Body Plugin

Overview

The Body plugin (BodyPlugin) is the most fundamental plugin of Choreonoid, which provides the functionality for handling “body models” of robots and environments. It is always included in Choreonoid and is always available. When using Choreonoid as a software for robots, most functions are realized on the basis of this plugin.

The main functions provided by this plugin are as follows.

• Loading and managing body models (body items)

Loads model files in various formats such as the Body format and URDF, making them available as body items in projects. See Basics of Robot/Environment Models for details.

• Displaying and editing body models

Provides the display and manipulation of models on the scene view, and related views and toolbars such as the joint displacement view and the link property view. Posture manipulation based on kinematics computation is also possible.

• Foundation of the simulation functionality

Provides the basic elements that constitute the simulation functionality, such as the world item that defines a virtual world, the simulator items that form the basis of simulation, and the controller items for handling controllers. The “AIST simulator”, which uses the standard physics engine of Choreonoid, is also included in this plugin. See Simulation Function for details.

• Recording and playing back motion data

Provides the functionality to record and play back motion data such as simulation results as body motions.

The functions of this plugin are explained throughout this manual as the basic functions of Choreonoid. First, refer to the chapters Basic Concepts and Operations, Basics of Robot/Environment Models, and Simulation Function.