iiwa7.urdf.xacro

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <!-- some constants -->
    <xacro:property name="PI" value="3.1415926535897931" />
    <xacro:property name="joint_damping" value="10.0" />
    <xacro:property name="joint_friction" value="0.1" />
    <xacro:property name="max_effort" value="300" />
    <xacro:property name="max_velocity" value="10" />
    <!-- TODO: move modes to args, decouple urdf/gazebo/controls -->
    <!-- includes -->
    <!-- <xacro:include filename="$(find lbr_description)/urdf/materials.urdf.xacro"/> -->
    <!-- <xacro:include filename="$(find lbr_description)/gazebo/iiwa.gazebo.xacro"/> -->
    <!-- <xacro:include filename="$(find lbr_description)/ros2_control/lbr.ros2_control.xacro"/> -->
    <material name="orange">
        <color rgba="0.5 0.5 0.5 1.0" />
    </material>
    <material name="silver">
        <color rgba="0.5 0.5 0.5 1.0" />
    </material>
    <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
    <xacro:macro name="iiwa14" params="parent prefix *origin">

        <link name="${prefix}iiwa_base" type="fixed" />
        
        <joint name="${prefix}iiwa_root_joint" type="fixed">
            <xacro:insert_block name="origin" />
            <parent link="${parent}" />
            <child link="${prefix}iiwa_base" />
        </joint>

        <joint name="${prefix}iiwa_base_joint" type="fixed">
            <origin rpy="0.0 0 0" xyz="0 0 0" />
            <parent link="${prefix}iiwa_base" />
            <child link="${prefix}link_0" />
        </joint>

        <link name="${prefix}link_0">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="-0.01283618494463161 4.904567390585061e-08 0.07010682239932087" />
                <mass value="4.861279" />
                <inertia ixx="0.017901" ixy="0.000000" ixz="0.000771" iyy="0.022356" iyz="-0.000000"
                    izz="0.021346" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="0 0 0" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_0.stl" />
                </geometry>
                <material name="silver" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0 0 0" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_0.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}link_1">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="4.9980243666546455e-08 -0.0347335291089292 0.12351608478142942" />
                <mass value="3.400745" />
                <inertia ixx="0.021502" ixy="-0.000000" ixz="0.000000" iyy="0.020512" iyz="0.003828"
                    izz="0.007587" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="-0.0 0.0 -0.1475" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_1.stl" />
                </geometry>
                <material name="orange" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="-0.0 0.0 -0.1475" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_1.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}link_2">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="4.0558428502019873e-08 0.04491581578298656 0.06732515284873997" />
                <mass value="3.430184" />
                <inertia ixx="0.021455" ixy="-0.000000" ixz="0.000000" iyy="0.020444" iyz="0.003570"
                    izz="0.007671" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0105 -0.3405" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_2.stl" />
                </geometry>
                <material name="orange" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0105 -0.3405" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_2.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}link_3">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="-5.881068064938613e-09 0.02956361869175564 0.1365034185434154" />
                <mass value="3.995443" />
                <inertia ixx="0.031559" ixy="-0.000000" ixz="0.000000" iyy="0.029960"
                    iyz="-0.006133" izz="0.009574" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.515" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_3.stl" />
                </geometry>
                <material name="orange" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.515" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_3.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}link_4">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="-4.1344813497116265e-08 -0.044916218629510306 0.06732501840381" />
                <mass value="3.430182" />
                <inertia ixx="0.021454" ixy="0.000000" ixz="-0.000000" iyy="0.020443"
                    iyz="-0.003570" izz="0.007670" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.7405" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_4.stl" />
                </geometry>
                <material name="orange" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.7405" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_4.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}link_5">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="2.416002990197734e-08 -0.021386601078580914 0.085468591256322" />
                <mass value="2.131557" />
                <inertia ixx="0.012684" ixy="-0.000000" ixz="-0.000000" iyy="0.010952"
                    iyz="0.003889" izz="0.005624" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.915" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_5.stl" />
                </geometry>
                <material name="orange" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.915" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_5.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}link_6">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="-9.07120004240837e-08 0.0709871260349443 0.002115721730276743" />
                <mass value="2.311862" />
                <inertia ixx="0.006412" ixy="-0.000000" ixz="-0.000000" iyy="0.006166"
                    iyz="0.000314" izz="0.004459" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0707 -1.1405" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_6.stl" />
                </geometry>
                <material name="orange" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0707 -1.1405" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_6.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}link_7">
            <inertial>
                <origin rpy="0 0 0"
                    xyz="4.535378460217862e-06 -1.7615872956281168e-08 0.009883270430701696" />
                <mass value="0.338747" />
                <inertia ixx="0.000250" ixy="-0.000000" ixz="-0.000000" iyy="0.000245"
                    iyz="0.000000" izz="0.000406" />
            </inertial>
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0002 -1.2314" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/visual/link_7.stl" />
                </geometry>
                <material name="silver" />
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0002 -1.2314" />
                <geometry>
                    <mesh filename="package://lbr_description/meshes/iiwa7/collision/link_7.stl" />
                </geometry>
            </collision>
        </link>

