Choreonoid Manual

• Installation
  • Supported Platforms
  • Installation via Package (Ubuntu Linux)
  • Building and Installing from Source Code (Ubuntu Linux)
  • Building and Installing from Source Code (Windows)
  • Graphics Environment Setup
  • Qt-related Settings
  • Directory Structure
  • Optional Features
• Basic Concepts and Operations
  • Launch Methods
  • Screen Configuration
  • Projects and Items
  • Scene Display
  • Time Axis Operations
  • Display Value Format Settings
  • Plugin System
  • Environment Settings
  • How to Exit
• Basics of Robot/Environment Models
  • Body Model
  • Changing the Position and Posture
  • Collision Detection
  • Handling Legged Models
  • Linking Bodies by Parent-Child Relationships
  • BodySyncCamera
  • Model Files
  • Body Handler
• Simulation Function
  • Basic Concepts
  • Simulator Items
  • Creating a Simulation Project
  • Simulation Execution and Playback
  • Recording and Playing Back Logs
  • Introducing Controllers
  • Controller Implementation
  • Building Controllers
  • Contact Materials
  • Setting Extra Joints
  • Setting the Rotor Inertia
  • Piecewise Rigid Simulation of Continuous Tracks
  • Simplified Simulation of Continuous Tracks
  • Interaction Functions
  • Displaying Sensor States
  • Tank Tutorial
• Vision Sensor Simulation
  • Vision Sensor Devices
  • Vision Sensor Simulation
  • Camera Effect Simulation
• Plugins
  • Plugin Basics
  • Basic Plugins
  • Simulation Plugins
  • Model Input/Output Plugins
  • Motion Editing Plugins
  • Media and Rendering Plugins
  • Scripting Plugins
• Python Scripting
  • Overview of Python Scripting
  • Python Console
  • Writing Python Scripts
  • Python Script Item
  • Python Simulation Script
  • Executing Scripts from the Command Line
• ROS 2 Integration
  • Choreonoid and ROS 2 Integration
  • Installing ROS 2
  • Installing Choreonoid Main Body
  • Building Choreonoid-related Packages
  • Running Choreonoid in ROS 2 Environment
  • ROS2 Plugin
  • ROS 2 Mobile Robot Tutorial
  • Using ros2_control
• ROS Integration
  • Choreonoid and ROS Integration
  • Installing ROS
  • Building Choreonoid-related Packages
  • Running Choreonoid in the ROS Environment
  • Using Catkin Profile Features
  • ROS Plugin
  • ROS Tank Tutorial
  • ros_control Integration Tank Tutorial
• Plugin Development Guide
  • Introduction
  • Plugin Development Basics
  • Minimum Plugin Sample (S01)
  • Sample Repository
  • Using Signals
  • Signal Usage Sample (S02)
  • Referenced Type Objects
  • Project Item Operations
  • Project Item Operation Sample (S03)
  • Creating Toolbars
  • Custom Toolbar Sample (S04)
  • Creating a Project Item Type
  • Custom Project Item Type Sample (S05)
  • Scene Graph
  • Scene Creation Helpers
  • Scene Integration for Project Items
  • Scene Display Sample (S06)
  • Project Item Properties
  • Project Item Property Implementation Sample (S07)
  • Project Item State Saving
  • Project Item State Saving Sample (S08)
  • File I/O for Project Items
  • File I/O Sample for Project Items (S09)
  • Customizing Item Creation and File I/O
  • Item Creation and File I/O Customization Sample (S10)
  • Creating Views
  • Custom View Sample (S11)
  • The Plugin Class
  • Supplement: ODE Plugin Explanation
• Tips
  • How to Find the Location of a Crash Using Core Files
  • How to Debug Choreonoid Using Visual Studio Code
  • Debugging Choreonoid with Visual Studio
  • Creating a Movie File from a Sequence of Images
  • Basic Usage of Linux
  • Running the GUI without Showing Windows Using a Virtual Display
  • Project File Specification
  • Standard Body Motion File Format
  • Live Playback of a Simulation on a Remote Host
  • JAXON2 Sample
  • Gamepad Usage
  • World Robot Summit 2018
• Update History