This section describes about the developments that are now being advanced, and our future plans to improve OpenHRP3. Version series 3.1, that integrates all these improvements is scheduled to be released by the end of 2008.

Speed-up Model-Loader

The current Model-loader-server's loading speed is very slow; especially it takes long time, when reading complex models. And the situation become worse on the windows platform.

To resolve this issue and speed-up model loading process, we have now developed a model-loader which completely rewritten with C++. According to the test results, we have confirmed that the time it takes to load a model has been greatly shortened with this new development.

Eclipse Plug-in of GrxUI

Though the GrxUI that is GUI of OpenHRP3, is originally developed as an independent Java application, we are now working on developing an Eclipse plug-in that allows GrxUI to work upon Eclipse interface. With this new plug-in, the compatibility with other cooperative Eclipse pulg-in tools such as RTCLink developed by OpenRTM, can be increased dramatically. As a result, simulation configuration and execusion processes would become more comfortable.

Maintenance of source directory structure

Current version of OpenHRP3 just works as an individual package, but it does not install in to the general Linux directory system; which causes the user to face troubles when he wants to use OpenHRP3 components and libraries within his own program. So it is necessary to maintain the source structure and installation procedure, to make it install OpenHRP3 components and libraries within general Linux directory system. We are now working on it and, a completely maintained version of OpenHRP3 is scheduled to be released with version series 3.1 .

GUI Tool for Creating Model Files

We hope to develop a GUI based tool for creating model files. This is also scheduled to develop as an Eclipse plug-in like our new GrxUI.