addVisual

Add visual geometry data to rigid body

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Syntax

addVisual(body,type,parameters)
addVisual(___,Name=Value)
addVisual(___,tform)

Description

addVisual(body,type,parameters) adds the visuals of a geometry of the specified type type and geometric parameters parameters to the specified rigid body body.

addVisual(___,Name=Value) specifies additional options using one or more name-value pair arguments. Specify name-value pair arguments after all other input arguments.

example

addVisual(___,tform) specifies a homogeneous transformation for the geometry visual relative to the body frame in addition to any combination of input arguments from previous syntaxes.

Examples

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Open Live Script

Create a rigid body tree robot model.

rbt = rigidBodyTree();

Add a body to the base of the robot.

body1 = rigidBody('Link1');

Add a red visual box mesh to Link1 body with FaceAlpha set to 0.5 for 50% transparency. Add another visual box mesh and set the color to green and transparency to 20%.

Use trvec2tform function to define the position of each box.

boxdims = [0.1,0.1,0.1];

pose = trvec2tform([0,0,-0.2]);
addVisual(body1, 'Box', boxdims, pose, FaceColor=[1 0 0], FaceAlpha=0.5);

pose = trvec2tform([0,0,0.2]);
addVisual(body1, 'Box', boxdims, pose, FaceColor=[0 1 0], FaceAlpha=0.2);

Add the body 'Link1' to the robot model as a child to the robot's base.

addBody(rbt, body1, rbt.BaseName);

Visualize the robot with visual meshes.

show(rbt);

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 5 objects of type patch, line. These objects represent base, Link1, Link1_mesh.

Input Arguments

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Rigid body, specified as a rigidBody object.

Geometry type for geometry, specified as one of these valid geometry type names:

Geometry TypeShape
"Box"

Isometric view of box solid shape

"Cylinder"

Isometric view of cylinder solid shape

"Capsule"

Isometric view of capsule solid shape

"Sphere"

Isometric view of sphere solid shape

"Mesh"

Isometric view of mesh solid shape

"RegularExtrusion"

Isometric view of regular extrusion solid shape

"GeneralExtrusion"

Isometric view of general extrusion solid shape

"Ellipsoid"

Isometric view of ellipsoid solid shape

"RevolvedSolid"

Isometric view of revolved solid shape

Data Types: char | string

Geometry parameters, specified as a numeric vector, numeric matrix, or string scalar. The type input determines the format of this value.

  • "Box" — [x y z]

  • "Cylinder" — [radius length]

  • "Capsule" — [radius length]

  • "Sphere" — radius

  • "Mesh" — "meshfilename" or {'meshfilename' scale}.'meshfilename' must either be an STL or DAE file name, specified as a string or character vector. scale is the xyz-scale of the mesh's bounding box, specified as a three-element vector of positive numeric values. The scaling is along the axes of the origin frame of the rigid body.

  • "RegularExtrusion" — [numberofsides outerradius length]. It represents extruded geometry with a regular polygonal cross section.

  • "GeneralExtrusion" — [crosssection length]. It represents extruded geometry with an arbitrary polygonal cross-section.

    The crossection parameter is specified as a vector of N number of 2-D points where:

    • N is greater than or equal to 3.

    • No two consecutive vertices coincide, including the first and last.

    • The ordering of vertices follows a right-handed boundary traversal.

    • The cross section must avoid self-intersection.

  • "Ellipsoid" — [x-radius y-radius z-radius]

  • "RevolvedSolid" — crossection for fully revolved solid or [crossection revolutionangle] for partially revolved solid. The revolved solid represents a rotational sweep of a polygonal cross-section specified in the xz-plane.

    The crossection parameter is specified as a vector of N number of 2-D points where:

    • N is greater than or equal to 3.

    • No two consecutive vertices coincide, including the first and last.

    • The ordering of vertices follows a right-handed boundary traversal.

    • The cross section must avoid self-intersection.

    • The cross section must entirely lie in the closed right plane (nonnegative x coordinates).

Example: addVisual(body,"mesh",{"meshName.stl",[0.5 1 1]})

Data Types: single | double | char | string

Mesh transformation relative to the body coordinate frame, specified as a frame name or 4-by-4 homogeneous transformation.

Name-Value Arguments

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Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: addVisual(body1, 'Box', boxdims, pose, FaceColor=[0 1 0], FaceAlpha=0.2)

Color setting of the visual object attached to the rigid body, specified as a 1-by-3 matrix of RGB values.

Data Types: row vector

Transparency setting of the visual object attached to the rigid body, specified as a nonnegative scalar.

Data Types: scalar

Version History

Introduced in R2017b

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See Also

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