example_anymal_contacts

example_anymal_contacts creates a raisim::World, adds ground, loads rsc/anymal/urdf/anymal.urdf, applies PD gains to the leg joints, and publishes the simulation through raisim::RaisimServer.

Run rayrai_raisim_tcp_viewer in one terminal, then run the example in another:

<raisim-install>/bin/rayrai_raisim_tcp_viewer
<raisim-install>/bin/example_anymal_contacts

The example runs for 20 seconds and focuses the viewer on the ANYmal model.