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I was wondering on how to make custom entity models for minecraft with commands.

This isn't done with commands but with resource packs, I've never done this so I can only link you to a good tutorial page like this one: https://minecraft.gamepedia.com/Tutorials/Changing_Minecraft_entity_models

if you don't know how to write models manually I suggest you get a modeling software like Techne: https://www.planetminecraft.com/mod/modeller-techne/

good luck to you

Then how do these really good command block machines do it.

Most command block creations use armor stands which are wearing items with custom models, but maybe what you saw is really an entity with a custom model.

You see, you can apply a custom model to an item by overriding the items .json file with a resource pack. What's even better is that this custom model can be set to appear only if certain criteria are met, for example, you can set a custom model for a pickaxe to appear if the pickaxe is damaged 50%

Here is a video on how to do that:

But again I'm not sure if what you saw is based on this, What I do know is that all of these people use resource packs to load these models and you have to have some software to make a model in, you can't just make one with commands

But I have used these commands myself and they do have custom models without resource packs.

Quote from vikasahuja»

But I have used these commands myself and they do have custom models without resource packs.

Then what you saw are a number of armor stands wearing specific blocks that were aligned to create a model.

There are also online generators for this so you don't have to model it all by hand

example: https://www.planetminecraft.com/project/3d-armor-stand-art-animator-and-modeler-for-19/