Rigid Chain Example

Summary

• Goal: simulate a multi-link chain with per-joint damping.
• Concepts/APIs: dart::io::readWorld, gui::RealTimeWorldNode, joint damping.
• Expected output: an OSG viewer with a falling chain that settles under damping.
• Controls: space toggles simulation.

This project is dependent on DART. Please make sure a proper version of DART is installed before building this project.

Build Instructions

From this directory:

$ mkdir build
$ cd build
$ cmake ..
$ make

Execute Instructions

Launch the executable from the build directory above:

$ ./{generated_executable}

Follow the instructions detailed in the console.