addSubtree
Add subtree to robot
Syntax
Description
addSubtree(
attaches the robot model, robot,bodyname,subtreerobot)newSubtree, to an
existing robot model, robot, at the body
specified by bodyname. The subtree
base is not added as a body.
addSubtree(
attaches the robot model, robot,framename,subtreerobot)newSubtree, to an
existing robot model, robot, at the frame
specified by framename.
addSubtree(___,
replaces the current base of the subtree with ReplaceBase=MODE)bodyname when
MODE is set to true. MODE is true by
default.
Examples
Make changes to an existing rigidBodyTree object. You can get replace joints, bodies and subtrees in the rigid body tree.
Load an ABB IRB-120T manipulator from the Robotics System Toolbox™ loadrobot. It is specified as a rigidBodyTree object.
manipulator = loadrobot("abbIrb120T");View the robot with show and read the details of the robot using showdetails.
show(manipulator);
showdetails(manipulator)
-------------------- Robot: (8 bodies) Idx Body Name Joint Name Joint Type Parent Name(Idx) Children Name(s) --- --------- ---------- ---------- ---------------- ---------------- 1 base base_link-base fixed base_link(0) 2 link_1 joint_1 revolute base_link(0) link_2(3) 3 link_2 joint_2 revolute link_1(2) link_3(4) 4 link_3 joint_3 revolute link_2(3) link_4(5) 5 link_4 joint_4 revolute link_3(4) link_5(6) 6 link_5 joint_5 revolute link_4(5) link_6(7) 7 link_6 joint_6 revolute link_5(6) tool0(8) 8 tool0 joint6-tool0 fixed link_6(7) --------------------
Get a specific body to inspect the properties. The only child of the link_3 body is the link_4 body. You can copy a specific body as well.
body3 = getBody(manipulator,"link_3");
childBody = body3.Children{1}childBody =
rigidBody with properties:
Name: 'link_4'
Joint: [1×1 rigidBodyJoint]
Mass: 1.3280
CenterOfMass: [0.2247 1.5000e-04 4.1000e-04]
Inertia: [0.0028 0.0711 0.0723 1.3052e-05 -1.3878e-04 -6.6037e-05]
Parent: [1×1 rigidBody]
Children: {[1×1 rigidBody]}
Visuals: {'Mesh Filename link_4.stl'}
Collisions: {'Mesh Filename link_4.stl'}
FrameNames: {'link_4'}
ParentFrame: 'link_3'
body3Copy = copy(body3);
Replace the joint on the link_3 body. You must create a new Joint object and use replaceJoint to ensure the downstream body geometry is unaffected. Call setFixedTransform if necessary to define a transform between the bodies instead of with the default identity matrices.
newJoint = rigidBodyJoint("prismatic"); replaceJoint(manipulator,"link_3",newJoint); showdetails(manipulator)
-------------------- Robot: (8 bodies) Idx Body Name Joint Name Joint Type Parent Name(Idx) Children Name(s) --- --------- ---------- ---------- ---------------- ---------------- 1 base base_link-base fixed base_link(0) 2 link_1 joint_1 revolute base_link(0) link_2(3) 3 link_2 joint_2 revolute link_1(2) link_3(4) 4 link_3 prismatic fixed link_2(3) link_4(5) 5 link_4 joint_4 revolute link_3(4) link_5(6) 6 link_5 joint_5 revolute link_4(5) link_6(7) 7 link_6 joint_6 revolute link_5(6) tool0(8) 8 tool0 joint6-tool0 fixed link_6(7) --------------------
Remove an entire body and get the resulting subtree using removeBody. The removed body is included in the subtree.
subtree = removeBody(manipulator,"link_4")subtree =
rigidBodyTree with properties:
NumBodies: 4
Bodies: {[1×1 rigidBody] [1×1 rigidBody] [1×1 rigidBody] [1×1 rigidBody]}
Base: [1×1 rigidBody]
BodyNames: {'link_4' 'link_5' 'link_6' 'tool0'}
BaseName: 'link_3'
Gravity: [0 0 0]
DataFormat: 'struct'
FrameNames: {'link_3' 'link_4' 'link_5' 'link_6' 'tool0'}
show(subtree);
Remove the modified link_3 body. Add the original copied link_3 body to the link_2 body, followed by the returned subtree. The robot model remains the same. See a detailed comparison through showdetails.
