example_atlas_contacts

example_atlas_contacts creates a raisim::World with a 1 ms timestep, adds ground, loads rsc/atlas/robot.urdf, initializes Atlas at a raised configuration, 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_atlas_contacts

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