urdfExporter
Description
Use urdfExporter
object to generate a unified robot description
format (URDF) file from the rigidBodyTree
object. You can modify the
details in the generated URDF file with supported functionalities.
Creation
Description
creates a exporter
= urdfExporter(robot
)urdfExporter
object for the rigidBodyTree
robot model robot
.
Properties
OutputFileName
— Name of generated URDF file
input variable name (default) | string scalar | character vector
Name of the generated URDF file, specified as a string scalar or character vector. You can specify this property as a filename or a pathname.
Data Types: char
| string
RobotName
— Robot name attribute
"Robot"
(default) | string scalar | character vector
Robot name attribute corresponding to the robot name
tag in the
generated URDF file, specified as a string scalar or character vector. It returns as a
valid robot model name such as "abbIrb120"
,
"abbIrb120T"
, "abbIrb1600"
.
Data Types: char
| string
VisualMeshFileLocation
— Visual mesh files location
path in rigidBodyTree
object (default) | string scalar | character vector
Visual mesh files location corresponding to the filename
attribute under the mesh
tag of the visual
tag in
the generated URDF file, specified as a string scalar or character vector.
The default location corresponds to the path you specify in the rigidBodyTree
object. You can also modify the visual mesh path from
generated URDF file to a location of your preference.
Example: "C:/URDF/abb_irb120_support/meshes/"
Data Types: char
| string
CollisionMeshFileLocation
— Collision mesh files location
path in rigidBodyTree
object (default) | string scalar | character vector
Collision mesh files location corresponding to the filename
attribute under the mesh
tag of the collision
tag
in the generated URDF file, specified as a string scalar or character vector.
The default location corresponds to the path you specify in the rigidBodyTree
object. You can also modify the collision mesh path from
generated URDF file to a location of your preference.
Example: "C:/URDF/abb_irb120_support/meshes/"
Data Types: char
| string
ExportMesh
— Option to enable mesh file export
false
or 0
(default) | true
or 1
Option to enable mesh file export, specified as a numeric or logical value of
0 (false)
or 1 (true)
. The generated ZIP package
contains the output URDF files and mesh files.
Data Types: logical
| numeric
AbsoluteTolerance
— Maximum permissible difference in exported values
sqrt(eps)
(default) | positive scalar
Maximum permissible difference in the values under tags in exported URDF, specified
as a positive scalar. The default value is sqrt(eps)
, where
eps
returns the distance from 1.0
to the next
largest double-precision number, which is equal to
2-52
. For more information, see
eps
.
Data Types: single
| double
Object Functions
Examples
Export Robot Model Details in URDF File Format
This example shows how to load a robot as a rigidBodyTree
model and export the robot details as a URDF file.
Load a rigidBodyTree
robot model. The rigidBodyTree
object contains kinematic and dynamic constraints and visual meshes for the specified robot geometry.
robotRBT = loadrobot("abbIrb120");
Create a rigidBody
object with a unique name.
body1 = rigidBody("link1");
By default, the rigidBody
object comes with a fixed joint. Replace the joint by assigning a new rigidBodyJoint
object to the body1.Joint
property.
body1.Joint = rigidBodyJoint(jnt1="revolute");
Add the rigidBody
object to the rigidBodyTree
robot model. Specify the body name to which you are attaching the rigid body. Use the base name of the tree for the first body.
basename = robotRBT.BaseName; addBody(robotRBT,body1,basename);
Confirm that the rigid body and joint are correct by using showdetails
.
showdetails(robotRBT)
-------------------- Robot: (9 bodies) Idx Body Name Joint Name Joint Type Parent Name(Idx) Children Name(s) --- --------- ---------- ---------- ---------------- ---------------- 1 base base_link-base fixed base_link(0) 2 link_1 joint_1 revolute base_link(0) link_2(3) 3 link_2 joint_2 revolute link_1(2) link_3(4) 4 link_3 joint_3 revolute link_2(3) link_4(5) 5 link_4 joint_4 revolute link_3(4) link_5(6) 6 link_5 joint_5 revolute link_4(5) link_6(7) 7 link_6 joint_6 revolute link_5(6) tool0(8) 8 tool0 joint6-tool0 fixed link_6(7) 9 link1 jnt1 revolute base_link(0) --------------------
Visualize the robot model.
show(robotRBT)
ans = Axes (Primary) with properties: XLim: [-1 1] YLim: [-1 1] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
Add visuals to the robot model.
body9 = robotRBT.Bodies{9}; addVisual(body9,box=[0.1 0.1 0.1]);
Visualize the robot model with the added visuals.
show(robotRBT)
ans = Axes (Primary) with properties: XLim: [-1 1] YLim: [-1 1] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
Create a URDF exporter object. Package the mesh and URDF details in one folder.
exporter = urdfExporter(robotRBT); exporter.ExportMesh = true;
Write the packaged mesh and URDF details into the specified file.
writefile(exporter,OutputfileName="abbIrb120.urdf")
Generate and Modify Robot Joint in XML DOM Node
This example shows how to load a robot as rigidBodyTree
model and generate XML DOM node from it. You also modify the robot details in the XML DOM node and write the modified details in the URDF file.
Load a rigidBodyTree
robot model. The rigidBodyTree
contains kinematic and dynamic constraints and visual meshes for the specified robot geometry.
robotRBT = importrobot("iiwa7.urdf");
Create a URDF exporter object.
exporter = urdfExporter(robotRBT);
Get robot details in the XML DOM node.
node = exporter.writenode();
Get specific joint element from the robot element.
jn0 = node.getElementsByTagName(... "robot").item(0).getElementsByTagName(... "joint").item(0);
Modify the joint type to "fixed"
of the specified joint element.
jn0.setAttribute("type","fixed");
Write the modified details in URDF file format.
writer = matlab.io.xml.dom.DOMWriter;
writeToFile(writer,node,"iiwa7.urdf")
Version History
Introduced in R2023b
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