%% Visualize Robot Configurations
% 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)

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

show(puma1);

%
% 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;
show(puma1,config);

%
% Create random configurations and show them.

show(puma1,randomConfiguration(puma1));

%
% Copyright 2012 The MathWorks, Inc.