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 files
  • Body file tutorial
    • SimpleTank model
    • Basic model layout
    • Preparing the model file
    • YAML
    • Header format
    • Link notation
    • Link nodes
    • Body link notation
    • Checking a model in progress
    • Notation unique to root links
    • Rigid body parameters
    • Body shape notation
    • Setting anchors
    • Elements notation
    • Gun turret yaw axis link notation
    • Using aliases
    • Describing relative link position
    • Joint notation
    • Checking joint functionality
    • Gun turret pitch axis notation
    • RigidBody nodes
    • Describing the gun turret pitch axis base shape
    • Gun barrel notation
    • Transform nodes
    • Gun turret pitch axis joint notation
    • Device notation
    • Crawler notation
  • Complete Tank model file
  • Body file reference manual
    • Summary
    • YAML syntax
    • node list
    • Headers
    • Link structure, nodes defining dynamics and mechanism parameters
    • Nodes used to define link shape and appearance
    • Nodes defining sensors and devices
    • Nodes defining closed link mechanisms
    • Nodes use to group other nodes
  • 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
  • Using external mesh files
    • Tank model
    • Setting parent-child relationships
    • Object name settings
    • Exporting model files
    • Importing YAML-formatted model files
  • Modeling with Blender
  • OpenHRP Model File
    • Overview
    • Nodes that Define the Link Structure and Kinetics/Mechanical Parameters
    • Nodes that Define Various Sensors