Play

Your application runs in simulation. Now you use it. Every input, output and setting of the application is a parameter in the parameter treeThe parameter tree holds every input, output and setting of the running application, in folders under root. It is live: you read and write the values while the application runs. on the controller, and two tools in your browser read and write that same tree. Click a tool to open its guide.

A value you write in either tool lands in the tree, and the application uses it on its next cycle. What the application computes comes back the same way. Because the drives and I/O are simulated, nothing you write here can move a machine.

Two tools, one tree

The examples in both guides use the standard robot application. They read root/ManipulatorControl/jointPositionsActual, the joint positions of the simulated robot, and write root/UserParameters/IO/gripper, a user parameterA user parameter is a parameter you define yourself in the config package, in user/parameters.json. The application creates it under root/UserParameters and leaves its value to you. that nothing else in the application sets. Any other parameter works the same way.