raisimOgre: Visualizer for raisim

What is raisimOgre?

raisimOgre is a visualizer for raisim. It is a simple wrapper around Ogre3d (https://www.ogre3d.org/), which is an open-source 3d rendering library.

News

• Now you can make simple graphs in raisimOgre using imgui + imgui_plot
• 2019/10/16, please pull ogre. I reported a skybox bug to ogre and added my fix to the forked repository.
• Mesh functionality added in RAISIM. Now RAISIM can simulate any trimesh (including non-convex ones).

Requirements

• Linux only. support ubuntu 16.04 and 18.04 but might work on other distributions
• g++, gcc > 6 (how to install?)
• cmake > 3.10 (how to install?)

Related repos

• raisimLib: the physics engine
• raisimGym: a few gym environments using RAISIM
• raisimPy: a (third-party) python wrapper of RAISIM

Install

Please install/save everything locally to prevent corrupting your system files. We will assume that you have a single workspace where you save all repos related to raisim. Here we introduce two variables

• WORKSPACE: workspace where you clone your git repos
• LOCAL_BUILD: build directory where you install exported cmake libraries

To link against shared libraries in LOCAL_BUILD, you have to let LDD know where the libraries are installed. This can be done adding the following line to your ~/bashrc

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$LOCAL_BUILD/lib

If you are using an IDE, ensure that it loads your bashrc. For Clion (which is the recommended IDE) users, the instruction can be found here.

If you have g++ >= 6.0 installed, you can switch your active compiler by

export CXX=/usr/bin/g++-8 && export CC=/usr/bin/gcc-8

Dependencies

First, install raisimLib (https://github.com/leggedrobotics/raisimLib).

Then, install dependencies of Ogre.

sudo apt-get install libgles2-mesa-dev libxt-dev libxaw7-dev libsdl2-dev libzzip-dev libfreeimage-dev libfreetype6-dev libpugixml-dev

Now build Ogre from source. Make sure that you install it locally since otherwise it will overwrite your system ogre installation.

cd $WORKSPACE
git clone https://github.com/leggedrobotics/ogre.git
cd ogre
git checkout raisimOgre
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD -DOGRE_BUILD_COMPONENT_BITES=ON -OGRE_BUILD_COMPONENT_JAVA=OFF -DOGRE_BUILD_DEPENDENCIES=OFF -DOGRE_BUILD_SAMPLES=False

make install -j8

raisimOgre

Finally, build raisimOgre (assuming that you already have cloned this repo).

cd $WORKSPACE
cd raisimOgre && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH=$LOCAL_BUILD -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD
make install -j8

Optional Dependencies

• ffmpeg (video recording, for OgreVis::startRecordingVideo method. The install instruction can be found at https://tecadmin.net/install-ffmpeg-on-linux/)

Examples

By default, we disable building examples. If you want to build them, you can enable them by setting RAISIM_OGRE_EXAMPLES=ON. For example,

cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH=$LOCAL_BUILD -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD -DRAISIM_OGRE_EXAMPLES=True

The executables are located in the examples folder in the build directory. Some examples do not start automatically. You should start simulation by unchecking "Simulation/Manual stepping" in the control panel.

anymalOnHeightMap

laikago

primitives

newtonsCradle

OGRE Resources

1. Basic RaisimOgre resources are defined by the RAISIM_OGRE_RESOURCE_DIR macro.
2. Ogre resources are loaded from the resource file, whose location is defined by the OGRE_CONFIG_DIR macro.
3. The two aforementioned definitions are defined in the config file.

How to contribute?

Please fork the repo, make changes and then send a pull request. Instructions can be found here

Available materials

Check rsc/material for a few examples of pbr materials. Basic color materials can be found here. Replace spaces in the name by "_", e.g., "dark red" to "dark_red"

Who made RaiSimOgre?

Jemin Hwangbo developed raisimOgre with the help of the following contributors

• Vassilios Tsounis