Merge pull request #372 from jhwangbo/master

V1.1.5 RaisimUnreal interaction methods added

Author: jhwangbo

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-set(RAISIM_VERSION 1.1.4)
+set(RAISIM_VERSION 1.1.5)
 project(raisim VERSION ${RAISIM_VERSION} LANGUAGES CXX)
 set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 

DEVELOPERS_ONLY/windowsInstall.ps1

@@ -8,8 +8,31 @@ cmake -G"Visual Studio 16 2019" -A x64 .. -DRAISIM_TEST=OFF -DCMAKE_INSTALL_PREF
 cmake --build . --config Debug
 cmake --build . --target install --config Debug
 
+conda activate python35
 Set-Location C:\Users\jemin\source\repos\raisimLib\build
-cmake .. -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DRAISIM_MATLAB=ON -DPYTHON_EXECUTABLE=C:\Users\jemin\anaconda3\envs\python35\python
+cmake .. -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DRAISIM_MATLAB=ON -DPYTHON_EXECUTABLE:FILEPATH=C:\Users\jemin\anaconda3\envs\python35\python
 cmake --build . --config Release
 
+conda activate python36
+Set-Location C:\Users\jemin\source\repos\raisimLib\build
+cmake .. -DRAISIM_EXAMPLE=OFF -DRAISIM_PY=ON -DRAISIM_MATLAB=OFF -DPYTHON_EXECUTABLE:FILEPATH=C:\Users\jemin\anaconda3\envs\python36\python
+cmake --build . --config Release
+
+conda activate python37
+Set-Location C:\Users\jemin\source\repos\raisimLib\build
+cmake .. -DRAISIM_EXAMPLE=OFF -DRAISIM_PY=ON -DRAISIM_MATLAB=OFF -DPYTHON_EXECUTABLE:FILEPATH=C:\Users\jemin\anaconda3\envs\python37\python
+cmake --build . --config Release
+
+conda activate python38
+Set-Location C:\Users\jemin\source\repos\raisimLib\build
+cmake .. -DRAISIM_EXAMPLE=OFF -DRAISIM_PY=ON -DRAISIM_MATLAB=OFF -DPYTHON_EXECUTABLE:FILEPATH=C:\Users\jemin\anaconda3\envs\python38\python
+cmake --build . --config Release
+
+conda activate python39
+Set-Location C:\Users\jemin\source\repos\raisimLib\build
+cmake .. -DRAISIM_EXAMPLE=OFF -DRAISIM_PY=ON -DRAISIM_MATLAB=OFF -DPYTHON_EXECUTABLE:FILEPATH=C:\Users\jemin\anaconda3\envs\python39\python
+cmake --build . --config Release
+
+
+
 cd C:\Users\jemin

README.md

@@ -1,4 +1,4 @@
-# RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH (v1.14)
+# RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH (v1.1.5)
 
 Click to watch the video
 

examples/src/maps/anymals.cpp

@@ -9,9 +9,6 @@
 int main(int argc, char* argv[]) {
   auto binaryPath = raisim::Path::setFromArgv(argv[0]);
   raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
-#if WIN32
-    timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
-#endif
 
   /// create raisim world
   raisim::World world;
@@ -56,7 +53,7 @@ int main(int argc, char* argv[]) {
   server.focusOn(anymalC);
 
   for (int i=0; i<200000000; i++) {
-    std::this_thread::sleep_for(std::chrono::microseconds(1000));
+    raisim::MSLEEP(1);
     server.integrateWorldThreadSafe();
   }
 

examples/src/maps/atlas.cpp

@@ -10,9 +10,6 @@
 int main(int argc, char* argv[]) {
   auto binaryPath = raisim::Path::setFromArgv(argv[0]);
   raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
-#if WIN32
-    timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
-#endif
 
