LIBRARY

CylinderVisualizer

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

Usage

MultibodyComponents.CylinderVisualizer(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
radius	Radius of the cylinder	–
length	Length of the cylinder	–
length_direction	Direction of the cylinder axis, resolved in frame_a	–
r_shape	Position of cylinder start 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 cylinder visualizer with zero mass.
Used for URDF import of zero-mass links with cylinder geometry.
"""
component CylinderVisualizer
  frame_a = Frame3D() {}
  shape = CylinderShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), r_shape = r_shape, length_direction = length_direction, length = length, width = 2 * radius, height = 2 * radius)
  "Whether to render"
  parameter render::Boolean = true
  "RGBA color"
  parameter color::Real[4] = [1.0, 0.0, 0.0, 1.0]
  "Radius of the cylinder"
  variable radius::Real = 0.1
  "Length of the cylinder"
  variable length::Real = 1.0
  "Direction of the cylinder axis, resolved in frame_a"
  variable length_direction::Real[3] = [1.0, 0.0, 0.0]
  "Position of cylinder start 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/CylinderVisualizer.svg"},
    "labels": [
      {
        "label": "a",
        "x": 110,
        "y": 410,
        "rot": 0,
        "layer": "icon",
        "attrs": {
          "fill": "#333",
          "font-size": "80",
          "font-weight": "bold",
          "text-anchor": "middle",
          "dominant-baseline": "central"
        }
      }
    ]
  }
}
end

Flattened Source

"""
Frame-connected cylinder visualizer with zero mass.
Used for URDF import of zero-mass links with cylinder geometry.
"""
component CylinderVisualizer
  frame_a = Frame3D() {}
  shape = CylinderShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), r_shape = r_shape, length_direction = length_direction, length = length, width = 2 * radius, height = 2 * radius)
  "Whether to render"
  parameter render::Boolean = true
  "RGBA color"
  parameter color::Real[4] = [1.0, 0.0, 0.0, 1.0]
  "Radius of the cylinder"
  variable radius::Real = 0.1
  "Length of the cylinder"
  variable length::Real = 1.0
  "Direction of the cylinder axis, resolved in frame_a"
  variable length_direction::Real[3] = [1.0, 0.0, 0.0]
  "Position of cylinder start 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/CylinderVisualizer.svg"},
    "labels": [
      {
        "label": "a",
        "x": 110,
        "y": 410,
        "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

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