Get Latest URDF Robot Model for KINOVA Gen3 Robot
By default, the
loadrobot function uses
Version 10 of the Unified Robot Description Format (URDF) file to construct the rigid
body tree model for KINOVA® Gen3 robot. The source URDF
information of a particular rigid body tree model can be accessed using the following
set of commands in MATLAB:
[gen3Model, robotData]=loadrobot('kinovaGen3') URDFSource = robotData.Source
An updated version of the URDF file is available for the Gen3 robot. Use the
version argument to use Version 12, associated with
release 2.2.1 for the Gen3 robot.
[gen3Model, robotData]=loadrobot('kinovaGen3','Version',2); URDFSource = robotData.Source
Any different URDF version can be imported in MATLAB using
importrobot function. For example, to import Version 12 of URDF robot model of KINOVA Gen3 robot
for further algorithm development:
gen3.xacrofile corresponding to your version of the Gen3 robot from Kinova’s ROS Kortex Github repository.
The latest repository can be found here: https://github.com/kinovarobotics/ros_kortex
As of July 2021, the newest version is Version 12, associated with release 2.2.1. This is available in this repository. By default, the
loadrobotfunction uses Version 10, associated with release 1.1.4, which has broader joint limits and slightly different inertial terms than the newer version.
Convert the downloaded XACRO file to URDF by using the following command. This step requires a valid installation of ROS.
rosrun xacro xacro --inorder -o gen3.urdf gen3.urdf.xacro
Use the generated URDF file to construct the rigid body tree model in MATLAB:
robot = importrobot('gen3.urdf')