I have simulated my humanoid robot in the Choreonoid and I have exported the CAD files of my robot from solidworks file to VRML files,
There is a problem that by increasing the size of VRML file the simulation time increases drastically. I have tried a lot of methods to decrease the size of the VRML file but it was not successful.
I guess the Gazebo simulation software solve this problem by separating the visualize part of the model with the collision part, therefore we can have a complicated geometry for the visualize robot and a simple model for modeling the collision.
Would anyone help me that I use the visualization of my whole robot in Choreonoid without increasing the time of simulation?
Thanks in advance