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README.md
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README.md

OCS2 Anymal RaiSim Simulation

This directory contains an example of an OCS2 simulation of the Anymal robot in the RaiSim physics engine.

Raisim provided education license for free, you can apply it from here. After you get the license, you can follow the instructions to install the RaiSim and RaiSimUnity.

Anymal In RaiSim

Anymal In Rviz2

  • build the package

build and run this demo

In the CmakeList.txt, I set the installation path for RaisimLib, please change it to your own path.

set(CMAKE_PREFIX_PATH "~/raisimLib/raisim/linux" ${CMAKE_PREFIX_PATH})
  • build the package
cd ~/ocs2_ws
colcon build --packages-up-to ocs2_legged_robot_raisim
  • launch the simulation
source ~/ocs2_ws/install/setup.bash
ros2 launch ocs2_legged_robot_raisim legged_robot_ddp_raisim.launch.py