removeBody
Remove body from robot
Description
Examples
Modify a Robot Rigid Body Tree Model
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: [1x1 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: [1x1 rigidBody] Children: {[1x1 rigidBody]} Visuals: {'Mesh Filename link_4.stl'} Collisions: {'Mesh Filename link_4.stl'}
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: {[1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody] [1x1 rigidBody]} Base: [1x1 rigidBody] BodyNames: {'link_4' 'link_5' 'link_6' 'tool0'} BaseName: 'link_3' Gravity: [0 0 0] DataFormat: 'struct'
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) --------------------
Input Arguments
robot
— Robot model
rigidBodyTree
object
Robot model, specified as a rigidBodyTree
object.
bodyname
— Body name
string scalar | character vector
Body name, specified as a string scalar character vector. This body must be on the robot model
specified in robot
.
Data Types: char
| string
Output Arguments
newSubtree
— Robot subtree
rigidBodyTree
object
Robot subtree, returned as a rigidBodyTree
object. This new subtree uses
the parent name of the body specified by bodyname
as the
base name. All bodies that are attached in the previous robot model
(including the body with bodyname
specified) are added
to the subtree.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
When creating the rigidBodyTree
object, use the syntax that specifies the
MaxNumBodies
as an upper bound for adding bodies to the robot model.
You must also specify the DataFormat
property as a name-value pair. For
example:
robot = rigidBodyTree("MaxNumBodies",15,"DataFormat","row")
To minimize data usage, limit the upper bound to a number close to the expected number of bodies in the model. All data formats are supported for code generation. To use the dynamics functions, the data format must be set to "row"
or "column"
.
The show
and showdetails
functions do not support code generation.
Version History
Introduced in R2016b
See Also
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