ProjectGenerator

generate a template project file

ProjectGenerator [input files] [options]

input files shold be VRML or COLLADA files.

--output [output file]
  Specify output file path (Required)
  For example, when output file is test.xml, ProjectGenerator generates test.xml, test.conf, and test.RobotHardware.conf.
--integrate [true or false]
  Use forward dynamics mode or kinematics mode (by default, true).
--dt [dt]
  dt is controllers' time step[s] (by default, 0.005[s]).
--timestep [timestep]
  timestep is simulator time step[s] (by default, 0.005[s]).
--conf-file-option [conf file option]
  conf file option is added to controller's config file such as test.conf.
--robothardware-conf-file-option [robothardware conf file option]
  robothardware conf file option is added to robothardware's config file such as test.Robothardware.conf.
--joint-properties [joint properties]
  joint properties are properties for each joint. Specify property name and property value.
  For example, --joint-properties RLEG_JOINT0.angle,0,RLEG_JOINT1.mode,Torque
--use-highgain-mode [true or false]
  Use HighGain mode for robot's joints or Torque mode (by default, use true, use HighGain mode).

hrpsys-simulator

read a project file and execute simulation

hrpsys-simulator [project file] [options]

-nodisplay execute simulation without display
-realtime execute simulation in real-time
-usebbox use bounding boxes instead of actual geometries
-endless never finish simulation
-showsensors show sensor output
-size size specify initial window size
-no-default-lights turn off default lights
-max-edge-length length[m] divide large triangles which have longer edges than this value
-max-log-length length[s] set length of ring buffer
-exit-on-finish exit this program when the simulation finishes

Note:NameServer and openhrp-model-loader must be running

In order to change timestep (ex 0.002), you need to change SampleRobot.conf to

dt: 0.002

and SampleRobot.xml to

<property name="SampleRobot(Robot)0.period" value="0.002"> <property name="timeStep" value="0.002">

dt of SampleRobot.conf and XX.period of SampleRobot.xml should be same. timeStep of SampleRobot.xml is not larger than these values.

hrpsys-simulator-jython

read a project file and execute simulation and a jython script

Note:NameServer and openhrp-model-loader must be running

hrpsys-simulator-jython [project file] [jython script] [options]

-nodisplay execute simulation without display
-realtime execute simulation in real-time
-usebbox use bounding boxes instead of actual geometries
-endless never finish simulation
-showsensors show sensor output
-size size specify initial window size
-bg r g b background color -max-log-length length[s] set length of ring buffer

hrpsys-simulator-python

read a project file and execute simulation and a python script

hrpsys-simulator-python [project file] [python script] [options]

nodisplay execute simulation without display
realtime execute simulation in real-time
usebbox use bounding boxes instead of actual geometries
endless never finish simulation
showsensors show sensor output
size [size] set window size
bg [r] [g] [b] background color max-log-length length[s] set length of ring buffer

Note:NameServer and openhrp-model-loader must be running

hrpsys-viewer

visualize a model file and work as a OnlineViewer server

hrpsys-viewer [model file] [-size size]

-size specify initial window size
-no-default-lights turn off default lights
-max-edge-length divide large triangles which have longer edges than this value

Note:NameServer and openhrp-model-loader must be running

hrpsys-monitor

monitor robot's status

hrpsys-monitor [project file] [-rh rtcName] [-sh rtcName] [-size size]

-rh name of RTC which provides OpenHRP::RobotHardwareService (default:RobotHardware0)
-sh name of RTC which provides OpenHRP::StateHolderService (default:StateHolder0)
-size initial window size
-bg r g b background color

Note:NameServer and openhrp-model-loader must be running

hrpsysjy

Jython interpreter with hrpsys library

hrpsysjy [jython arguments]

hrpsyspy

Python interpreter with hrpsys library

hrpsyspy [python arguments]

Python bindings

A python module hrpsys.so provides python bindings to setup and execute simulations interactively.