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.

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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 R2018b

R2023b: 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.