LIBRARY

URDFBodyCylinder

Rigid body with cylinder visualization, for URDF import.

Combines a Body (mass and inertia at the link frame) with a CylinderShape that honors the URDF <visual> origin (translation + rotation).

This component extends from Renderable

Usage

MultibodyComponents.URDFBodyCylinder(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=[0, 0, 1], length=1, radius=0.05)

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	Element (1,1) of inertia tensor (in link frame)	kg.m2	0.001
I_22	Element (2,2) of inertia tensor (in link frame)	kg.m2	0.001
I_33	Element (3,3) of inertia tensor (in link frame)	kg.m2	0.001
I_21	Element (2,1) of inertia tensor (in link frame)	kg.m2	0
I_31	Element (3,1) of inertia tensor (in link frame)	kg.m2	0
I_32	Element (3,2) of inertia tensor (in link frame)	kg.m2	0
r_visual	Center of cylinder visual, resolved in frame_a	m	[0, 0, 0]
length_direction	Cylinder axis direction in frame_a (local Z rotated by URDF visual rpy)	–	[0, 0, 1]
length	Length of cylinder	m	1
radius	Radius of cylinder	m	0.05

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 cylinder visualization, for URDF import.

Combines a `Body` (mass and inertia at the link frame) with a `CylinderShape`
that honors the URDF `<visual>` origin (translation + rotation).
"""
component URDFBodyCylinder
  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)
  cylinder_shape = CylinderShape(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, length = length, width = 2 * radius, height = 2 * radius)
  "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]
  "Element (1,1) of inertia tensor (in link frame)"
  parameter I_11::Inertia = 0.001
  "Element (2,2) of inertia tensor (in link frame)"
  parameter I_22::Inertia = 0.001
  "Element (3,3) of inertia tensor (in link frame)"
  parameter I_33::Inertia = 0.001
  "Element (2,1) of inertia tensor (in link frame)"
  parameter I_21::Inertia = 0
  "Element (3,1) of inertia tensor (in link frame)"
  parameter I_31::Inertia = 0
  "Element (3,2) of inertia tensor (in link frame)"
  parameter I_32::Inertia = 0
  "Center of cylinder visual, resolved in frame_a"
  parameter r_visual::Length[3] = [0, 0, 0]
  "Cylinder axis direction in frame_a (local Z rotated by URDF visual rpy)"
  parameter length_direction::Real[3] = [0, 0, 1]
  "Length of cylinder"
  parameter length::Length = 1
  "Radius of cylinder"
  parameter radius::Length = 0.05
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 cylinder visualization, for URDF import.

Combines a `Body` (mass and inertia at the link frame) with a `CylinderShape`
that honors the URDF `<visual>` origin (translation + rotation).
"""
component URDFBodyCylinder
  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)
  cylinder_shape = CylinderShape(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, length = length, width = 2 * radius, height = 2 * radius)
  "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]
  "Element (1,1) of inertia tensor (in link frame)"
  parameter I_11::Inertia = 0.001
  "Element (2,2) of inertia tensor (in link frame)"
  parameter I_22::Inertia = 0.001
  "Element (3,3) of inertia tensor (in link frame)"
  parameter I_33::Inertia = 0.001
  "Element (2,1) of inertia tensor (in link frame)"
  parameter I_21::Inertia = 0
  "Element (3,1) of inertia tensor (in link frame)"
  parameter I_31::Inertia = 0
  "Element (3,2) of inertia tensor (in link frame)"
  parameter I_32::Inertia = 0
  "Center of cylinder visual, resolved in frame_a"
  parameter r_visual::Length[3] = [0, 0, 0]
  "Cylinder axis direction in frame_a (local Z rotated by URDF visual rpy)"
  parameter length_direction::Real[3] = [0, 0, 1]
  "Length of cylinder"
  parameter length::Length = 1
  "Radius of cylinder"
  parameter radius::Length = 0.05
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.

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