User's Manual

Overview of simulation

Here we explain about the various elements that forms OpenHRP.

• Overview of simulation

How to use GrxUI user interface

The following document is about a brief overview of OpenHRP user interface so called "GrxUI" and explains how to use it.

• User interface

Guidance for creating a model

This section describes about how to create a model that uses for simulation. First, we show the procedure of creating a model and then explain what type of models actually being used, by taking a sample robot as example.

• Overview of VRML model
• Sample Humanoid Robot
• Creating models using GrxUI

Guidance for building a controller

In OpenHRP, a control program that outputs instruction value to the robot by reading the sensor value from the robot, is called "Controller". Following sections describe how to build a controller.

Sample Controller

Here we describe about a sample controller called "SamplePD", that makes a sample robot walk according to the pattern-file.

• Building a controller
• Creating simulation project

Controller-Bridge

In this section we discuss about controller-bridge, that helps to use the controller you built, on the simulator.

• How to use controller-bridge

Making periodically execute RT component synchronized with simulation time

To properly simulate a periodically executing RT component that uses real-time OSs' functinality such as as in ART-Linux, the RT component has to be executed periodically based on the clock in simulation world. Here we describe how to make such an RT component.

• Making periodically execute RT component synchronized with simulation time

Practical samples

Finallay we introduce a practical sample, that reveals cooperate work of OpenHRP and RTC.

• How to use view-simulation
• Joystick connection sample
• High-gain mode and torque-control mode coorperated simulation
• Distance sensor simulation that uses RangeSensor node