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Run your first simulation
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hrpsys-simulator command
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The hrpsys-simulator command loads and runs a simulation. It is called like follows::
  
  $ hrpsys-simulator [project file] [options]

Where **project file** is the xml file which defines simulation world (explained later).

The hrpsys-simulator command has following options:

.. program:: hrpsys-simulator

.. option:: -nodisplay

   Headless mode.

.. option:: -realtime
   
   Synchronize to real world time.

.. option:: -usebbox
   
   Use bounding box for collision detection.

.. option:: -endless

   Endless mode.

.. option:: -showsensors

   Visualize sensors.

.. option:: -size [pixels]

   Specify window size in pixels.

.. option:: -no-default-lights

   Disable ambient light (simulation environment will be dark).

.. option:: -max-edge-length [value]

   Specify maximum length of polygon edge (if exceed, polygon will be divided to improve rendering quality).

.. option:: -max-log-length [value]

   Specify maximum size of the log.

.. option:: -exit-on-finish

   Exit the program when the simulation finish.

.. option:: -record

   Record the simulation as movie.

.. option:: -bg [r] [g] [b]

   Specify background color.

.. option:: -h --help

   Show help message.

Running the example project
===========================

Before you run your simulation, openhrp-model-loader need to be running.
Enter following command to run the model loader::

  $ openhrp-model-loader

Enter following command to start PA10 simulation::

  $ hrpsys-simulator `pkg-config --variable=prefix hrpsys-base`/share/hrpsys/samples/PA10/PA10simulation.xml

Interact with the simulation window
===================================

You can rotate the simulation world by **left click and drag**.

To translate the simulation world **right click and drag**.

You can also use **mouse wheel** to zoom in and zoom out.

There is also some command to control the simulation, **click the simulation window and type "h" key** to see all the commands.

**Click the simulation window and type "q" key** to quit the simulation.

.. image:: main-window.png