Basics of Robot/Environment Models

• Body Model
  • Body Model and Body Item
  • Sample Models
  • Loading a Model
  • Display in the Scene View
  • Structure of a Model
  • Body Item Properties
• Changing the Position and Posture
  • Kinematics Bar
  • Changing the Posture Using the Joint Slider View
  • Changing a Joint Angle in the Scene View
  • About Base Link
  • Moving a Model
  • Undo and Redo of a Position/Posture Change Operation
  • Body Bar
  • Changing the Posture Using Inverse Kinematics
  • Switching Kinematics Modes
  • Specifying the Base Link for Inverse Kinematics
  • Body/Link View
• Collision Detection
  • Collision Detection and World Item
  • Creating a World Item
  • Associating a Body Model
  • Associating Multiple Body Models
  • Collision Detection Settings
  • Displaying Collision Detection Result
  • Example of Collision Detection
  • Penetration Block Function
  • Self-collision Detection
  • Displaying Collision in the Body/Link View
  • Switching Collision Detectors
• Operating a Leg-Type Model
  • Sample Models
  • Operating the Waist Using Preset Kinematics
  • Displaying the Center of Gravity
  • Zero Moment Point (ZMP)
  • Leg-type Body Bar
  • Operations Related to Sole Grounding
  • Floor Grid and Floor Model
• Model File
  • OpenHRP Model File
    • Overview
    • Nodes that Define the Link Structure and Kinetics/Mechanical Parameters
    • Nodes that Define Various Sensors
  • SR1 Sample Model
    • Joint Structure
    • Vision Sensor
  • Writing Additional Information in YAML
    • Additional Information of the SR1 Sample Model
    • Specifying the Main Model File
    • Standard Posture Settings
    • Link Group Structure Settings
    • Leg Link Settings
    • Preset Kinematics Settings
    • Collision Detection Settings
    • About Other Information Description