removeFrame

Remove frame from rigid body

Since R2025a

collapse all in page

Syntax

removeFrame(rb,name)

Description

removeFrame(rb,name) removes a frame with name from the rigid body. Removing a frame also removes the corresponding frame on the rigid body. However, this operation does not remove any collision or visual geometries on the rigid body, nor does it remove any rigid bodies from the tree specified as rigidBody objects.

example

Examples

collapse all

Open Live Script

This example showcases how to manage frames within a rigid body, covering operations such as adding, removing, and updating frames, as well as retrieving transforms between them.

Create a rigid body robot model and display initial frame information.

A rigid body can contain multiple frames used to define coordinate systems for attaching sensors, tools, or other components.

rb = rigidBody('rb');
rbFrame = frameinfo(rb, 'rb')
rbFrame = struct with fields:
              Name: 'rb'
    RigidTransform: [4×4 double]
       ParentFrame: ''
       ChildFrames: {1×0 cell}

Add a new frame named test to the rigid body rb, defining its position with a translation relative to the root frame rb.

addFrame(rb, 'test', 'rb', trvec2tform([1 2 3]));

Next, add another frame, test1, which is positioned relative to the newly added frame test using a combination of translation and rotation.

Each frame is defined by its name, parent frame, and rigid transform.

addFrame(rb, 'test1', 'test', trvec2tform([1 2 3]));

Display information about these added frames to verify their properties and confirm their placement within the rigid body.

testFrame = frameinfo(rb, 'test1')
testFrame = struct with fields:
              Name: 'test1'
    RigidTransform: [4×4 double]
       ParentFrame: 'test'
       ChildFrames: {1×0 cell}

You can also remove frames, which updates the frame tree to maintain its kinematic structure. Remove the frame test and observe its effect on test1 frame.

% Remove frame 'test'
removeFrame(rb, 'test');

% Check updated frame information for 'test1'
frameAfterRemove = frameinfo(rb, 'test1')
frameAfterRemove = struct with fields:
              Name: 'test1'
    RigidTransform: [4×4 double]
       ParentFrame: 'rb'
       ChildFrames: {1×0 cell}

Now, modify existing frames by updating their properties, such as the name, parent frame, or rigid transform.

First, rename test1 frame to test2.

updateFrame(rb, 'test1', 'Name', 'test2');

Add a new frame test3 and update test2 to use it as the parent frame.

addFrame(rb, 'test3', 'rb', trvec2tform([1 1 1]));
updateFrame(rb, 'test2', 'ParentFrame', 'test3', ...
    'RigidTransform', trvec2tform([1 2 3]));

Display updated frame information.

frameAfterUpdate = frameinfo(rb, 'test2')
frameAfterUpdate = struct with fields:
              Name: 'test2'
    RigidTransform: [4×4 double]
       ParentFrame: 'test3'
       ChildFrames: {1×0 cell}

Input Arguments

collapse all

Rigid body, specified as a rigidBody object.

Name of the frame to be removed from the rigid body, specified as a string scalar or character vector.

Data Types: char | string

Extended Capabilities

expand all

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

Version History

Introduced in R2025a

See Also

| | | |