   /// create raisim world
   raisim::World world;
@@ -53,7 +50,7 @@ int main(int argc, char* argv[]) {
   server.launchServer();
 
   while (1) {
-    std::this_thread::sleep_for(std::chrono::microseconds(500));
+    raisim::USLEEP(1000);
     atlas[0]->setExternalForce(0, {300,-300,30});
     atlas[0]->setExternalTorque(0, {0,40,0});
     raisim::VecDyn vec(7);

examples/src/maps/hill1.cpp

@@ -10,9 +10,6 @@
 int main(int argc, char* argv[]) {
   auto binaryPath = raisim::Path::setFromArgv(argv[0]);
   raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
-#if WIN32
-  timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
-#endif
 
   /// create raisim world
   raisim::World world;
@@ -46,7 +43,7 @@ int main(int argc, char* argv[]) {
   server.launchServer();
 
   for (int i=0; i<2000000; i++) {
-    std::this_thread::sleep_for(std::chrono::microseconds(1000));
+    raisim::MSLEEP(1);
     server.integrateWorldThreadSafe();
   }
 

examples/src/maps/lake1.cpp

@@ -10,9 +10,6 @@
 int main(int argc, char* argv[]) {
   auto binaryPath = raisim::Path::setFromArgv(argv[0]);
   raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
-#if WIN32
-  timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
-#endif
 
   /// create raisim world
   raisim::World world;
@@ -46,7 +43,7 @@ int main(int argc, char* argv[]) {
   server.launchServer();
 
   for (int i=0; i<2000000; i++) {
-    std::this_thread::sleep_for(std::chrono::microseconds(1000));
+    raisim::MSLEEP(1);
     server.integrateWorldThreadSafe();
   }
 

examples/src/maps/mountain1.cpp

@@ -10,9 +10,6 @@
 int main(int argc, char* argv[]) {
   auto binaryPath = raisim::Path::setFromArgv(argv[0]);
   raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
-#if WIN32
-  timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
-#endif
 
   /// create raisim world
   raisim::World world;
@@ -46,11 +43,9 @@ int main(int argc, char* argv[]) {
   server.launchServer();
 
   for (int i=0; i<2000000; i++) {
-    std::this_thread::sleep_for(std::chrono::microseconds(1000));
+    raisim::MSLEEP(1);
     server.integrateWorldThreadSafe();
   }
 
-  std::cout<<"mass "<<aliengo->getMassMatrix()[0]<<std::endl;
-
   server.killServer();
 }

examples/src/maps/office1.cpp

@@ -10,9 +10,6 @@
 int main(int argc, char* argv[]) {
   auto binaryPath = raisim::Path::setFromArgv(argv[0]);
   raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
-#if WIN32
-  timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
-#endif
 
   /// create raisim world
   raisim::World world(binaryPath.getDirectory() + "\\rsc\\raisimUnrealMaps\\office1.xml");
@@ -50,7 +47,7 @@ int main(int argc, char* argv[]) {
   server.launchServer();
 
   for (int i=0; i<2000000; i++) {
-    std::this_thread::sleep_for(std::chrono::microseconds(20));
+    raisim::MSLEEP(1);
     server.integrateWorldThreadSafe();
   }
 

examples/src/mjcf/ant.cpp

@@ -10,9 +10,6 @@
 int main(int argc, char* argv[]) {
   auto binaryPath = raisim::Path::setFromArgv(argv[0]);
   raisim::World::setActivationKey(binaryPath.getDirectory() + "\\rsc\\activation.raisim");
-#if WIN32
-    timeBeginPeriod(1); // for sleep_for function. windows default clock speed is 1/64 second. This sets it to 1ms.
-#endif
   RSWARN("Please copy-paste files in \"https://github.com/openai/gym/tree/master/gym/envs/mujoco/assets\" to the resource directory and run cmake again (which will copy the asset folder to the build folder)")
   raisim::World world(binaryPath.getDirectory()+"\\rsc\\mjcf\\ant.xml");
   raisim::RaisimServer server(&world);
@@ -22,7 +19,7 @@ int main(int argc, char* argv[]) {
   server.launchServer();
   for (int i=0; i<10000000; i++) {
     world.integrate();
-    std::this_thread::sleep_for(std::chrono::milliseconds(size_t(1000 * world.getTimeStep())));
+    raisim::MSLEEP(1);
   }
 
   server.stopRecordingVideo();