Get home configuration of robot
Show different configurations of a robot created using a
RigidBodyTree model. Use the
randomConfiguation functions to generate the structure that defines all the joint positions.
Load example robots as
Create a structure for the home configuration of a Puma robot. The structure has joint names and positions for each body on the robot model.
config = homeConfiguration(puma1)
config=1×6 struct array with fields: JointName JointPosition
Show the home configuration using
show. You do not need to specify a configuration input.
Modify the configuration and set the second joint position to
pi/2. Show the resulting change in the robot configuration.
config(2).JointPosition = pi/2; show(puma1,config);
Create random configurations and show them.
configuration— Robot configuration
Robot configuration, returned as a vector of joint positions or a
structure with joint names and positions for all the bodies in the robot
model. You can generate a configuration using
randomConfiguration(robot), or by specifying your own
joint positions in a structure. To use the vector form of
configuration, set the
DataFormat property for the
robot to either