iiwa 7

KUKA · licence GPL-3.0 · source: github.com/epfl-lasa/iiwa_ros @ 9d2b99f1c

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 da978e389390608d -->
<robot name="iiwa7">
  <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="Orange">
    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
  </material>
  <material name="Brown">
    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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="world" />
  <joint name="world_iiwa_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <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://iiwa_description/meshes/iiwa7/visual/link_0.stl" />
      </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://iiwa_description/meshes/iiwa7/collision/link_0.stl" />
      </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 0.15" 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="176.0" velocity="1.710422666954443" lower="-2.9670597283903604" upper="2.9670597283903604" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_1">
    <visual>
      <origin xyz="0.0 0.0 0.0075" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_1.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0075" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
      <mass value="3.4525" />
      <inertia ixx="0.02183" ixy="0.0" ixz="0.0" iyy="0.007703" iyz="-0.003887" izz="0.02083" />
    </inertial>
  </link>
  <joint name="iiwa_joint_2" type="revolute">
    <origin xyz="0.0 0.0 0.19" rpy="1.5707963267948966 0.0 3.141592653589793" />
    <parent link="iiwa_link_1" />
    <child link="iiwa_link_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="176.0" velocity="1.710422666954443" lower="-2.0943951023931953" upper="2.0943951023931953" />
    <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://iiwa_description/meshes/iiwa7/visual/link_2.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0003 0.059 0.042" rpy="0.0 0.0 0.0" />
      <mass value="3.4821" />
      <inertia ixx="0.02076" ixy="0.0" ixz="-0.003626" iyy="0.02179" iyz="0.0" izz="0.00779" />
    </inertial>
  </link>
  <joint name="iiwa_joint_3" type="revolute">
    <origin xyz="0.0 0.21 0.0" rpy="1.5707963267948966 0.0 3.141592653589793" />
    <parent link="iiwa_link_2" />
    <child link="iiwa_link_3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="110.0" velocity="1.7453292519943295" lower="-2.9670597283903604" upper="2.9670597283903604" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_3">
    <visual>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_3.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.03 0.13" rpy="0.0 0.0 0.0" />
      <mass value="4.05623" />
      <inertia ixx="0.03204" ixy="0.0" ixz="0.0" iyy="0.00972" iyz="0.006227" izz="0.03042" />
    </inertial>
  </link>
  <joint name="iiwa_joint_4" type="revolute">
    <origin xyz="0.0 0.0 0.19" rpy="1.5707963267948966 0.0 0.0" />
    <parent link="iiwa_link_3" />
    <child link="iiwa_link_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="110.0" velocity="2.2689280275926285" lower="-2.0943951023931953" upper="2.0943951023931953" />
    <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://iiwa_description/meshes/iiwa7/visual/link_4.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.067 0.034" rpy="0.0 0.0 0.0" />
      <mass value="3.4822" />
      <inertia ixx="0.02178" ixy="0.0" ixz="0.0" iyy="0.02075" iyz="-0.003625" izz="0.007785" />
    </inertial>
  </link>
  <joint name="iiwa_joint_5" type="revolute">
    <origin xyz="0.0 0.21 0.0" rpy="-1.5707963267948966 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="2.443460952792061" lower="-2.9670597283903604" upper="2.9670597283903604" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_5">
    <visual>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_5.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.026" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0001 0.021 0.076" rpy="0.0 0.0 0.0" />
      <mass value="2.1633" />
      <inertia ixx="0.01287" ixy="0.0" ixz="0.0" iyy="0.005708" iyz="-0.003946" izz="0.01112" />
    </inertial>
  </link>
  <joint name="iiwa_joint_6" type="revolute">
    <origin xyz="0.0 0.0607 0.19" rpy="1.5707963267948966 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="3.141592653589793" lower="-2.0943951023931953" upper="2.0943951023931953" />
    <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://iiwa_description/meshes/iiwa7/visual/link_6.stl" />
