Overview

In this section we describe about the simulation which does not perform dynamics calculation This sample is sample/project/SampleRH2.xml.
A robot is moved by the position and posture of a route link, and each joint angle. The data of velocity and acceleration is unnecessary.

A setup of a simulation

Click a Simulation view and uncheck Forward Dynamics.


Specification of the control mode of a joint becomes invalid.

Creation of a controller

The source file of a controller is in sample/controller/SampleRH2.

A controller is a simple thing which reads the position and posture of a route link from the file created beforehand, and outputs them.
Since the angle of each joint is not outputted from a controller, an initial angle is maintained.
Since the details of a controller are almost the same as the controller of the tutorial of High-gain mode and torque-control mode coorperated simulation, please refer to it there.