Server Example: Templated Tracked Robot

Overview

Loads a templated tracked robot URDF with parameter overrides and drives wheels/flippers using PD targets. It shows how to customize URDF parameters programmatically.

Screenshot

templated_tracked_robot example

Binary

Installed executable: templated_tracked_robot.

Run

Run the installed executable:

<raisim-install>/bin/templated_tracked_robot

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

Details

  • Instantiates a templated tracked robot URDF with parameter overrides.

  • Applies PD control to wheels and flippers while resetting track joints.

  • Adds a sequence of box obstacles in front of the robot.