iiwa 14
KUKA · licence BSD-3-Clause · source: github.com/RobotLocomotion/drake @ 7abea0556
What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.
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robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 18b1ed754b6d3d4c -->
<robot name="iiwa14">
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0" />
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0" />
</material>
<material name="Grey">
<color rgba="0.4 0.4 0.4 1.0" />
</material>
<material name="Silver">
<color rgba="0.6 0.6 0.6 1.0" />
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0" />
</material>
<material name="Brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0" />
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<link name="base" />
<joint name="iiwa_base_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="iiwa_link_0" />
</joint>
<link name="iiwa_link_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_0.obj" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="-0.015 0.0 0.07" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.17" radius="0.139" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.1 0.0 0.07" rpy="0.0 0.0 0.0" />
<mass value="5.0" />
<inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.06" iyz="0.0" izz="0.03" />
</inertial>
</link>
<joint name="iiwa_joint_1" type="revolute">
<origin xyz="0.0 0.0 0.1575" rpy="0.0 0.0 0.0" />
<parent link="iiwa_link_0" />
<child link="iiwa_link_1" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="320.0" velocity="1.4835298641951802" lower="-2.96705972839" upper="2.96705972839" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="iiwa_link_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_1.obj" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 -0.014 0.14" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.29" radius="0.101" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
<mass value="5.76" />
<inertia ixx="0.033" ixy="0.0" ixz="0.0" iyy="0.0333" iyz="0.0" izz="0.0123" />
</inertial>
</link>
<joint name="iiwa_joint_2" type="revolute">
<origin xyz="0.0 0.0 0.2025" rpy="1.570796326794897 0.0 3.141592653589793" />
<parent link="iiwa_link_1" />
<child link="iiwa_link_2" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="320.0" velocity="1.4835298641951802" lower="-2.09439510239" upper="2.09439510239" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="iiwa_link_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_2_orange.obj" />
</geometry>
<material name="Orange" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_2_grey.obj" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.056 0.035" rpy="1.570796326794897 0.0 0.0" />
<geometry>
<cylinder length="0.29" radius="0.101" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0003 0.059 0.042" rpy="0.0 0.0 0.0" />
<mass value="6.35" />
<inertia ixx="0.0305" ixy="0.0" ixz="0.0" iyy="0.0304" iyz="0.0" izz="0.011" />
</inertial>
</link>
<joint name="iiwa_joint_3" type="revolute">
<origin xyz="0.0 0.2045 0.0" rpy="1.570796326794897 0.0 3.141592653589793" />
<parent link="iiwa_link_2" />
<child link="iiwa_link_3" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="176.0" velocity="1.7453292519943295" lower="-2.96705972839" upper="2.96705972839" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="iiwa_link_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_3.obj" />
</geometry>
<material name="Grey" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/band.obj" />
</geometry>
<material name="Silver" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/kuka.obj" />
</geometry>
<material name="Black" />
</visual>
<collision>
<origin xyz="0.0 0.025 0.137" rpy="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.29" radius="0.092" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.03 0.13" rpy="0.0 0.0 0.0" />
<mass value="3.5" />
<inertia ixx="0.025" ixy="0.0" ixz="0.0" iyy="0.0238" iyz="0.0" izz="0.0076" />
</inertial>
</link>
<joint name="iiwa_joint_4" type="revolute">
<origin xyz="0.0 0.0 0.2155" rpy="1.570796326794897 0.0 0.0" />
<parent link="iiwa_link_3" />
