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iiwa.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from iiwa_striker.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="iiwa">
<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>
<material name="LightGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<!-- Fix to world just for testing -->
<link name="front_base"/>
<!--joint between {parent} and link_0-->
<joint name="front_base_F_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<parent link="front_base"/>
<child link="F_link_0"/>
</joint>
<link name="F_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="./meshes/visual/link_0.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/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="F_joint_1" type="revolute">
<parent link="F_link_0"/>
<child link="F_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit effort="320" lower="-2.9670597283903604" upper="2.9670597283903604" velocity="1.4835298641951802"/>
<safety_controller k_position="1" k_velocity="10" soft_lower_limit="-2.9321531433504737" soft_upper_limit="2.9321531433504737"/>
<dynamics damping="0.5"/>
</joint>
<link name="F_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<!-- <origin xyz="0.003508 -0.001602 0.171113" rpy="0 0 0"/> <!– inertial from sl but in different coordinate system –>-->
<mass value="3.947808"/>
<!-- <inertia ixx="0.004554" ixy="0.000001" ixz="-0.000002" iyy="0.004542" iyz="0.000005" izz="0.000289" />-->
<!-- <inertia ixx="0.4554" ixy="0.0001" ixz="-0.0002" iyy="0.4542" iyz="0.0005" izz="0.0289" />-->
<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="./meshes/visual/link_1.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/collision/link_1.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="F_joint_2" type="revolute">
<parent link="F_link_1"/>
<child link="F_link_2"/>
<origin rpy="1.5707963267948966 0 3.141592653589793" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="320" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="1.4835298641951802"/>
<safety_controller k_position="1" k_velocity="10" soft_lower_limit="-2.0594885173533086" soft_upper_limit="2.0594885173533086"/>
<dynamics damping="0.5"/>
</joint>
<link name="F_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<!-- <origin xyz="-0.007671 0.166693 -0.003551" rpy="0 0 0"/> <!– inertial from sl but in different coordinate system –>-->
<mass value="4.502752"/>
<!-- <inertia ixx="0.000318" ixy="0.000000" ixz="0.000007" iyy="0.000100" iyz="-0.000003" izz="0.000419" />-->
<!-- <inertia ixx="0.0318" ixy="0.0000" ixz="0.0007" iyy="0.0100" iyz="-0.0003" izz="0.0419" />-->
<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="./meshes/visual/link_2.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/collision/link_2.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="F_joint_3" type="revolute">
<parent link="F_link_2"/>
<child link="F_link_3"/>
<origin rpy="1.5707963267948966 0 3.141592653589793" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="176" lower="-2.9670597283903604" upper="2.9670597283903604" velocity="1.7453292519943295"/>
<safety_controller k_position="1" k_velocity="10" soft_lower_limit="-2.9321531433504737" soft_upper_limit="2.9321531433504737"/>
<dynamics damping="0.5"/>
</joint>
<link name="F_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<!-- <origin xyz="0.002246 0.034918 0.188978" rpy="0 0 0"/> <!– inertial from sl but in different coordinate system –>-->
<mass value="2.455197"/>
<!-- <inertia ixx="0.002233" ixy="-0.000046" ixz="0.000068" iyy="0.002191" iyz="0.000072" izz="0.000725" />-->
<!-- <inertia ixx="0.2233" ixy="-0.0046" ixz="0.0068" iyy="0.2191" iyz="0.0072" izz="0.0725" />-->
<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="./meshes/visual/link_3.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/collision/link_3.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="F_joint_4" type="revolute">
<parent link="F_link_3"/>
<child link="F_link_4"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="176" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="1.3089969389957472"/>
<safety_controller k_position="1" k_velocity="10" soft_lower_limit="-2.0594885173533086" soft_upper_limit="2.0594885173533086"/>
<dynamics damping="0.5"/>
</joint>
<link name="F_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<!-- <origin xyz="-0.000196 0.052679 0.038182" rpy="0 0 0"/> <!– inertial from sl but in different coordinate system –>-->
<mass value="2.611550"/>
<!-- <inertia ixx="0.038444" ixy="0.000880" ixz="-0.001120" iyy="0.011437" iyz="-0.001113" izz=" 0.049880" />-->
<!-- <inertia ixx="3.8444" ixy="0.0880" ixz="-0.1120" iyy="1.1437" iyz="-0.1113" izz=" 4.9880" />-->
<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="./meshes/visual/link_4.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/collision/link_4.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="F_joint_5" type="revolute">
<parent link="F_link_4"/>
<child link="F_link_5"/>
<origin rpy="-1.5707963267948966 3.141592653589793 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="110" lower="-2.9670597283903604" upper="2.9670597283903604" velocity="2.2689280275926285"/>
<safety_controller k_position="1" k_velocity="10" soft_lower_limit="-2.9321531433504737" soft_upper_limit="2.9321531433504737"/>
<dynamics damping="0.5"/>
</joint>
