vrupdaterobot
(To be removed) Update RigidBodyTree robot pose
vrupdaterobot
will be removed in a future release. For more
information, see Version History.
Description
Examples
Add Robot to World and Change its Pose
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);
Change the Pose of the Robot
vrupdaterobot(RBT, tforms, randomConfiguration(RBT)); vrdrawnow; vrfigure(robotWorld);
Input Arguments
RBT
— Robot description
rigidBodyTree
object
Robotics System Toolbox™
rigidBodyTree
object. For more information, see rigidBodyTree
(Robotics System Toolbox).
tforms
— Robot transforms
cell array
List of robot transforms, specified as a cell array of vrnode
objects.
config
— Desired end configuration
structure | vector
Desired pose of the robot, specified in the same format as the
RBT.DataFormat
field of the rigidBodyTree
object.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint32
| uint64
| struct
Version History
Introduced in R2018bR2023b: To be removed
The vrupdaterobot
function will be removed in a future release.
Instead, use sim3d
classes and Simulation 3D blocks in Unreal Engine Scenario Applications to interface
MATLAB® and Simulink® with the Unreal Engine® 3D simulation environment. To get started, see Get Started Creating Virtual World with Actors.
See Also
vrinsertrobot
| rigidBodyTree
(Robotics System Toolbox)
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