Server Example: Sim Control Demo

Overview

Demonstrates the interactive simulation-control requests supported by RaisimServer and the rayrai TCP viewer: pause, resume, single- or multi-step, external force and torque application, single-body pose edits, and articulated generalized-coordinate edits.

Target

CMake target: sim_control_demo. The source is examples/src/server/sim_control_demo.cpp.

Run

Start the viewer, then run the build-tree example:

# Terminal 1
./build-examples/examples/rayrai_tcp_viewer

# Terminal 2
./build-examples/examples/sim_control_demo

On Windows, run sim_control_demo.exe instead. Select anymal or poke_box in the viewer. Use the Objects tab to pause, resume, and step, or use the force and pose tools described in Rayrai TCP Viewer.

Security Boundary

The server binds to 127.0.0.1 by default. Simulation-control requests are not authenticated: a client that can reach the server can change the world. Keep the loopback default unless every host on the reachable network is trusted. Calling server.setBindLoopbackOnly(false) explicitly opts into listening on all interfaces.

Details

• Creates a PD-controlled ANYmal named anymal for generalized-coordinate edits.

• Creates a dynamic box named poke_box for force, torque, and pose edits.

• Uses RaisimServer::integrateWorldThreadSafe(); negotiated viewer requests are applied inside the server’s synchronization boundary before integration.

• Runs until terminated by the user.