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60 lines (49 loc) · 1.8 KB
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// 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"
int main(int argc, char* argv[]) {
auto binaryPath = raisim::Path::setFromArgv(argv[0]);
raisim::RaiSimMsg::setFatalCallback([](){throw;});
/// create raisim world
raisim::World world;
world.setTimeStep(0.001);
/// create objects
world.addGround();
auto minitaur = world.addArticulatedSystem(binaryPath.getDirectory() + "/rsc/minitaur/minitaur.urdf");
minitaur->setName("minitaur");
/// anymalC joint PD controller
Eigen::VectorXd jointNominalConfig(minitaur->getGeneralizedCoordinateDim()), jointVelocityTarget(minitaur->getDOF());
jointNominalConfig << 0,0,0.35, 0,0,1,0,
-M_PI_2,-2.2,-M_PI_2,-2.2,
-M_PI_2,-2.2,-M_PI_2,-2.2,
-M_PI_2,-2.2,-M_PI_2,-2.2,
-M_PI_2,-2.2,-M_PI_2,-2.2;
jointVelocityTarget.setZero();
Eigen::VectorXd jointPgain(minitaur->getDOF()), jointDgain(minitaur->getDOF());
/// we set the gains of the unactuated joints to zero
jointPgain << 0,0,0, 0,0,0,
20,0.,20,0.,
20,0.,20,0.,
20,0.,20,0.,
20,0.,20,0.;
jointDgain << 0,0,0, 0,0,0,
0.1,0.,0.1,0.,
0.1,0.,0.1,0.,
0.1,0.,0.1,0.,
0.1,0.,0.1,0.;
minitaur->setGeneralizedCoordinate(jointNominalConfig);
minitaur->setGeneralizedForce(Eigen::VectorXd::Zero(minitaur->getDOF()));
minitaur->setPdGains(jointPgain, jointDgain);
minitaur->setPdTarget(jointNominalConfig, jointVelocityTarget);
minitaur->setName("minitaur");
/// launch raisim server
raisim::RaisimServer server(&world);
server.launchServer();
server.focusOn(minitaur);
for (int i=0; i<2000000; i++) {
RS_TIMED_LOOP(1e6*world.getTimeStep())
server.integrateWorldThreadSafe();
}
server.killServer();
}