MATLAB does not natively provide the model for the UR5 robot. However, you can find the files from this GitHub repository: https://github.com/ros-industrial/robot_movement_interface/tree/master/dependencies. Although you can download the complete package, you may have a problem in configuring the paths to make it work with MATLAB. I have modified the urdf file to point it local directory to search for meshes and placed the meshes in the same directory. You can download this zip file and place it on MATLAB's path. The following code shows an example of how to load the robot and display it on the axes robot = importrobot('ur5_robot.urdf');
robot.show
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