vector4d &ori)¶

Parameters: ori – [in] quaternion of the visual object in Eigen::Vector4d. set the orientation of the visual object.

inline void setColor(double r, double g, double b, double a)¶

Parameters

r – [in] red value of the color (max=1).
g – [in] green value of the color (max=1).
b – [in] blue value of the color (max=1).
a – [in] alpha value of the color (max=1). set the color of the visual object.

inline Eigen::Vector3d getPosition()¶

Returns: the position of the visual object. get the position of the visual object.

inline Eigen::Vector4d getOrientation()¶

Returns: the orientation of the visual object. get the orientation of the visual object.

Polyline API¶

struct PolyLine¶

Public Functions

inline void setColor(double r, double g, double b, double a)¶

Parameters

r – [in] red value of the color (max=1).
g – [in] green value of the color (max=1).
b – [in] blue value of the color (max=1).
a – [in] alpha value of the color (max=1). set the color of the polyline.

inline void addPoint(const Eigen::Vector3d &point)¶

Parameters: point – [in] new polyline point. append a new point to the polyline.

inline void clearPoints()¶: clear all polyline points.

ArticulatedSystemVisual API¶

struct ArticulatedSystemVisual¶

Public Functions

inline void setColor(double r, double g, double b, double a)¶

Parameters

r – [in] red value (max=1)
g – [in] green value (max=1)
b – [in] blue value (max=1)
a – [in] alpha value (max=1) set color. if the alpha value is 0, it uses the original color defined in the mesh file

inline void setGeneralizedCoordinate(const Eigen::VectorXd &gc)¶

Parameters: gc – [in] the generalized coordinate set the configuration of the visualized articulated system