www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/VisualizeRobotConfigurationsExample.m
%% Visualize Robot Configurations % Show different configurations of a robot created using a |RigidBodyTree| % model. Use the |homeConfiguration| or |randomConfiguation| functions to % generate the structure that defines all the joint positions. %% % Load example robots as |RigidBodyTree| objects. load exampleRobots.mat %% % 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) %% % Show the home configuration using |show|. You do not need to specify a % configuration input. show(puma1); %% % 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. show(puma1,randomConfiguration(puma1));