Map Example: Atlas Charts

Overview

Spawns Atlas on a map and demonstrates RaisimServer charting with time-series plots and bar charts. Use this to see how to publish telemetry to the visualizer.

Screenshot

Binary

CMake target and executable name: map_atlas_charts.

Run

Build and run from your build directory:

cmake --build . --target map_atlas_charts
./map_atlas_charts

On Windows, run map_atlas_charts.exe instead. This example uses RaisimServer. Start a visualizer client (RaisimUnity, RaisimUnreal, or the rayrai TCP viewer) and connect to port 8080.

Details

• Spawns Atlas robots and initializes the base pose with zero joint torques.

• Applies external force/torque each frame to perturb the robot.

• Demonstrates time-series and bar chart overlays (Unreal visualization).

Source

// 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"
#include "raisim_unreal_map_hint.hpp"

int main(int argc, char* argv[]) {
  auto binaryPath = raisim::Path::setFromArgv(argv[0]);
  raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
  raisim_examples::printRaisimUnrealMapHint("dune");

  /// create raisim world
  raisim::World world;
  world.setTimeStep(0.001);
  world.setERP(0,0);

  /// create objects
  auto ground = world.addGround();
  ground->setAppearance("hidden"); // this works only in raisimUnreal

  std::vector<raisim::ArticulatedSystem*> atlas;

  const size_t N = 1;

  for (size_t i = 0; i < N; i++) {
    for (size_t j = 0; j < N; j++) {
      atlas.push_back(world.addArticulatedSystem(
          binaryPath.getDirectory() + "\\rsc\\atlas\\robot.urdf"));
      atlas.back()->setGeneralizedCoordinate(
          {double(2 * i), double(j), 2.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
           0.0,           0.0,       0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
           0.0,           0.0,       0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
           0.0,           0.0,       0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
      atlas.back()->setGeneralizedForce(Eigen::VectorXd::Zero(atlas.back()->getDOF()));
      atlas.back()->setName("atlas" + std::to_string(j + i * N));
    }
  }

  /// 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");
  auto barChart = server.addBarChart("body pos2", {"x", "y", "z"});
  barChart->setData({0.1f, 0.2f, 0.3f});

  server.launchServer();
  int count = 0;

  while (1) {
    RS_TIMED_LOOP(int(world.getTimeStep()*1e6))
    atlas[0]->setExternalForce(0, {300,-300,30});
    atlas[0]->setExternalTorque(0, {0,40,0});
    raisim::VecDyn vec(7);
    if (count++%20==0) {
      vec[0] = atlas[0]->getGeneralizedCoordinate()[0];
      vec[1] = atlas[0]->getGeneralizedCoordinate()[1];
      vec[2] = atlas[0]->getGeneralizedCoordinate()[2];
      vec[3] = atlas[0]->getGeneralizedCoordinate()[3];
      vec[4] = atlas[0]->getGeneralizedCoordinate()[4];
      vec[5] = atlas[0]->getGeneralizedCoordinate()[5];
      vec[6] = atlas[0]->getGeneralizedCoordinate()[6];

      timeSeries->addDataPoints(world.getWorldTime(), vec);
    }
    server.integrateWorldThreadSafe();
  }

  server.killServer();
}