        <link name="${prefix}tool0">
        </link>

        <joint name="${prefix}joint_a1" type="revolute">
            <origin rpy="0 0 0" xyz="0.0 0.0 0.1475" />
            <parent link="${prefix}link_0" />
            <child link="${prefix}link_1" />
            <axis xyz="0.0 0.0 1.0" />
            <limit effort="${max_effort}" lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
                velocity="${max_velocity}" />
            <dynamics damping="${joint_damping}" friction="${joint_friction}" />
        </joint>

        <joint name="${prefix}joint_a2" type="revolute">
            <origin rpy="0 0 0" xyz="-0.0 -0.0105 0.193" />
            <parent link="${prefix}link_1" />
            <child link="${prefix}link_2" />
            <axis xyz="0.0 1.0 0.0" />
            <limit effort="${max_effort}" lower="${-120 * PI / 180}" upper="${120 * PI / 180}"
                velocity="${max_velocity}" />
            <dynamics damping="${joint_damping}" friction="${joint_friction}" />
        </joint>

        <joint name="${prefix}joint_a3" type="revolute">
            <origin rpy="0 0 0" xyz="0.0 0.0105 0.1745" />
            <parent link="${prefix}link_2" />
            <child link="${prefix}link_3" />
            <axis xyz="0.0 0.0 1.0" />
            <limit effort="${max_effort}" lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
                velocity="${max_velocity}" />
            <dynamics damping="${joint_damping}" friction="${joint_friction}" />
        </joint>

        <joint name="${prefix}joint_a4" type="revolute">
            <origin rpy="0 0 0" xyz="0.0 0.0105 0.2255" />
            <parent link="${prefix}link_3" />
            <child link="${prefix}link_4" />
            <axis xyz="0.0 -1.0 0.0" />
            <limit effort="${max_effort}" lower="${-120 * PI / 180}" upper="${120 * PI / 180}"
                velocity="${max_velocity}" />
            <dynamics damping="${joint_damping}" friction="${joint_friction}" />
        </joint>

        <joint name="${prefix}joint_a5" type="revolute">
            <origin rpy="0 0 0" xyz="0.0 -0.0105 0.1745" />
            <parent link="${prefix}link_4" />
            <child link="${prefix}link_5" />
            <axis xyz="0.0 0.0 1.0" />
            <limit effort="${max_effort}" lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
                velocity="${max_velocity}" />
            <dynamics damping="${joint_damping}" friction="${joint_friction}" />
        </joint>

        <joint name="${prefix}joint_a6" type="revolute">
            <origin rpy="0 0 0" xyz="0.0 -0.0707 0.2255" />
            <parent link="${prefix}link_5" />
            <child link="${prefix}link_6" />
            <axis xyz="0.0 1.0 0.0" />
            <limit effort="${max_effort}" lower="${-120 * PI / 180}" upper="${120 * PI / 180}"
                velocity="${max_velocity}" />
            <dynamics damping="${joint_damping}" friction="${joint_friction}" />
        </joint>

        <joint name="${prefix}joint_a7" type="revolute">
            <origin rpy="0 0 0" xyz="0.0 0.0705 0.0909" />
            <parent link="${prefix}link_6" />
            <child link="${prefix}link_7" />
            <axis xyz="0.0 0.0 1.0" />
            <limit effort="${max_effort}" lower="${-175 * PI / 180}" upper="${175 * PI / 180}"
                velocity="${max_velocity}" />
            <dynamics damping="${joint_damping}" friction="${joint_friction}" />
        </joint>


        <joint name="${prefix}joint_a7-tool0" type="fixed">
            <parent link="${prefix}link_7" />
            <child link="${prefix}tool0" />
            <origin xyz="0 0 0.035" rpy="0 0 0" />
            <axis xyz="0 0 0" />

        </joint>
    </xacro:macro>
</robot>

Change name="iiwa" to "iiwa14"

Meshes and Infos by: https://github.com/KCL-BMEIS/lbr_fri_ros2_stack