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

spring_damper_joints example

Binary

Installed executable: spring_damper_joints.

Run

Run the installed executable:

<raisim-install>/bin/spring_damper_joints

On Windows, run spring_damper_joints.exe instead. This example uses RaisimServer. Start rayrai_raisim_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.