def __init__(
self,
config,
resource_directory=os.path.dirname(os.path.abspath(__file__)) +
'/../rsc/',
visualizable=False):
"""
Initialize the raisimpy_gym gym environment.
Args:
config (str): path to YAML configuration file.
resource_directory (str): resource directory path. This directory should contain the URDF and meshes.
visualizable (bool): if we should visualize or not the simulation.
"""
# set variables
self.resource_directory = resource_directory
self.visualizable = visualizable
if isinstance(config, str):
config = load_yaml(config)
elif not isinstance(config, dict):
raise TypeError(
"Expecting the given 'config' argument to be dict or a str (path to the YAML file)."
)
self.config = config
# define other variables
self.simulation_dt = 0.0025
self.control_dt = 0.01
self.extra_info = dict() # {str: float}
self.ob_dim, self.action_dim = 0, 0
self.visualization_counter = 0
self.visualize_this_step = visualizable
self.desired_fps = 60.
self.already_closed = False
# create world
self.world = raisim.World()
self.world.set_time_step(self.simulation_dt)
# shadow setting
manager = vis.get_scene_manager()
manager.set_shadow_technique(raisim.ogre.ShadowTechnique.SHADOWTYPE_TEXTURE_ADDITIVE)
manager.set_shadow_texture_settings(2048, 3)
# beyond this distance, shadow disappears
manager.set_shadow_far_distance(10)
# size of contact points and contact forces
vis.set_contact_visual_object_size(0.03, 0.4)
# speed of camera motion in freelook mode
vis.get_camera_man().set_top_speed(5)
if __name__ == '__main__':
# create raisim world
world = raisim.World()
world.set_time_step(0.002)
# these methods must be called before initApp
vis = raisim.OgreVis.get()
vis.set_world(world)
vis.set_window_size(1800, 1200)
vis.set_default_callbacks()
vis.set_setup_callback(setup_callback)
vis.set_anti_aliasing(8)
raisim.gui.manual_stepping = True
# init
vis.init_app()
# create raisim objects
"""
__author__ = ["Jemin Hwangbo (C++)", "Brian Delhaisse (Python)"]
__copyright__ = "Copyright (c), 2019 Robotic Systems Lab, ETH Zurich"
__credits__ = [
"Robotic Systems Lab, ETH Zurich + Hwangbo (C++ example code)",
"Brian Delhaisse (Python wrapper + Python example)"
]
__license__ = "MIT"
import os
import time
import numpy as np
import raisimpy as raisim
sim = raisim.World()
sim.set_time_step(0.002)
checker_board = sim.add_ground()
joint_config = np.array([
0, 0, 0.54, 1, 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
])
joint_velocity_target = np.zeros(18)
joint_state = np.zeros(18)
joint_vel = np.zeros(18)
joint_p_gain = np.zeros(18)
joint_d_gain = np.zeros(18)
position = np.zeros(3)
orientation = np.zeros([3, 3])