      </geometry>
      <material name="Orange" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0006 0.0004" rpy="0.0 0.0 0.0" />
      <mass value="2.3466" />
      <inertia ixx="0.006509" ixy="0.0" ixz="0.0" iyy="0.006259" iyz="0.00031891" izz="0.004527" />
    </inertial>
  </link>
  <joint name="iiwa_joint_7" type="revolute">
    <origin xyz="0.0 0.081 0.0607" rpy="-1.5707963267948966 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="3.141592653589793" lower="-3.0543261909900763" upper="3.0543261909900763" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="iiwa_link_7">
    <visual>
      <origin xyz="0.0 0.0 -0.0005" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_7.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.0005" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_7.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
      <mass value="3.129" />
      <inertia ixx="0.01464" ixy="0.0005912" ixz="0.0" iyy="0.01465" iyz="0.0" izz="0.002872" />
    </inertial>
  </link>
  <joint name="iiwa_joint_ee" type="fixed">
    <origin xyz="0.0 0.0 0.045" rpy="0.0 0.0 0.0" />
    <parent link="iiwa_link_7" />
    <child link="iiwa_link_ee" />
  </joint>
  <link name="iiwa_link_ee">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-06" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
  </link>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content da978e389390608d -->
<mujoco model="iiwa7">
  <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="Orange" rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
    <material name="Brown" rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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="visual_link_0" file="iiwa_description/meshes/iiwa7/visual/link_0.stl" />
    <mesh name="collision_link_0" file="iiwa_description/meshes/iiwa7/collision/link_0.stl" />
    <mesh name="visual_link_1" file="iiwa_description/meshes/iiwa7/visual/link_1.stl" />
    <mesh name="collision_link_1" file="iiwa_description/meshes/iiwa7/collision/link_1.stl" />
    <mesh name="visual_link_2" file="iiwa_description/meshes/iiwa7/visual/link_2.stl" />
    <mesh name="collision_link_2" file="iiwa_description/meshes/iiwa7/collision/link_2.stl" />
    <mesh name="visual_link_3" file="iiwa_description/meshes/iiwa7/visual/link_3.stl" />
    <mesh name="collision_link_3" file="iiwa_description/meshes/iiwa7/collision/link_3.stl" />
    <mesh name="visual_link_4" file="iiwa_description/meshes/iiwa7/visual/link_4.stl" />
    <mesh name="collision_link_4" file="iiwa_description/meshes/iiwa7/collision/link_4.stl" />
    <mesh name="visual_link_5" file="iiwa_description/meshes/iiwa7/visual/link_5.stl" />
    <mesh name="collision_link_5" file="iiwa_description/meshes/iiwa7/collision/link_5.stl" />
    <mesh name="visual_link_6" file="iiwa_description/meshes/iiwa7/visual/link_6.stl" />
    <mesh name="collision_link_6" file="iiwa_description/meshes/iiwa7/collision/link_6.stl" />
    <mesh name="visual_link_7" file="iiwa_description/meshes/iiwa7/visual/link_7.stl" />
    <mesh name="collision_link_7" file="iiwa_description/meshes/iiwa7/collision/link_7.stl" />
  </asset>
  <worldbody>
    <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="visual_link_0" contype="0" conaffinity="0" group="2" material="Grey" />
      <geom name="iiwa_link_0_col_0" type="mesh" mesh="collision_link_0" group="3" />
      <body name="iiwa_link_1" pos="0.0 0.0 0.15">
        <joint name="iiwa_joint_1" type="hinge" axis="0.0 0.0 1.0" range="-2.9670597283903604 2.9670597283903604" damping="0.5" />
        <inertial pos="0.0 -0.03 0.12" mass="3.4525" fullinertia="0.02183 0.007703 0.02083 0.0 0.0 -0.003887" />
        <geom name="iiwa_link_1_vis_0" type="mesh" mesh="visual_link_1" pos="0.0 0.0 0.0075" contype="0" conaffinity="0" group="2" material="Orange" />
        <geom name="iiwa_link_1_col_0" type="mesh" mesh="collision_link_1" pos="0.0 0.0 0.0075" group="3" />
        <body name="iiwa_link_2" pos="0.0 0.0 0.19" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476">
          <joint name="iiwa_joint_2" type="hinge" axis="0.0 0.0 1.0" range="-2.0943951023931953 2.0943951023931953" damping="0.5" />
          <inertial pos="0.0003 0.059 0.042" mass="3.4821" fullinertia="0.02076 0.02179 0.00779 0.0 -0.003626 0.0" />
          <geom name="iiwa_link_2_vis_0" type="mesh" mesh="visual_link_2" contype="0" conaffinity="0" group="2" material="Orange" />
