Microsoft Word - ChoreonoidStartUpGuide.docx

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1 Choreonoid 1

2 Choreonoid... 6 Choreonoid... 6 Choreonoid... 6 Choreonid... 8 Choreonoid... 9 Choreonoid Windows Choreonoid (Linux ) Ubuntu Linux...21 G-ROBOTS GR Choreonoid Choreonid GR GR-001 PC Choreonoid GR

3 Choreonoid GR

4 Choreonoid NEDO Chorenoid Chorenoid Choreonoid Choreonoid-1.0RC Choreonoid 4

5 Choreonoid CG (root) Choreonoid Chorenoid /10/ /10/ /10/11 5

6 Choreonoid Choreonoid Choreonoid CG PC Choreonoid C++ GUI Choreonoid Choreonoid Choreonoid ChoreonoidCore 6

7 Choreonoid Choreonoid BodyPlugin ChoreoGraphyPlugin MediaPlugin HrpSysPlugin Choreonoid GRobotPlugin Choreonoid 7

8 Choreonid Choreonoid Windows XP SP2 OS Linux UNUX OS OS Windows XP SP2, Windows 7, Ubuntu Linux 10.04, Choreonoid GNU Lesser General Public License ver2.1 LGPL ver2.1 8

9 Choreonoid Choreonoid Windows XP SP2 OS Choreonoid Windows Choreonoid Windows Window Windows Choreonoid 9

10 Choreonoid Choreonoid Choreonoid 10

11 Choreonoid 11

12 Choreonoid 12

13 Choreonoid Choreonoid Windows7 Choreonoid o o CMake v2.8.5 Visual Studio 2008 (Express Edition ) o Python o Qt o OpenSceneGraph o BoostPro Boost system filesystem program_options regex signals thread iostreams python Choreonoid 13

14 Choreonoid C: src choreonoid CMake CMake(cmake-gui) where is the source code choreonoid C: src choreonoid where is build the binaries choreonoid build C: src choreonoid build Visual Studio 2008 Visual Studio

15 CMake Configure OopenSceneGraph 15

16 Entry OpenSceneGraph OpenSceneGraph C: OpenSceneGraph VS9.0 Configure G-ROBOTS GR

17 Configure Configuring done C: Program Files Choreonoid Windows7 C: Program Files C: User Choreonoid Boost OpenSceneGraph Choreonoid Visual Studio

18 Generating done choreonoid Visual Studio 2008 (Choreonoid.sln) Visual Studio 2008 CMake Visual Studio 2008 Choreonoid Choreonoid.sln Visual Studio 2008 (Choreonoid.sln) Visual Studio 2008 Visual Studio 2008 Choreonoid 18

19 Choreonoid Choreonoid Choreonoid Choreonoid 19

20 ( ) CMake Choreonoid Choreonoid Boost OpenSceneGraph Choreonoid CMake Choreonoid 20

21 Choreonoid Linux Linux Choreonoid Ubuntu10.04 Linux Ubuntu Ubuntu Linux Choreonoid ~/src/choreonoid Choreonoid g++ cmake doxygen graphviz python2.6 libuuid liblapack libboost (filesystem, program-options, regex, signals, thread, iostreams, python) zlib1g libjpeg62 libpng12 libopenscenegraph libsimage20 libsndfile1 libyaml libgstreamer libqt4 libqt-opengl 21

22 libqt-phonon Ubuntu misc/pkglist install-requisities-ubuntu sh Cmake Configure cmake Choreonoid Makefile $ cd ~/src/choreonoid $ cmake. Makefile Choreonoid Cmake Makefile make Choreonoid /src/choreonoid $ make Choreonoid bin choreonoid $ cd bin $./choreonoid Choreonoid Choreonoid 22

23 G-ROBOTS GR-001 Windows Choreonoid GRobotPlugin GROBOTS GR-001 Linux Choreonoid [Choreonoid-1.0 choreonoid] [Choreonoid-1.0 choreonoid] [Choreonoid] ( ) Choreonoid Choreonoid [F11] [F11] [F11] 23

24 Choreonoid 3 : Choreonoid 24

25 File, Edit, Filters, View, Window, Options, Help Edit, Filters, View : : Choreonoid Items, Property, Joint Sliders, Pose Roll, Scene Message 3D Choreonoid-1.0 GR-001 3D GR001Sample.coid GR001Sample.coid Choreonoid Choreonoid GR001Sample.coid 25

26 GR001Sample.coid ) 26

27 GR001Sample.coid Choreonoid share choreonoid-1.0 project ( C: Program Files Choreonoid-1.0 share choreonoid-1.0 project ) GR001Sample.coid 27

28 Choreonid GR-001 Items ( ) 28

29 GR-001 PC Choreonoid SimpleMotion1 GR-001 GR-001 PC GR-001 RS232C PC USB GR-001 RS232C USB GR-001 RS-232C GR-001 RPU-11 RS-232C RS-232C USB USB PC PC USB OS 29

30 Windows XP Windows 7 Window XP Windows 7 PC USB USB USB USB Windows XP Windows 7 Choreonoid GR

31 Choreonoid GR-001 ENTER 31

32 GR-001 GR-001 GR-001 Choreonoid GR-001 Choreonoid GR-001 ON/OFF Choreonoid GR-001 GR-001 Choreonoid GR-001 GR-001 GR-001 GR

33 GR-001 Choreonoid GR-001 Choreonoid GR-001 GR-001 GR-001 SampleMotion1 GR-001 Choreonoid Choreonoid GR-001 Choreonoid GR-001 Choreonoid GR-001 SampleMotion1 Scene GR-001 GR

34 SampleMotion1 GR-001 Choreonoid Choreonoid Items Choreonoid Choreonoid Choreonoid Choreonoid 3D Choreonoid motion 34

35 q p,r ZMP ZMP G-ROBOT Choreonoid G-ROBOTS Choreonoid 35

36 Choreonoid World D Floor GR001 GR001 Property ENTER GR001 Scene Chorenoid 36

37 Chorenoid 3D Edit View 37

38 Edit 2 Edit 38

39 PoseRoll Chorenoid JointSliders Chorenoid 39

40 ID ID Choreonoid ID ID Choreonoid Animation Choreonoid 40

41 TimeManager Choreonoid KinematicsOperation BodyMotionGeneration BodyMotion Body Motion 41

42 SampleMotion1 1.5 SampleMotion1 42

43 SampleMotion1 43

44 SampleMotion

45 GR-001 SampleMotion1 GR-001 GR-001 PC SampleMotion2 45

46 SampleMotion2.pseq 46

47 Choreonoid Choreonoid 1. Chorenoid OpenRTM-aist 47

48 Tel/Fax

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