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

wheeled_robot_force_control example

Binary

Installed executable: wheeled_robot_force_control.

Run

Run the installed executable:

<raisim-install>/bin/wheeled_robot_force_control

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