vrupdaterobot

Update RigidBodyTree robot pose

Description

example

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

Examples

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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.wrl.

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

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

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 RigidBodyTreeObject.

Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 | uint32 | uint64 | struct

Introduced in R2018b