Tutorials/CloudSim/IntroductionTogzweb

This tutorial covers:
 * 1) Launching the WebGL simulation tools for Gazebo
 * Connecting your browser to a 3D view of a running simulation and interact with that simulation.

This tutorial assumes you have launched a constellation.
 * 1) Prerequisites

On the local machine (the OCU), you should be running a WebGL-compatible browser like Google Chrome or Mozilla Firefox (Chrome is recommended). See WebGL support for more information.

We'll start by creating a task that will bring up Atlas in an empty world. Click the `Create task...` button:
 * 1) Create the task



In the resulting dialog fill in the following values for the first three fields:


 * Task title : `Empty world`
 * ROS package : `drcsim_gazebo` previous drcsim version used "atlas_utils"
 * Launch file : `atlas_sandia_hands.launch`



Leave the other fields with their defaults and click the `Create` button. The new task will appear under `Simulation tasks`, marked `Ready to run`.




 * 1) Start simulation

Start the task you just created by clicking the associated `Start` button:



After a few seconds, the light next to the task will be solid blue (no longer blinking):



In the `router` display, the `Start` button next to `WebGL interface` will be enabled. Click the `Start` button to launch the back end of the web interface:



After a few seconds, the light next to `WebGL interface` will be solid blue (no longer blinking) and two links will appear, one for `3D view` and one for `Python notebook`:




 * 1) The world

Click on the `3D view` link to go to a new tab with the WebGL interface for your remote simulation. You should see Atlas with its arms spread wide:




 * 1) Controls

Controls for the camera (Select `View Mode` icon on toolbar):




 * Pan: Left mouse button (click and drag)
 * Orbit: Middle mouse button (click and drag) / Shift + Left button (click and drag)
 * Zoom: Right mouse button (click and drag) / Mousewheel scroll

Controls for manipulating objects (Select `Move Mode` icon on toolbar):



* `r` key: switch to rotate mode * `t` key: switch to translate mode * Left button (click and drag an axis): translate/rotate the selected object
 * Left button (single click): select an object (local axes appear)

You can reset all models to their original poses by clicking `Edit->Reset Model Poses` in the upper left.

In the upper right, there are buttons that allow you to create simple shapes (boxes, spheres, cylinders) and drop them in the world.


 * 1) Shutting down

When you're done experimenting, stop the task you just started by clicking the `Stop current task` button:



After a few seconds, the light next to the task will be solid red.

Now close your your WebGL and iPython Notebook tabs and return to the CloudSim console page.

Introduction to iPython Notebook
 * 1) Next ##