rigidBodyTreeImportInfo

Object for storing rigidBodyTree import information

Description

The rigidBodyTreeImportInfo object is created by the importrobot function when converting a Simulink^® model using Simscape™ Multibody™ components. Get import information for specific bodies, joints, or blocks using the object functions. Changes to the Simulink model are not reflected in this object after initially calling importrobot.

Creation

[robot,importInfo] = importrobot(model) imports a Simscape Multibody model and returns an equivalent rigidBodyTree object, robot, and info about the import in importInfo. Only fixed, prismatic, and revolute joints are supported in the output rigidBodyTree object.

If you are importing a model that uses other joint types, constraint blocks, or variable inertias, use the Simscape Multibody Model Import name-value pairs to disable errors.

Properties

SourceModelName — Name of source model from Simscape Multibody

character vector

This property is read-only.

Name of the source model from Simscape Multibody, specified as a character vector. This property matches the name of the input model when calling importrobot.

Example: 'ImportedURDFExample'

Data Types: char

RigidBodyTree — Robot model

rigidBodyTree object

This property is read-only.

Robot model, returned as a rigidBodyTree object.

BlockConversionInfo — List of blocks that were converted

structure

This property is read-only.

List of blocks that were converted from Simscape Multibody blocks to preserve compatibility, specified as a structure with the nested fields:

• AddedBlocks

  • ImplicitJoints — Cell array of implicit joints added during the conversion process.

• ConvertedBlocks

  • Joints — Cell array of joint blocks that were converted to fixed joints.

  • JointSourceType — containers.Map object that associates converted joint blocks to their original joint type.

• RemovedBlocks

  • ChainClosureJoints— Cell array of joint blocks removed to open closed chains.

  • SMConstraints — Cell array of constraint blocks that were removed.

  • VariableInertias — Cell array of variable inertia blocks that were removed.

Object Functions

bodyInfo	Import information for body
bodyInfoFromBlocks	Import information for block name
bodyInfoFromJoint	Import information for given joint name
showdetails	Display details of imported robot

Version History

Introduced in R2018b

R2019b: rigidBodyTreeImportInfo was renamed

The rigidBodyTreeImportInfo object was renamed from robotics.RigidBodyTreeImportInfo. Use rigidBodyTreeImportInfo for all object creation.