Having difficulty plotting a robot in a patch plot, robot plot is correctly plotted but when added after hold on statement in patch plot, it is not plotted correctly.

%Set up robot
KSetUp;
% KPfadgenerator;
minJerkPath = [];
for i = 1:length(X(indexOfPoints))
    test  = dataKartesisch(indexOfPoints(i), 2:end);
    minJerkPath(end+1,:) = dataKartesisch(indexOfPoints(i), 2:end);
end
% laufbahn(robot,minJerkPath,1,true)
% show(robot,-minJerkPath(1,:),"Visuals","off", "Position",[5,5,5,0])
% show(robot,-minJerkPath(2,:),"Visuals","off", "Position",[8,8,8,0])
% show(robot,-minJerkPath(3,:),"Visuals","off", "Position",[9,9,9,0])


%Configure Figure and plot
fig = figure(1);
subplot(2,2,1)

patch(splineX,splineY,splineZ,splineZ,'FaceColor','none','EdgeColor','interp')
colormap(gca,customColormap(64:192,:));
caxis([min(splineZ) max(splineZ)])
hold on
scatter3(X(indexOfPoints),Y(indexOfPoints),Z(indexOfPoints),50);
for i = 1:length(X(indexOfPoints))
    stringNum = num2str(i) + ".";
    text(X(indexOfPoints(i)),Y(indexOfPoints(i)), Z(indexOfPoints(i)),stringNum,'FontSize', 15)
end
show(robot,-minJerkPath(1,:), "Position",[X(indexOfPoints(1)),Y(indexOfPoints(1)), Z(indexOfPoints(1)),0],'PreservePlot',true)
hold off
% laufbahn(robot,minJerkPath,1,true)
daspect([1, 1, 1])
xlabel('X-Profil [mm]')
ylabel('Y-Profil [mm]')
zlabel('Z-Profil [mm]')
% xlim(XAxisLimit)
% ylim(YAxisLimit)
% zlim(ZAxisLimit)
title('Bewegungsprofil im globalen Arbeitsraum-KOS')
set(gca, 'XMinorGrid','on', 'YMinorGrid','on')
a = colorbar;
ylabel(a,'Z-Profil [mm]','FontSize',12,'Rotation',270);
a.Label.Position(1) = 5;
view(view3D)

%Set LineWidth for all patch objects
patch_handles = findobj(gcf,'Type','patch'); % find all patch objects in the current figure

for k = 1:length(patch_handles)
    set(patch_handles(k),'LineWidth',lineSize); %set the linewidth to 2 for all patch objects
end

end

I am trying to plot a robot in a 3D patch plot in Matlab, but the robot is not appearing correctly. When I click on the patch plot, the graph disappears. I have set up the robot using the rigidBodyTree class and have plotted it using the 'show' function after creating the patch plot. I am unsure what is causing the issue and would like assistance troubleshooting the problem.

[Githin John]

Hello,

Can you provide a script that can be reproduced? Also can you share an image of the issue in the plot?

Thanks.

[Githin John]

Hello,

I tried a simple reproduction using the basic steps you have here. Created a plot with a patch, scatter plot and a rigidBodyTree. I haven't seen any issues yet when interacting with the meshes.

Please provide a working script so I can try to recreate the issue.

Thanks.

Answer 1

[Supraja]

After you

hold on 

you can do

ax = gca; 
set(ax, 'XLimMode', 'auto', 'YLimMode', 'auto') 

before you draw the new items.

Note: if you set XLimMode or YLimMode to auto after you have added the new data, then MATLAB will typically not rescan the data to determine what it should use.