1. M1
2016/11/17

2. Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
MORSE Simulator ROS
ROS Robot Operating System
Protégé Ontology

3. Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
✴ Ubuntu Desktop 16.04 LTS
✴ MORSE Simulator 1.4
✴ ROS (Robot Operating System) Kinetic Kame
✴ Blender 2.76
✴ Python 3.5.2 (or 2.7.12)
✴ Pyenv
✴ Anaconda 4.1.1
✴ Protege 5.1.0

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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
edit MORSE ROS
Blender Python Python
$ morse edit tutorial-1-ros.py
>>> import sys
>>> sys.path
['/usr/lib/python3.5/site-packages', '/usr/share/blender/scripts/addons', '/usr/
share/blender/scripts/startup', '/usr/share/blender/scripts/modules', '/usr/bin', '/
usr/local/lib/python3.5/dist-packages/catkin_pkg-0.2.10-py3.5.egg', '/usr/local/
lib/python3.5/dist-packages/python_dateutil-2.5.3-py3.5.egg', '/usr/local/lib/
python3.5/dist-packages/docutils-0.12-py3.5.egg', '/usr/local/lib/python3.5/dist-
packages/argparse-1.1-py3.5.egg', '/usr/lib/python3/dist-packages', '/opt/ros/
kinetic/lib/python2.7/dist-packages', '/usr/lib/python35.zip', '/usr/lib/python3.5', '/
usr/lib/python3.5/plat-x86_64-linux-gnu', '/usr/lib/python3.5/lib-dynload', '/usr/
local/lib/python3.5/dist-packages', '/usr/share/blender/scripts/freestyle/modules',
'/usr/share/blender/scripts/addons/modules', '/home/mat7q6/.config/blender/
2.76/scripts/addons/modules']

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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
rospy
Blender Python
$ rospack find rospy
/opt/ros/kinetic/share/rospy
>>> sys.path.append("/opt/ros/kinetic/share/rospy")
>>> sys.path.remove("/opt/ros/kinetic/lib/python2.7/dist-
packages")

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
Protégé
Ontology
.owl
web ontology language

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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
Protege
http://protege.stanford.edu/products.php#desktop-protege
Pizza
http://protege.stanford.edu/ontologies/pizza/pizza.owl
$ tar zxvf Protege-5.1.0-linux.tar.gz
$ ./run.sh

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Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory

10. ✴ MORSE
✴ BMI
http://data.dbcls.jp/~yayamamo/fsyl/2011/08/protege /
Robotics Laboratory
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Wakayama University Graduate School of System Engineering Robotics Laboratory
✴
✴
✴