Choreonoid 1.0 Help

Help for the Choreonoid toolbar and command line.

Toolbar

The toolbar features various functions. Depending on the plugin, a new toolbar can also be added.

Toolbar (first level)

File bar

FileBar.png
O.P.
Overwriting project: Same as Save Project in the File menu.

Time bar

TimeBar.png
refresh state at the current time

Time
Click to display the Time bar setup dialog.

Also, the starting position of an animation can be set using a slide bar, etc.

Playback bar

Starts animation
Resumes animation
Repeat
Enables the mode to repeat playback automatically
Toggles all frames mode
fps

Graph widget toolbar

GraphWidgetToolBar.png
This toolbar is not available for use.
Org
Vel
Acc
Opt.

Toolbar (second level)

Scene view bar

SceneViewBar.png
Operates the Scene screen.

View
Sets the scene to View mode.
Edit
Sets the scene to Edit mode.
Return to home view
Returns the viewpoint to the condition immediately after booting.
Wireframe mode on/off
Turning this on displays a wireframe of the model.
Floor grid on/off
Turning this on results in the grid at the bottom surface being displayed.
Ortho view on/off:
Turning this on results in the orthographic projection display.
Collision visualization on/off
Hi-priority rendering mode
Capture screen image into a file
Saves the current Scene screen to a file

Body bar

BodyBar.png
C
P
Origin
Initial
Std.
L=>R
L<=R
L<=>R
CM:
C
ZMP
ZMP:
CM
L
C
R
Stance

Toolbar (third level)

Kinematics bar

KinematicsBar.png
Auto mode (IK/FK setup predefined for each link)
FK/IK switches the mode automatically.
Forward kinematics mode (FK)
Forward kinematics mode. Take the arm of a human, for example. By determining the angle of the shoulder joint and the angle of the cubital joint, the position of the wrist can be found.
Inverse kinematics mode (IK)
Inverse kinematics mode. Moves the wrist to the targeted position first and then uses that position to calculate the angles of the arm and the shoulder.
Enable attitude edit
Displays a ring for adjusting pitch, yaw, and roll around the selected model.
Snap foot to the floor
Limit joint positions within the movable range specifications
Penetration block mode
Highlight colliding links
Setup

Simulation bar

SimulationBar.png
Start Simulation
Stop Simulation
Output all link positions as SE3 pose seq data

Toolbar (fourth level)

Planner bar

PlannerBar.png
This is the Grasp plugin toolbar. Refer to Operation of Grasp Plug-in descriptions for details.

Toolbar (fifth level)

GraspRTC bar

This is the Grasp RTC plugin toolbar. The external RT component is made to perform grasp planning. Refer to Grasp RTC plugin descriptions for details.
Performs grasp planning with GraspRTC.
Release
Stop
Suspends grasp planning.
Body Motion generation bar
Body Motion
Auto
Balancer
Setup

Trajectory bar

TrajectoryBar.png
This is the RPM plugin toolbar utilized for planning the motion of the arm. Refer to PRM plugin descriptions for details.
Start
Performs motion planning.

Command line

The following options can be specified from the command line when booting Choreonoid.
--project arg
Loads the project file, (*.prj).
--model arg
Loads the 3D model file, (*.wrl).
--hrpmodel arg
Loads the OpenHRP model file, (*hrp.wrl).
--media arg
Loads the media file.
--audio arg
Loads the audio file.
--audio-device arg
Specifies an audio output device number.
-h [ --help ]
Displays this Help message.