modelPhysics
Extends from URDFModelica.Icons.MobileRobotIcon, Modelica.Mechanics.MultiBody.Interfaces.PartialOneFrame_a (Base model for components providing one frame_a connector + outer world + assert to guarantee that the component is connected).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Integer | numCollisionLinks | 16 | |
| Integer | numNonCollisionLinks | 0 | |
| Integer | numLinks | numCollisionLinks + numNonCollisionLinks | |
| Integer | numLeafLinks | 7 | |
| Integer | numRotationalJoints | 7 | |
| Integer | numTranslationalJoints | 1 | |
| Integer | numOtherJoints | 7 | |
| Integer | numJoints | numRotationalJoints + numTranslationalJoints + numOtherJoints | |
| Boolean | enableCollision | true |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Frame_a | frame_a (from PartialOneFrame_a) | Coordinate system fixed to the component with one cut-force and cut-torque | |
| Modelica.Mechanics.Rotational.Interfaces.Flange_b[numRotationalJoints] | rotational_flange_b | ||
| Modelica.Mechanics.Rotational.Interfaces.Flange_a[numRotationalJoints] | rotational_flange_a | ||
| Modelica.Mechanics.Translational.Interfaces.Flange_b[numTranslationalJoints] | translational_flange_b | ||
| Modelica.Mechanics.Translational.Interfaces.Flange_a[numTranslationalJoints] | translational_flange_a | ||
| Modelica.Mechanics.MultiBody.Interfaces.Frame_b[7] | frame_b | Coordinate system b fixed to the component with one cut-force and cut-torque |