loadrobot

Load rigid body tree robot model

Syntax

robotRBT = loadrobot(robotname)

[robotRBT,robotData] = loadrobot(robotname)

[robotRBT,robotData] = loadrobot(robotname,Name,Value)

Description

robotRBT = loadrobot(robotname) loads a robot model as a rigidBodyTree object specified by robot model name robotname.

To import your own robot model as a Unified Robot Description Format (URDF) file or Simscape™ Multibody™ model, see the importrobot function.

[robotRBT,robotData] = loadrobot(robotname) returns additional information about the robot model as a structure, robotData.

[robotRBT,robotData] = loadrobot(robotname,Name,Value) specifies additional options using one or more name-value pair arguments. For example, 'Gravity',[0 0 –9.81] sets the gravity property to –9.81 m/s² in the z-direction for the robot model.

Examples

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Load Provided Robot Model

Open Live Script

This example shows how to load an included robot model using loadrobot. Specify one of the select robot names to get a rigidBodyTree robot model that contains kinematic and dynamic constraints and visual meshes for the specified robot geometry.

gen3 = loadrobot("kinovaGen3");

Show the robot model in a figure.

show(gen3);

${"String":"Figure contains an axes object. The axes object contains 25 objects of type patch, line. These objects represent base_link, Shoulder_Link, HalfArm1_Link, HalfArm2_Link, ForeArm_Link, Wrist1_Link, Wrist2_Link, Bracelet_Link, EndEffector_Link, Shoulder_Link_mesh, HalfArm1_Link_mesh, HalfArm2_Link_mesh, ForeArm_Link_mesh, Wrist1_Link_mesh, Wrist2_Link_mesh, Bracelet_Link_mesh, base_link_mesh.","Tex":[],"LaTex":[]}$

Input Arguments

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`robotname` — Name of robot model
`"abbIrb120"` | `"abbIrb120T"` | `"abbIrb1600"` | `...`

Name of robot model, specified as one of these valid robot model names:

