Update URDF Robot Model in Figure

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Matthew Haahr 2021-9-13

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https://ww2.mathworks.cn/matlabcentral/answers/1451914-update-urdf-robot-model-in-figure

移动：Remo Pillat 2023-10-15

I'm importing a URDF using importrobot and I'm trying to add it to an already existing figure (which I can do using hold on) but I'm having issues updating that figure.

I use set to change the positions of the elements on the figure, is there an equivalent for show (with reference to robot model)

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Matthew Haahr 2021-9-14

Hi Krash,

I figured out the issue, "show" automatically re-enables the 'PreservePlot' flag each time it is called and that was cause the persistant robot models in the figure. finding that flag resolved the issue.

I saw the 'FastUpdate' flag earlier, but I am collaborting with people using MATLAB R2020a which had issues setting that option.

Thanks,

Matthew

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Answer 1

Karsh Tharyani 2021-9-14

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https://ww2.mathworks.cn/matlabcentral/answers/1451914-update-urdf-robot-model-in-figure#answer_1333714

移动：Remo Pillat 2023-10-15

Hi Matthew,

Can you clarify what do you mean by updating the figure? Also, can you clarify which elements are you referring to in the figure?

I am not sure if this helps, but you can use show on the output rigidBodyTree object from importrobot. Given a joint configuration (a row/column vector of joint positions on the rigidBodyTree), the pose of the various visualized rigid bodies on the robot should update.

I would also like to draw your attention to the FastUpdate option of the "show" function on the robot; this shall fast update the pose of the bodies on the robot in the figure and is particularly useful for visualizing an array of joint configurations in a looping construct (say inside a "for" loop).

Best,

Karsh