Model Files¶
Robot and environmental object models handled in Choreonoid are typically generated by loading files pre-written as Body items. These files contain descriptions of the model’s shape, optical information such as color, joint structure, physical parameters, sensor information, etc., and are called “model files.”
Various model file formats have been defined by different robot software systems. Choreonoid currently supports the following formats as standard:
Body format model files (Body files)
Unified Robotics Description Format model files (URDF files)
OpenHRP format model files
In the current version of Choreonoid, the Body format is the standard model file format, so please use this format unless there is a specific reason not to.
- 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