error when importing robot model using smimport

Hello ,

I want to do a simulation with my robot on simulink, i have the URDF of the robot, when load the robot n a .m file as follow

Ah_r=importrobot('robot.urdf',"MeshPath","resources/mesh/")
show(Ah_r,'visuals','on')
Ah_r.DataFormat = 'column';
Ah_r.Gravity=[0 0 -9.81];
q0=homeConfiguration(Ah_r);
show(Ah_r,q0)

I get this , the robot model is proparly loaded.

but when i try to create a .slx model as follow

smimport(Ah_r);

I get this

all the links are plotted in the same reference frame, and the joint transformations are ignored ..

Does anyone what's the cause of this and how to fix it ?

thank you !

[Lama Itani]

Hi Dounia,

Could you please share the .urdf file?

Answer 1

[Remo Pillat]

One potential issue could be the format of the robot meshes. Before R2021b, importrobot only supported STL meshes. Starting in R2021b, DAE / Collada meshes are also supported.

If you still face this same problem, please reach out to MathWorks Tech Support (https://www.mathworks.com/support/contact_us.html). It would help expedite tech support if you could provide your URDF and supporting mesh files.