KUKA iiwa 14

Seven-axis iiwa description from the community iiwa_stack project.

Robot armsXacroROS 1

Inspect the generated URDF

This source uses Xacro. Generate a URDF with the upstream package and its required arguments, then open the output and meshes in the viewer.

Open a local URDF

Visualization checks geometry and joint motion. It does not run a physics simulation.

Before you use this model

The package includes ROS 1 integration; inspect upstream licensing and your supported Sunrise version.

Community iiwa integration. The README documents older ROS releases; choose compatible controllers and dependencies.

Get the source package

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Download upstream ZIP

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Open model sourceRepository & documentation
Maintainer / source
IFL-CAMP/iiwa_stack
Branch at check
master
Model path
iiwa_description/urdf/iiwa14.urdf.xacro
Revision
44f9d13c1b44
License context
Review package and asset terms upstream
Source checked
2026-10-28 · path and resources, not simulator behavior

From source to your workspace

  1. 1. Get the complete package

    Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.

  2. 2. Resolve the description

    Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.

  3. 3. Inspect before simulation

    Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.

    Check your URDF

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