The latest ARMOR update includes the definition of a World, which is a separate XML component that contains the ground plane settings, robot instancing, world objects, and other solver parameters.
In the video, watch the ground plane be toggled on, checkerboard colors changed to red and green, and MuJoCo physics simulated in real time for an ANYMAL robot, loaded from URDF.
Key Points
- The
Scene Editoris accessed via the same button where semantics are updated. - Ground plane is toggled on and off via a control accessible via the scene editor interface.
- Specify solid or checkered ground plane, and specify color and opacity.