Choreonoid Operation Manual

• Installation
  • Supported Platforms
  • Building and Installing from Source (Ubuntu Linux)
  • Build and install from source code (Windows version)
  • Installing with the installer (Windows)
  • Switching 3D rendering engine
  • Directory Structure
  • Optional Functions Overview
• Basic Concept and Operations
  • How to Start Up
  • Screen Structure
  • Projects and Items
  • Displaying a Scene
  • Time Axis Operations
  • Plugin System
  • Environment Settings
  • How to Exit Choreonoid
• Basics of Robot/Environment Models
  • Body Model
  • Changing the Position and Posture
  • Collision Detection
  • Operating a Leg-Type Model
  • Model files
• Simulation Function
  • Basic Concept
  • Creation of Simulation Project
  • Execution of Simulation and Replay
  • Introduction of Controller
  • Controller implementation
  • Building the controller
  • Simulation of Vision Sensor
  • Simplified Simulation of Crawler
  • Interaction Function
  • Displaying sensor states
  • Tank tutorial
• AGX Dynamics Plugin
  • About AGX Dynamics
  • Requirements
  • Installation
  • Getting started
  • AGXSimulator Item
  • Compliance and spook damping of constraints
  • Additional parameters for body model
  • Additional parameters for physical material
  • AGX Vehicle Continuous Track (AGX crawler)
  • AGXWire
  • AGXBreakableJoint
  • AGXMagneticJoint
  • Performance Tuning
• OpenRTM Plugin
  • What is OpenRTM plug-in?
  • Preparing to use the OpenRTM plugin
  • Items used with the OpenRTM plugin
  • Details about the OpenRTM plugin
  • TankJoystick tutorial: creating and running a project
  • TankJoystick Tutorial: Creation of I/O RTC.
  • TankJoystick Tutorial: Creating a control RTC
  • TankJoystick tutorial: vision sensors
  • Troubleshooting
• Multicopter Simulation Plugin
  • Introduction of Multicopter Simulation Plugin
  • Setting of Body Model
  • Setting of RotorDevice
  • I/O of RotorDevice
  • Setting of MulticopterSimulatorItem
• Traffic Control Plugin
  • Presetting
  • Unsetting
  • Introduction of Traffic Control Plugin
  • How to Set TrafficControlSimulatiorItem
  • Introduction of Dynamic Traffic Control Plugin
  • How to Set DynamicTrafficControlSimulatorItem
  • Sample
• World Robot Summit 2018
  • Competition overview
  • Structure of the simulation environment
  • Robot models
  • Simulation samples
  • Sample controller
  • Teleoperation sample using OpenRTM
  • Teleoperation sample using ROS
• References
  • Standard body motion file format
• Plugin development guide
  • Description of the HelloWorld sample
  • Description of the Sample1Plugin
  • Description of the ODEPlugin
• Tips
  • Debugging Choreonoid with Eclipse
  • Debugging Choreonoid with Visual Studio
  • Creating videos from sequential image files
  • About the basic usage of Linux
  • How to use the body tracking camera