Import the Robot and Setup the World

Import the KUKA LFR iiwa robot from its URDF definition and insert it to the virtual world created fromrobot_scene.wrl.

RBT = importrobot('iiwa7.urdf'); RBT.DataFormat ='row'; robotWorld = vrworld('robot_scene.wrl'); open(robotWorld);

Get Transforms of Current Pose of the Robot

Thetformsoutput argument contains a list of transforms that describe the robot pose in its initial or 'home' configuration.

[node, W, tforms] = vrinsertrobot(robotWorld, RBT); vrfigure(robotWorld);

Change the Pose of the Robot

vrupdaterobot(RBT, tforms, randomConfiguration(RBT)); vrdrawnow; vrfigure(robotWorld);