vrinsertrobot

(To be removed) Add robot to virtual world

vrinsertrobot will be removed in a future release. For more information, see Version History.

Syntax

node = vrinsert(RBT)

node = vrinsertrobot(parent,RBT)

[node, W] = vrinsertrobot(...)

[node, W, tforms] = vrinsertrobot(...)

Description

node = vrinsert(RBT) creates an empty virtual world and inserts the visual representation of the Robotics System Toolbox™ rigidBodyTree object RBT into it. It then returns a handle to the newly created node in the virtual world.

node = vrinsertrobot(parent,RBT) inserts the visual representation of the Robotics System Toolbox rigidBodyTree object RBT into an existing virtual world or node specified by parent. If parent is a virtual world, object specified by RBT is placed at its root. If parent is a node within a virtual world, the inserted object is placed as a direct child of parent.

[node, W] = vrinsertrobot(...) also returns a handle to the virtual world W in addition to the visualization of the rigidBodyTree object represented by node.

[node, W, tforms] = vrinsertrobot(...) also returns a handle to the appropriate transforms tforms, which can be used to make additional changes to the robot pose.

Input Arguments

RBT — Robot description

rigidBodyTree object

Robotics System Toolbox rigidBodyTree object. For more information, see rigidBodyTree (Robotics System Toolbox).

parent — Virtual world node

vrworld object | vrnode object

Node in the virtual world hierarchy under which to insert the robot specified by RBT. If a vrworld object is provided, the robot is inserted at the ROOT node of the world.

Output Arguments

node — Robot object handle

vrnode object

Handle to the newly inserted robot in the virtual world, returned as a vrnode object. For more information, see vrnode.

W — Virtual world handle

vrworld object

Handle to the virtual world containing the robot, returned as a vrworld object. For more information, see vrworld.

tforms — List of transforms for the robot

cell array

List of transformations applied to the robot, returned as a cell array of vrnode objects.

Version History

Introduced in R2018b

R2023b: To be removed

The vrinsertrobot will be removed in a future release. Instead, use sim3d classes and Simulation 3D blocks to interface MATLAB^® and Simulink^® with the Unreal Engine^® 3D simulation environment. To get started, see Create 3D Simulations in Unreal Engine Environment.