Change world frame in sim-mechanics during real time simulation

1 view (last 30 days)
I have a Simulink model which uses SimMechanics to simulate a robot. I want to be able to change the world frame based on which foot is currently on the ground.
I would like to add that I have 2 simulations running. 1 is the SimMechanics model to visualize the robot and 1 which is the entire control system. The latter sends joint angles over UDP to the other visualizing model which in turn updates the joint angles. I also send which foot is currently on the ground.
As it stands now I have the torso set as the world frame but that does not provide accurate visualization.
I want to be able to change the world frame from 1 foot to the other during simulation. Is that possible?

Answers (0)

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by