The accuracy of the dynamics parameters in the URDF

[gyogyo1226]

Hi @mhubii , I'm currently working on computing the dynamic 6D force at the end-effector of the iiwa14 using its dynamics model. I’d like to confirm whether the parameters defined in iiwa14_description.xacro are accurate, as they are crucial for the reliability of my results.

[mhubii]

Hi @gyogyo1226, no, they are not very accurate. Would it be possible for you to rely on KUKA's internal dynamic model? Do you have any end-effector attached?