Server Example: Inverse Dynamics

inverse_dynamics example

Overview

Enables inverse dynamics on ANYmal and prints the resulting joint forces and torques. It compares inverse dynamics outputs to the applied generalized forces.

Binary

Installed executable: inverse_dynamics.

Run

Run the installed executable:

<raisim-install>/bin/inverse_dynamics

On Windows, run inverse_dynamics.exe instead. This example uses RaisimServer. Start the rayrai TCP viewer and connect to port 8080. RaisimUnity and RaisimUnreal are no longer supported.

Details

  • Enables inverse dynamics and applies external forces on the robot.

  • Reads joint forces/torques in the world frame after integration.

  • Prints inverse-dynamics results alongside commanded torques.