Overview

This component is a dynamics simulator.

implementation_id	Simulator
category	example

Data Ports

Input Ports

Output Ports

port name	data type	unit	description
state	OpenHRP::SceneState

Service Ports

Service Providers

N/A

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
project	std::string			OpenHRP project file
kinematics_only	bool		false	set true to compute only forward kinematics
useOLV	bool		false	set true to use OnlineViewer server as a viewer

Configuration File

N/A