Server Example: Inverse Dynamics

Overview

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

Target

CMake target: inverse_dynamics.

Run

Run the build-tree executable:

./build-examples/examples/inverse_dynamics

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

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.