HAIROWorldPlugin Manual

This site explains how to use HAIROWorldPlugin, an extension for Choreonoid developed by the Japan Atomic Energy Agency (JAEA).

HAIROWorldPlugin is confirmed to work with the development version of Choreonoid, and we plan to maintain compatibility with the latest versions moving forward. (As of March 2026, it is compatible with Choreonoid-2.4.)

The supported operating systems are Ubuntu 22.04 LTS and Ubuntu 24.04 LTS. Other OSs, distributions, versions, or architectures are not officially supported. While it may function on other Ubuntu-based distributions if the build is successful, performance is not guaranteed. Furthermore, please note that operation on virtual machines such as VMware or VirtualBox is also not guaranteed.

• About
  • What is HAIROWorldPlugin?
  • Origin of the Name
• Installation
  • Obtaining the Source Code
  • Build Configuration with CMake
  • Building and Installing Choreonoid
• CFD Plugin
  • Creating and Configuring the CFD Simulator
  • Creating and Configuring MultiCollider Items
  • Body Item Settings
  • Thruster Settings (for ROVs)
  • Rotor Settings (for UAVs)
  • Running the Simulation
• VFX Plugin
  • Generating the Image View
  • Generating the Image View Bar
  • Configuring the MultiCollider Item
  • Creating and Configuring the VFX Vision Simulator
  • Running the Simulation
• NetEm Plugin
  • Creating and Configuring the BodyNetEmController Item
  • Creating and Configuring the MultiCollider Item
  • Running the Simulation
• MotionCapture Plugin
  • Function 1: Recording and Displaying Marker Trajectories
  • Function 2: Recording and Displaying Collisions
  • Function 3: Recording Joystick Status
• PHITS Plugin
  • Build Configuration with CMake
  • Building and Installing Choreonoid
  • Calculating Dose Rate Distribution
  • Obtaining Cumulative Dose
  • Generating Pinhole / Compton Camera Images
• VirtualJoystick Plugin
  • Function 1: Controlling Simulation Status
  • Function 2: Displaying Joystick Status
• Drone tutorial
  • Step 0: Creating a drone model
  • Step 1: Creating a simulation project
  • Step 2: Implementing a controller
  • Step 3: Controlling the drone with a gamepad
  • Step 4: Simulating and polling camera images
  • Full description of the drone model file
• WRS 2025 Pre-Competition
  • Loading the Competition Environment (Basic)
  • Loading the Competition Environment (Advanced)
  • Loading the Competition Environment (Qualifiers and Finals)
• World Robot Summit 2025
  • Material Settings
  • Loading the Practice Environment (Basic - Command Line)
  • Loading the Practice Environment (Basic - GUI)
  • Loading the Practice Environment (Advanced)
  • Conclusion
• References
  • HAIROWorldPlugin
  • Qtcapp
• Patch Notes
• 日本語（作業中）
  • BodyCreatorプラグイン
  • LiftSampleプラグイン
  • Crawlerチュートリアル

Click the image below to play the introduction video.

Disclaimer

JAEA assumes no responsibility for any trouble, loss, or damage resulting from the use of HAIROWorldPlugin. Please use it at your own risk.