XML Example: Templated World

Overview

Instantiates a templated XML world with parameter overrides (spawn options, counts, offsets). Use it to see how a parameterized XML file can generate variants of a scene without duplicating the XML. See World Configuration File.

Target

CMake target: xml_templated_world.

Run

Run the build-tree executable:

./build-examples/examples/xml_templated_world

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

Details

• Loads rsc/xmlScripts/templatedWorld/templatedWorld.xml and passes the parameter overrides to the raisim::World constructor.
• Uses World::ParameterContainer entries to set spawn flags, the sphere count, the sphere height offset, the Laikago start position, and the floor height.
• Runs the scene with RaisimServer for visualization.