attach

Attach target robot platform to source robot platform

Since R2023a

Syntax

attach(platform,targetname,attachingbodyname)

attach(___,Name=Value)

Description

attach(platform,targetname,attachingbodyname) attaches the non-rigidBodyTree-based target platform targetname to the body attachingbodyname of the rigidBodyTree-based source platform platform.

attach(___,Name=Value) specifies options using one or more name-value arguments, in addition to all input arguments from the previous syntax.

Examples

Perform Pick and Place in Robot Scenario

Create a robotScenario object.

scenario = robotScenario(UpdateRate=1,StopTime=10);

Create a rigidBodyTree object of the Franka Emika Panda manipulator using loadrobot.

robotRBT = loadrobot("frankaEmikaPanda");

Create a rigidBodyTree-based robotPlatform object using the manipulator model.

robot = robotPlatform("Manipulator",scenario, ...
                      RigidBodyTree=robotRBT);

Create a non-rigidBodyTree-based robotPlatform object of a box to manipulate. Specify the mesh type and size.

box = robotPlatform("Box",scenario,Collision="mesh", ...
                    InitialBasePosition=[0.5 0.15 0.278]);
updateMesh(box,"Cuboid",Collision="mesh",Size=[0.06 0.06 0.1])

Visualize the scenario.

ax = show3D(scenario,Collisions="on");
view(79,36)
light

Specify the initial and the pick-up joint configuration of the manipulator, to move the manipulator from its initial pose to close to the box.

initialConfig = homeConfiguration(robot.RigidBodyTree);
pickUpConfig = [0.2371 -0.0200 0.0542 -2.2272 0.0013 ...
                2.2072 -0.9670 0.0400 0.0400];

Create an RRT path planner using the manipulatorRRT object, and specify the manipulator model.

planner = manipulatorRRT(robot.RigidBodyTree,scenario.CollisionMeshes);
planner.IgnoreSelfCollision = true;

Plan the path between the initial and the pick-up joint configurations. Then, to visualize the entire path, interpolate the path into small steps.

rng("default")
path = plan(planner,initialConfig,pickUpConfig);
path = interpolate(planner,path,25);

Set up the simulation.

setup(scenario)

Check the collision before manipulator picks up the box.

checkCollision(robot,"Box", ...
               IgnoreSelfCollision="on")

ans = logical
   0

Move the joints of the manipulator along the path and visualize the scenario.

helperRobotMove(path,robot,scenario,ax)

Check the collision after manipulator picks up the box.

checkCollision(robot,"Box", ...
               IgnoreSelfCollision="on")

ans = logical
   1

Use the attach function to attach the box to the gripper of the manipulator.

attach(robot,"Box","panda_hand", ...
       ChildToParentTransform=trvec2tform([0 0 0.1]))

Specify the drop-off joint configuration of the manipulator to move the manipulator from its pick-up pose to the box drop-off pose.

dropOffConfig = [-0.6564 0.2885 -0.3187 -1.5941 0.1103 ...
                 1.8678 -0.2344 0.04 0.04];

Plan the path between the pick-up and drop-off joint configurations.

path = plan(planner,pickUpConfig,dropOffConfig);
path = interpolate(planner,path,25);

Move the joints of the manipulator along the path and visualize the scenario.

helperRobotMove(path,robot,scenario,ax)

Use the detach function to detach the box from the manipulator gripper.

detach(robot)

Plan the path between the drop-off and initial joint configurations to move the manipulator from its box drop-off pose to its initial pose.

path = plan(planner,dropOffConfig,initialConfig);
path = interpolate(planner,path,25);

Move the joints of the manipulator along the path and visualize the scenario.

helperRobotMove(path,robot,scenario,ax)

Helper function to move the joints of the manipulator.

function helperRobotMove(path,robot,scenario,ax)
    for idx = 1:size(path,1)
        jointConfig = path(idx,:);
        move(robot,"joint",jointConfig)
        show3D(scenario,fastUpdate=true,Parent=ax,Collisions="on");
        drawnow
        advance(scenario);
    end
end

Input Arguments

platform — rigidBodyTree-based source platform

robotPlatform object

rigidBodyTree-based source platform, specified as a robotPlatform object.

targetname — Non-rigidBodyTree-based target platform

string scalar | character vector

Non-rigidBodyTree-based target platform, specified as a string scalar or character vector.

Example: "Box"

Data Types: char | string

attachingbodyname — Body of source robot platform

string scalar | character vector

Body of the source robot platform, specified as a string scalar or character vector.

Example: "panda_hand"

Data Types: char | string

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: ChildToParentTransform=trvec2tform([0 0 0.1])

ChildToParentTransform — Transformation of attached target platform body relative to source platform attaching body

eye(4) (default) | 4-by-4 homogeneous transformation matrix

Transformation of the attached target platform body relative to the source platform attaching body, specified as a 4-by-4 homogeneous transformation matrix.

Example: ChildToParentTransform=trvec2tform([0 0 0.1])

Data Types: single | double

Collision — Collision object to add to target platform mesh

collisionBox object | collisionCapsule object | collisionCylinder object | collisionMesh object | collisionSphere object

Collision object to add to target platform mesh, specified as an externally created collision object such as a collisionBox, collisionCapsule, collisionCylinder, collisionMesh, or collisionSphere. If you do not specify a collision object, then the target platform uses its default collision mesh.

Version History

Introduced in R2023a