ProjectGenerator

generate a template project file

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:NameSever and openhrp-model-loader must be running

hrpsys-simulator-jython

read a project file and execute simulation and a jython script

Note:NameSever 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:NameSever 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:NameSever 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:NameSever 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.