modelPhysicsRun
Extends from Modelica.Icons.Example (Icon for runnable examples).
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 | |
| Boolean | overwriteColor | true | Visualization2 overwrite color of meshes with color from URDF source |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Interfaces.RealInput[numRotationalJoints] | rotationalPositionInput | ||
| Modelica.Blocks.Interfaces.RealInput[numTranslationalJoints] | translationalPositionInput |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.World | world | ||
| Modelica.Mechanics.Rotational.Sources.Position[numRotationalJoints] | rotationalPosition | ||
| Modelica.Mechanics.Translational.Sources.Position | translationalPosition | ||
| Visualization2.Shapes.Primitives.Plane | plane | ||
| Visualization2.VisualizationSetup | visualizationSetup | ||
| URDFModelica.Links.CollisionPoint[numLeafLinks] | collisionPoint | ||
| Modelica.Mechanics.MultiBody.Parts.Fixed | fixed | ||
| Physics | physics | ||
| Modelica.Mechanics.MultiBody.Joints.FreeMotion | freeMotion |