removeBody(manipulator,"link_3"); addBody(manipulator,body3Copy,"link_2") addSubtree(manipulator,"link_3",subtree) showdetails(manipulator)
-------------------- Robot: (8 bodies) Idx Body Name Joint Name Joint Type Parent Name(Idx) Children Name(s) --- --------- ---------- ---------- ---------------- ---------------- 1 base base_link-base fixed base_link(0) 2 link_1 joint_1 revolute base_link(0) link_2(3) 3 link_2 joint_2 revolute link_1(2) link_3(4) 4 link_3 joint_3 revolute link_2(3) link_4(5) 5 link_4 joint_4 revolute link_3(4) link_5(6) 6 link_5 joint_5 revolute link_4(5) link_6(7) 7 link_6 joint_6 revolute link_5(6) tool0(8) 8 tool0 joint6-tool0 fixed link_6(7) --------------------
Load the UR10 robot manipulator from the Robotics System Toolbox™ loadrobot. It is specified as a rigidBodyTree object.
ur10 = loadrobot("universalUR10");Load the Robotiq 2F-85 gripper to attach it to the manipulator arm.
gripper = loadrobot("robotiq2F85");Attach the gripper to the end of the UR10 arm.
addSubtree(ur10, 'tool0', gripper, ReplaceBase=false);View the robot with show and read the details of the robot using showdetails to view the modified joint of the rigidBodyTree object.
show(ur10)
ans =
Axes (Primary) with properties:
XLim: [-1.5000 1.5000]
YLim: [-1.5000 1.5000]
XScale: 'linear'
YScale: 'linear'
GridLineStyle: '-'
Position: [0.1300 0.1100 0.7750 0.8150]
Units: 'normalized'
Show all properties
showdetails(ur10)
-------------------- Robot: (21 bodies) Idx Body Name Joint Name Joint Type Parent Name(Idx) Children Name(s) --- --------- ---------- ---------- ---------------- ---------------- 1 base_link world_joint fixed world(0) base(2) shoulder_link(3) 2 base base_link-base_fixed_joint fixed base_link(1) 3 shoulder_link shoulder_pan_joint revolute base_link(1) upper_arm_link(4) 4 upper_arm_link shoulder_lift_joint revolute shoulder_link(3) forearm_link(5) 5 forearm_link elbow_joint revolute upper_arm_link(4) wrist_1_link(6) 6 wrist_1_link wrist_1_joint revolute forearm_link(5) wrist_2_link(7) 7 wrist_2_link wrist_2_joint revolute wrist_1_link(6) wrist_3_link(8) 8 wrist_3_link wrist_3_joint revolute wrist_2_link(7) ee_link(9) tool0(10) 9 ee_link ee_fixed_joint fixed wrist_3_link(8) 10 tool0 wrist_3_link-tool0_fixed_joint fixed wrist_3_link(8) robotiq_arg2f_base_link(11) 11 robotiq_arg2f_base_link robotiq_arg2f_base_link_jnt fixed tool0(10) left_outer_knuckle(12) left_inner_knuckle(16) right_inner_knuckle(17) right_outer_knuckle(18) 12 left_outer_knuckle finger_joint revolute robotiq_arg2f_base_link(11) left_outer_finger(13) 13 left_outer_finger left_outer_finger_joint fixed left_outer_knuckle(12) left_inner_finger(14) 14 left_inner_finger left_inner_finger_joint revolute left_outer_finger(13) left_inner_finger_pad(15) 15 left_inner_finger_pad left_inner_finger_pad_joint fixed left_inner_finger(14) 16 left_inner_knuckle left_inner_knuckle_joint revolute robotiq_arg2f_base_link(11) 17 right_inner_knuckle right_inner_knuckle_joint revolute robotiq_arg2f_base_link(11) 18 right_outer_knuckle right_outer_knuckle_joint revolute robotiq_arg2f_base_link(11) right_outer_finger(19) 19 right_outer_finger right_outer_finger_joint fixed right_outer_knuckle(18) right_inner_finger(20) 20 right_inner_finger right_inner_finger_joint revolute right_outer_finger(19) right_inner_finger_pad(21) 21 right_inner_finger_pad right_inner_finger_pad_joint fixed right_inner_finger(20) --------------------
Input Arguments
Extended Capabilities
Version History
Introduced in R2016bSee Also
rigidBodyJoint | rigidBody | addBody | removeBody | replaceBody
