Multibody Body Data Block

The Body Data-Block

The Body Data-Block, as the name indicates, is used to define a body. The parameters defined in the data-block are explained below.

• name

This name is the set to specify the topic name for this body. This name is prepended with the namespace parameter.

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• namespace

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• mesh

This specifies the mesh file for this body. If the mesh is empty, this body shall be treated without collision. The mesh name is combined with the high resolution path to get the visual mesh and with low resolution path to get the collision mesh.

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• collision mesh

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• shape

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• collision shape

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• mass: 0.3

This is the mass of the body. If the mass is set to 0, the body is kinematic.

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• location:

This is the initial location of the body in the world frame. This location will of course change as the simulation goes on and the body interacts with other objects in the simulation

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• inertia:

This is the principal inertia of the object. If not specified. It is computed internally by utilizing the collision mesh's geometry

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• inertial offset:

This is the inertial offset from the mesh origin. This helps in giving the user the ability to define a mesh's origin at a convenient location without having to place it at the body's center of mass. The inertial offset can then be added. If the inertial offset if not specified, it is computed internally by the AMBF Framework based on the collision mesh's geometry.

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• publish children names:

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• publish joint names:

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• publish joint positions:

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• friction:

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• damping:

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• restitution:

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• collision groups:

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• controller:

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• color:

There are three different ways of specifying the color for a body. You can either use the color key and then specify a color from the ambf/ambf_models/descriptions/color/colors.yaml

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• color rgba:

Instead of picking a color name as in the field above. You can specify the raw color value using:

color rgba: {r: 0.5, g: 0.5, b: 0.5, a: 1.0}.

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• color components:

For even greater control of color. You can use the color components key:

color components:
    ambient: {level: 1.0}
    diffuse: {r: 0.955, g: 0.4814, b: 0.3072}
    specular: {r: 1.0, g: 1.0, b: 1.0}
    transparency: 1.0