modelBaseURDF

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
Integer	numCollisionLinks	0
Integer	numNonCollisionLinks	0
Integer	numLinks	numCollisionLinks + numNonCollisionLinks
Integer	numLeafLinks	0
Integer	numRotationalJoints	0
Integer	numTranslationalJoints	0
Integer	numOtherJoints	0
Integer	numJoints	numRotationalJoints + numTranslationalJoints + numOtherJoints
Boolean	enableCollision	true
Boolean	overwriteColor	true	Visualization2 overwrite color of meshes with color from URDF source

Type	Name	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