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homeConfiguration

Get home configuration of robot

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Syntax

configuration = homeConfiguration(robot)

Description

configuration = homeConfiguration(robot) returns the home configuration of the robot model. The home configuration is the ordered list of HomePosition properties of each nonfixed joint.

example

Examples

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Open Live Script

Show different configurations of a robot created using a rigidBodyTree model. Use the homeConfiguration or randomConfiguration functions to generate the structure that defines all the joint positions.

Load a FANUC LR Mate 200ib from the Robotics System Toolbox™ loadrobot. It is returned as a rigidBodyTree object.

robot = loadrobot("fanucLRMate200ib");
showdetails(robot)
--------------------
Robot: (9 bodies)

 Idx     Body Name            Joint Name            Joint Type     Parent Name(Idx)   Children Name(s)
 ---     ---------            ----------            ----------     ----------------   ----------------
   1          base        base_link-base                 fixed         base_link(0)   
   2        link_1               joint_1              revolute         base_link(0)   link_2(3)  
   3        link_2               joint_2              revolute            link_1(2)   link_3(4)  
   4        link_3               joint_3              revolute            link_2(3)   link_4(5)  
   5        link_4               joint_4              revolute            link_3(4)   link_5(6)  
   6        link_5               joint_5              revolute            link_4(5)   link_6(7)  
   7        link_6               joint_6              revolute            link_5(6)   flange(8)  tool0(9)  
   8        flange        joint_6-flange                 fixed            link_6(7)   
   9         tool0          link_6-tool0                 fixed            link_6(7)   
--------------------

Create a structure for the home configuration of the robot. The structure has joint names and positions for each body on the robot model.

config = homeConfiguration(robot)
config=1×6 struct array with fields:
    JointName
    JointPosition

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

show(robot);

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 26 objects of type patch, line. These objects represent base_link, base, link_1, link_2, link_3, link_4, link_5, link_6, flange, tool0, link_1_mesh, link_2_mesh, link_3_mesh, link_4_mesh, link_5_mesh, link_6_mesh, base_link_mesh.

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(robot,config);

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 26 objects of type patch, line. These objects represent base_link, base, link_1, link_2, link_3, link_4, link_5, link_6, flange, tool0, link_1_mesh, link_2_mesh, link_3_mesh, link_4_mesh, link_5_mesh, link_6_mesh, base_link_mesh.

Create random configurations and show them.

show(robot,randomConfiguration(robot));

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 26 objects of type patch, line. These objects represent base_link, base, link_1, link_2, link_3, link_4, link_5, link_6, flange, tool0, link_1_mesh, link_2_mesh, link_3_mesh, link_4_mesh, link_5_mesh, link_6_mesh, base_link_mesh.

Input Arguments

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Robot model, specified as a rigidBodyTree object.

Output Arguments

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Robot configuration, returned as a vector of joint positions or a structure with joint names and positions for all the bodies in the robot model. You can generate a configuration using homeConfiguration(robot), randomConfiguration(robot), or by specifying your own joint positions in a structure. To use the vector form of configuration, set the DataFormat property for the robot to either 'row' or 'column'.

Extended Capabilities

Version History

Introduced in R2016b

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See Also

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