KUKA LBR iiwa 14 Description (MJCF)

Requires MuJoCo 2.3.3 or later.

Overview

This package contains a simplified robot description (MJCF) of the LBR iiwa 14kg developed by KUKA Robotics. It is derived from the publicly available URDF description created by the Drake developers.

URDF → MJCF derivation steps

1. Added <mujoco> <compiler discardvisual="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
3. Created base body and added its corresponding inertial properties.
4. Added a tracking light to the base.
5. Manually edited the MJCF to extract common properties into the <default> section.
6. Added <exclude> clauses to prevent collisions between base and link1.
7. Added actuators for the arm.
8. Added forcelimits to match the torque limits in the spec sheet.
9. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under a BSD-3-Clause License.