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Update geometry of collision capsule of rigid body

Since R2022b



    updateGeometry(capapprox,bodyname,parameters) updates the geometry of the first collision capsule of the rigid body bodyname with the new geometry parameters parameters.

    updateGeometry(___,idx) updates the geometry of the collision capsule at index idx of the rigid body, in addition to the input arguments from the previous syntax.


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    Load a robot into the workspace and visualize it.

    robotIRB = loadrobot("abbIrb120");

    Create a capsule approximation of the robot, and visualize the capsule-approximated robot model.

    capsIRB = capsuleApproximation(robotIRB);

    Use the getCapsules function to see if the end effector, "tool0", has any collision capsules. Because tool0 is just a frame, it has no collision mesh to approximate as a collision capsule.

    capsulesTool = getCapsules(capsIRB,"tool0")
    capsulesTool =
      1x0 empty cell array

    Add a capsule to tool0, at a position 0.15 meters along the x-axis, with a radius of 0.15 and a length of 0.

    addCapsule(capsIRB,"tool0",[0.15 0],trvec2tform([0.15 0 0]))

    Again check tool0 for a collision capsule, and verify the properties of the detected capsule.

    capsulesTool = getCapsules(capsIRB,"tool0")
    capsulesTool = 1x1 cell array
        {1x1 collisionCapsule}
    ans = 
      collisionCapsule with properties:
        Radius: 0.1500
        Length: 0
          Pose: [4x4 double]

    Remove the capsule from the base link. Then, reduce the collision capsule size of tool0, and move it -0.05 meters from the previous position along the x-axis.

    updatePose(capsIRB,"tool0",trvec2tform([-0.05 0 0]),1)
    updateGeometry(capsIRB,"tool0",[.1 0.01],1)

    Input Arguments

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    Capsule approximation of a rigid body tree, specified as a capsuleApproximation object.

    Name of the rigid body, specified as a string scalar or character vector. The rigid body must exist in the rigidBodyTree object of the RigidBodyTree property of capsapprox.

    Example: "EndEffectorTool"

    Data Types: char | string

    Index of the collision capsule in the rigid body, specified as a nonnegative integer.

    Example: 5

    Updated radius and length of the collision capsule, specified as a two-element row vector of the form [radius length], in meters. The radius is the radius of the spherical ends of the capsule, and the length is the length of the central line segment of the capsule.

    Example: [1 2]

    Extended Capabilities

    C/C++ Code Generation
    Generate C and C++ code using MATLAB® Coder™.

    Version History

    Introduced in R2022b