<child link="iiwa_link_4" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="176.0" velocity="1.3089969389957472" lower="-2.09439510239" upper="2.09439510239" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="iiwa_link_4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_4_orange.obj" />
</geometry>
<material name="Orange" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_4_grey.obj" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.056 0.025" rpy="1.570796326794897 0.0 0.0" />
<geometry>
<cylinder length="0.25" radius="0.092" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.067 0.034" rpy="0.0 0.0 0.0" />
<mass value="3.5" />
<inertia ixx="0.017" ixy="0.0" ixz="0.0" iyy="0.0164" iyz="0.0" izz="0.006" />
</inertial>
</link>
<joint name="iiwa_joint_5" type="revolute">
<origin xyz="0.0 0.1845 0.0" rpy="-1.570796326794897 3.141592653589793 0.0" />
<parent link="iiwa_link_4" />
<child link="iiwa_link_5" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="110.0" velocity="2.2689280275926285" lower="-2.96705972839" upper="2.96705972839" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="iiwa_link_5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_5.obj" />
</geometry>
<material name="Grey" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/band.obj" />
</geometry>
<material name="Silver" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/kuka.obj" />
</geometry>
<material name="Black" />
</visual>
<collision>
<origin xyz="0.0 0.03 0.13" rpy="-0.3 0.0 0.0" />
<geometry>
<cylinder length="0.29" radius="0.07" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0001 0.021 0.076" rpy="0.0 0.0 0.0" />
<mass value="3.5" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.0087" iyz="0.0" izz="0.00449" />
</inertial>
</link>
<joint name="iiwa_joint_6" type="revolute">
<origin xyz="0.0 0.0 0.2155" rpy="1.570796326794897 0.0 0.0" />
<parent link="iiwa_link_5" />
<child link="iiwa_link_6" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="2.356194490192345" lower="-2.09439510239" upper="2.09439510239" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="iiwa_link_6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_6_orange.obj" />
</geometry>
<material name="Orange" />
</visual>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_6_grey.obj" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/collision/link_6.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0006 0.0004" rpy="0.0 0.0 0.0" />
<mass value="1.8" />
<inertia ixx="0.0049" ixy="0.0" ixz="0.0" iyy="0.0047" iyz="0.0" izz="0.0036" />
</inertial>
</link>
<joint name="iiwa_joint_7" type="revolute">
<origin xyz="0.0 0.081 0.0" rpy="-1.570796326794897 3.141592653589793 0.0" />
<parent link="iiwa_link_6" />
<child link="iiwa_link_7" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="40.0" velocity="2.356194490192345" lower="-3.05432619099" upper="3.05432619099" />
<dynamics damping="0.5" friction="0.0" />
</joint>
<link name="iiwa_link_7">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/visual/link_7.obj" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/iiwa_description/meshes/collision/link_7.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
<mass value="1.2" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="iiwa_joint_ee" type="fixed">
<origin xyz="0.0 0.0 0.045" rpy="3.141592653589793 3.141592653589793 3.141592653589793" />
<parent link="iiwa_link_7" />
<child link="iiwa_link_ee_kuka" />
</joint>
<link name="iiwa_link_ee_kuka" />
<joint name="tool0_joint" type="fixed">
<origin xyz="0.0 0.0 0.045" rpy="0.0 -1.570796326794897 0.0" />
<parent link="iiwa_link_7" />
<child link="iiwa_link_ee" />
</joint>
<link name="iiwa_link_ee" />
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 18b1ed754b6d3d4c -->
<mujoco model="iiwa14">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="Black" rgba="0.0 0.0 0.0 1.0" />
<material name="Blue" rgba="0.0 0.0 0.8 1.0" />
<material name="Green" rgba="0.0 0.8 0.0 1.0" />
<material name="Grey" rgba="0.4 0.4 0.4 1.0" />
<material name="Silver" rgba="0.6 0.6 0.6 1.0" />
<material name="Orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
<material name="Brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
<material name="Red" rgba="0.8 0.0 0.0 1.0" />
<material name="White" rgba="1.0 1.0 1.0 1.0" />
