vrupdaterobot

Update RigidBodyTree robot pose

Syntax

vrupdaterobot(RBT, tforms, config)

vrupdaterobot(RBT, tforms, config) updates the robot pose from its current configuration using the config argument.

This example uses:

This example shows you how to insert a robot into a virtual world and update its pose

Import the Robot and Setup the World

Import the KUKA LFR iiwa robot from its URDF definition and insert it to the virtual world created from robot_scene.x3d.

RBT = importrobot('iiwa7.urdf');
RBT.DataFormat = 'row';
robotWorld = vrworld('robot_scene');
open(robotWorld);

Get Transforms of Current Pose of the Robot

The tforms output argument contains a list of transforms that describe the robot pose in its initial or 'home' configuration.

[node, W, tforms] = vrinsertrobot(robotWorld, RBT);
vrfigure(robotWorld);

{"String":"Figure Simple Robot Scene contains objects of type hgjavacomponent, uimenu, uipanel, uitoolbar.","Tex":[],"LaTex":[]}

Change the Pose of the Robot

vrupdaterobot(RBT, tforms, randomConfiguration(RBT));
vrdrawnow;
vrfigure(robotWorld);

{"String":"Figure Simple Robot Scene contains objects of type hgjavacomponent, uimenu, uipanel, uitoolbar.","Tex":[],"LaTex":[]}

Robotics System Toolbox™ rigidBodyTree object. For more information, see rigidBodyTree (Robotics System Toolbox).

List of robot transforms, specified as a cell array of vrnode objects.

Desired pose of the robot, specified in the same format as the RBT.DataFormat field of the rigidBodyTree object.

Introduced in R2018b