simplest version: (JAXON_RED_RH_FLAT.cnoid)
$ rtmlaunch hrpsys_choreonoid_tutorials jaxon_jvrc_choreonoid.launch
DRCBOX: (JAXON_RED_DRCBOX.cnoid)
$ rtmlaunch hrpsys_choreonoid_tutorials jaxon_jvrc_choreonoid.launch USE_ROBOTHARDWARE:=false TASK:=DRCBOX
add VRML objects using yaml: (JAXON_RED_RH_LOAD_OBJ.cnoid)
$ rtmlaunch hrpsys_choreonoid_tutorials jaxon_jvrc_choreonoid.launch LOAD_OBJECTS:=true ENVIRONMENT_YAML:=$(rospack find hrpsys_choreonoid_tutorials)/config/simple_step.yaml
If simulatitors often end abnormaly, the stand-alone roscore may solve the problem (Please launch the roscore before rtmlaunch command.). This enables you to reuse a single 'ri' in simurations and to skip '(jaxon_red-init)'.
シミュレーションが頻繁に突然終了する時には，roscoreを別で立ち上げておくと改善される場合がある．
また，roscoreを立ち上げておくと，毎回シミュレーションを立ち上げなおしてもroseusにおいて*ri*を保持することができ，angle-vectorなどを使うために(jaxon_red-init)などし直す必要がない．
Run one of the environments and open a new terminal:
roscd hrpsys_choreonoid_tutorials/scripts
ipython -i jaxon_red_setup.py "JAXON_RED(Robot)0"
Run one of the environments and open a new terminal:
roseus
(load "package://hrpsys_choreonoid/scripts/choreonoid-service-client.l")
Example of add external force (the force direction is calculated in the "world frame" of the simulator)
(add-external-force :link "WAIST" :pos #f(0 0 0) :force #f(100 0 0) :tm 0.1)
Get absolute position and orientation in the simulation
(get-coords-on-simulation :link "WAIST")
Reset(sometimes work well)
(reset-position :coords (make-coords :pos #f(0 0 990))) ;; stが入っているとうまく行かない
(reset-simulation :coords (make-coords :pos #f(0 0 990))) ;; *ri* が必要(stを止めたりしてくれる)
$ rtmlaunch hrpsys_choreonoid_tutorials chidori_choreonoid.launch