KR 120: how to modify the URDF from R2500 to R2700

[edoardo-cioffi-1997]

Without having the proper .stl and .dae file from KUKA, how can you modify the urdf in order to get a reliable description of the R2700? In other words, where can I get the inertia and the length of the links?

[gavanderhoorn]

Without any of the things you mention: I don't believe you could then create an accurate model.

Note: none of the inertias in this repository are accurate. They're all estimates.

Length of the links you can derive from the specific robot model's datasheet or manual.