Simulation Function

• Basic Concept
  • Simulation Function
  • Physics Engine
  • Simulator Items
  • Sub-simulator
  • Controller
  • Controller Item
  • Input and Output between Robot and Controller
  • Utilization of Plugin
• Creation of Simulation Project
  • Simulation Project
  • Creation of World Item
  • Importing of Model
  • Configuration of Initial Status
  • Creation and Configuration of Simulator Item
  • Configuration of Time Resolution
  • Storing Project
  • Execution of Simulation
• Execution of Simulation and Replay
  • Start Simulation
  • Pause Simulation
  • Stop Simulation
  • Configuration of Time Range
  • Synchronization with Real Time
  • Recording of Simulation Result
  • Recording of Device States
  • Replay of Simulation Result
  • Display of Ongoing Simulation
  • Output Destination of Simulation Result
• Introduction of Controller
  • Introduction of Controller
  • Preparation of Simulation Project
  • In Case without Controller
  • Selection of Controller Item Type
  • Preparation of Controller Itself
  • Creation of Controller Item
  • Setting of Controller Itself
  • Execution of Simulation
• Controller implementation
  • Controller implementation
  • Sample controller source code
  • SimpleController class
  • IO objects
  • Input/output using body objects
    • Link objects
    • Actuation mode
    • Enabling I/O
  • Initialization process
  • Control loops
  • Device I/O
    • Devices explained
    • Device objects
    • Polling device objects
    • I/O methods
  • Input/output of link position and orientation
  • Other samples
• Building the controller
  • Building the controller
  • Building alongside Choreonoid
  • Building separately from Choreonoid
    • Setting compile options
    • Installing controllers
    • Using pkg-config
    • Example build commands
    • Makefile example
• Simulation of Vision Sensor
  • Vision Sensor
  • Addition of Vision Sensor
  • Vision Simulator
  • Properties of GL Vision Simulator
  • Utilization of Sensor Information
  • Example of Utilization of Vision Sensor
    • Preparation of Robot Model
    • Creation of Simulation Project
    • Sample Controller
    • Execution of Simulation
  • Implementation of Sample Controller
• Simplified Simulation of Crawler
  • What is Crawler
  • Creation of Crawler Model
  • Supporting Simulator Items
  • Simplified Simulation Overview
  • How to Give Command Value
  • Simulation Sample
• Interaction Function
  • What is Interaction Function
  • How to Operate
    • Pulling Operation
    • Forced Movement and Holding Operations
  • Synchronization between Simulation and Display
• Displaying sensor states
  • How to check sensor values
  • Body State View
  • Sensor Visualizer Item
• Tank tutorial
  • Step 1: Creating a simulation project
    • Launching Choreonoid
    • Creating a world item
    • Importing the Tank model
    • Importing the ground model
    • Creating a simulator item
    • Setting properties
    • Saving a project
    • Launching a simulation
    • Stopping a simulation
  • Step 2: Implementing a controller
    • Controller format
    • Implementing the “TurretController1” controller
    • Creating a project directory
    • Building the controller
    • CMakeLists.txt notation
    • Controller compilation
    • Controller item creation
    • Setting the controller body
    • Launching a simulation
    • How this implementation works
  • Step 3: Controlling the gun turret with a gamepad
    • Gamepad setup
    • Virtual joystick view setup
    • Controller source code
    • Controller compilation
    • Swapping controllers
    • Gun turret operation
    • How this implementation works
  • Step 4: Controlling the crawlers
    • Simplified Tank model crawler
    • Simplified crawler controller
    • Deploying the controller
    • Operating the controller
    • How this implementation works
  • Step 5: Controlling the lights
    • Environment settings
    • Light controllers
    • Deploying the controller
    • Controlling the light
    • How this implementation works
  • Step 6: Simulating and polling camera images
    • Camera devices
    • Changing cameras in the Scene View
    • Simulating camera images
    • Controller source code
    • Deploying the controller
    • Polling and displaying camera images
    • How this implementation works