          <geom name="iiwa_link_2_col_0" type="mesh" mesh="collision_link_2" group="3" />
          <body name="iiwa_link_3" pos="0.0 0.21 0.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476">
            <joint name="iiwa_joint_3" type="hinge" axis="0.0 0.0 1.0" range="-2.9670597283903604 2.9670597283903604" damping="0.5" />
            <inertial pos="0.0 0.03 0.13" mass="4.05623" fullinertia="0.03204 0.00972 0.03042 0.0 0.0 0.006227" />
            <geom name="iiwa_link_3_vis_0" type="mesh" mesh="visual_link_3" pos="0.0 0.0 -0.026" contype="0" conaffinity="0" group="2" material="Orange" />
            <geom name="iiwa_link_3_col_0" type="mesh" mesh="collision_link_3" pos="0.0 0.0 -0.026" group="3" />
            <body name="iiwa_link_4" pos="0.0 0.0 0.19" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
              <joint name="iiwa_joint_4" type="hinge" axis="0.0 0.0 1.0" range="-2.0943951023931953 2.0943951023931953" damping="0.5" />
              <inertial pos="0.0 0.067 0.034" mass="3.4822" fullinertia="0.02178 0.02075 0.007785 0.0 0.0 -0.003625" />
              <geom name="iiwa_link_4_vis_0" type="mesh" mesh="visual_link_4" contype="0" conaffinity="0" group="2" material="Orange" />
              <geom name="iiwa_link_4_col_0" type="mesh" mesh="collision_link_4" group="3" />
              <body name="iiwa_link_5" pos="0.0 0.21 0.0" quat="4.329780281177467e-17 -4.329780281177466e-17 0.7071067811865476 0.7071067811865475">
                <joint name="iiwa_joint_5" type="hinge" axis="0.0 0.0 1.0" range="-2.9670597283903604 2.9670597283903604" damping="0.5" />
                <inertial pos="0.0001 0.021 0.076" mass="2.1633" fullinertia="0.01287 0.005708 0.01112 0.0 0.0 -0.003946" />
                <geom name="iiwa_link_5_vis_0" type="mesh" mesh="visual_link_5" pos="0.0 0.0 -0.026" contype="0" conaffinity="0" group="2" material="Orange" />
                <geom name="iiwa_link_5_col_0" type="mesh" mesh="collision_link_5" pos="0.0 0.0 -0.026" group="3" />
                <body name="iiwa_link_6" pos="0.0 0.0607 0.19" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                  <joint name="iiwa_joint_6" type="hinge" axis="0.0 0.0 1.0" range="-2.0943951023931953 2.0943951023931953" damping="0.5" />
                  <inertial pos="0.0 0.0006 0.0004" mass="2.3466" fullinertia="0.006509 0.006259 0.004527 0.0 0.0 0.00031891" />
                  <geom name="iiwa_link_6_vis_0" type="mesh" mesh="visual_link_6" contype="0" conaffinity="0" group="2" material="Orange" />
                  <geom name="iiwa_link_6_col_0" type="mesh" mesh="collision_link_6" group="3" />
                  <body name="iiwa_link_7" pos="0.0 0.081 0.0607" quat="4.329780281177467e-17 -4.329780281177466e-17 0.7071067811865476 0.7071067811865475">
                    <joint name="iiwa_joint_7" type="hinge" axis="0.0 0.0 1.0" range="-3.0543261909900763 3.0543261909900763" damping="0.5" />
                    <inertial pos="0.0 0.0 0.02" mass="3.129" fullinertia="0.01464 0.01465 0.002872 0.0005912 0.0 0.0" />
                    <geom name="iiwa_link_7_vis_0" type="mesh" mesh="visual_link_7" pos="0.0 0.0 -0.0005" contype="0" conaffinity="0" group="2" material="Grey" />
                    <geom name="iiwa_link_7_col_0" type="mesh" mesh="collision_link_7" pos="0.0 0.0 -0.0005" group="3" />
                    <body name="iiwa_link_ee" pos="0.0 0.0 0.045">
                      <inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <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" />
  </contact>
</mujoco>

Import report

Counts

Links	10
Joints	9
Moving joints	7
Visuals	8
Collisions	8
Materials	8

Meshes

Formats: stl.
Asset size: 12.6 MB.

Dropped on import

Tag	Count	Why
`gazebo`	9	Gazebo simulator extensions are not part of the description
`material`	8	<material> is not part of the URDF subset RobotDescription mirrors
`safety_controller`	7	soft limits (safety_controller) are not representable yet
`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 10 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 · 3.3e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 7).

Source & licence

Repository	https://github.com/epfl-lasa/iiwa_ros
Commit	`9d2b99f1c62e1dd57c9c351958206a7ee5066785`
Original file	`iiwa_description/urdf/iiwa7.urdf.xacro`
Licence	GPL-3.0 · 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.