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mc_openrtm

This package is an OpenRTM interface for mc_rtc

Dependencies

• hrpsys-base
• mc_rtc

This package comes with a sample choreonoid project using the JVRC1 robot model. To install this project you need to have Choreonoid installed as well.

Usage

Run the sim_mc.cnoid project for JVRC, for example:

$ cd /usr/share/hrpsys/samples/JVRC1
$ choreonoid sim_mc.cnoid

The control component is started automatically when you start the dynamic simulation.

Other simulation files provided by default:

• sim_mc.cnoid: JVRC1 robot on a flat floor.
• sim_mc_fixed.cnoid: JVRC1 robot with a fixed base and no floor.
• sim_mc_wall.cnoid: JVRC1 robot in front of a vertical wall. See the admittance sample tutorial for example usage.
• sim_mc_comanoid_staircase.cnoid: JVRC1 robot in front of a staircase with steps of (height 18.5cm, length: 24cm). See the lipm_walking_controller for a stair climbing controller using this project.

Making a new project

There are two important components to include in your Choreonoid project:

• The robot VRML model (plugin: Body)
• A simulation script (plugin: PythonSimScript)

The simulation script instantiates real-time components and binds their ports together. Most of them are standard components from hrpsys (sequence player, state holder, data logger, etc.).