output D-H parameters in Rigid body tree

Hi I'm using matlab 2020a with robotic system toolbox installed.

now I have a robot(Rigidbodytree) imported from a urdf file, how could I get this robot's D-H parameters?

Is there any built-in functions or something like this could be called to get the D-H parameters?

Answer 1

[Yiping Liu]

If you import your rigidBodyTree from URDF, in general it cannot be converted to the standard DH representation without alternating the original body frames of the robots.

What is your use case here?