move
Description
Examples
Create a robotScenario
object.
scenario = robotScenario(UpdateRate=1,StopTime=10);
Create a rigidBodyTree
object of the Franka Emika Panda manipulator using loadrobot
.
robotRBT = loadrobot("frankaEmikaPanda");
Create a rigidBodyTree
-based robotPlatform
object using the manipulator model.
robot = robotPlatform("Manipulator",scenario, ... RigidBodyTree=robotRBT);
Create a non-rigidBodyTree
-based robotPlatform
object of a box to manipulate. Specify the mesh type and size.
box = robotPlatform("Box",scenario,Collision="mesh", ... InitialBasePosition=[0.5 0.15 0.278]); updateMesh(box,"Cuboid",Collision="mesh",Size=[0.06 0.06 0.1])
Visualize the scenario.
ax = show3D(scenario,Collisions="on");
view(79,36)
light
Specify the initial and the pick-up joint configuration of the manipulator, to move the manipulator from its initial pose to close to the box.
initialConfig = homeConfiguration(robot.RigidBodyTree);
pickUpConfig = [0.2371 -0.0200 0.0542 -2.2272 0.0013 ...
2.2072 -0.9670 0.0400 0.0400];
Create an RRT path planner using the manipulatorRRT
object, and specify the manipulator model.
planner = manipulatorRRT(robot.RigidBodyTree,scenario.CollisionMeshes); planner.IgnoreSelfCollision = true;
Plan the path between the initial and the pick-up joint configurations. Then, to visualize the entire path, interpolate the path into small steps.
rng("default")
path = plan(planner,initialConfig,pickUpConfig);
path = interpolate(planner,path,25);
Set up the simulation.
setup(scenario)
Check the collision before manipulator picks up the box.
checkCollision(robot,"Box", ... IgnoreSelfCollision="on")
ans = logical
0
Move the joints of the manipulator along the path and visualize the scenario.
helperRobotMove(path,robot,scenario,ax)
Check the collision after manipulator picks up the box.
checkCollision(robot,"Box", ... IgnoreSelfCollision="on")
ans = logical
1
Use the attach
function to attach the box to the gripper of the manipulator.
attach(robot,"Box","panda_hand", ... ChildToParentTransform=trvec2tform([0 0 0.1]))
Specify the drop-off joint configuration of the manipulator to move the manipulator from its pick-up pose to the box drop-off pose.
dropOffConfig = [-0.6564 0.2885 -0.3187 -1.5941 0.1103 ...
1.8678 -0.2344 0.04 0.04];
Plan the path between the pick-up and drop-off joint configurations.
path = plan(planner,pickUpConfig,dropOffConfig); path = interpolate(planner,path,25);
Move the joints of the manipulator along the path and visualize the scenario.
helperRobotMove(path,robot,scenario,ax)
Use the detach
function to detach the box from the manipulator gripper.
detach(robot)
Plan the path between the drop-off and initial joint configurations to move the manipulator from its box drop-off pose to its initial pose.
path = plan(planner,dropOffConfig,initialConfig); path = interpolate(planner,path,25);
Move the joints of the manipulator along the path and visualize the scenario.
helperRobotMove(path,robot,scenario,ax)
Helper function to move the joints of the manipulator.
function helperRobotMove(path,robot,scenario,ax) for idx = 1:size(path,1) jointConfig = path(idx,:); move(robot,"joint",jointConfig) show3D(scenario,fastUpdate=true,Parent=ax,Collisions="on"); drawnow advance(scenario); end end
Input Arguments
Robot platform in the scenario, specified as a robotPlatform
object.
Type of robot platform, specified as "base"
or
"joint"
.
Data Types: char
| string
Robot platform motion at the current instance in the scenario, specified as a 16-element vector with these elements in order:
[x y z]
— Positions in xyz-axes in meters.[vx vy vz]
— Velocities in xyz-directions in meters per second.[ax ay az]
— Accelerations in xyz-directions in meters per second squared.[qw qx qy qz]
— Quaternion vector for orientation.[wx wy wz]
— Angular velocities in radians per second.
Data Types: single
| double
Robot platform joint configuration at the current instance in the scenario,
specified as an N-element vector. N is the total
number of joints associated with the rigidBodyTree
object.
Data Types: single
| double
Version History
Introduced in R2022a
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