Map Example: Hill1 Heightmap

Overview

Loads the hill1 heightmap and drops Aliengo high above the terrain to demonstrate heightmap placement and scale. The map is set to “hill1” in the server.

Screenshot

Binary

CMake target and executable name: map_hill1_heightmap.

Run

Build and run from your build directory:

cmake --build . --target map_hill1_heightmap
./map_hill1_heightmap

On Windows, run map_hill1_heightmap.exe instead. This example uses RaisimServer. Start a visualizer client (RaisimUnity, RaisimUnreal, or the rayrai TCP viewer) and connect to port 8080.

Details

• Loads the hill1 heightmap PNG with explicit scale/offset and hides the mesh.

• Drops Aliengo from height and holds posture with PD gains.

• Sets the Unreal map to hill1 and focuses the camera on the robot.

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("hill1");

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

  /// create objects
  auto heightmap = world.addHeightMap(binaryPath.getDirectory() + "\\rsc\\raisimUnrealMaps\\hill1.png",
                                      0, 0, 504, 504, 38.0/(37312-32482), -32650 * 38.0/(37312-32482));
  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, 10.24, 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("hill1");
  server.focusOn(aliengo);
  server.launchServer();

  for (int i=0; i<2000000; i++) {
    RS_TIMED_LOOP(int(world.getTimeStep()*1e6))
    server.integrateWorldThreadSafe();
  }

  std::cout<<"mass "<<aliengo->getMassMatrix()[0]<<std::endl;

  server.killServer();
}