Overview of simulation
Here we explain about the various elements that forms OpenHRP.
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.
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.
Guidance for creating a project
This section describes about how to create a project.
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.
Here we describe about a sample controller called "SamplePD", that makes a sample robot walk according to the pattern-file.
In this section we discuss about controller-bridge, that helps to use the controller you built, on the simulator.
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.
Here we introduce a practical sample, that reveals cooperate work of OpenHRP and RTC.