When importing a URDF model into a Simscape™ Multibody™ model, how do I set the geometry scale attribute to 0.1?

6 次查看（过去 30 天）

Jingchao Li 2023-2-23

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1917465-when-importing-a-urdf-model-into-a-simscape-multibody-model-how-do-i-set-the-geometry-scale-attri

评论： Jingchao Li 2023-2-23

In the Import URDF Models entry of the help document, I can see that I can set the scale attribute to 0.01 or 0.001 by setting the unit to cm or mm. But how do I set the scale attribute to 0.1?

4 个评论
显示 2更早的评论隐藏 2更早的评论

Rajeev 2023-2-23

Can you try this?:

smimport('your_model.urdf', 'Scale', 0.1, 'Unit', 'm');

Jingchao Li 2023-2-23

I tried this command but got an error.

请先登录，再进行评论。

请先登录，再回答此问题。

回答（1 个）

Tamir Suliman 2023-2-23

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1917465-when-importing-a-urdf-model-into-a-simscape-multibody-model-how-do-i-set-the-geometry-scale-attri#answer_1178235

在 MATLAB Online 中打开

This will import the model 'mymodel.urdf' and scale it by a factor of 0.1 using the decimeter unit.

robot = importrobot('mymodel.urdf', 'Scale', 0.1, 'Unit', 'dm');

To set the scale attribute to 0.1, you can set the unit to "dm" which stands for decimeter. Decimeter is a metric unit of length that is equal to one-tenth of a meter, so setting the unit to "dm" would correspond to a scaling factor of 0.1.

1 个评论
显示 -1更早的评论隐藏 -1更早的评论

Jingchao Li 2023-2-23

Thank you for your answer! However, I want to use the ‘smimport’ command to import a URDF into a Simscape™ Multibody™ model instead of a rigid body tree model. How to set the scale to 0.1 in this case?

请先登录，再进行评论。

请先登录，再回答此问题。