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iiwa14.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from iiwa14.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="iiwa14" xmlns:xacro="http://www.ros.org/wiki/xacro">
<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 0.423529411765 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>
<!-- Fix to world just for testing -->
<link name="world"/>
<!--joint between {parent} and link_0-->
<joint name="world_iiwa_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<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>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_0.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_0.stl"/>
</geometry>
<material name="Grey"/>
</collision>
<self_collision_checking>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<capsule length="0.25" radius="0.15"/>
</geometry>
</self_collision_checking>
</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"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="4"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_1.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_1.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</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="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_2.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_2.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</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="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_3.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_3.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</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="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_4.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_4.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</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="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="1.7"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_5.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_5.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</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="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_6.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_6.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</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="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_7.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_7.stl"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<joint name="iiwa_joint_ee" type="fixed">
<parent link="iiwa_link_7"/>
<child link="iiwa_link_ee"/>
<origin rpy="0 0 0" xyz="0 0 0.045"/>
</joint>
<link name="iiwa_link_ee">
</link>
<!-- Enable the Joint Feedback -->
<gazebo reference="iiwa_joint_7">
<provideFeedback>true</provideFeedback>
</gazebo>
<!-- The ft_sensor plugin -->
<gazebo>
<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
<updateRate>50.0</updateRate>
<topicName>/iiwa/state/CartesianWrench</topicName>
<jointName>iiwa_joint_7</jointName>
</plugin>
</gazebo>
<!-- Load Gazebo lib and set the robot namespace -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/iiwa</robotNamespace>
</plugin>
</gazebo>
<!-- Link0 -->
<gazebo reference="iiwa_link_0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link1 -->
<gazebo reference="iiwa_link_1">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link2 -->
<gazebo reference="iiwa_link_2">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link3 -->
<gazebo reference="iiwa_link_3">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link4 -->
<gazebo reference="iiwa_link_4">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link5 -->
<gazebo reference="iiwa_link_5">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link6 -->
<gazebo reference="iiwa_link_6">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link7 -->
<gazebo reference="iiwa_link_7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<transmission name="iiwa_tran_1">
<robotNamespace>/iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa_joint_1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa_motor_1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa_tran_2">
<robotNamespace>/iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa_joint_2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa_motor_2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa_tran_3">
<robotNamespace>/iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa_joint_3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa_motor_3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa_tran_4">
<robotNamespace>/iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa_joint_4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa_motor_4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa_tran_5">
<robotNamespace>/iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa_joint_5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa_motor_5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa_tran_6">
<robotNamespace>/iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa_joint_6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa_motor_6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa_tran_7">
<robotNamespace>/iiwa</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa_joint_7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa_motor_7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>