Attributes associated with an entity type.
This attribute defines the name of the entity.
This attribute defines the unique identifier of
the entity. This identifier should be persistent across sessions and
uniquely identify the entity at any given time.
This attribute defines the optional version identifier
associated with the entity. The version will change whenever the entity
is modified and saved to the file or database.
Base class schema for entity types.
This complex type is used to define an instance
path.
This element defines the unique identifier associated
with the instance.
This complex type is used to define constraint geometry
associated with a constraint.
This element defines a unique path to the instance
from the owner of the constraint. The path should be constructed using
the unique identifiers of the instances. Absence of this element indicates
that the geometry is owned by the assembly owning the constraint.
This element defines the position associated with
the geometry. The position can be queried from the geometry. The
position should be output with respect to the part coordinate system
associated with the instance. The following table describes the position
associated with the geometry.
Geometry Associated Point
-------------------------------
Line Start point
Circle Center point of circle
Circular Arc Center point of arc
Ellipse Center point of ellipse
Elliptical Arc Center point of elliptical arc
Plane Origin of the plane
Cylinder Origin of the cylinder
Cone Origin of the cone
Point Location of the point
This element defines the axis associated with the
geometry. The axis can be queried from the geometry. The following
table describes the axis associated with the geometry.
Geometry Associated Axis
-------------------------------
Line Vector from start to end point
Circle Plane normal to the circle
Circular Arc Plane normal to the circular arc
Ellipse Plane normal to the ellipse
Elliptical Arc Plane normal to the elliptical arc
Plane Normal to the plane
Cylinder Axis of the cylinder
Cone Axis of the cone
This attribute defines the geometry type associated
with the constraint entity.
This complex type is used to define a joint frame associated with a joint.
This element defines a unique path to the instance
from the owner of the joint. The path should be constructed using
the unique identifiers of the instances. Absence of this element indicates
that the frame is owned by the assembly owning the joint.
This element specifies the transform associated
with the instance. The transform orients the referring part or assembly
in the parent coordinate system.
This complex type is used as the base type for all joints.
This element specifies the base frame of the joint.
This element specifies the follower frame for the joint.
This attribute defines the name of the joint and corresponding block. A numerical
suffix is appended to the name if necessary to prevent duplicates in the component hierarchy. An autogenerated name
is used if the name is not specified.
This complex type is used to define a revolute joint between two instances.
This complex type is used to define a prismatic joint between two instances.
This complex type is used to define a spherical joint between two instances.
This complex type is used to define a cylindrical joint between two instances.
This complex type is used to define a cartesian joint between two instances.
This complex type is used to define a planar joint between two instances.
This complex type is used to define a rectangular joint between two instances.
This complex type is used to define a universal joint between two instances.
This complex type is used to define a 6-DOF joint between two instances.
This complex type is used to define a bearing joint between two instances.
This complex type is used to define a bushing joint between two instances.
This complex type is used to define a constant velocity joint between two instances.
This complex type is used to define a gimbal joint between two instances.
This complex type is used to define a lead screw joint between two instances.
This complex type is used to define a pin slot joint between two instances.
This complex type is used to define a telescoping joint between two instances.
This complex type is used to define a weld joint between two instances.
This complex type is used as the base type for all constraints.
This attribute defines the name of the constraint.
This complex type is used to define a coincident
constraint between two instances. The coincident constraint makes
two geometries coincident with respect to each other.
This element specifies the two constraint entities
associated with the coincident constraint.
This complex type is used to define a concentric
constraint between two instances. The concentric constraint makes
two concentric geometries concentric with respect to each other.
This element specifies the two constraint entities
associated with the concentric constraint.
This complex type is used to define a perpendicular
constraint between two instances. The perpendicular constraint makes
two geometries perpendicular with respect to each other.
This element specifies the two constraint entities
associated with the perpendicular constraint.
This complex type is used to define a parallel
constraint between two instances. The parallel constraint makes two
geometries parallel with respect to each other.
This element specifies the two constraint entities
associated with the parallel constraint.
This complex type is used to define a distance
constraint between two instances. The distance constraint places two
geometries at the specified distance with respect to each other.
This element specifies the two constraint entities
associated with the distance constraint.
This complex type is used to define an angle constraint
between two instances. The angle constraint places two geometries
at a specified angle with respect to each other.
This element specifies the two constraint entities
associated with the angle constraint.
This complex type is used to define a rigid constraint
between two instances. The rigid constraint makes two geometries fully
constrained with respect to each other.
This element defines a unique path to the instance
from the owner of the constraint. The path should be constructed using
the unique identifiers of the instances. There are no degrees of freedom
between the constrained instances.
This complex type is used to define all the joints present in the context assembly.
This element defines a revolute joint between two instances.
This element defines a prismatic joint between two instances.
This element defines a spherical joint between two instances.
This element defines a cylindrical joint between two instances.
This element defines a cartesian joint between two instances.
This element defines a planar joint between two instances.
This element defines a rectangular joint between two instances.
This element defines a universal joint between two instances.
This element defines a 6-DOF joint between two instances.
This element defines a bearing joint between two instances.
This element defines a bushing joint between two instances.
This element defines a constant velocity joint between two instances.
This element defines a gimbal joint between two instances.
