LIBRARY

URDFBodyBox

Rigid body with box visualization, for URDF import.

Combines a Body with a BoxShape that honors the URDF <visual> origin.

This component extends from Renderable

Usage

MultibodyComponents.URDFBodyBox(render=true, color=world_default_body_color(), specular_coefficient=1.5, m=1, r_cm=[0.0, 0, 0], I_11=0.001, I_22=0.001, I_33=0.001, I_21=0, I_31=0, I_32=0, r_visual=[0, 0, 0], length_direction=[1, 0, 0], width_direction=[0, 1, 0], length=1, width=1, height=1)

Parameters:

Name	Description	Units	Default value
render		–	true
color		–	world_defau...ody_color()
specular_coefficient		–	1.5
m	mass	kg	1
r_cm	Vector from frame_a to center of mass, resolved in frame_a	m	[0.0, 0, 0]
I_11		kg.m2	0.001
I_22		kg.m2	0.001
I_33		kg.m2	0.001
I_21		kg.m2	0
I_31		kg.m2	0
I_32		kg.m2	0
r_visual	Center of box visual, resolved in frame_a	m	[0, 0, 0]
length_direction	Box length direction in frame_a (local X rotated by URDF visual rpy)	–	[1, 0, 0]
width_direction	Box width direction in frame_a (local Y rotated by URDF visual rpy)	–	[0, 1, 0]
length	Length of box (along local X)	m	1
width	Width of box (along local Y)	m	1
height	Height of box (along local Z)	m	1

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)

Behavior

Source

"""
Rigid body with box visualization, for URDF import.

Combines a `Body` with a `BoxShape` that honors the URDF `<visual>` origin.
"""
component URDFBodyBox
  extends Renderable(color = world_default_body_color())
  frame_a = Frame3D() {}
  body = Body(final m = m, final r_cm = r_cm, final I_11 = I_11, final I_22 = I_22, final I_33 = I_33, final I_21 = I_21, final I_31 = I_31, final I_32 = I_32, render = false)
  box_shape = BoxShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), r_shape = r_visual - 0.5 * length * length_direction, length_direction = length_direction, width_direction = width_direction, length = length, width = width, height = height)
  "mass"
  parameter m::Mass = 1
  "Vector from frame_a to center of mass, resolved in frame_a"
  parameter r_cm::Length[3] = [0.0, 0, 0]
  parameter I_11::Inertia = 0.001
  parameter I_22::Inertia = 0.001
  parameter I_33::Inertia = 0.001
  parameter I_21::Inertia = 0
  parameter I_31::Inertia = 0
  parameter I_32::Inertia = 0
  "Center of box visual, resolved in frame_a"
  parameter r_visual::Length[3] = [0, 0, 0]
  "Box length direction in frame_a (local X rotated by URDF visual rpy)"
  parameter length_direction::Real[3] = [1, 0, 0]
  "Box width direction in frame_a (local Y rotated by URDF visual rpy)"
  parameter width_direction::Real[3] = [0, 1, 0]
  "Length of box (along local X)"
  parameter length::Length = 1
  "Width of box (along local Y)"
  parameter width::Length = 1
  "Height of box (along local Z)"
  parameter height::Length = 1
relations
  connect(frame_a, body.frame_a)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/Body.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end

Flattened Source

"""
Rigid body with box visualization, for URDF import.

Combines a `Body` with a `BoxShape` that honors the URDF `<visual>` origin.
"""
component URDFBodyBox
  parameter render::Boolean = true
  parameter color::Real[4] = [0.5, 0.5, 0.5, 1.0]
  parameter specular_coefficient::Real = 1.5
  frame_a = Frame3D() {}
  body = Body(final m = m, final r_cm = r_cm, final I_11 = I_11, final I_22 = I_22, final I_33 = I_33, final I_21 = I_21, final I_31 = I_31, final I_32 = I_32, render = false)
  box_shape = BoxShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), r_shape = r_visual - 0.5 * length * length_direction, length_direction = length_direction, width_direction = width_direction, length = length, width = width, height = height)
  "mass"
  parameter m::Mass = 1
  "Vector from frame_a to center of mass, resolved in frame_a"
  parameter r_cm::Length[3] = [0.0, 0, 0]
  parameter I_11::Inertia = 0.001
  parameter I_22::Inertia = 0.001
  parameter I_33::Inertia = 0.001
  parameter I_21::Inertia = 0
  parameter I_31::Inertia = 0
  parameter I_32::Inertia = 0
  "Center of box visual, resolved in frame_a"
  parameter r_visual::Length[3] = [0, 0, 0]
  "Box length direction in frame_a (local X rotated by URDF visual rpy)"
  parameter length_direction::Real[3] = [1, 0, 0]
  "Box width direction in frame_a (local Y rotated by URDF visual rpy)"
  parameter width_direction::Real[3] = [0, 1, 0]
  "Length of box (along local X)"
  parameter length::Length = 1
  "Width of box (along local Y)"
  parameter width::Length = 1
  "Height of box (along local Z)"
  parameter height::Length = 1
relations
  connect(frame_a, body.frame_a)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/Body.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end

Test Cases

No test cases defined.

Related

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