Choreonoid🕺
动画师 Notebook
Design of the Framework
- plugin system
- view system
- item tree system
- signal system
Build with
- fmt 7.1.3! (ubuntu_22.04)
./build/bin/choreonoid sample/PoseSeq/GR001.cnoid
URDF Model convert to Body Model
Check BodyItem > Right Click > Save as
create videos
View
> Show Toolbar
> MovieRecorderBar
enable media plugin
install libs:
sudo apt install libunwind-dev
sudo apt install gstreamer1.0-libav
rebuild:
cmake -Bbuild -DBUILD_MEDIA_PLUGIN=ON
追加情報の記述
standardPose: [
0, 0, 20, -40, -20, 0,
0, 0, -20, 40, 20, 0,
0, 0,
20, 0, -20,
-20, 0, 20 ]
linkGroup:
- name: UPPER-BODY
links:
- name: NECK
links: [ NECK_Y ]
- name: ARMS
links:
- name: R-ARM
links: [ R_SHOULDER_P, R_SHOULDER_R, R_ELBOW_P ]
- name: L-ARM
links: [ L_SHOULDER_P, L_SHOULDER_R, L_ELBOW_P ]
- name: CHEST
links: [ CHEST_P ]
- WAIST
- name: LOWER-BODY
links:
- name: LEGS
links:
- name: R-LEG
links: [ R_HIP_Y, R_HIP_R, R_HIP_P, R_KNEE_P, R_ANKLE_P, R_ANKLE_R ]
- name: L-LEG
links: [ L_HIP_Y, L_HIP_R, L_HIP_P, L_KNEE_P, L_ANKLE_P, L_ANKLE_R ]
possibleIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ]
defaultIkInterpolationLinks: [ WAIST, R_ANKLE_R, L_ANKLE_R ]
defaultIKsetup:
WAIST: [ R_ANKLE_R, L_ANKLE_R ]
R_ANKLE_R: [ WAIST ]
L_ANKLE_R: [ WAIST ]
foot_links:
- link: L_ANKLE_R
sole_center: [ -0.005, 0.01, -0.022 ]
- link: R_ANKLE_R
sole_center: [ -0.005, -0.01, -0.022 ]
symmetricJoints:
- [ NECK_Y ]
- [ L_SHOULDER_P, R_SHOULDER_P, -1 ]
- [ L_SHOULDER_R, R_SHOULDER_R, -1 ]
- [ L_ELBOW_P, R_ELBOW_P, -1 ]
- [ L_HIP_Y, R_HIP_Y, -1 ]
- [ L_HIP_R, R_HIP_R, -1 ]
- [ L_HIP_P, R_HIP_P, -1 ]
- [ L_KNEE_P, R_KNEE_P, -1 ]
- [ L_ANKLE_P, R_ANKLE_P, -1 ]
- [ L_ANKLE_R, R_ANKLE_R, -1 ]
symmetricIkLinks:
- [ WAIST ]
- [ L_ANKLE_R, R_ANKLE_R ]
collision_detection_rules:
- disabled_link_chain_level: 2