recordPhysics
URDF physics
Extends from URDFModelica.Records.Robot (Robot with links and joints from URDF).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| String | name (from Robot) | "defaultRobotName" | |
| Integer | numLinks (from Robot) | 1 | |
| Integer | numJoints (from Robot) | 1 | |
| Integer | numAxes (from Robot) | 1 | Moveable Joints |
| Integer[numJoints,2] | connectionMatrix (from Robot) | zeros(numJoints, 2) | Each row contains parent and child link index of a joint |
| Integer[numAxes,2] | moveableJoints (from Robot) | zeros(numAxes, 2) | First column joint index of a moveable joint, second column DOF of joint |
| Link[:] | link (from Robot) | fill(Link(), numLinks) | |
| Joint[:] | joint (from Robot) | fill(Joint(), numJoints) |