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LoadURDFLinkage

LoadURDFLinkage[file]
imports an open chain linkage from Universal Robot Definition File (URDF).
  • The Unified Robot Description Format (URDF) is an XML specification to describe a robot. It is capable of describing linkages with tree topologies. Further information can be found in the http://wiki.ros.org/urdf/XML/model web page
  • The format describes the following items:
  • Kinematic and dynamic structure of the robot ( Kinematic graph )
  • Visual representation of the robot (mesh files/ graphics primitives)
  • Collision model of the robot (mesh files)
  • LoadURDFLinkage function imports the kinematic structure and visual representation of the linkage.
  • URDF file usually reference other files that is stored in a specified directory structure see below:
  • /MYROBOT_description package.xml CMakeLists.txt /urdf /meshes /materials /cad
  • LoadURDFLinkage uses the full path to the URDF file as input and assumes that the this file is in the /urdf subdirectory of the urdf-root directory ( MYROBOT_description dir ). It is also assumed that the referenced mesh files path is specified in the URDF file relative to the urdf-root directory.
Load LinkageDesigner package
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Print test URDF file as text file
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Load URDF file into linkage
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Visualize the kinematic graph of the linkage
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Display the visual representation of the robot
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