Server Example: Dynamic Object Addition

Overview

Runs an ANYmal with PD control and periodically throws balls into the scene. It shows interaction forces and how to spawn objects during a running simulation.

Screenshot

Target

CMake target: dynamic_object_addition.

Run

Run the build-tree executable:

./build-examples/examples/dynamic_object_addition

On Windows, run dynamic_object_addition.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

• Spawns ANYmal with PD control and periodically adds spheres at runtime.

• Sets initial velocities for new objects to create a “ball throw” effect.

• Demonstrates safe world mutation while the server is running.