Simulation Function

• Basic Concepts
  • Simulation Functionality
  • Physics Engine
  • Simulator Item
  • Sub-simulator
  • Controller
  • Controller Item
  • Input/Output Between Robot and Controller
  • Utilizing Plugins
• Creating a Simulation Project
  • Simulation Project
  • Creating a World Item
  • Loading Models
  • Setting Initial State
  • Creating and Configuring a Simulator Item
  • Setting Time Resolution
  • Saving the Project
  • Running the Simulation
• Simulation Execution and Playback
  • Starting a Simulation
  • Pausing a Simulation
  • Stopping a Simulation
  • Setting Time Range
  • Synchronization with Real Time
  • Recording Simulation Results
  • Recording Device States
  • Playing Back Simulation Results
  • Displaying Ongoing Simulations
  • Output Destination of Simulation Results
• Introducing Controllers
  • Introducing Controllers
  • Preparing the Simulation Project
  • Without a Controller
  • Selecting Controller Item Type
  • Preparing the Controller Body
  • Creating a Controller Item
  • Setting the Controller Body
  • Running the Simulation
• Controller Implementation
  • Controller Implementation
  • Sample Controller Source Code
  • SimpleController Class
  • IO Object
  • Input/Output via Body Object
    • Link Object
    • State Variable Symbols
    • Actuation Mode
    • Enabling Input/Output
  • Initialization Process
  • Control Loop
  • Input/Output for Devices
    • What are Devices?
    • Device Objects
    • Obtaining Device Objects
    • Device Input/Output Methods
  • Link Position and Orientation Input/Output
  • Link Velocity and Acceleration Input
  • Supplement: About SimpleController Class Definition
  • Other Samples
• Building Controllers
  • How to Build Controllers
  • Building Together with Choreonoid
  • Building Separately from Choreonoid
    • Setting Compile Options
    • Installing Controllers
    • Using pkg-config
    • Build Command Examples
    • Makefile Example
• Vision Sensor Simulation
  • Vision Sensors
  • Adding Vision Sensors
  • Vision Simulator
  • GL Vision Simulator Settings
  • Simulating Multiple Sensors
  • Using Sensor Information
  • Example of Vision Sensor Usage
    • Preparing the Robot Model
    • Creating a Simulation Project
    • Sample Controller
    • Running the Simulation
  • Sample Controller Implementation Details
• Simplified Simulation of Continuous Tracks
  • What are Continuous Tracks?
  • Creating a Continuous Track Model
  • Compatible Simulator Items
  • Overview of Simplified Simulation
  • How to Give Command Values
  • Simulation Sample
  • Notes
• Interaction Functions
  • What are Interaction Functions?
  • How to Operate
    • Pulling Operation
    • Forced Movement and Holding Operations
  • About 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
    • Loading the Tank Model
    • Loading the Floor Model
    • Creating a Simulator Item
    • Setting Properties
    • Saving the Project
    • Running the Simulation
    • Stopping the Simulation
  • Step 2: Creating and Introducing a Controller
    • About Controller Formats
    • Implementing the “TurretController1” Controller
    • How to Build Controllers
    • Creating the Project Directory
    • Writing CMakeLists.txt
    • Building the Controller
    • Introducing the Controller
    • Running the Simulation
    • Explanation of Implementation Details
  • Step 3: Controlling the Gun Turret with a Gamepad
    • Preparing the Gamepad
    • Checking Gamepad Operation
    • Preparing the Virtual Joystick View
    • Controller Source Code
    • Compiling the Controller
    • Replacing the Controller
    • Operating the Gun Turret
    • Explanation of Implementation Details
  • Step 4: Controlling the Crawlers
    • The Tank Model’s Simplified Crawlers
    • Simplified Crawler Controller
    • Introducing the Controller
    • Operating the Crawlers
    • Explanation of Implementation Details
  • Step 5: Controlling the Light
    • Environment Setup
    • Light Controller
    • Introducing the Controller
    • Operating the Light
    • Explanation of Implementation Details
  • Step 6: Simulating and Obtaining Camera Images
    • Camera Device
    • Changing the Camera in the Scene View
    • Simulating Camera Images
    • Controller Source Code
    • Introducing the Controller
    • Obtaining and Displaying Camera Images
    • Explanation of Implementation Details