<mesh name="link_0" file="drake/manipulation/models/iiwa_description/meshes/visual/link_0.obj" />
<mesh name="link_1" file="drake/manipulation/models/iiwa_description/meshes/visual/link_1.obj" />
<mesh name="link_2_orange" file="drake/manipulation/models/iiwa_description/meshes/visual/link_2_orange.obj" />
<mesh name="link_2_grey" file="drake/manipulation/models/iiwa_description/meshes/visual/link_2_grey.obj" />
<mesh name="link_3" file="drake/manipulation/models/iiwa_description/meshes/visual/link_3.obj" />
<mesh name="band" file="drake/manipulation/models/iiwa_description/meshes/visual/band.obj" />
<mesh name="kuka" file="drake/manipulation/models/iiwa_description/meshes/visual/kuka.obj" />
<mesh name="link_4_orange" file="drake/manipulation/models/iiwa_description/meshes/visual/link_4_orange.obj" />
<mesh name="link_4_grey" file="drake/manipulation/models/iiwa_description/meshes/visual/link_4_grey.obj" />
<mesh name="link_5" file="drake/manipulation/models/iiwa_description/meshes/visual/link_5.obj" />
<mesh name="link_6_orange" file="drake/manipulation/models/iiwa_description/meshes/visual/link_6_orange.obj" />
<mesh name="link_6_grey" file="drake/manipulation/models/iiwa_description/meshes/visual/link_6_grey.obj" />
<mesh name="link_6" file="drake/manipulation/models/iiwa_description/meshes/collision/link_6.obj" />
<mesh name="visual_link_7" file="drake/manipulation/models/iiwa_description/meshes/visual/link_7.obj" />
<mesh name="collision_link_7" file="drake/manipulation/models/iiwa_description/meshes/collision/link_7.obj" />
</asset>
<worldbody>
<body name="base">
<body name="iiwa_link_0">
<inertial pos="-0.1 0.0 0.07" mass="5.0" fullinertia="0.05 0.06 0.03 0.0 0.0 0.0" />
<geom name="iiwa_link_0_vis_0" type="mesh" mesh="link_0" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_0_col_0" type="cylinder" size="0.139 0.085" pos="-0.015 0.0 0.07" group="3" />
<body name="iiwa_link_1" pos="0.0 0.0 0.1575">
<joint name="iiwa_joint_1" type="hinge" axis="0.0 0.0 1.0" range="-2.96705972839 2.96705972839" damping="0.5" />
<inertial pos="0.0 -0.03 0.12" mass="5.76" fullinertia="0.033 0.0333 0.0123 0.0 0.0 0.0" />
<geom name="iiwa_link_1_vis_0" type="mesh" mesh="link_1" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_1_col_0" type="cylinder" size="0.101 0.145" pos="0.0 -0.014 0.14" group="3" />
<body name="iiwa_link_2" pos="0.0 0.0 0.2025" quat="4.329780281177465e-17 4.3297802811774677e-17 0.7071067811865477 0.7071067811865474">
<joint name="iiwa_joint_2" type="hinge" axis="0.0 0.0 1.0" range="-2.09439510239 2.09439510239" damping="0.5" />
<inertial pos="0.0003 0.059 0.042" mass="6.35" fullinertia="0.0305 0.0304 0.011 0.0 0.0 0.0" />
<geom name="iiwa_link_2_vis_0" type="mesh" mesh="link_2_orange" contype="0" conaffinity="0" group="2" material="Orange" />
<geom name="iiwa_link_2_vis_1" type="mesh" mesh="link_2_grey" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_2_col_0" type="cylinder" size="0.101 0.145" pos="0.0 0.056 0.035" quat="0.7071067811865474 0.7071067811865477 0.0 0.0" group="3" />
<body name="iiwa_link_3" pos="0.0 0.2045 0.0" quat="4.329780281177465e-17 4.3297802811774677e-17 0.7071067811865477 0.7071067811865474">
<joint name="iiwa_joint_3" type="hinge" axis="0.0 0.0 1.0" range="-2.96705972839 2.96705972839" damping="0.5" />
<inertial pos="0.0 0.03 0.13" mass="3.5" fullinertia="0.025 0.0238 0.0076 0.0 0.0 0.0" />
<geom name="iiwa_link_3_vis_0" type="mesh" mesh="link_3" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_3_vis_1" type="mesh" mesh="band" contype="0" conaffinity="0" group="2" material="Silver" />
<geom name="iiwa_link_3_vis_2" type="mesh" mesh="kuka" contype="0" conaffinity="0" group="2" material="Black" />
<geom name="iiwa_link_3_col_0" type="cylinder" size="0.092 0.145" pos="0.0 0.025 0.137" group="3" />
<body name="iiwa_link_4" pos="0.0 0.0 0.2155" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="iiwa_joint_4" type="hinge" axis="0.0 0.0 1.0" range="-2.09439510239 2.09439510239" damping="0.5" />
<inertial pos="0.0 0.067 0.034" mass="3.5" fullinertia="0.017 0.0164 0.006 0.0 0.0 0.0" />
<geom name="iiwa_link_4_vis_0" type="mesh" mesh="link_4_orange" contype="0" conaffinity="0" group="2" material="Orange" />
