Model files¶
Ordinarily, the robots and environment models used in Choreonoid are generated by importing pre-written files into the program as Body items. These files include information on the model’s shape, color and other optical data, joint structure, physical parameters, sensor data, et cetera, and are called “model files.”
Model file formats are defined by the robot software system in use; Choreonoid currently supports the following formats by default:
- Body format model files (Body files)
- OpenHRP format model files
The current version of Choreonoid uses Body files as its default model files. Unless you have a specific reason to do so, you should use Body 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
- Writing Additional Information in YAML
- Using external mesh files
- Modeling with Blender
- OpenHRP Model File