LIBRARY

BoxVisualizer

Frame-connected box visualizer with zero mass. Used for URDF import of zero-mass links with box geometry.

Usage

MultibodyComponents.BoxVisualizer(render=true, color=[1.0, 0.0, 0.0, 1.0])

Parameters:

Name	Description	Units	Default value
render	Whether to render	–	true
color	RGBA color	–	[1.0, 0.0, 0.0, 1.0]

Connectors

• frame_a - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

Variables

Name	Description	Units
length	Length of the box	–
width	Width of the box	–
height	Height of the box	–
length_direction	Direction of the box length, resolved in frame_a	–
width_direction	Direction of the box width, resolved in frame_a	–
r_shape	Position of the box origin relative to frame_a, resolved in frame_a	–

Behavior

Dict{MIME{Symbol("text/plain")}, String} with 1 entry: MIME type text/plain => "Error displaying result"

Source

"""
Frame-connected box visualizer with zero mass.
Used for URDF import of zero-mass links with box geometry.
"""
component BoxVisualizer
  frame_a = Frame3D() {
    "Dyad": {"placement": {"diagram": {"x1": 50, "x2": 150, "y1": 450, "y2": 550}}}
  }
  shape = BoxShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), r_shape = r_shape, length_direction = length_direction, width_direction = width_direction, length = length, width = width, height = height) {"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 20, "y2": 120}}}}
  "Whether to render"
  parameter render::Boolean = true
  "RGBA color"
  parameter color::Real[4] = [1.0, 0.0, 0.0, 1.0]
  "Length of the box"
  variable length::Real = 1.0
  "Width of the box"
  variable width::Real = 1.0
  "Height of the box"
  variable height::Real = 1.0
  "Direction of the box length, resolved in frame_a"
  variable length_direction::Real[3] = [1.0, 0.0, 0.0]
  "Direction of the box width, resolved in frame_a"
  variable width_direction::Real[3] = [0.0, 1.0, 0.0]
  "Position of the box origin relative to frame_a, resolved in frame_a"
  variable r_shape::Real[3] = [0, 0, 0]
relations
  frame_a.f = [0, 0, 0]
  frame_a.tau = [0, 0, 0]
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/BoxVisualizer.svg"},
    "labels": [
      {
        "label": "a",
        "x": 110,
        "y": 455,
        "rot": 0,
        "layer": "icon",
        "attrs": {
          "fill": "#333",
          "font-size": "80",
          "font-weight": "bold",
          "text-anchor": "middle",
          "dominant-baseline": "central"
        }
      }
    ]
  }
}
end

Flattened Source

"""
Frame-connected box visualizer with zero mass.
Used for URDF import of zero-mass links with box geometry.
"""
component BoxVisualizer
  frame_a = Frame3D() {
    "Dyad": {"placement": {"diagram": {"x1": 50, "x2": 150, "y1": 450, "y2": 550}}}
  }
  shape = BoxShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), r_shape = r_shape, length_direction = length_direction, width_direction = width_direction, length = length, width = width, height = height) {"Dyad": {"placement": {"diagram": {"x1": 20, "x2": 120, "y1": 20, "y2": 120}}}}
  "Whether to render"
  parameter render::Boolean = true
  "RGBA color"
  parameter color::Real[4] = [1.0, 0.0, 0.0, 1.0]
  "Length of the box"
  variable length::Real = 1.0
  "Width of the box"
  variable width::Real = 1.0
  "Height of the box"
  variable height::Real = 1.0
  "Direction of the box length, resolved in frame_a"
  variable length_direction::Real[3] = [1.0, 0.0, 0.0]
  "Direction of the box width, resolved in frame_a"
  variable width_direction::Real[3] = [0.0, 1.0, 0.0]
  "Position of the box origin relative to frame_a, resolved in frame_a"
  variable r_shape::Real[3] = [0, 0, 0]
relations
  frame_a.f = [0, 0, 0]
  frame_a.tau = [0, 0, 0]
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/BoxVisualizer.svg"},
    "labels": [
      {
        "label": "a",
        "x": 110,
        "y": 455,
        "rot": 0,
        "layer": "icon",
        "attrs": {
          "fill": "#333",
          "font-size": "80",
          "font-weight": "bold",
          "text-anchor": "middle",
          "dominant-baseline": "central"
        }
      }
    ]
  }
}
end

Test Cases

No test cases defined.

Related

• Examples

• Experiments

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