Manipulator Moving a Load with Use of Global Coordinates

Hi,

I would need further detailsof this example, is it possible to obtain all the files within the example? I see that there is a .mat file that is loaded into the trajectory and I see that the center of the gripper has been included in the wrl file but I do not know why this is not shown in the figure when I click and how its coordinates have been calculated.

Thank you very much in advance.

Kind regards,

Blanca