Server Example: Kinematic Platform

Overview

Creates a kinematic platform that moves up and down sinusoidally under an ANYmal. It demonstrates kinematic bodies and their interaction with dynamic robots.

Screenshot

Target

CMake target: kinematic_platform.

Run

Run the build-tree executable:

./build-examples/examples/kinematic_platform

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

Details

• Creates a 10 m × 10 m kinematic box (infinite mass) as the ground and sets a sinusoidal vertical velocity on it every step.
• Places an ANYmal on top with PD posture control.
• Demonstrates BodyType::KINEMATIC and prescribed motion.