Robot Model	Mesh Visualization	Description
`"abbIrb120"`		ABB IRB 120 6-axis robot
`"abbIrb120T"`		ABB IRB 120T 6-axis robot
`"abbIrb1600"`		ABB IRB 1600 6-axis robot
`"abbYuMi"`		ABB YuMi 2-armed robot
`"amrPioneer3AT"`		Adept MobileRobots Pioneer 3-AT mobile robot
`"amrPioneer3DX"`		Adept MobileRobots Pioneer 3-DX mobile robot
`"amrPioneerLX"`		Adept MobileRobots Pioneer LX mobile robot
`"atlas"`		Boston Dynamics ATLAS® Humanoid robot
`"clearpathHusky"`		Clearpath Robotics Husky mobile robot
`"clearpathJackal"`		Clearpath Robotics Jackal mobile robot
`"clearpathTurtleBot2"`		Clearpath Robotics TurtleBot 2 mobile robot
`"fanucLRMate200ib"`		FANUC LR Mate 200iB 6-axis robot
`"fanucM16ib"`		FANUC M-16iB 6-axis robot
`"frankaEmikaPanda"`		Franka Emika Panda 7-axis robot
`"kinovaGen3"`	Version 1: Version 2:	KINOVA® Gen3 7-axis robot
`"kinovaJacoJ2N6S200"`		KINOVA JACO® 2-fingered 6 DOF robot with non-spherical wrist
`"kinovaJacoJ2N6S300"`		KINOVA JACO® 3-fingered 6 DOF robot with non-spherical wrist
`"kinovaJacoJ2N7S300"`		KINOVA JACO® 3-fingered 7 DOF robot with non-spherical wrist
`"kinovaJacoJ2S6S300"`		KINOVA JACO® 3-fingered 6 DOF robot with spherical wrist
`"kinovaJacoJ2S7S300"`		KINOVA JACO® 3-fingered 7 DOF robot with spherical wrist
`"kinovaJacoTwoArmExample"`		Two KINOVA JACO® 3-fingered 6 DOF robots with non-spherical wrist
`"kinovaMicoM1N4S200"`		KINOVA MICO® 2-fingered 4 DOF robot
`"kinovaMicoM1N6S200"`		KINOVA MICO® 2-fingered 6 DOF robot
`"kinovaMicoM1N6S300"`		KINOVA MICO® 3-fingered 6 DOF robot
`"kinovaMovo"`		KINOVA MOVO® 2-armed mobile robot
`"kukaIiwa7"`		KUKA LBR iiwa 7 R800 7-axis robot
`"kukaIiwa14"`		KUKA LBR iiwa 14 R820 7-axis robot
`"meca500r3"`		Mecademic Meca500 R3 6-axis robot
`"quanserQArm"`		Quanser QArm 4 DOF robot
`"quanserQBot2e"`		Quanser QBot 2e mobile robot
`"quanserQCar"`		Quanser QCar mobile robot
`"rethinkBaxter"`		Rethink Robotics Baxter 2-armed robot
`"rethinkSawyer"`		Rethink Robotics Sawyer 7-axis robot
`"robotiq2F85"`		Robotiq 2F-85 2-finger gripper The gripper can be used with the following list of manipulators: Universal Robots UR3 Universal Robots UR3e Universal Robots UR5 Universal Robots UR5e Universal Robots UR10 Universal Robots UR10e Universal Robots UR16e KINOVA® Gen3 (versions 1 and 2)
`"robotisOP2"`		ROBOTIS OP2 Humanoid robot
`"robotisOpenManipulator"`		ROBOTIS OpenMANIPULATOR 4-axis robot with gripper
`"robotisTurtleBot3Burger"`		ROBOTIS TurtleBot 3 Burger robot
`"robotisTurtleBot3Waffle"`		ROBOTIS TurtleBot 3 Waffle robot
`"robotisTurtleBot3WaffleForOpenManipulator"`		ROBOTIS TurtleBot 3 Waffle robot for OpenMANIPULATOR
`"robotisTurtleBot3WafflePi"`		ROBOTIS TurtleBot 3 Waffle Pi robot
`"robotisTurtleBot3WafflePiForOpenManipulator"`		ROBOTIS TurtleBot 3 Waffle Pi robot for OpenMANIPULATOR
`"universalUR3"`		Universal Robots UR3 6-axis robot
`"universalUR3e"`		Universal Robots UR3e 6-axis robot
`"universalUR5"`		Universal Robots UR5 6-axis robot
`"universalUR5e"`		Universal Robots UR5e 6-axis robot
`"universalUR10"`		Universal Robots UR10 6-axis robot
`"universalUR10e"`		Universal Robots UR10e 6-axis robot
`"universalUR16e"`		Universal Robots UR16e 6-axis robot
`"valkyrie"`		NASA Valkyrie Humanoid robot
`"willowgaragePR2"`		Willow Garage PR2 mobile robot
`"yaskawaMotomanMH5"`		Yaskawa Motoman MH5 6-axis robot

Data Types: char | string

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: 'Gravity',[0 0 -9.81] sets the gravity property to -9.81 m/s² in the z-direction for the robot model.

`DataFormat` — Input/output data format for kinematics and dynamics functions
`"struct"` (default) | `"row"` | `"column"`

Input/output data format for the kinematics and dynamics functions of the robot model, specified as the comma-separated pair consisting of 'DataFormat' and "struct", "row", or "column". To use dynamics functions, you must specify either "row" or "column". This name-value pair sets the DataFormat property of the rigidBodyTree robot model.

`Gravity` — Gravitational acceleration experienced by robot
`[0 0 0]` m/s² (default) | three-element vector of the form `[x y z]`

Gravitational acceleration experienced by robot, specified as the comma-separated pair consisting of 'Gravity' and a three-element vector of the form [x y z] in m/s². Each element corresponds to the acceleration of the base robot frame in the x-, y-, and z-direction, respectively. This name-value pair sets the Gravity property of the rigidBodyTree robot model.