<link name="F_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<!-- <origin xyz="0.000054 -0.002367 0.004164" rpy="0 0 0"/> <!– inertial from sl but in different coordinate system –>-->
<mass value="3.410009"/>
<!-- <inertia ixx="0.002769" ixy="-0.000008" ixz="0.000006" iyy="0.002842" iyz="-0.000001" izz="0.000117" />-->
<!-- <inertia ixx="0.2769" ixy="-0.0008" ixz="0.0006" iyy="0.2842" iyz="-0.0001" izz="0.0117" />-->
<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="./meshes/visual/link_5.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/collision/link_5.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="F_joint_6" type="revolute">
<parent link="F_link_5"/>
<child link="F_link_6"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="40" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="2.356194490192345"/>
<safety_controller k_position="1" k_velocity="10" soft_lower_limit="-2.0594885173533086" soft_upper_limit="2.0594885173533086"/>
<dynamics damping="0.5"/>
</joint>
<link name="F_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<!-- <origin xyz="0.000492 0.020190 -0.027496" rpy="0 0 0"/> <!– inertial from sl but in different coordinate system –>-->
<mass value="3.387949"/>
<!-- <inertia ixx="0.000500" ixy="-0.000050" ixz="-0.000024" iyy="0.002809" iyz="-0.000041" izz="0.002315" />-->
<!-- <inertia ixx="0.0500" ixy="-0.0050" ixz="-0.0024" iyy="0.2809" iyz="-0.0041" izz="0.2315" />-->
<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="./meshes/visual/link_6.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/collision/link_6.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="F_joint_7" type="revolute">
<parent link="F_link_6"/>
<child link="F_link_7"/>
<origin rpy="-1.5707963267948966 3.141592653589793 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="40" lower="-3.0543261909900763" upper="3.0543261909900763" velocity="2.356194490192345"/>
<safety_controller k_position="1" k_velocity="10" soft_lower_limit="-3.01941960595019" soft_upper_limit="3.01941960595019"/>
<dynamics damping="0.5"/>
</joint>
<link name="F_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<!-- <origin xyz="0.034656 0.023242 -0.009623" rpy="0 0 0"/> <!– inertial from sl but in different coordinate system –>-->
<mass value="0.354321"/>
<!-- <inertia ixx="0.007946" ixy="0.000221" ixz="-0.000294" iyy=" 0.010889" iyz="-0.000294" izz="0.002944" />-->
<!-- <inertia ixx="0.7946" ixy="0.0221" ixz="-0.0294" iyy=" 1.0889" iyz="-0.0294" izz="0.2944" />-->
<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="./meshes/visual/link_7.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="./meshes/collision/link_7.stl"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<joint name="F_joint_ee" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.07"/>
<parent link="F_link_7"/>
<child link="F_link_ee"/>
</joint>
<link name="F_link_ee">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<!-- Link0 -->
<gazebo reference="F_link_0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link1 -->
<gazebo reference="F_link_1">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link2 -->
<gazebo reference="F_link_2">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link3 -->
<gazebo reference="F_link_3">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link4 -->
<gazebo reference="F_link_4">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link5 -->
<gazebo reference="F_link_5">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link6 -->
<gazebo reference="F_link_6">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link7 -->
<gazebo reference="F_link_7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>0</selfCollide>
</gazebo>
<!-- Link7 -->
<gazebo reference="F_joint_ee">
<preserveFixedJoint>1</preserveFixedJoint>
</gazebo>
<transmission name="F_tran_1">
<robotNamespace>/F</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="F_joint_1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="F_motor_1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="F_tran_2">
<robotNamespace>/F</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="F_joint_2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="F_motor_2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="F_tran_3">
<robotNamespace>/F</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="F_joint_3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="F_motor_3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="F_tran_4">
<robotNamespace>/F</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="F_joint_4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="F_motor_4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="F_tran_5">
<robotNamespace>/F</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="F_joint_5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="F_motor_5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="F_tran_6">
<robotNamespace>/F</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="F_joint_6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="F_motor_6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="F_tran_7">
<robotNamespace>/F</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="F_joint_7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="F_motor_7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="front_base">
<kinematic>true</kinematic>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
</plugin>
</gazebo>
</robot>