Simulation Construction Set

Simulation Construction Set

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›Creating a New Simulation

Getting Started

  • Quick Start
  • Requirements
  • Using IHMC Open Robotics Software .jar releases with Maven/Gradle
  • Building .jars
  • Depending Directly on the Source

Using the SCS GUI

  • Running a simulation
  • Changing the Camera Settings
  • SCS Variables
  • Graphing Variables
  • Simulation Replay
  • Data Buffer
  • Exporting Data
  • Export Snapshots and Video of the 3D View

Creating a New Simulation

  • Summary
  • Create a New Project
  • SimplePendulumSimulation.java
  • SimplePendulumRobot.java
  • Run the simulation

Adding Control to a Simulation

  • Summary
  • Adding control to a simulation
  • Run the simulation

Creating Links

  • Summary
  • Creating Links
  • Run the Simulation

Creating Robot with Multiple Joints

  • Summary
  • Create a New Package
  • Mobile Simulation
  • Initial Variables in MobileRobot Class
  • MobileRobot Class Description

Ground Contact Modeling

  • Summary
  • Create a New Package
  • Create a New Class FallingBrickSimulation
  • Create a New Class FallingBrickRobot
  • Create a New Class WavyGroundProfile
  • Description and Analysis

Implementing Closed-Chain Mechanisms Using External Force Points

  • Summary
  • Implementing Closed-Chain Mechanisms
  • FlyballGovernorSimulation Class
  • FlyballGovernorRobot Class
  • FlyballGovernorSimpleClosedLoopConstraintController Class
  • FlyballGovernorCommonControlParameters Class
  • Description and Analysis

Summary

Duration Duration: 15-20 min
Keywords Keywords: Simulation, Robot, Link, Joint, YoVariable

This tutorial assumes that you have followed the Quick Start guide, know a little about your IDE (Eclipse or IntelliJ), and a little about Java. If you do not know how to program in Java, pick up a good book or two. We recommend Bruce Eckel's "Thinking in Java", which can be downloaded for free at bruceeckel.com.

In this tutorial, we will create a simple simulation of a simple pendulum. Going through this first tutorial will help familiarize you with the structure of an SCS simulation program, and by the end of the tutorial you should be able to create and simulate simple passive systems with pin joints.

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