VR RigidBodyTree
(To be removed) Visualize Robotics System Toolbox
rigidBodyTree
objects in Simulink
VR RigidBodyTree will be removed in a future release. For more information, see Version History.
Libraries:
Simulink 3D Animation
Description
Use the VR RigidBodyTree block to visualize rigidBodyTree
objects from Robotics System Toolbox™ in the Simulink®
3D Animation™ viewer.
Ports
Input
Input 1 — Joint Positions
scalar | vector
Robot configuration that solves the desired end-effector pose,
specified as a vector. A robot configuration is a vector of joint
positions for the rigidBodyTree
model. The number of
positions is equal to the number of non-fixed joints in the
rigidBodyTree
parameter.
Data Types: single
| double
Parameters
Associated VRML File — 3D World
3D world file name
Specify the virtual world in which the rigidBodyTree
is
visualized
Parent node (leave empty for root) — Scene hierarchy location
character vector | string
Specify the location of the rigidBodyTree
object in the
scene hierarchy. For more information on scene hierarchy, see Create a Virtual World.
Rigid Body Tree — robot pose
rigidBodyTree
Specify the name of the Robotics System Toolbox
rigidBodyTree
object to be used in the virtual world. If
a robot with an identical name is already present in the virtual world, it
is used for visualization by default.
You can enable the Always use robot definition from the
RigidBodyTree object parameter to overwrite the existing
robot, if present, with the robot specified by the
rigidBodyTree
object.
Always use robot definition from the RigidBodyTree object — create robot
‘off’
(default) | ’on’
Enable this parameter to always create a robot from the
rigidBodyTree
object specified by the Rigid
Body Tree parameter.
By default, the virtual world uses an existing robot by the same name, if it exists.
Sample time — Block sample time for simulation
0.1 (default) | scalar | vector
Specify the sample time for the block, or specify -1
to inherit the sample
time.
Ensure that a viewer window is open during simulation — Open 3D world viewer
‘off’
(default) | ’on’
Enable this parameter to ensure that the Simulink 3D Animation Viewer is open during simulation.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Actual data type or capability support depends on block implementation.
Version History
Introduced in R2018bR2023b: To be removed
The VR RigidBodyTree
will be removed in a future
release. Instead, use sim3d
classes and Simulation 3D blocks to
interface MATLAB® and Simulink with the Unreal Engine® 3D simulation environment. To get started, see Create 3D Simulations in Unreal Engine Environment.
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