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URDF in MATLAB/Simulink

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Ehtisham ul Hasan
Ehtisham ul Hasan 2021 年 11 月 15 日
編集済み: Githin John 2021 年 11 月 17 日
Hi,
I am interetsed to use the URDF of KUKA-LWR 4+ and I could only find robot = importrobot('iiwa14.urdf') from an example given by mathworks. Can I find it for KUKA-LWR 4+? if yes, please share the name of the file or else please suggest if iiwa14.urdf can be ammended to make the one I am interested in.
As per my understanding iiwa14.urdf cannot be used interchangablely with KUKA-LWR 4+. Please correct me if I am wrong.
Many thanks
Best Regards

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Githin John
Githin John 2021 年 11 月 17 日
編集済み: Githin John 2021 年 11 月 17 日
Hi,
The Robot Library in MATLAB doesn't currently provide the URDF for KUKA LWR 4+ but you should be able to find it in this repo (the best I could find for this robot). The repo contains xacros which you can convert to URDF using the ROS node xacro. I would suggest importing from this URDF rather than modifying iiwa14.
Disclaimer: This is not a source of URDFs shipping in an installed MATLAB.
  2 件のコメント
Ehtisham ul Hasan
Ehtisham ul Hasan 2021 年 11 月 17 日
Yes, I am working on the same repo as what you said is true and only way forward. Somehow the converted urdf is giving me error that links cannot be found which is a bit strange as the .urdf.xacro file contains all the files necessary. So I hope I am able to figure it out and finally use the URDF.
Thank you so much for the kind response
Best Regards
Githin John
Githin John 2021 年 11 月 17 日
I had the same issue. Try this xacro kuka-lwr/single_lwr_example/single_lwr_robot/robot/single_lwr_robot.urdf.xacro

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