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])