URDF in MATLAB/Simulink

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

Answer 1

[Githin John]

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.

[Ehtisham ul Hasan]

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]

I had the same issue. Try this xacro kuka-lwr/single_lwr_example/single_lwr_robot/robot/single_lwr_robot.urdf.xacro