`Version` — URDF version of robot model
`1` (default) | numeric scalar

URDF version of the robot model, specified as a numeric scalar.

Robot Model	Versions
`"kinovaGen3"`	`1` –– Loads the `kinovaGen3.urdf` robot model
`"kinovaGen3"`	`2` –– Loads the `kinovaGen3V12.urdf` robot model

Example: loadrobot("kinovaGen3","Version",2)

Output Arguments

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`robotRBT` — Rigid body tree robot model
`rigidBodyTree` object

Rigid body tree robot model, returned as a rigidBodyTree object. This model contains all the kinematic and dynamic constraints based on the robot source files specified in robotData. Some models also contain visual meshes for visualizing robot trajectories.

`robotData` — Robot model information
structure

Robot model information, returned as a structure containing these fields. Whether the function returns a value for a field is based on the type of robot specified by the robotname input. Non-relevant fields for that robot are empty.

This table describes the fields of the robot model information structure.

Field	Description
`RobotName` (relevant for all robot types)	Name of the returned robot model
`FilePath` (relevant for all robot types)	File path of the URDF file that is used to create the rigid body tree model
`Source` (relevant for all robot types)	URL source of the robot model
`Version` (relevant for all robot types)	Version number of the robot model
`WheelRadius`	Wheel radius of the robot in meters
`WheelBase`	Distance between front and rear axles in meters
`TrackWidth`	Distance between wheels on axle in meters
`MaxTranslationalVelocity`	Maximum linear velocity of the robot in m/s
`MaxRotationalVelocity`	Maximum angular velocity of the robot in rad/s
`DriveType`	All robots are modeled with a fixed base, but this field describes the actual drive type of the robot base. The drive type can be any one of the following based on the specified robot: `FixedBase` –– Drive type of robots with a fixed base `Differential-Drive` –– Drive type of robots with a differential-drive mobile base `Omni-Wheel` –– Drive type of robots with an omni-wheel mobile base
`ManipulatorMotionModel`	Motion model of a manipulator robot `jointSpaceMotionModel` object –– Joint-space motion model of the manipulator robot
`MobileBaseMotionModel`	Kinematic motion model of the mobile base. The motion model can be any one of the following based on the specified robot: `differentialDriveKinematics` object –– Differential-drive kinematic motion model for robots with a differential-drive mobile base `unicycleKinematics` object –– Unicycle kinematic motion model for robots with an omni-wheel mobile base
`HasBodyInertias`	Flag indicating if the robot model has inertias, indicated as a `1` (`true`) if the robot model has at least one body with body inertia or `0` (false) if the robot model has no bodies with inertia.

Data Types: struct

Version History

Introduced in R2019b

loadrobot

Syntax

Description

Examples

Load Provided Robot Model

Input Arguments

robotname — Name of robot model "abbIrb120" | "abbIrb120T" | "abbIrb1600" | ...

Name-Value Arguments

DataFormat — Input/output data format for kinematics and dynamics functions "struct" (default) | "row" | "column"

Gravity — Gravitational acceleration experienced by robot [0 0 0] m/s2 (default) | three-element vector of the form [x y z]

Version — URDF version of robot model 1 (default) | numeric scalar

Output Arguments

robotRBT — Rigid body tree robot model rigidBodyTree object

robotData — Robot model information structure

Version History

See Also

`robotname` — Name of robot model
`"abbIrb120"` | `"abbIrb120T"` | `"abbIrb1600"` | `...`

`DataFormat` — Input/output data format for kinematics and dynamics functions
`"struct"` (default) | `"row"` | `"column"`

`Gravity` — Gravitational acceleration experienced by robot
`[0 0 0]` m/s² (default) | three-element vector of the form `[x y z]`

`Version` — URDF version of robot model
`1` (default) | numeric scalar

`robotRBT` — Rigid body tree robot model
`rigidBodyTree` object

`robotData` — Robot model information
structure