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kuka_iiwa_robot.urdf
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kuka_iiwa_robot.urdf
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa14">
<!-- Defines a base link that will serve as the model's root. -->
<link name="base"/>
<!--joint between {parent} and link_0-->
<joint name="iiwa_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="iiwa_link_0"/>
</joint>
<link name="iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<mass value="5"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="iiwa_joint_1" type="revolute">
<parent link="iiwa_link_0"/>
<child link="iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
</joint>
<link name="iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="5.76"/>
<inertia ixx="0.033" ixy="0" ixz="0" iyy="0.0333" iyz="0" izz="0.0123"/>
</inertial>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="iiwa_joint_2" type="revolute">
<parent link="iiwa_link_1"/>
<child link="iiwa_link_2"/>
<origin rpy="1.570796326794897 0 3.141592653589793" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
</joint>
<link name="iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="6.35"/>
<!-- 3.95 kuka CAD value-->
<!--4 Original Drake URDF value-->
<inertia ixx="0.0305" ixy="0" ixz="0" iyy="0.0304" iyz="0" izz="0.011"/>
</inertial>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="iiwa_joint_3" type="revolute">
<parent link="iiwa_link_2"/>
<child link="iiwa_link_3"/>
<origin rpy="1.570796326794897 0 3.141592653589793" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3.5"/>
<!--3.18 kuka CAD value-->
<!--3 Original Drake URDF value-->
<inertia ixx="0.025" ixy="0" ixz="0" iyy="0.0238" iyz="0" izz="0.0076"/>
</inertial>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="iiwa_joint_4" type="revolute">
<parent link="iiwa_link_3"/>
<child link="iiwa_link_4"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
</joint>
<link name="iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="3.5"/>
<!--2.74 kuka CAD value-->
<!--2.7 Original Drake URDF value-->
<inertia ixx="0.017" ixy="0" ixz="0" iyy="0.0164" iyz="0" izz="0.006"/>
</inertial>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="iiwa_joint_5" type="revolute">
<parent link="iiwa_link_4"/>
<child link="iiwa_link_5"/>
<origin rpy="-1.570796326794897 3.141592653589793 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="3.5"/>
<!--1.69 kuka CAD value-->
<!--1.7 Original Drake URDF value-->
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.0087" iyz="0" izz="0.00449"/>
</inertial>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="iiwa_joint_6" type="revolute">
<parent link="iiwa_link_5"/>
<child link="iiwa_link_6"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
</joint>
<link name="iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<!--1.8 kuka CAD value-->
<!--1.8 Original Drake URDF value-->
<inertia ixx="0.0049" ixy="0" ixz="0" iyy="0.0047" iyz="0" izz="0.0036"/>
</inertial>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="iiwa_joint_7" type="revolute">
<parent link="iiwa_link_6"/>
<child link="iiwa_link_7"/>
<origin rpy="-1.570796326794897 3.141592653589793 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="1.2"/>
<!--0.31 kuka CAD value-->
<!--0.3 Original Drake URDF value-->
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
</robot>