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Visualize robot scenario in 3-D

Since R2022a



    [ax,plottedFrames] = show3D(scenario) visualizes latest states of the platforms and sensors in the robot scenario scene along with all static meshes. The function also returns the axes on which the scene is plotted and the frames on which each object is plotted.

    [ax,plottedFrames] = show3D(scenario,time) visualizes the robot scenario at the specified time.

    [ax,plottedFrames] = show3D(___,Name=Value) specifies additional options using name-value arguments.


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    Create a robot scenario.

    scenario = robotScenario(UpdateRate=100,StopTime=1);

    Add the ground plane and a box as meshes.

    addMesh(scenario,"Plane",Size=[3 3],Color=[0.7 0.7 0.7]);
    addMesh(scenario,"Box",Size=[0.5 0.5 0.5],Position=[0 0 0.25], ...
            Color=[0 1 0])

    Create a waypoint trajectory for the robot platform using an ENU reference frame.

    waypoint = [0 -1 0; 1 0 0; -1 1 0; 0 -1 0];
    toa = linspace(0,1,length(waypoint));
    traj = waypointTrajectory("Waypoints",waypoint, ...
                              "TimeOfArrival",toa, ...

    Create a rigidBodyTree object of the TurtleBot 3 Waffle Pi robot with loadrobot.

    robotRBT = loadrobot("robotisTurtleBot3WafflePi");

    Create a robot platform with trajectory.

    platform = robotPlatform("TurtleBot",scenario, ...

    Set up platform mesh with the rigidBodyTree object.


    Create an INS sensor object and attach the sensor to the platform.

    ins = robotSensor("INS",platform,insSensor("RollAccuracy",0), ...

    Visualize the scenario.

    [ax,plotFrames] = show3D(scenario);
    axis equal
    hold on

    In a loop, step through the trajectory to output the position, orientation, velocity, acceleration, and angular velocity.

    count = 1;
    while ~isDone(traj)
        [Position(count,:),Orientation(count,:),Velocity(count,:), ...
         Acceleration(count,:),AngularVelocity(count,:)] = traj();
        count = count+1;

    Create a line plot for the trajectory. First create the plot with plot3, then manually modify the data source properties of the plot. This improves the performance of the plotting.

    trajPlot = plot3(nan,nan,nan,"Color",[1 1 1],"LineWidth",2);
    trajPlot.XDataSource = "Position(:,1)";
    trajPlot.YDataSource = "Position(:,2)";
    trajPlot.ZDataSource = "Position(:,3)";

    Set up the simulation. Then, iterate through the positions and show the scene each time the INS sensor updates. Advance the scene, move the robot platform, and update the sensors.

    for idx = 1:count-1
        % Read sensor readings.
        [isUpdated,insTimestamp(idx,1),sensorReadings(idx)] = read(ins);
        if isUpdated
            % Use fast update to move platform visualization frames.
            % Refresh all plot data and visualize.
            drawnow limitrate
        % Advance scenario simulation time.
        % Update all sensors in the scene.
    hold off

    Input Arguments

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    Robot scenario, specified as a robotScenario object.

    Time stamp at which to show the scenario, specified as a nonnegative scalar. The time stamp must already be saved in the scenario. To change the number of saved time stamps, use the HistoryBufferSize property of the robotScenario object, scenario.

    Data Types: single | double

    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: show3D(scenario,Parent=ax)

    Parent axes for plotting, specified as an axes object or a uiaxes object.

    Enable updating from previous map, specified as true or false. When specified as true, the function plots the map via a lightweight update to the previous map in the figure. When specified as false, the function plots the whole scene on the figure every time.


    Parent axes must be specified to perform fast update.

    Example: FastUpdate=true

    Data Types: logical

    View point of plot, specified as "3D", "Top", or "Side".

    Example: View="Side"

    Data Types: string | char

    Display body visual meshes, specified as "on" or "off".

    Example: Visuals="off"

    Data Types: char | string

    Display body collision geometries, specified as "on" or "off".

    Example: Collisions="on"

    Data Types: char | string

    Collision mesh transparency, specified as a numeric scalar in the range [0,1]. A value of 0 means transparent. A value of 1 means opaque. Values between 0 and 1 are partially transparent.

    Example: CollisionMeshAlpha=0.5

    Data Types: single | double

    Output Arguments

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    Axes on which the scenario is plotted, returned as an axes object or a uiaxes object.

    Plotted frame information, returned as a structure of hgtransform objects.

    Version History

    Introduced in R2022a