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showdetails

Display details of imported robot

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Syntax

showdetails(importInfo)

Description

showdetails(importInfo) displays the details of each body in the rigidBodyTree object that is created from calling importrobot. Specify the rigidBodyTreeImportInfo object from the import process.

The list shows the bodies with their associated joint name, joint type, source blocks, parent body name, and children body names. The list also provides highlight links to the associated blocks used in the Simscape™ Multibody™ model.

Note

The Highlight links assume the block names are unchanged.

example

Examples

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This example uses:

Open Live Script

Import an existing Simscape™ Multibody™ robot model into the Robotics System Toolbox™ as a rigidBodyTree object.

Open the Simscape™ Multibody™ model. This is a model for a humanoid robot.

open_system('example_smhumanoidrobot.slx')

Import the model.

[robot,importInfo] = importrobot(gcs)
robot = 
  rigidBodyTree with properties:

     NumBodies: 21
        Bodies: {1×21 cell}
          Base: [1×1 rigidBody]
     BodyNames: {'Body01'  'Body02'  'Body03'  'Body04'  'Body05'  'Body06'  'Body07'  'Body08'  'Body09'  'Body10'  'Body11'  'Body12'  'Body13'  'Body14'  'Body15'  'Body16'  'Body17'  'Body18'  'Body19'  'Body20'  'Body21'}
      BaseName: 'Base'
       Gravity: [0 0 -9.8066]
    DataFormat: 'struct'


importInfo = 
  rigidBodyTreeImportInfo with properties:

        SourceModelName: 'example_smhumanoidrobot'
          RigidBodyTree: [1×1 rigidBodyTree]
    BlockConversionInfo: [1×1 struct]

Display details about the created rigidBodyTree object.

showdetails(importInfo)
--------------------
Robot: (21 bodies)

 Idx     Body Name     Simulink Source Blocks     Joint Name     Simulink Source Blocks   Joint Type     Parent Name(Idx)   Children Name(s)
 ---     ---------     ----------------------     ----------     ----------------------   ----------     ----------------   ----------------
   1        Body01    Info | List | Highlight        Joint01    Info | List | Highlight     revolute              Base(0)   Body02(2)  
   2        Body02    Info | List | Highlight        Joint02    Info | List | Highlight     revolute            Body01(1)   Body03(3)  
   3        Body03    Info | List | Highlight        Joint03    Info | List | Highlight     revolute            Body02(2)   Body04(4)  
   4        Body04    Info | List | Highlight        Joint04    Info | List | Highlight     revolute            Body03(3)   
   5        Body05    Info | List | Highlight        Joint05    Info | List | Highlight     revolute              Base(0)   Body06(6)  
   6        Body06    Info | List | Highlight        Joint06    Info | List | Highlight     revolute            Body05(5)   Body07(7)  
   7        Body07    Info | List | Highlight        Joint07    Info | List | Highlight     revolute            Body06(6)   Body08(8)  
   8        Body08    Info | List | Highlight        Joint08    Info | List | Highlight     revolute            Body07(7)   
   9        Body09    Info | List | Highlight        Joint09    Info | List | Highlight     revolute              Base(0)   Body10(10)  
  10        Body10    Info | List | Highlight        Joint10    Info | List | Highlight     revolute            Body09(9)   Body11(11)  
  11        Body11    Info | List | Highlight        Joint11    Info | List | Highlight     revolute           Body10(10)   Body12(12)  
  12        Body12    Info | List | Highlight        Joint12    Info | List | Highlight     revolute           Body11(11)   
  13        Body13    Info | List | Highlight        Joint13    Info | List | Highlight     revolute              Base(0)   Body14(14)  
  14        Body14    Info | List | Highlight        Joint14    Info | List | Highlight     revolute           Body13(13)   Body15(15)  
  15        Body15    Info | List | Highlight        Joint15    Info | List | Highlight     revolute           Body14(14)   Body16(16)  
  16        Body16    Info | List | Highlight        Joint16    Info | List | Highlight     revolute           Body15(15)   
  17        Body17    Info | List | Highlight        Joint17    Info | List | Highlight     revolute              Base(0)   Body18(18)  
  18        Body18    Info | List | Highlight        Joint18    Info | List | Highlight     revolute           Body17(17)   Body19(19)  
  19        Body19    Info | List | Highlight        Joint19    Info | List | Highlight        fixed           Body18(18)   Body20(20)  
  20        Body20    Info | List | Highlight        Joint20    Info | List | Highlight        fixed           Body19(19)   
  21        Body21    Info | List | Highlight        Joint21    Info | List | Highlight        fixed              Base(0)   
--------------------

Input Arguments

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Robot import information, specified as a rigidBodyTreeImportInfo object. This object is returned when you use importrobot.

Version History

Introduced in R2018b

See Also

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