HAIROWorldPlugin: a Choreonoid plugin for virtually configuring decommissioning task environment for the robots

This paper describes the HAIROWorldPlugin which is a plugin for Choreonoid. We have developed the plugin functions to virtually conFigure decommissioning task environments and situations for remotely operated robots by referring decommissioning works have conducted in Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company Holdings, Inc. (FDNPS). HAIROWorldPlugin is a package of our previous development results such as Fluid Dynamics Simulator, Visual Effect Simulator, Communication Traffic Simulator, Motion Recorder, Model File Explorer, Crawler Robot Builder, Terrain Builder, and Operation Command Manager. Each function is explained, and the examples of demonstrations are presented.