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

Target

CMake target: spring_damper_joints.

Run

Run the build-tree executable:

./build-examples/examples/spring_damper_joints

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

Details

  • Loads rsc/springDamper/cartpole.urdf (revolute and prismatic joints) and rsc/springDamper/chainSpringed.urdf (ball joints), both with spring/damper joint parameters.

  • Demonstrates URDF-based joint spring/damper behavior.

  • Focuses the camera on the cartpole.