Examples of URDF Models

SPART comes with a few URDF models ready to use. These models are located in /URDF_models, which should be already included in your path (see Installing SPART).

Spacecraft with robotic manipulators

  • SC_3DoF.urdf a simple spacecraft with a 3 DoF manipulator.
Spacecraft with a 3 DoF manipulator

Simple spacecraft with a 3 DoF manipulator.

Spacecraft

  • Simple_Spacecraft.urdf a simple spacecraft model.
Simple spacecraft with 2 solar panels.

Simple spacecraft with 2 solar panels.

Fixed-base manipulators

  • kuka_iiwa.urdf Kuka iiwa manipulator.
  • kuka_lwr.urdf Kuka lwr manipulator.

Acknowledgments

The kuka_iiwa.urdf and kuka_lwr.urdf URDF models have been obtained from the Bullet Physics SDK.