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Get home configuration of robot



configuration = homeConfiguration(robot) returns the home configuration of the robot model. The home configuration is the ordered list of HomePosition properties of each nonfixed joint.


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Show different configurations of a robot created using a RigidBodyTree model. Use the homeConfiguration or randomConfiguation functions to generate the structure that defines all the joint positions.

Load example robots as RigidBodyTree objects.

load exampleRobots.mat

Create a structure for the home configuration of a Puma robot. The structure has joint names and positions for each body on the robot model.

config = homeConfiguration(puma1)
config=1×6 struct array with fields:

Show the home configuration using show. You do not need to specify a configuration input.


Modify the configuration and set the second joint position to pi/2. Show the resulting change in the robot configuration.

config(2).JointPosition = pi/2;

Create random configurations and show them.


Input Arguments

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Robot model, specified as a rigidBodyTree object.

Output Arguments

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Robot configuration, returned as a vector of joint positions or a structure with joint names and positions for all the bodies in the robot model. You can generate a configuration using homeConfiguration(robot), randomConfiguration(robot), or by specifying your own joint positions in a structure. To use the vector form of configuration, set the DataFormat property for the robot to either 'row' or 'column' .

Extended Capabilities

Introduced in R2016b