Basics of Robot/Environment ModelsΒΆ
- Body Model
- Changing the Position and Posture
- Kinematics Bar
- Joint Displacement View
- Changing Joint Displacement in the Scene View
- About the Base Link
- Moving the Model
- Undo/Redo of Position and Posture Change Operations
- Body Bar
- Changing Posture Using Inverse Kinematics
- Switching Kinematics Modes
- Specifying the Base Link in Inverse Kinematics
- Body/Link View
- Collision Detection
- Collision Detection and World Item
- Creating a World Item
- Associating Body Models
- Associating Multiple Body Models
- Collision Detection Settings
- Displaying Collision Detection Results
- Collision Detection Example
- Penetration Block Function
- Self-Collision Detection
- Collision Display in Body/Link View
- Switching Collision Detectors
- About Collision Detection in Simulation
- Handling Legged Models
- Model Files
- Body File Tutorial
- SimpleTank Model
- Basic Model Structure
- Preparing the Model File
- About YAML
- Writing the Header
- Writing Links
- Link Node
- Writing the Chassis Link
- Checking the Model Being Edited
- Root Link-Specific Description
- Writing Rigid Body Parameters
- Writing the Chassis Shape
- Setting Anchors
- Writing elements
- Writing the Turret Yaw Axis Link
- Using Aliases
- Writing Link Relative Position
- Writing the Joint
- Checking Joint Operation
- Writing the Turret Pitch Axis Part
- RigidBody Node
- Writing the Turret Pitch Axis Base Shape
- Writing the Gun Barrel Part
- Transform Node
- Writing the Turret Pitch Axis Joint
- Writing Devices
- Writing the Crawlers
- Complete Tank model file
- Body File Reference Manual
- Additional Information
- Using external mesh files
- URDF Model Files
- xacro (Macros for URDF)
- OpenHRP Model Files
- Body File Tutorial