vrupdaterobot

(To be removed) Update RigidBodyTree robot pose

vrupdaterobot will be removed in a future release. For more information, see Version History.

Syntax

vrupdaterobot(RBT, tforms, config)

Description

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

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 R2018b

R2023b: 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.