Simulation Construction Set

Simulation Construction Set

  • IHMC Home
  • All IHMC Docs
  • About IHMC

›Using the SCS GUI

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

Simulation Replay

Stop the Simulation if it is currently running.

Look at the graphs of the data. Notice that there is a green bar at the beginning of the data, a red bar at the end of the data, and a black bar somewhere in the middle.

VarGraph

  • The green bar marks the data in point.
  • The red bar marks the data out point.
  • And the black bar marks the current index.

The in and out points are used in all of the functions which require a window on the data. For example, when you playback the data, the playback loops to the in point once it reaches the out point.

Zoom out so that you can see the in point (green line), out point (red line) and current index (black line) in the data.

  • You can move the sim to the in point by either going to Run->Goto In Point on the menu or by pushing the Goto In Point button GotoIn.
  • Move to the out point by either going to Run->Goto Out Point on the menu or by pushing the Goto Out Point button GotoOut.
  • Change the in point to current index (black line) by either going to Run->Set In Point on the menu or by pushing the Set In Point button SetIn.
  • Change the out point to the current index by going to Run->Set Out Point on the menu or by pushing the Set Out Point button SetOut.

Play the simulation Run->Play on menu or play button: replay and notice that it now loops around the new in and out points. Note that if the in point is after the out point, then the playback loops around the entire data buffer, which is a circular buffer.

← Graphing VariablesData Buffer →
Simulation Construction Set
Docs
Quick StartSoftware Documentation
Community
GitHubFacebookTwitterYouTube
Copyright © 2018 IHMC Robotics