Cube with different side color in RGB

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jari jafri
jari jafri 2024-4-25
编辑： Karsh Tharyani 2024-5-3
Ran in:
I created a cube using rigid body tree (code below). Then I wanted to color different sides of the cube, red, gree, blue, etc... but when I use the command
addVisual(body, 'box', [1 1 1], 'FaceColor', 'r');
for a side to be in red color, the issue is, it is giving me error of too many arguments.
cube = rigidBodyTree;
body1 = rigidBody('body1');
joint1 = rigidBodyJoint('joint1','floating');
body1.Joint = joint1;
addVisual(body1, 'box', [1 1 1], 'FaceColor', 'r');
Error using robotics.manip.internal/RigidBody/validateAddVisualInputs
Too many input arguments.

Error in robotics.manip.internal.RigidBody/addVisual (line 215)
validType = validateAddVisualInputs(obj, type, parameter, varargin{:});

Error in rigidBody/addVisual (line 231)
obj.BodyInternal.addVisual(Inputs{:});
addVisual(body1, 'box', [1 1 1]);
%addVisual(body1, 'box', [1 1 1], 'FaceColor', colors{i});
addBody(cube,body1,cube.BaseName);

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回答（1 个）

Karsh Tharyani
Karsh Tharyani 2024-5-3
编辑：Karsh Tharyani 2024-5-3
Ran in:
Hi @jari jafri,
The addVisual function on a rigidBody doesn't support the additional name-value arguments that you are trying to pass i.e., "FaceColor". I have conveyed this enhancement request to the development team at MathWorks for a future release of MATLAB.
As a workaround, you can try to use findobj and set to modify the patch colors.
Here are some code snippets to illustrate:
rbt=loadrobot('kinovagen3');
ax=show(rbt);
% All the visual mesh patches on the rigid body tree visualization
patches=findobj(ax.Children,'-regexp','DisplayName','_mesh');
patches =
8x1 Patch array: Patch (DO_NOT_EDIT_CTQxT) Patch (DO_NOT_EDIT_CTQxT) Patch (DO_NOT_EDIT_CTQxT) Patch (DO_NOT_EDIT_CTQxT) Patch (DO_NOT_EDIT_CTQxT) Patch (DO_NOT_EDIT_CTQxT) Patch (DO_NOT_EDIT_CTQxT) Patch (DO_NOT_EDIT_CTQxT)
% Set the ForeArm_Link's visual mesh color to "magenta".
forearmlinkmeshes=findobj(patches,'-regexp','DisplayName','ForeArm_Link_mesh');
set(forearmlinkmeshes,'FaceColor','magenta');
% Set all the visual mesh patches of the robot to the color 'blue'
set(patches,'FaceColor','blue');
Hope this helps,
Karsh

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