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

O.P.

Overwriting project: Same as Save Project in the File menu.

Time bar

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

This toolbar is not available for use.

Org

Vel

Acc

Opt.

Toolbar (second level)

Scene view bar

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

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

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

Start Simulation

Stop Simulation

Output all link positions as SE3 pose seq data

Toolbar (fourth level)

Planner bar

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

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.