Server Example: Dynamic Object Addition

Overview

Runs an ANYmal with PD control and periodically throws balls at it. It shows how to add objects while the simulation and the server are running.

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 adds a sphere every 600 steps, up to ten.
• Sets an initial velocity on each new sphere to create a "ball throw" effect.
• Adds the spheres inside the integrateWorldThreadSafe callback, which runs under the server's world mutex, so the world can change safely while the server is streaming it.