How to plot two moving robot in the same figure and change one of them transparency？

Question

snow John 2022-9-22

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链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1809930-how-to-plot-two-moving-robot-in-the-same-figure-and-change-one-of-them-transparency

评论： snow John 2022-10-5

采纳的回答： Karsh Tharyani

在 MATLAB Online 中打开

Hello guys ，i want plot two moving robot in the the figure and change on of them transparency.

but i don't know how to change just on of them transparency use the code

alpha(robot,0.2) %change robot transparency

and i just want to implement the effect like below

And i try to use the task and joint space trajectory example to implement the result

The code are below for the purpose change

axis([-.8 .8 -.8 .8 0 1.2]);
view(135,15)
for i=1:length(trajTimes)
    % Current time 
    tNow= trajTimes(i);
    % Interpolate simulated joint positions to get configuration at current time
    configNow = interp1(tJoint,stateJoint(:,1:numJoints),tNow);
    configNow1 = interp1(tJoint,stateJoint(:,1:numJoints),tNow+1);
    poseNow = getTransform(robot,configNow,endEffector);
    show(robot,configNow1,'PreservePlot',false,'Frames','off');
    hold on
    show(robot,configNow,'PreservePlot',false,'Frames','off');
    jointSpaceMarker = plot3(poseNow(1,4),poseNow(2,4),poseNow(3,4),'r.-','MarkerSize',2);
%     alpha(robot,0.2)% here didn't works
    alpha 0.2
    drawnow limitrate ;
 end

but only one moveing like below picture shows

Can someone help me

Best wishes，

-jian

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Answer 1

Karsh Tharyani 2022-10-4

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1809930-how-to-plot-two-moving-robot-in-the-same-figure-and-change-one-of-them-transparency#answer_1066705

在 MATLAB Online 中打开

Hi Jian,

I hope this snippet helps.

% Create two instances of a rigid body tree since we want two visuals

rbt=loadrobot("kinovagen3",DataFormat="row");

copyrbt=copy(rbt);

% Some random configurations

q0=homeConfiguration(rbt);

q1=randomConfiguration(rbt);

q2=randomConfiguration(rbt);

% Generate a trajectory to the random configurations

tpts=[0,1];

tquery=tpts(1):0.01:tpts(end);

traj1=quinticpolytraj([q0',q1'],tpts,tquery)';

traj2=quinticpolytraj([q0',q2'],tpts,tquery)';

% Find the patches which have a display name of '_mesh', and set their

% alpha values.

ax=show(rbt,traj1(1,:),PreservePlot=false,FastUpdate=true);

rbtpatches=findobj(ax.Children,'Type','patch','-regexp','DisplayName','_mesh');

set(rbtpatches,'FaceAlpha',0.2);

% Now visualize another instance of the same robot

hold on;

show(copyrbt,traj2(1,:),PreservePlot=false,FastUpdate=true,Parent=ax);

% This call will also find the previous patches. Hence we need to remove

% previously found patches from this query.

patchesnew=findobj(ax.Children,'Type','patch','-regexp','DisplayName','_mesh');

copyrbtpatches=patchesnew(~ismember(patchesnew,rbtpatches));

% You can also change the color aside from alpha

set(copyrbtpatches,'FaceAlpha',0.7);

set(copyrbtpatches,'FaceColor',[1,0,0]);

%% Visualize

rc=rateControl(50);

for i=1:size(tquery,2)

show(rbt,traj1(i,:),PreservePlot=false,FastUpdate=true);

show(copyrbt,traj2(i,:),PreservePlot=false,FastUpdate=true,Parent=ax);

waitfor(rc);

end

hold off;

Best,

Karsh

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snow John 2022-10-5

Hi Karsh，

Thanks very much for your kindness help ，The source code are really help a lot. I do want to implement these kind of result，this kinds of visualization is very attractive for representation use.