<geom name="iiwa_link_4_vis_1" type="mesh" mesh="link_4_grey" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_4_col_0" type="cylinder" size="0.092 0.125" pos="0.0 0.056 0.025" quat="0.7071067811865474 0.7071067811865477 0.0 0.0" group="3" />
<body name="iiwa_link_5" pos="0.0 0.1845 0.0" quat="4.329780281177465e-17 -4.3297802811774677e-17 0.7071067811865474 0.7071067811865477">
<joint name="iiwa_joint_5" type="hinge" axis="0.0 0.0 1.0" range="-2.96705972839 2.96705972839" damping="0.5" />
<inertial pos="0.0001 0.021 0.076" mass="3.5" fullinertia="0.01 0.0087 0.00449 0.0 0.0 0.0" />
<geom name="iiwa_link_5_vis_0" type="mesh" mesh="link_5" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_5_vis_1" type="mesh" mesh="band" contype="0" conaffinity="0" group="2" material="Silver" />
<geom name="iiwa_link_5_vis_2" type="mesh" mesh="kuka" contype="0" conaffinity="0" group="2" material="Black" />
<geom name="iiwa_link_5_col_0" type="cylinder" size="0.07 0.145" pos="0.0 0.03 0.13" quat="0.9887710779360422 -0.14943813247359922 0.0 0.0" group="3" />
<body name="iiwa_link_6" pos="0.0 0.0 0.2155" quat="0.7071067811865474 0.7071067811865477 0.0 0.0">
<joint name="iiwa_joint_6" type="hinge" axis="0.0 0.0 1.0" range="-2.09439510239 2.09439510239" damping="0.5" />
<inertial pos="0.0 0.0006 0.0004" mass="1.8" fullinertia="0.0049 0.0047 0.0036 0.0 0.0 0.0" />
<geom name="iiwa_link_6_vis_0" type="mesh" mesh="link_6_orange" contype="0" conaffinity="0" group="2" material="Orange" />
<geom name="iiwa_link_6_vis_1" type="mesh" mesh="link_6_grey" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_6_col_0" type="mesh" mesh="link_6" group="3" />
<body name="iiwa_link_7" pos="0.0 0.081 0.0" quat="4.329780281177465e-17 -4.3297802811774677e-17 0.7071067811865474 0.7071067811865477">
<joint name="iiwa_joint_7" type="hinge" axis="0.0 0.0 1.0" range="-3.05432619099 3.05432619099" damping="0.5" />
<inertial pos="0.0 0.0 0.02" mass="1.2" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
<geom name="iiwa_link_7_vis_0" type="mesh" mesh="visual_link_7" contype="0" conaffinity="0" group="2" material="Grey" />
<geom name="iiwa_link_7_col_0" type="mesh" mesh="collision_link_7" group="3" />
<body name="iiwa_link_ee_kuka" pos="0.0 0.0 0.045" quat="1.0 -6.123233995736766e-17 6.123233995736766e-17 -6.123233995736766e-17" />
<body name="iiwa_link_ee" pos="0.0 0.0 0.045" quat="0.7071067811865474 0.0 -0.7071067811865477 0.0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="iiwa_link_0" />
<exclude body1="iiwa_link_0" body2="iiwa_link_1" />
<exclude body1="iiwa_link_1" body2="iiwa_link_2" />
<exclude body1="iiwa_link_2" body2="iiwa_link_3" />
<exclude body1="iiwa_link_3" body2="iiwa_link_4" />
<exclude body1="iiwa_link_4" body2="iiwa_link_5" />
<exclude body1="iiwa_link_5" body2="iiwa_link_6" />
<exclude body1="iiwa_link_6" body2="iiwa_link_7" />
<exclude body1="iiwa_link_7" body2="iiwa_link_ee_kuka" />
<exclude body1="iiwa_link_7" body2="iiwa_link_ee" />
</contact>
</mujoco>
Import report
Counts
| Links | 11 |
|---|---|
| Joints | 10 |
| Moving joints | 7 |
| Visuals | 15 |
| Collisions | 8 |
| Materials | 9 |
Meshes
Formats: obj.
Asset size: 6.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@{http://drake.mit.edu}acceleration | 7 | attribute '{http://drake.mit.edu}acceleration' is not part of the URDF subset RobotDescription mirrors |
axis | 1 | fixed joints carry no <axis>; URDF ignores it too |
frame | 1 | <frame> is not part of the URDF subset RobotDescription mirrors |
gazebo | 9 | Gazebo simulator extensions are not part of the description |
material | 8 | <material> is not part of the URDF subset RobotDescription mirrors |
self_collision_checking | 1 | <self_collision_checking> is not part of the URDF subset RobotDescription mirrors |
transmission | 7 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 11 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 5.4e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 7).
Source & licence
| Repository | https://github.com/RobotLocomotion/drake |
|---|---|
| Commit | 7abea0556ede980a5077fe1a8cfbae59b57c7c27 |
| Original file | manipulation/models/iiwa_description/urdf/iiwa14_primitive_collision.urdf |
| Licence | BSD-3-Clause · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.