- Create separate “interactiveRigidBodyTree” objects for each UR3e arm. Let's say you have “robot1” and “robot2” representing the two arms.
- Create a single figure to display both arms using the “figure” command in MATLAB.
- Use the “axes” command to create two separate axes within the figure, one for each arm.
- Set the “Parent” property of each “interactiveRigidBodyTree” object to the respective axes.
- Now you can control each arm interactively by manipulating the joint angles or end effector poses using the “interactiveRigidBodyTree” objects “robot1” and “robot2”.
- Interact with rigid body tree robot models - MATLAB (mathworks.com)
- Create Cartesian axes - MATLAB axes (mathworks.com)
- Update figures and process callbacks - MATLAB drawnow (mathworks.com)
- Create figure window - MATLAB figure (mathworks.com)