This element defines a lead screw joint between two instances.
This element defines a pin slot joint between two instances.
This element defines a telescoping joint between two instances.
This element defines a weld joint between two instances.
This complex type is used to define all the constraints
present in the context assembly.
This element defines a coincident constraint between
two instances. Coincident constraint makes two geometries coincident
with respect to each other.
This element defines a concentric constraint between
two instances. The concentric constraint makes two geometries concentric
with respect to each other.
This element defines a perpendicular constraint
between two instances. The perpendicular constraint makes two geometries
perpendicular with respect to each other.
This element defines a perpendicular constraint
between two instances. The perpendicular constraint makes two geometries
perpendicular with respect to each other.
This element defines a distance constraint between
two instances. The distance constraint places two geometries at a
specified distance with respect to each other.
This element defines a angle constraint between
two instances. The angle constraint places two geometries at a specified
angle with respect to each other.
This element defines a rigid constraint between
two instances. The rigid constraint makes two geometries fully constrained
with respect to each other. There are no degrees of freedom between
the constrained instances.
This complex type is used to define a coordinate
system associated with a part or assembly.
This element specifies the rotation and origin components
associated with the coordinate system.
This attribute defines the name of the coordinate
system.
This attribute defines the unique identifier of
the coordinate system in its parent context. This attribute can simply
be the name of the frame.
This complex type is used to define a list of frames.
This element defines a frame.
This complex type is used to define an instance
of part or assembly oriented and positioned in the parent assembly.
An Instance refers to an assembly or part using a unique entity identifier.
This element specifies the transform associated
with the instance. The transform orients the referring part or assembly
in the parent coordinate system.
This element recursively specifies the child instances.
This element specifies the visual properties associated
with the instance. This overrides the visual properties of the part
associated with the instance.
This attribute defines the name of the instance.
This attribute defines the unique identifier of
the instance in its parent context. This attribute can simply be the
name of the instance.
This attribute defines the unique identifier of
the part or assembly associated with the instance.
This attribute represents the unique identifier
of the transient part created to override the part geometry associated
by the entityUid.
This attribute defines the visibility state of the
instance.
This attribute defines the optional version identifier
associated with the instance.
This attribute defines the grounded state of the
instance.
This attribute defines the rigidity of the assembly
instance. As assembly instance can be flexible or rigid. This attribute
should be associated only with the instance whose entity type is Assembly.
This complex type is used to define the instance
tree. The instance tree is made up of instances defining the hierarchy
of the assembly. The instance tree is a snapshot of assembly structure
and orientation of the instances at the time of export. The transform
associated with the instance should be with respect to its immediate
parent instance.
This element defines the child instances.
This complex type is used to define the mass properties
associated with the part or assembly.
This element defines the mass of the part or assembly.
This element defines the center of mass of the part.
The center of mass is defined with respect to the part coordinate
system.
This element defines the inertia of the part or
assembly. The inertia components are listed in the order [Ixx Iyy
Izz Iyz Izx Ixy]. The inertia components are defined with respect
to the center-of-mass frame.
This element can be used to define the mass properties
of a part.
This complex type is used to define an assembly.
This element defines the model units associated
with the entity. This overrides the model units specified in the document
element.
This element defines the model file associated with
the entity.
This element defines the constraints associated
with the assembly.
This element defines the coordinate systems associated
with the assembly.
This element defines the joints associated
with the assembly.
This complex type is used to define a root assembly
being imported into the Simscape Multibody application.
This element defines the model units associated
with the entity. This overrides the model units specified in the document
element.
This element defines the model file associated with
the entity.
This element defines the constraints associated
with the assembly.
This element defines the coordinate systems associated
with the assembly.
This element defines the instance tree associated
with the context assembly model. The tree represents the full assembly
hierarchy in the CAD system. This is a snapshot of the active assembly
hierarchy at the time of export.
This element defines the joints associated
with the assembly.
This complex type is used to define a part.
This element defines the model units associated
with the entity. This overrides the model units specified in the document
element.
This element defines the model file associated with
the entity.
This element defines the mass properties associated
with the part.
This element defines the geometry file associated
with the part.
This element specifies the visual properties associated
with the part.
This element defines the coordinate systems associated
with the part.
This attribute defines the transient nature of the
part. The transient part gets created on the fly during export. For
an occurrence with assembly feature, a transient part can be created
on the fly to generate the geometry file and can be deleted at the
end of the export process.
This complex type is used to define the list of
assemblies.
This element defines the assembly.
This complex type is used to define the list of
parts.
This element defines the part.
This complex type is used to define the SimscapeMultibodyXML
document.
This element defines the document creation properties.
This element defines the model units used in the
assemblies and parts. This can be overridden at the assembly and part
element levels.
This element defines the data units used by the
CAD open APIs. If DataUnits is not present, it is assumed that the
XML data is represented using ModelUnits.
This element defines the context assembly model
that needs to be used to create the Simscape Multibody model.
This element defines the list of assemblies.
This element defines the list of parts.
This element defines the root SimscapeMultibodyImportXML
document. This XML schema defines the CAD assembly hierarchy, orientation
and constraints. Any XML document conforming to this schema can be
imported into the Simscape Multibody application for performing state-of-the-art
motion analysis.