Very few changes were made to the original ACME code in order to integrate it with the simulation. The ConfigManager class received a new method, useSimulation(), which enables the simulation by creating an RcclSimulationServer object. This method has to be called before any device is initialized. To allow the connection to the simulation, two more classes needed slight changes. The first is RcclActuator, which originally connected only to the RCCL server. The second is kinematics.GenericKinematics, which, in simulation mode, uses simulation.RobotInfo instead of server.RobotInfoServer.