put environment file from solidworks in simscape

I make an environment file for robotic simulation with solidworks

it consists of ground(wide enough), desk, chair, and some others

all stuffs must be fixed and not move.

I want to put them in the simscape as an environment file

after I put this environment file, I must put 2 robot files(one is UR5, and other is self design robot arm in solidworks)

how can I put an environment file as an environment file in matlab simulation?

plz answer.

Answer 1

[Steve Miller]

You can define your environment using the File Solid block, where you can reference your files directly.

The robots can be imported using smimport() if you have used the Simscape Multibody Link plug-in for SolidWorks. If your robots are defined using URDF files, you can import them directly using smimport().

Many examples for URDF import (including UR5) are available in this File Exchange submission:

https://www.mathworks.com/matlabcentral/fileexchange/97312-industrial-robot-models-in-simscape

Download the files and follow the instructions.

--Steve