.. _tutorial_virtual_mode:

6.1.1 Virtual Mode
=====================================

.. image:: /tutorials/images/tutorials/tutorial_virtual_overview.png
   :alt: tutorial_virtual_overview
   :width: 100%
   :align: center

.. rubric:: Overview

**Virtual Mode** provides a full software simulation of the Doosan Robot Controller (DRCF)  
without requiring any physical robot hardware.  
It is mainly used for **development, testing, and debugging**,  
and allows users to execute motion and DRL commands under the same API used in real operation.

This mode is ideal for:

- Verifying **API sequences or program logic** before deployment.  
- Testing **motion or DRL scripts** safely without hardware risk.  
- Performing **ROS2 or network integration** using the virtual controller.

All motion, I/O, and safety states are **logically simulated** 
the controller computes robot kinematics internally,  
but no real torque, current, or feedback is applied.

.. rubric:: Key Features

- **Same API and Protocols**: Uses the same TCP/UDP communication stack as a real robot.  
- **Software-based Motion**: Executes `movej`, `movel`, and DRL commands in simulation only.  
- **DRL Compatibility**: DRL scripts can be run, paused, or stopped normally.  
- **No Servo or Safety Circuit**: Safety states and servo control are simulated logically.  
- **Monitoring Support**: All monitoring callbacks deliver data identical in structure to real mode.

.. rubric:: Notes & Cautions

- **No Physical Feedback**: Force/torque and compliance APIs return simulated data only.  
- **No Hardware I/O**: Digital/Analog IO and Modbus signals are not sent to real devices.  
- **Simulation Use Only**: Not suitable for calibration or force-control operations.
- RT Control Not Supported: Real-Time (RT) control is not available in Virtual Mode.