Get Latest URDF Robot Model for Kinova Gen3 Robot

In the current release, 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 and it can be imported in MATLAB using importrobot function. To import the latest version of URDF robot model of Kinova Gen3 robot for further algorithm development:

1. Download the XACRO files for your version of the Gen3 robot from Kinova’s ROS Kortex Github repository and download the gen3.xacro file.

   • The latest repository may be found here: https://github.com/kinovarobotics/ros_kortex

   • As of July 2020, the newest version was Version 12, associated with release 2.2.1. This may be found here in the repository. By contrast, the loadrobot function uses version 10, associated with release 1.1.4, which has broader joint limits and slightly different inertial terms than the newer version

2. Convert the 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

3. Use the generated URDF file to construct the rigid body tree model in MATLAB:

   robot = importrobot('gen3.urdf')