Map Example: Mountain1 Heightmap

Overview

Loads the mountain1 heightmap from the RaisimUnreal map assets and drops an Aliengo robot on it with PD control. It sets the RaisimServer map to “mountain1” so the visualizer matches the terrain.

Screenshot

Binary

CMake target and executable name: map_mountain1_heightmap.

Run

Build and run from your build directory:

cmake --build . --target map_mountain1_heightmap
./map_mountain1_heightmap

On Windows, run map_mountain1_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 mountain1 heightmap PNG with scale/offset and hidden mesh.

• Spawns Aliengo with PD posture control.

• Sets the Unreal map to mountain1 and focuses 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("mountain1");

  /// 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++) {
    RS_TIMED_LOOP(int(world.getTimeStep()*1e6))
    server.integrateWorldThreadSafe();
  }

  server.killServer();
}