Simulation Construction Set

Simulation Construction Set

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›Creating Robot with Multiple Joints

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

Mobile Simulation

Create the class MobileSimulation

Fill it in as follows:

Note that the integration time step is set to 0.02 seconds: sim.setDT(0.02, 1);

This is a fairly large time step, but in this case it is possible since there are no high-frequency interactions in the system. In general, to set the integration time step, experiment with different values. As the time step gets higher, you will see different behavior due to numerical instabilities. Choose a time step which is low enough that making it any lower does not change the outcome of the simulation.

The second parameter to setDT is 1, meaning that every integration step will be recorded.

Note that camera tracking and dollying are off and ground is set to invisible.

Instead of tracking and dollying the camera position and fix are set to get a good view of the mobile:

sim.setGroundVisible(false);
sim.setCameraTracking(false,false,false,false);
sim.setCameraDolly(false,false,false,false);
sim.setCameraPosition(1.0,1.0,0.5);
sim.setCameraFix(0.0,0.0,0.8);

← Create a New PackageInitial Variables in MobileRobot Class →
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