SimpleTankモデルファイル全記述内容¶
Bodyファイルチュートリアル で解説したTankモデルを記述しているモデルファイルの全テキストを以下に掲載します。本モデルは Choreonoid インストール先の "share/model/tank/SimpleTank.body" というファイルに格納されています。
1format: ChoreonoidBody
2format_version: 2.0
3name: SimpleTank
4
5links:
6 -
7 name: CHASSIS
8 translation: [ 0, 0, 0.1 ]
9 joint_type: free
10 center_of_mass: [ 0, 0, 0 ]
11 mass: 8.0
12 inertia: [
13 0.1, 0, 0,
14 0, 0.1, 0,
15 0, 0, 0.5 ]
16 elements:
17 Shape:
18 geometry:
19 type: Box
20 size: [ 0.45, 0.3, 0.1 ]
21 appearance: &BodyAppearance
22 material:
23 diffuse: [ 0, 0.6, 0 ]
24 specular: [ 0.2, 0.8, 0.2 ]
25 specular_exponent: 80
26 -
27 name: TURRET_Y
28 parent: CHASSIS
29 translation: [ -0.04, 0, 0.1 ]
30 joint_type: revolute
31 joint_axis: -Z
32 joint_range: unlimited
33 max_joint_velocity: 90
34 joint_id: 0
35 center_of_mass: [ 0, 0, 0.025 ]
36 mass: 4.0
37 inertia: [
38 0.1, 0, 0,
39 0, 0.1, 0,
40 0, 0, 0.1 ]
41 elements:
42 Shape:
43 geometry:
44 type: Box
45 size: [ 0.2, 0.2, 0.1 ]
46 appearance: *BodyAppearance
47 -
48 name: TURRET_P
49 parent: TURRET_Y
50 translation: [ 0, 0, 0.05 ]
51 joint_type: revolute
52 joint_axis: -Y
53 joint_range: [ -10, 45 ]
54 max_joint_velocity: 90
55 joint_id: 1
56 elements:
57 -
58 # Turret
59 type: RigidBody
60 center_of_mass: [ 0, 0, 0 ]
61 mass: 3.0
62 inertia: [
63 0.1, 0, 0,
64 0, 0.1, 0,
65 0, 0, 0.1 ]
66 elements:
67 Shape:
68 geometry:
69 type: Cylinder
70 height: 0.1
71 radius: 0.1
72 appearance: *BodyAppearance
73 -
74 # Gun
75 type: Transform
76 translation: [ 0.2, 0, 0 ]
77 rotation: [ 0, 0, 1, 90 ]
78 elements:
79 RigidBody:
80 center_of_mass: [ 0, 0, 0 ]
81 mass: 1.0
82 inertia: [
83 0.01, 0, 0,
84 0, 0.1, 0,
85 0, 0, 0.1 ]
86 elements:
87 Shape:
88 geometry:
89 type: Cylinder
90 height: 0.2
91 radius: 0.02
92 appearance: *BodyAppearance
93 -
94 type: SpotLight
95 name: Light
96 translation: [ 0.08, 0, 0.1 ]
97 direction: [ 1, 0, 0 ]
98 beam_width: 36
99 cut_off_angle: 40
100 cut_off_exponent: 6
101 attenuation: [ 1, 0, 0.01 ]
102 elements:
103 Shape:
104 rotation: [ 0, 0, 1, 90 ]
105 translation: [ -0.02, 0, 0 ]
106 geometry:
107 type: Cone
108 height: 0.04
109 radius: 0.025
110 appearance:
111 material:
112 diffuse: [ 1.0, 1.0, 0.4 ]
113 ambient: 0.3
114 emissive: [ 0.8, 0.8, 0.3 ]
115 -
116 type: Camera
117 name: Camera
118 translation: [ 0.1, 0, 0.05 ]
119 rotation: [ [ 1, 0, 0, 90 ], [ 0, 1, 0, -90 ] ]
120 format: COLOR_DEPTH
121 field_of_view: 65
122 width: 320
123 height: 240
124 frame_rate: 30
125 elements:
126 Shape:
127 rotation: [ 1, 0, 0, 90 ]
128 geometry:
129 type: Cylinder
130 radius: 0.02
131 height: 0.02
132 appearance:
133 material:
134 diffuse: [ 0.2, 0.2, 0.8 ]
135 specular: [ 0.6, 0.6, 1.0 ]
136 specular_exponent: 80
137 -
138 name: TRACK_L
139 parent: CHASSIS
140 translation: [ 0, 0.2, 0 ]
141 joint_type: pseudo_continuous_track
142 joint_axis: Y
143 centerOfMass: [ 0, 0, 0 ]
144 mass: 1.0
145 inertia: [
146 0.02, 0, 0,
147 0, 0.02, 0,
148 0, 0, 0.02 ]
149 elements:
150 Shape: &TRACK
151 geometry:
152 type: Extrusion
153 cross_section: [
154 -0.22, -0.1,
155 0.22, -0.1,
156 0.34, 0.06,
157 -0.34, 0.06,
158 -0.22, -0.1
159 ]
160 spine: [ 0, -0.05, 0, 0, 0.05, 0 ]
161 appearance:
162 material:
163 diffuse: [ 0.2, 0.2, 0.2 ]
164 -
165 name: TRACK_R
166 parent: CHASSIS
167 translation: [ 0, -0.2, 0 ]
168 joint_type: pseudo_continuous_track
169 joint_axis: Y
170 centerOfMass: [ 0, 0, 0 ]
171 mass: 1.0
172 inertia: [
173 0.02, 0, 0,
174 0, 0.02, 0,
175 0, 0, 0.02 ]
176 elements:
177 Shape: *TRACK