modelLink_Visualization2
Extends from 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 |
|---|---|---|---|
| URDFModelica.Records.Link | linkParams | ||
| Boolean | enableCollision | true | |
| Boolean | enableInertial | true | |
| Boolean | overwriteColor | true | Visualization2 overwrite color of meshes with color from URDF source |
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 |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Parts.FixedRotation | trafoInertial | ||
| Modelica.Mechanics.MultiBody.Parts.FixedRotation | trafoVisual | ||
| Modelica.Mechanics.MultiBody.Parts.FixedRotation | trafoCollision | ||
| Modelica.Mechanics.MultiBody.Parts.Body | body | ||
| Visualization2.Shapes.Primitives.Cube | visualBox | ||
| Visualization2.Shapes.Primitives.Cylinder | visualCylinder | ||
| Visualization2.Shapes.Primitives.Sphere | visualSphere | ||
| Visualization2.Shapes.Files.CADFile | visualMesh | ||
| Visualization2.Shapes.Primitives.Cube | collisionBox | ||
| Visualization2.Shapes.Primitives.Cylinder | collisionCylinder | ||
| Visualization2.Shapes.Primitives.Sphere | collisionSphere | ||
| Visualization2.Shapes.Files.CADFile | collisionMesh |