Simulation Construction Set

Simulation Construction Set

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›Getting Started

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

Requirements

IHMCOpenRoboticsSoftware uses the Gradle build system, and requires JDK 8.

Gradle is a build system for Java. It has the benefit of being able to integrate with other Java technology that is used for dependency resolution like Ivy and Maven; if you're coming from a C/C++ world, you can think of it as CMake with a built-in package manager. Currently, we require Gradle 2.10+. We provide a versioned Gradle wrapper for getting started quickly. The Gradle wrapper will always reflect the minimum version of Gradle required to build the software; if we adopt features only present in newer versions of Gradle as they are release we will update the wrapper.

We also strongly suggest an IDE, either Eclipse Mars.1+ or IntelliJ IDEA 14+ (Ultimate or Community is fine).

Required:

  • Java 8u111 or higher
  • Gradle 2.10+
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