Server Example: Spring Damper Joints

Overview

Loads URDFs with spring and damper joints (cartpole and chain) to visualize joint compliance. This example focuses on spring-damper behavior.

Screenshot

Binary

CMake target and executable name: spring_damper_joints.

Run

Build and run from your build directory:

cmake --build . --target spring_damper_joints
./spring_damper_joints

On Windows, run spring_damper_joints.exe instead. This example uses RaisimServer. Start a visualizer client (RaisimUnity, RaisimUnreal, or the rayrai TCP viewer) and connect to port 8080.

Details

• Loads cartpole and chain URDFs with spring/damper joint parameters.

• Demonstrates URDF-based joint spring/damper behavior.

• Focuses on the ball-joint chain for clarity.

Source

// This file is part of RaiSim. You must obtain a valid license from RaiSim Tech
// Inc. prior to usage.

#include "raisim/RaisimServer.hpp"
#include "raisim/World.hpp"
#include "rayrai_tcp_viewer_hint.hpp"

int main(int argc, char* argv[]) {
  auto binaryPath = raisim::Path::setFromArgv(argv[0]);

  /// create raisim world
  raisim::World world;
  world.setTimeStep(0.0001);

  /// create objects
  world.addGround();
  auto revAndPrisSpringAndDamper = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\springDamper\\cartpole.urdf");
  auto ballSpringAndDamper = world.addArticulatedSystem(binaryPath.getDirectory() + "\\rsc\\springDamper\\chainSpringed.urdf");

  revAndPrisSpringAndDamper->setName("rev_pris_joint");
  ballSpringAndDamper->setName("ball_joint");

  /// launch raisim server
  raisim::RaisimServer server(&world);
  server.launchServer();
  raisim_examples::warnIfNoClientConnected(server);
  server.focusOn(ballSpringAndDamper);

  for (int i=0; i<2000000; i++) {
    RS_TIMED_LOOP(int(world.getTimeStep()*1e6))
    server.integrateWorldThreadSafe();
  }

  server.killServer();
}