Server Example: Kinematic Platform

Overview

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

Screenshot

kinematic_platform example

Binary

Installed executable: kinematic_platform.

Run

Run the installed executable:

<raisim-install>/bin/kinematic_platform

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

Details

  • Creates a kinematic ground platform (infinite mass) and moves it sinusoidally.

  • Places ANYmal on top with PD posture control.

  • Demonstrates BodyType::KINEMATIC and prescribed motion.