rigidBody
Create a rigid body
Description
The rigidBody
object represents a rigid body. A rigid body is the
building block for any tree-structured robot manipulator. Each
rigidBody
has a rigidBodyJoint
object attached to it that defines how the rigid body can
move. Rigid bodies are assembled into a tree-structured robot model using rigidBodyTree
.
Set a joint object to the Joint
property before calling addBody
to add the rigid body to the robot model. When a rigid body is in
a rigid body tree, you cannot directly modify its properties because it corrupts the
relationships between bodies. Use replaceJoint
to modify the entire tree structure.
Creation
Description
Input Arguments
Properties
Object Functions
copy | Create selective deep copy of rigid body |
addCollision | Add collision geometry to rigid body |
addFrame | Add frame name to rigid body |
addVisual | Add visual geometry data to rigid body |
clearCollision | Clear all attached collision geometries |
clearVisual | Clear all visual geometries |
frameInfo | Frame information |
getTransform | Get transform between body frames |
getVisual | Get visual geometries of the rigid body |
removeFrame | Remove frame from rigid body |
updateFrame | Update frame in rigid body |
Examples
References
[1] Craig, John J. Introduction to Robotics: Mechanics and Control. Reading, MA: Addison-Wesley, 1989.
[2] Siciliano, Bruno. Robotics: Modelling, Planning and Control. London: Springer, 2009.