Server Example: Wheeled Robot Force Control

Overview

Loads a wheeled robot (SMB/megabot) and applies wheel forces in force-control mode. Use it to see a basic wheeled robot setup.

Screenshot

Target

CMake target: wheeled_robot_force_control.

Run

Run the build-tree executable:

./build-examples/examples/wheeled_robot_force_control

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

Details

• Loads the SMB wheeled robot and applies constant wheel torques.
• Uses FORCE_AND_TORQUE control mode with semi-implicit integration.
• Focuses the camera on the robot for rollout.