This package is an OpenRTM interface for mc_rtc

• 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.

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.

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.).