Show different configurations of a robot created using aRigidBodyTreemodel. Use thehomeConfigurationorrandomConfiguationfunctions to generate the structure that defines all the joint positions.

Load example robots asRigidBodyTreeobjects.

loadexampleRobots.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)

config=1×6 struct array with fields:JointName JointPosition

Show the home configuration usingshow. You do not need to specify a configuration input.

显示(puma1);

Modify the configuration and set the second joint position topi/2. Show the resulting change in the robot configuration.

配置(2)。JointPosition = pi/2; show(puma1,config);

Create random configurations and show them.

show(puma1,randomConfiguration(puma1));