Choreonoid 1
... 4... 4... 4... 4... 4... 5... 5 Choreonoid... 6 Choreonoid... 6 Choreonoid... 6 Choreonid... 8 Choreonoid... 9 Choreonoid Windows... 9...9...13 Choreonoid (Linux )... 21 Ubuntu Linux...21 G-ROBOTS GR-001... 23 Choreonoid... 23...23...24... 25 Choreonid GR-001... 28 GR-001 PC Choreonoid... 29 GR-001... 33... 34 2
Choreonoid...34...42...43 GR-001...45...45...46... 47... 47 3
Choreonoid NEDO Chorenoid Chorenoid Choreonoid 2010 10 4 Choreonoid-1.0RC Choreonoid 4
Choreonoid CG (root) Choreonoid Chorenoid 3 0.1 2011/10/04 2011/10/07 2011/10/11 5
Choreonoid Choreonoid Choreonoid CG PC Choreonoid C++ GUI Choreonoid Choreonoid Choreonoid ChoreonoidCore 6
Choreonoid Choreonoid BodyPlugin ChoreoGraphyPlugin MediaPlugin HrpSysPlugin Choreonoid GRobotPlugin Choreonoid 7
Choreonid Choreonoid Windows XP SP2 OS Linux UNUX OS OS Windows XP SP2, Windows 7, Ubuntu Linux 10.04, 11.04 Choreonoid GNU Lesser General Public License ver2.1 LGPL ver2.1 8
Choreonoid Choreonoid Windows XP SP2 OS Choreonoid Windows Choreonoid Windows Window Windows Choreonoid 9
Choreonoid Choreonoid Choreonoid 10
Choreonoid 11
Choreonoid 12
Choreonoid Choreonoid Windows7 Choreonoid o o CMake v2.8.5 Visual Studio 2008 (Express Edition ) o Python 2.7.2 o Qt 4.7.3 o OpenSceneGraph 3.0.0 o BoostPro 1.47.0 Boost system filesystem program_options regex signals thread iostreams python Choreonoid 13
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 9 2008 14
CMake Configure OopenSceneGraph 15
Entry OpenSceneGraph OpenSceneGraph C: OpenSceneGraph-3.0.0-VS9.0 Configure G-ROBOTS GR-001 16
Configure Configuring done C: Program Files Choreonoid Windows7 C: Program Files C: User Choreonoid Boost OpenSceneGraph Choreonoid Visual Studio 2008 17
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
Choreonoid Choreonoid Choreonoid Choreonoid 19
( ) CMake Choreonoid Choreonoid Boost OpenSceneGraph Choreonoid CMake Choreonoid 20
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
libqt-phonon Ubuntu misc/pkglist install-requisities-ubuntu-11.04.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
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
Choreonoid 3 : Choreonoid 24
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
GR001Sample.coid ) 26
GR001Sample.coid Choreonoid share choreonoid-1.0 project ( C: Program Files Choreonoid-1.0 share choreonoid-1.0 project ) GR001Sample.coid 27
Choreonid GR-001 Items ( ) 28
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
Windows XP Windows 7 Window XP Windows 7 PC USB USB USB USB Windows XP Windows 7 Choreonoid GR-001 30
Choreonoid GR-001 ENTER 31
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-001 32
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-001 33
SampleMotion1 GR-001 Choreonoid Choreonoid Items Choreonoid Choreonoid Choreonoid Choreonoid 3D Choreonoid motion 34
q p,r ZMP ZMP G-ROBOT Choreonoid G-ROBOTS Choreonoid 35
Choreonoid World D Floor GR001 GR001 Property ENTER GR001 Scene Chorenoid 36
Chorenoid 3D Edit View 37
Edit 2 Edit 38
PoseRoll Chorenoid JointSliders Chorenoid 39
ID ID Choreonoid ID ID Choreonoid Animation Choreonoid 40
TimeManager Choreonoid KinematicsOperation BodyMotionGeneration BodyMotion Body Motion 41
SampleMotion1 1.5 SampleMotion1 42
SampleMotion1 43
SampleMotion1 10 44
GR-001 SampleMotion1 GR-001 GR-001 PC SampleMotion2 45
SampleMotion2.pseq 46
Choreonoid Choreonoid 1. Chorenoid http://choreonoid.org/ 2. http://openrtp.jp/ 3. OpenRTM-aist http://openrtm.org/ 47
305-8568 1-1-1 Tel/Fax 029-862-6630 E-Mail openrtp@m.aist.go.jp 48