Loading a URDF robot

[Jon Aztiria Oiartzabal]

Hi everyone,

I'm new to this group and I'm trying to use Peter's Robotics Toolbox to test some trajectories in MATLAB with the MARA robot.

I'm able to load the robot with importrobot of MATLAB's Robotics Toolbox based on the URDF description, but the problem is that I cannot work with Peter's functions (fkine, ikine...) because he defines the robots as SerialLink instead of rigidBodyTree.

I've thought of defining my own mdl_mara.m script, but I don't know the DH table. I found there is a converter from URDF to DH here, but I'm not succeeding.

Does anyone know how to solve this issue?

Thank you very much,