.URDFModelica.Documentation.MobileRobotExample .URDFModelica.Documentation.MobileRobotExamplePackage URDFModelica/Examples contains Physics: an example simulation of a Unified Robot Description Format URDF https://wiki.ros.org/urdf/XML/robot defined mobile robot that shows the functionalities of URDFModelica. The example URDF file is https://github.com/ros/urdf_tutorial/blob/ros2/urdf/07-physics.urdf and the package was created using the Python command python ..\urdf_to_package.py -i physics.urdf -o physics.mo -r H:\URDF_Tutorial -p URDFModelica\Examples.
Subpackage URDFModelica/Examples/Physics/Links has 16 link models and their 16 parameter records, all with collision and visualization. Note that the four links Left_gripper, Left_tip, Right_gripper and Right_tip have their collision and visual information as CAD file. Paths are relative from the library and resources.
Subpackage URDFModelica/Examples/Physics/Joints has 15 joint models and their 15 parameter records. Seven joints are rotational, five continuous and two revolute (i.e. with limits). One joint is prismatic. The other seven joints are fixed connection between two links.
URDFModelica/Examples/Physics/Physics is the model that connects the links and joints together. Seven rotational flange pairs and one translational flange pair are propagated, frame_a is connected to frame_a of Base_link.
URDFModelica/Examples/Physics/PhysicsRun adds a Multibody world and outside inputs for the rotational and translational joints. These are converted to rotational and translational positions. Other types of conversion are possible of course and will not be overwritten, if the Python script is called with the update option -u to update the parameter values only. PhysicsRun is a good candidate for FMU export. Physics is connected to the Multibody World through a Modelica.Mechanics.MultiBody.Joints.FreeMotion with r_rel_a(start = {0.0, 0.0, 1.0}) and angles_start = {0.0, 0.0, 0.0}. The seven leaves are connected to CollisionPoints such that the wheels (and also the other ends of kinematic chains) can't fall under the (x, y) plane at z=0.
URDFModelica/Examples/Physics/PhysicsTest is a quick test to check whether the robot was created correctly. It simply adds some inputs to PhysicsRun.
Package URDFModelica/Examples/Physics_Wheels is the same than Physics with an important difference in the four links that simulate wheels. A CollisionCylinder is attached to the collision visualization to properly simulate wheels driving on the (x, y) plane at z=0. This package was not created automatically. Instead, Physics was duplicated and the collision cylinders with counterparts added to the four links that have "wheel" in their name.
Package URDFModelica/Examples_Visualization2 contains the same example with DLR Visualization 2 visualizers. Also the example with more realistic wheels collision simulation is contained.